Feeding and discharging device and feeding and discharging system

Abstract

The application discloses a feeding and discharging device and a feeding and discharging system. The feeding and discharging device comprises a supporting table, a grabbing module, a positioning table and a mechanical hand. The grabbing module is arranged on the supporting table and is used for grabbing a workpiece. The positioning table is arranged on the supporting table and is used for positioning the workpiece at a preset position. The grabbing module is used for transferring the workpiece to the positioning table. The mechanical hand is arranged on the supporting table and is used for transferring the workpiece at the preset position on the positioning table out of the positioning table. According to the feeding and discharging device, the workpiece is grabbed by the grabbing module and is transferred to the positioning table. The positioning table positions the workpiece at the preset position. The mechanical hand transfers the workpiece at the preset position on the positioning table. The positioning accuracy of the workpiece can be ensured. The position of the workpiece grabbed by the mechanical hand is the same. The mechanical hand is convenient to grab the workpiece. The machining error of the workpiece is effectively reduced. The automatic production of the assembly line is facilitated. The production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and more specifically, to a loading and unloading device and a loading and unloading system. Background Technology

[0002] In related technologies, the loading and unloading of workpieces is mostly done manually. However, manual labor is difficult to keep up with the production pace, and operational difficulties are likely to occur. In addition, the workload is increased, the time consumption is longer, and the production efficiency is low. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide a loading and unloading device that can effectively reduce workpiece processing errors, facilitate automated production on assembly lines, and improve production efficiency.

[0004] Another object of the present invention is to provide a loading and unloading system having the above-described loading and unloading device.

[0005] According to an embodiment of the present invention, a loading and unloading device includes: a support platform; a gripping module disposed on the support platform for gripping workpieces; a positioning platform disposed on the support platform for positioning the workpiece at a preset position, wherein the gripping module is used to transfer the workpiece to the positioning platform; and a robotic arm disposed on the support platform for transferring the workpiece located at the preset position on the positioning platform out of the positioning platform.

[0006] According to the embodiment of the present invention, the loading and unloading device grabs the workpiece by the gripping module and transfers it to the positioning table. The positioning table positions the workpiece at a preset position, and the robot arm transfers the workpiece at the preset position on the positioning table. This ensures accurate positioning of the workpiece, and the robot arm can grab the workpiece at the same position. The robot arm can grab the workpiece conveniently, effectively reducing the processing error of the workpiece, facilitating the realization of automated production line, and improving production efficiency.

[0007] In addition, the loading and unloading device according to the above embodiments of the present invention may also have the following additional technical features:

[0008] According to some embodiments of the present invention, the loading and unloading device has a positioning element on one side of the workpiece, and the positioning table includes: a positioning base plate disposed on the support table; and a clamping device disposed on the positioning base plate for clamping the positioning element.

[0009] According to some embodiments of the present invention, the positioning platform further includes a conveying device disposed on the positioning base plate, which is used to convey the workpiece on the material gripping module to the preset position.

[0010] According to some embodiments of the present invention, the conveying device includes: a drive motor disposed on the positioning base plate; two conveying members arranged in parallel and spaced apart, the conveying members being driven by the drive motor, and the clamping device located between the two conveying members.

[0011] According to some embodiments of the present invention, the positioning base plate is provided with a lifting device, the conveying device is disposed on the lifting device, and the lifting device is adapted to push the conveying device to move along a first direction.

[0012] According to some embodiments of the present invention, the positioning stage includes: a support assembly, wherein there are two support assemblies respectively disposed on both sides of the conveying device, the support assembly includes a support member and a plurality of support wheels, the plurality of support wheels are rotatably disposed on the side of the support member facing the conveying device and are spaced apart in the conveying direction of the conveying device, and the workpiece is adapted to be located on the conveying device and the support wheels.

[0013] According to some embodiments of the present invention, the robotic hand includes: a robotic arm; a mechanical gripper disposed at one end of the robotic arm, the mechanical gripper including a mounting plate, a linear drive device and two gripping blocks, the two gripping blocks being movably disposed on the mounting plate in directions toward and away from each other, the linear drive device being disposed on the mounting plate and driving the gripping blocks to move, the two gripping blocks being used to grip or release the workpiece.

[0014] According to some embodiments of the present invention, the clamping block is provided with a clamping mechanism for clamping the workpiece. The clamping mechanism includes: a first pressing device, which is disposed on the clamping block and includes a first cylinder and a first pressing block, wherein the first cylinder can drive the first pressing block to move; and a second pressing device, which is disposed on the clamping block and includes a second cylinder and a second pressing block, wherein the second cylinder can drive the second pressing block to rotate around the second cylinder. The first pressing block and the second pressing block are arranged in a direction perpendicular to the arrangement direction of the two clamping blocks to clamp the workpiece.

[0015] According to some embodiments of the present invention, the clamping blocks are provided with a clamping mechanism for clamping the workpiece. The clamping mechanism includes: a support block, wherein the support blocks on the two clamping blocks are respectively located on the side of the two clamping blocks closer to each other; and a first pressing device, wherein the first pressing device on the two clamping blocks is respectively located on the side of the two clamping blocks closer to each other and includes a first cylinder and a first pressing block. The first cylinder can drive the first pressing block to move toward or away from the support block to clamp the workpiece.

[0016] According to some embodiments of the present invention, the clamping mechanism further includes: a pressure plate device, the pressure plate device being disposed on the mounting plate, the pressure plate device and the first pressing device being spaced apart on the mounting plate, the pressure plate device including a third cylinder and a third pressing block, the third cylinder being disposed on the mounting plate, the third pressing block being connected to the third cylinder, the third cylinder being used to drive the third pressing block to move in directions toward and away from the workpiece.

[0017] According to some embodiments of the present invention, there are at least two pressure plate devices, and the at least two pressure plate devices are arranged opposite to each other on the mounting plate.

[0018] According to some embodiments of the present invention, the robotic arm includes a vision inspection device located on the mounting plate and used for inspecting the workpiece.

[0019] According to some embodiments of the present invention, the material gripping module includes: a material gripping device, the material gripping device including a translation drive component and a clamping component, the translation drive component driving the clamping component to reciprocate along a second direction; and a workpiece gripping device, the workpiece gripping device being spaced apart from the material gripping device, the workpiece gripping device being used to move the workpiece between a first preset position and a third preset position, and the material gripping device being used to move the workpiece between the first preset position and a second preset position, the second preset position, the first preset position and the third preset position being arranged sequentially in the second direction.

[0020] According to some embodiments of the present invention, the workpiece gripping device includes: a support plate; a driving assembly; a first transmission assembly disposed on the support plate along a first direction, the first transmission assembly including a first transmission member and a second transmission member that rotate synchronously, the first transmission member being drive-connected to the driving assembly; a second transmission assembly disposed on the support plate along a second direction, the first direction and the second direction being perpendicular, the second transmission assembly and the second transmission member being drive-connected to convert the rotational motion of the first transmission member into translational motion; a lifting device that drives the support plate to move along the first direction, and the second transmission member moves synchronously with the support plate, the first transmission member remaining drive-connected to the driving assembly while the support plate moves; and a gripping mechanism disposed on the second transmission assembly, the second transmission assembly driving the gripping mechanism to reciprocate along the second direction to clamp the workpiece.

[0021] According to some embodiments of the present invention, the first transmission assembly further includes: a connecting shaft, the first transmission member and the second transmission member are respectively disposed at both ends of the connecting shaft, the connecting shaft passes through the support plate and moves synchronously with the support plate, the connecting shaft and the first transmission member are slidably connected in the axial direction of the connecting shaft, the second transmission member is fixedly disposed on the connecting shaft, and both the first transmission member and the second transmission member rotate coaxially with the connecting shaft.

[0022] According to some embodiments of the present invention, the support plate is provided with a support, and the second transmission assembly includes: a third transmission member disposed on the support and connected to the second transmission member in a transmission manner; a fourth transmission member disposed on the support and rotating coaxially with the third transmission member; and a fifth transmission member connected to the fourth transmission member to drive the fifth transmission member to reciprocate along the second direction.

[0023] According to some embodiments of the present invention, the fourth transmission member is a gear, the fifth transmission member is a rack, and the gear rotation drives the rack to reciprocate along the second direction.

[0024] According to some embodiments of the present invention, the gripping mechanism includes: a first gripper, the first gripper being disposed at one end of the second transmission assembly, the first gripper being used to grip the workpiece in the second direction.

[0025] According to some embodiments of the present invention, there are two of each of the support plate, the first transmission assembly, the second transmission assembly, and the gripping mechanism, and the two support plates, the two first transmission assemblies, the two second transmission assemblies, and the two gripping mechanisms are all spaced apart along a third direction, which is perpendicular to both the first direction and the second direction.

[0026] According to some embodiments of the present invention, the workpiece gripping device further includes: a base plate, the support plate being disposed on the base plate, the driving assembly and the lifting device being disposed on the side of the base plate away from the support plate, the first transmission member being rotatably disposed on the base plate, and the lifting device driving the support plate to move relative to the base plate in the first direction; the driving assembly includes: a first motor; a transmission shaft, the first motor driving the transmission shaft to rotate, the transmission shaft being provided with a transmission gear, and the transmission gear being connected to the first transmission member in a transmission connection.

[0027] According to some embodiments of the present invention, the workpiece gripping device includes a base plate, the support plate and the translation drive assembly are disposed on the same side of the base plate, the gripping device further includes a support base, the clamping assembly is disposed on the support base, the support base and the translation drive assembly are tractively connected to cause the support base to reciprocate on the base plate along the second direction, the clamping assembly includes: a second jaw for clamping the workpiece in the second direction; and a pusher disposed on the support base, the second jaw being connected to the pusher, the pusher being used to drive the second jaw to move along the second direction.

[0028] According to some embodiments of the present invention, the translation drive assembly includes: a second motor disposed on the base plate; two pulleys spaced apart in the second direction and a belt wound around the pulleys, the pulleys being rotatably disposed on the base plate; the second motor being drively connected to one of the pulleys; and a support seat disposed on the belt and moving synchronously with the belt.

[0029] According to some embodiments of the present invention, the loading and unloading device further includes a lifting mechanism disposed on the support platform, the material gripping module disposed on the lifting mechanism to adjust the height of the material gripping module, the lifting mechanism including: a pallet, the material gripping module disposed on the pallet; and a power component disposed on the support platform for driving the pallet to reciprocate along a first direction.

[0030] According to some embodiments of the present invention, the support platform has a placement space for placing a hopper, the placement space being located below the positioning platform, the hopper being used to place the workpiece, the gripping module being adapted to grip the workpiece in the hopper onto the positioning platform, and the bottom wall of the placement space being provided with a conveying platform for supporting and conveying the hopper.

