Automatic feeding and discharging equipment

Abstract

The invention discloses automatic feeding and discharging equipment which comprises a machine frame, a feeding transfer platform, a carrying mechanical arm, a material disc feeding and discharging device and a material changing mechanical arm, the feeding transfer platform, the carrying mechanical arm, the material disc feeding and discharging device and the material changing mechanical arm are installed on the machine frame, and the material disc feeding and discharging device comprises a feeding belt set and a discharging belt set. The discharging belt group is used for outputting the trays from inside to outside; the carrying mechanical arm is used for taking products from the material disc and placing the products on the feeding transfer platform or taking the products from the feeding transfer platform and placing the products on the material disc. And the material changing manipulator is used for transferring the material tray from the feeding belt group to the discharging belt group after the material tray is loaded or unloaded. According to the automatic feeding and discharging equipment provided by the invention, the charging tray feeding and discharging device completes charging tray feeding and discharging actions through the two sets of conveying belts, the carrying manipulator completes product taking and placing actions, the material changing manipulator completes charging tray transferring actions, and full automation of feeding and discharging of tray-loaded products is achieved.

Description

Technical Field

[0001] The present invention relates to the field of automated mechanical technology, and in particular to an automatic loading and unloading device. Background Art

[0002] With the rapid development of automated production, the application of automated equipment production lines has become more and more popular in the field of industrial production, and automated loading and unloading equipment is an important part of automated production lines. Most of the existing loading and unloading equipment cannot achieve fully automatic loading and unloading actions, especially for products in boxes or trays, which currently have a low degree of automation.

[0003] Therefore, the prior art needs to be improved. Summary of the invention

[0004] In view of this, the present invention provides an automatic loading and unloading device, which is used to solve the problems of low automation level of loading and unloading devices in the prior art.

[0005] In order to achieve one or part or all of the above-mentioned purposes or other purposes, the present invention proposes an automatic loading and unloading equipment, including a frame and a loading and transferring platform, a handling robot, a tray loading and unloading device, and a material changing robot installed on the frame. The tray loading and unloading device includes a feeding belt group and a discharging belt group. The feeding belt group is used to transport the tray from the outside to the inside, and the discharging belt group is used to output the tray from the inside to the outside; the handling robot is used to take products from the tray and place them on the loading and transferring platform or take products from the loading and transferring platform and place them on the tray; the material changing robot is used to transfer the tray from the feeding belt group to the discharging belt group after the tray loading or unloading is completed.

[0006] Preferably, the material tray loading and unloading device also includes two first limiting side plates and two second limiting side plates; the two first limiting side plates are respectively arranged on both sides of the feeding belt group, for limiting the material tray on the feeding belt group; the two second limiting side plates are respectively arranged on both sides of the discharging belt group, for limiting the material tray on the discharging belt group.

[0007] Preferably, the tray loading and unloading device also includes a width-adjusting guide rail and a plurality of sliders, the width-adjusting guide rail is fixedly mounted on the frame, and the two first limiting side plates and the two second limiting side plates can be slidably mounted on the width-adjusting guide rail through the sliders.

[0008] Preferably, the material tray loading and unloading device also includes a width-adjusting belt assembly, which includes a synchronous belt, two belt tensioning pulleys and two tensioning pulley mounting seats, the belt tensioning pulleys can be rotatably mounted on the frame through the tensioning pulley mounting seats, the synchronous belt is wound around the two belt tensioning pulleys, the synchronous belt is parallel to the width-adjusting guide rail, the two first limiting side plates are respectively fixedly connected to the upper and lower sides of the synchronous belt, and the two second limiting side plates are respectively fixedly connected to the upper and lower sides of the synchronous belt.

[0009] Preferably, the width-adjustable belt assembly further comprises an adjusting hand wheel, and the adjusting hand wheel is fixedly connected to any one of the belt tensioning wheels and is used for rotating the belt tensioning wheel, thereby driving the synchronous belt.

[0010] Preferably, any of the tensioning wheel mounting seats is also provided with a locking handle for locking or loosening the belt tensioning wheel.

[0011] Preferably, the tray loading and unloading device also includes two Z-axis lifting mechanisms, which include a module fixing frame, a Z-axis linear module, and a bracket. The two module fixing frames are respectively fixedly installed on the frame at both ends of the feeding belt group and the discharging belt group. The Z-axis linear module is fixedly installed on the module fixing frame. The bracket is installed at the output end of the Z-axis linear module. The bracket is used to drive the tray to move up and down.

