Automatic loading and unloading device

Abstract

The present invention provides an automatic loading and unloading device, which is used to send a workpiece into a detection device for quality inspection and remove the inspected workpiece from the detection device, comprising: a frame; a first material cart and a second material cart; a first lifting mechanism and a second lifting mechanism; a lateral moving mechanism, which is arranged on the frame and is used to drive the workpiece lifted by the first lifting mechanism to move; a workpiece support positioning mechanism, which is arranged on the frame; a longitudinal moving mechanism, which is arranged on the frame; and a material unloading mechanism, which is arranged on the frame and is used to remove the inspected workpiece moved out of the workpiece support positioning mechanism by the lateral moving mechanism and move it to the second lifting mechanism, and the second lifting mechanism puts it on the second material cart. The invention can realize automatic loading and unloading of workpieces.

Description

Technical Field

[0001] The invention relates to an automatic loading and unloading device. Background Art

[0002] When testing ceramic sheets, the ceramic sheets need to be fed into the testing device one by one. The testing device obtains images of the ceramic sheets by photographing and determines whether the ceramic sheets are qualified based on the images. Currently, loading and unloading are mostly done manually, which has low efficiency and high production costs. Summary of the invention

[0003] The main purpose of the present invention is to provide an automatic loading and unloading device, which can realize automatic loading and unloading and can sort the workpieces after inspection.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: an automatic loading and unloading device, used to feed the workpiece into the processing device for processing and take the processed workpiece out of the processing device, comprising:

[0005] frame;

[0006] A first material cart and a second material cart, the first material cart is used to place workpieces to be processed, and the second material cart is used to place workpieces that have been processed, and the first material cart and the second material cart are both movable;

[0007] The first lifting mechanism and the second lifting mechanism are both arranged on the frame, the first lifting mechanism is used to lift the workpiece on the first material cart at the loading station, and the second lifting mechanism is used to place the workpiece after processing on the second material cart at the unloading station;

[0008] A lateral moving mechanism, arranged on the frame, for driving the workpiece lifted by the first lifting mechanism to move;

[0009] A workpiece support positioning mechanism is arranged on the frame and is used to receive the workpiece to be processed and the workpiece that has been processed on the lateral moving mechanism, and the workpiece that has been processed is moved out by the lateral moving mechanism;

[0010] A longitudinal moving mechanism, arranged on the frame, for moving the workpiece to be processed on the work support positioning mechanism to the processing device and taking out the workpiece that has been processed from the processing device and placing it back on the work support positioning mechanism;

[0011] The unloading mechanism is arranged on the frame, and is used to take out the processed workpiece moved out from the work support positioning mechanism by the lateral moving mechanism and move it to the second lifting mechanism, and then put it on the second material vehicle by the second lifting mechanism.

[0012] Preferably, a mounting plate is provided on the top of the frame, and a first opening and a third opening are respectively provided on the mounting plate and at positions corresponding to the first lifting mechanism and the second lifting mechanism, and a second opening and a fourth opening are respectively provided on the side of the frame and at positions corresponding to the first lifting mechanism and the second lifting mechanism, so that the first material cart and the second material cart can respectively insert the parts for carrying workpieces into the interior of the frame through the second opening and the fourth opening and be located directly below the first opening and the third opening, the first lifting mechanism can lift the workpiece on the first material cart upward and then pass through the first opening, and the second lifting mechanism can place the processed workpiece onto the second material cart through the third opening.

[0013] Preferably, the transverse moving mechanism can move the workpiece along a first direction, and the longitudinal moving mechanism can move the workpiece along a second direction, the first direction is perpendicular to the second direction and both are horizontal directions, and the first opening and the third opening are respectively arranged on the side of the frame along the first direction.

[0014] Preferably, the first material cart and the second material cart have the same structure, and both include:

[0015] Vehicle body;

[0016] A support frame, arranged on the vehicle body, the support frame is used to support the workpiece, and a dimension of the support frame along the second direction is equal to or slightly smaller than a dimension of the second opening in the second direction;

[0017] The wheels are provided in plurality and are rotatably arranged at the bottom of the vehicle body.