[0031] According to some embodiments of the present invention, the loading and unloading device further includes a traveling component, which is disposed at the bottom of the support platform.

[0032] According to an embodiment of the present invention, a loading and unloading system includes: a processing device for processing a workpiece to be processed; a loading and unloading device according to an embodiment of the present invention for providing the workpiece to be processed to the processing device and transferring the processed workpiece; and a feeding system for providing the workpiece to be processed to the loading and unloading device and transferring the processed workpiece on the loading and unloading device.

[0033] According to some embodiments of the present invention, the feeding system includes: a temporary storage platform for storing the workpiece to be processed and / or the processed workpiece; a hopper platform for storing a hopper, wherein the workpiece is adapted to be placed in the hopper; and a workpiece transfer device for transferring the workpiece between the temporary storage platform and the hopper platform.

[0034] According to some embodiments of the present invention, the feeding system includes: a first transfer device for transferring the workpiece to or from the temporary storage platform; and a second transfer device for transferring the hopper to or from the hopper platform.

[0035] According to some embodiments of the present invention, both the first transfer device and the second transfer device include a walking assembly and a conveyor table disposed on the walking assembly, the conveyor table being used to transfer the workpiece or the hopper.

[0036] According to some embodiments of the present invention, the loading and unloading system further includes: a hopper transfer device, which is used to move the hopper between the hopper platform and the loading and unloading device, and the hopper transfer device is provided with at least two storage stations, each of the storage stations being provided with a conveyor table, the conveyor table being used to convey the hopper.

[0037] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0039] Figure 1 This is a schematic diagram of the loading and unloading system according to an embodiment of the present invention;

[0040] Figure 2 This is a top view of the loading and unloading system according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of a feeding system according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the processing equipment, loading and unloading device and silo transfer device according to an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of a workpiece transfer device according to an embodiment of the present invention;

[0044] Figure 6 This is a structural schematic diagram of the material gripping module from one angle according to an embodiment of the present invention;

[0045] Figure 7 This is a structural schematic diagram of the material gripping module according to an embodiment of the present invention from another angle;

[0046] Figure 8 This is a cross-sectional view of the material handling module according to an embodiment of the present invention;

[0047] Figure 9 yes Figure 8 The center circle shows an enlarged structural diagram at point A.

[0048] Figure 10 This is a schematic diagram of the workpiece gripping device according to an embodiment of the present invention;

[0049] Figure 11 This is a partial structural schematic diagram of the workpiece gripping device according to an embodiment of the present invention;

[0050] Figure 12 This is a schematic diagram of the material gripping device according to an embodiment of the present invention;

[0051] Figure 13 This is a schematic diagram of the lifting mechanism according to an embodiment of the present invention;

[0052] Figure 14 This is a schematic diagram of the structure of a mechanical gripper according to some embodiments of the present invention;

[0053] Figure 15 This is a schematic diagram of the structure of a mechanical gripper according to other embodiments of the present invention;

[0054] Figure 16 This is a schematic diagram of the structure of the loading and unloading device according to an embodiment of the present invention;

[0055] Figure 17 This is a structural schematic diagram of the positioning stage at one angle according to an embodiment of the present invention;

[0056] Figure 18 This is a structural schematic diagram of the positioning stage from another angle according to an embodiment of the present invention;

[0057] Figure 19 This is a partial structural schematic diagram of the positioning stage according to an embodiment of the present invention;

[0058] Figure 20 This is a schematic diagram of the structure of a silo transfer device according to an embodiment of the present invention;

[0059] Figure 21 This is a schematic diagram of the structure of a workpiece according to an embodiment of the present invention.

[0060] Figure label:

[0061] Workpiece gripping device 100; material gripping module 200; workpiece transfer device 300; material feeding system 400; loading and unloading device 500; loading and unloading system 600; processing equipment 700;

[0062] Support plate 10; Support 101; Guide hole 102;

[0063] Drive assembly 11; First motor 111; Drive shaft 112; Drive gear 113;

[0064] First transmission assembly 12; first transmission component 121; second transmission component 122; connecting shaft 123;

[0065] Second transmission assembly 13; third transmission component 131; fourth transmission component 132; fifth transmission component 133; guide assembly 134; first guide rail 135; slider 136; connector 167;

[0066] Lifting device 14;

[0067] Gripping mechanism 15; First gripper 151;

[0068] Base plate 16; guide column 161; guide bearing 162; second guide rail 163;

[0069] Material handling device 20;

[0070] Translation drive assembly 21; second motor 211; pulley 212; belt 213;

[0071] Clamping assembly 22; second gripper 221; pusher 222; adapter plate 223;

[0072] Support base 23; clamp 231;

[0073] Support component 24; support element 241; support wheel 242;

[0074] Positioning guide component 25; guide groove 251; upright plate 252;

[0075] Base 30; Third guide rail 31; Placement platform 32;

[0076] Lifting mechanism 40; pallet 41; power assembly 42; third motor 421; lead screw 422; lead screw nut 423;

[0077] 50. Robotic arm; 51. Mechanical gripper; 52. Mounting plate; 53. Linear drive device; 54. Grip block; 55. Vision inspection device; 56. Fourth motor; 541. Lead screw assembly; 542. First gear; 543. Second gear; 544. Crossbeam; 551.

[0078] Clamping mechanism 60; first clamping device 61; second clamping device 62; support block 63; pressure plate device 64; first cylinder 611; first pressure block 612; second cylinder 621; second pressure block 622; fourth guide rail 631; third cylinder 641; third pressure block 642;

[0079] Temporary storage platform 71; silo platform 72; first transfer device 73; second transfer device 74; silo transfer device 75; workpiece 711; positioning component 712; silo 721; walking assembly 731; conveyor 732; storage station 751;

[0080] Support platform 80; Placement space 81;

[0081] Positioning platform 90; Positioning base plate 91;

[0082] Clamping device 92; First pneumatic clamp 921; Second pneumatic clamp 922;

[0083] Conveying device 93; drive motor 931; conveying component 932; output shaft 933; coupling 934. Detailed Implementation

[0084] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0085] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0086] In the description of this invention, "first feature" and "second feature" may include one or more of the features, "multiple" means two or more, "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them, and "above," "over," and "on top" the second feature may include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0087] The loading and unloading device 500 according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0088] Reference Figure 4 and Figure 6 As shown, the loading and unloading device 500 according to an embodiment of the present invention may include: a support platform 80 and a material gripping module 200.

[0089] Specifically, the material gripping module 200 is mounted on the support platform 80. The material gripping module 200 is used to grip the workpiece 711 and move the workpiece 711, reducing the time spent on manual operation, adapting to the high-efficiency production rhythm, realizing automated production on the assembly line, which is conducive to improving production efficiency and reducing production costs.

[0090] In addition, such as Figure 4 and Figure 16 As shown, the loading / unloading device 500 also includes a positioning table 90 and a robot arm 50. The positioning table 90 and the robot arm 50 are mounted on the support platform 80. The gripping module 200 can transfer the workpiece 711 to the positioning table 90. The positioning table 90 can position the workpiece 711 in a preset position to ensure accurate positioning of the workpiece 711. The robot arm 50 can transfer the workpiece 711 from the positioning table 90 to the positioning table 90, thus realizing the transfer of the workpiece 711. The positioning table 90 ensures that the position of the workpiece 711 gripped by the robot arm 50 is the same, which facilitates the gripping of the robot arm 50, helps to reduce the processing error of the workpiece 711, and realizes unmanned loading / unloading, realizing automated production on the assembly line and improving production efficiency. For example, the robot arm 50 can be a six-axis robot arm, which can realize multi-directional movement of the workpiece 711 to meet different position requirements.

[0091] According to the embodiment of the present invention, the loading and unloading device 500 grips the workpiece 711 through the gripping module 200 and transfers it to the positioning table 90. The positioning table 90 positions the workpiece 711 at a preset position. The robot arm 50 transfers the workpiece 711 at the preset position on the positioning table 90. This ensures that the positioning of the workpiece 711 is accurate. The position of the workpiece 711 gripped by the robot arm 50 is the same, and the robot arm 50 can grip it conveniently. This effectively reduces the processing error of the workpiece 711, facilitates the realization of automated production on the assembly line, and helps to improve production efficiency.

[0092] According to some embodiments of the present invention, such as Figure 17 , Figure 19 and Figure 21 As shown, a positioning element 712 is provided on one side of the workpiece 711. The positioning table 90 includes a positioning base plate 91 and a clamping device 92. The positioning base plate 91 is located on the support table 80, and the clamping device 92 is located on the positioning base plate 91. The positioning base plate 91 facilitates the support of the clamping device 92. The clamping device 92 can clamp the positioning element 712, so that the positioning element 712 can be fixed in position under the clamping action of the clamping device 92, thereby realizing the positioning of the workpiece 711. This allows the workpiece 711 to be located in a preset position, making the positioning of the workpiece 711 more reliable and accurate, and less prone to displacement.

[0093] In some embodiments, such as Figure 21 As shown, workpiece 711 may include a stacked aluminum cover plate, a circuit board, and a pad, all three being integrated by a positioning element 712. That is, workpiece 711 is a stacked plate produced by a stacking production line. For example, the positioning element 712 may be a pin.

[0094] In some embodiments, such as Figure 17 and Figure 19 As shown, the side of the positioning stage 90 furthest from the clamping device 92 (e.g.) Figure 17 The left side shown in the figure is provided with a guide groove 251, which is used to accommodate the positioning member 712. The guide groove 251 extends along the second direction. When the material gripping module 200 transfers the workpiece 711 to the positioning table 90, the positioning member 712 can move in the guide groove 251 to ensure that the movement of the workpiece 711 is reliable and not easily deviated.

[0095] Furthermore, for ease of description, the directions such as "up", "down", "left", "right", "front" and "back" in this invention are based on the orientation relationships shown in the accompanying drawings, and are not limitations on the orientation in actual application.

[0096] In some embodiments, such as Figure 17 , Figure 19 and Figure 21 As shown, there can be two positioning elements 712, located at both ends of one side of the workpiece 711. The clamping device 92 can include a first air clamp 921 and a second air clamp 922, which are positioned along the length of the positioning base plate 91 (e.g., along the length of the workpiece 711). Figure 17 As shown in the diagram, the two air clamps 921 and 922 are spaced apart in the left and right directions. The first air clamp 921 and the second air clamp 922 can clamp the two positioning parts 712 respectively, thereby realizing the positioning of both ends of the workpiece 711, ensuring that the workpiece 711 is reliably positioned. Moreover, the clamping device 92 has a simple structure, which helps to reduce the production cost of the loading and unloading device 500.

