Loading and unloading device

Abstract

The application discloses a feeding and discharging device, which comprises a first jig seat, a first mechanical arm, a first positioning mechanism, a second jig seat, a second mechanical arm, a third mechanical arm and a jacking mechanism. The first jig seat is used for carrying a plurality of vertically placed feeding string rods. The first mechanical arm is arranged on one side of the first jig seat and is used for feeding semi-finished products to the feeding string rods. The first positioning mechanism is arranged on both sides of the first jig seat and is used for stabilizing the feeding string rods. The second jig seat is arranged at one end of the first jig seat and is used for carrying a plurality of vertically placed discharging string rods. The second mechanical arm is used for discharging finished products on the discharging string rods. The third mechanical arm is used for transferring the spacer on the discharging string rod to the feeding string rod. The jacking mechanism is arranged on one side of the second jig seat and is used for jacking and clamping the finished products or the spacer on the discharging string rod. The feeding and discharging device can improve the automation degree and stability of feeding and discharging.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical processing equipment, in particular to a feeding and discharging device. BACKGROUND

[0002] In related art, when a ring-shaped semi-finished product is processed by side polishing, a worker needs to first sleeve the product and the spacer sleeve into a string rod, then put the string rod with the sleeved product into a lathe or other equipment for processing, and after processing, the worker needs to manually take down the finished product and the spacer sleeve from the string rod one by one, and then sleeve the spacer sleeve and other semi-finished products into the next string rod for processing. The whole process is manually fed and discharged, which is low in efficiency and high in cost. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the prior art. To this end, the present application provides a feeding and discharging device which can improve the automation and stability of feeding and discharging.

[0004] The feeding and discharging device according to the first aspect of the present application comprises a first jig seat, a first mechanical hand, a first positioning mechanism, a second jig seat, a second mechanical hand, a third mechanical hand and a jacking mechanism, the first jig seat is used for carrying a plurality of vertically placed feeding string rods; the first mechanical hand is arranged on one side of the first jig seat and is used for feeding semi-finished products to the feeding string rods; the first positioning mechanism is arranged on both sides of the first jig seat and is used for stabilizing the feeding string rods so as to facilitate feeding by the first mechanical hand; the second jig seat is arranged at one end of the first jig seat and is used for carrying a plurality of vertically placed discharging string rods; the second mechanical hand is used for discharging finished products from the discharging string rods; the third mechanical hand is used for moving the spacer sleeve on the discharging string rod to the feeding string rod; and the jacking mechanism is arranged on one side of the second jig seat and is used for jacking and clamping the finished products or the spacer sleeve on the discharging string rod.

[0005] According to the feeding and discharging device, at least the following beneficial effects are achieved: the feeding and discharging device comprises a first jig seat, a first mechanical arm, a first positioning mechanism, a second jig seat, a second mechanical arm, a third mechanical arm and a jacking mechanism, the first jig set is used for carrying a plurality of vertically placed feeding string rods, the feeding string rods are used for receiving semi-finished products to be processed, the first mechanical arm is arranged on one side of the first jig seat, so that the first mechanical arm can pick up the semi-finished products and then set the semi-finished products on the feeding string rods, the first positioning mechanism is arranged on both sides of the first jig seat and is used for positioning and fixing the feeding string rods, so as to prevent the feeding string rods from shaking and facilitate the first mechanical arm to feed the semi-finished products to the feeding string rods, after the first mechanical arm feeds one semi-finished product to the feeding string rods, the semi-finished product slides along the feeding string rods to the first positioning mechanism, the first positioning mechanism releases the feeding string rods, so that the semi-finished product slides down, thereby improving the stability of feeding the semi-finished products to the feeding string rods; the second jig seat is arranged at one end of the first jig seat and is used for carrying a plurality of vertically placed discharging string rods, the second mechanical arm is used for discharging the finished products on the discharging string rods, and the third mechanical arm is used for moving the spacers on the discharging string rods to the feeding string rods; the jacking mechanism is also arranged on one side of the second jig seat and is used for jacking up the finished products or the spacers on the discharging string rods.

[0006] According to some embodiments of the present application, the first positioning mechanism comprises a first positioning assembly and a second positioning assembly arranged on both sides of the first jig seat respectively, the first positioning assembly comprises a first driving member and a first positioning member connected to an output end of the first driving member, the second positioning assembly comprises a second driving member and a second positioning member connected to an output end of the second driving member, the second positioning member and the first positioning member are arranged opposite to each other, and under the driving of the first driving member and the second driving member, the first positioning member and the second positioning member move close to or away from each other, so as to clamp or release the feeding string rods.

[0007] According to some embodiments of the present application, the jacking mechanism comprises a jacking assembly and a third positioning assembly, the third positioning assembly comprises a twelfth driving member and a positioning clamp jaw connected to the twelfth driving member, the jacking assembly comprises a third driving member and a jacking plate connected to the third driving member, the positioning clamp jaw is arranged above the jacking plate, the third driving member is used for driving the jacking plate to jack up the finished products or the spacers on the discharging string rods into the positioning clamp jaw, and the twelfth driving member is used for driving the positioning clamp jaw to clamp the finished products or the spacers, so that the second mechanical arm picks up the finished products or the third mechanical arm picks up the spacers.