[0012] Preferably, the feeding belt group includes two parallel first conveyor belts, the discharging belt group includes two parallel second conveyor belts, the bracket includes a connecting plate, two outer supporting plates and an intermediate supporting plate, the connecting plate is fixedly connected to the output end of the Z-axis linear module, the outer supporting plate and the intermediate supporting plate are both fixedly mounted on the connecting plate, and the connecting plate, the outer supporting plate, the intermediate supporting plate and the first conveyor belt and the second conveyor belt are vertically offset; The outer supporting plate is provided with a plurality of extended support ribs extending to both sides, and the first limiting side plate and the second limiting side plate are correspondingly provided with avoidance holes. When the spacing between the two first limiting side plates and the spacing between the two second limiting side plates are adjusted to be smaller than the overall width of the bracket, the extended support ribs pass through the avoidance holes.

[0013] Preferably, each of the first limiting side panels is provided with a tray separation mechanism, which includes a tray separation cylinder and a tray separation insertion plate installed at the output end of the tray separation cylinder, and the tray separation insertion plate is used to be inserted between two stacked material trays under the drive of the tray separation cylinder.

[0014] Preferably, the automatic loading and unloading equipment also includes a first CCD alignment camera assembly, which is fixedly installed on the frame just above the feeding belt group, and is used for alignment when the handling robot grabs the product from the tray or puts the product into the tray.

[0015] Preferably, the automatic loading and unloading equipment also includes a second CCD alignment camera assembly, which is fixedly mounted on the frame and is used for alignment when the handling robot grabs the product from the loading transfer platform or places the product on the loading transfer platform.

[0016] Preferably, the loading transfer platform includes one or more vacuum suction plates for adsorbing products; the loading transfer platform also includes a cleaning sponge, which is installed on the frame and is used to wipe the lower surface of the product before placing the product on the vacuum suction plate.

[0017] Preferably, the loading transfer platform also includes a transfer guide rail and a transfer cylinder, the vacuum suction plate can be slidably mounted on the frame through the transfer guide rail, the cylinder body of the transfer cylinder is mounted on the frame, and the output end of the transfer cylinder is connected to the vacuum suction plate for driving the vacuum suction plate to move along the transfer guide rail.

[0018] Implementing the embodiments of the present invention will have the following beneficial effects: The tray loading and unloading device on the equipment uses two sets of conveyor belts to complete the tray loading and unloading actions respectively, the handling robot completes the product picking and placing actions, and the material changing robot completes the tray transfer action, realizing the full automation of tray-packed product loading and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] in: Figure 1 This is a schematic diagram of the three-dimensional structure of an automatic loading and unloading device according to an embodiment of the present invention; Figure 2 The automatic loading and unloading equipment according to one embodiment of the present invention is an automatic loading and unloading equipment without the upper frame; Figure 3 It is a schematic diagram of the three-dimensional structure of a material tray loading and unloading device in one embodiment of the present invention; Figure 4It is a schematic diagram of the three-dimensional structure of the tray loading and unloading device in one embodiment of the present invention after removing the feeding belt group, the discharging belt group, and the Z-axis lifting mechanism; Figure 5 for Figure 4 Magnified view at A in the middle; Figure 6 for Figure 4 Magnified view at B in the middle; Figure 7 It is a schematic diagram of the three-dimensional structure of the Z-axis lifting mechanism in one embodiment of the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of a material changing robot in one embodiment of the present invention.

[0021] The reference numerals are as follows: 1. Frame; 11. Lower frame; 12. Upper frame; 121. Control panel; 2. Loading transfer platform; 21. Vacuum suction plate; 22. Cleaning sponge; 23. Transfer rail; 3. Handling manipulator; 4. Material tray loading and unloading device; 41. Feeding belt group; 411. First conveyor belt; 42. Discharging belt group; 421. Second conveyor belt; 43. First limiting side plate; 431. Avoidance hole; 432. Disk separation mechanism; 4321. Disk separation cylinder; 4322. Disk separation insert plate; 433. First tray position detection sensor; 44. Second limiting side plate; 441. Second tray position detection sensor; 45. Width adjustment rail; 4 6. Slider; 47. Adjustable belt width assembly; 471. Synchronous belt; 472. Belt tensioner; 473. Tensioner mounting seat; 474. Adjustment hand wheel; 475. Locking handle; 48. Z-axis lifting mechanism; 481. Module fixing frame; 482. Z-axis linear module; 483. Bracket; 4831. Connecting plate; 4832. Outer supporting plate; 4833. Middle supporting plate; 4834. Extended supporting rib; 4835. First sensor; 5. Material changing robot; 51. Gantry; 52. X-axis linear module; 53. Mechanical claw; 6. First CCD alignment camera assembly; 7. Second CCD alignment camera assembly; 100. Material tray; 200. Product. DETAILED DESCRIPTION

