A robot collaborative automatic loading and unloading device

Abstract

The present invention discloses a robot cooperative automatic loading and unloading device, which belongs to the technical field of conveying equipment, and comprises a base and a feeding mechanism, wherein the feeding mechanism comprises: a fixed frame, a loading assembly, a unloading assembly, a lifting assembly, a mechanical claw, an adjustment assembly and a driving assembly; a vertical fixed frame is installed on the base, and a loading assembly and a unloading assembly are arranged on the inner side of the fixed frame, and parts can be grasped and placed by the mechanical claw, and the position movement of the loading assembly and the unloading assembly in opposite directions can be realized simultaneously by the driving assembly, so that the loading and unloading operations are convenient, and the parts can be conveyed by the conveyor belt, and the angle of the mechanical claw can be adjusted by the adjustment assembly when the loading assembly and the unloading assembly are moved, so that the parts on the conveyor belt can be grasped and placed, and the conveying operation of the parts is convenient, and the lifting assembly can ensure that the parts are operated at different heights, so as to effectively improve the feeding effect and feeding efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of conveying equipment, and in particular relates to a robot-cooperative automatic loading and unloading device. Background Art

[0002] With the rapid development of people's living standards, robots are used more and more frequently in the processing of different parts. The main function of robots is to move and load the materials required for part processing before part processing, and to grab and move the parts for unloading after part processing to improve the processing efficiency of parts. When robots are performing industrial production, tools and accessories need to be delivered to the robots, so integrated loading and unloading devices for collaborative robots are used.

[0003] The existing robot collaborative automatic loading and unloading device is not convenient for synchronous loading and unloading operations during operation, and cannot be adaptively adjusted according to the usage scenario during the feeding process of parts, which affects the feeding efficiency and feeding effect.

[0004] In order to avoid the above technical problems, it is necessary to provide a robot collaborative automatic loading and unloading device to overcome the above defects in the prior art. Summary of the invention

[0005] The purpose of the present invention is to provide a robot collaborative automatic loading and unloading device to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A robot cooperative automatic loading and unloading device comprises a base and a feeding mechanism, wherein the feeding mechanism comprises:

[0008] A fixed frame is fixedly installed on the base, and conveyor belts are provided on both sides of the fixed frame for moving the parts in the horizontal direction. A loading assembly and a unloading assembly are provided on the inner side of the fixed frame, and the loading assembly and the unloading assembly are both horizontal. Mechanical claws are provided at the same end of the loading assembly and the unloading assembly, and adjustment assemblies are installed on the loading assembly and the unloading assembly for adjusting the angle of the mechanical claws; lifting assemblies are installed on the loading assembly and the unloading assembly for adjusting the height of the loading assembly and the unloading assembly; a driving assembly is installed on the fixed frame for simultaneously driving the loading assembly and the unloading assembly to move in opposite directions.

[0009] As a further technical solution of the present invention: the feeding assembly comprises:

[0010] The movable frame is located on the inner side of the fixed frame, a slide groove is provided on the movable frame, a movable frame is installed on the inner side of the slide groove, the movable frame is slidably connected with the slide groove, a limiting groove is provided on the inner wall of the slide groove, a limiting plate is fixedly installed on the outer wall of the movable frame, the limiting plate is located on the inner side of the limiting groove and is slidably connected with the limiting groove.

[0011] As a further technical solution of the present invention: the lifting assembly comprises:

[0012] A fixed rod is vertically installed on the inner side of the fixed frame, a fixed cylinder is fixedly installed on the outer wall of the mobile frame, the fixed rod passes through the fixed cylinder, a telescopic member is installed on the inner side of the fixed frame, and an output end of the telescopic member is connected to the mobile frame for driving the mobile frame to move in the vertical direction along the fixed rod.

