Material loading and unloading device

Abstract

The application discloses a material feeding and discharging device, which comprises a feeding device provided with a carrier and a pushing mechanism, the carrier is provided with a plurality of material loading assemblies, the pushing mechanism is provided with a pushing rod capable of pushing the material upward to move away from the material loading assembly; a transfer device is provided with a material taking unit composed of a plurality of material taking rods, an adjusting mechanism capable of adjusting the positional relationship between the plurality of material taking rods, and a main driving device; when the main driving device drives the material taking unit to move above the carrier, the adjusting mechanism can drive the plurality of material taking rods to correspond to the plurality of material loading assemblies one by one; when the main driving device drives the material taking unit to move to a discharging station, the adjusting mechanism can drive the plurality of material taking rods to relatively rotate and / or horizontally move, so that the materials on the plurality of material taking rods are brought together; and a material discharging mechanism can cooperate with the material taking rods to discharge the materials on the material taking rods. The feeding and discharging device is automatic and has high integration degree, high production efficiency and high machining precision, and can ensure that the material surrounding shape meets the machining requirement.

Description

Technical Field

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

[0002] As is well known, products need to be packaged after production; for example, dental floss needs to be pre-packaged in bags before leaving the factory. Regarding product packaging (such as bagging), the following methods are generally used in the market:

[0003] ① Packaging is done manually, but manual labor is not only inefficient and inaccurate, but also labor-intensive and costly, which is not conducive to production development.

[0004] ② Using a vibratory feeder or conveyor rod to feed the product into the packaging bag, although this method of operation has a high degree of automation, will cause the product to be scattered in the packaging bag, which not only affects the appearance, but also makes the packaging bag easy to break. In addition, the scattered products will occupy a lot of space, which will result in the overall volume of the packaged goods being too large based on the specified number of products, which is not conducive to storage and transportation.

[0005] In view of this, the present invention is hereby proposed. Summary of the Invention

[0006] To overcome the above-mentioned defects, the present invention provides a material loading and unloading device that integrates multiple functions such as "automatic material loading", "quantitative material picking", "material enclosing shape adjustment" and "automatic material unloading / returning". It not only has a high degree of automation and integration, which greatly improves production efficiency and processing accuracy, but also ensures that the enclosing shape of the material meets the processing requirements of subsequent processes. For example, it can ensure that the material falls into the packaging bag in a regular and compact manner, avoiding scattering.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a material loading and unloading device, comprising:

[0008] The feeding device includes a carrier and a pushing mechanism; the carrier has several spaced-apart material-carrying components for receiving materials, and the pushing mechanism has a push rod that can move to the bottom of the carrier and can move upward to push the material upward to detach it from the material-carrying components;

[0009] The transfer device includes a material-grabbing unit composed of multiple material-grabbing rods, an adjustment mechanism capable of adjusting the relative positional relationship between the multiple material-grabbing rods, and a main drive device capable of driving the material-grabbing unit and the adjustment mechanism to move together. When the main drive device drives the material-grabbing unit to move above the carrier, the adjustment mechanism can drive the multiple material-grabbing rods to correspond one-to-one with the multiple material-carrying components to receive the material pushed upward by the pushing mechanism. When the main drive device drives the material-grabbing unit to move to the unloading station, the adjustment mechanism can drive the multiple material-grabbing rods to rotate relative to each other and / or move horizontally, so that the material on the multiple material-grabbing rods moves closer to each other.

[0010] The material ejection mechanism is located at the unloading station and can cooperate with multiple material picking rods to eject the material from the material picking rods.

[0011] As a further improvement of the present invention, each of the material loading components is provided with a main connecting rod for the annular portion of the material to be fitted and an auxiliary rod disposed next to the main connecting rod for blocking and restricting the material at at least two different positions.

[0012] As a further improvement of the present invention, the carrier is also provided with a carrier base, and a plurality of the material loading components are arranged in rows on the carrier base;

[0013] Several through holes are also provided on the bottom wall of the carrier for the push rod to pass through, and each of the several through holes corresponds to a certain number of the material loading components.

