Automatic loading and unloading device and method

Abstract

This application provides an automatic loading and unloading device and method. The automatic loading and unloading device includes: a traveling platform assembly; a gripper assembly disposed on the traveling platform assembly, the gripper assembly having an open gripping position and a retracted gripping position; a drive block assembly disposed on the traveling platform assembly, the drive block assembly including a drive structure and a fixing structure; and a tray assembly including a baffle structure and a mating structure, the mating structure being rotatably disposed on the baffle structure, the drive structure mating with the mating structure, and the fixing structure mating with the baffle structure. The technical solution of this application effectively solves the problems of time-consuming and labor-intensive tray collection and low work efficiency in the prior art.

Description

Technical Field

[0001] This application relates to the technical field of loading and unloading, and more particularly to an automatic loading and unloading device and method thereof. Background Technology

[0002] The winding process in production requires material conveying and transfer.

[0003] In some existing technologies, when it is necessary to rewind material, the loading and unloading of the material tray is generally done manually. Operators manually move and transfer the winding shaft with the material tray, which is time-consuming, labor-intensive, and also poses certain safety risks to the operators. Summary of the Invention

[0004] This application provides an automatic loading and unloading device and method to solve the problems of time-consuming and labor-intensive material tray collection and low work efficiency in the prior art.

[0005] According to one aspect of this application, an automatic loading and unloading device is provided, comprising: a traveling platform assembly; a gripper assembly disposed on the traveling platform assembly, the gripper assembly having an open gripping position and a retracted gripping position; a drive lever assembly disposed on the traveling platform assembly, the drive lever assembly including a drive structure and a fixing structure; and a tray assembly comprising a baffle structure and a mating structure, the mating structure being rotatably disposed on the baffle structure, the drive structure mating with the mating structure, and the fixing structure mating with the baffle structure.

[0006] In some embodiments, the baffle structure includes a baffle and a bearing. The baffle has a through hole, the outer ring of the bearing is fixed on the baffle and corresponds to the through hole, and the mating structure is fixedly connected to the inner ring of the bearing.

[0007] In some embodiments, the mating structure includes a lock nut and a nut rod, the nut rod being fixed to the outer wall of the lock nut, and the first end of the lock nut being fixedly connected to the inner ring of the bearing.

[0008] In some embodiments, the drive structure includes a nut actuating plate and a protrusion disposed on the nut actuating plate, the protrusion having a groove adapted to the nut rod.

[0009] In some embodiments, the drive structure further includes a first motor and a reducer. The first motor is fixed on the walking platform assembly, the output end of the first motor is connected to the input end of the reducer, and the output end of the reducer is connected to the nut actuating plate.

[0010] In some embodiments, the fixing structure includes a suction cup that is fixed to the walking platform assembly.

[0011] In some embodiments, the gripper assembly includes a second motor, a first threaded rod, a first moving block, a first gripper, a second moving block, and a second gripper. The second motor is fixed to the walking platform assembly. The first threaded rod is rotatably disposed on the walking platform assembly. The first gripper is fixed to the first moving block, and the second gripper is fixed to the second moving block. The first moving block and the second moving block have internal threaded holes with opposite directions. The first threaded rod passes through the internal threaded holes of the first moving block and the second moving block.

[0012] In some embodiments, the walking platform assembly includes a base, a third motor, a second threaded rod, a vertical moving structure, and a platform structure. The third motor is fixed on the base, and the output end of the third motor is connected to the second threaded rod. The vertical moving structure is connected to the second threaded rod through an internal thread, and the platform structure is movably mounted on the vertical moving structure.

[0013] In some embodiments, the vertical moving structure includes a fourth motor, a gear, a rack, a horizontal plate, a vertical plate, and a platform. The horizontal plate cooperates with the second threaded rod, the vertical plate is fixed on the horizontal plate, the rack is fixed on the vertical plate, the fourth motor is fixed on the platform, and the gear is installed at the output end of the fourth motor and meshes with the rack.