[0013] As a further technical solution of the present invention: the adjustment component comprises:

[0014] The fixing plate is located at one end of the moving frame, and a fixing column is installed on the fixing plate, and the fixing column passes through the fixing plate and is rotatably connected to the fixing plate. The bottom of the fixing column is fixedly connected to the mechanical claw, and a rotating tooth is installed on the top of the fixing column. A connecting frame is fixedly installed on one end of the moving frame close to the fixing plate, and a rotating rod is installed on the connecting frame, and the rotating rod is rotatably connected to the connecting frame, and the rotating rod is matched with the rotating tooth. A transmission tooth is fixedly installed on one end of the rotating rod, and a first rack is fixedly installed on one end of the moving frame close to the mechanical claw, and the first rack is parallel to the moving frame. When the first rack is connected to the transmission tooth, the connection method is a meshing connection.

[0015] As a further technical solution of the present invention: the driving assembly comprises:

[0016] The limiting frame is fixedly mounted on the moving frame, a rotating rod is mounted on the limiting frame, the rotating rod is rotatably connected to the limiting frame, a rotating tooth is mounted on the rotating rod, a second rack is mounted on the moving frame, the second rack is meshed with the rotating tooth, a connecting tooth is mounted on one end of the rotating rod, a supporting frame is mounted on the limiting frame, the supporting frame is vertical, a connecting rod is mounted on the supporting frame, the connecting rod is rotatably connected to the supporting frame, the connecting rod is cooperatively connected to the connecting tooth, a rotating assembly is mounted between the fixed frame and the connecting rod, for driving the connecting rod to rotate on the supporting frame.

[0017] As a further technical solution of the present invention: the rotating assembly comprises:

[0018] A driving member is installed on the inner side of the base, a driving rod is fixedly installed on the output end of the driving member, the driving rod is vertical, a connecting groove is provided in the middle of the connecting rod, the driving rod passes through the connecting groove, a fixing strip is fixedly installed on the outer wall of the driving rod, a fixing groove is provided on the inner wall of the connecting groove, the fixing strip is located on the inner side of the fixing groove and is slidably connected to the fixing groove, so as to enable the driving rod to drive the connecting rod to rotate.

[0019] As a further technical solution of the present invention: the limit frame, rotating rod, rotating tooth, second rack, connecting tooth, support frame and connecting rod are provided with two groups, which are respectively installed on the loading assembly and the unloading assembly. The second rack on the loading assembly is located on the bottom side of the moving frame, and the second rack on the unloading assembly is located on the top side of the moving frame, which is used to make the loading assembly and the unloading assembly move in opposite directions when the rotating tooth rotates.

[0020] As a further technical solution of the present invention: the adjusting components on the loading component and the unloading component adjust the mechanical claws in opposite directions, so as to enable the mechanical claws to grab and place parts on the conveyor belt.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides a robot collaborative automatic loading and unloading device, wherein a vertical fixing frame is installed on the base, and a loading assembly and a unloading assembly are arranged on the inner side of the fixing frame. Parts can be grabbed and placed by mechanical claws, and the loading assembly and the unloading assembly can be simultaneously moved in opposite directions by a driving assembly, so that loading and unloading operations are convenient. Parts can be conveyed by a conveyor belt, and the angle of the mechanical claws can be adjusted by an adjusting assembly when the loading assembly and the unloading assembly are moved, so that parts on the conveyor belt can be grabbed and placed, and parts conveying operations are convenient. The lifting assembly can ensure that parts can be operated at different heights, effectively improving the feeding effect and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a schematic diagram of the structure of the fixing frame and the conveyor belt in the present invention.

[0025] Figure 3 It is a schematic diagram of the structure among the fixing frame, the loading assembly and the unloading assembly in the present invention.

[0026] Figure 4 It is a schematic diagram of the structure of the loading assembly and the unloading assembly in the present invention.

[0027] Figure 5It is a schematic diagram of the structure of the driving assembly on the fixing frame in the present invention.

[0028] Figure 6 It is a schematic diagram of the structure of the driving component in the present invention.

