Automatic material loading and unloading equipment

Abstract

The utility model provides an automatic material feeding and discharging equipment, which comprises a rack, a six-axis robot matched with the rack is arranged on the rack, an end of the six-axis robot is provided with a gripper assembly matched with the end, a material fixing device corresponding to the position of the six-axis robot is arranged on the right side of the rack, a material turnover device corresponding to the position of the six-axis robot is arranged on the left side of the rack, the gripper assembly comprises a mechanical hand conversion head arranged at the end of the six-axis robot, a gripper bottom plate is arranged at the lower end of the mechanical hand conversion head, three gripper finger air cylinders that are symmetrical to each other are arranged on the left and right sides of the lower surface of the gripper bottom plate, and a gripper adapter plate is arranged at the lower end of the three gripper finger air cylinders. The automatic material feeding and discharging equipment can not only maintain high feeding and discharging efficiency, but also can avoid the situation that workers are injured due to contact with the equipment during material feeding and discharging, effectively eliminating safety hazards.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of material automatic feeding and discharging equipment. BACKGROUND

[0002] In real processing, the shape of the material is determined by the product, and some materials are very difficult to use automatic equipment for automatic feeding and discharging due to the particularity of their own products, such as annular discs, and further processing is required on both sides of the disc, which makes the current automatic equipment unable to meet the needs of the above-mentioned disc, and if manual feeding and discharging is used, not only the feeding and discharging efficiency is very low, but also as the feeding and discharging time is prolonged, the workers will feel tired, and the feeding and discharging efficiency will further decrease, at the same time, the use of manual feeding and discharging leads to frequent contact between workers and mechanical equipment, which is easy to cause workers to be injured by the working parts in the equipment, and there is a serious safety hazard. SUMMARY

[0003] The present application solves the existing technical problems to provide a kind of material automatic feeding equipment, it not only can keep high feeding and discharging efficiency, and can avoid the situation that workers are injured by contacting with equipment when feeding and discharging materials to the greatest extent, effectively eliminate safety hazards.

[0004] The technical scheme adopted by the present application to solve the above technical problems is:

[0005] The present application discloses a kind of material automatic feeding and discharging equipment, including rack, the rack is equipped with six-axis robot matched with it;The end of the six-axis robot is equipped with gripper assembly matched with it;The right side of the rack is equipped with a material fixing device corresponding to the position of six-axis robot;The left side of the rack is equipped with a material turnover device corresponding to the position of six-axis robot;The gripper assembly includes a mechanical hand conversion head arranged at the end of the six-axis robot;A gripper bottom plate is arranged at the lower end of the mechanical hand conversion head;Three gripper finger air cylinders are arranged on the left and right sides of the lower surface of the gripper bottom plate, which are symmetrical to each other;A gripper adapter plate is arranged at the lower end of the three gripper finger air cylinders;A tension block matched with the gripper adapter plate is arranged on the lower surface of the gripper adapter plate;A baffle is arranged below the three gripper finger air cylinders and below the gripper adapter plate;A plurality of movable holes corresponding to the position of the gripper adapter plate are arranged on the baffle, and the lower end of the tension block is located in the movable hole;The inner ends of the plurality of movable holes are connected to each other;An automatic adjusting device is arranged between the lower surface of the three gripper finger air cylinders and the upper surface of the baffle.

[0006] The automatic adjustment device includes a first compression spring disposed between the lower surface of the three-claw finger cylinder and the upper surface of the baffle plate; the outer edge of the upper surface of the three-claw finger cylinder is provided with a plurality of circumferentially evenly distributed grooves; the center of the bottom of the groove is provided with a telescopic hole that longitudinally penetrates the three-claw finger cylinder; the baffle plate is provided with a plurality of first screw holes corresponding to the positions of the telescopic holes; the lower end of the first screw passes downward through the telescopic hole and is screwed into the first screw hole, and the head of the first screw fits against the bottom of the groove; the first compression spring is sleeved on the outside of the first screw.

[0007] The lower surface of the gripper adapter plate is provided with several adjusting grooves evenly distributed along the direction away from the center of the three-jaw finger cylinder; the upper surface of the tensioning block is provided with an embedding part that matches the adjusting grooves; the upper surface of the gripper adapter plate is provided with several first through holes that communicate with the adjusting grooves; the center of the lower surface of the tensioning block is provided with a countersunk hole that communicates with the first through holes.

[0008] The upper right surface of the gripper base plate is provided with a first cylinder mounting seat; the right side wall of the first cylinder mounting seat is provided with a matching first cylinder; the lower end of the piston rod of the first cylinder is provided with an upper plate; a lower plate is provided directly below the upper plate; the right side wall of the middle part of the lower plate is provided with a first suction cup mounting plate; the lower surface of the first suction cup mounting plate is provided with a plurality of evenly distributed first suction cups; the upper surface of the lower plate is provided with symmetrical second screw holes on the front and rear sides; the left and right ends of the upper plate are provided with second through holes corresponding to the positions of the second screw holes; the lower end of the second screw passes downward through the second through hole and is screwed into the second screw hole, and the head of the second screw is in contact with the upper surface of the upper plate; a second compression spring is provided between the upper plate and the lower plate, which is sleeved on the second screw.

