Material feeding and unloading equipment

Abstract

This invention provides a material feeding and unloading device, comprising: a device platform; a first conveying device located on the device platform; a limiting block located on the device platform and inside the first conveying device; a first rotating robotic arm located on the device platform and inside the first conveying device, spaced apart from the limiting block along a first direction; a transposition plate mechanism located on the device platform and on one side of the first conveying device, extending along a second direction; a second rotating robotic arm located on the device platform and on one side of the transposition plate mechanism; and a second conveying device located on the device platform at the end of the transposition plate mechanism away from the first rotating robotic arm, with a gap between them. This invention enables uninterrupted feeding or unloading through the first and second rotating robotic arms, reducing the waiting time of the material feeding and unloading device and significantly improving production speed and efficiency.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment technology, and in particular to a material unloading and feeding device. Background Technology

[0002] In the machinery industry, there is a type of material box with a matrix positioning plate, which holds many small materials. During the production process, due to production requirements, the small materials need to be removed from the material box with the matrix positioning plate and then transported to downstream equipment in a single column. Finally, after production is completed, the small materials are put back into the original material box with the matrix positioning plate.

[0003] However, current material handling and feeding equipment typically uses only one rotary robotic arm, and most can only process one material box at a time. This means that whether conveying small materials from the box to downstream equipment or returning them to the box, one material box must leave the material handling and feeding equipment before the next box can be transferred to begin processing. This inevitably prevents the material handling and feeding equipment from achieving uninterrupted feeding or unloading, resulting in long unnecessary waiting times and consequently, slow production speed and low efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a material feeding and unloading device that can achieve uninterrupted feeding or unloading, reduce the waiting time of the material feeding and unloading device, and greatly improve production speed and efficiency.

[0005] To address the problems in the prior art, in a first aspect, the present invention provides a material unloading and feeding device, the material unloading and feeding device comprising:

[0006] Equipment work surface;

[0007] A first conveying device is located on the equipment platform;

[0008] A limiting block is located on the equipment platform and inside the first conveying device;

[0009] The first rotating robotic arm is located on the equipment table and inside the first conveying device, and is arranged at intervals with the limiting block along the first direction;

[0010] A transposition plate mechanism is located on the equipment table and on one side of the first conveying device, and the transposition plate mechanism extends along a second direction;

[0011] The second rotating robotic arm is located on the equipment table and on one side of the transposition plate mechanism;

[0012] The second conveying device is located on the equipment platform and at the end of the transposition disk structure away from the first rotating robotic arm, and is spaced apart from the transposition disk structure.

[0013] Optionally, the first rotary robotic arm includes a three-axis robotic arm, with a suction cup frame at its end and suction cups on both sides of the suction cup frame; the material unloading and feeding device further includes:

[0014] A first motor is used to control the lifting and lowering of the first rotating robotic arm;

[0015] The second motor is used to control the rotation of the first rotating robotic arm;

[0016] The third motor is used to control the flipping of the suction cup holder.

[0017] Optionally, the second rotary robotic arm includes a five-axis robotic arm, and the end of the second rotary robotic arm is provided with a variable pitch gripper mechanism, which is provided with multiple suction cup grippers.

[0018] Optionally, the material feeding and unloading device further includes:

[0019] A fourth motor is used to control the lifting and lowering of the second rotary robotic arm;

[0020] The fifth motor is used to control the movement of the variable pitch clamp mechanism;

[0021] The sixth motor, the seventh motor, and the eighth motor are used to control the rotation of different arms in the second rotary robotic arm, respectively.

[0022] Optionally, the material feeding and unloading device further includes:

[0023] The ninth motor is used to control the lifting and lowering of the transposition plate mechanism;

[0024] The tenth motor is used to control the rotation of the transposition disk mechanism.

[0025] Optionally, the material feeding and unloading device further includes:

[0026] The first top box mechanism is located on the equipment table, inside the first conveying device, and on the side of the limiting block away from the first rotating robotic arm;

[0027] The second top box mechanism is located on the equipment table, inside the first conveying device, and on the side of the first rotating robotic arm away from the limiting block;

[0028] A first driving device is used to control the lifting and lowering of the first set-top box mechanism;

[0029] The second drive unit is used to drive the second top box mechanism to rise and fall.

[0030] Optionally, the transposition plate mechanism has multiple placement areas; the material unloading and feeding device further includes:

[0031] The top material block is located below each of the aforementioned placement areas;

[0032] The third driving device is used to drive the top material block to rise and fall.