[0014] According to another aspect of this application, an automatic loading and unloading method is also provided. The method uses the above-mentioned automatic loading and unloading device and includes the following steps: a gripper assembly picks up the material; a traveling platform assembly moves to a suitable position on the take-up shaft; a drive block assembly drives the material tray assembly to rotate, and at the same time, the traveling platform assembly drives the drive block assembly and the material tray assembly to move synchronously.

[0015] By applying the technical solution of this application, the material tray assembly is picked up by a gripper assembly, the baffle structure is fixed by a fixing structure, and the driving structure drives the cooperating structure to rotate, thus allowing the material tray assembly to be installed on the take-up shaft. The above operations are completed by machine, saving time and labor, and are highly efficient, while avoiding the safety risks associated with manual handling. The technical solution of this application effectively solves the problems of time-consuming and labor-intensive material tray collection and low work efficiency in the prior art. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the structure of the automatic loading and unloading device according to an embodiment of this application is shown;

[0018] Figure 2 It shows Figure 1 A schematic diagram of the drive structure of the automatic loading and unloading device;

[0019] Figure 3 It shows Figure 1 A schematic diagram of the structure of the automatic loading and unloading device;

[0020] Figure 4 It shows Figure 1 An exploded view of the tray assembly of an automatic loading and unloading device.

[0021] Explanation of reference numerals in the attached figures:

[0022] 10. Walking platform assembly; 11. Base; 12. Third motor; 13. Second threaded rod; 14. Vertical moving structure; 15. Platform structure; 20. Gripper assembly; 21. Second motor; 22. First threaded rod; 23. First gripper; 24. Second gripper; 30. Drive lever assembly; 31. Drive structure; 311. Nut actuating plate; 312. Protrusion; 32. Fixing structure; 40. Tray assembly; 41. Baffle structure; 42. Mating structure; 421. Locking nut; 422. Nut rod; 50. Rewinding shaft. Detailed Implementation

[0023] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application. This application can be implemented in many different forms and is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

[0024] These embodiments are provided to make the application thorough and complete, and to fully express the scope of the application to those skilled in the art. It should be noted that, unless otherwise specifically stated, the relative arrangement of components and steps, material composition, numerical expressions, and values ​​illustrated in these embodiments should be interpreted as merely exemplary and not as limiting.

[0025] It should be noted that, in the description of this application, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationship, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0026] Furthermore, the terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different parts. "Vertical" is not strictly vertical, but within the permissible margin of error. "Parallel" is not strictly parallel, but within the permissible margin of error. Terms such as "including" or "contains" mean that the element preceding the word encompasses the element listed after it, and do not exclude the possibility of encompassing other elements as well.

[0027] It should also be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances. When a specific device is described as being located between a first device and a second device, an intermediary device may or may not be present between the specific device and the first or second device.

[0028] All terms used in this application have the same meaning as understood by one of ordinary skill in the art to which this application pertains, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant art, and not as idealized or highly formalized, unless expressly defined herein.

[0029] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0030] like Figures 1 to 4 As shown, an automatic loading and unloading device according to this embodiment includes: a traveling platform assembly 10, a gripper assembly 20, a drive lever assembly 30, and a tray assembly 40. The gripper assembly 20 is disposed on the traveling platform assembly 10, and has an open gripping position and a retracted gripping position. The drive lever assembly 30 is disposed on the traveling platform assembly 10, and includes a drive structure 31 and a fixing structure 32. The tray assembly 40 includes a baffle structure 41 and a mating structure 42. The mating structure 42 is rotatably disposed on the baffle structure 41. The drive structure 31 mats with the mating structure 42, and the fixing structure 32 mats with the baffle structure 41.

[0031] By applying the technical solution of this embodiment, the gripper assembly 20 picks up the tray assembly 40, the fixing structure 32 fixes the baffle structure 41, and the driving structure 31 drives the cooperating structure 42 to rotate, thus allowing the tray assembly 40 to be installed on the take-up shaft 50. The above operation is completed by machine, saving time and effort, and is highly efficient, while avoiding the safety risks associated with manual handling. The technical solution of this embodiment effectively solves the problems of time-consuming and labor-intensive tray collection and low work efficiency in the prior art.