[0014] As a further improvement of the present invention, the number of push rods is the same as the number of material picking rods, and the plurality of push rods are arranged side by side along the first horizontal direction;

[0015] The feeding mechanism is further provided with a lifting drive mechanism that can drive multiple push rods to move up and down together, and a horizontal drive mechanism A that can drive the lifting drive mechanism to move along a second horizontal direction perpendicular to the first horizontal direction. The horizontal drive mechanism A can cooperate with the lifting drive mechanism to adjust the positional relationship of the multiple push rods relative to the several perforations.

[0016] As a further improvement of the present invention, the feeding device is further provided with a horizontal drive mechanism B, which can drive the carrier to move along the first horizontal direction.

[0017] As a further improvement of the present invention, the material picking rod is configured as three, which are respectively defined as the first material picking rod, the second material picking rod and the third material picking rod;

[0018] The adjustment mechanism includes a mounting plate A for mounting on the execution end of the main drive device, a rotary drive member disposed on the mounting plate A and capable of driving the first picking rod to rotate, and a linear drive member disposed on the mounting plate A and capable of driving the second picking rod to move closer to or away from the third picking rod.

[0019] As a further improvement of the present invention, the main drive device is a robotic arm;

[0020] The rotary drive component includes a rotary motor fixedly mounted on the mounting plate A, and the power output end of the rotary motor is connected to the first material picking rod via a coupling.

[0021] The linear drive includes a slide rail fixedly laid on the mounting plate A, a mounting plate B slidably connected to the slide rail, and a drive cylinder connected to the mounting plate A and the mounting plate B respectively. The second material picking rod is fixedly connected to the mounting plate B, and the third material picking rod is fixedly connected to the mounting plate A and close to one end of the slide rail.

[0022] As a further improvement of the present invention, each of the material-receiving rods is provided with a rod body, a receiving cavity formed inside the rod body, and a cylinder and a stop tongue respectively disposed in the receiving cavity. The stop tongue can be completely retracted into the receiving cavity under the drive of the cylinder, so as to realize that the material is sleeved on the rod body or detached from the rod body; or, the stop tongue can also be partially extended outside the rod body under the drive of the cylinder, so as to stop the material sleeved on the rod body.

[0023] As a further improvement of the present invention, when the material picking unit is located above the carrier, the plurality of material picking rods in the material picking unit are arranged vertically and simultaneously abut against the plurality of main connecting rods one by one.

[0024] As a further improvement of the present invention, each of the material taking rods is also provided with a material ejection block sleeved outside the rod body via a linear bearing;

[0025] The unloading mechanism is equipped with a stop block and an unloading cylinder capable of driving the stop block toward the material taking unit to stop the unloading blocks on the multiple material taking rods.

[0026] The beneficial effects of this invention are: ① The device of this invention integrates multiple functions such as "automatic material feeding," "quantitative material picking," "material encirclement shape adjustment," and "automatic material unloading / returning," achieving a high degree of automation and integration, which greatly improves both production efficiency and processing accuracy. ② In addition to its material picking and handling functions, the transfer device of this invention also has the function of adjusting the encirclement shape of the material, thereby ensuring that the material meets the processing requirements of subsequent processes. For example, it ensures that the material falls into the packaging bag regularly and compactly, avoiding scattering. Furthermore, with the cooperation of the unloading mechanism, the transfer device also has a material unloading / pushing function, which greatly improves its own integration and the integration of the entire device, making the structure of the entire device simpler and reducing the space occupied, thus facilitating production implementation. ③ The carrier structure in the feeding device of this invention is simple and reasonable, easy to stack materials, and has a high degree of stability in limiting the material stack; the pushing mechanism is easy to operate and has high pushing efficiency and accuracy. ④ The material ejection mechanism of the present invention can cooperate with multiple material picking rods at the same time, so that the multiple material picking rods can complete the material feeding / rejection operation synchronously, thereby further improving production efficiency. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the material loading and unloading device of the present invention in the material picking working state;

[0028] Figure 2 for Figure 1 A partial structural diagram of the material loading and unloading device;

[0029] Figure 3 for Figure 2 A schematic diagram of the structure of the vehicle shown;

[0030] Figure 4 for Figure 3 An enlarged structural diagram of part A1 shown in the figure;

[0031] Figure 5 for Figure 3 An enlarged structural diagram of section A2 shown in the figure;

[0032] Figure 6 for Figure 2 A schematic diagram of the transfer device shown in the diagram from a first-view perspective;

[0033] Figure 7 for Figure 2 A schematic diagram of the transfer device shown in the second view.