[0009] The material fixing device includes a machine body located on the right side of the frame; a first rear guide pillar bracket is provided on the rear side of the upper surface of the machine body, and a second rear guide pillar bracket is provided on the upper surface of the machine body in front of the first rear guide pillar bracket; a first front guide pillar bracket is provided on the front side of the upper surface of the machine body; a second front guide pillar bracket is provided on the upper surface of the machine body to the left of the first front guide pillar bracket, and the second front guide pillar bracket is located in front of the second rear guide pillar bracket; a rear cylinder bracket is provided on the upper surface of the machine body between the first rear guide pillar bracket and the second rear guide pillar bracket; a front cylinder bracket is provided on the upper surface of the machine body between the first front guide pillar bracket and the second front guide pillar bracket; the left and right ends of the first front guide pillar bracket and the left and right ends of the second front guide pillar bracket are connected by a front guide rod; a front guide pillar guide plate is provided on the rear side wall of the first front guide pillar bracket to fit against it; the left and right ends of the front guide pillar guide plate are provided with front guide holes that match the front guide rod.

[0010] The upper part of the rear sidewall of the front guide pillar guide plate is provided with a first front clamping plate; the upper part of the front sidewall of the second front guide pillar bracket is provided with a second front clamping plate opposite to the first front clamping plate; the rear sidewall of the front cylinder bracket is provided with a matching second cylinder, the front end of the piston rod of the second cylinder passing forward through the front cylinder bracket and located on the middle of the rear sidewall of the front guide pillar guide plate; a plurality of front placement rods lower than the height of the first and second front clamping plates are provided between the first and second front guide pillar brackets; the left and right ends of the first rear guide pillar bracket are connected to the left and right ends of the second rear guide pillar bracket through rear guide rods; the front sidewall of the first rear guide pillar bracket is provided with a rear guide pillar guide plate that fits therewith; The upper part of the front side wall of the rear guide post guide plate is provided with a first rear clamping plate; the left and right ends of the first rear clamping plate are provided with rear guide holes that match the rear guide rod; the upper part of the rear side wall of the second rear guide post bracket is provided with a second rear clamping plate opposite to the first rear clamping plate; the rear side wall of the rear cylinder bracket is provided with a third cylinder that matches it; the rear end of the piston rod of the third cylinder is located on the middle part of the rear side wall of the rear guide post guide plate; a number of rear placement rods lower than the height of the first and second rear clamping plates are provided between the first and second rear guide post brackets; V-grooves are provided at the opposite ends of the first and second front clamping plates and at the opposite ends of the first and second rear clamping plates.

[0011] The first front guide pillar bracket is provided with several first front elongated oval holes corresponding to the positions of the front mounting rod; the second front guide pillar bracket is provided with several second front elongated oval holes corresponding to the positions of the first front elongated oval holes; the front guide pillar guide plate is provided with several third front elongated oval holes corresponding to the positions of the first front elongated oval holes; the front end of the front mounting rod passes forward through both the first and third front elongated oval holes and is screwed with a first front limiting screw that matches the front sidewall of the first front guide pillar bracket; the rear end of the front mounting rod passes backward through the second front elongated oval hole and is screwed with a second front limiting screw that fits against the rear sidewall of the second front guide pillar bracket. The first rear guide post bracket is provided with several first rear elongated oval holes corresponding to the positions of the rear placement rods; the second rear guide post bracket is provided with several second rear elongated oval holes corresponding to the positions of the first rear elongated oval holes; the rear guide post guide plate is provided with several third rear elongated oval holes corresponding to the positions of the first rear elongated oval holes; the rear end of the rear placement rod passes through the first and third rear elongated oval holes and is provided with a first rear limiting screw that fits against the rear side wall of the first rear guide post bracket; the front end of the rear placement rod passes through the second rear elongated oval hole and is provided with a second rear limiting screw that fits against the front side wall of the second rear guide post bracket.

[0012] The front end face of the front rod is provided with a third screw hole at its center, which is screwed to the first front limiting screw; a first front annular washer is provided between the head of the first front limiting screw and the front end face of the front rod, which is fitted over the first front limiting screw, and the first front annular washer is in contact with the front side wall of the first front guide pillar bracket; the rear end face of the front rod is provided with a fourth screw hole at its center, which is screwed to the second front limiting screw; a second front annular washer is provided between the head of the second front limiting screw and the rear end face of the front rod, which is fitted over the second front limiting screw, and the second front annular washer is in contact with the rear side wall of the second front guide pillar bracket; The rear end face of the rear placement rod has a fifth screw hole at its center, which is screwed to the first rear limiting screw; a first rear annular washer is provided between the head of the first rear limiting screw and the rear end face of the rear placement rod, and the first rear annular washer fits against the rear side wall of the first rear guide post bracket; the front end face of the rear placement rod has a sixth screw hole at its center, which is screwed to the second rear limiting screw; a second rear annular washer is provided between the head of the second rear limiting screw and the front end face of the rear placement rod, and the second rear annular washer fits against the front side wall of the second rear guide post bracket.

[0013] The material turning device includes a left column base located at the left rear of the frame; a left column is located at the center of the upper surface of the left column base; a top plate is located at the upper end of the left column; a material transfer plate is located at the right front of the upper surface of the top plate; a rotary cylinder mounting plate is located at the left rear of the upper surface of the top plate; a matching rotary cylinder is located on the right side wall of the rotary cylinder mounting plate; a matching rotating bracket is located on the rotary cylinder; a rotating transfer plate is located at the upper end of the rotating bracket; a material suction cup base plate is located at the right end of the rotating transfer plate; and several second suction cups are evenly distributed in a circle on the front side wall of the material suction cup base plate.

[0014] The material suction cup base plate is provided with several fourth elongated holes corresponding to the position of the second suction cup; the air pipe at the rear end of the second suction cup passes through the corresponding fourth elongated holes and is simultaneously screwed with a front limit nut and a rear limit nut. The front limit nut is attached to the front side wall of the material suction cup base plate, and the rear limit nut is attached to the rear side wall of the material suction cup base plate.