[0033] Optionally, the first conveying device includes a conveyor belt, and the second conveying device includes a multi-layer conveyor belt.

[0034] Optionally, the material feeding and unloading device further includes:

[0035] Material carrier blocks are respectively disposed on at least one side of each of the conveyor belts;

[0036] Multiple eleventh motors control the movement of different conveyor belts.

[0037] Optionally, the material feeding and unloading device further includes:

[0038] The guardrail is located on the side of the second conveying device away from the transposition plate mechanism;

[0039] The lifting guardrail mechanism is located between the second conveying device and the transposition plate mechanism, and has a distance between it and both the second conveying device and the transposition plate mechanism.

[0040] As described above, the material feeding and unloading equipment of the present invention has the following beneficial effects: In the material feeding and unloading equipment of the present invention, by setting the first rotating mechanical arm, the second rotating mechanical arm, the first conveying device and the second conveying device, uninterrupted feeding or unloading can be achieved through the first rotating mechanical arm and the second rotating mechanical arm, reducing the waiting time of the material feeding and unloading equipment and greatly improving the production speed and production efficiency. Attached Figure Description

[0041] Figure 1 and Figure 2 This is a three-dimensional structural diagram of the material unloading and feeding device in an embodiment of the present invention.

[0042] Figure 3 This is a top view of the material feeding and unloading device in an embodiment of the present invention.

[0043] Labeling Explanation: 1. Equipment platform, 2. First conveyor device, 21. Conveyor belt, 22. Conveyor belt, 3. Limiting block, 4. First rotating robotic arm, 5. Transfer plate mechanism, 6. Second rotating robotic arm, 7. Second conveyor device, 8. Suction cup frame, 9. Matrix positioning plate, 10. Variable pitch clamp mechanism, 11. First top box mechanism, 12. Second top box mechanism, 13. Top material block, 14. Loading block, 15. Guardrail, 16. Lifting guardrail mechanism, 17. Small material, 18. Material box. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The preferred embodiments described below are merely examples, and other obvious variations will be apparent to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0046] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are 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, the above terms should not be construed as limiting this invention.

[0047] Example 1

[0048] Please see Figure 1 As shown, the present invention provides a material unloading and feeding device, the material unloading and feeding device comprising:

[0049] Equipment tabletop 1;

[0050] A first conveying device 2 is located on the equipment platform 1;

[0051] Limiting block 3, the limiting block 3 is located on the equipment table 1 and inside the first conveying device 2;

[0052] The first rotating robotic arm 4 is located on the equipment table 1 and inside the first conveying device 2, and is arranged at intervals with the limiting block 3 along the first direction.

[0053] The transposition plate mechanism 5 is located on the equipment table 1 and on one side of the first conveying device 2, and the transposition plate mechanism 5 extends along the second direction.

[0054] The second rotating robotic arm 6 is located on the equipment table 1 and on one side of the transposition plate mechanism 5;

[0055] The second conveying device 7 is located on the equipment table 1 and at the end of the transposition disk structure 5 away from the first rotating robotic arm 4, and is spaced apart from the transposition disk structure 5.

[0056] Specifically, the first direction is Figure 1 The X direction in the middle, the second direction is Figure 1 Y direction.

[0057] In the material feeding and unloading equipment of the present invention, by setting the first rotating robotic arm 4, the second rotating robotic arm 6, the first conveying device 2 and the second conveying device 7, uninterrupted feeding or unloading can be achieved through the first rotating robotic arm 4 and the second rotating robotic arm 6, reducing the waiting time of the material feeding and unloading equipment and greatly improving the production speed and production efficiency.

[0058] Example 2

[0059] Please combine Figure 1 See Figure 2 and Figure 3 This embodiment also provides a material unloading and feeding device. In addition to the structure of Embodiment 1, the material unloading and feeding device in this embodiment also has other more specific structures.

[0060] As an example, the first rotating robotic arm 4 may include a three-axis robotic arm, and the end of the first rotating robotic arm 4 is provided with a suction cup frame 8, and suction cups (not shown) are provided on both sides of the suction cup frame 8;

[0061] The material unloading and feeding equipment also includes:

[0062] A first motor (not shown) is used to control the lifting and lowering of the first rotating robotic arm 4;

[0063] A second motor (not shown) is used to control the rotation of the first rotating robotic arm 4;

[0064] A third motor (not shown) is used to control the flipping of the suction cup holder 8.