[0022] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0024] It is understood that the singular forms "a", "an" and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0025] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to another element or there may be a centered element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for illustrative purposes. In the present invention, the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, the above-mentioned part of the terms may be used to express other meanings in addition to being used to express orientation or position relationship, for example, the term "upper" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present invention can be understood according to the specific circumstances.

[0026] In addition, the terms "disposed", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Reference Figures 1 to 8A specific embodiment of the present invention provides an automatic loading and unloading equipment, including a frame 1 and a loading transfer platform 2 installed on the frame 1, a handling robot 3, a tray loading and unloading device 4, and a material changing robot 5, wherein the tray loading and unloading device 4 includes a feeding belt group 41 and a discharging belt group 42, wherein the feeding belt group 41 is used to transport the tray 100 from the outside to the inside, and the discharging belt group 42 is used to output the tray 100 from the inside to the outside; the handling robot 3 is used to take the product 200 from the tray 100 and place it on the loading transfer platform 2 or take the product 200 from the loading transfer platform 2 and place it on the tray 100; the material changing robot 5 is used to transfer the tray 100 from the feeding belt group 41 to the discharging belt group 42 after the loading or unloading of the tray 100 is completed.

[0028] In some optional embodiments, such as Figures 1 to 6 As shown, the material tray loading and unloading device 4 also includes two first limiting side plates 43 and two second limiting side plates 44; the two first limiting side plates 43 are respectively arranged on both sides of the feeding belt group 41, and are used to limit the material tray 100 on the feeding belt group 41; the two second limiting side plates 44 are respectively arranged on both sides of the discharging belt group 42, and are used to limit the material tray 100 on the discharging belt group 42.

[0029] In some optional embodiments, such as Figures 1 to 6 As shown, the tray loading and unloading device 4 further includes a width-adjusting guide rail 45 and a plurality of sliders 46. The width-adjusting guide rail 45 is fixedly mounted on the frame 1, and the two first limiting side plates 43 and the two second limiting side plates 44 are slidably mounted on the width-adjusting guide rail 45 through the sliders 46. The spacing is adjustable, and thus can be adjusted according to the width of the tray 100, with high compatibility.

[0030] In some optional embodiments, such as Figures 1 to 6As shown, the material tray loading and unloading device 4 also includes a width-adjusting belt assembly 47, and the width-adjusting belt assembly 47 includes a synchronous belt 471, two belt tensioning wheels 472 and two tensioning wheel mounting seats 473. The belt tensioning wheels 472 can be rotatably mounted on the frame 1 through the tensioning wheel mounting seats 473. The synchronous belt 471 is wound around the two belt tensioning wheels 472. The synchronous belt 471 is parallel to the width-adjusting guide rail 45. The two first limiting side plates 43 are respectively fixedly connected to the upper and lower sides of the synchronous belt 471, and the two second limiting side plates 44 are respectively fixedly connected to the upper and lower sides of the synchronous belt 471. By synchronously pulling the two first limiting side plates 43 and the two second limiting side plates 44 through the synchronous belt 471, it can be achieved that the middle position of the two first limiting side plates 43 and the middle position of the two first limiting side plates 43 remain unchanged, and the spacing between the two first limiting side plates 43 and the spacing between the two second limiting side plates 44 are always the same, and the width adjustment method is convenient and simple.

[0031] In some optional embodiments, such as Figures 1 to 6 As shown, the width-adjustable belt assembly 47 further includes an adjusting hand wheel 474 , and the adjusting hand wheel 474 is fixedly connected to any of the belt tensioning wheels 472 , and is used to rotate the belt tensioning wheel 472 , thereby driving the synchronous belt 471 .