[0015] The beneficial effects of this invention are:

[0016] Compared with existing technologies, the automatic material loading and unloading equipment using the structure of this invention can quickly grip materials using the gripper assembly on a six-axis robot and then quickly place them on a material fixing device. This allows a dedicated processing device to stably process the upper surface of the material. If the lower surface of the material also needs to be processed, a material flipping device can be used to flip the material so that the upper surface, which was originally facing down, is facing up, making it easier for the processing device to process the lower surface. The entire process requires no human intervention, achieving automated loading and unloading. It can maintain high loading and unloading efficiency at all times. With no human intervention, it can minimize workers' contact with the equipment, thereby avoiding injuries caused by frequent contact with the equipment and effectively eliminating safety hazards. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the automatic material loading and unloading equipment of the present invention;

[0018] Figure 2 This is a structural schematic diagram of the material fixing device from one angle;

[0019] Figure 3 yes Figure 2 An enlarged view of part F;

[0020] Figure 4 yes Figure 2 Enlarged view of part G;

[0021] Figure 5 Another structural diagram of the material fixing device;

[0022] Figure 6 yes Figure 5 Enlarged view of the H section;

[0023] Figure 7 yes Figure 5 An enlarged view of part I;

[0024] Figure 8 This is a schematic diagram of the gripper assembly;

[0025] Figure 9 yes Figure 8 An enlarged view of the J section;

[0026] Figure 10 This is a partial structural schematic diagram of the gripper assembly;

[0027] Figure 11 This is a schematic diagram of the material turning device;

[0028] Figure 12 yes Figure 11 An enlarged view of part K. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0030] Please see Figures 1 to 12 This invention provides an automatic material loading and unloading device, including a frame 1, on which a six-axis robot 2 is mounted; the end of the six-axis robot 2 is equipped with a gripper assembly 3; a material fixing device 4 corresponding to the position of the six-axis robot 2 is provided on the right side of the frame 1; a material flipping device 6 corresponding to the position of the six-axis robot 2 is provided on the left side of the frame 1; and a robotic arm conversion head 301 is provided at the end of the six-axis robot; a gripper base plate 302 is provided at the lower end of the robotic arm conversion head 301; and symmetrical three-claw grippers are provided on the left and right sides of the lower surface of the gripper base plate 302. The three-claw finger cylinder 303 has a gripper adapter plate 304 at the lower end of its gripper; a tensioning block 305 matching the gripper adapter plate 304 is provided on the lower surface of the gripper adapter plate 304; a baffle 306 is provided directly below the gripper adapter plate 304 directly below the three-claw finger cylinder 303; the baffle 306 has several movable holes 307 corresponding to the positions of the gripper adapter plate 304, and the lower end of the tensioning block 305 is located in the movable holes 307; the inner ends of the several movable holes 307 are interconnected; an automatic adjustment device is provided between the lower surface of the three-claw finger cylinder 303 and the upper surface of the baffle 306.

[0031] The automatic adjustment device includes a first compression spring 313 disposed between the lower surface of the three-claw finger cylinder 303 and the upper surface of the baffle 306; the outer edge of the upper surface of the three-claw finger cylinder 303 is provided with a plurality of circumferentially evenly distributed grooves 308; the center of the bottom of the groove 308 is provided with a telescopic hole 309 that longitudinally penetrates the three-claw finger cylinder 303; the baffle 306 is provided with a plurality of first screw holes 310 corresponding to the positions of the telescopic holes 309; the lower end of the first screw 311 passes downward through the telescopic hole 309 and is screwed into the first screw hole 310, and the head of the first screw 311 is in contact with the bottom of the groove 308; the first compression spring 313 is sleeved on the outside of the first screw 311.

[0032] The lower surface of the gripper adapter plate 304 is provided with a plurality of adjusting grooves 314 evenly distributed along the direction away from the center of the three-jaw finger cylinder 303; the upper surface of the tensioning block 305 is provided with an insert portion 315 that matches the adjusting grooves 314; the upper surface of the gripper adapter plate 304 is provided with a plurality of first through holes 316 that communicate with the adjusting grooves 314; the center of the lower surface of the tensioning block 305 is provided with a countersunk hole 317 that communicates with the first through holes 316.

[0033] The upper right surface of the gripper base plate 302 is provided with a first cylinder mounting seat 318; the right side wall of the first cylinder mounting seat 318 is provided with a matching first cylinder 319; the lower end of the piston rod of the first cylinder 319 is provided with an upper plate 320; a lower plate 321 is provided directly below the upper plate 320; the right side wall of the middle part of the lower plate 321 is provided with a first suction cup mounting plate 322; the lower surface of the first suction cup mounting plate 322 is provided with a plurality of evenly distributed first suction cups 323; the upper surface of the lower plate 321 is provided with symmetrical second screw holes 324 on the front and rear sides; the left and right ends of the upper plate 320 are provided with second through holes 325 corresponding to the positions of the second screw holes 324; the lower end of the second screw 326 passes downward through the second through hole 325 and is screwed into the second screw hole 324, and the head of the second screw 326 is in contact with the upper surface of the upper plate 320; a second compression spring 327 is provided between the upper plate 320 and the lower plate 321, which is sleeved on the second screw 326.

