A spraying line unloading device and a method for implementing the same

Abstract

The application discloses a spraying line feeding and discharging device, which comprises a feeding robot arranged on the side of the feeding end of a spraying production line and a discharging robot arranged on the side of the discharging end of the spraying production line, a feeding clamp is connected to the output end of the feeding robot, a feeding position camera is arranged above a feeding tray placement position, a discharging clamp is connected to the output end of the discharging robot, a discharging position camera is arranged above a discharging tray placement position, a stand column separation positioning mechanism is arranged on one side of the discharging tray placement position, and a stand column transplanting mechanism is arranged on one side of the stand column separation positioning mechanism. The application further discloses an implementation method of the spraying line feeding and discharging device. The feeding robot drives the feeding clamp to realize automatic feeding of products, the discharging robot drives the discharging clamp to realize automatic discharging of products, manual operation is reduced, labor intensity is lowered, and the working efficiency of feeding and discharging is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of feeding and discharging on a spraying line, and particularly relates to a feeding and discharging device on a spraying line and an implementation method thereof. BACKGROUND

[0002] Key processes of a magnetic material product include forming, sintering, spraying and inspection and classification. Currently, the product after the first spraying in the industry needs to be turned over on the carrier, and then enters the spraying line for secondary spraying, so that all surfaces of the product are evenly coated with paint. After the second spraying, the product does not need to be turned over.

[0003] Currently, feeding, discharging, turning over and carrying in the industry are all manually operated. There are some problems in the actual production process, for example:

[0004] 1. Non-standard operation; high labor intensity;

[0005] 2. The product is easily bumped during turning over, causing quality problems;

[0006] 3. The spacing of the product is easily moved due to slight negligence in manual operation, thereby affecting the uniformity of the next spraying. SUMMARY

[0007] The present application aims to provide a feeding and discharging device on a spraying line to solve the problems raised in the background. The feeding and discharging device on the spraying line provided by the present application has the characteristics of reducing labor intensity and avoiding bumping of the product during turning over, thereby causing quality problems.

[0008] Another object of the present application is to provide an implementation method of the feeding and discharging device on the spraying line.

[0009] To achieve the above object, the present application provides the following technical scheme: a feeding and discharging device on a spraying line, comprising an upper feeding robot arranged on the feeding end side of the spraying production line and a lower feeding robot arranged on the discharging end side of the spraying production line, an upper feeding clamp is connected to the output end of the upper feeding robot, an upper feeding tray placement position is arranged on the side of the upper feeding robot, an upper feeding position camera is arranged above the upper feeding tray placement position, a lower feeding clamp is connected to the output end of the lower feeding robot, a lower feeding tray placement position is arranged on the side of the lower feeding robot, a lower feeding position camera is arranged above the lower feeding tray placement position, a column separation positioning mechanism is arranged on one side of the lower feeding tray placement position, a column transplanting mechanism is arranged on one side of the column separation positioning mechanism, and a distance detection sensor is further arranged on the feeding end and the discharging end of the spraying production line.

[0010] In order to realize automatic feeding and blow off the dust on the surface of the product, further, the feeding clamp comprises a feeding robot connecting plate, two symmetrical feeding clamping cylinders are arranged below the feeding robot connecting plate, a feeding clamping plate is connected to the output end of the feeding clamping cylinder, and a plurality of air blowing pipes are further arranged below the feeding robot connecting plate.

[0011] In order to realize automatic feeding and blow off the dust on the surface of the product, further, the feeding clamp comprises a feeding robot connecting plate, two symmetrical feeding clamping cylinders are arranged below the feeding robot connecting plate, a feeding clamping plate is connected to the output end of the feeding clamping cylinder, and a plurality of air blowing pipes are further arranged below the feeding robot connecting plate.

[0012] In order to realize automatic feeding and blow off the dust on the surface of the product, further, the feeding clamp comprises a feeding robot connecting plate, two symmetrical feeding clamping cylinders are arranged below the feeding robot connecting plate, a feeding clamping plate is connected to the output end of the feeding clamping cylinder, and a plurality of air blowing pipes are further arranged below the feeding robot connecting plate.