[0018] Preferably, a first guide frame is arranged in the frame and at a position corresponding to the second opening, the first guide frame is a horizontally placed U-shaped structure, and the middle part of the U-shaped structure is fixed on both sides of the second opening along the left-right direction, and a plurality of guide bearings are arranged on the upper surface of each side of the two side parts of the U-shaped structure, and the axis of each guide bearing is arranged vertically, and the guide bearings on each side are arranged along the first direction; two first guide rods are arranged on the lower side of the support frame, and when the first material vehicle enters from the second opening, the two first guide rods can respectively abut against the outer ring of the guide bearing on the corresponding side.

[0019] Preferably, the lifting mechanism comprises:

[0020] A lifting module is arranged on the frame, the lifting module is arranged vertically and the fixed part of the lifting module is located below the mounting plate;

[0021] The lifting plate is arranged on the output end of the lifting module, and the lifting plate is arranged horizontally. The lifting plate moves up and down driven by the lifting module and can pass through the first opening.

[0022] Preferably, the support frame comprises a support frame supported on the first guide rod, and when viewed from above, the support frame is U-shaped with an opening of the U facing the lifting module, and the lifting plate is located in the support frame.

[0023] Preferably, the workpiece placed in the first material vehicle is placed on a pallet, and the pallet is placed on the support frame. When loading materials, the lifting plate lifts up the pallet, and a plurality of placement slots for placing the workpieces are formed on the pallet.

[0024] Preferably, three groups of second vertical guide rods are arranged on the frame and at the position of the first opening. The three groups of second vertical guide rods are respectively arranged on three of the four side walls of the first opening except the corresponding lifting module. Each group of second vertical guide rods has two, each vertical guide rod is arranged vertically, and the two second vertical guide rods in each group are arranged along the extension direction of the corresponding side wall. Two first vertical guide rods are arranged on the fixed part of the lifting module, and the two first vertical guide rods extend along the extension direction of the side wall of the first opening on the corresponding side. The space enclosed by the first vertical guide rods and the second vertical guide rods can just place the tray.

[0025] Preferably, two second clamping arms are arranged on the frame and directly above the first opening, the two second clamping arms are arranged along the second direction and each second clamping arm extends along the first direction, and the two second clamping arms can move toward or away from each other to clamp or release the tray, and the height of the two second clamping arms is higher than the height of the top end of the first vertical guide rod and the second vertical guide rod.

[0026] Preferably, the lateral movement mechanism comprises:

[0027] A transverse moving module is arranged on the frame, and its output end can move along the first direction;

[0028] Two first clamping arms are arranged on the output end of the transverse moving module, the two first clamping arms are arranged along the first direction and each first clamping arm extends along the second direction respectively, and the two first clamping arms can approach or move away from each other to clamp the tray.

[0029] Compared with the prior art, the invention has the following beneficial effects:

[0030] The device can realize automatic loading and unloading of materials to the processing device, thus greatly improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 and Figure 2 is a stereogram of a preferred embodiment of the present invention;

[0032] Figure 3 It is an enlarged view of point A;

[0033] Figure 4 It is the structural diagram of the rack;

[0034] Figure 5 It is the structural diagram of the material car;

[0035] Figure 6 It is the structural diagram of the lifting mechanism;

[0036] Figure 7 It is the structural diagram of the lateral movement mechanism;

[0037] Figure 8 It is an enlarged view of point B;

[0038] Fig. 9 and Fig.10 It is the structural diagram of the work support positioning mechanism;

[0039] Fig.11 and Fig.12 It is the structural diagram of the longitudinal moving mechanism;

[0040] Fig.13 is a structural diagram of the third clamp arm;

[0041] Fig.14 It is the structural diagram of the blanking mechanism. DETAILED DESCRIPTION