[0034] The material fixing device 4 includes a body 401 located on the right side of the frame 1; a first rear guide column bracket 402 is provided on the rear side of the upper surface of the body 401, and a second rear guide column bracket 403 is provided on the upper surface of the body 401 in front of the first rear guide column bracket 402; a first front guide column bracket 404 is provided on the front side of the upper surface of the body 401; a second front guide column bracket 405 is provided on the upper surface of the body 401 to the left of the first front guide column bracket 404, and the second front guide column bracket 405 is located in front of the second rear guide column bracket 403; the upper surface of the body 401 is provided with a first rear guide column bracket 404 located to the left of the first front guide column bracket 404. A rear cylinder bracket 406 is provided between the rear column bracket 402 and the second rear guide column bracket 403; a front cylinder bracket 407 is provided on the upper surface of the body 401 between the first front guide column bracket 404 and the second front guide column bracket 405; the left and right ends of the first front guide column bracket 404 and the left and right ends of the second front guide column bracket 405 are connected by a front guide rod 408; a front guide column guide plate 409 is provided on the rear side wall of the first front guide column bracket 404 to fit against it; the left and right ends of the front guide column guide plate 409 are provided with front guide holes 410 that match the front guide rod 408.

[0035] The upper part of the rear sidewall of the front guide column guide plate 409 is provided with a first front clamping plate 411; the upper part of the front sidewall of the second front guide column bracket 405 is provided with a second front clamping plate 412 opposite to the first front clamping plate 411; the rear sidewall of the front cylinder bracket 407 is provided with a matching second cylinder 413, the piston rod of the second cylinder 413 passes forward through the front cylinder bracket 407 and is located on the middle part of the rear sidewall of the front guide column guide plate 409; a plurality of front placement rods 414 lower than the height of the first front clamping plate 411 and the second front clamping plate 412 are provided between the first front guide column bracket 404 and the second front guide column bracket 405; the left and right ends of the first rear guide column bracket 402 are connected to the left and right ends of the second rear guide column bracket 403 through rear guide rods 415; the front sidewall of the first rear guide column bracket 402 is provided with a rear guide column guide plate 416 that fits against it; the rear guide... The upper part of the front side wall of the column guide plate 416 is provided with a first rear clamping plate 417; the left and right ends of the first rear clamping plate 417 are provided with rear guide holes 418 that match the rear guide rod 415; the upper part of the rear side wall of the second rear guide column bracket 403 is provided with a second rear clamping plate 419 that is opposite to the first rear clamping plate 417; the rear side wall of the rear cylinder bracket 406 is provided with a third cylinder 420 that matches it; the rear end of the piston rod of the third cylinder 420 is located on the middle part of the rear side wall of the rear guide column guide plate 416; a plurality of rear placement rods 421 that are lower than the height of the first rear clamping plate 417 and the second rear clamping plate 419 are provided between the first rear guide column bracket 402 and the second rear guide column bracket 403; V-grooves 432 are provided at the opposite ends of the first front clamping plate 411 and the second front clamping plate 412, and at the opposite ends of the first rear clamping plate 417 and the second rear clamping plate 419.

[0036] The first front guide pillar bracket 404 is provided with a plurality of first front elongated oval holes 422 corresponding to the positions of the front mounting rod 414; the second front guide pillar bracket 405 is provided with a plurality of second front elongated oval holes 423 corresponding to the positions of the first front elongated oval holes 422; the front guide pillar guide plate 409 is provided with a plurality of third front elongated oval holes corresponding to the positions of the first front elongated oval holes 422; the front end of the front mounting rod 414 passes forward through both the first and third front elongated oval holes and is screwed with a first front limiting screw 425 that matches the front sidewall of the first front guide pillar bracket 404; the rear end of the front mounting rod 414 passes backward through the second front elongated oval holes 423 and is screwed with a second front limiting screw 426 that fits against the rear sidewall of the second front guide pillar bracket 405. The first rear guide post bracket 402 is provided with a plurality of first rear elongated oval holes 427 corresponding to the position of the rear placement rod 421; the second rear guide post bracket 403 is provided with a plurality of second rear elongated oval holes 428 corresponding to the position of the first rear elongated oval holes 427; the rear guide post guide plate 416 is provided with a plurality of third rear elongated oval holes corresponding to the position of the first rear elongated oval holes 427; the rear end of the rear placement rod 421 passes through the first rear elongated oval holes 427 and the third rear elongated oval holes and is provided with a first rear limiting screw 430 that fits against the rear side wall of the first rear guide post bracket 402; the front end of the rear placement rod 421 passes through the second rear elongated oval holes 428 and is provided with a second rear limiting screw 431 that fits against the front side wall of the second rear guide post bracket 403.

[0037] The front end face of the front rod 414 is provided with a third screw hole at the center of the front end face, which is screwed to the first front limiting screw 425; a first front annular washer 433 is provided between the head of the first front limiting screw 425 and the front end face of the front rod 414, which is fitted over the first front limiting screw 425, and the first front annular washer 433 is in contact with the front side wall of the first front guide pillar bracket 404; the rear end face of the front rod 414 is provided with a fourth screw hole at the center of the rear end face, which is screwed to the second front limiting screw 426; a second front annular washer 434 is provided between the head of the second front limiting screw 426 and the rear end face of the front rod 414, which is fitted over the second front limiting screw 426, and the second front annular washer 434 is in contact with the rear side wall of the second front guide pillar bracket 405; The rear end face of the rear placement rod 421 is provided with a fifth screw hole at the center, which is screwed to the first rear limiting screw 430; a first rear annular washer 435 is provided between the head of the first rear limiting screw 430 and the rear end face of the rear placement rod 421, which is fitted over the first rear limiting screw 430, and the first rear annular washer 435 is in contact with the rear side wall of the first rear guide post bracket 402; the front end face of the rear placement rod 421 is provided with a sixth screw hole at the center, which is screwed to the second rear limiting screw 431; a second rear annular washer 436 is provided between the head of the second rear limiting screw 431 and the front end face of the rear placement rod 421, which is fitted over the second rear limiting screw 431, and the second rear annular washer 436 is in contact with the front side wall of the second rear guide post bracket 403.