[0008] According to some embodiments of the present application, a pre-press mechanism is further included, which is arranged on one side of the second jig seat, and comprises a fourth driving member, a fifth driving member and a plurality of pressing members. The pressing members are connected to the output end of the fourth driving member, and the fourth driving member is connected to the output end of the fifth driving member. The fourth driving member is used to drive the pressing members to move horizontally, and the fifth driving member is used to drive the fourth driving member to move the pressing members vertically, so as to press the finished products and the spacer sleeves on the blanking string rod.

[0009] According to some embodiments of the present application, a circulating loading mechanism is further included, which comprises a first guide rail, a second guide rail, a third guide rail, a fourth guide rail, an eighth driving member, a ninth driving member, a tenth driving member and an eleventh driving member. The first guide rail, the second guide rail, the third guide rail and the fourth guide rail are used to carry jig seats. The first guide rail and the second guide rail are parallel to each other. The third guide rail is perpendicular to the first guide rail and is slidingly connected to the first guide rail. The fourth guide rail is perpendicular to the second guide rail and is slidingly connected to the second guide rail. By sliding the third guide rail and / or the fourth guide rail, the third guide rail can be collinear with the fourth guide rail. The eighth driving member is used to drive the third guide rail to slide horizontally along the first guide rail. The ninth driving member is used to drive the fourth guide rail to slide horizontally along the second guide rail. The tenth driving member is arranged at one end of the first guide rail and the second guide rail, and is used to move the jig seats on the fourth guide rail to the third guide rail. The eleventh driving member is arranged at the other end of the first guide rail and the second guide rail, and is used to move the jig seats on the third guide rail to the fourth guide rail.

[0010] According to some embodiments of the present application, the circulating loading mechanism further comprises a first fixed rail and a second fixed rail. The first fixed rail and the second fixed rail are both fixedly arranged between the first guide rail and the second guide rail. The first fixed rail is arranged close to one end of the first guide rail and the second guide rail, and the second fixed rail is arranged close to the other end of the first guide rail and the second guide rail. By sliding the third guide rail and / or the fourth guide rail, the third guide rail and the fourth guide rail can be collinear with the first fixed rail, so that the jig seats on the fourth guide rail can be sequentially slid to the first fixed rail and the third guide rail. Alternatively, the third guide rail and the fourth guide rail can be collinear with the second fixed rail, so that the jig seats on the third guide rail can be sequentially slid to the second fixed rail and the fourth guide rail.

[0011] According to some embodiments of the present application, a transfer station is arranged on one side of the second robot, for receiving the finished products unloaded by the second robot, a cleaning tray is arranged on one side of the transfer station, and a fourth robot is arranged for transferring the finished products on the transfer station to the cleaning tray.

[0012] According to some embodiments of the present application, a first tray mechanism is further included, which comprises a first lifting frame for stacking a plurality of cleaning trays, and a sixth driving member for driving the first lifting frame to ascend so that the highest cleaning tray ascends to the height at which the fourth robot unloads.

[0013] According to some embodiments of the present application, a fifth robot and a second tray mechanism are further included, the second tray mechanism comprises a second lifting frame and a seventh driving member, the fifth robot is arranged for transferring the cleaning tray filled with the finished products in the first tray mechanism to the second lifting frame, and the seventh driving member is arranged for driving the second lifting frame to descend to the height at which the fifth robot unloads.

[0014] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present application will be further described below in conjunction with the accompanying drawings and embodiments, in which:

[0016] Figure 1 It is a schematic diagram of the overall structure of the embodiments of the present application;

[0017] Figure 2 It is a top view of the overall structure of the embodiments of the present application;

[0018] Figure 3 It is a schematic diagram of the structure of the circulating loading mechanism, the first jig seat, the second jig seat, the first positioning assembly, the second robot, the third robot, the jacking mechanism and the pre-pressing mechanism in the embodiments of the present application;

[0019] Figure 4 It is a schematic diagram of the structure of the second robot and the third robot in the embodiments of the present application;

[0020] Figure 5 It is a schematic diagram of the structure of the first positioning assembly in the embodiments of the present application;

[0021] Figure 6 It is a schematic diagram of the structure of the vibrating disc mechanism and the second positioning assembly in the embodiments of the present application;

[0022] Figure 7A structure schematic view of the jacking mechanism in the embodiment of the present application;

[0023] Figure 8 A structure schematic view of the pre-pressing mechanism in the embodiment of the present application;

[0024] Figure 9 A structure schematic view of the circulating material loading mechanism in the embodiment of the present application;

[0025] Figure 10 A structure schematic view of the transfer table, the fourth mechanical arm, the fifth mechanical arm, the first material tray mechanism and the second material tray mechanism in the embodiment of the present application;

[0026] Figure 11 A structure schematic view of the first material tray mechanism in the embodiment of the present application;

[0027] Figure 12 A structure schematic view of the discharging string rod in the embodiment of the present application.