[0042] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0043] An automatic loading and unloading device is used to send workpieces into a detection device for quality inspection and take out the workpieces that have been inspected, including a frame 1, two material carts 2, and two sets of lifting mechanisms 3, a lateral moving mechanism 4, a work support positioning mechanism 6, a longitudinal moving mechanism 5, and a material unloading mechanism 7 arranged on the frame 1. The two material carts 2 are respectively used to place the workpieces to be inspected and the workpieces that have been inspected, the two sets of lifting mechanisms 3 are respectively used to lift the workpieces from the material cart 2 upward and place the workpieces unloaded by the unloading mechanism 7 on the material cart 2, the lateral moving mechanism 4 is used to move the workpieces to be inspected laterally to the work support positioning mechanism 6 or to move the workpieces that have been inspected laterally to the unloading position, and the longitudinal moving mechanism 5 is used to send the workpieces to be inspected on the work support positioning mechanism 6 into the detection device and take out the workpieces that have been inspected from the detection device and put them back on the work support positioning mechanism 6. The unloading mechanism 7 is used to receive the workpieces that have been inspected sent by the lateral moving mechanism 4 and place the qualified workpieces on the material cart 2 at the unloading position. For the convenience of description, the material cart 2 and the lifting mechanism 3 located at the loading position are referred to as the first material cart and the first lifting mechanism, and the material cart 2 and the lifting mechanism 3 located at the unloading position are referred to as the second material cart and the second lifting mechanism.

[0044] A mounting plate 11 is provided on the top of the frame 1, and a first opening 12 and a third opening 17 are provided on the mounting plate 11 at positions corresponding to the first lifting mechanism and the second lifting mechanism, respectively. A second opening 15 and a fourth opening 18 are provided on the side of the frame 1 at positions corresponding to the first lifting mechanism and the second lifting mechanism, respectively. The first material cart and the second material cart 2 can respectively insert their parts for carrying workpieces into the interior of the frame 1 through the second opening 15 and the fourth opening 18 and be located directly below the first opening 12 and the third opening 17. The first lifting mechanism can lift the workpiece on the first material cart upward and then pass it through the first opening 12, and the second lifting mechanism can place the inspected workpiece onto the second material cart through the third opening 17.

[0045] Each of the material carts 2 includes a body 21, a support frame 24 arranged on the body 21, and wheels 22 rotatably arranged at the bottom of the body 21. The support frame 24 is used to support the workpiece. When observed in the direction facing the second opening 15, the size of the support frame 24 in the left-right direction is equal to or slightly smaller than the size of the second opening 15 in the left-right direction.

[0046] Preferably, a first guide frame 13 is arranged in the frame 1 and at a position corresponding to the second opening 15. The first guide frame 13 is a horizontally placed U-shaped structure, and the middle part of the U-shaped structure is fixed on both sides of the second opening along the left-right direction. A plurality of guide bearings 14 are arranged on the upper surface of each side of the two side parts of the U-shaped structure, and the axis of each guide bearing 14 is arranged vertically. The guide bearings 14 on each side are arranged along the direction in which the first material vehicle enters from the second opening 15.

[0047] Two first guide rods 23 are provided on the lower side of the support frame 24. When the first material cart enters from the second opening 15, the two first guide rods 23 can respectively abut against the outer ring of the guide bearing 14 on the corresponding side, so as to ensure that the workpiece on the first material cart can be accurately positioned.

[0048] The lifting mechanism 3 includes a lifting module 31 arranged on the frame 1 and a lifting plate 32 arranged on the output end of the lifting module 31. The lifting module 31 is vertically arranged and the fixed part of the lifting module 31 is located below the mounting plate 11. The lifting plate 32 is horizontally arranged. The lifting plate 32 moves up and down driven by the lifting module 31 and can pass through the first opening 12, thereby being able to lift the workpiece located on the support frame 24 to a predetermined position.

[0049] Furthermore, the support frame 24 includes a support frame 241. When viewed from above, the support frame 241 is U-shaped and the U-shaped opening faces the lifting module 31. The lifting plate 32 is located in the support frame 241, and the lifting plate 32 can pass through the support frame 241 in the up and down directions to lift the workpiece located on the support frame 24.