[0038] The material turning device 6 includes a left column base 601 located at the left rear of the frame 1; a left column 602 is located at the center of the upper surface of the left column base 601; a top plate 603 is located at the upper end of the left column 602; a material transfer plate 604 is located at the right front of the upper surface of the top plate 603; a rotary cylinder mounting plate 605 is located at the left rear of the upper surface of the top plate 603; a rotary cylinder 606 is located on the right side wall of the rotary cylinder mounting plate 605; a rotary support 607 is located on the rotary cylinder 606; a rotary transfer plate 608 is located at the upper end of the rotary support 607; a material suction cup base plate 609 is located at the right end of the rotary transfer plate 608; and a plurality of second suction cups 610 evenly distributed in a circle are located on the front side wall of the material suction cup base plate 609.

[0039] The material suction cup base plate 609 is provided with a plurality of fourth elongated holes 611 corresponding to the positions of the second suction cup 610; the air pipe 612 at the rear end of the second suction cup 610 passes through the corresponding fourth elongated holes 611 and is simultaneously screwed with a front limiting nut 613 and a rear limiting nut 614. The front limiting nut 613 is in contact with the front side wall of the material suction cup base plate 609, and the rear limiting nut 614 is in contact with the rear side wall of the material suction cup base plate 609.

[0040] The method of using this invention is as follows:

[0041] When a large amount of material is placed in a position that the gripper assembly 3 can grasp, the six-axis robot 2 can grip the material through the gripper assembly 3. The six-axis robot 2 is an existing industrial robot capable of multi-angle gripping. At this time, the six-axis robot 2 will drive the gripper base plate 302 to rotate, so that the lower surface of the originally downward gripper base plate 302 is opposite to the annular material 7. At this time, the three-jaw finger cylinders 303 on the left and right sides of the gripper base plate 302 do not work simultaneously. It is only necessary to ensure that the three-jaw finger cylinders 303 adjacent to the first cylinder 319 are opposite to the annular material 7. At this time, the six-axis robot 2 drives the gripper base plate 302 to gradually approach the annular material 7 on the far left, so that the first suction cup 323 continuously approaches the annular material 7 on the far left. As the first suction cup 323 approaches, the first suction cup 323 generates suction to pick up the annular material 7 on the far left, thereby avoiding the adjacent materials from being too tightly attached, which would make it difficult for the annular material 7 on the far left to be gripped by the three-jaw finger cylinders. When the gripper cylinder 303 is in the gripping state, when the six-axis robot 2 moves the first suction cup 323 to a certain position, the first cylinder 319 is activated. The piston rod of the first cylinder 319 will drive the upper plate 320 to move, thereby enabling the first suction cup 323 to move again, so that the first suction cup 323 approaches the leftmost annular material 7 alone. As the leftmost annular material 7 is sucked up by the first suction cup 323, when the first suction cup 323 is pressed against the wall of the annular material, the second compression spring 327 will play a buffering role to avoid the first suction cup 323 directly pressing against the wall of the annular material 7 when sucking up the annular material 7, which may easily cause damage to itself. When the first suction cup 323 is firmly sucked on the left side wall of the leftmost annular material 7, the leftmost annular material will detach from the adjacent annular material and move to the left a certain distance along the trajectory of the hanging rod 535. Then the first cylinder 319 is activated again, causing the first suction cup 323 to move continuously away from the hanging rod 535.

[0042] With the inner ends of the several movable holes 307 interconnected, when the first suction cup 323 picks up the leftmost annular material, the position where the inner ends of the several movable holes 307 intersect is precisely where the hanging rod 535 passes through, thus ensuring that the original lower surface of the baffle 306 is opposite to the left sidewall of the leftmost annular material 7. As the first suction cup 323 moves the annular material 7 away from the hanging rod 535, the left sidewall of the annular material 7 will fit against the original lower surface of the baffle 306. As the annular material 7 continues to move, it will squeeze the baffle 306, causing the baffle 306 to continuously move along the trajectory of the telescopic hole 309 via the first screw 311. When the gripper adapter plate 304 is near the baffle 306, the tensioning block 305, which was originally located in the movable hole 307 on the baffle 306, will pass through the movable hole 307 and continue to pass into the inner hole of the annular material. As the gripper of the three-jaw finger cylinder 303 drives the gripper adapter plate 304 to open, several tensioning blocks 305 that are evenly distributed in a circle will continuously apply pressure to the inner wall of the annular material 7, thereby using the expanding tensioning blocks 305 to clamp the annular material. When the baffle 306 is squeezed by the annular material, the first compression spring 313 plays a buffering and adjusting role, so that the annular material gradually comes into contact with the lower surface of the baffle 306, avoiding the annular material 7 from tilting at an angle when it is clamped, and ensuring the stability of the annular material 7 when it is clamped.