[0034] Figure 8 for Figure 2 A partial structural schematic diagram of the transfer device shown in the third-person perspective;

[0035] Figure 9 for Figure 8 An enlarged structural diagram of section A3 shown in the figure;

[0036] Figure 10 for Figure 1 The diagram shows a partial structural schematic of the material ejection mechanism.

[0037] Referring to the accompanying drawings, the following explanations are provided:

[0038] 1. Feeding device; 10. Carrier; 100. Main connecting rod; 101. Auxiliary rod;

[0039] 102. Carrier; 103. Perforation; 11. Pushing mechanism; 110. Push rod; 111. Lifting drive mechanism; 112. Horizontal drive mechanism A; 113. Mounting base; 12. Horizontal drive mechanism B; 2. Transfer device; 20. Picking rod; 20a. First picking rod; 20b. Second picking rod; 20c. Third picking rod; 200. Rod body; 201. Receiving cavity; 2010. Upper section; 2 011, Middle section; 2012, Lower section; 2013, Inlet / Outlet; 2014, Restriction and guide ramp; 202, Cylinder; 203, Stop tongue; 204, Unloading block; 2040, Protrusion A; 205, Connecting block; 21, Mounting plate A; 22, Rotary motor; 23, Slide rail; 24, Mounting plate B; 25, Drive cylinder; 3, Unloading mechanism; 30, Stop block; 300, Protrusion B; 31, Unloading cylinder. Detailed Implementation

[0040] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Example 1:

[0042] Please see the appendix Figure 1 To be continued Figure 10As shown, this embodiment 1 provides a material loading and unloading device, which includes a loading device 1, a transfer device 2, and a unloading mechanism 3. The loading device 1 is equipped with a carrier 10 and a pushing mechanism 11. The carrier 10 has several spaced-apart material-carrying components P for receiving materials. The pushing mechanism 11 has a push rod 110 that can move below the carrier 10 and can move upwards to push the material upwards until it detaches from the material-carrying components P. The transfer device 2 includes a material-carrying unit composed of multiple material-carrying rods 20, an adjustment mechanism capable of adjusting the relative positional relationship between the multiple material-carrying rods 20, and a mechanism capable of driving the material-carrying unit and the adjustment mechanism 3. The main drive device moves together with the mechanism. When the main drive device drives the material picking unit to move above the carrier 10, the adjustment mechanism can drive the multiple material picking rods 20 to correspond one-to-one with the multiple material loading components P to receive the material pushed upward by the pushing mechanism 11. When the main drive device drives the material picking unit to move to the unloading station, the adjustment mechanism can drive the multiple material picking rods 20 to rotate relative to each other and / or move horizontally, so that the material on the multiple material picking rods 20 moves closer to each other. The unloading mechanism 3 is located at the unloading station and can cooperate with the multiple material picking rods 20 to unload the material from the material picking rods 20.

[0043] As can be seen from the above, the working method of the material loading and unloading device described in this application is as follows:

[0044] S1. The main drive device first drives the material handling unit to move above the carrier 10 according to control commands. Then, the adjustment mechanism drives the multiple material handling rods 20 to rotate relative to each other and / or move horizontally according to control commands, so that the multiple material handling rods 20 correspond one-to-one with the multiple material loading components P. Immediately afterwards, the main drive device drives the multiple material handling rods 20 to descend synchronously, so that the multiple material handling rods 20 abut against the multiple material loading components P, facilitating the movement of material from the material loading components P to the material handling rods 20. It is understood that, based on the configuration of the material handling rods 20, the material loading and unloading device of this application is particularly suitable for processing materials with annular portions.