[0028] Reference signs:

[0029] 100, first jig seat; 200, first mechanical arm; 300, first positioning mechanism; 310, first positioning assembly; 311, first driving piece; 312, first positioning piece; 320, second positioning assembly; 321, second driving piece; 322, second positioning piece; 400, second jig seat; 510, second mechanical arm; 520, third mechanical arm; 600, jacking mechanism; 610, jacking assembly; 611, third driving piece; 612, jacking plate; 620, third positioning assembly; 621, twelfth driving piece; 622, positioning clamping jaw; 700, pre-pressing mechanism; 710, fourth driving piece; 720, fifth driving piece; 730, pressing piece; 740, circulating material loading mechanism; 741, first guide rail; 742, second guide rail; 743, third guide rail; 744, fourth guide rail; 745, eighth driving piece; 746, ninth driving piece; 747, tenth driving piece; 748, eleventh driving piece; 751, first fixed rail; 752, second fixed rail; 800, vibrating disc mechanism; 810, vibrating disc; 820, straight vibrating track; 830, material receiving plate; 840, thirteenth driving piece; 910, transfer table; 920, fourth mechanical arm; 930, cleaning disc; 1100, first material tray mechanism; 1110, first lifting frame; 1120, sixth driving piece; 1200, second material tray mechanism; 1300, fifth mechanical arm; 1400, discharging string rod; 1410, rod body; 1420, base; 1430, semi-finished product; 1440, spacer sleeve. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described below in the detailed description and illustrated in the accompanying drawings by which like or similar elements, structures and / or functions have been given the same reference numerals and functionalities (which are intended to indicate like or similar elements) are meant to be included in all embodiments or examples. The embodiments described below are examples of embodiments of the present application and are not intended to limit the scope of the present application.

[0031] In the description of the present application, if the orientation description, such as up, down, front, back, left, right, etc. is described, the orientation or position relationship based on the orientation or position relationship shown in the drawings is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0032] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. is understood as not including the number, above, below, etc. is understood as including the number. If the first, second is described, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the order of indicated technical features.

[0033] In the description of the present application, unless otherwise explicitly limited, the words such as setting, installing, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0034] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0035] The following refers to Figures 1 to 12 The feeding and discharging equipment of the embodiment of the present application is described.

[0036] As Figures 1 to 3As shown, the feeding and discharging equipment according to the embodiment of the application comprises a first jig seat 100, a first mechanical hand, a first positioning mechanism 300, a second jig seat 400, a second mechanical hand, a third mechanical hand and a jacking mechanism 600. The first jig seat 100 is used for carrying a plurality of vertically placed feeding string rods. The first mechanical hand 200 is arranged on one side of the first jig seat 100 and is used for feeding semi-finished products 1430 to the feeding string rod. The first positioning mechanism 300 is arranged on both sides of the first jig seat 100 and is used for stabilizing the feeding string rod so as to facilitate feeding of the first mechanical hand 200. The second jig seat 400 is arranged at one end of the first jig seat 100 and is used for carrying a plurality of vertically placed discharging string rods 1400. The second mechanical hand is used for discharging finished products on the discharging string rod. The third mechanical hand is used for moving the spacer sleeve on the discharging string rod to the feeding string rod. The jacking mechanism 600 is arranged on one side of the second jig seat 400 and is used for jacking up and clamping the finished product or the spacer sleeve 1440 on the discharging string rod 1400.

[0037] It can be understood that the feeding and discharging equipment comprises the first jig seat 100, the first mechanical hand 200, the first positioning mechanism 300, the second jig seat 400, the second mechanical hand, the third mechanical hand and the jacking mechanism 600. The first jig seat is used for carrying a plurality of vertically placed feeding string rods. The feeding string rod is used for receiving semi-finished products 1430 to be processed. The first mechanical hand is arranged on one side of the first jig seat 100 to facilitate the first mechanical hand to pick up the semi-finished product 1430 and then sleeve the semi-finished product on the feeding string rod. The first positioning mechanism 300 is arranged on both sides of the first jig seat 100 and is used for positioning and fixing the feeding string rod to prevent the feeding string rod from shaking so as to facilitate feeding of the first mechanical hand 200 to the feeding string rod. After the first mechanical hand 200 feeds one semi-finished product 1430 to the feeding string rod, the semi-finished product 1430 slides down the feeding string rod to the first positioning mechanism 300. The first positioning mechanism 300 releases the feeding string rod, so that the semi-finished product 1430 slides down, thereby improving the stability of feeding to the feeding string rod. The second jig seat 400 is arranged at one end of the first jig seat 100 and is used for carrying a plurality of vertically placed discharging string rods 1400. The second mechanical hand is used for discharging finished products on the discharging string rod. The third mechanical hand is used for moving the spacer sleeve on the discharging string rod to the feeding string rod. The jacking mechanism 600 is also arranged on one side of the second jig seat 400 and is used for jacking up the finished product or the spacer sleeve 1440 on the discharging string rod 1400.

[0038] It should be understood that, as Figure 12 The feeding string rod and the discharging string rod 1400 each comprise a base 1420 and a rod body 1410 arranged on the base 1420. The first jig seat 100 and the second jig seat 400 each comprise a plurality of positioning grooves, each of which accommodates one feeding string rod or discharging string rod 1400.