[0043] After the annular material is clamped, the first suction cup 323 stops sucking up the annular material. At this time, the first cylinder 319 drives the first suction cup 323 to reset, and the clamped annular material 7 will leave the hanging rod 535 under the action of the six-axis robot 2. The angle is adjusted again so that the annular material 7 is parallel to the top of the machine body 401. At the same time, the annular material 7 is placed on the rear placement rod 421. At this time, the annular material supported by the rear placement rod 421 is between the first rear clamping plate 417 and the second rear clamping plate 419. Then, the above method can be used again to take another piece of annular material 7 from the trolley 534 and place it on the front placement rod 414. The annular material supported by the front placement rod 414 is between the first front clamping plate 411 and the second front clamping plate 412. Then, the second cylinder 413 and the third cylinder 420 can be started at the same time. When the second cylinder 41 When the third cylinder 420 is started, the piston rod of the second cylinder 413 will drive the first front clamping plate 411 to move backward, and the distance between the first front clamping plate 411 and the second front clamping plate 412 will continuously decrease, thereby clamping the annular material 7 located between the first front clamping plate 411 and the second front clamping plate 412. When the third cylinder 420 is started, the piston rod of the third cylinder 420 will drive the first rear clamping plate 417 to move forward, and the distance between the first rear clamping plate 417 and the second rear clamping plate 419 will continuously decrease, thereby clamping the annular material 7 located between the first rear clamping plate 417 and the second rear clamping plate 419. After the annular material 7 is clamped, the upper surface of the annular material 7 can be processed using a special processing device. After the upper surface of the annular material is processed, the lower surface of the annular material 7 needs to be processed, at which point the annular material 7 needs to be reversed.

[0044] When it is necessary to reverse the annular material 7, the three-jaw finger cylinder 303 can be controlled by the six-axis robot 2 to approach the annular material 7 that has already undergone single-sided processing. When the baffle 306 is in contact with the upper surface of the annular material 7 that has undergone single-sided processing, as the three-jaw finger cylinder 303 continues to press down, the vertical distance between the baffle 306 and the gripper adapter plate 304 decreases accordingly. The tensioning block 305 passes through the movable hole 307 on the baffle 306 and is inserted into the inner hole of the annular material 7. As the three-jaw finger cylinder 303 controls the tensioning block 305 to open and press against the inner wall of the annular material 7, the annular material 7 is clamped and fixed again. Then... The annular material 7 can be moved to the front of the material suction cup base plate 609 by a six-axis robot. At this time, the original lower surface of the annular material 7 is exactly opposite to the second suction cup 610. As the second suction cup 610 is opened, it firmly adsorbs the original lower surface of the annular material 7 through its own suction force. Then, the three-claw finger cylinder 303 can be opened to control several tension blocks 305 evenly distributed in a circle to retract, so that the tension blocks 305 are no longer pressed tightly against the inner wall of the annular material 7. Then, the six-axis robot 2 controls the gripper assembly 3 to leave the range of motion of the material suction cup base plate 609. Then, the rotary cylinder 606 can be started. At this time, the rotary cylinder... Cylinder 606 drives the rotating bracket 607 to rotate, causing the upper end of the rotating bracket 607 to rotate forward. When the rotating bracket 607 rotates, the material suction cup base plate 609 rotates accordingly. Eventually, the material suction cup base plate 609 becomes parallel to the upper surface of the material transfer plate 604, thus making the annular material 7 parallel to the upper surface of the material transfer plate 604. As the second suction cup 610 closes, it no longer has suction force, and the annular material 7 will fall stably onto the upper surface of the material transfer plate 604 under the action of gravity. At this time, the annular material 7 is facing upwards from its original lower surface, thus flipping the annular material 7. Finally, the six-axis machine... Person 2 uses the gripper assembly 3 to grip the flipped annular material 7 and then places it between the first front clamping plate 411 and the second front clamping plate 412 or between the first rear clamping plate 417 and the second rear clamping plate 419 to process the upper surface of the annular material 7. After both sides of the annular material 7 are processed, the three-jaw finger cylinders 303 on the left and right sides of the gripper assembly 3 can simultaneously grip the annular material 7 located between the first front clamping plate 411 and the second front clamping plate 412 and the material located between the first rear clamping plate 417 and the second rear clamping plate 419, so as to achieve the effect of simultaneously feeding two annular materials 7, effectively improving the feeding effect.

[0045] In summary, this invention can quickly grip the material 7 using the gripper assembly 3 on the six-axis robot 2 and then quickly place it on the material fixing device 4. This allows the dedicated processing device to stably process the upper surface of the material 7. If the lower surface of the material 7 also needs to be processed, the material flipping device 6 can be used to flip the material 7 so that the upper surface of the material 7, which was originally facing down, faces up, making it easier for the processing device to process the lower surface of the material 7. The entire process requires no human intervention, achieving automated loading and unloading. It can maintain high loading and unloading efficiency at all times. With no human intervention, it can minimize the possibility of workers coming into contact with the equipment, thereby avoiding injuries caused by frequent contact with the equipment and effectively eliminating safety hazards.

[0046] The lower surface of the gripper adapter plate 304 is provided with several adjusting grooves 314 evenly distributed along a direction away from the center of the three-jaw finger cylinder 303. The upper surface of the tensioning block 305 is provided with an insert 315 that matches the adjusting grooves 314. The upper surface of the gripper adapter plate 304 is provided with several first through holes 316 that communicate with the adjusting grooves 314. The center of the lower surface of the tensioning block 305 is provided with a countersunk hole 317 that communicates with the first through holes 316. Since the materials 7 have different models, the inner and outer diameters of different models of materials 7 are different. This can be addressed by adjusting... The groove 314 adjusts the position of the tension block 305 to accommodate changes in material size. If the upper part of the tension block 305 is embedded in the adjustment groove 314 away from the three-jaw finger cylinder 303, the tension range of the tension block 305 will increase accordingly. The countersunk hole 317 and the first through hole 316 can be fixed by bolts and nuts. As long as the bolt passes through the countersunk hole 317 and the first countersunk hole 317 in sequence and is screwed with a nut that fits against the upper surface of the claw adapter plate 304, the stability between the tension block 305 and the claw adapter plate 304 can be guaranteed.