[0097] In some embodiments of the present invention, such as Figures 17-19 As shown, the positioning table 90 also includes a conveying device 93, which is mounted on the positioning base plate 91. The conveying device 93 can convey the workpiece 711 on the material gripping module 200 to a preset position. The workpiece 711 moves smoothly and accurately, reducing the time spent on manual operation, realizing automated production on the assembly line, and improving production efficiency.

[0098] According to some embodiments of the present invention, such as Figures 17-19 As shown, the conveying device 93 may include a drive motor 931 and conveying components 932. The drive motor 931 is mounted on the positioning base plate 91. There are two conveying components 932, which are parallel and spaced apart. The clamping device 92 is located between the two conveying components 932. The conveying components 932 are driven by the drive motor 931. Thus, when the drive motor 931 is working, it can drive the two conveying components 932 to move, allowing the workpiece 711 to move smoothly and accurately onto the positioning table 90. This also facilitates the clamping device 92 in clamping the positioning component 712. The conveying device 93 has a simple structure, which helps reduce the manufacturing cost of the loading / unloading device 500. For example, the conveying component 932 can be a conveyor belt or a conveyor wheel.

[0099] In some embodiments of the present invention, such as Figure 18 As shown, a lifting device 14 is provided on the positioning base plate 91, and a conveying device 93 is provided on the lifting device 14. The lifting device 14 can push the conveying device 93 along a first direction (e.g., Figure 8 (as shown in the up-down direction). Thus, when the conveying device 93 drives the workpiece 711, the lifting device 14 can push the conveying device 93 to move along the first direction, so that the workpiece 711 on the conveying device 93 can move along the first direction with the conveying device 93. The workpiece 711 can move closer to or further away from the clamping device 92. While facilitating the clamping device 92 to clamp the workpiece 711, it can also prevent the moving workpiece 711 from rubbing against the clamping device 92 and causing scratches to the workpiece 711.

[0100] In some embodiments of the conveying device 93, including the drive motor 931, such as Figures 17-19As shown, the conveying device 93 may include two output shafts 933 and a coupling 934. A drive motor 931 is connected to one end of one of the output shafts 933, and the two output shafts 933 are connected via the coupling 934. Two conveying components 932 are respectively connected to the two output shafts 933. Therefore, when the lifting device 14 is working, the coupling 934 ensures a reliable connection between the conveying components 932 and the drive motor 931, and enables synchronous rotation and lifting of the two conveying components 932, ensuring smooth transmission of the workpiece 711. For example, the drive motor 931 and the output shafts 933 can be connected via gears or belts.

[0101] According to some embodiments of the present invention, such as Figure 18 As shown, the positioning base plate 91 is provided with a guide post 161 extending in the second direction, and the conveying device 93 is provided with a guide hole 102. The guide hole 102 cooperates with the guide post 161. When the conveying device 93 moves in the first direction, the guide hole 102 cooperates with the guide post 161 to guide the conveying device 93, avoid the conveying device 93 from deviating during movement, and ensure that the movement of the conveying device 93 is reliable.

[0102] Of course, the guide post 161 can also be located on the conveying device 93. Specifically, the conveying device 93 is provided with a guide post 161 extending in the second direction, and the positioning base plate 91 is provided with a guide hole 102 that cooperates with the guide post 161. This is also within the protection scope of the present invention.

[0103] In some embodiments, such as Figure 9 , Figure 10 and Figure 11 As shown, the positioning stage 90 may include a guide bearing 162, which is located on the positioning base plate 91. The guide column 161 cooperates with the guide bearing 162 to make the guide column 161 move more smoothly, ensuring that the conveying device 93 moves smoothly along the first direction, avoiding jamming, and ensuring the reliability of the movement of the conveying device 93.

[0104] According to some embodiments of the present invention, such as Figure 17 and Figure 18 As shown, the positioning platform 90 includes two support assemblies 24, which are respectively located on both sides of the conveying device 93. Each support assembly 24 includes a support member 241 and multiple (at least two) support wheels 242. The multiple support wheels 242 are rotatably mounted on the side of the support member 241 facing the conveying device 93, and the multiple support wheels 242 are aligned with the conveying direction of the conveying device 93 (e.g., in the direction of transport). Figure 17As shown in the left and right directions, the workpiece 711 is spaced apart and can be located on the conveying device 93 and the support wheel 242, so that the conveying device 93 and the support wheel 242 limit the workpiece 711, ensuring that the workpiece 711 moves reliably, and the workpiece 711 can cooperate with the support wheel 242. Multiple support wheels 242 contact the workpiece 711, which can avoid scratching the workpiece 711.

[0105] In some embodiments of the present invention, such as Figure 5 and Figure 16 As shown, the robotic arm 50 includes a robotic arm 51 and a mechanical gripper 52. The mechanical gripper 52 is located at one end of the robotic arm 51 and can grip the workpiece 711 to move the workpiece 711.

[0106] In addition, such as Figure 14 and Figure 15 As shown, the mechanical gripper 52 may include a mounting plate 53, a linear drive device 54, and two gripping blocks 55. The two gripping blocks 55 are mounted on the mounting plate 53 and are movable in the directions of approaching each other and moving away from each other. The linear drive device 54 is mounted on the mounting plate 53 and can drive the gripping blocks 55 to move, so that the two gripping blocks 55 can clamp or release the workpiece 711, thereby realizing the movement of the workpiece 711. The mechanical gripper 52 has a simple structure, which helps to reduce the production cost of the loading and unloading device 500. The mechanical gripper 52 has the function of adapting to the size of the workpiece 711, which can meet the needs of gripping workpieces 711 of different sizes.

[0107] In some embodiments, such as Figure 14 and Figure 15 As shown, there can be multiple clamping blocks 55 (two or more). The multiple clamping blocks 55 are connected by a crossbeam to ensure that the multiple clamping blocks 55 can move simultaneously, ensuring reliable clamping of the workpiece 711 and stable clamping of the workpiece 711.

[0108] In some embodiments, such as Figure 14 and Figure 15 As shown, the linear drive device 54 may include a fourth motor 541 and a lead screw assembly 542. The lead screw assembly 542 is equipped with a first gear 543, and the fourth motor 541 is equipped with a second gear 544. The first gear 543 and the second gear 544 mesh with each other, so that the fourth motor 541 can drive the lead screw assembly 542 to rotate. The two ends of the lead screw assembly 542 are connected to two clamping blocks 55. The transmission connection between the fourth motor 541 and the lead screw assembly 542 can drive the lead screw assembly 542 to rotate, so that the lead screw assembly 542 can drive the two clamping blocks 55 to move closer to each other and further away from each other, realizing the gripping and releasing of the workpiece 711. The linear drive device 54 has a simple structure and moves smoothly. For example, the linear drive device 54 can also be a cylinder or an electric cylinder, etc.

[0109] In some specific embodiments, the linear drive device 54 can be a double-rod cylinder, and the two clamping blocks 55 can be located at both ends of the output rod of the double-rod cylinder, which facilitates the movement of the two clamping blocks 55 in the direction of approaching each other and moving away from each other. The structure is simple and the two clamping blocks 55 move smoothly.

[0110] In some embodiments, such as Figure 14 and Figure 15 As shown, the mounting plate 53 may be provided with a fourth guide rail 631 on both sides. The fourth guide rail 631 cooperates with two clamping blocks 55. When the two clamping blocks 55 move closer to each other and further away from each other, the two clamping blocks 55 can be limited by the cooperation of the fourth guide rail 631 to ensure that the movement of the two clamping blocks 55 is not easy to deviate and the movement of the two clamping blocks 55 is more reliable and stable.

[0111] According to some embodiments of the present invention, such as Figure 14 and Figure 15 As shown, a clamping mechanism 60 may be provided on the clamping block 55. The clamping mechanism 60 is used to clamp the workpiece 711 to ensure that the workpiece 711 is clamped reliably and that the workpiece 711 is not easy to fall off.

[0112] In embodiments of the present invention, the specific structure of the clamping mechanism 60 can be set according to actual conditions.

[0113] For example, in some embodiments, such as Figure 14 As shown, the clamping mechanism 60 includes a first clamping device 61 and a second clamping device 62. The first clamping device 61 and the second clamping device 62 are disposed on the clamping block 55. The workpiece 711 can be clamped by the first clamping device 61 and the second clamping device 62 to ensure that the workpiece 711 is clamped reliably.

[0114] In addition, such as Figure 14 As shown, the first clamping device 61 includes a first cylinder 611 and a first pressing block 612. The first cylinder 611 can drive the first pressing block 612 to move. The second clamping device 62 includes a second cylinder 621 and a second pressing block 622. The first pressing block 612 and the second pressing block 622 are arranged in a direction perpendicular to the arrangement direction of the two clamping blocks 55. The first pressing block 612 and the second pressing block 622 can clamp the workpiece 711 to ensure reliable clamping of the workpiece 711 and prevent the workpiece 711 from falling.

[0115] Meanwhile, the second cylinder 621 can drive the second pressure block 622 to rotate around the second cylinder 621. When clamping the workpiece 711, the second cylinder 621 can drive the second pressure block 622 to avoid the workpiece 711. After the clamping block 55 clamps the workpiece 711, the second cylinder 621 can drive the second pressure block 622 and the first pressure block 612 to be arranged in a direction perpendicular to the arrangement direction of the two clamping blocks 55, so as to realize the clamping of the workpiece 711. The workpiece 711 is easy to clamp and the clamping of the workpiece 711 is reliable.

[0116] For example, in some embodiments, such as Figure 15 As shown, the clamping mechanism 60 includes a support block 63 and a first pressing device 61. The support blocks 63 on the two clamping blocks 55 are respectively located on the side of the two clamping blocks 55 closest to each other. The first pressing device 61 on the two clamping blocks 55 is respectively located on the side of the two clamping blocks 55 closest to each other. The first pressing device 61 includes a first cylinder 611 and a first pressing block 612. The first cylinder 611 can drive the first pressing block 612 to move toward or away from the support block 63. The workpiece 711 can be clamped by the first pressing block 612 and the support block 63, ensuring that the workpiece 711 is clamped reliably and preventing the workpiece 711 from falling. The clamping mechanism 60 has a simple structure, which helps to reduce the production cost of the clamping mechanism 60.

[0117] In some embodiments, such as Figure 15 As shown, the clamping mechanism 60 also includes a pressure plate device 64, which is mounted on the mounting plate 53. The pressure plate device 64 and the first clamping device 61 are spaced apart on the mounting plate 53. The pressure plate device 64 includes a third cylinder 641 and a third pressure block 642. The third cylinder 641 is mounted on the mounting plate 53, and the third pressure block 642 is connected to the third cylinder 641. The third cylinder 641 can drive the third pressure block 642 to move toward and away from the workpiece 711, so that the third pressure block 642 can press or release the workpiece 711. When clamping the workpiece 711, the third pressure block 642 can press the workpiece 711, which can ensure the flatness of the workpiece 711 and ensure the accurate positioning of the workpiece 711.