[0032] In some optional embodiments, such as Figures 1 to 6 As shown, a locking handle 475 is also provided on any of the tensioning wheel mounting seats 473 for locking or loosening the belt tensioning wheel 472 .

[0033] In some optional embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 7 As shown, the tray loading and unloading device 4 also includes two Z-axis lifting mechanisms 48, and the Z-axis lifting mechanism 48 includes a module fixing frame 481, a Z-axis linear module 482, and a bracket 483. The two module fixing frames 481 are respectively fixedly installed on the frame 1 at both ends of the feeding belt group 41 and the discharging belt group 42, the Z-axis linear module 482 is fixedly installed on the module fixing frame 481, and the bracket 483 is installed at the output end of the Z-axis linear module 482. The bracket 483 is used to drive the tray 100 to move up and down.

[0034] In some optional embodiments, such as Figures 1 to 3As shown, the feeding belt group 41 includes two parallel first conveyor belts 411, the discharging belt group 42 includes two parallel second conveyor belts 421, the bracket 483 includes a connecting plate 4831, two outer supporting plates 4832 and an intermediate supporting plate 4833, the connecting plate 4831 is fixedly connected to the output end of the Z-axis linear module 482, the outer supporting plates 4832 and the intermediate supporting plates 4833 are both fixedly mounted on the connecting plate 4831, the connecting plate 4831, the outer supporting plates 4832 and the intermediate supporting plates 4833 are fixedly mounted on the connecting plate 4831, and the connecting plate 4831 and the outer supporting plates 4832 are fixedly mounted on the Z-axis linear module 482. 832, the middle support plate 4833 is vertically offset from the first conveyor belt 411 and the second conveyor belt 421; the outer support plate 4832 is provided with a plurality of extended support ribs 4834 extending to both sides, and the first limiting side plate 43 and the second limiting side plate 44 are correspondingly provided with avoidance holes 431, and when the spacing between the two first limiting side plates 43 and the spacing between the two second limiting side plates 44 are adjusted to be smaller than the overall width of the bracket 483, the extended support ribs 4834 pass through the avoidance holes 431. The design of the extended support ribs 4834 can ensure stable support of the material tray 100 without affecting the adjustment of the spacing between the two first limiting side plates 43 and the spacing between the two second limiting side plates 44.

[0035] In some optional embodiments, such as Figures 1 to 5 As shown, each of the first limiting side plates 43 is provided with a tray separation mechanism 432, the tray separation mechanism 432 comprises a tray separation cylinder 4321 and a tray separation insertion plate 4322 installed at the output end of the tray separation cylinder 4321, the tray separation insertion plate 4322 is used to be inserted between two stacked trays 100 under the drive of the tray separation cylinder 4321. In this way, it can be ensured that when the material changing robot 5 grabs the tray 100, it will not bring up the tray 100 below.

[0036] In some optional embodiments, such as Figure 1 , Figure 2 , Figure 3 and Figure 7 As shown, the bracket 483 is provided with a first sensor 4835 for confirming whether the material tray 100 is located directly above the bracket 483 .

[0037] In some optional embodiments, such as Figures 1 to 5 As shown, a first tray position detection sensor 433 is provided on the first limiting side plate 43, and the first tray position detection sensor 433 is used to detect whether the tray 100 at the top of the feeding belt group 41 has risen to a predetermined position, and to feed back a signal to the Z-axis linear module 482 corresponding to the feeding belt group 41, so as to control the operation of the Z-axis linear module 482, so that the position of the top tray 100 is always at the material taking position; Similarly, a second tray position detection sensor 441 is provided on the second limiting side plate 44, and the second tray position detection sensor 441 is used to detect and confirm whether the tray 100 at the top of the discharge belt group 42 has descended to avoid the receiving tray position, and feedback signal to the Z-axis linear module 482 corresponding to the discharge belt group 42, so as to control the operation of the Z-axis linear module 482 so that the position of the top tray 100 is always at a preset height until the bottom tray 100 falls onto the discharge belt group 42 and is then sent out by the discharge belt group 42.

[0038] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the automatic loading and unloading equipment also includes a first CCD alignment camera assembly 6, which is fixedly installed on the frame 1 just above the feeding belt group 41, and is used for alignment when the handling robot 3 grabs the product 200 from the material tray 100 or puts the product 200 into the material tray 100.