[0039] It can be understood that the first positioning mechanism 300 includes a first positioning assembly 310 and a second positioning assembly 320 arranged on the two sides of the first jig seat 100 respectively, the first positioning assembly 310 includes a first driving member 311 and a plurality of first positioning members 312 connected to the output end of the first driving member 311, and the second positioning assembly 320 includes a second driving member 321 and a plurality of second positioning members 322 connected to the output end of the second driving member 321, the second positioning members 322 and the first positioning members 312 are arranged opposite to each other, and under the driving of the first driving member 311 and the second driving member 321, the first positioning members 312 and the second positioning members 322 move close to or away from each other to clamp or release the feeding string rod. For example, as shown in Figure 3 , Figures 5 to 6 In the embodiment, the first positioning mechanism 300 includes the first positioning assembly 310 and the second positioning assembly 320 arranged on the two sides of the first jig seat 100 respectively, the first positioning assembly 310 includes the first driving member 311 and the first positioning members 312, and the second positioning assembly 320 includes the second driving member 321 and the second positioning members 322, the first driving member 311 is used to drive the first positioning members 312 to move close to or away from the second positioning members 322, the second driving member 321 is used to drive the second positioning members 322 to move close to or away from the first positioning members 312, when the first positioning members 312 and the second positioning members 322 move close to each other, the feeding string rod located between the first positioning members 312 and the second positioning members 322 can be clamped, thereby ensuring the stability of feeding the string rod, after the semi-finished product 1430 or the spacer sleeve 1440 is fed to the string rod, the first positioning members 312 and the second positioning members 322 move away from each other, thereby releasing the feeding string rod, so that the semi-finished product 1430 or the spacer sleeve 1440 can fall along the string rod.

[0040] Specifically, the first positioning members 312 are semi-annular, when the first positioning members 312 move close to the second positioning members 322, the first positioning members 312 can semi-enclose the feeding string rod, until the second positioning members 322 abut against the other side of the feeding string rod, thereby positioning and fixing the feeding string rod for feeding.

[0041] It can be understood that the jacking mechanism 600 includes a jacking assembly 610 and a third positioning assembly 620, the third positioning assembly 620 includes a twelfth driving member 621 and a positioning clamp jaw 622 connected to the twelfth driving member 621, the jacking assembly 610 includes a third driving member 611 and a jacking plate 612 connected to the third driving member 611, the positioning clamp jaw 622 is arranged above the jacking plate 612, the third driving member 611 is used to drive the jacking plate 612 to jack up the finished product or the spacer sleeve 1440 on the feeding string rod 1400 into the positioning clamp jaw 622, and the twelfth driving member 621 is used to drive the positioning clamp jaw 622 to clamp the finished product or the spacer sleeve 1440, so that the second mechanical arm 510 picks up the finished product or the third mechanical arm 520 picks up the spacer sleeve 1440. For example, as shown in Figure 7As shown, in the present embodiment, the jacking mechanism 600 comprises a jacking assembly 610 and a third positioning assembly 620. The jacking assembly 610 comprises a third driving member 611 and a jacking plate 612. The third driving member 611 is configured to drive the jacking plate 612 to jack up the finished product or the spacer sleeve 1440 on the stringing rod 1400. The third positioning assembly 620 comprises a twelfth driving member 621 and a positioning gripper 622. The twelfth driving member 621 is configured to drive the positioning gripper 622 to clamp or release. Therefore, in use, the finished product on the stringing rod 1400 is first jacked up by the jacking plate 612 into the positioning gripper 622, and then the positioning gripper 622 clamps the finished product so as to be gripped by the second robot 510. After the second robot 510 clamps the finished product, the positioning gripper 622 releases the finished product so as to be moved by the second robot 510 to another place. Then the jacking plate 612 jacks up the spacer sleeve 1440 on the stringing rod 1400 into the positioning gripper 622. The positioning gripper 622 clamps the spacer sleeve 1440. After the third robot 520 clamps the spacer sleeve 1440, the positioning gripper 622 releases so as to be moved by the third robot 520 to the stringing rod.

[0042] It should be understood that the positioning gripper 622 is an outer clamping gripper, which can clamp the outer edge of the finished product or the spacer sleeve 1440 in use. The pickup end of the second robot 510 and the third robot 520 are both inner supporting types, which pass through the middle of the finished product or the spacer sleeve 1440 in use, and then support the inner wall of the finished product or the spacer sleeve 1440 to achieve clamping.

[0043] It should be understood that the jacking assembly 610 and the third positioning assembly 620 are both arranged on a mounting frame. The positioning gripper 622 is located above the jacking plate 612. The third driving member 611 drives the jacking plate 612 to jack up the finished product or the spacer sleeve 1440 into the positioning gripper 622 so as to be clamped by the positioning gripper 622. Then, when the second robot and the third robot move the finished product or the spacer sleeve 1440, the positioning gripper 622 releases.