[0118] In some specific embodiments, such as Figure 15 As shown, when the robotic arm 51 drives the mechanical gripper 52 to grasp the workpiece, the two gripping blocks 55 first move away from each other. When the support block 63 on the gripping block 55 moves to below the workpiece 711, the two gripping blocks 55 move closer to each other, so that the edge of the workpiece 711 is supported on the support block 63. Then the first clamping device 61 clamps the workpiece 711, and at the same time, the third pressure block 642 of the pressure plate device 64 presses the workpiece 711 to ensure the flatness of the workpiece 711 on the mechanical gripper 52 and the workpiece 711 is firmly clamped.

[0119] In some embodiments of the present invention, such as Figure 15 As shown, there are at least two pressure plate devices 64, which are arranged opposite to each other on the mounting plate 53 to facilitate the third pressure block 642 to press the two sides of the workpiece 711, ensuring the overall flatness of the workpiece 711 and ensuring the accurate positioning of the workpiece 711.

[0120] In some embodiments of the present invention, such as Figure 14 and Figure 15 As shown, the robotic arm 50 may include a vision inspection device 56, which is located on the mounting plate 53. The vision inspection device 56 can inspect the workpiece 711, facilitating the detection and recording of the material of the workpiece 711 or the front and back of the workpiece 711, etc., which facilitates subsequent operations and makes it easy to trace the workpiece 711. For example, the vision inspection device 56 can be a CCD camera.

[0121] In some embodiments, the workpiece 711 may be provided with an identification code. The identification code can be identified by the vision inspection device 56 to determine whether the moving workpiece 711 is the workpiece 711 to be moved. This facilitates the differentiation of workpieces 711 and avoids manual scanning, thereby realizing automated production on the assembly line and improving production efficiency.

[0122] According to some embodiments of the present invention, such as Figures 5-11 As shown, the material gripping module 200 includes a material gripping device 20 and a workpiece gripping device 100. The workpiece gripping device 100 is spaced apart from the material gripping device 20. The workpiece gripping device 100 is used to move the workpiece 711 between a first preset position and a third preset position, and the material gripping device 20 is used to move the workpiece 711 between a first preset position and a second preset position. The second preset position, the first preset position, and the third preset position are in a second direction (e.g., Figure 6 Arranged sequentially in the left and right directions as shown.

[0123] Therefore, the workpiece gripping device 100 and the material gripping device 20 can move the workpiece 711 respectively, satisfying the different movement requirements of the workpiece 711 at the second preset position, the first preset position and the third preset position. This helps to reduce the space required for the material gripping module 200 to directly move the workpiece 711 from the third preset position to the second preset position.

[0124] It should be noted that the third preset position is the initial position of the workpiece 711, the first preset position is the position after the workpiece gripping device 100 moves the workpiece 711, and the second preset position is the position after the material gripping device 20 moves the workpiece 711 located at the first preset position.

[0125] In some embodiments of the present invention, such as Figures 5-11As shown, the workpiece gripping device 100 may include: a support plate 10, a drive assembly 11, a first transmission assembly 12, a second transmission assembly 13, and a gripping mechanism 15. The first transmission assembly 12 is disposed on the support plate 10 along a first direction. The first transmission assembly 12 includes a first transmission member 121 and a second transmission member 122 that rotate synchronously. The first transmission member 121 is driveably connected to the drive assembly 11, allowing the drive assembly 11 to drive the first transmission assembly 12 to move. The second transmission assembly 13 is disposed on the support plate 10 along a second direction, perpendicular to both directions. The second transmission assembly 13 is drively connected to the second transmission member 122, converting the rotational motion of the first transmission member 121 into translational motion. The gripping mechanism 15 is disposed on the second transmission assembly 13, allowing the second transmission assembly 13 to drive the gripping mechanism 15 to reciprocate along the second direction. The gripping mechanism 15 can clamp the workpiece 711, enabling the workpiece 711 to move along the second direction. This design reduces the space required by the first transmission assembly 12 and the second transmission assembly 13, effectively improving space utilization.

[0126] Therefore, when the drive assembly 11 is working, the drive assembly 11 can drive the first transmission component 121 to rotate. The first transmission component 121 and the second transmission component 122 rotate synchronously, driving the second transmission component 122 to rotate. The second transmission component 122 and the second transmission assembly 13 are connected by transmission, driving the second transmission assembly 13 to move along the second direction. This drives the gripping mechanism 15 on the second transmission assembly 13 to reciprocate along the second direction, so that the gripping mechanism 15 can reciprocate along the second direction to clamp the workpiece 711 and realize the movement of the workpiece 711 along the second direction. This reduces the time spent on manual operation, can adapt to the high-efficiency production rhythm, realize the automated production of the assembly line, and is conducive to improving production efficiency and reducing production costs.

[0127] In addition, such as Figures 5-8 As shown, the workpiece gripping device 100 may further include a lifting device 14. The lifting device 14 drives the support plate 10 to move along a first direction, so that the second transmission component 13 located on the support plate 10 can move along the first direction with the support plate 10. When the gripping device 20 moves the workpiece 711, the second transmission component 13 can move along the first direction with the support plate 10. The second transmission component 13 can avoid collisions with the workpiece 711 to prevent damage, thus ensuring the normal operation of the gripping module 200. For example, the lifting device 14 can be a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder.

[0128] Simultaneously, the second transmission component 122 can move synchronously with the support plate 10, ensuring that it remains connected to the second transmission assembly 13. While the support plate 10 moves, the first transmission component 121 remains connected to the drive assembly 11. Therefore, when the support plate 10 moves, the drive assembly 11 and the first transmission component 121, and the second transmission component 122 and the second transmission assembly 13, are always connected, avoiding reconnection and vibration issues. This ensures reliable transmission connections, smooth operation of the workpiece gripping device 100, and simultaneous operation of the second transmission assembly 13 and the lifting device 14, making the gripping module 200 more efficient and improving production efficiency.

[0129] In some embodiments of the present invention, such as Figure 8 and Figure 9 As shown, the first transmission assembly 12 also includes a connecting shaft 123. A first transmission member 121 and a second transmission member 122 are respectively disposed at both ends of the connecting shaft 123. Both the first transmission member 121 and the second transmission member 122 rotate coaxially with the connecting shaft 123, ensuring reliable rotation of the first transmission member 121 and the second transmission member 122, and achieving a simple structure. The connecting shaft 123 passes through the support plate 10, and the connecting shaft 123 moves synchronously with the support plate 10. The connecting shaft 123 and the first transmission member 121 are aligned in the axial direction of the connecting shaft 123 (e.g., ...). Figure 8 The second transmission component 122 is slidably connected in the vertical direction shown in the diagram, and is fixed to the connecting shaft 123. Thus, when the support plate 10 moves along the first direction, the second transmission component 122, fixed to the connecting shaft 123, maintains the transmission connection between the second transmission component 122 and the drive assembly 11. The connecting shaft 123 can drive the first transmission component 121 to move along the first direction, maintaining the transmission connection between the first transmission component 121 and the second transmission assembly 13. This ensures reliable transmission connections between the drive assembly 11 and the first transmission component 121, and between the second transmission component 122 and the second transmission assembly 13, avoiding vibration caused by repeated separation and connection. This helps extend the service life of the drive assembly 11, the first transmission assembly 12, and the second transmission assembly 13. The workpiece gripping device 100 operates smoothly and has a simple structure, which helps reduce production costs.

[0130] In some embodiments, the connecting shaft 123 can be a non-standard shaft, and the first transmission member 121 is provided with a non-standard hole that matches the non-standard shaft. The non-standard shaft can mate with the non-standard hole to ensure a reliable connection between the connecting shaft 123 and the first transmission member 121, and to ensure that the connecting shaft 123 can slide in the axial direction of the connecting shaft 123. The structure is simple and helps to reduce the production cost of the workpiece gripping device 100. For example, the connecting shaft 123 can be a splined shaft, a flat key shaft, or a semi-circular key shaft, etc.

[0131] According to some embodiments of the present invention, such as Figures 6-11As shown, both the first transmission component 121 and the second transmission component 122 can be bevel gears, which facilitates the transmission connection between the first transmission component 12 along the first direction and the second transmission component 13 along the second direction. This reduces the space required for the first transmission component 12 and the second transmission component 13, effectively improving space utilization. Furthermore, the bevel gear meshing transmission ensures smooth operation of the first transmission component 12 and the second transmission component 13, guaranteeing reliable movement of the second transmission component 13 and low noise.

[0132] In some embodiments, such as Figures 8-11 As shown, a support plate 10 is provided with a support 101. The second transmission assembly 13 includes a third transmission component 131, a fourth transmission component 132, and a fifth transmission component 133. The third transmission component 131 and the fourth transmission component 132 can be mounted on the support 101 to facilitate fixing their positions and prevent movement that could cause instability. The third transmission component 131 is connected to the second transmission component 122, the fourth transmission component 132 rotates coaxially with the third transmission component 131, and the fifth transmission component 133 is connected to the fourth transmission component 132. Therefore, when the second transmission component 122 rotates, it is connected to the third transmission component 131, causing the third transmission component 131 to rotate. The third transmission component 131 and the fourth transmission component 132 rotate coaxially, causing the fourth transmission component 132 to rotate. The fourth transmission component 132 is connected to the fifth transmission component 133, thereby driving the fifth transmission component 133 to reciprocate along the second direction. This enables the gripping mechanism 15 to reciprocate along the second direction, facilitating the clamping of the workpiece 711 and allowing it to move along the second direction. The second transmission assembly 13 has a simple structure and reliable transmission, which helps reduce the production cost of the workpiece gripping device 100. For example, the third transmission component 131 and the fourth transmission component 132 can be coaxially connected bevel gears and spur gears.

[0133] In some embodiments of the present invention, such as Figure 9 and Figure 11 As shown, the fourth transmission component 132 can be a gear, and the fifth transmission component 133 can be a rack. The rotation of the gear can drive the rack to reciprocate along the second direction, which facilitates the conversion of the rotational motion of the first transmission component 121 into translational motion. The fourth transmission component 132 and the fifth transmission component 133 have simple structures and reliable transmission connections, which helps to reduce the production cost of the workpiece gripping device 100.