[0039] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the automatic loading and unloading equipment also includes a second CCD alignment camera assembly 7, which is fixedly installed on the frame 1 and is used for alignment when the handling robot 3 grabs the product 200 from the loading transfer platform 2 or places the product 200 on the loading transfer platform 2.

[0040] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the loading transfer platform 2 includes one or more vacuum suction plates 21 for adsorbing products 200; the loading transfer platform 2 also includes a cleaning sponge 22, which is installed on the frame 1 and is used to wipe the lower surface of the product 200 before placing the product 200 on the vacuum suction plate 21.

[0041] In some optional embodiments, such as Figure 1 and Figure 2As shown, the loading transfer platform 2 also includes a transfer guide rail 23 and a transfer cylinder. The vacuum suction plate 21 can be slidably mounted on the frame 1 through the transfer guide rail 23. The cylinder body of the transfer cylinder is mounted on the frame 1. The output end of the transfer cylinder is connected to the vacuum suction plate 21 to drive the vacuum suction plate 21 to move along the transfer guide rail 23. In this example, there are multiple vacuum suction plates 21, and multiple vacuum suction plates 21 are spliced ​​together. Through the vacuum suction plate 21, products 200 of various sizes can be adsorbed. Furthermore, multiple products 200 can be placed on the vacuum suction plate 21 at the same time, and an external multi-claw manipulator can be used to feed or unload multi-head processing equipment, and the efficiency of loading and unloading is high.

[0042] In some optional embodiments, such as Figure 1 and Figure 2 As shown, the frame 1 includes a lower frame 11 and an upper frame 12, and a material taking window is provided on the upper frame 12. The material taking window is located on one side of the loading transfer platform 2, and is used for an external manipulator to reach in and take the product 200 from the loading transfer platform 2 or place the product 200 on the loading transfer platform 2. In some optional embodiments, as Figure 1 and Figure 2 As shown, a control panel 121 is also provided on the upper frame 12 .

[0043] In some optional embodiments, such as Figure 2 and Figure 8 As shown, the material changing robot 5 includes a gantry 51, an X-axis linear module 52, and a mechanical claw 53. The gantry 51 is fixedly mounted on the frame 1, the X-axis linear module 52 is mounted on the gantry 51, and the mechanical claw 53 is mounted on the output end of the X-axis linear module 52.

[0044] The automatic loading and unloading equipment provided by the embodiment of the present invention has the following beneficial effects: The tray loading and unloading device 4 on the equipment completes the loading and unloading actions of the tray 100 through two sets of conveyor belts, the handling robot 3 completes the action of picking up and placing the product 200, and the material changing robot 5 completes the transfer action of the tray 100, realizing the full automation of loading and unloading of tray-packed products.

[0045] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. An automatic loading and unloading device, characterized in that: The invention comprises a frame (1), a loading transfer platform (2) installed on the frame (1), a handling robot (3), a tray loading and unloading device (4), and a material changing robot (5), wherein the tray loading and unloading device (4) comprises a feeding belt group (41) and a discharging belt group (42), wherein the feeding belt group (41) is used to transport the tray (100) from the outside to the inside, and the discharging belt group (42) is used to discharge the tray (100) from the inside to the outside. 0); the handling robot (3) is used to take the product (200) from the material tray (100) and place it on the loading transfer platform (2), or take the product (200) from the loading transfer platform (2) and place it on the material tray (100); the material changing robot (5) is used to transfer the material tray (100) from the feeding belt group (41) to the discharging belt group (42) after the loading or unloading of the material tray (100) is completed.

2. The automatic loading and unloading equipment according to claim 1, characterized in that: The material tray loading and unloading device (4) further comprises two first limiting side plates (43) and two second limiting side plates (44); the two first limiting side plates (43) are respectively arranged on both sides of the feeding belt group (41) for limiting the material tray (100) on the feeding belt group (41); the two second limiting side plates (44) are respectively arranged on both sides of the discharging belt group (42) for limiting the material tray (100) on the discharging belt group (42).

3. The automatic loading and unloading equipment according to claim 2, characterized in that: The tray loading and unloading device (4) further comprises a width-adjusting guide rail (45) and a plurality of sliding blocks (46); the width-adjusting guide rail (45) is fixedly mounted on the frame (1); and the two first position-limiting side plates (43) and the two second position-limiting side plates (44) are slidably mounted on the width-adjusting guide rail (45) via the sliding blocks (46).