[0032] like Figure 1 and Figure 4 As shown, in this embodiment, the baffle structure 41 includes a baffle and a bearing. The baffle has a through hole, and the outer ring of the bearing is fixed on the baffle and corresponds to the through hole. The mating structure 42 is fixedly connected to the inner ring of the bearing. The outer ring of the bearing is fixedly connected to the baffle, and the mating structure 42 is fixedly connected to the inner ring of the bearing. Thus, the mating structure 42 and the baffle can rotate relative to each other. The mating structure 42 has an internal thread, and the mating structure 42 can be threadedly connected to the winding shaft by rotation.

[0033] like Figure 1 and Figure 3 As shown, in this embodiment, the mating structure 42 includes a locking nut 421 and a nut rod 422. The nut rod 422 is fixed to the outer wall of the locking nut 421, and the first end of the locking nut 421 is fixedly connected to the inner ring of the bearing. The first end of the locking nut 421 is interference-fitted to the inner ring of the bearing, and the nut rod 422 is fixed to the side wall of the second end of the locking nut 421. The locking nut 421 has internal threads. It should be noted that the baffle structure 41 also includes a bearing base, a retaining ring, and a cover plate. The bearing is mounted on the bearing base, the cover plate limits the bearing within the bearing base, and flat-head screws fix the baffle, bearing base, and cover plate together. The above structure is compact.

[0034] like Figure 1 and Figure 2 As shown, in this embodiment, the driving structure 31 includes a nut actuating plate 311 and a protrusion 312 disposed on the nut actuating plate 311. The protrusion 312 has a groove adapted to the nut rod 422. The above structure is compact, easy to operate, and easy to fit. It should be noted that the groove on the protrusion 312 extends along the axial direction of the nut rod 422. There are two nut rods 422, and two protrusions 312 are disposed corresponding to the nut rods 422. The protrusions 312 are disposed on the side of the nut actuating plate 311 facing the nut rods 422. During operation, the nut rods 422 are embedded in the groove.

[0035] like Figure 1 and Figure 2As shown, in this embodiment, the drive structure 31 further includes a first motor and a reducer. The first motor is fixed on the walking platform assembly 10, and its output end is connected to the input end of the reducer. The output end of the reducer is connected to the nut actuating plate 311. The nut actuating plate 311 has a central hole, and the output end of the reducer is disposed within the central hole. The reducer can increase torque without changing the first motor. This structure also ensures that the first motor and the third motor are as similar in model as possible, laying the foundation for consistent feeding action of the first motor and feeding of the material tray assembly 40.

[0036] like Figure 1 As shown, in this embodiment, the fixing structure 32 includes a suction cup, which is fixed to the walking platform assembly 10. Fixing via the suction cup is relatively easy to control. When the baffle structure 41 needs to be fixed, the suction cup applies negative pressure to adhere and fix the baffle structure 41. After the mating structure 42 is installed, the suction cup releases the negative pressure. It should be noted that multiple suction cups are used, for example, four suction cups. The four suction cups are arranged at intervals with the center of the baffle structure 41 as the center, and the diameter of the nut actuating plate 311 is smaller than the diameter of the circle formed by the four suction cups.

[0037] like Figure 1 As shown, in this embodiment, the gripper assembly 20 includes a second motor 21, a first threaded rod 22, a first moving block, a first gripper 23, a second moving block, and a second gripper 24. The second motor 21 is fixed to the walking platform assembly 10. The first threaded rod 22 is rotatably mounted on the walking platform assembly 10. The first gripper 23 is fixed to the first moving block, and the second gripper 24 is fixed to the second moving block. The first and second moving blocks have internally threaded holes with opposite directions, and the first threaded rod 22 passes through the internally threaded holes of the first and second moving blocks. There are two first grippers 23, both mounted on the first moving block, and two second grippers 24, both mounted on the second moving block. The first grippers 23 and the second grippers 24 are arranged opposite to each other. The first gripper 23 has an arc shape that protrudes outward from the second gripper 24, and the second gripper 24 has an arc shape that protrudes outward from the first gripper. This cooperation between the first grippers 23 and the second grippers 24 makes the gripper assembly 20 more secure in clamping the material tray assembly 40.