[0065] Specifically, suction cups (not shown) can be installed on both sides of the suction cup frame 8. The suction cup on one side can pick up the material box, and the suction cup on the other side can pick up the matrix positioning disk 9.

[0066] As an example, the second rotary robotic arm 6 may include a five-axis robotic arm, and the end of the second rotary robotic arm 6 may be provided with a variable pitch gripper mechanism 10, which may be provided with multiple suction cup grippers (not shown).

[0067] Specifically, the second rotary robotic arm 6 mainly realizes the transfer of small materials 14 between the transfer plate mechanism 5 and the second conveying device 7.

[0068] Specifically, in this embodiment, the spacing between two adjacent material blocks 14 on the second conveying device 7 is not the same as the spacing between two adjacent small materials 17 in the matrix positioning disk 9. The five-axis robotic arm transfers one column of small materials 17 each time. The spacing between the small materials 17 can be adjusted by the variable pitch clamping mechanism 10, so that the material unloading and feeding equipment can be applied to material boxes 18 of various sizes with the matrix positioning disk 9.

[0069] As an example, the material feeding and unloading device further includes:

[0070] A fourth motor (not shown) is used to control the lifting and lowering of the second rotary robotic arm 6;

[0071] A fifth motor (not shown) is used to control the movement of the variable pitch clamp mechanism 10;

[0072] A sixth motor (not shown), a seventh motor (not shown), and an eighth motor (not shown) are used to control the rotation of different arms in the second rotary robotic arm 6, respectively.

[0073] As an example, the material feeding and unloading device further includes:

[0074] A ninth motor (not shown) is used to control the lifting and lowering of the transposition disk mechanism 5;

[0075] A tenth motor (not shown) is used to control the rotation of the transposition disk mechanism 5.

[0076] As an example, the material unloading and feeding device further includes: a first top box mechanism 11, which is located on the device table 1, inside the first conveying device 2, and on the side of the first rotating robotic arm 4 away from the limiting block 3.

[0077] The second top box mechanism 12 is located on the equipment table 1, inside the first conveying device 2, and on the side of the first rotating robotic arm 4 away from the limiting block 3.

[0078] A first drive device (not shown) is used to control the lifting and lowering of the first top box mechanism 11;

[0079] A second drive unit (not shown) is used to drive the second top box mechanism 12 to rise and fall.

[0080] Specifically, in this embodiment, the first set-top box mechanism 11 and the second set-top box mechanism 12 are raised and lowered by cylinders, respectively. That is, both the first drive device and the second drive device can be cylinders.

[0081] As an example, the transposition plate mechanism 5 has multiple placement areas (not labeled); the material unloading and feeding device further includes:

[0082] Top material block 13, which is located below each of the placement areas;

[0083] A third driving device (not shown) is used to drive the top block 13 to rise and fall.

[0084] Specifically, the transposition disk mechanism 5 may have two placement areas, and the transposition disk mechanism 5 may store two matrix positioning disks 9.

[0085] As an example, the first conveying device 2 may include a conveyor belt 21, and the second conveying device 7 may include a multi-layer conveyor belt and a single-layer conveyor belt.

[0086] Specifically, the first conveying device 2 may include the conveyor belt 21 and two conveyor belts 22 extending along the first direction and arranged parallel to each other along the second direction. The conveyor belt 21 may be located on the side of the second top box mechanism 12 away from the first rotating robotic arm 4. The distance between the two conveyor belts 22 is less than the length of the material box 18. The first rotating robotic arm 4, the limiting block 3, the first top box mechanism 11, and the second top box mechanism 12 are all located between the two conveyor belts 22.

[0087] More specifically, in this embodiment, the second conveying device 7 is a multi-layer conveyor belt, and more specifically, in this embodiment, the second conveying device 7 is a three-layer conveyor belt.

[0088] As an example, the material feeding and unloading device further includes:

[0089] Material carrier 14, wherein each material carrier 14 is disposed on at least one side of each of the conveyor belts;

[0090] Multiple eleventh motors (not shown) control the movement of different conveyor belts.

[0091] In this embodiment, by setting the second conveying device 7 as a three-layer conveyor belt, the three-layer conveyor belt can carry three sets of material blocks 14. Each conveyor belt is controlled by three different eleventh motors, which can adjust the speed according to the problem of inconsistent speeds, so that the material unloading and feeding equipment runs more smoothly and stably.