[0134] In some embodiments, such as Figure 6 , Figures 8-11As shown, the second transmission assembly 13 also includes a guide assembly 134, which includes a first guide rail 135 and a slider 136. The first guide rail 135 is disposed on the support plate 10, and the slider 136 cooperates with the first guide rail 135. The first guide rail 135 extends along the second direction, and the fifth transmission member 133 is connected to the slider 136. When the second transmission assembly 13 reciprocates along the second direction, the second transmission assembly 13 can limit the movement direction of the second transmission assembly 13 through the cooperation of the slider 136 and the first guide rail 135, ensuring that the movement of the fifth transmission member 133 is not prone to deviation, and that the gripping mechanism 15 moves reliably along the second direction.

[0135] In some embodiments, such as Figure 8 and Figure 9 As shown, the fifth transmission component 133 and the slider 136 can be connected by the connector 167, which helps to reduce the complexity of the structure of the fifth transmission component 133 and the slider 136 and reduce the production cost of the workpiece gripping device 100.

[0136] According to some embodiments of the present invention, such as Figures 6-11 As shown, the gripping mechanism 15 includes a first gripper 151, which is located at one end of the second transmission assembly 13. The first gripper 151 can be used to grip the workpiece 711 in the second direction, which facilitates the gripping of the workpiece 711, ensures reliable gripping of the workpiece 711, and prevents the workpiece 711 from falling off.

[0137] In embodiments of the present invention, the specific structure of the first gripper 151 can be set according to actual conditions.

[0138] For example, in some embodiments, the first gripper 151 may include a gripper cylinder, which is used to control the clamping and opening of the gripper to achieve the clamping and releasing of the workpiece 711. A push-pull rod is connected to the gripper cylinder, and a first transmission rod and a second transmission rod are respectively provided on the push-pull rod. One end of the first transmission rod and the second transmission rod are both connected to the push-pull rod, and the other ends of the first transmission rod and the second transmission rod extend in a direction away from each other. The push-pull rod and the first transmission rod, and the push-pull rod and the second transmission rod are all hinged. The other end of the first transmission rod and the second transmission rod are respectively provided with gripper components. When the gripper cylinder pulls the push-pull rod to move linearly towards the gripper cylinder, since the push-pull rod is hinged to both the first and second transmission rods, the two gripper pieces will move towards each other to satisfy the linear movement, thereby enabling the first gripper 151 to grip the workpiece 711. When the gripper cylinder pushes the push-pull rod to move linearly away from the gripper cylinder, the two gripper pieces will move away from each other to satisfy the linear movement, thereby enabling the first gripper 151 to release the workpiece 711.

[0139] In some embodiments, such as Figure 6 , Figure 7, Figure 10 and Figure 11 As shown, the first gripper 151 may include multiple sets (two or more) of gripper cylinders to facilitate gripping of the workpiece 711 and ensure reliable movement of the workpiece 711.

[0140] In some embodiments of the present invention, such as Figures 6-8 , Figure 10 As shown, there can be two support plates 10, two first transmission components 12, two second transmission components 13, and two gripping mechanisms 15, and both support plates 10, two first transmission components 12, two second transmission components 13, and two gripping mechanisms 15 are all along a third direction (e.g., Figure 8 The front and rear directions shown in the figure are spaced apart, and the third direction is perpendicular to both the first and second directions. The two gripping mechanisms 15 facilitate the clamping of the workpiece 711, and the two support plates 10 can support and move the two second transmission components 13, ensuring that the workpiece 711 is clamped firmly and moves reliably.

[0141] According to some embodiments of the present invention, such as Figures 7-10 As shown, the drive assembly 11 includes a first motor 111 and a transmission shaft 112. The first motor 111 drives the transmission shaft 112 to rotate. A transmission gear 113 is mounted on the transmission shaft 112, and the transmission gear 113 is connected to the first transmission component 121. Therefore, when the first motor 111 is working, it drives the transmission shaft 112 to rotate, which in turn drives the transmission gear 113 to rotate. The transmission gear 113, being connected to the first transmission component 121, drives the first transmission component 121 to rotate, thus enabling the first transmission assembly 12 to operate. The drive assembly 11 has a simple structure, which helps reduce the production cost of the workpiece gripping device 100. For example, the first motor 111 can drive the transmission shaft 112 to rotate via belt drive or gear drive, etc.

[0142] In some embodiments where the support plate 10, the first transmission assembly 12, the second transmission assembly 13, and the gripping mechanism 15 are all in pairs, such as... Figure 6 , Figure 8 and Figure 10 As shown, both ends of the transmission shaft 112 are provided with transmission gears 113. The two transmission gears 113 are respectively connected to the two first transmission components 121 to ensure that the two second transmission components 13 move reliably and can achieve the same moving distance, thus ensuring that the workpiece 711 is clamped securely.

[0143] In some embodiments of the present invention, such as Figures 6-9As shown, the workpiece gripping device 100 also includes a base plate 16, on which a support plate 10 can be mounted. A first transmission component 121 is rotatably mounted on the base plate 16, facilitating the support plate 10 and the first transmission component 121 for support and positioning. The drive assembly 11 and the lifting device 14 are both located on the side of the base plate 16 away from the support plate 10. The lifting device 14 drives the support plate 10 to move relative to the base plate 16 in a first direction, ensuring reliable movement of the support plate 10. The base plate 16 can separate the second transmission assembly 13 from the drive assembly 11 and the lifting device 14, preventing the drive assembly 11 and the lifting device 14 from affecting the normal operation of the second transmission assembly 13 when the workpiece gripping device 100 is working, and preventing them from contacting the workpiece 711 and causing damage, thus ensuring the reliable operation of the workpiece gripping device 100.

[0144] According to some embodiments of the present invention, such as Figure 9 , Figure 10 and Figure 11 As shown, the base plate 16 is provided with a guide post 161 extending in the second direction, and the support plate 10 is provided with a guide hole 102. The guide hole 102 cooperates with the guide post 161. When the support plate 10 moves in the first direction, the guide hole 102 cooperates with the guide post 161 to guide the support plate 10, avoid the support plate 10 from shifting, and ensure that the movement of the support plate 10 is reliable.

[0145] Of course, the guide post 161 can also be located on the support plate 10. Specifically, the support plate 10 is provided with a guide post 161 extending in the second direction, and the bottom plate 16 is provided with a guide hole 102 that cooperates with the guide post 161. This is also within the protection scope of the present invention.

[0146] In some embodiments, such as Figure 9 , Figure 10 and Figure 11 As shown, the workpiece gripping device 100 may include a guide bearing 162, which is located on the base plate 16. The guide column 161 cooperates with the guide bearing 162 to make the guide column 161 move more smoothly, ensuring that the support plate 10 moves smoothly in the first direction, avoiding jamming, and ensuring the reliability of the movement of the support plate 10.

[0147] In some embodiments of the present invention, such as Figure 6 , Figure 8 , Figure 9 and Figure 12As shown, the material handling device 20 includes a translation drive component 21 and a clamping component 22. The translation drive component 21 drives the clamping component 22 to reciprocate along the second direction, so that the clamping component 22 can clamp the workpiece 711. The clamping component 22 can move the workpiece 711 between a first preset position and a second preset position to meet the movement requirements of the workpiece 711, reduce the time spent on manual operation, adapt to the high-efficiency production rhythm, realize the automated production of the assembly line, and help improve production efficiency.

[0148] According to some embodiments of the present invention, such as Figure 6 , Figure 8 Figure 9 and Figure 12 As shown, when the workpiece gripping device 100 includes a base plate 16, the support plate 10 and the translation drive assembly 21 are located on the same side of the base plate 16, facilitating the gripping mechanism 15 and the clamping assembly 22 to clamp the workpiece. Furthermore, when the translation drive assembly 21 is working, the support plate 10 can move along a first direction, allowing it to avoid the workpiece on the clamping assembly 22. The gripping device 20 also includes a support base 23, on which the clamping assembly 22 can be located. The support base 23 is connected to the translation drive assembly 21, which allows the support base 23 to reciprocate along a second direction on the base plate 16. This enables the clamping assembly 22 to reciprocate along the second direction, ensuring reliable movement of the clamping assembly 22. The support base 23 also facilitates the storage and protection of the clamping assembly 22, thus improving its service life.

[0149] In some embodiments of the present invention, such as Figure 6 , Figure 8 , Figure 9 and Figure 12 As shown, the translation drive assembly 21 includes a second motor 211, two pulleys 212, and a belt 213. The second motor 211 is mounted on the base plate 16, and the pulleys 212 are rotatably mounted on the base plate 16 to facilitate fixing the second motor 211 and pulleys 212 and prevent them from moving. The two pulleys 212 are spaced apart in the second direction, and the belt 213 is wound around the pulleys 212. The second motor 211 is connected to one of the pulleys 212. A support base 23 is mounted on the belt 213, and the support base 23 moves synchronously with the belt 213. Therefore, when the second motor 211 is working, the second motor 211 can drive one of the pulleys 212 to rotate. The rotation of the pulley 212 can drive the belt 213 and the other pulley 212 to move, so that the belt 213 can drive the support seat 23 on the belt 213 to move, so that the clamping component 22 can reciprocate along the second direction, ensuring reliable movement. Moreover, the translation drive component 21 has a simple structure, which is conducive to reducing the production cost of the gripping device 20.

[0150] In some embodiments, such as Figure 8 and Figure 9 As shown, a clamp 231 may be provided on the support base 23. The clamp 231 is fixed to the belt 213. The clamp 231 can fix the support base 23 to the belt 213, ensuring that the connection between the support base 23 and the belt 213 is reliable and that the support base 23 and the belt 213 are not easy to move.

[0151] According to some embodiments of the present invention, such as Figure 6 , Figure 8 and Figure 12 As shown, a second guide rail 163 may be provided on the base plate 16. The second guide rail 163 extends along the second direction. The support seat 23 is slidably provided on the second guide rail 163. When the support seat 23 reciprocates along the second direction, the support seat 23 can limit the movement direction of the support seat 23 by cooperating with the second guide rail 163, ensuring that the movement of the support seat 23 is not easily deviated, and the clamping assembly 22 moves reliably along the second direction.

[0152] In some embodiments of the present invention, such as Figure 6 and Figure 12 As shown, the clamping assembly 22 includes a second gripper 221 and a pusher 222. The second gripper 221 is used to clamp the workpiece 711 in a second direction. The pusher 222 is located on the support base 23. For example, the pusher 222 can be a cylinder, an electric motor, or a linear motor. The second gripper 221 is connected to the pusher 222. The second gripper 221 facilitates the clamping of the workpiece 711, ensuring reliable clamping of the workpiece 711 and preventing the workpiece 711 from falling off. The pusher 222 can drive the second gripper 221 to move in the second direction, allowing the second gripper 221 to avoid the workpiece and effectively reduce the space occupied by the translation drive assembly 21.