[0050] Specifically, the workpiece is placed on the pallet 100, and the pallet 100 is placed on the support frame 24. When loading, the lifting plate 32 lifts the pallet 100. A plurality of placement slots for placing the workpiece are formed on the pallet 100. In addition, when the first material vehicle is used for loading, a plurality of pallets 100 are stacked on the support frame 24, and the lifting mechanism 3 moves the uppermost pallet 100 to a predetermined height each time, and the lateral moving mechanism 4 takes away the uppermost pallet 100.

[0051] In order to ensure the stability of the tray 100 during the process of being lifted up, three groups of second vertical guide rods 16 are arranged on the frame 1 and at the position of the first opening 12. The three groups of second vertical guide rods 16 are respectively arranged on three side walls of the four side walls of the first opening 12 except for the corresponding lifting module 31. Each group of second vertical guide rods 16 has two, each vertical guide rod 16 is arranged vertically, and the two second vertical guide rods 16 in each group are arranged along the extension direction of the corresponding side wall. Two first vertical guide rods 33 are arranged on the fixed part of the lifting module 31, and the two first vertical guide rods 33 extend along the extension direction of the side wall of the first opening 12 on the corresponding side. The space enclosed by the first vertical guide rod 33 and the second vertical guide rod 16 is just enough to place the tray 100, and thus can play a guiding role.

[0052] Two second clamping arms 52 are arranged on the frame 1 and directly above the first opening 12. The two second clamping arms 52 are arranged along the left-right direction and each second clamping arm 52 extends along the front-back direction corresponding to the left-right direction. The two second clamping arms 52 can move toward or away from each other to clamp or release the tray 100. The height of the two second clamping arms 52 is higher than the height of the top of the first vertical guide rod 33 and the second vertical guide rod 16. The two second clamping arms 52 are driven by a second double-headed cylinder 53 supported on the frame 1.

[0053] The lateral movement mechanism 4 includes a lateral movement module 41 arranged on the frame 1, and two first clamping arms 43 arranged on the output end of the lateral movement module 41. The lateral movement module 41 extends along the front-to-back direction, and the two first clamping arms 43 are arranged along the front-to-back direction and each first clamping arm 43 extends along the left-to-right direction respectively. The two first clamping arms 43 can approach or move away from each other to clamp the pallet 100. The two second clamping arms 52 are used to clamp the two sides of the pallet 100 along the left-to-right direction, and the two first clamping arms 43 are used to clamp the two sides of the pallet 100 along the front-to-back direction. In actual production, when loading, the two first clamping arms 43 are first moved into position and opened, and the two second clamping arms 52 are opened, and the lifting mechanism 3 lifts the pallet 100 to a position higher than the first vertical guide rod 33 and the second vertical guide rod 16; then, the two second clamping arms 52 first clamp the pallet 100, and the two first clamping arms 43 clamp the pallet 100. The two second clamping arms 52 clamp the tray 100 to ensure that the tray 100 maintains an accurate position in the left-right direction. The two first clamping arms 43 are driven by a first double-headed cylinder 42 , which is disposed on the output end of the lateral moving module 41 .

[0054] Furthermore, a circle of flange 101 is provided near the bottom of the tray 100, and a slot 46 is provided on the side of the two first clamping arms 43 that are close to each other and near the bottom. When the first clamping arms 43 are clamped, the flange 101 can be inserted into the slot 46, thereby ensuring the stability of clamping.

[0055] The free ends of the two first clamping arms 33 are respectively provided with first openings 44, and the transmitting end and receiving end of the first sensor 45 are respectively provided at the opposite sides of the two first clamping arms 33 and at positions corresponding to the first openings 44. The signal emitted by the transmitting end passes through the two first openings 44 and is received by the receiving end. Whether the first clamping arm 43 is holding the tray 100 is determined by whether the receiving end can receive the signal. The first sensor 45 adopts the existing technology.