[0045] S2. The push rod 110 moves to the lower part of the material loading assembly P that abuts against the material picking rod 20, and then the push rod 110 moves upward to push the material (generally a stack of material) placed on the material loading assembly P upward to the material picking rod 20, thus completing the material picking operation of the material picking rod 20.

[0046] Understandably, after the material picking operation of the picking rod 20 is completed, the push rod 110 will descend and reset, waiting for the next working instruction.

[0047] S3. First, the main drive device drives the material picking unit that has completed the picking work to move to the unloading station according to the control command. The specific work content of the unloading station can be determined according to the actual production application of the material loading and unloading device described in this application. This application does not impose any restrictions. It is only illustrated by example: the unloading station can be designed as a bagging station, that is: a bag-supporting device that can receive packaging bags and open the bag opening is provided at the unloading station.

[0048] Then, the adjustment mechanism drives the multiple picking rods 20 to rotate relative to each other and / or move horizontally according to the control command, so that the materials on the multiple picking rods 20 come together to meet the requirements of subsequent processing; for example, based on the above-mentioned bagging station, the adjustment mechanism controls the picking rods 20 to rotate and / or move horizontally so that the materials on the multiple picking rods 20 come together to form a shape similar to the opening shape of the bag opening but smaller than the opening area of ​​the bag opening, thereby facilitating the smooth and regular falling of the materials into the packaging bag;

[0049] Subsequently, the material ejection mechanism 3, in coordination with the multiple material picking rods 20, ejects / detaches the material from the material picking rods 20, allowing it to fall smoothly and regularly into the packaging bag.

[0050] To better understand the structure and working principle of the material loading and unloading device described in this application, the specific structure of the material loading and unloading device described in this application will be described in detail below.

[0051] First, regarding the feeding device 1.

[0052] Because the material loading and unloading device described in this application is particularly suitable for processing materials with annular portions, the preferred implementation structure of the carrier 10 in this embodiment 1 is as follows: Please refer to the appendix. Figure 3 To be continued Figure 5As shown, the carrier 10 includes a base 102 and several material-carrying components P arranged in rows on the base 102 to receive materials. Each material-carrying component P has a main connecting rod 100 for the annular portion of the material to be fitted onto, and auxiliary rods 101 arranged next to the main connecting rod 100 to restrain at least two different positions of the material. For example, when the material is dental floss, the annular head F1 of the dental floss can be fitted onto the main connecting rod 100, and the handle F2 of the dental floss can be inserted between the two auxiliary rods 101. That is, the two auxiliary rods 101 are used to restrain the opposite sides of the handle F2 of the dental floss. It is understood that the carrier 10 described in this embodiment 1 has a simple and reasonable structure. On the one hand, it is easy to stack materials and has a high degree of stability in restricting the material stack. On the other hand, it is easy to process and manufacture, and the manufacturing cost is low.

[0053] Furthermore, based on the functions of the main connecting rod 100 and the auxiliary rod 101, it can be seen that the main connecting rod 100 is a contour-following structure adapted to the annular shape of the material. Therefore, the specific shape of the main connecting rod 100 is not unique, and this application does not impose any restrictions. It is determined according to the shape of the material. The auxiliary rod 101 can adopt a pin structure, which is simple in structure and easy to assemble. Moreover, the number and layout of the auxiliary rods 101 are determined based on the shape of the material, and this application does not impose any restrictions.

[0054] Furthermore, to facilitate the operation of the push rod 110, this embodiment 1 also provides several through holes 103 on the bottom wall of the carrier 102 for the push rod 110 to pass through (see attached drawing). Figure 4 As shown, it is understood that a number of the perforations 103 correspond one-to-one with a number of the material-carrying components P.