[0013] In order to realize automatic feeding and blow off the dust on the surface of the product, further, the feeding clamp comprises a feeding robot connecting plate, two symmetrical feeding clamping cylinders are arranged below the feeding robot connecting plate, a feeding clamping plate is connected to the output end of the feeding clamping cylinder, and a plurality of air blowing pipes are further arranged below the feeding robot connecting plate.

[0014] In order to realize automatic feeding and blow off the dust on the surface of the product, further, the feeding clamp comprises a feeding robot connecting plate, two symmetrical feeding clamping cylinders are arranged below the feeding robot connecting plate, a feeding clamping plate is connected to the output end of the feeding clamping cylinder, and a plurality of air blowing pipes are further arranged below the feeding robot connecting plate.

[0015] In order to realize automatic feeding and blow off the dust on the surface of the product, further, the feeding clamp comprises a feeding robot connecting plate, two symmetrical feeding clamping cylinders are arranged below the feeding robot connecting plate, a feeding clamping plate is connected to the output end of the feeding clamping cylinder, and a plurality of air blowing pipes are further arranged below the feeding robot connecting plate.

[0016] In the present application, further, the implementation method of the feeding and discharging device of the spraying line comprises the following steps:

[0017] (1) AGV forklift moves the tray full of products to the loading tray placement position, the loading camera takes a picture of the wood board on the tray, detects the XY direction skew of the uppermost wood board and the height information of the wood board, and then transmits the information to the loading robot;

[0018] (2) The loading robot moves to the upper side of the loading tray placement position with the loading clamp, blows the product on the uppermost wood board through the blowing pipe to blow off the dust on the surface of the product;

[0019] (3) Then the uppermost wood board is grabbed according to the XYZ direction information of the uppermost wood board detected by the loading camera;

[0020] (4) The distance detection sensor at the loading end of the spraying production line calculates the running speed of the wood board, and then the loading robot places the wood board with the product on the chain at the loading end of the spraying production line, and makes the wood board and the previous wood board seamless;

[0021] (5) The above actions are performed in turn until the loading robot finishes transporting all the wood boards on the tray, then the AGV forklift transports the empty tray away and transports another tray full of products;

[0022] (6) After the product is sprayed with color and cooled by the spraying production line, it enters the unloading station. The unloading robot with the unloading clamp is clamped by the unloading clamp cylinder through the unloading clamp plate;

[0023] (7) Then the unloading robot with the unloading clamp rises, and the unloading lifting cylinder with the unloading magnetic assembly on the unloading clamp descends to press on the product on the partition plate;

[0024] (8) Then the magnetic lifting cylinder with the magnet mounting plate installed with magnets descends to contact the magnets with the partition plate, and the magnetic force of the magnets adsorbs the product on the wood board on the partition plate, and then the magnetic lifting cylinder with the unloading magnetic assembly and the product rises together to separate the product and the wood board;

[0025] (9) Then the unloading robot places the wood board on the tray at the unloading tray placement position, and then the unloading robot rotates the unloading clamp, at this time the product is above the unloading magnetic assembly, and moves to below the transplanting magnetic assembly of the column transplanting mechanism;

[0026] (10) Then the transplanting magnetic assembly absorbs the product, the magnetic lifting cylinder on the unloading clamp resets to move the magnets away from the partition plate, at this time the product is adsorbed on the transplanting magnetic assembly;

[0027] (XI) Then the unloading position camera detects the XYZ direction information of the wood board on the tray at the unloading tray placement position and transmits the information to the column transplanting mechanism;

[0028] (XII) Then the transplanting magnetic assembly moves forward to the top of the tray at the unloading tray placement position under the action of the horizontal movement module, then the lifting module drives the transplanting magnetic assembly to descend to the top of the wood board, and the transplanting magnetic assembly places the product on the wood board;