[0056] The work support positioning mechanism 6 includes a lifting cylinder 63 arranged on the frame 1, a bottom frame 61 arranged on the cylinder rod of the lifting cylinder 63, and a work support 62 arranged on the bottom frame 61. The cylinder rod of the lifting cylinder 63 extends upward, and the bottom frame 61 is arranged horizontally. The work support 62 is detachably placed on the bottom frame 61. The pallet 100 moved by the lateral moving mechanism 4 can be placed on the work support 62 or the pallet 100 can be removed from the work support 62 by the lateral moving mechanism 4. By lifting and lowering the lifting cylinder 63, the movement of the lateral moving mechanism 4 can be avoided. Along the front-to-back direction, the center of the bottom frame 61 is located in the middle of the moving range of the output end of the lateral moving module 41.

[0057] A placement groove 67 is formed on the upper surface of the work support 62. When viewed from above, the shape of the placement groove 67 matches the shape of the tray 100, and the tray 100 can be placed in the placement groove 67 to ensure that the tray 100 will not move relative to the work support 62. Avoidance grooves 66 are provided on both sides of the work support 62 along the front-to-back direction. The avoidance grooves 66 are connected to the placement grooves 67. The bottom of the avoidance grooves 66 is lower than the bottom of the placement grooves 67, and the distance between the vertical side walls of the two avoidance grooves 66 is smaller than the size of the tray 100 along the front-to-back direction. In this way, when the tray 100 is placed on the work support 62, the flange 101 corresponding to the avoidance groove 66 is in a suspended state, which is convenient for the first clamping arm 43 to place the tray 100 on the work support 62 or to clamp the tray 100 on the work support 62. Preferably, a dimension of the avoidance groove 66 in the left-right direction is larger than a dimension of the first clamping arm 43 in the left-right direction, so as to ensure that the first clamping arm 43 can extend into the avoidance groove 66 .

[0058] Preferably, a pneumatic caliper 64 is also provided on the output end of the lifting cylinder 63, and the axis of the pneumatic caliper 64 is vertically arranged and passes through the center of the bottom frame 61. The pneumatic caliper 64 has four claws 65, and the four claws 65 are arranged at equal angles relative to the axis of the pneumatic caliper 64. Each claw 65 can move away from or approach the axis of the pneumatic caliper 64 synchronously, and a positioning plate 68 is provided on each claw 65. The four positioning plates 68 are arranged at equal angles relative to the axis of the pneumatic caliper 64. When the claws 65 move synchronously, they can drive the positioning plates 68 to move synchronously so that the free ends of the positioning plates 68 can abut against the inner edge of the work support 62, so as to push the work support 62 to move to the correct position.

[0059] The longitudinal moving mechanism 5 includes a longitudinal mounting frame 51 mounted on the frame 1, two third clamping arms 54 and two fourth clamping arms 57 arranged on the longitudinal mounting frame 51, the two third clamping arms 54 and the two fourth clamping arms 57 can move along the left and right directions relative to the longitudinal mounting frame 51, the two third clamping arms 54 are used to clamp the work support 62 on the work support positioning mechanism 6 and send it to the detection device to detect the workpiece located thereon, and the two fourth clamping arms 55 are used to take out the work support 62 in the detection device and put it back on the bottom frame 61. In actual production, two work supports 62 are used, when one of them is displaced on the bottom frame 61, the other is located in the detection device, and in the process of the third clamping arm 54 taking the work support 62 on the bottom frame 61 and moving it toward the detection device, the fourth clamping arm 55 takes out the work support 62 from the detection device and moves it toward the bottom frame 61, so that the detection efficiency is doubled.

[0060] Preferably, the two third clamping arms 54 can move toward or away from each other along the left-right direction to achieve clamping or loosening, and the two fourth clamping arms 57 can move toward or away from each other along the left-right direction to achieve clamping or loosening. Specifically, the longitudinal moving mechanism 5 also includes a first extension arm 511 and a second extension arm 512 arranged on the longitudinal mounting frame 51, a first lifting cylinder 56 arranged at one end of the first extension arm 511, a second lifting cylinder 59 arranged at one end of the second extension arm 512, a third double-headed cylinder 55 arranged on the cylinder rod of the first lifting cylinder 56, and a fourth double-headed cylinder 58 arranged on the cylinder rod of the second lifting cylinder 59, the two third clamping arms 54 are driven by the third double-headed cylinder 55, and the two fourth clamping arms 55 are driven by the fourth double-headed cylinder 55. The first extension arm 511 and the second extension arm 512 both extend along the left-right direction and can move relative to the longitudinal mounting frame 51 along the left-right direction so as to extend or retract the third clamping arm 54 and the fourth clamping arm 55. The work support 62 can be lifted or lowered by the first lifting cylinder 56 and the second lifting cylinder 59. The first extension arm 511 is driven by the first longitudinal module 510, and the output end of the first longitudinal module 510 is connected to the other end of the first extension arm 511. The second extension arm 512 is driven by the second longitudinal module (not shown), and the output end of the second longitudinal module is connected to the other end of the second extension arm 512.