[0029] Figure 7 For the present invention Figure 6 Schematic diagram of the structure enlarged at point A in the middle.

[0030] Figure 8 It is a structural schematic diagram of the bottom side of the feeding assembly in the present invention.

[0031] Fig. 9 It is a schematic diagram of the structure of the regulating component in the present invention.

[0032] Fig.10 It is a schematic diagram of the structure between the mechanical claw and the loading assembly in the present invention.

[0033] In the accompanying drawings: 1-base, 2-fixed frame, 3-conveyor belt, 4-loading assembly, 41-movable frame, 42-slide, 43-movable frame, 44-limiting groove, 45-limiting plate, 5-unloading assembly, 6-mechanical claw, 7-adjusting assembly, 71-fixed plate, 72-fixed column, 73-rotating tooth, 74-connecting frame, 75-rotating rod, 76-transmission tooth, 77-first rack, 8-lifting assembly, 81-fixed rod, 82-fixed cylinder, 83-telescopic member, 9-driving assembly, 91-limiting frame, 92-rotating rod, 93-rotating tooth, 94-connecting tooth, 95-support frame, 96-connecting rod, 97-rotating assembly, 971-driving member, 972-driving rod, 973-connecting groove, 974-fixed bar, 975-fixed groove, 98-second rack. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0036] like Figures 1 to 10 As shown in the embodiment provided by the present invention, a robot cooperative automatic loading and unloading device includes a base 1 and a feeding mechanism, and the feeding mechanism includes:

[0037] A fixed frame 2 is fixedly mounted on the base 1, and conveyor belts 3 are provided on both sides of the fixed frame 2 for moving the parts in the horizontal direction. A loading component 4 and a unloading component 5 are provided on the inner side of the fixed frame 2, and the loading component 4 and the unloading component 5 are both horizontal. Mechanical claws 6 are provided at the same end of the loading component 4 and the unloading component 5, and adjustment components 7 are installed on the loading component 4 and the unloading component 5 for adjusting the angle of the mechanical claw 6; lifting components 8 are installed on the loading component 4 and the unloading component 5 for adjusting the height of the loading component 4 and the unloading component 5; a driving component 9 is installed on the fixed frame 2 for simultaneously driving the loading component 4 and the unloading component 5 to move in opposite directions.

[0038] In this embodiment, a vertical fixing frame 2 is installed on the base 1, and a loading component 4 and a unloading component 5 are provided inside the fixing frame 2. The parts can be grabbed and placed by a mechanical claw 6, and the position movement of the loading component 4 and the unloading component 5 in opposite directions can be realized simultaneously by a driving component 9, so as to facilitate the loading and unloading operations. The parts can be conveyed by a conveyor belt 3, and when the loading component 4 and the unloading component 5 are moved, the angle of the mechanical claw 6 can be adjusted by an adjusting component 7, so as to facilitate the grabbing of the parts on the conveyor belt 3. and placement, which is convenient for parts conveying operations. The lifting component 8 can ensure that the parts can be operated at different heights, effectively improving the feeding effect and efficiency; the adjustment components 7 on the loading component 4 and the unloading component 5 have opposite adjustment directions for the mechanical claws 6, which are used to enable the mechanical claws 6 to grab and place the parts on the conveyor belt 3; the conveyor belt 3 is provided with two groups and distributed on both sides of the fixed frame 2, one group is used to cooperate with the loading component 4, and the other group is used to cooperate with the unloading component 5. The parts can be transported by the conveyor belt 3, which is convenient for loading and unloading operations.

[0039] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , the feeding assembly 4 comprises:

[0040] The movable frame 41 is located on the inner side of the fixed frame 2, and a slide groove 42 is provided on the movable frame 41. A movable frame 43 is installed on the inner side of the slide groove 42. The movable frame 43 is slidably connected with the slide groove 42. A limiting groove 44 is provided on the inner wall of the slide groove 42. A limiting plate 45 is fixedly installed on the outer wall of the movable frame 43. The limiting plate 45 is located on the inner side of the limiting groove 44 and is slidably connected with the limiting groove 44.