[0029] (XIII) Then the transplanting magnetic assembly rises and moves backward to the top of the column separation positioning mechanism, the transplanting lifting cylinder on the column transplanting mechanism moves downward with the column suction cup, four columns on the column separation positioning mechanism are sucked, and then the columns are placed on the wood board;

[0030] Further in the application, the column positioning implementation method comprises the following steps:

[0031] (I) The staff pours the columns into the vibrating disc, and the vibrating disc transmits the columns to the main belt;

[0032] (II) After the third position sensor on the first column positioning belt assembly detects, the side pushing cylinder pushes the column to the positioning belt, and the column is transmitted to the position of the second position sensor on the left under the driving of the positioning belt, at this time, the two side protection plates and the end baffle on the positioning belt limit the position of the column;

[0033] (III) Then the side pushing cylinder is retracted, the next column continues to move forward to the position of the side pushing cylinder on the first column positioning belt assembly under the pushing force of the vibrating disc and the transmission effect of the main belt, then the side pushing cylinder is pushed out again, the next column is pushed to the positioning belt, then the column is transmitted to the position of the first position sensor on the left under the driving of the positioning belt, the clamping cylinder is pushed out to clamp and position the column, then the positioning belt of the first column positioning belt assembly stops running, and then the side pushing cylinder is retracted;

[0034] (IV) The next column continues to move forward to the position of the side pushing cylinder on the second column positioning belt assembly under the pushing force of the vibrating disc and the transmission effect of the main belt, and the above-mentioned actions are repeated to realize the positioning of the column on the second column positioning belt assembly.

[0035] Compared with the prior art, the application has the following beneficial effects:

[0036] 1. The application realizes automatic feeding of the product through the feeding robot driving the feeding clamp, realizes automatic unloading of the product through the unloading robot driving the unloading clamp, reduces manual operation, reduces labor intensity, and improves the working efficiency of feeding and unloading;

[0037] 2、The present application calculates the running speed of the wood board through the distance detection sensor, then the feeding robot places the wood board with products on the chain at the feeding end of the spraying production line, realizes seamless gap between the wood board and the previous wood board, and ensures the uniformity of product spraying;

[0038] 3、The lower side of the feeding robot connecting plate is also provided with a plurality of air blowing pipes, which can blow off the dust on the surface of the product, so as to ensure the adhesion effect of spraying;

[0039] 4、The present application realizes the separation of the product and the wood board through the unloading magnetic assembly, and realizes the automatic overturning of the product in cooperation with the transplanting magnetic assembly;

[0040] 5、The present application realizes the automatic placing of the column through the column transplanting mechanism;

[0041] 6、The present application realizes the automatic positioning of the column through the setting of the column separation positioning mechanism;

[0042] 8、The present application avoids the non-standard operation of manual work, solves the problem that the product is easily knocked and causes quality problems when manually overturning, and avoids the problem that manual work is easy to move the distance of the product. DETAILED DESCRIPTION

[0043] Figure 1 is a structural schematic diagram of the present application;

[0044] Figure 2 is a structural schematic diagram of the feeding clamp of the present application;

[0045] Figure 3 is a structural schematic diagram of the unloading clamp of the present application;

[0046] Figure 4 is a structural schematic diagram of the unloading magnetic assembly of the present application;

[0047] Figure 5 is an axonometric structural schematic diagram of the column transplanting mechanism of the present application;

[0048] Figure 6 is an orthographic structural schematic diagram of the column transplanting mechanism of the present application;

[0049] Figure 7 is a structural schematic diagram of the column separation positioning mechanism of the present application;