[0061] A horizontal extension portion 510 is provided on the lower side of the third clamping arm 54 and the fourth clamping arm 55. The horizontal extension portions 510 on the two third clamping arms 54 extend toward each other, and the horizontal extension portions 510 on the two fourth clamping arms 55 also extend toward each other. In this way, when the two third clamping arms 54 and the two fourth clamping arms 55 clamp the work support 62, the horizontal extension portion 510 can support the bottom of the work support 62 to prevent the work support 62 from sliding downward relative to the third clamping arms 54 and the fourth clamping arms 55.

[0062] In order to enable the horizontal extension portion 510 to smoothly enter the bottom of the work support 62 , a notch 621 is provided at least at a position of the work support 62 corresponding to the horizontal extension portion 510 .

[0063] When viewed from above, the third clamp arm 54 and the fourth clamp arm 55 do not overlap in the left-right direction, which can effectively prevent the third clamp arm 54 from colliding with the fourth clamp arm 55 during rapid movement. However, this will cause the lifting force of the third clamp arm 54 and the fourth clamp arm 55 to be eccentric relative to the center of the work support 62 along the front-back direction when clamping the work support 62, so that one end of the work support 62 along the front-back direction will be tilted up and the other end will be lowered. For this reason, abutment blocks 511 are provided on the opposite sides of the two third clamp arms 54 and the two fourth clamp arms 55. The position of the abutment blocks 511 is closer to the corresponding third double-headed cylinder 55 or the fourth double-headed cylinder 58 than the corresponding horizontal extension portion 510. When the corresponding end of the work support 62 tilts upward, it can abut against the abutment blocks 411, and the abutment blocks 411 can prevent the corresponding end of the work support 62 from tilting upward.

[0064] When observed along the front-back direction, the distance between the lower end surface of the abutment block 511 and the upper surface of the horizontal extension part 510 is equal to or slightly larger than the thickness of the work support 62, so as to ensure that the lower surface of the work support 62 can be supported on the upper surface of the horizontal extension part 510, and the upper surface of the work support 62 can be abutted against the abutment block 511, so as to avoid the inclination of the work support 62. In actual production, in order to facilitate the work support 62 to be stuck between the horizontal extension part 510 and the abutment block 511, the distance between the lower end surface of the abutment block 511 and the upper surface of the horizontal extension part 510 can be set to be slightly larger than the thickness of the work support 62, and a slight inclination is allowed. The abutment block 511 can be made of plastic or the like.