[0044] It should be understood that the pre-pressing mechanism 700 is arranged on one side of the second jig seat 400. The pre-pressing mechanism 700 comprises a fourth driving member 710, a fifth driving member 720 and a plurality of pressing members 730. The pressing members 730 are connected to the output end of the fourth driving member 710. The fourth driving member 710 is connected to the output end of the fifth driving member 720. The fourth driving member 710 is configured to drive the pressing members 730 to move horizontally. The fifth driving member 720 is configured to drive the fourth driving member 710 to drive the pressing members 730 to move vertically, thereby pressing the finished product and the spacer sleeve 1440 on the stringing rod 1400. For example, as shown in FIG. 8, the pre-pressing mechanism 700 is arranged on the side of the second jig seat 400, which is opposite to the first jig seat 300. The pre-pressing mechanism 700 comprises the fourth driving member 710, the fifth driving member 720 and the plurality of pressing members 730. Figure 8As shown, in the embodiment, the finished product and spacer sleeve 1440 are spaced apart on the discharging string rod 1400, but there may be no neat stacking between the finished product and spacer sleeve 1440, which is not convenient for subsequent operation, so the finished product and spacer sleeve 1440 on the discharging string rod 1400 need to be pressed and regularized by the pre-pressing mechanism 700 before discharging; the pre-pressing mechanism 700 comprises a fourth driving member 710, a fifth driving member 720 and a plurality of pressing members 730, the plurality of pressing members 730 are connected to the output end of the fourth driving member 710, the fourth driving member 710 is arranged at the output end of the fifth driving member 720, in use, the fifth driving member 720 is first driven, the fourth driving member 710 drives the pressing members 730 to rise to a certain height, then under the driving of the fourth driving member 710, the pressing members 730 move horizontally to the discharging string rod 1400, then under the driving of the fifth driving member 720, the pressing members 730 descend and press the finished product and spacer sleeve 1440 on the discharging string rod 1400, so as to regularize the discharging string rod 1400.

[0045] It can be understood that the circulating carrier mechanism 740 is also included, the circulating carrier mechanism 740 comprises a first guide rail 741, a second guide rail 742, a third guide rail 743, a fourth guide rail 744, an eighth driving member 745, a ninth driving member 746, a tenth driving member 747 and an eleventh driving member 748, the first guide rail 741, the second guide rail 742, the third guide rail 743 and the fourth guide rail 744 are used to carry the jig seat, the first guide rail 741 and the second guide rail 742 are parallel to each other, the third guide rail 743 is perpendicular to the first guide rail 741 and is slidingly connected to the first guide rail 741, the fourth guide rail 744 is perpendicular to the second guide rail 742 and is slidingly connected to the second guide rail 742, by sliding the third guide rail 743 and / or the fourth guide rail 744, the third guide rail 743 can be collinear with the fourth guide rail 744, the eighth driving member 745 is used to drive the third guide rail 743 to slide horizontally along the first guide rail 741, the ninth driving member 746 is used to drive the fourth guide rail 744 to slide horizontally along the second guide rail 742, the tenth driving member 747 is arranged at one end of the first guide rail 741 and the second guide rail 742, so as to move the jig seat on the fourth guide rail 744 to the third guide rail 743, the eleventh driving member 748 is arranged at the other end of the first guide rail 741 and the second guide rail 742, so as to move the jig seat on the third guide rail 743 to the fourth guide rail 744.

[0046] For example, as Figure 9As shown, in the present embodiment, a circulating loading mechanism 740 is further included, which comprises a first guide rail 741, a second guide rail 742, a third guide rail 743, a fourth guide rail 744, an eighth driving member 745, a ninth driving member 746, a tenth driving member 747 and an eleventh driving member 748. The first guide rail 741 and the second guide rail 742 are parallel, and the third guide rail 743 and the fourth guide rail 744 are parallel. The third guide rail 743 is slidingly connected to the first guide rail 741 and is perpendicular to the first guide rail 741, and the fourth guide rail 744 is slidingly connected to the second guide rail 742 and is perpendicular to the second guide rail 742. At the beginning, the third guide rail 743 is used to carry the first jig seat 100 with the feeding string rod, and the fourth guide rail 744 is used to carry the second jig seat 400 with the discharging string rod 1400. With the transfer of the first mechanical arm 200 and the second mechanical arm, the feeding string rod on the first jig seat 100 is filled with the semi-finished products 1430 and the spacer sleeves 1440, while the discharging string rod 1400 on the second jig seat 400 is emptied. During the transfer process, the third guide rail 743 and the fourth guide rail 744 are on a straight line and are respectively located at one end of the first guide rail 741 and one end of the second guide rail 742. After the transfer, the third guide rail 743 is driven by the eighth driving member 745 to move along the first guide rail 741 to the other end of the first guide rail 741, so that the worker can take away the feeding string rod loaded with the semi-finished products 1430. Subsequently, the third guide rail 743 returns to one end of the first guide rail 741, and then the second jig seat 400 on the fourth guide rail 744 is driven by the tenth driving member 747 to be brought to the third guide rail 743 to become the next first jig seat 100, and the second jig seat 400 with the new discharging string rod 1400 is placed on the fourth guide rail 744 again, and the feeding and discharging are performed again. The above steps are repeated in a cycle.

[0047] It can be understood that the circulating loading mechanism 740 further comprises a first fixed rail 751 and a second fixed rail 752, both of which are fixed between the first guide rail 741 and the second guide rail 742. The first fixed rail 751 is arranged close to one end of the first guide rail 741 and the second guide rail 742, and the second fixed rail 752 is arranged close to the other end of the first guide rail 741 and the second guide rail 742. By sliding the third guide rail 743 and / or the fourth guide rail 744, the third guide rail 743 and the fourth guide rail 744 can be collinear with the first fixed rail 751, so that the jig seats on the fourth guide rail 744 can be sequentially slid to the first fixed rail 751 and the third guide rail 743. Alternatively, the third guide rail 743 and the fourth guide rail 744 can be collinear with the second fixed rail 752, so that the jig seats on the third guide rail 743 can be sequentially slid to the second fixed rail 752 and the fourth guide rail 744.