[0038] like Figure 1As shown, in some embodiments, the walking platform assembly 10 includes a base 11, a third motor 12, a second threaded rod 13, a vertical moving structure 14, and a platform structure 15. The third motor 12 is fixed on the base 11, and its output end is connected to the second threaded rod 13. The vertical moving structure 14 is connected to the second threaded rod 13 via an internal thread, and the platform structure 15 is movably mounted on the vertical moving structure 14. This structure allows the third motor 12 to drive the vertical moving structure 14 to move relatively smoothly. It should be noted that the automatic loading and unloading device in this embodiment also includes a control component. Both the third motor and the first motor are electrically connected to the control component. The control component controls the linkage between the first motor and the third motor, i.e., the first motor and the third motor 12 are synchronized. When the third motor drives the nut actuating plate 311 to rotate and drives the mating structure 42 to rotate, the third motor 12 synchronously drives the second threaded rod 13 to rotate, and the moving distance of the vertical moving structure 14 is the same as the moving distance of the mating structure 42. The above structure can be configured such that the internal threads of the second threaded rod 13 and the mating structure 42 have the same pitch, which makes it easy to control.

[0039] like Figure 1 As shown, in some embodiments, the vertical moving structure 14 includes a fourth motor, a gear, a rack, a horizontal plate, a vertical plate, and a platform. The horizontal plate cooperates with the second threaded rod 13, the vertical plate is fixed on the horizontal plate, the rack is fixed on the vertical plate, the fourth motor is fixed on the platform, and the gear is installed at the output end of the fourth motor, meshing with the rack.

[0040] According to another aspect of this application, an automatic loading and unloading method is also provided. The method uses the above-mentioned automatic loading and unloading device and includes the following steps: the gripper assembly 20 picks up the material; the traveling platform assembly 10 moves to a suitable position on the take-up shaft; the drive block assembly 30 drives the material tray assembly 40 to rotate, and at the same time, the traveling platform assembly 10 drives the drive block assembly 30 and the material tray assembly 40 to move synchronously.

[0041] The following describes the specific steps of loading and unloading: When material arrives at the tray (tray assembly 40), the servo motor (second motor 21) drives the grippers (first gripper 23 and second gripper 24) to move to a fixed position to pick up the material. The servo motor (second motor 21) drives the bidirectional ball screw (first screw) to rotate, causing the grippers (first gripper 23 and second gripper 24) to retract towards the center and clamp the tray (tray assembly 40). Subsequently, the servo motor (third motor 12) drives it to move horizontally, inserting the material tray (material tray assembly 40) onto the take-up shaft 50. At the same time, the servo motor (first motor) drives the central control rotating platform (drive structure 31) to rotate, and the nut actuating block (protrusion 312) actuates the nut rod 422 with locking nut to rotate, controlling the relative speed between the servo motors (first motor and third motor) so that their horizontal movement speed is the same as the nut screwing speed, until the nut is tightened to the set torque and stops rotating. Then the grippers (first gripper 23 and second gripper 24) open, the vacuum suction cup is inflated to break the vacuum, and the entire mechanism moves horizontally away from the take-up range.

[0042] After the tray is full, the servo motor (second motor) drives the grippers (first gripper 23 and second gripper 24) to move to the unloading position to pick up the material. After moving to the position, the grippers retract towards the center to clamp, and the vacuum suction cup adsorbs the nut baffle (fitting structure 42). At this time, the handles (nut rods 422) on both sides of the nut (locking nut 421) are just embedded in the grooves of the nut actuating block (protrusion 312). The servo motor (first motor) drives the tray-controlled rotating platform (drive structure 31) to rotate, and the nut actuating block (protrusion 312) actuates the nut (locking nut 421) with the nut baffle (nut rod 422) to rotate. The relative speed between the servo motors (first motor and third motor) is controlled so that their horizontal movement speed is the same as the nut screwing speed, until it moves to the set distance. The nut is completely disengaged from the take-up shaft 50, and the gripper mechanism (gripper assembly 20) quickly moves to the position where it intersects with the lower section, transferring the tray assembly 40 to the lower section.