[0041] The lifting assembly 8 comprises:

[0042] A fixed rod 81 is vertically installed on the inner side of the fixed frame 2. A fixed cylinder 82 is fixedly installed on the outer wall of the movable frame 41. The fixed rod 81 passes through the fixed cylinder 82. A telescopic member 83 is installed on the inner side of the fixed frame 2. The output end of the telescopic member 83 is connected to the movable frame 41 for driving the movable frame 41 to move in the vertical direction along the fixed rod 81.

[0043] In this embodiment, the mobile frame 41 is located inside the fixed frame 2 and is horizontal. Two fixed rods 81 are provided and are vertically fixedly installed inside the fixed frame 2. A horizontal slide groove 42 is provided on the mobile frame 41. A mobile frame 43 is also installed on the mobile frame 41. The mobile frame 43 passes through the slide groove 42. The mobile frame 43 can move horizontally along the slide groove 42. A limiting groove 44 is provided on the inner wall of the slide groove 42. A limiting plate 45 is fixedly installed on the outer wall of the mobile frame 43. The sliding connection between the limiting plate 45 and the limiting groove 44 can ensure the stability of the mobile frame 43 when moving on the mobile frame 41.

[0044] Fixed cylinders 82 are fixedly installed on both sides of the movable frame 41, and the fixed cylinders 82 are vertical. The fixed rods 81 pass through the fixed cylinders 82. A telescopic member 83 is installed on the fixed frame 2, and the telescopic member 83 can be a telescopic motor or a cylinder, etc. In the present embodiment, the telescopic member 83 is a telescopic motor. Two telescopic members 83 are provided, and are respectively connected to the loading assembly 4 and the unloading assembly 5, so as to drive the loading assembly 4 and the unloading assembly 5 to move in the vertical direction, and further adjust the height of the mechanical claw 6, so as to facilitate the grabbing and placement of parts and realize the feeding operation.

[0045] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 7 , Figure 8 , Fig. 9 and Fig.10 , the regulating component 7 comprises:

[0046] The fixed plate 71 is located at one end of the moving frame 43, and a fixed column 72 is installed on the fixed plate 71. The fixed column 72 passes through the fixed plate 71 and is rotatably connected to the fixed plate 71. The bottom end of the fixed column 72 is fixedly connected to the mechanical claw 6, and a rotating tooth 73 is installed on the top of the fixed column 72. A connecting frame 74 is fixedly installed on the end of the moving frame 43 close to the fixed plate 71, and a rotating rod 75 is installed on the connecting frame 74. The rotating rod 75 is rotatably connected to the connecting frame 74, and the rotating rod 75 is cooperatively connected to the rotating tooth 73. A transmission tooth 76 is fixedly installed on one end of the rotating rod 75, and a first rack 77 is fixedly installed on the end of the moving frame 41 close to the mechanical claw 6. The first rack 77 is parallel to the moving frame 43. When the first rack 77 is connected to the transmission tooth 76, the connection method is a meshing connection.