[0055] Furthermore, to meet the needs of automated production, the feeding device 1 described in this embodiment 1 is also equipped with a horizontal drive mechanism B12, which can be referred to in the appendix. Figure 2 As shown, the horizontal drive mechanism B12 can drive the carrier 10 to move along a first horizontal direction (defined below), so that the carrier 10 can be transferred between different workstations, which well meets the needs of automated processing. Regarding the specific implementation structure of the horizontal drive mechanism B12, a linear drive module can be preferably adopted, such as a linear motor or a "motor and lead screw module combination" structure. This is a conventional technical means in the field of mechanical automation, and therefore will not be described in detail here.

[0056] In addition, in order to improve the pushing efficiency and quality of the pushing mechanism 11, this embodiment 1 preferably designs the number of push rods 110 to be the same as the number of picking rods 20. It can be understood that multiple push rods 110 are also provided; and according to the processing requirements and the layout of the perforations 103 (in rows), this embodiment 1 also preferably controls the multiple push rods 110 to be arranged side by side along the first horizontal direction.

[0057] Furthermore, to enable the push rod 110 to move below the carrier 10 and to move upward, this embodiment 1 also incorporates the following structural design: Please refer to the appendix. Figure 2 As shown, the pushing mechanism 11 is further provided with a lifting drive mechanism 111 capable of driving multiple push rods 110 to move up and down together, and a horizontal drive mechanism A112 capable of driving the lifting drive mechanism 111 to move along a second horizontal direction perpendicular to the first horizontal direction. The horizontal drive mechanism A112 can cooperate with the lifting drive mechanism 111 to adjust the positional relationship of the multiple push rods 110 relative to the multiple through holes 103.

[0058] Furthermore, both the lifting drive mechanism 111 and the horizontal drive mechanism A112 can preferably be linear drive modules, such as linear motors or a combination of motor and lead screw modules. Additionally, it is understood that a mounting base 113 is fixedly provided on the power output end of the lifting drive mechanism 111 for vertical and fixed mounting of the plurality of push rods 110.

[0059] Next, regarding the transfer device 2.

[0060] According to processing requirements, in this embodiment 1, the main drive device is preferably a multi-axis manipulator (not shown in the figure). The adjustment mechanism is locked to the execution end of the main drive device through a quick-change structure, and multiple material picking rods 20 are respectively installed on the adjustment mechanism. Moreover, under the coordinated action of the main drive device and the adjustment mechanism, when the material picking unit is above the carrier 10, the multiple material picking rods 20 in the material picking unit are all arranged vertically and simultaneously abut against the multiple main connecting rods 100 one by one; when the material picking unit is above the unloading station, the multiple material picking rods 20 are also arranged vertically.

[0061] Furthermore, in this embodiment 1, the material picking rods 20 are configured as three, and for ease of description, the three material picking rods 20 are respectively defined as the first material picking rod 20a, the second material picking rod 20b, and the third material picking rod 20c. The adjustment mechanism includes a mounting plate A21, and a rotary drive and a linear drive respectively disposed on the mounting plate A21. The mounting plate A21 is locked to the execution end of the main drive device through a quick-change structure such as a quick-change disc. The rotary drive can drive the first material picking rod 20a to rotate, and the linear drive can drive the second material picking rod 20b to move closer to or further away from the third material picking rod 20c. See Appendix. Figure 6 and attached Figure 7 As shown; that is, the relative positional relationship between the three picking rods 20 can be adjusted by the rotary drive and the linear drive, thereby meeting the material picking and unloading processing requirements of the picking rods 20.

[0062] For further details, please refer to the appendix. Figure 6 and attached Figure 7 As shown, the rotary drive component includes a rotary motor 22 fixedly mounted on the mounting plate A21. The power output end of the rotary motor 22 is connected to the first material picking rod 20a via a coupling (specifically, one end of the rod body 200 of the first material picking rod 20a is connected to the power output end of the rotary motor 22 via a coupling). The linear drive includes a slide rail 23 fixedly laid on the mounting plate A21, a mounting plate B24 slidably connected to the slide rail 23, and a drive cylinder 25 connected to the mounting plate A21 and the mounting plate B24 respectively. The second material picking rod 20b is fixedly connected to the mounting plate B24 (specifically, one end of the rod body 200 of the second material picking rod 20b is fixedly connected to the mounting plate B24). The third material picking rod 20c is fixedly connected to the mounting plate A21 and close to one end of the slide rail 23 (specifically, one end of the rod body 200 of the third material picking rod 20c is fixedly connected to the mounting plate A21).