[0043] The embodiments of this application have now been described in detail. To avoid obscuring the concept of this application, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

[0044] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any manner.

Claims

1. An automatic loading and unloading device, characterized in that, include: Walking platform component (10); A gripper assembly (20) is disposed on the walking platform assembly (10), and the gripper assembly (20) has an open gripping position and a retracted gripping position; A drive block assembly (30) is disposed on the walking platform assembly (10). The drive block assembly (30) includes a drive structure (31) and a fixing structure (32). The tray assembly (40) includes a baffle structure (41) and a mating structure (42). The mating structure (42) is rotatably disposed on the baffle structure (41). The driving structure (31) is mated with the mating structure (42). The fixing structure (32) is mated with the baffle structure (41). The baffle structure (41) includes a baffle and a bearing. The baffle has a through hole. The outer ring of the bearing is fixed on the baffle and corresponds to the through hole. The mating structure (42) is fixedly connected to the inner ring of the bearing. The mating structure (42) includes a locking nut (421) and a nut rod (422). The nut rod (422) is fixed on the outer wall of the locking nut (421), and the first end of the locking nut (421) is fixedly connected to the inner ring of the bearing. The drive structure (31) includes a nut actuating plate (311) and a protrusion (312) disposed on the nut actuating plate (311), the protrusion (312) having a groove adapted to the nut rod (422); The drive structure (31) also includes a first motor and a reducer. The first motor is fixed on the walking platform assembly (10). The output end of the first motor is connected to the input end of the reducer. The output end of the reducer is connected to the nut actuation plate (311).

2. The automatic loading and unloading device according to claims 1 to 1, characterized in that, The fixing structure (32) includes a suction cup, which is fixed to the walking platform assembly (10).

3. The automatic loading and unloading device according to claims 1 to 1, characterized in that, The gripper assembly (20) includes a second motor (21), a first threaded rod (22), a first moving block, a first gripper (23), a second moving block, and a second gripper (24). The second motor (21) is fixed on the walking platform assembly (10). The first threaded rod (22) is rotatably mounted on the walking platform assembly (10). The first gripper (23) is fixed on the first moving block, and the second gripper (24) is fixed on the second moving block. The first moving block and the second moving block have internal threaded holes with opposite directions. The first threaded rod (22) passes through the internal threaded holes of the first moving block and the second moving block.

4. The automatic loading and unloading device according to claims 1 to 1, characterized in that, The walking platform assembly (10) includes a base (11), a third motor (12), a second threaded rod (13), a vertical moving structure (14), and a platform structure (15). The third motor (12) is fixed on the base (11), and the output end of the third motor (12) is connected to the second threaded rod (13). The vertical moving structure (14) is connected to the second threaded rod (13) through an internal thread. The platform structure (15) is movably mounted on the vertical moving structure (14).

5. The automatic loading and unloading device according to claims 4 to 1, characterized in that, The vertical moving structure (14) includes a fourth motor, a gear, a rack, a horizontal plate, a vertical plate, and a platform. The horizontal plate cooperates with the second threaded rod (13). The vertical plate is fixed on the horizontal plate. The rack is fixed on the vertical plate. The fourth motor is fixed on the platform. The gear is installed at the output end of the fourth motor and meshes with the rack.

6. A method for automatic loading and unloading, characterized in that, The method employs the automatic loading and unloading device as described in any one of claims 1 to 5, and the method includes the following steps: The gripper assembly (20) picks up the material; The walking platform component (10) moves to the appropriate position of the take-up shaft; The drive block assembly (30) drives the tray assembly (40) to rotate, while the walking platform assembly (10) drives the drive block assembly (30) and the tray assembly (40) to move synchronously.

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