[0050] In the figure: 1, spraying production line; 2, blanking clamp; 21, blanking robot connecting plate; 22, blanking clamping cylinder; 23, blanking lifting cylinder; 24, magnetic attraction assembly; 241, magnetic attraction mounting plate; 242, guide rod; 243, magnetic attraction lifting cylinder; 244, magnet mounting plate; 245, magnet; 246, partition plate; 25, blanking clamping plate; 3, blanking tray placement position; 4, column separation positioning mechanism; 41, rack; 42, first column positioning belt assembly; 43, vibration disc; 44, main belt; 45, second column positioning belt assembly; 451, positioning belt; 452, clamping cylinder; 453, first arrival sensor; 454, side pushing cylinder; 455, second arrival sensor; 456, third arrival sensor; 5, column transplanting mechanism; 51, support seat; 52, lifting module; 53, horizontal movement module; 54, transplanting mechanism mounting plate; 55, transplanting lifting cylinder; 56, column suction cup; 57, transplanting magnetic attraction assembly; 6, blanking position camera; 7, blanking robot; 8, feeding robot; 9, feeding position camera; 10, feeding tray placement position; 11, feeding clamp; 111, feeding robot connecting plate; 112, feeding clamping cylinder; 113, feeding clamping plate; 114, air blowing pipe; 12, distance detection sensor. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0052] Embodiment 1

[0053] Please refer to Figures 1-7 The present application provides the following technical solutions: a blanking device for a spraying line, comprising a feeding robot 8 arranged on the feeding end side of a spraying production line 1 and a blanking robot 7 arranged on the blanking end side of the spraying production line 1, a feeding clamp 11 connected to the output end of the feeding robot 8, a feeding tray placement position 10 arranged on the side of the feeding robot 8, a feeding position camera 9 arranged above the feeding tray placement position 10, a blanking clamp 2 connected to the output end of the blanking robot 7, a blanking tray placement position 3 arranged on the side of the blanking robot 7, a blanking position camera 6 arranged above the blanking tray placement position 3, a column separation positioning mechanism 4 arranged on one side of the blanking tray placement position 3, a column transplanting mechanism 5 arranged on one side of the column separation positioning mechanism 4, and a distance detection sensor 12 arranged on the feeding end and the blanking end of the spraying production line 1 respectively.

[0054] By adopting the above technical scheme, the automatic feeding of the product is realized by the feeding robot 8 driving the feeding clamp 11, the automatic feeding of the product is realized by the discharging robot 7 driving the discharging clamp 2, the manual operation is reduced, the labor intensity is reduced, and the working efficiency of feeding and discharging is improved; the distance detection sensor 12 calculates the running speed of the wood board, then the feeding robot 8 places the wood board on which the product is placed on the chain at the feeding end of the spraying production line 1, realizes seamless gap between the wood board and the last wood board, and ensures the uniformity of product spraying.

[0055] Specifically, the feeding clamp 11 comprises a feeding robot connecting plate 111, two symmetrical feeding clamping cylinders 112 are arranged below the feeding robot connecting plate 111, a feeding clamping plate 113 is connected to the output end of the feeding clamping cylinder 112, and a plurality of air blowing pipes 114 are further arranged below the feeding robot connecting plate 111 and connected to the gas source through connecting pipes.

[0056] By adopting the above technical scheme, the feeding clamping cylinder 112 drives the feeding clamping plate 113 to act on the wood board with the product to realize automatic feeding, and the air blowing pipe 114 blows off the dust on the surface of the product.

[0057] Specifically, the discharging clamp 2 comprises a discharging robot connecting plate 21, two symmetrical discharging clamping cylinders 22 are arranged below the discharging robot connecting plate 21, a discharging clamping plate 25 is connected to the output end of the discharging clamping cylinder 22, two symmetrical discharging lifting cylinders 23 are further arranged below the discharging robot connecting plate 21, and a discharging magnetic attraction assembly 24 is connected to the output end of the discharging lifting cylinder 23.

[0058] By adopting the above technical scheme, the discharging clamping cylinder 22 drives the discharging clamping plate 25 to act on the wood board with the product to realize automatic discharging.