[0063] Additional explanation: The statement "the drive cylinder 25 is connected to the mounting plate A21 and the mounting plate B24 respectively" can be understood as follows: the cylinder body of the drive cylinder 25 is fixedly connected to the mounting plate A21, and the piston rod of the drive cylinder 25 is fixedly connected to the mounting plate B24. See appendix for details. Figure 7 As shown.

[0064] Furthermore, regarding the aforementioned material-retrieving rod 20, its preferred implementation structure is as follows: Please refer to the appendix. Figure 8 and attached Figure 9As shown, each of the material-receiving rods 20 is provided with a rod body 200, a receiving cavity 201 formed inside the rod body 200, and a cylinder 202 and a stop tongue 203 respectively disposed in the receiving cavity 201. The stop tongue 203 can be completely retracted into the receiving cavity 201 under the drive of the cylinder 202, so as to realize that the material is sleeved on the rod body 200 or detached from the rod body 200; or, the stop tongue 203 can also be partially extended outside the rod body 200 under the drive of the cylinder 202, so as to stop the material sleeved on the rod body 200. Understandably, ① when the picking rod 20 picks up material, the cylinder 202 drives the stop tongue 203 to retract into the receiving cavity 201, allowing the material to move upwards and be fitted onto the rod body 200; after the material transfer is complete, the cylinder 202 drives the stop tongue 203 to partially extend outside the rod body 200 to stop the material fitted onto the rod body 200 and prevent the material from falling off. ② when the picking rod 20 retracts material, the cylinder 202 drives the stop tongue 203 to retract into the receiving cavity 201, releasing the stop on the material and allowing the material to detach from the rod body 200.

[0065] Furthermore, the specific structure by which the cylinder 202 drives the tongue 203 to perform telescopic movement in this embodiment 1 is as follows: Please refer to the appendix. Figure 8 and attached Figure 9As shown, taking the vertical position of the material-receiving rod 20 as a reference, the receiving cavity 201 is integrally formed inside the lower part of the rod body 200, and the receiving cavity 201 can be divided into three sections from top to bottom: an upper section 2010, a middle section 2011, and a lower section 2012 that are interconnected. The cylinder 202 is positioned in the upper section 2010, and a vertically sliding connecting block 205 is provided in the middle section 2011. It is understood that a vertically extending guide surface is formed on the inner wall of the middle section 2011. One end of the connecting block 205 is positioned and connected to the piston rod of the cylinder 202, and the other end of the connecting block 205 is formed into a bifurcated structure; the lower section 2012 opens on opposite sides of the bottom of the rod body 200 to form two inlets and outlets 2013, and the inner wall of the lower section 2012 is also formed with limiting and guiding slopes 2014 near the two inlets and outlets 2010. It can be understood that the two limiting and guiding slopes 2014 are respectively connected to the inner wall of the middle section 2011. In addition, the lower section 2012 houses two of the aforementioned stop tongues 203. One end of each of the two stop tongues 203 is inserted into the bifurcated structure and is rotatably connected to the bifurcated structure via pins. The other ends of the two stop tongues 203 correspond one-to-one with the two inlet / outlet 2013s. That is, when the piston rod of the cylinder 202 retracts upward, the connecting block 205 moves upward, and correspondingly drives one end of the two stop tongues 203 to move upward. At that time, the two limiting and guiding inclined surfaces 2014... Under the action of the two blocking tongues 203, the two blocking tongues 203 deflect relative to each other, so that the other end of the two blocking tongues 203 can retract into the lower section 2012; and when the piston rod of the cylinder 202 extends downward, the connecting block 205 moves downward, and correspondingly drives one end of the two blocking tongues 203 to move downward. Similarly, under the action of the two limiting and guiding inclined surfaces 2014, the two blocking tongues 203 deflect in opposite directions, so that the other end of the two blocking tongues 203 can extend out of the two inlet and outlet 2010.