[0065] The unloading mechanism 7 includes an unloading bracket 71 supported on the frame 1, a first unloading module 72 arranged on the unloading bracket 71, a second unloading module 73 arranged on the output end of the first unloading module 72, an unloading cylinder 74 arranged on the output end of the second unloading module 73, two fifth clamping arms 75 arranged on the unloading cylinder 74, and a suction nozzle 77 arranged on one of the fifth clamping arms 75. The output end of the first unloading module 72 is arranged along the left-right direction, the second unloading module 73 is arranged along the left-right direction, the unloading cylinder 74 is arranged up and down with the cylinder rod extending downward, the two fifth clamping arms 75 are arranged along the left-right direction, and each of the fifth clamping arms 75 extends along the front-back direction. The first clamp arm 41 can move to the position directly below the first unloading module 72, and the fifth clamp arm 75 can move to the position directly above the first unloading module 72. When the workpiece after inspection is put back to the bottom frame 61 through the work support 62, the first clamp arm 43 clamps the tray 100 again and moves to the position directly below the first unloading module 72 driven by the transverse moving module 41. The fifth clamp arm 75 picks up the tray 100 and moves it to the unloading plate 78, which is arranged on the frame 1. After the tray 100 is placed on the unloading plate 78, the suction nozzle 77 can move the unqualified workpiece detected to the specified position, and then place the tray 100 with the qualified workpiece on the second lifting mechanism, and finally on the second material vehicle. Specifically, the control system of the automatic loading and unloading device can communicate with the control system of the detection device, and the control system of the detection device can provide the detection result information to the control system of the automatic loading and unloading device. The result information includes the position of the workpiece on the pallet 100 and whether the workpiece at that position is qualified. The control system of the automatic loading and unloading device controls the action of the suction nozzle 77 according to the result information.

[0066] The detection device does not belong to the content to be protected by the present invention, and will not be described in detail here. In actual production, the present invention can also be used in conjunction with other devices that require loading and unloading, and is used to load and unload other devices that require loading and unloading.

[0067] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic loading and unloading device for feeding a workpiece into a processing device for processing and taking the processed workpiece out of the processing device, characterized in that: include: frame; A first material cart and a second material cart, the first material cart is used to place a pallet storing workpieces to be processed, and the second material cart is used to place a pallet storing workpieces that have been processed, and the first material cart and the second material cart are both movable; The first lifting mechanism and the second lifting mechanism are both arranged on the frame, the first lifting mechanism is used to lift the pallet on the first material vehicle at the loading station, and the second lifting mechanism is used to place the pallet storing the processed workpieces on the second material vehicle at the unloading station; A transverse moving mechanism is arranged on the frame and is used to drive the tray lifted by the first lifting mechanism to move; the transverse moving mechanism comprises: a transverse moving module, which is arranged on the frame and whose output end can move along a first direction; two first clamping arms, which are arranged on the output end of the transverse moving module, the two first clamping arms are arranged along the first direction and each first clamping arm extends along a second direction respectively, and the two first clamping arms can move closer to or farther from each other to clamp the tray; the first direction is perpendicular to the second direction and both are horizontal directions; A work support positioning mechanism, comprising a lifting cylinder arranged on a frame, a bottom frame arranged on a cylinder rod of the lifting cylinder, and a work support arranged on the bottom frame, wherein a pallet received by the work support positioning mechanism is placed on the work support, the cylinder rod of the lifting cylinder extends upward, the bottom frame is arranged horizontally, the work support is detachably placed on the bottom frame, a pallet moved by a lateral moving mechanism can be placed on the work support or the pallet can be removed from the work support by the lateral moving mechanism, along the front-to-back direction, the center of the bottom frame is located at the middle position of the moving range of the output end of the lateral moving module, and the front-to-back direction is parallel to the direction in which the lateral moving mechanism drives the workpiece to move; A placement groove is formed on the upper surface of the work support, and when viewed from above, the shape of the placement groove matches the shape of the tray, and the tray can be placed just in the placement groove. Avoidance grooves are provided on both sides of the work support along the front-to-back direction, and the avoidance grooves are connected to the placement grooves. The groove bottom of the avoidance grooves is lower than the groove bottom of the placement grooves, and the distance between the vertical side walls of the two avoidance grooves is smaller than the size of the tray along the front-to-back direction. When the tray is placed on the work support, the flange corresponding to the avoidance groove is in a suspended state, which is convenient for the first clamping arm to place the tray on the work support or clamp the tray on the work support, and the flange is provided at a position close to the bottom of the tray; A longitudinal moving mechanism, arranged on the frame, for moving the work tray with the tray placed thereon to the processing device and for taking the work tray with the tray placed thereon out of the processing device and placing it back on the work tray positioning mechanism; The unloading mechanism is arranged on the frame, and is used to take out the pallet moved out of the workpiece positioning mechanism by the lateral moving mechanism and move it to the second lifting mechanism, and then put it on the second material vehicle by the second lifting mechanism.