[0059] Specifically, the discharging magnetic attraction assembly 24 comprises a magnetic attraction mounting plate 241, a magnetic attraction lifting cylinder 243 is mounted above the magnetic attraction mounting plate 241, a magnet mounting plate 244 is connected to the output end of the magnetic attraction lifting cylinder 243, the magnet mounting plate 244 is further slidably connected to the magnetic attraction mounting plate 241 through a guide rod 242, a magnet 245 is connected below the magnet mounting plate 244, and a partition plate 246 located below the magnet 245 is further connected to the magnetic attraction mounting plate 241.

[0060] By adopting the above technical scheme, the discharging magnetic attraction assembly 24 is used to suck the product to realize the separation of the product and the wood board.

[0061] Embodiment 2

[0062] The embodiment differs from embodiment 1 in that: specifically, the column transplanting mechanism 5 comprises a support seat 51, the support seat 51 is provided with a lifting module 52, the lifting module 52 is a synchronous belt module, the output end of the lifting module 52 is connected with a transplanting mechanism mounting plate 54, four corners above the transplanting mechanism mounting plate 54 are respectively provided with transplanting lifting cylinders 55, and the output end of the transplanting lifting cylinder 55 is connected with a column suction cup 56.

[0063] By adopting the above technical scheme, the column is grabbed to realize automatic placement of the column.

[0064] Specifically, the transplanting mechanism mounting plate 54 is further provided with a horizontal moving module 53, the horizontal moving module 53 is a gear and rack moving module, the output end of the horizontal moving module 53 is connected with a transplanting magnetic suction assembly 57, and the structure of the transplanting magnetic suction assembly 57 is the same as that of the unloading magnetic suction assembly 24.

[0065] By adopting the above technical scheme, the transplanting magnetic suction assembly 57 is matched with the unloading magnetic suction assembly 24 to realize automatic overturning of the product. For the product that does not need to be sprayed for the second time or the product after the second time of spraying is completed, the transplanting magnetic suction assembly 57 is not needed, and the product can be directly unloaded.

[0066] Specifically, the column separation positioning mechanism 4 comprises a rack 41, one side of the rack 41 is provided with a vibration disc 43, the output end of the vibration disc 43 is connected with a main belt 44 located at the end of the rack 41, and the two sides above the rack 41 are respectively connected with a first column positioning belt assembly 42 and a second column positioning belt assembly 45.

[0067] The second column positioning belt assembly 45 comprises a positioning belt 451, one end of the positioning belt 451 away from the main belt 44 is provided with a second arrival sensor 455, the middle position of the positioning belt 451 is provided with a first arrival sensor 453, the middle position of the positioning belt 451 is further provided with a clamping cylinder 452 corresponding to the first arrival sensor 453, one side of the main belt 44 is provided with a side pushing cylinder 454 corresponding to the positioning belt 451, and one side of the side pushing cylinder 454 is provided with a third arrival sensor 456.

[0068] By adopting the above technical scheme, automatic positioning of the column is realized.

[0069] Embodiment 3

[0070] Further, the implementation method of the unloading device of the spraying line comprises the following steps:

[0071] (1) AGV forklift moves the tray full of products to the loading tray placement position 10, the loading camera 9 takes a picture of the wood board on the tray, detects the XY direction skewness of the uppermost wood board and the height information of the wood board, and then transmits the information to the loading robot 8;

[0072] (2) The loading robot 8 moves to the upper side of the loading tray placement position 10 with the loading clamp 11, and blows the product on the uppermost wood board through the blowing pipe 114 to blow off the dust on the surface of the product;

[0073] (3) Then the uppermost wood board is grabbed according to the XYZ direction information of the uppermost wood board detected by the loading camera 9;

[0074] (4) The distance detection sensor 12 at the loading end of the spraying production line 1 calculates the running speed of the wood board, and then the loading robot 8 places the wood board with the product on the chain at the loading end of the spraying production line 1, and makes the wood board and the previous wood board seamless;

[0075] (5) The above actions are sequentially performed until the loading robot 8 finishes moving all the wood boards on the tray, then the AGV forklift moves away the empty tray and moves again a tray full of products;