[0048] For example, asFigure 9 As shown, in the present embodiment, the circulating carrier mechanism 740 further comprises a first fixed rail 751 and a second fixed rail 752, both of which are fixedly arranged between the first guide rail 741 and the second guide rail 742, and the first fixed rail 751 is arranged close to one end of the first guide rail 741 and the second guide rail 742, and the second fixed rail 752 is arranged close to the other end of the first guide rail 741 and the second guide rail 742, that is, the first fixed rail 751 is close to the tenth driving member 747, and the second fixed rail 752 is close to the eleventh driving member 748; under the driving of the eighth driving member 745 and / or the ninth driving member 746, the third guide rail 743, the first fixed rail 751 and the fourth guide rail 744 can be collinear, so that the tool seat on the fourth guide rail 744 can be moved to the first fixed rail 751 and the third guide rail 743 under the driving of the tenth driving member 747; under the driving of the eighth driving member 745 and / or the ninth driving member 746, the third guide rail 743, the second fixed rail 752 and the fourth guide rail 744 can be collinear, so that the tool seat on the third guide rail 743 can be moved to the second fixed rail 752 and the fourth guide rail 744 under the driving of the eleventh driving member 748.

[0049] Specifically, the first guide rail 741 is located on the right side, the second guide rail 742 is located on the left side, the third guide rail 743 is slidably connected to the first guide rail 741 front and back, the fourth guide rail 744 is slidably connected to the second guide rail 742 front and back, the first fixed rail 751 is fixed between the first guide rail 741 and the second guide rail 742, and is located on the front side of the second fixed rail 752 and the rear side of the tenth driving element 747, and the second fixed rail 752 is also fixed between the first guide rail 741 and the second guide rail 742, and is located on the rear side of the first fixed rail 751 and the front side of the eleventh driving element 748. In use, first, the first jig seat 100 with the feeding string rod is placed on the first fixed rail 751, and the second jig seat 400 with the discharging string rod 1400 is placed on the third guide rail 743 on the right rear side. Under the drive of the eleventh driving element 748, the second jig seat 400 can be driven to move from the third guide rail 743 on the right rear side to the second fixed rail 752, and then to the fourth guide rail 744 on the left rear side. Subsequently, the fourth guide rail 744 drives the second jig seat 400 to move to the left front side under the drive of the ninth driving element 746. At this time, the discharging string rod 1400 on the second jig seat 400 is located on the left front side, and the feeding string rod on the first jig seat 100 is located on the first fixed rail 751, that is, on the middle of the front side. At this time, the first mechanical arm 200 feeds the semi-finished product 1430 to the feeding string rod, and the second mechanical arm 510 and the third mechanical arm discharge the spacer 1440 and the finished product on the discharging string rod 1400, and move the spacers 1440 on the discharging string rod 1400 to the feeding string rod one by one, so that the semi-finished products 1430 and the spacers 1440 on the feeding string rod are arranged in intervals. During the above feeding and discharging process, under the action of the eighth driving element 745, the third guide rail 743 moves along the first guide rail 741 from the right front side to the right rear side. The worker places the new second jig seat 400 with the discharging string rod 1400 on the third guide rail 743, and moves the new second jig seat 400 from the third guide rail 743 to the second fixed rail 752 under the drive of the eleventh driving element 748. When the discharging string rod 1400 on the second jig seat 400 on the left front side is emptied, the second jig seat 400 and the first jig seat 100 on the first fixed rail 751 move to the right under the drive of the tenth driving element 747, so that the first jig seat 100 moves to the right front side, and then moves to the right rear side with the third guide rail 743, so that the worker discharges the feeding string rod on the first jig seat 100 and takes it away for processing. At the same time, the second jig seat 400 moves from the left front side to the first fixed rail 751 to become the first jig seat 100 for the next feeding and discharging. At this time, the fourth guide rail 744 also moves from the left front side to the left rear side along the second guide rail 742. The new second jig seat 400 on the second fixed rail 752 is moved to the fourth guide rail 744, and then moves to the left front side with the fourth guide rail 744. Subsequently, the new first jig seat 100 on the first fixed rail 751 is subjected to a new feeding and discharging, and the above steps are repeated in a cycle.Thus, the worker only needs to place the first jig seat 100 with the loading string rod on the first fixed seat in the first time, and then only needs to load and unload on the third guide rail 743 located at the right rear side. That is, after the worker loads the second jig seat 400 with the unloading string rod 1400 at the right rear side, the second jig seat 400 will be moved from the right rear side to the left rear side, pass through the second fixed rail 752 to reach the left rear side, and be driven by the fourth guide rail 744 to the left front side to pass through the unloading and then be moved to the first fixed rail 751 to serve as a loading string rod for loading. After being fully loaded, it is moved to the third guide rail 743 at the right front side and then returns to the right rear side for unloading by the worker. The worker then loads the second jig seat 400 with the unloading string rod 1400 again, and the cycle is repeated in a clockwise direction. Except for the first time when the first jig seat 100 with the loading string rod is loaded on the first fixed rail 751, the worker only needs to unload the loading string rod located at the right rear side and place the unloading string rod 1400.