2. The automatic loading and unloading device according to claim 1, characterized in that: A mounting plate is arranged on the top of the frame, and a first opening and a third opening are respectively arranged on the mounting plate and at positions corresponding to the first lifting mechanism and the second lifting mechanism, and a second opening and a fourth opening are respectively arranged on the side of the frame and at positions corresponding to the first lifting mechanism and the second lifting mechanism, so that the first material cart and the second material cart can respectively insert their parts for carrying workpieces into the interior of the frame through the second opening and the fourth opening and be located directly below the first opening and the third opening, the first lifting mechanism can lift the workpiece on the first material cart upward and then pass through the first opening, and the second lifting mechanism can place the processed workpiece on the second material cart through the third opening.

3. The automatic loading and unloading device according to claim 2, characterized in that: The transverse moving mechanism can move the workpiece along a first direction, and the longitudinal moving mechanism can move the workpiece along a second direction. The first opening and the third opening are respectively arranged on the side surface of the frame along the first direction.

4. The automatic loading and unloading device according to claim 3, characterized in that: The first material car and the second material car have the same structure and both include: Vehicle body; A support frame, arranged on the vehicle body, the support frame is used to support the workpiece, and a dimension of the support frame along the second direction is equal to or slightly smaller than a dimension of the second opening in the second direction; The wheels are provided in plurality and are rotatably arranged at the bottom of the vehicle body.

5. The automatic loading and unloading device according to claim 4, characterized in that: A first guide frame is arranged in the frame and at a position corresponding to the second opening. The first guide frame is a horizontally placed U-shaped structure, and the middle part of the U-shaped structure is fixed on both sides of the second opening along the second direction. A plurality of guide bearings are arranged on the upper surface of each side of the two side parts of the U-shaped structure, and the axis of each guide bearing is arranged vertically, and the guide bearings on each side are arranged along the first direction; two first guide rods are arranged on the lower side of the support frame, and when the first material vehicle enters from the second opening, the two first guide rods can respectively abut against the outer rings of the guide bearings on the corresponding sides.

6. The automatic loading and unloading device according to claim 5, characterized in that: The first lifting mechanism and the second lifting mechanism both include: A lifting module is arranged on the frame, the lifting module is arranged vertically and the fixed part of the lifting module is located below the mounting plate; The lifting plate is arranged on the output end of the lifting module, and the lifting plate is arranged horizontally. The lifting plate moves up and down driven by the lifting module and can pass through the first opening.

7. The automatic loading and unloading device according to claim 6, characterized in that: The support frame includes a support frame supported on the first guide rod. When viewed from above, the support frame is U-shaped with an opening of the U facing the lifting module. The lifting plate is located in the support frame.

8. The automatic loading and unloading device according to claim 6, characterized in that: The workpiece placed on the first material vehicle is placed on a pallet, and the pallet is placed on the support frame. When loading materials, the lifting plate lifts up the pallet, and a plurality of placement slots for placing the workpieces are formed on the pallet.

9. The automatic loading and unloading device according to claim 8, characterized in that: Three groups of second vertical guide rods are arranged on the frame and at the position of the first opening. The three groups of second vertical guide rods are respectively arranged on three side walls of the four side walls of the first opening except the corresponding lifting module. Each group of second vertical guide rods has two, each vertical guide rod is arranged vertically, and the two second vertical guide rods in each group are arranged along the extension direction of the corresponding side wall. Two first vertical guide rods are arranged on the fixed part of the lifting module, and the two first vertical guide rods extend along the extension direction of the side wall of the first opening on the corresponding side. The space enclosed by the first vertical guide rods and the second vertical guide rods can just hold the tray.

10. The automatic loading and unloading device according to claim 9, characterized in that: Two second clamping arms are arranged on the frame and directly above the first opening, the two second clamping arms are arranged along the second direction and each second clamping arm extends along the first direction, and the two second clamping arms can move toward or away from each other to clamp or release the tray, and the height of the two second clamping arms is higher than the height of the top end of the first vertical guide rod and the second vertical guide rod.

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