[0047] In this embodiment, a fixing plate 71 is fixedly installed at one end of the moving frame 43, a vertical fixing column 72 is installed on the fixing plate 71, a rolling bearing is installed between the fixing column 72 and the fixing plate 71, and the fixing column 72 can stably rotate on the fixing plate 71, the bottom end of the fixing column 72 is fixedly connected to the mechanical claw 6, and a rotating tooth 73 is installed on the top of the fixing column 72, and the rotating tooth 73 is a worm gear in this embodiment, and a connecting frame 74 is installed at one end of the moving frame 43 close to the mechanical claw 6, a rotating rod 75 is installed on the connecting frame 74, and a rolling bearing is installed between the rotating rod 75 and the connecting frame 74, and the rotating rod 75 can stably rotate on the connecting frame 74. A transmission tooth 76 is fixedly installed at one end of the rotating rod 75, and a first rack 77 is installed at one end of the moving frame 41. When the moving frame 43 drives the transmission tooth 76 to move, it is convenient to connect the transmission tooth 76 with the first rack 77. The rotating rod 75 is a worm in this embodiment, and the rotating tooth 73 is cooperatively connected with the rotating rod 75. When the transmission tooth 76 is connected to the first rack 77, the connection method is a meshing connection. During the continued movement of the moving frame 43, the transmission tooth 76 can drive the rotating rod 75 to rotate, and further realize that the fixed column 72 drives the mechanical claw 6 to adjust the angle, which is convenient for grabbing or placing parts. The self-locking property of the worm wheel and the worm can keep the mechanical claw 6 stable after the angle adjustment, which is easy to use.

[0048] In one embodiment of the present invention, see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig. 9 and Fig.10 , the driving assembly 9 comprises:

[0049] A limiting frame 91 is fixedly mounted on the moving frame 41, a rotating rod 92 is mounted on the limiting frame 91, the rotating rod 92 is rotatably connected to the limiting frame 91, a rotating tooth 93 is mounted on the rotating rod 92, a second rack 98 is mounted on the moving frame 43, the second rack 98 is meshedly connected to the rotating tooth 93, a connecting tooth 94 is mounted on one end of the rotating rod 92, a supporting frame 95 is mounted on the limiting frame 91, the supporting frame 95 is vertical, a connecting rod 96 is mounted on the supporting frame 95, the connecting rod 96 is rotatably connected to the supporting frame 95, the connecting rod 96 is cooperatively connected to the connecting tooth 94, a rotating assembly 97 is mounted between the fixed frame 2 and the connecting rod 96, for driving the connecting rod 96 to rotate on the supporting frame 95.

[0050] The rotating assembly 97 comprises:

[0051] A driving member 971 is installed on the inner side of the base 1, and a driving rod 972 is fixedly installed on the output end of the driving member 971. The driving rod 972 is vertical. A connecting groove 973 is provided in the middle of the connecting rod 96, and the driving rod 972 passes through the connecting groove 973. A fixing bar 974 is fixedly installed on the outer wall of the driving rod 972, and a fixing groove 975 is provided on the inner wall of the connecting groove 973. The fixing bar 974 is located on the inner side of the fixing groove 975 and is slidably connected to the fixing groove 975, so as to enable the driving rod 972 to drive the connecting rod 96 to rotate.

[0052] In this embodiment, a limit frame 91 is installed on the moving frame 41, a rotating rod 92 is installed on the limit frame 91, a rolling bearing is installed between the rotating rod 92 and the limit frame 91, a rotating tooth 93 is installed on the rotating rod 92, and a second rack 98 is installed on the moving frame 43. The length of the second rack 98 is the same as that of the moving frame 43. The second rack 98 is meshed and connected with the rotating tooth 93. When the rotating rod 92 drives the rotating tooth 93 to rotate, it is convenient to drive the second rack 98 to drive the moving frame 4 3 is moved on the moving frame 41, a connecting tooth 94 is fixedly installed at one end of the rotating rod 92, and the connecting tooth 94 is a worm gear in this embodiment, a vertical support frame 95 is fixedly installed at one side of the limiting frame 91, and a rolling bearing is installed between the connecting rod 96 and the support frame 95, the connecting rod 96 is vertical, and the connecting rod 96 is a worm gear in this embodiment, and the connecting rod 96 is connected with the connecting tooth 94 in cooperation, and when the connecting rod 96 rotates, it is convenient to drive the connecting tooth 94 to drive the rotating rod 92 to rotate;