[0066] Next, regarding the material return mechanism 3.

[0067] In this embodiment 1, the structure by which the material ejection mechanism 3 and the multiple material picking rods 20 cooperate to eject the material from the material picking rods 20 is as follows: Please refer to the appendix. Figure 6 Appendix Figure 8 and attached Figure 10As shown, each of the picking rods 20 is also provided with a material ejection block 204 sleeved on the rod body 200 via a linear bearing. The material ejection mechanism 3 is provided with a stop block 30 and a material ejection cylinder 31 that can drive the stop block 30 to move toward the picking unit to stop the material ejection blocks 204 on the multiple picking rods 20. It can be understood that when the picking rod 20 is picking up material, the material ejection block 204 will move upward by the force of the material moving upward. When the picking rod 20 is ejecting material, the material ejection cylinder 31 drives the stop block 30 to move toward the picking unit, so that the stop block 30 stops the material ejection blocks 204 on the multiple picking rods 20. Then, the multiple rod bodies 200 move upward synchronously, and the material sleeved on the rod body 200 can be removed from the rod body 200 under the pressure of the material ejection block 204.

[0068] For further details, please refer to the appendix. Figure 6 As shown, each of the ejector blocks 204 has a protrusion A2040 formed on it; please refer to the attached document. Figure 10 As shown, based on the layout of the multiple ejector blocks 204, the end of the stop block 30 facing the material handling unit has multiple protrusions B300. These protrusions B300 can correspondingly abut and stop the multiple protrusions A2040. It can be understood that the end of the stop block 30 facing the material handling unit has a contoured structure, which, while simultaneously stopping the multiple ejector blocks 204, also effectively avoids obstruction of other parts (such as the rod body 200) on the multiple material handling rods 20. In summary, the stop block 30 effectively saves processing costs, conserves space, and facilitates production implementation.

[0069] Finally, the prefixes "first," "second," "third," etc., of the component names in the specification of this invention patent (such as first material handling rod, second material handling rod, third material handling rod, etc.) and the suffixes "A," "B," etc., of the component names (such as horizontal drive mechanism A, horizontal drive mechanism B, etc.) are only for ease of description and are not intended to limit the scope of implementation of this invention patent.

[0070] In summary, the material loading and unloading device of the present invention integrates multiple functions such as "automatic material loading", "quantitative material picking", "material encirclement shape adjustment" and "automatic material unloading / returning". It not only has a high degree of automation and integration, greatly improving production efficiency and processing accuracy, but also ensures that the encirclement shape of the material meets the processing requirements of subsequent processes. For example, it can ensure that the material falls into the packaging bag regularly and compactly, avoiding scattering.

[0071] Many specific details have been set forth in the foregoing description to provide a thorough understanding of the present invention. However, the above description is merely a preferred embodiment of the present invention, and the present invention can be implemented in many other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A material loading and unloading device, characterized in that: include: The feeding device (1) is provided with a carrier (10) and a pushing mechanism (11); the carrier (10) is provided with a number of spaced-apart material-carrying components for receiving materials, and the pushing mechanism (11) is provided with a push rod (110) that can move to the bottom of the carrier (10). The push rod (110) can move upward to push the material upward to detach it from the material-carrying components. The transfer device (2) is provided with a material picking unit consisting of multiple material picking rods (20), an adjustment mechanism capable of adjusting the relative positional relationship between the multiple material picking rods (20), and a main drive device capable of driving the material picking unit and the adjustment mechanism to move together; when the main drive device drives the material picking unit to move above the carrier (10), the adjustment mechanism can drive the multiple material picking rods (20) to correspond one-to-one with the multiple material loading components to receive the material pushed upward by the pushing mechanism (11); and when the main drive device drives the material picking unit to move to the unloading station, the adjustment mechanism can drive the multiple material picking rods (20) to rotate relative to each other and / or move horizontally, so that the material on the multiple material picking rods (20) moves closer to each other; The material ejection mechanism (3) is located at the unloading station and can cooperate with multiple material picking rods (20) to eject the material from the material picking rods (20).