[0076] (6) After the product is sprayed with color and cooled by the spraying production line 1, it enters the unloading station, and the unloading robot 7 with the unloading clamp 2 is clamped by the unloading clamp plate 25 under the action of the unloading clamping cylinder 22;

[0077] (7) Then the unloading robot 7 rises with the unloading clamp 2, and the unloading lifting cylinder 23 on the unloading clamp 2 lowers the unloading magnetic assembly 24 to press on the product on the partition plate 246;

[0078] (8) Then the magnetic lifting cylinder 243 lowers the magnet mounting plate 244 with the magnet 245 mounted thereon to contact the magnet 245 with the partition plate 246, and the magnetic force of the magnet 245 attracts the product on the wood board to the partition plate 246, and then the magnetic lifting cylinder 243 rises with the unloading magnetic assembly 24 and the product to separate the product from the wood board;

[0079] (9) Then the unloading robot 7 places the wood board on the tray at the unloading tray placement position 3, and after the unloading robot 7 finishes placing the wood board, the unloading robot 7 rotates the unloading clamp 2 by 180 degrees, at this time the product is above the unloading magnetic assembly 24 and moves to the lower side of the transplanting magnetic assembly 57 of the column transplanting mechanism 5;

[0080] (X), then the transplanted magnetic assembly 57 will attract the product, the magnetic lifting cylinder 243 on the blanking clamp 2 resets, so that the magnet 245 is away from the partition plate 246, at this time the product is adsorbed on the transplanted magnetic assembly 57;

[0081] (XI), then the blanking position camera 6 detects the XYZ direction information of the wood board on the tray in the blanking tray placement position 3 and transmits it to the column transplanting mechanism 5;

[0082] (XII), then the transplanted magnetic assembly 57 moves forward to the top of the tray in the blanking tray placement position 3 under the action of the horizontal moving module 53, then the lifting module 52 drives the transplanted magnetic assembly 57 to descend to the top of the wood board, and the transplanted magnetic assembly 57 places the product on the wood board;

[0083] (XIII), then the transplanted magnetic assembly 57 rises and moves backward to the top of the column separation positioning mechanism 4, the transplanted lifting cylinder 55 on the column transplanting mechanism 5 moves downward with the column suction cup 56, four columns on the column separation positioning mechanism 4 are sucked up, and then the columns are placed on the wood board;

[0084] Further, the implementation method of the unloading device of the spraying line comprises the following steps:

[0085] (I), the employee pours the column into the vibrating disc 43, and the vibrating disc 43 transmits the column to the main belt 44;

[0086] (II), after the third to-position sensor 456 on the first column positioning belt assembly 42 detects, the side pushing cylinder 454 pushes the column to the positioning belt 451, and the column is transmitted to the position of the second to-position sensor 455 under the action of the positioning belt 451, at this time the two side protection plates and the end baffle on the positioning belt 451 limit the position of the column;

[0087] (III), then the side pushing cylinder 454 is retracted, the next column continues to move forward to the position of the side pushing cylinder 454 on the first column positioning belt assembly 42 under the pushing force of the vibrating disc 43 and the transmission action of the main belt 44, then the side pushing cylinder 454 is pushed out again, the next column is pushed to the positioning belt 451, then the column is transmitted to the position of the first to-position sensor 453 under the action of the positioning belt 451, the clamping cylinder 452 is pushed out to clamp and position the column, then the positioning belt 451 of the first column positioning belt assembly 42 stops running, and then the side pushing cylinder 454 is retracted;

[0088] (Fourth), the next column continues to move forward under the thrust of the vibrating disc 43 and the conveying effect of the main belt 44 to the side push cylinder 454 position on the second column positioning belt assembly 45, the above-mentioned action is repeated to realize the positioning of the column on the second column positioning belt assembly 45.