[0153] In embodiments of the present invention, the specific structure of the second gripper 221 can be set according to actual conditions.

[0154] For example, in some embodiments, the second gripper 221 may include a gripper cylinder, which is used to control the clamping and opening of the gripper to achieve the clamping and releasing of the workpiece 711. A push-pull rod is connected to the gripper cylinder, and a first transmission rod and a second transmission rod are respectively provided on the push-pull rod. One end of the first transmission rod and the second transmission rod are both connected to the push-pull rod, and the other ends of the first transmission rod and the second transmission rod extend in a direction away from each other. The push-pull rod and the first transmission rod, and the push-pull rod and the second transmission rod are all hinged. The other end of the first transmission rod and the second transmission rod are respectively provided with gripper components. When the gripper cylinder pulls the push-pull rod to move linearly closer to the gripper cylinder, since the push-pull rod is hinged to both the first and second transmission rods, the two gripper pieces will move toward each other to satisfy the linear movement, thereby enabling the second gripper 221 to grip the workpiece 711. When the gripper cylinder pushes the push-pull rod to move linearly away from the gripper cylinder, the two gripper pieces will move away from each other to satisfy the linear movement, thereby enabling the second gripper 221 to release the workpiece 711.

[0155] In some embodiments, such as Figure 8 and Figure 12 As shown, there can be multiple second grippers 221. Multiple second grippers 221 are connected by an adapter plate 223, which enables the simultaneous driving of multiple second grippers 221 and them to have the same moving distance, ensuring that the workpiece 711 is firmly clamped and the driving is reliable.

[0156] In embodiments of the present invention, the number of second grippers 221 can be flexibly set according to actual conditions. For example, the number of second grippers 221 can be as follows: Figure 12 The number shown is two, but it can also be three, four, five, six or more, all of which are within the protection scope of this invention.

[0157] According to some embodiments of the present invention, such as Figure 6 , Figure 8 and Figure 9 As shown, the material gripping module 200 includes two support components 24, and the two support components 24 are respectively located in the moving direction of the material gripping device 20 (e.g., Figure 6 On both sides (as shown in the left and right directions), the support assembly 24 can support the workpiece 711 to ensure reliable movement of the workpiece 711.

[0158] In addition, such as Figure 6 , Figure 8 and Figure 9As shown, the support assembly 24 includes a support member 241 and multiple (two or more) support wheels 242. The multiple support wheels 242 are rotatably disposed on the support member 241 and are spaced apart along the second direction. The workpiece 711 can cooperate with the support wheels 242. The multiple support wheels 242 facilitate the movement and support of the workpiece 711, making the movement of the workpiece 711 smoother and avoiding scratches to the workpiece 711.

[0159] In some embodiments of the present invention, such as Figures 6-8 , Figure 21 As shown, the workpiece 711 is provided with a positioning element 712. The gripping module 200 includes a positioning guide assembly 25, which includes a guide groove 251 for accommodating the positioning element 712. The guide groove 251 extends along a second direction. When the gripping module 200 moves the workpiece 711, the positioning element 712 can move within the guide groove 251, ensuring reliable movement of the workpiece 711 and preventing it from shifting. For example, positioning elements 712 can be provided on both sides of the workpiece 711 to ensure reliable movement of the workpiece 711 and prevent it from shifting.

[0160] In some specific embodiments, such as Figures 6-8 As shown, the positioning guide assembly 25 may include two spaced vertical plates 252. The gap between the two vertical plates 252 can form a guide groove 251. The two vertical plates 252 can limit the positioning member 712, prevent the positioning member 712 from shifting, and ensure that the workpiece 711 moves reliably. Moreover, the positioning guide assembly 25 has a simple structure, which helps to reduce the production cost of the material gripping device 20.

[0161] According to some embodiments of the present invention, such as Figure 16 As shown, the loading and unloading device 500 also includes a lifting mechanism 40, which is located on the support platform 80. The material gripping module 200 is located on the lifting mechanism 40. The height of the material gripping module 200 can be adjusted through the lifting mechanism 40, which makes it easier for the material gripping module 200 to grip workpieces 711 of different heights. The workpieces 711 are gripped more conveniently, which can realize automated production on the assembly line and improve production efficiency.

[0162] In some embodiments of the present invention, such as Figure 5 and Figure 13 As shown, the lifting mechanism 40 includes a pallet 41 and a power component 42. The material gripping module 200 is mounted on the pallet 41, which supports the material gripping module 200 to ensure reliable support. The power component 42 is mounted on the base 30 and is used to drive the pallet 41 to reciprocate along a first direction, thereby enabling the material gripping module 200 to reciprocate along the first direction. This allows for height adjustment of the material gripping module 200, and the structure is simple, which helps to reduce the production cost of the loading and unloading device 500.

[0163] According to some embodiments of the present invention, for example Figure 13 As shown, the power assembly 42 includes a third motor 421 and a lead screw 422. The third motor 421 is mounted on the base 30, and the lead screw 422 extends along a first direction. One end of the lead screw 422 is connected to the third motor 421 for transmission. A lead screw nut 423 is provided on the lead screw 422, and the support plate 41 is connected to the lead screw nut 423. Thus, when the third motor 421 is working, it can drive the lead screw 422 to rotate. The rotation of the lead screw 422 can drive the lead screw nut 423 to move along the first direction of the lead screw 422, thereby enabling the lead screw nut 423 to drive the support plate 41 to move along the first direction. This ensures that the movement of the support plate 41 is reliable and stable, and the structure is simple, which helps to reduce the production cost of the loading and unloading device 500. For example, the third motor 421 can be a servo motor.

[0164] In some embodiments, such as Figure 13 As shown, the third motor 421 is equipped with a first synchronous gear, and the lead screw 422 is equipped with a second synchronous gear. The first synchronous gear and the second synchronous gear mesh and drive each other. Thus, the third motor 421 can drive the first synchronous gear to rotate, and the meshing of the first synchronous gear and the second synchronous gear drives the second synchronous gear to rotate, so that the second synchronous gear can drive the lead screw 422 to rotate, ensuring reliable connection and simple transmission connection structure.

[0165] In some embodiments of the present invention, such as Figure 5 and Figure 13 As shown, a third guide rail 31 is provided on the base 30. The third guide rail 31 cooperates with the tray 41. The third guide rail 31 extends along the first direction. When the tray 41 moves along the first direction, the tray 41 can limit the movement direction of the tray 41 by cooperating with the third guide rail 31, so as to ensure that the movement of the tray 41 is not easily deviated and the movement of the tray 41 along the first direction is reliable.

[0166] In some embodiments of the present invention, such as Figure 16 As shown, the support platform 80 has a placement space 81 located below the positioning platform 90. The placement space 81 is used to place the hopper 721, which is used to place the workpiece 711. The hopper 721 stores the workpiece 711, which can be placed in the placement space 81. The gripping module 200 can grip the workpiece 711 in the hopper 721 and place it onto the positioning platform 90, facilitating the sequential gripping of the workpiece 711 and avoiding the need to transport individual workpieces 711. This enables automated production on the assembly line and improves production efficiency.

[0167] According to some embodiments of the present invention, such as Figure 16As shown, the bottom wall of the placement space 81 is equipped with a conveyor platform 732. The conveyor platform 732 is used to support and convey the hopper 721, facilitating the placement of the hopper 721. The conveyor platform 732 also allows the hopper 721 to be easily moved to or out of the placement space 81, facilitating replacement of the hopper 721. This reduces the time spent on manual operation, lowers labor costs, and enables automated production on the assembly line, thereby improving production efficiency. For example, the conveyor platform 732 can be a conveyor roller or a conveyor wheel.

[0168] In some embodiments of the present invention, such as Figure 16 As shown, the loading / unloading device 500 also includes a traveling component 731, which is located at the bottom of the support platform 80. The traveling component 731 can move the position of the loading / unloading device 500 to meet the needs of loading / unloading workpieces 711 at different positions, realizing automated production on the assembly line and improving production efficiency. For example, the traveling component 731 can be an AGV (Automated Guided Vehicle).

[0169] In some embodiments, the walking component 731 may use QR code navigation. The QR code can set the walking position of the walking component 731, forming the walking path of the walking component 731, ensuring reliable movement of the walking component 731 and ensuring accurate movement position of the walking component 731.

[0170] The loading and unloading system 600 according to an embodiment of the present invention includes a feeding system 400, a processing equipment 700, and a loading and unloading device 500 according to an embodiment of the present invention.

[0171] Specifically, such as Figure 1 , Figure 2 and Figure 4 As shown, the processing equipment 700 is used to process the workpiece 711 to be processed, realizing the processing of the workpiece 711. The loading and unloading device 500 can provide the workpiece 711 to be processed to the processing equipment 700 and transfer the processed workpiece 711, facilitating loading and unloading of the processing equipment 700. The feeding system 400 can provide the workpiece 711 to be processed to the loading and unloading device 500 and transfer the processed workpiece 711 on the loading and unloading device 500, realizing automated production on the assembly line and improving production efficiency. For example, the processing equipment 700 can be a drilling rig.

[0172] Since the loading and unloading device 500 according to the embodiment of the present invention has the above-mentioned beneficial technical effects, the loading and unloading system 600 according to the embodiment of the present invention, by gripping the workpiece 711 through the gripping module 200 and transferring it to the positioning table 90, the positioning table 90 positions the workpiece 711 at a preset position, and the robot arm 50 transfers the workpiece 711 at the preset position on the positioning table 90, it can ensure the accurate positioning of the workpiece 711, and the position of the workpiece 711 gripped by the robot arm 50 is the same, making it convenient for the robot arm 50 to grip, effectively reducing the processing error of the workpiece 711, facilitating the realization of automated production line, and helping to improve production efficiency.

[0173] In some embodiments, the processing equipment 700 can record and transmit the processing information of the workpiece 711 on the processing equipment 700, so as to facilitate the processing and backup of the workpiece 711.

[0174] In some embodiments of the present invention, such as Figures 1-3 As shown, the feeding system 400 may include a temporary storage platform 71, a hopper platform 72, and a workpiece transfer device 300. The temporary storage platform 71 can store workpieces 711 to be processed and / or processed workpieces 711, facilitating the neat storage of the workpieces 711. The hopper platform 72 can store a hopper 721, where workpieces 711 can be placed. The hopper 721 can hold workpieces 711, and the hopper platform 72 can neatly store the workpieces 711. Furthermore, the workpiece transfer device 300 can transfer workpieces 711 between the temporary storage platform 71 and the hopper platform 72, allowing workpieces 711 to be transferred between the hoppers 721 on the temporary storage platform 71 and the hopper platform 72 via the workpiece transfer device 300. This avoids manual transfer of workpieces 711, reduces the time spent on manual operation, and avoids problems such as different materials of workpieces 711 or incorrect placement of workpieces 711 due to human fatigue. It can adapt to a high-efficiency production rhythm, realize automated production on the assembly line, and help improve production efficiency.