[0047] The material suction cup base plate 609 is provided with several fourth elongated holes 611 corresponding to the positions of the second suction cup 610. The air tube at the rear end of the second suction cup 610 passes through the corresponding fourth elongated holes 611 and is simultaneously screwed with a front limiting nut 613 and a rear limiting nut 614. The front limiting nut 613 is in contact with the front side wall of the material suction cup base plate 609, and the rear limiting nut 614 is in contact with the rear side wall of the material suction cup base plate 609. The front limiting nut 613 and the rear limiting nut 614 can change the position of the second suction cup 610 by simply rotating their own positions. This makes it easier to adjust the distance between the two when the second suction cup 610 is suspended above the material transfer plate 604, so as to better flip the material.

[0048] The first front annular washer 433 and the second front annular washer 434 can restrict the front and rear ends of the front release rod 414, preventing the front release rod 414 from being unable to be screwed with the larger first front limit screw 425 and the second front limit screw 426 due to its small diameter, thus preventing the front and rear ends of the front release rod from being unrestricted. The presence of the first rear annular washer 435 and the second rear annular washer 436 can restrict the front and rear ends of the rear release rod 421, preventing the rear release rod 421 from being unable to be restricted due to its small diameter, thus preventing the rear release rod 421 from being unable to be screwed with the larger first rear limit screw 430 and the second rear limit screw 431.

Claims

1. An automatic material loading and unloading device, comprising a frame, characterized in that: The frame is equipped with a matching six-axis robot; the end of the six-axis robot is equipped with a matching gripper assembly; the right side of the frame is equipped with a material fixing device corresponding to the position of the six-axis robot; the left side of the frame is equipped with a material flipping device corresponding to the position of the six-axis robot; the gripper assembly includes a manipulator conversion head located at the end of the six-axis robot; the lower end of the manipulator conversion head is equipped with a gripper base plate; the lower surface of the gripper base plate is equipped with symmetrical three-jaw finger cylinders on both sides; the lower end of the gripper of the three-jaw finger cylinder is equipped with a gripper adapter plate; the lower surface of the gripper adapter plate is equipped with a matching tensioning mechanism. The tensioning block has several movable holes corresponding to the positions of the gripper adapter plate and located directly below the three-jaw finger cylinder. The lower end of the tensioning block is located within these movable holes. The inner ends of the movable holes are interconnected. An automatic adjustment device is provided between the lower surface of the three-jaw finger cylinder and the upper surface of the baffle plate. The automatic adjustment device includes a first compression spring located between the lower surface of the three-jaw finger cylinder and the upper surface of the baffle plate. Several circumferentially distributed grooves are provided on the outer edge of the upper surface of the three-jaw finger cylinder. A telescopic hole penetrating the three-jaw finger cylinder is provided at the center of the bottom of each groove. The baffle plate has several... A first screw hole corresponding to the position of the telescopic hole; the lower end of the first screw passes downward through the telescopic hole and is screwed into the first screw hole, with the head of the first screw fitting against the bottom of the groove; the first compression spring is sleeved on the outside of the first screw; the lower surface of the gripper adapter plate is provided with several adjusting grooves evenly distributed along a direction away from the center of the three-jaw finger cylinder; the upper surface of the tensioning block is provided with an insert matching the adjusting groove; the upper surface of the gripper adapter plate is provided with several first through holes communicating with the adjusting groove; the center of the lower surface of the tensioning block is provided with a countersunk hole communicating with the first through holes; the upper surface of the right end of the gripper base plate is provided with a first cylinder mounting seat; the first cylinder mounting... A first cylinder is provided on the right side wall of the seat; an upper plate is provided at the lower end of the piston rod of the first cylinder; a lower plate is provided directly below the upper plate; a first suction cup mounting plate is provided on the right side wall of the middle part of the lower plate; a number of evenly distributed first suction cups are provided on the lower surface of the first suction cup mounting plate; a second screw hole is provided on the front and rear sides of the upper surface of the lower plate; a second through hole is provided at the left and right ends of the upper plate, corresponding to the position of the second screw hole; the lower end of the second screw passes downward through the second through hole and is screwed into the second screw hole, and the head of the second screw is in contact with the upper surface of the upper plate; a second compression spring is provided between the upper plate and the lower plate, which is sleeved on the second screw.

2. The automatic material loading and unloading equipment according to claim 1, characterized in that: The material fixing device includes a machine body located on the right side of the frame; a first rear guide pillar bracket is provided on the rear side of the upper surface of the machine body, and a second rear guide pillar bracket is provided on the upper surface of the machine body in front of the first rear guide pillar bracket; a first front guide pillar bracket is provided on the front side of the upper surface of the machine body; a second front guide pillar bracket is provided on the upper surface of the machine body to the left of the first front guide pillar bracket, and the second front guide pillar bracket is located in front of the second rear guide pillar bracket; a rear cylinder bracket is provided on the upper surface of the machine body between the first rear guide pillar bracket and the second rear guide pillar bracket; a front cylinder bracket is provided on the upper surface of the machine body between the first front guide pillar bracket and the second front guide pillar bracket; the left and right ends of the first front guide pillar bracket and the left and right ends of the second front guide pillar bracket are connected by a front guide rod; a front guide pillar guide plate is provided on the rear side wall of the first front guide pillar bracket to fit against it; the left and right ends of the front guide pillar guide plate are provided with front guide holes that match the front guide rod.