[0089] In summary, the present application realizes automatic feeding of products by the feeding robot 8 driving the feeding clamp 11, realizes automatic unloading of products by the unloading robot 7 driving the unloading clamp 2, reduces manual operation, reduces labor intensity, and improves the work efficiency of feeding and unloading; the present application calculates the advancing speed of the wood board through the distance detection sensor 12, then the feeding robot 8 places the wood board with products on the chain at the feeding end of the spraying production line 1, realizes seamless gaps between the wood board and the previous wood board, and ensures the uniformity of product spraying; the present application is further provided with a plurality of air blowing pipes 114 below the feeding robot connecting plate 111, which can blow off dust on the surface of the product through the air blowing pipes 114, thereby ensuring the adhesion effect of spraying; the present application realizes separation of the product and the wood board by the unloading magnetic attraction assembly 24, realizes automatic overturning of the product in cooperation with the transplanting magnetic attraction assembly 57; the present application realizes automatic placement of the column by the column transplanting mechanism 5; and the present application realizes automatic positioning of the column by the column separation positioning mechanism 4.

[0090] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A material loading and unloading device for a spraying line, characterized in that: The system includes a feeding robot located on the side of the feeding end of the spraying production line and a discharging robot located on the side of the discharging end of the spraying production line. The feeding robot has a feeding fixture connected to its output end and a feeding tray placement position on its side. A feeding position camera is located above the feeding tray placement position. The discharging robot has a discharging fixture connected to its output end and a discharging tray placement position on its side. A discharging position camera is located above the discharging tray placement position. A column separation and positioning mechanism is located on one side of the discharging tray placement position, and a column transfer mechanism is located on one side of the column separation and positioning mechanism. Distance detection sensors are also installed on the feeding end and the discharging end of the spraying production line, respectively. The feeding fixture includes a feeding robot connecting plate, and two symmetrical feeding clamping cylinders are provided below the feeding robot connecting plate. The output end of the feeding clamping cylinders is connected to the feeding clamping plate, and several air blowing pipes are also provided below the feeding robot connecting plate. The unloading fixture includes an unloading robot connecting plate. Two symmetrical unloading clamping cylinders are provided below the unloading robot connecting plate. The output end of the unloading clamping cylinders is connected to the unloading clamping plate. Two symmetrical unloading lifting cylinders are also provided below the unloading robot connecting plate. The output end of the unloading lifting cylinders is connected to the unloading magnetic suction component. The feeding magnetic suction assembly includes a magnetic suction mounting plate, a magnetic suction lifting cylinder is mounted on the top of the magnetic suction mounting plate, a magnet mounting plate is connected to the output end of the magnetic suction lifting cylinder, the magnet mounting plate is also slidably connected to the magnetic suction mounting plate through a guide rod, a magnet is connected to the bottom of the magnet mounting plate, and a partition plate located below the magnet is also connected to the magnetic suction mounting plate. The column transplanting mechanism includes a support base, on which a lifting module is installed. The output end of the lifting module is connected to a transplanting mechanism mounting plate. Transplanting lifting cylinders are installed at the four corners above the transplanting mechanism mounting plate, and the output ends of the transplanting lifting cylinders are connected to column suction cups. The transplanting mechanism mounting plate is also equipped with a transverse module, and the output end of the transverse module is connected to a transplanting magnetic suction component.

2. The coating line loading and unloading device according to claim 1, characterized in that: The column separation and positioning mechanism includes a frame, a vibrating plate on one side of the frame, a main belt at the end of the frame connected to the output end of the vibrating plate, and a first column positioning belt assembly and a second column positioning belt assembly connected to the two sides above the frame, respectively.

3. The coating line loading and unloading device according to claim 2, characterized in that: The second column positioning belt assembly includes a positioning belt. A second positioning sensor is provided at the end of the positioning belt away from the main belt. A first positioning sensor is provided at the middle position of the positioning belt. A clamping cylinder corresponding to the first positioning sensor is also provided at the middle position of the positioning belt. A side push cylinder corresponding to the positioning belt is provided on one side of the main belt. A third positioning sensor is provided on one side of the side push cylinder.