4. The automatic loading and unloading equipment according to claim 3, characterized in that: The tray loading and unloading device (4) further comprises a width-adjusting belt assembly (47), the width-adjusting belt assembly (47) comprising a synchronous belt (471), two belt tensioning wheels (472) and two tensioning wheel mounting seats (473), the belt tensioning wheels (472) being rotatably mounted on the frame (1) via the tensioning wheel mounting seats (473), the synchronous belt (471) being wound around the two belt tensioning wheels (472), the synchronous belt (471) being parallel to the width-adjusting guide rail (45), the two first limiting side plates (43) being fixedly connected to the upper and lower sides of the synchronous belt (471) respectively, and the two second limiting side plates (44) being fixedly connected to the upper and lower sides of the synchronous belt (471) respectively.

5. The automatic loading and unloading equipment according to claim 4, characterized in that: The width-adjustable belt assembly (47) further comprises an adjusting hand wheel (474), wherein the adjusting hand wheel (474) is fixedly connected to any one of the belt tensioning wheels (472) and is used to rotate the belt tensioning wheel (472), thereby driving the synchronous belt (471); Any of the tensioning wheel mounting seats (473) is also provided with a locking handle (475) for locking or releasing the belt tensioning wheel (472).

6. The automatic loading and unloading equipment according to claim 5, characterized in that: The tray loading and unloading device (4) also includes two Z-axis lifting mechanisms (48), and the Z-axis lifting mechanisms (48) include a module fixing frame (481), a Z-axis linear module (482), and a bracket (483). The two module fixing frames (481) are fixedly mounted on the frame (1) at both ends of the feeding belt group (41) and the discharging belt group (42), respectively. The Z-axis linear module (482) is fixedly mounted on the module fixing frame (481), and the bracket (483) is mounted on the output end of the Z-axis linear module (482). The bracket (483) is used to drive the tray (100) to move up and down.

7. The automatic loading and unloading equipment according to claim 6, characterized in that: The feeding belt group (41) includes two parallel first conveyor belts (411), the discharging belt group (42) includes two parallel second conveyor belts (421), the bracket (483) includes a connecting plate (4831), two outer supporting plates (4832) and an intermediate supporting plate (4833), the connecting plate (4831) is fixedly connected to the output end of the Z-axis linear module (482), the outer supporting plate (4832) and the intermediate supporting plate (4833) are both fixedly mounted on the connecting plate (4831), and the connecting plate (4831), the outer supporting plate (4832) and the intermediate supporting plate (4833) are vertically offset from the first conveyor belt (411) and the second conveyor belt (421); The outer supporting plate (4832) is provided with a plurality of extended support ribs (4834) extending toward both sides, and the first limiting side plate (43) and the second limiting side plate (44) are correspondingly provided with avoidance holes (431). When the spacing between the two first limiting side plates (43) and the spacing between the two second limiting side plates (44) are reduced to be smaller than the overall width of the bracket (483), the extended support ribs (4834) pass through the avoidance holes (431).

8. The automatic loading and unloading equipment according to claim 7, characterized in that: A tray separation mechanism (432) is provided on each of the first limiting side plates (43), the tray separation mechanism (432) comprising a tray separation cylinder (4321) and a tray separation insertion plate (4322) mounted on the output end of the tray separation cylinder (4321), the tray separation insertion plate (4322) being used to be inserted between two stacked material trays (100) under the drive of the tray separation cylinder (4321).

9. The automatic loading and unloading equipment according to claim 1, characterized in that: The automatic loading and unloading equipment further comprises a first CCD alignment camera assembly (6), which is fixedly mounted on the frame (1) just above the feeding belt assembly (41) and is used for performing an alignment function when the transport robot (3) grabs the product (200) from the material tray (100) or places the product (200) into the material tray (100).

10. The automatic loading and unloading equipment according to claim 1, characterized in that: The loading transfer platform (2) includes one or more vacuum suction plates (21) for adsorbing products (200); the loading transfer platform (2) also includes a transfer guide rail (23) and a transfer cylinder, the vacuum suction plate (21) being slidably mounted on the frame (1) via the transfer guide rail (23), the cylinder body of the transfer cylinder being mounted on the frame (1), and the output end of the transfer cylinder being connected to the vacuum suction plate (21) for driving the vacuum suction plate (21) to move along the transfer guide rail (23).

Images