[0175] In some embodiments where the workpiece 711 is provided with a positioning element 712, the workpiece 711 is located on the temporary storage platform 71 in a stacked manner, and the workpiece 711 is placed in a forward and reverse stacked manner, which facilitates the storage of the workpiece and avoids the positioning element 712 from contacting the opposite workpiece 711 and causing damage.

[0176] In some embodiments where workpiece 711 is located in hopper 721, the position of workpiece 711 within hopper 721 is a third preset position, the position of workpiece 711 after being moved by workpiece gripping device 100 is a first preset position, at least a portion of workpiece 711 is located within hopper 721 when workpiece 711 is in the first preset position, and the position of workpiece 711 on lifting mechanism 40 is a second preset position. Thus, the gripping module 200 can remove workpiece 711 from hopper 721 and place it on lifting mechanism 40, or the gripping module 200 can place workpiece 711 located on lifting mechanism 40 into hopper 721, achieving workpiece gripping and improving production efficiency.

[0177] According to some embodiments of the present invention, such as Figures 1-3 As shown, the feeding system 400 includes a first transfer device 73 and a second transfer device 74. The first transfer device 73 can transfer the workpiece 711 to or from the temporary storage platform 71, and the second transfer device 74 can transfer the hopper 721 to or from the hopper platform 72. By cooperating with the first transfer device 73 and the second transfer device 74, the production of the workpiece 711 on different production lines can be met, satisfying different usage requirements and demonstrating strong adaptability.

[0178] In some embodiments of the present invention, such as Figure 17 As shown, both the first transfer device 73 and the second transfer device 74 include a walking component 731 and a conveyor 732. The conveyor 732 is located on the walking component 731 and is used to transfer the workpiece 711 or the hopper 721, facilitating the first transfer device 73 and the second transfer device 74 to move the workpiece 711 or the hopper 721 into or out of the first transfer device 73 and the second transfer device 74. The first transfer device 73 and the second transfer device 74 can move through the walking component 731, enabling the first transfer device 73 and the second transfer device 74 to transfer the workpiece 711 or the hopper 721, reducing the time spent on manual operation, reducing the labor force, realizing automated production on the assembly line, and improving production efficiency.

[0179] In some embodiments, such as Figures 1-3 As shown, the conveyor 732 of the first transfer device 73 can transfer the workpiece 711 in height, making it convenient to place the workpiece 711 on the temporary storage platform 71.

[0180] In some embodiments, such as Figures 1-3 As shown, the conveyor 732 of the first transfer device 73 can transfer the workpiece 711 on a horizontal plane, making it convenient to place the workpiece 711 on the silo platform 72.

[0181] According to some embodiments of the present invention, such as Figure 1 , Figure 2 , Figure 4 and Figure 20 As shown, the loading and unloading system 600 also includes a hopper transfer device 75, which can move the hopper 721 between the hopper platform 72 and the loading and unloading device 500, so as to provide the loading and unloading device 500 with workpieces 711 to be processed and transfer the workpieces 711 already processed on the loading and unloading device 500, thereby realizing automated production on the assembly line and improving production efficiency.

[0182] In addition, such as Figure 4 and Figure 20 As shown, the silo transfer device 75 can be provided with at least two storage stations 751, and each storage station 751 is provided with a conveyor 732. The conveyor 732 is used to transfer the silo 721, which facilitates the movement of the silo 721 into or out of the silo transfer device 75, reducing the time spent on manual operation and reducing the labor force. Furthermore, by providing at least two storage stations 751 on the silo transfer device 75, it is convenient to realize the position conversion of at least two silos 721 on the silo platform 72 and the silo transfer device 75, and on the loading and unloading device 500 and the silo transfer device 75, which facilitates the realization of automated production line and helps to improve production efficiency.

[0183] In embodiments of the present invention, the specific structure of the workpiece transfer device 300 can be set according to actual conditions.

[0184] For example, in some embodiments, such as Figure 5 As shown, the workpiece transfer device 300 may include a base 30, a lifting mechanism 40, and a gripping module 200, which is used to grip the workpiece 711.

[0185] Specifically, the material gripping module 200 can be located on the lifting mechanism 40, which is located on the base 30. The height of the material gripping module 200 can be adjusted through the lifting mechanism 40, making it easier for the material gripping module 200 to grip workpieces 711 of different heights. This makes it easier to grip workpieces 711, enabling automated production on the assembly line and improving production efficiency.

[0186] In addition, such as Figure 5 As shown, the workpiece transfer device 300 also includes a robot arm 50, which can transfer the workpiece 711 from the lifting mechanism 40 or transfer the workpiece 711 to the lifting mechanism 40, avoiding manual transfer of the workpiece 711, reducing the time spent on manual operation, and avoiding problems such as different materials of the workpiece 711 or incorrect placement of the workpiece 711 due to human fatigue operation. It can adapt to the high-efficiency production rhythm, realize the automated production of the assembly line, and help improve production efficiency.

[0187] According to some embodiments of the present invention, such as Figure 5 As shown, the workpiece transfer device 300 also includes a placement platform 32, which is located on the base 30 and is higher than the upper surface of the lifting mechanism 40. The placement platform 32 can temporarily store the workpiece 711. Thus, when the workpiece 711 is placed in different orientations, the robot arm 50 can place the workpiece 711 on the placement platform 32 and flip it to ensure that the front and back of the workpiece 711 are consistent. The adjustment of the front and back of the workpiece 711 is convenient and accurate, avoiding the problems of low production efficiency caused by manually flipping each workpiece 711. It can adapt to a high-efficiency production rhythm, realize automated production on the assembly line, and help improve production efficiency.

[0188] For example, after the robot arm 50 grasps the workpiece 711, if the workpiece 711 is detected as reversed, the robot arm 50 places the workpiece 711 from above the placement table 32 onto the placement table 32, and then moves the robot arm 50 below the placement table 32 to grasp the workpiece 711, and then transfers the workpiece 711 to the lifting mechanism 40, thus realizing the flipping of the workpiece 711; if the workpiece 711 is detected as front-side, the robot arm 50 directly transfers the workpiece 711 to the lifting mechanism 40, thus realizing automated production on the assembly line and improving production efficiency.

[0189] In some embodiments of the present invention, such as Figure 5 As shown, the workpiece transfer device 300 also includes a walking component 731, which is located at the bottom of the base 30. The position of the workpiece transfer device 300 can be moved by the walking component 731 to meet the needs of the workpiece transfer device 300 to transfer workpieces 711 at different positions, realize automated production on the assembly line, and improve production efficiency.

[0190] The following describes in detail a loading and unloading system 600 according to a specific embodiment of the present invention with reference to the accompanying drawings. It is to be understood that the following description is merely illustrative and should not be construed as limiting the invention. In this description, the raw material silo is an empty silo, meaning that no workpieces 711 are placed in the silo 721; the cooked material silo is a full silo, meaning that the silo 721 is filled with workpieces 711; raw material refers to unprocessed workpieces 711; and cooked material refers to processed workpieces 711.

[0191] When the loading and unloading system 600 uses a stacking + hopper loading and unloading configuration, refer to... Figures 1-4As shown, raw materials are transported from the production line to the temporary storage platform 71 in a stacked manner by the first transfer device 73. The workpiece transfer device 300 sequentially places the raw materials into the raw material bins on the silo platform 72. Simultaneously, the workpiece transfer device 300 reads the identification codes on the surface of the raw materials to identify whether the material numbers match, placing raw materials with the same material number into the same silo 721. After the silo 721 is full, the system calls the silo transfer device 75 to connect with the silo platform 72 via the QR code located in front of the silo platform 72. The raw materials are then transferred from the silo platform 72 to the silo transfer device 75 via the conveyor 732 on both the silo platform 72 and the silo transfer device 75, awaiting a call from the loading / unloading device 500.

[0192] After the raw material in the hopper 721 of the loading / unloading device 500 has been completely replaced with clinker, one of the storage stations 751 of the hopper transfer device 75 transports the raw material hopper to the loading / unloading device 500 for docking. The hopper transfer device 75 and the loading / unloading device 500 use a conveyor 732 to transport the clinker hopper of the loading / unloading device 500 to the empty storage station 751 of the hopper transfer device 75. Then, the hopper transfer device 75 turns around and uses the conveyor 732 to transport the raw material hopper to the placement space 81 of the loading / unloading device 500.

[0193] The loading and unloading device 500 uses its gripping module 200 to remove raw material from the hopper 721 and place it on the lifting mechanism 40. The lifting mechanism 40 then lifts the sheet metal to a position where it aligns with the positioning table 90. The gripping module 200 grips the raw material and pushes a portion of it onto the positioning table 90. The raw material can also be conveyed along the guide groove 251 to a preset position via the conveying device 93. The clamping device 92 clamps and positions the two positioning elements 712 on the raw material, and the robotic arm 50 places it onto the processing equipment 700 for processing. After processing, the robotic arm 50 of the loading and unloading device 500 picks up the finished product from the processing equipment 700 and places it on the lifting mechanism 40. The lifting mechanism 40 lowers the finished product to the position vacated by removing the raw material from the hopper in the previous step, and the gripping module 200 pushes the finished product back into the hopper. This cycle continues, replacing all the raw materials in the raw material bin with wrought steel.

[0194] The clinker bin on the material transfer device 75 is transported to the corresponding workstation on the material bin platform 72. The clinker in the clinker bin is then taken out sequentially by the workpiece transfer device 300 and placed in a stack on the temporary storage platform 71. After a certain amount of clinker is placed on the temporary storage platform 71, it is transported by the first transfer device 73 to the loading port of the next production line.

[0195] When the loading and unloading system 600 uses a hopper-style loading and unloading method, refer to... Figures 1-4As shown, raw materials are placed directly into the raw material silo from the outlet of the upper production line. The raw material silo is then placed on the second transfer device 74. Once the raw material silo is full, the second transfer device 74 transports the silo to the silo platform 72. Simultaneously, the clinker silo on the silo transfer device 75 is transported to the corresponding station on the silo platform 72, and then the second transfer device 74 transfers the clinker silo to the loading port of the lower production line for loading. Other processes can refer to the above loading and unloading methods and will not be elaborated here.