4. The method for implementing a material loading and unloading device on a spraying line according to claim 3, characterized in that, Includes the following steps: (a) The AGV forklift moves the pallet full of products to the loading pallet placement position. The loading position camera takes pictures of the wooden boards on the pallet, detects the XY direction skew of the top wooden board and the height information of the wooden board, and then transmits the information to the loading robot. (ii) The loading robot moves with the loading clamp to the position above the loading tray and blows air onto the products on the top wooden board through the air pipe to remove dust from the product surface. (iii) Then, based on the XYZ direction information of the top layer of wooden board detected by the loading camera, the top layer of wooden board is grabbed; (iv) The distance detection sensor at the feeding end of the spraying production line calculates the traveling speed of the wooden board, and then the feeding robot places the wooden board with the product on the chain at the feeding end of the spraying production line, and makes the wooden board seamless with the previous wooden board. (v) Perform the above actions in sequence until the loading robot has moved all the wooden boards on the pallet. Then the AGV forklift will move the empty pallet away and bring in a pallet full of products. (vi) After the product is sprayed with color and cooled down on the spraying production line, it enters the unloading station. The unloading robot, with the unloading fixture, clamps the wooden board with the product through the unloading clamping plate under the action of the unloading clamping cylinder. (vii) Then the unloading robot rises with the unloading fixture, while the unloading lifting cylinder on the unloading fixture lowers with the unloading magnetic suction component to press the partition plate onto the product. (viii) Then the magnetic lifting cylinder lowers the magnetic mounting plate with the magnet installed until the magnet contacts the partition plate. The magnetic attraction of the magnet attracts the product on the wooden board to the partition plate. Then the magnetic lifting cylinder raises the unloading magnetic assembly and the product together to separate the product from the wooden board. (ix) Then the unloading robot places the wooden board on the tray at the unloading tray placement position. After the unloading robot places the wooden board, it drives the unloading clamp to rotate. At this time, the product is above the unloading magnetic suction component and moves to the column transfer mechanism below the transfer magnetic suction component. (x) Then the transfer magnetic suction component will hold the product, and the magnetic lifting cylinder on the unloading clamp will be reset, so that the magnet is away from the partition plate. At this time, the product will be attracted to the transfer magnetic suction component. (xi) Then the camera at the unloading position detects the XYZ direction information of the wooden board on the pallet at the unloading position and transmits it to the column transplanting mechanism; (xii) Then, under the action of the transverse module, the transfer magnetic component moves forward to the position above the unloading tray. Then, the lifting module drives the transfer magnetic component to descend above the wooden board, and the transfer magnetic component places the product on the wooden board. (13) Then the transplanting magnetic suction component rises and moves backward to above the column separation and positioning mechanism. The transplanting lifting cylinder on the column transplanting mechanism moves downward with the column suction cup to pick up the four columns on the column separation and positioning mechanism, and then places the columns on the wooden board.

5. The method for implementing a material loading and unloading device on a spraying line according to claim 4, characterized in that: The method for positioning the column includes the following steps: (a) The employee pours the column into the vibratory feeder, and the vibratory feeder transports the column onto the main belt; (ii) After the third positioning sensor on the first column positioning belt assembly detects the position, the side push cylinder pushes the column onto the positioning belt. The column is then moved to the left by the positioning belt to the position of the second positioning sensor. At this time, the protective plates on both sides and the end baffle on the positioning belt restrict the position of the column. (III) Then the side-push cylinder retracts, and the next column continues to move forward to the side-push cylinder position on the first column positioning belt assembly under the thrust of the vibratory plate and the transmission action of the main belt. Then the side-push cylinder pushes out again, pushing the next column onto the positioning belt. Then the column is driven by the positioning belt to the left to the position of the first positioning sensor. The clamping cylinder pushes out to clamp and position the column. Then the positioning belt of the first column positioning belt assembly stops running, and then the side-push cylinder retracts. (iv) The next column continues to move forward under the thrust of the vibratory feeder and the transmission action of the main belt to the side push cylinder position on the second column positioning belt assembly, and repeats the above action to achieve the positioning of the column on the second column positioning belt assembly.

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