[0050] It should be understood that, for the convenience of distinction, the loading string rod in this application refers to the string rod that is emptied or has the semi-finished product 1430 and the spacer sleeve 1440 thereon, and the corresponding jig seat that carries the loading string rod is the first jig seat 100. The unloading string rod 1400 in this application refers to the string rod that has the finished product and the spacer sleeve 1440 thereon, and the corresponding jig seat that carries the unloading string rod 1400 is the second jig seat 400. It should be understood that such a loading and unloading device also includes a vibration disc mechanism 800, which includes a vibration disc 810, a straight vibration track 820, and a receiving plate 830. One end of the straight vibration track 820 is connected to the output end of the vibration disc 810, and the other end is connected to the receiving plate 830, so that the first mechanical arm 200 can move the semi-finished product 1430 on the receiving plate 830 to the loading string rod. For example, as shown in Figure 6 the vibration disc mechanism 800 includes the vibration disc 810, the straight vibration track 820, and the receiving plate 830. One end of the straight vibration track 820 is connected to the vibration disc 810, and the other end is connected to the receiving plate 830. The semi-finished product 1430 is transported from the vibration disc 810 to the receiving plate 830 through the straight vibration track 820, and then the receiving plate 830 receives the semi-finished product 1430, which is then moved by the first mechanical arm 200 to the loading string rod.

[0051] It should be understood that the vibration disc mechanism 800 also includes a thirteenth driving member 840. The receiving plate 830 is provided with a plurality of receiving positions, each of which is used to accommodate a semi-finished product 1430. The thirteenth driving member 840 is used to drive the receiving plate 830 to move horizontally along the length direction, so that each receiving position of the receiving plate 830 corresponds to the output end of the straight vibration track 820 in turn, so as to receive the semi-finished product 1430 output by the straight vibration track 820 in turn.

[0052] It can be understood that the transfer station 910, the fourth manipulator 920 and the cleaning tray 930 are also included. The transfer station 910 is arranged on one side of the second manipulator 510 to receive the finished products unloaded by the second manipulator 510. The cleaning tray 930 is arranged on one side of the transfer station 910. The fourth manipulator 920 is used to move the finished products on the transfer station 910 to the cleaning tray 930. For example, as shown in Figure 1 、 Figure 2 and Figure 10 In this embodiment, the loading and unloading device further includes the transfer station 910, the fourth manipulator 920 and the cleaning tray 930. The transfer station 910 is a transfer station for receiving the finished products unloaded by the second manipulator 510. Then, the fourth manipulator 920 moves the finished products on the transfer station 910 to the cleaning tray 930. The worker takes the cleaning tray 930 of the finished products to clean.

[0053] It can be understood that the first tray mechanism 1100 is also included. The first tray mechanism 1100 includes the first lifting frame 1110 and the sixth driving member 1120. The first lifting frame 1110 is used to stack multiple cleaning trays 930. The sixth driving member 1120 is used to drive the first lifting frame 1110 to rise, so that the highest cleaning tray 930 rises to the height of the fourth manipulator 920. For example, as shown in Figure 11 In this embodiment, the loading and unloading device further includes the first tray mechanism 1100. The first tray mechanism 1100 includes the first lifting frame 1110 and the sixth driving member 1120. The first lifting frame 1110 is used to stack multiple cleaning trays 930. After the fourth manipulator 920 moves the finished products on the transfer station 910 to the uppermost cleaning tray 930, the cleaning tray 930 filled with finished products is taken away. The sixth driving member 1120 drives the first lifting frame 1110 to rise until the next uppermost cleaning tray 930 is located at the height of the fourth manipulator 920, so that the fourth manipulator 920 moves the subsequent finished products to the next uppermost cleaning tray 930. The cycle is repeated.

[0054] It can be understood that the fifth manipulator 1300 and the second tray mechanism 1200 are also included. The second tray mechanism 1200 includes the second lifting frame and the seventh driving member. The fifth manipulator 1300 is used to move the cleaning tray 930 filled with finished products in the first tray mechanism 1100 to the second lifting frame. The seventh driving member is used to drive the second lifting frame to descend to the height at which the fifth manipulator 1300 can unload. For example, as shown in Figures 10 to 11As shown, in the present embodiment, the feeding and discharging device further comprises a fifth manipulator 1300 and a second tray mechanism 1200. The second tray mechanism 1200 comprises a second lifting frame and a seventh driving member. The fifth manipulator 1300 is used to move the full cleaning tray 930 of finished products in the first tray mechanism 1100 to the second lifting frame. As the fifth manipulator 1300 moves, the seventh driving member drives the second lifting frame to descend, so that the uppermost part of the second lifting frame is kept at the height of the discharging of the fifth manipulator 1300. Then the cleaning tray 930 on the second lifting frame is taken away by the worker for cleaning.