3. The automatic material loading and unloading equipment according to claim 2, characterized in that: The upper part of the rear sidewall of the front guide pillar guide plate is provided with a first front clamping plate; the upper part of the front sidewall of the second front guide pillar bracket is provided with a second front clamping plate opposite to the first front clamping plate; the rear sidewall of the front cylinder bracket is provided with a matching second cylinder, the front end of the piston rod of the second cylinder passing forward through the front cylinder bracket and located on the middle of the rear sidewall of the front guide pillar guide plate; a plurality of front placement rods lower than the height of the first and second front clamping plates are provided between the first and second front guide pillar brackets; the left and right ends of the first rear guide pillar bracket are connected to the left and right ends of the second rear guide pillar bracket through rear guide rods; the front sidewall of the first rear guide pillar bracket is provided with a rear guide pillar guide plate that fits therewith; The upper part of the front side wall of the rear guide post guide plate is provided with a first rear clamping plate; the left and right ends of the first rear clamping plate are provided with rear guide holes that match the rear guide rod; the upper part of the rear side wall of the second rear guide post bracket is provided with a second rear clamping plate opposite to the first rear clamping plate; the rear side wall of the rear cylinder bracket is provided with a third cylinder that matches it; the rear end of the piston rod of the third cylinder is located on the middle part of the rear side wall of the rear guide post guide plate; a number of rear placement rods lower than the height of the first and second rear clamping plates are provided between the first and second rear guide post brackets; V-grooves are provided at the opposite ends of the first and second front clamping plates and at the opposite ends of the first and second rear clamping plates.

4. The automatic material loading and unloading equipment according to claim 3, characterized in that: The first front guide pillar bracket is provided with several first front elongated oval holes corresponding to the positions of the front mounting rod; the second front guide pillar bracket is provided with several second front elongated oval holes corresponding to the positions of the first front elongated oval holes; the front guide pillar guide plate is provided with several third front elongated oval holes corresponding to the positions of the first front elongated oval holes; the front end of the front mounting rod passes forward through both the first and third front elongated oval holes and is screwed with a first front limiting screw that matches the front sidewall of the first front guide pillar bracket; the rear end of the front mounting rod passes backward through the second front elongated oval hole and is screwed with a second front limiting screw that fits against the rear sidewall of the second front guide pillar bracket. The first rear guide post bracket is provided with several first rear elongated oval holes corresponding to the positions of the rear placement rods; the second rear guide post bracket is provided with several second rear elongated oval holes corresponding to the positions of the first rear elongated oval holes; the rear guide post guide plate is provided with several third rear elongated oval holes corresponding to the positions of the first rear elongated oval holes; the rear end of the rear placement rod passes through the first and third rear elongated oval holes and is provided with a first rear limiting screw that fits against the rear side wall of the first rear guide post bracket; the front end of the rear placement rod passes through the second rear elongated oval hole and is provided with a second rear limiting screw that fits against the front side wall of the second rear guide post bracket.

5. The automatic material loading and unloading equipment according to claim 4, characterized in that: The front end face of the front rod is provided with a third screw hole at its center, which is screwed to the first front limiting screw; a first front annular washer is provided between the head of the first front limiting screw and the front end face of the front rod, which is fitted over the first front limiting screw, and the first front annular washer is in contact with the front side wall of the first front guide pillar bracket; the rear end face of the front rod is provided with a fourth screw hole at its center, which is screwed to the second front limiting screw; a second front annular washer is provided between the head of the second front limiting screw and the rear end face of the front rod, which is fitted over the second front limiting screw, and the second front annular washer is in contact with the rear side wall of the second front guide pillar bracket; The rear end face of the rear placement rod has a fifth screw hole at its center, which is screwed to the first rear limiting screw; a first rear annular washer is provided between the head of the first rear limiting screw and the rear end face of the rear placement rod, and the first rear annular washer fits against the rear side wall of the first rear guide post bracket; the front end face of the rear placement rod has a sixth screw hole at its center, which is screwed to the second rear limiting screw; a second rear annular washer is provided between the head of the second rear limiting screw and the front end face of the rear placement rod, and the second rear annular washer fits against the front side wall of the second rear guide post bracket.

6. The automatic material loading and unloading equipment according to claim 1, characterized in that: The material turning device includes a left column base located at the left rear of the frame; a left column is located at the center of the upper surface of the left column base; a top plate is located at the upper end of the left column; a material transfer plate is located at the right front of the upper surface of the top plate; a rotary cylinder mounting plate is located at the left rear of the upper surface of the top plate; a matching rotary cylinder is located on the right side wall of the rotary cylinder mounting plate; a matching rotating bracket is located on the rotary cylinder; a rotating transfer plate is located at the upper end of the rotating bracket; a material suction cup base plate is located at the right end of the rotating transfer plate; and several second suction cups are evenly distributed in a circle on the front side wall of the material suction cup base plate.

7. The automatic material loading and unloading equipment according to claim 6, characterized in that: The material suction cup base plate is provided with several fourth elongated holes corresponding to the position of the second suction cup; the air pipe at the rear end of the second suction cup passes through the corresponding fourth elongated holes and is simultaneously screwed with a front limit nut and a rear limit nut. The front limit nut is attached to the front side wall of the material suction cup base plate, and the rear limit nut is attached to the rear side wall of the material suction cup base plate.

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