[0092] As an example, the material feeding and unloading device further includes:

[0093] Guardrail 15, which is located on the side of the second conveying device 7 away from the transposition plate mechanism 5;

[0094] The lifting guardrail mechanism 16 is located between the second conveying device 2 and the shifting plate mechanism 5, and has a distance from both the second conveying device 7 and the shifting plate mechanism 5.

[0095] Specifically, the guardrail 14 is provided on the conveying path of the second conveying device 2 to prevent small objects 17 from falling off the material block 14.

[0096] Specifically, in this embodiment, the lifting guardrail mechanism 16 is driven by a cylinder (not shown). When the second conveying device 7 is running, the cylinder extends the lifting guardrail mechanism 16 to lift it up. When the second conveying device 7 stops, the cylinder retracts the lifting guardrail mechanism 16 to lower it down.

[0097] Furthermore, when the second conveying device 7 connects to downstream equipment, and the material unloading and feeding device is used as an unloading device, the matrix positioning disk 9 is placed in the material box 18, and the matrix positioning disk 9 holds multiple small materials 17. When the material box 18 containing the matrix positioning disk 9 and the small materials 16 is transferred from one side inlet (the inlet is the end of the first conveying device 2 near the first top box mechanism 11) to the first conveying device 2, it stops at the limiting block 3. The first top box mechanism 11 lifts the material box 18 from below to a certain height. At this time, the first rotating robotic arm 4 first uses one side of the suction cup frame 8 to transfer the matrix positioning disk 9 to the switching disk mechanism 5 through lifting and rotation, and then flips the suction cup frame 8 to transfer the empty material box 18 to the second top box mechanism 12 through lifting and rotation on the other side. After the switching disk mechanism 5 is lifted to a certain height, it rotates 180 degrees to transfer the matrix positioning disk 9 to the front end. Finally, The material descends above the top block 13. At this time, the small material 17 will be lifted to a certain height by the top block 13, but will not detach from the matrix positioning disk 9. At this time, the new material box 18 containing the matrix positioning disk 9 and the small material 17 reaches the limiting block 3. The first top box mechanism 11 lifts the new material box 18, and the first rotary robotic arm 4 transfers the new matrix positioning disk 9 to the shifting disk mechanism 5. At this time, there are two matrix positioning disks 9 on the shifting disk mechanism 5. The second rotary robotic arm 6, through the variable pitch clamping mechanism 10, grabs a row of small materials 17 from the side of the matrix positioning disk 9 at the front end of the shifting disk mechanism 5 and transfers them to the loading block 14 on the second conveying device 7. During the transfer process, the spacing of the small materials 17 in this row is adjusted by the variable-pitch clamp mechanism 10. After the second rotary robotic arm 6 places the small materials 17 on the loading block 14, the lifting guardrail mechanism 16 will be raised to block the small materials 17 from the side, preventing them from falling off the second conveying device 7. The second conveying device 7 will then transport the small materials 17 to the downstream equipment. After all the small materials 17 in the matrix positioning disk 9 at the front end of the switching disk mechanism 5 have been transferred, the switching disk mechanism 5 will be raised and rotated 180 degrees to transfer the new matrix positioning disk 9 containing the small materials 17 to the front end. The first rotary robotic arm 4 will then transfer the empty matrix positioning disk 9 to the material box 18 on the second top box mechanism 12. After the second top box mechanism 12 descends, the first conveying device 2 will transport the material box 18 containing the empty matrix positioning disk 9 to the other side outlet (the outlet is located at the end opposite to the inlet).

[0098] When the second conveying device 7 connects to the upstream equipment, and the material unloading and feeding device is used as the feeding device, the material box 18 with an empty matrix positioning disk 9 reaches the limiting block 3 from one side inlet. The first top box mechanism 11 lifts the material box 18 from below to a certain height. The first rotating robotic arm 4 transfers the empty matrix positioning disk 9 to the shifting disk mechanism 5, and the shifting disk mechanism 5 then rotates the empty matrix positioning disk 9 180 degrees and moves it to the front end. The second rotating robotic arm 6 then transfers the empty material box 18 to the second top box mechanism 12. At this time, a new material box 18 with an empty matrix positioning disk 9 reaches the limiting block 3 from the left inlet. The first top box mechanism 11 lifts the new material box 18, and the first rotating robotic arm 4 transfers the new matrix positioning disk 9 to the shifting disk mechanism 5. Simultaneously, the small material 17 is conveyed from the upstream equipment to the material block 14 on the second conveying device 7. The material block 14 carrying the small material 17 is conveyed to the lifting guardrail mechanism 16 and stops. The lifting guardrail mechanism 16 descends, and the second rotating robotic arm 6 grabs a row of the small material 17 and adjusts its spacing, placing it in the matrix positioning disk 9 at the front end of the transposition disk mechanism 5. When the matrix positioning disk 9 at the front end of the transposition disk mechanism 5 is full of the small material 17, the transposition disk mechanism 5 rotates 180 degrees, and the first rotating robotic arm 4 transfers the matrix positioning disk 9 full of the small material 17 to the material box 18 on the second top box mechanism 12. After the second top box mechanism 12 descends, the first conveying device 2 conveys the material box 18 containing the matrix positioning disk 9 and the small material 17 to the outlet on the other side.