[0055] The above describes the embodiments of the present application in detail in combination with the drawings, but the present application is not limited to the above embodiments. Within the knowledge range of the ordinary skill in the art, various changes can be made without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A loading and unloading apparatus, characterized by, The utility model relates to a kind of automatic production equipment for the production of spacer sleeve, including: First fixture seat, for carrying several vertical placement of feeding string rod; First manipulator, it is established in one side of the first fixture seat, for feeding semi-finished product to the feeding string rod; First positioning mechanism, it is established in both sides of the first fixture seat, for stabilizing the feeding string rod, so that the first manipulator mechanism feeds; Second fixture seat, it is established in one end of the first fixture seat, for carrying several vertical placement of unloading string rod; Second manipulator and third manipulator, the second manipulator is used for unloading the finished product on the unloading string rod, and the third manipulator is used for moving the spacer sleeve on the unloading string rod to the feeding string rod; Jacking mechanism, it is established in one side of the second fixture seat, for jacking and clamping the finished product or spacer sleeve on the unloading string rod; Pre-pressing mechanism, the pre-pressing mechanism is established in one side of the second fixture seat, the pre-pressing mechanism includes fourth driving element, fifth driving element and several pressure fittings, the pressure fittings are connected to the fourth driving element output end, the fourth driving element is connected to the fifth driving element output end, the fourth driving element is used to drive the pressure fittings horizontal movement, the fifth driving element is used to drive the fourth driving element to drive the pressure fittings vertical movement, and the finished product and the spacer sleeve on the unloading string rod are pressed below; Transfer table, fourth manipulator and cleaning disc, the transfer table is established in one side of the second manipulator, to be used for receiving the finished product unloaded by the second manipulator, the cleaning disc is established in one side of the transfer table, and the fourth manipulator is used for moving the finished product of the transfer table to the cleaning disc.

2. The feeding and discharging apparatus according to claim 1, characterized in that, The first positioning mechanism includes first positioning assembly and second positioning assembly respectively established in both sides of the first fixture seat, the first positioning assembly includes first driving element and first positioning element connected to the first driving element output end, the second positioning assembly includes second driving element and second positioning element connected to the second driving element output end, the second positioning element and the first positioning element are arranged opposite one by one, under the drive of the first driving element and the second driving element, the first positioning element and the second positioning element make the movement of mutual approach or far away, to clamp or release the feeding string rod.

3. The feeding and discharging apparatus according to claim 1, characterized in that, The jacking mechanism includes jacking assembly and third positioning assembly, the third positioning assembly includes twelfth driving element and positioning clamp jaw connected to the twelfth driving element, the jacking assembly includes third driving element and jacking plate connected to the third driving element, the positioning clamp jaw is established above the jacking plate, the third driving element is used to drive the jacking plate to jacking the finished product or spacer sleeve on the unloading string rod into the positioning clamp jaw, and the twelfth driving element is used to drive the positioning clamp jaw to clamp the finished product or the spacer sleeve, so that the second manipulator picks up the finished product or the third manipulator picks up the spacer sleeve.

4. The feeding and discharging apparatus according to claim 1, characterized in that, The circulating carrier mechanism comprises a first guide rail, a second guide rail, a third guide rail, a fourth guide rail, an eighth driving element, a ninth driving element, a tenth driving element and an eleventh driving element, the third guide rail and the fourth guide rail are used for carrying a jig seat, the first guide rail and the second guide rail are parallel to each other, the third guide rail is perpendicular to the first guide rail and is slidingly connected to the first guide rail, the fourth guide rail is perpendicular to the second guide rail and is slidingly connected to the second guide rail, by sliding the third guide rail and / or the fourth guide rail, the third guide rail can be collinear with the fourth guide rail, the eighth driving element is used for driving the third guide rail to slide horizontally along the first guide rail, the ninth driving element is used for driving the fourth guide rail to slide horizontally along the second guide rail, the tenth driving element is arranged at one end of the first guide rail and the second guide rail, and is used for moving the jig seat on the fourth guide rail to the third guide rail, and the eleventh driving element is arranged at the other end of the first guide rail and the second guide rail, and is used for moving the jig seat on the third guide rail to the fourth guide rail.

5. The feeding and discharging apparatus according to claim 4, characterized in that, The circulating carrier mechanism further comprises a first fixed rail and a second fixed rail, both of which are fixedly arranged between the first guide rail and the second guide rail, and the first fixed rail is arranged close to one end of the first guide rail and the second guide rail, and the second fixed rail is arranged close to the other end of the first guide rail and the second guide rail, by sliding the third guide rail and / or the fourth guide rail, the third guide rail and the fourth guide rail can be collinear with the first fixed rail, so that the jig seat on the fourth guide rail can be sequentially slid to the first fixed rail and the third guide rail, or the third guide rail and the fourth guide rail can be collinear with the second fixed rail, so that the jig seat on the third guide rail can be sequentially slid to the second fixed rail and the fourth guide rail.

6. The feeding and discharging apparatus according to claim 1, characterized in that, The first tray mechanism further comprises a first lifting frame and a sixth driving element, the first lifting frame is used for stacking a plurality of the cleaning trays, and the sixth driving element is used for driving the first lifting frame to rise, so that the highest cleaning tray rises to the height at which the fourth mechanical arm can unload.

7. The feeding and discharging apparatus according to claim 6, characterized in that, The fifth mechanical arm and a second tray mechanism are further included, the second tray mechanism comprises a second lifting frame and a seventh driving element, the fifth mechanical arm is used for moving the cleaning tray full of finished products in the first tray mechanism to the second lifting frame, and the seventh driving element is used for driving the second lifting frame to descend to the height at which the fifth mechanical arm can unload.

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