2. The material loading and unloading device according to claim 1, characterized in that: Each of the material-carrying components is provided with a main connecting rod (100) for the annular portion of the material to be fitted and an auxiliary rod (101) disposed next to the main connecting rod (100) for blocking and restricting the material at at least two different positions.

3. The material loading and unloading device according to claim 1, characterized in that: The carrier (10) is also provided with a carrier (102), and a plurality of the material loading components are arranged in rows on the carrier (102); A plurality of through holes (103) are provided on the bottom wall of the carrier (102) for the push rod (110) to pass through, and the plurality of through holes (103) correspond one-to-one with the plurality of material loading components.

4. The material loading and unloading device according to claim 3, characterized in that: The number of push rods (110) is the same as the number of material picking rods (20), and the multiple push rods (110) are arranged side by side along the first horizontal direction; The pushing mechanism (11) is further provided with a lifting drive mechanism (111) capable of driving multiple push rods (110) to move up and down together, and a horizontal drive mechanism A (112) capable of driving the lifting drive mechanism (111) to move along a second horizontal direction perpendicular to the first horizontal direction. The horizontal drive mechanism A (112) can cooperate with the lifting drive mechanism (111) to adjust the positional relationship of multiple push rods (110) relative to a number of through holes (103).

5. The material loading and unloading device according to claim 4, characterized in that: The feeding device (1) is also provided with a horizontal drive mechanism B (12), which can drive the carrier (10) to move along the first horizontal direction.

6. The material loading and unloading device according to claim 1, characterized in that: The material picking rod (20) is configured as three, which are respectively defined as the first material picking rod (20a), the second material picking rod (20b) and the third material picking rod (20c); The adjustment mechanism includes a mounting plate A (21) for mounting on the execution end of the main drive device, a rotary drive member disposed on the mounting plate A (21) and capable of driving the first picking rod (20a) to rotate, and a linear drive member disposed on the mounting plate A (21) and capable of driving the second picking rod (20b) to move closer to or further away from the third picking rod (20c).

7. The material loading and unloading device according to claim 6, characterized in that: The main drive unit is a robotic arm; The rotary drive component includes a rotary motor (22) fixedly mounted on the mounting plate A (21), and the power output end of the rotary motor (22) is connected to the first material picking rod (20a) via a coupling. The linear drive includes a slide rail (23) fixedly laid on the mounting plate A (21), a mounting plate B (24) slidably connected to the slide rail (23), and a drive cylinder (25) respectively connected to the mounting plate A (21) and the mounting plate B (24). The second material picking rod (20b) is fixedly connected to the mounting plate B (24), and the third material picking rod (20c) is fixedly connected to the mounting plate A (21) and close to one end of the slide rail (23).

8. The material loading and unloading device according to claim 2, characterized in that: Each of the aforementioned material-receiving rods (20) is provided with a rod body (200), a receiving cavity (201) formed inside the rod body (200), and a cylinder (202) and a stop tongue (203) respectively disposed in the receiving cavity (201). The stop tongue (203) can be completely retracted into the receiving cavity (201) under the drive of the cylinder (202) so as to realize that the material is sleeved on the rod body (200) or detached from the rod body (200); or, the stop tongue (203) can also be partially extended outside the rod body (200) under the drive of the cylinder (202) to stop the material sleeved on the rod body (200).

9. The material loading and unloading device according to claim 8, characterized in that: When the material handling unit is located above the carrier (10), the multiple material handling rods (20) in the material handling unit are arranged vertically and simultaneously abut against the multiple main connecting rods (100) one by one.

10. The material loading and unloading device according to claim 8, characterized in that: Each of the aforementioned material-retrieving rods (20) is further provided with a material-retrieving block (204) that is sleeved outside the rod body (200) via a linear bearing; The unloading mechanism (3) is provided with a stop (30) and an unloading cylinder (31) that can drive the stop (30) to move toward the picking unit to stop the unloading blocks (204) on the multiple picking rods (20).

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