[0099] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0100] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A material feeding and unloading device, characterized in that, The material unloading and feeding equipment includes: Equipment work surface; A first conveying device is located on the equipment platform; A limiting block is located on the equipment platform and inside the first conveying device; The first rotating robotic arm is located on the equipment table and inside the first conveying device, and is arranged at intervals with the limiting block along the first direction; A transposition plate mechanism is located on the equipment table and on one side of the first conveying device, and the transposition plate mechanism extends along a second direction; The second rotating robotic arm is located on the equipment table and on one side of the transposition plate mechanism; The second conveying device is located on the equipment table and at the end of the transfer disk mechanism away from the first rotating robotic arm, and is spaced apart from the transfer disk structure. The material unloading and feeding equipment also includes: The first top box mechanism is located on the equipment table, inside the first conveying device, and on the side of the limiting block away from the first rotating robotic arm; The second top box mechanism is located on the equipment table, inside the first conveying device, and on the side of the first rotating robotic arm away from the limiting block; A first driving device is used to control the lifting and lowering of the first set-top box mechanism; The second driving device is used to drive the second top box mechanism to rise and fall; The transposition disc mechanism has multiple placement areas; the material unloading and feeding device further includes: The top material block is located below each of the aforementioned placement areas; The third driving device is used to drive the top material block to rise and fall; The first rotary robotic arm includes a three-axis robotic arm. The end of the first rotary robotic arm is provided with a suction cup frame, and suction cups are provided on both sides of the suction cup frame. The suction cup on one side of the suction cup frame of the first rotary robotic arm is used to pick up the material box, and the suction cup on the other side is used to pick up the matrix positioning plate. The first conveying device includes a conveyor belt and two conveyor belts that extend along the first direction and are arranged parallel to each other along the second direction. The conveyor belt is located on the side of the second top box mechanism away from the first rotating robotic arm. The distance between the two conveyor belts is less than the length of the material box. The first rotating robotic arm, the limiting block, the first top box mechanism and the second top box mechanism are all located between the two conveyor belts.

2. The material feeding and unloading equipment according to claim 1, characterized in that, The material unloading and feeding equipment also includes: A first motor is used to control the lifting and lowering of the first rotating robotic arm; The second motor is used to control the rotation of the first rotating robotic arm; The third motor is used to control the flipping of the suction cup holder.

3. The material feeding and unloading equipment according to claim 1, characterized in that, The second rotary robotic arm includes a five-axis robotic arm, and the end of the second rotary robotic arm is provided with a variable pitch clamping mechanism, which is provided with multiple suction cup clamps.

4. The material feeding and unloading equipment according to claim 3, characterized in that, Also includes: A fourth motor is used to control the lifting and lowering of the second rotary robotic arm; The fifth motor is used to control the movement of the variable pitch clamp mechanism; The sixth motor, the seventh motor, and the eighth motor are used to control the rotation of different arms in the second rotary robotic arm, respectively.

5. The material feeding and unloading equipment according to claim 1, characterized in that, Also includes: The ninth motor is used to control the lifting and lowering of the transposition disk mechanism; The tenth motor is used to control the rotation of the transposition disk mechanism.

6. The material feeding and unloading equipment according to claim 1, characterized in that, The first conveying device includes a conveyor belt, and the second conveying device includes a multi-layer conveyor belt.

7. The material feeding and unloading equipment according to claim 6, characterized in that, Also includes: Material carrier blocks are respectively disposed on at least one side of each of the conveyor belts; Multiple eleventh motors control the movement of different conveyor belts.

8. The material feeding and unloading equipment according to claim 1, characterized in that, Also includes: The guardrail is located on the side of the second conveying device away from the transposition plate mechanism; The lifting guardrail mechanism is located between the second conveying device and the transposition plate mechanism, and has a distance between it and both the second conveying device and the transposition plate mechanism.

Images