[0053] A driving member 971 is fixedly installed on the inner side of the base 1, and a driving rod 972 is fixedly installed on the output end of the driving member 971. The driving rod 972 is vertical. The driving member 971 can be a rotary motor or a stepping motor, etc. In the present embodiment, the driving member 971 is a rotary motor. A connecting groove 973 is provided in the middle of the connecting rod 96, and the connecting groove 973 runs through the connecting rod 96. A fixing bar 974 is fixedly installed on the outer wall of the driving rod 972, and a fixing groove 975 is provided on the inner wall of the connecting groove 973. The driving rod 972 can drive the connecting rod 96 to rotate through the fixing bar 974 and the fixing groove 975. The connecting rod 96 can also be rotated in the vertical direction along the driving rod 972. The position is moved, and the operation is convenient; the limiting frame 91, the rotating rod 92, the rotating tooth 93, the second rack 98, the connecting tooth 94, the supporting frame 95 and the connecting rod 96 are provided with two groups respectively installed on the loading component 4 and the unloading component 5, the second rack 98 on the loading component 4 is located on the bottom side of the moving frame 43, and the second rack 98 on the unloading component 5 is located on the top side of the moving frame 43, which is used to make the loading component 4 and the unloading component 5 move in opposite directions when the rotating tooth 93 rotates; when the driving member 971 controls the driving rod 972 to rotate, it is convenient to drive the two groups of rotating rods 92 to rotate synchronously at the same time, and further realize that the moving directions of the two moving frames 43 are opposite, which is convenient for feeding operation.

[0054] The working principle of the present invention is:

[0055] In the present invention, first, parts are placed on the conveyor belt 3 near the loading component 4, and then the output end of the driving member 971 is controlled to rotate so that the mechanical claw 6 on the loading component 4 is close to the conveyor belt 3. At this time, the mechanical claw 6 on the unloading component 5 is close to the processed parts. The loading component 4 adjusts the angle of the mechanical claw 6 through the adjustment component 7 during the movement, so that the mechanical claw 6 can grab the parts on the conveyor belt 3. At this time, the mechanical claw 6 on the unloading component 5 can grab the processed parts. After the grabbing is completed, the output end of the driving member 971 is controlled to reverse. At this time, the loading component 4 moves in the opposite direction to facilitate The parts are sent to the processing station, and the unloading component 5 can take out the processed parts. When the mechanical claw 6 on the loading component 4 moves the parts above the processing station, the parts can be placed on the processing station through the telescopic part 83. At this time, the mechanical claw 6 on the unloading component 5 can place the parts on another conveyor belt 3 under the action of the adjustment component 7. The operation is convenient. During the operation, the loading operation and the unloading operation can be carried out simultaneously to complete the loading and unloading operations, effectively improving the feeding efficiency. In addition, the angle of the mechanical claw 6 can be adjusted during the working process, which is convenient for the conveyor belt 3 to carry out the conveying operation of the parts, effectively improving the feeding effect.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0057] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot-cooperative automatic loading and unloading device, comprising a base (1) and a feeding mechanism, characterized in that: The feeding mechanism comprises: A fixed frame (2) is fixedly mounted on the base (1); conveyor belts (3) are provided on both sides of the fixed frame (2) for moving the parts in a horizontal direction; a loading assembly (4) and a unloading assembly (5) are provided on the inner side of the fixed frame (2); the loading assembly (4) and the unloading assembly (5) are both horizontal; mechanical claws (6) are provided on the same end of the loading assembly (4) and the unloading assembly (5); adjustment assemblies (7) are installed on the loading assembly (4) and the unloading assembly (5) for adjusting the angle of the mechanical claws (6); lifting assemblies (8) are installed on the loading assembly (4) and the unloading assembly (5) for adjusting the height of the loading assembly (4) and the unloading assembly (5); a driving assembly (9) is installed on the fixed frame (2) for simultaneously driving the loading assembly (4) and the unloading assembly (5) to move in opposite directions; The feeding assembly (4) comprises: A movable frame (41) is located inside the fixed frame (2); a slide groove (42) is provided on the movable frame (41); a movable frame (43) is installed inside the slide groove (42); the movable frame (43) is slidably connected to the slide groove (42); a limiting groove (44) is provided on the inner wall of the slide groove (42); a limiting plate (45) is fixedly installed on the outer wall of the movable frame (43); the limiting plate (45) is located inside the limiting groove (44) and is slidably connected to the limiting groove (44); The lifting assembly (8) comprises: A fixed rod (81) is vertically mounted on the inner side of the fixed frame (2); a fixed cylinder (82) is fixedly mounted on the outer wall of the movable frame (41); the fixed rod (81) passes through the fixed cylinder (82); a telescopic member (83) is mounted on the inner side of the fixed frame (2); an output end of the telescopic member (83) is connected to the movable frame (41) and is used to drive the movable frame (41) to move in a vertical direction along the fixed rod (81); The regulating component (7) comprises: A fixed plate (71) is located at one end of the moving frame (43), a fixed column (72) is installed on the fixed plate (71), the fixed column (72) passes through the fixed plate (71) and is rotatably connected to the fixed plate (71), the bottom end of the fixed column (72) is fixedly connected to the mechanical claw (6), and the top end of the fixed column (72) is installed with a rotating tooth (73), and a connecting frame (74) is fixedly installed at one end of the moving frame (43) close to the fixed plate (71), and the connecting frame (74) is installed A rotating rod (75) is provided, the rotating rod (75) is rotatably connected to the connecting frame (74), the rotating rod (75) is cooperatively connected to the rotating tooth (73), one end of the rotating rod (75) is fixedly installed with a transmission tooth (76), and one end of the moving frame (41) close to the mechanical claw (6) is fixedly installed with a first rack (77), the first rack (77) is parallel to the moving frame (43), and when the first rack (77) is connected to the transmission tooth (76), the connection mode is a meshing connection; The driving assembly (9) comprises: A limiting frame (91) is fixedly mounted on the moving frame (41); a rotating rod (92) is mounted on the limiting frame (91); the rotating rod (92) is rotatably connected to the limiting frame (91); a rotating tooth (93) is mounted on the rotating rod (92); a second rack (98) is mounted on the moving frame (43); the second rack (98) is meshedly connected to the rotating tooth (93); a connecting tooth (94) is mounted on one end of the rotating rod (92); A support frame (95) is installed on the limiting frame (91), the support frame (95) is vertical, a connecting rod (96) is installed on the support frame (95), the connecting rod (96) is rotatably connected to the support frame (95), the connecting rod (96) is cooperatively connected to the connecting teeth (94), and a rotating assembly (97) is installed between the fixing frame (2) and the connecting rod (96) for driving the connecting rod (96) to rotate on the support frame (95); The rotating assembly (97) comprises: A driving member (971) is mounted on the inner side of the base (1); a driving rod (972) is fixedly mounted on the output end of the driving member (971); the driving rod (972) is vertical; a connecting groove (973) is provided in the middle of the connecting rod (96); the driving rod (972) passes through the connecting groove (973); a fixing strip (974) is fixedly mounted on the outer wall of the driving rod (972); a fixing groove (975) is provided on the inner wall of the connecting groove (973); the fixing strip (974) is located on the inner side of the fixing groove (975) and is slidably connected to the fixing groove (975) so as to enable the driving rod (972) to drive the connecting rod (96) to rotate.

2. The robot collaborative automatic loading and unloading device according to claim 1 is characterized in that: The limiting frame (91), the rotating rod (92), the rotating tooth (93), the second rack (98), the connecting tooth (94), the supporting frame (95) and the connecting rod (96) are provided with two groups which are respectively installed on the loading assembly (4) and the unloading assembly (5); the second rack (98) on the loading assembly (4) is located at the bottom side of the moving frame (43), and the second rack (98) on the unloading assembly (5) is located at the top side of the moving frame (43), so as to make the loading assembly (4) and the unloading assembly (5) move in opposite directions when the rotating tooth (93) rotates.

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