[0196] Other configurations and operations of the loading / unloading system 600 and loading / unloading device 500 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0197] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0198] In the description of this specification, the references to terms such as "embodiment," "specific embodiment," and "example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0199] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A loading and unloading device, characterized in that, include: Support platform; A material gripping module is provided on the support platform. The material gripping module is used to grip the workpiece, take the workpiece out of the hopper and place it in the lifting mechanism, or place the workpiece located in the lifting mechanism into the hopper. A positioning platform is provided on the support platform and is used to position the workpiece at a preset position. The material gripping module is used to transfer the workpiece from the lifting mechanism to the positioning platform. The support platform has a placement space for placing the hopper, which is located below the positioning platform. The hopper is used to place the workpiece, and the material gripping module is adapted to grip the workpiece in the hopper onto the positioning platform. A robotic arm, mounted on the support platform, is used to transfer the workpiece located at the preset position on the positioning platform out of the positioning platform, or to place the workpiece on the lifting mechanism.

2. The loading and unloading device according to claim 1, characterized in that, The workpiece is provided with a positioning element, and the positioning stage includes: A positioning base plate is provided on the support platform; A clamping device is provided on the positioning base plate and is used to clamp the positioning element.

3. The loading and unloading device according to claim 2, characterized in that, The positioning station also includes: A conveying device, which is mounted on the positioning base plate, is used to convey the workpiece on the material gripping module to the preset position.

4. The loading and unloading device according to claim 3, characterized in that, The conveying device includes: A drive motor is mounted on the positioning base plate; The conveyor consists of two parallel and spaced-apart components, which are driven by the drive motor, and the clamping device is located between the two conveyor components.

5. The loading and unloading device according to claim 3, characterized in that, The positioning base plate is provided with a lifting device, and the conveying device is mounted on the lifting device. The lifting device is adapted to push the conveying device to move along a first direction.

6. The loading and unloading device according to claim 3, characterized in that, The positioning stage includes: The support assembly comprises two components, each disposed on one side of the conveying device. Each support assembly includes a support member and a plurality of support wheels. The plurality of support wheels are rotatably disposed on the side of the support member facing the conveying device and are spaced apart in the conveying direction of the conveying device. The workpiece is adapted to be located on the conveying device and the support wheels.

7. The loading and unloading device according to claim 1, characterized in that, The robotic arm includes: robotic arm; A mechanical gripper is disposed at one end of the robotic arm. The mechanical gripper includes a mounting plate, a linear drive device, and two gripping blocks. The two gripping blocks are movably disposed on the mounting plate in directions toward and away from each other. The linear drive device is disposed on the mounting plate and drives the gripping blocks to move. The two gripping blocks are used to grip or release the workpiece.

8. The loading and unloading device according to claim 7, characterized in that, The clamping block is provided with a clamping mechanism, which is used to clamp the workpiece. The clamping mechanism includes: A first pressing device is disposed on the clamping block and includes a first cylinder and a first pressing block. The first cylinder can drive the first pressing block to move. The second clamping device is disposed on the clamping block and includes a second cylinder and a second pressing block. The second cylinder can drive the second pressing block to rotate around the second cylinder. The first pressing block and the second pressing block are arranged in a direction perpendicular to the arrangement direction of the two clamping blocks to clamp the workpiece.

9. The loading and unloading device according to claim 7, characterized in that, The clamping block is provided with a clamping mechanism, which is used to clamp the workpiece. The clamping mechanism includes: Support blocks, the support blocks on the two clamping blocks are respectively located on the side of the two clamping blocks closest to each other; The first clamping device, located on one side of each of the two clamping blocks respectively and including a first cylinder and a first pressing block, wherein the first cylinder can drive the first pressing block to move toward or away from the support block to clamp the workpiece.

10. The loading and unloading device according to any one of claims 8 or 9, characterized in that, The clamping mechanism further includes: A pressure plate device is provided on the mounting plate. The pressure plate device and the first pressing device are spaced apart on the mounting plate. The pressure plate device includes a third cylinder and a third pressing block. The third cylinder is provided on the mounting plate. The third pressing block is connected to the third cylinder. The third cylinder is used to drive the third pressing block to move in the direction toward and away from the workpiece.

11. The loading and unloading device according to claim 10, characterized in that, There are at least two pressure plate devices, and at least two pressure plate devices are arranged opposite to each other on the mounting plate.

12. The loading and unloading device according to claim 7, characterized in that, The robotic arm includes: A visual inspection device is located on the mounting plate and is used to inspect the workpiece.

13. The loading and unloading device according to claim 1, characterized in that, The material handling module includes: A material gripping device, comprising a translation drive assembly and a clamping assembly, wherein the translation drive assembly drives the clamping assembly to reciprocate along a second direction; A workpiece gripping device is provided, which is spaced apart from the material gripping device. The workpiece gripping device is used to move the workpiece between a first preset position and a third preset position, and the material gripping device is used to move the workpiece between the first preset position and a second preset position. The second preset position, the first preset position, and the third preset position are arranged sequentially in a second direction.

14. The loading and unloading device according to claim 13, characterized in that, The workpiece gripping device includes: Support plate; Driver components; A first transmission assembly is disposed on the support plate along a first direction. The first transmission assembly includes a first transmission member and a second transmission member that rotate synchronously. The first transmission member is connected to the drive assembly in a transmission manner. The second transmission assembly is disposed on the support plate along the second direction, the first direction and the second direction are perpendicular, and the second transmission assembly and the second transmission member are connected to each other to convert the rotational motion of the first transmission member into translational motion. A lifting device drives the support plate to move along the first direction, and the second transmission component moves synchronously with the support plate. When the support plate moves, the first transmission component remains in transmission connection with the driving assembly. A gripping mechanism is provided on the second transmission assembly, and the second transmission assembly drives the gripping mechanism to reciprocate along the second direction to clamp the workpiece.

15. The loading and unloading device according to claim 14, characterized in that, The first transmission assembly further includes: A connecting shaft is provided, with the first transmission member and the second transmission member respectively disposed at both ends of the connecting shaft. The connecting shaft passes through the support plate and moves synchronously with the support plate. The connecting shaft and the first transmission member are slidably connected in the axial direction of the connecting shaft. The second transmission member is fixed to the connecting shaft. Both the first transmission member and the second transmission member rotate coaxially with the connecting shaft.

16. The loading and unloading device according to claim 14, characterized in that, The support plate is provided with a support, and the second transmission assembly includes: A third transmission component is disposed on the support and is connected to the second transmission component in a transmission manner; The fourth transmission component is disposed on the support, and the fourth transmission component and the third transmission component rotate coaxially. The fifth transmission component is connected to the fourth transmission component to drive the fifth transmission component to reciprocate along the second direction.

17. The loading and unloading device according to claim 16, characterized in that, The fourth transmission component is a gear, and the fifth transmission component is a rack. The rotation of the gear drives the rack to reciprocate along the second direction.

18. The loading and unloading device according to claim 14, characterized in that, The grasping mechanism includes: A first gripper is disposed at one end of the second transmission assembly, and the first gripper is used to grip the workpiece in the second direction.

19. The loading and unloading device according to claim 14, characterized in that, There are two of each of the following: the support plate, the first transmission assembly, the second transmission assembly, and the gripping mechanism. The two support plates, the two first transmission assemblies, the two second transmission assemblies, and the two gripping mechanisms are all spaced apart along a third direction, which is perpendicular to both the first and second directions.

20. The loading and unloading device according to claim 14, characterized in that, The workpiece gripping device further includes: a base plate, a support plate disposed on the base plate, a drive assembly and a lifting device both disposed on the side of the base plate away from the support plate, a first transmission member rotatably disposed on the base plate, and the lifting device driving the support plate to move relative to the base plate along the first direction; The driving component includes: First motor; A drive shaft is provided, which is driven to rotate by the first motor. A drive gear is provided on the drive shaft, and the drive gear is connected to the first transmission component.

21. The loading and unloading device according to claim 13, characterized in that, The workpiece gripping device includes a base plate, the support plate and the translation drive assembly are disposed on the same side of the base plate, the gripping device also includes a support base, the clamping assembly is disposed on the support base, the support base and the translation drive assembly are tractively connected to enable the support base to reciprocate on the base plate along the second direction, and the clamping assembly includes: The second gripper is used to grip the workpiece in the second direction; A pusher is provided on the support base, and the second gripper is connected to the pusher. The pusher is used to drive the second gripper to move along the second direction.

22. The loading and unloading device according to claim 21, characterized in that, The translation drive component includes: The second motor is located on the base plate; Two pulleys spaced apart in the second direction and a belt wound around the pulleys, the pulleys being rotatably mounted on the base plate, the second motor being drivenly connected to one of the pulleys, and the support seat being mounted on the belt and moving synchronously with the belt.

23. The loading and unloading device according to any one of claims 1-22, characterized in that, The loading and unloading device further includes a lifting mechanism, which is disposed on the support platform. The material gripping module is disposed on the lifting mechanism to adjust the height of the material gripping module. The lifting mechanism includes: Pallet, wherein the material gripping module is disposed on the pallet; A power assembly, located on the support platform, is used to drive the pallet to reciprocate along a first direction.

24. The loading and unloading device according to any one of claims 1-22, characterized in that, The bottom wall of the placement space is provided with a conveyor platform for supporting and conveying the hopper.

25. The loading and unloading device according to any one of claims 1-22, characterized in that, Also includes: A walking assembly is disposed at the bottom of the support platform.

26. A loading and unloading system, characterized in that, include: A processing device for processing the workpiece to be processed; The loading and unloading device according to any one of claims 1-25 is used to provide the workpiece to be processed to the processing equipment and to transfer the processed workpiece; A feeding system is provided to the loading and unloading device to supply the workpiece to be processed and to transfer the workpiece that has already been processed on the loading and unloading device.

27. The loading and unloading system according to claim 26, characterized in that, The feeding system includes: A temporary storage platform is used to store the workpieces to be processed and / or the workpieces that have already been processed; A silo platform for storing silos, wherein the workpiece is adapted to be placed in the silo; A workpiece transfer device for transferring the workpiece between the temporary storage platform and the hopper platform.

28. The loading and unloading system according to claim 27, characterized in that, The feeding system includes: A first transfer device is used to transfer the workpiece to or from the temporary storage platform. The second transfer device is used to transfer the silo to or out of the silo platform.

29. The loading and unloading system according to claim 28, characterized in that, Both the first and second transfer devices include a walking component and a conveyor table disposed on the walking component, the conveyor table being used to transfer the workpiece or the hopper.

30. The loading and unloading system according to claim 27, characterized in that, Also includes: A silo transfer device is used to move the silo between the silo platform and the loading / unloading device. The silo transfer device is provided with at least two storage stations, and each storage station is provided with a conveyor platform for conveying the silo.

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