Automatic product feeding and discharging mechanism

Abstract

The invention discloses an automatic product feeding and discharging mechanism which comprises a rack, a feeding device, a taking device, a pin cutting device, a product conveying line and a feeding jig. The feeding device, the taking device, the pin cutting device and the product conveying line are arranged on the rack, and the feeding jig is conveyed to the product conveying line. The feeding device comprises a feeding temporary storage assembly, a discharging temporary storage assembly and a material disc conveying assembly, and material discs are alternately and temporarily stored on the feeding temporary storage assembly and the discharging temporary storage assembly through the material disc conveying assembly. The material taking device comprises a first material taking mechanical arm and a second material taking mechanical arm, and the first material taking mechanical arm is used for grabbing workpieces of the material supply device and placing the workpieces on the product conveying line for feeding and grabbing workpieces of the foot cutting device and placing the workpieces on the material supply device for discharging. The second material taking mechanical arm grabs the workpieces on the product conveying line and places the workpieces on the foot cutting device for foot cutting. The automatic feeding and discharging mechanism for the products can temporarily store and alternate the trays, is matched with a material taking device to complete automatic feeding and discharging, and is small in occupied space and high in automation degree.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to an automatic loading and unloading mechanism for products. Background Art

[0002] In the automated production process of various electronic components, electronic components need to be placed on trays. Loading is taking materials from the trays, and unloading is placing processed electronic components on the trays. At present, in some feeding devices, only one loading and unloading station is set, and both loading and unloading are carried out through this station. Each time, the loading and unloading trolley needs to put the empty tray back into the storage bin before a new tray with material can be taken and transferred to the above station for the next step of processing. The trays cannot be cached or alternated, or loaded and unloaded manually during the circulation process; and the loading and unloading trolley will be idle for part of the time in the subsequent processing process, resulting in a waste of resources, making the overall efficiency of loading and unloading low, and thus resulting in the overall low processing efficiency of the automated processing equipment. Summary of the invention

[0003] Based on this, the purpose of the present invention is to provide an automatic loading and unloading mechanism for products, which only has one loading and unloading station. The material trays are cached and alternated by setting a loading cache component, an unloading cache component and a material tray transport component, and the automatic loading and unloading is completed in cooperation with a material picking device, which occupies a small space and has a high degree of automation.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A product automatic loading and unloading mechanism comprises a frame, and a feeding device, a picking device, a foot cutting device, a product conveying line and a feeding fixture transmitted to the product conveying line arranged on the frame; the product conveying line is horizontally arranged on the frame, the feeding device is arranged on one side of the product conveying line, the foot cutting device is arranged between the feeding device and the product conveying line, and the picking device is arranged above the product conveying line and the foot cutting device; the feeding device comprises a loading buffer assembly, a unloading buffer assembly and a tray transport assembly, and the tray transport assembly is used to alternately and cache the trays in the loading buffer assembly and the unloading buffer assembly; the picking device comprises a first picking manipulator and a second picking manipulator, the first picking manipulator is used to grab the workpiece of the feeding device and place it on the product conveying line for loading and to grab the workpiece of the foot cutting device and place it on the feeding device for unloading, and the second picking manipulator grabs the workpiece of the product conveying line and places it on the foot cutting device for foot cutting.

[0006] Further, the feeding device comprises a tray storage assembly, and the upper material buffer assembly, the lower material buffer assembly and the tray storage assembly are sequentially arranged on the frame along the tray transport assembly;

[0007] The tray transport assembly includes a linear module arranged on the frame, a first drive motor for driving the linear module to move linearly, and a moving seat installed on the linear module and following the linear module to move linearly, the moving seat is provided with a tray placement seat, the tray placement seat is used to place the tray, and the linear module is driven by the first drive motor to drive the tray to move linearly.

[0008] Further, the loading and caching assembly includes a first lifting module installed on the frame along the linear module, and a first caching module arranged above the first lifting module;

[0009] The first lifting module comprises a first lifting cylinder and a first lifting support plate connected to the first lifting cylinder and used for positioning the tray, and the first lifting support plate is driven by the first lifting cylinder to transfer the tray from the first buffer module to the tray transport assembly and transfer the tray from the tray transport assembly to the first buffer module;

[0010] The first cache module includes a first mounting frame, a first guide plate, a first cache support plate, a first linear slide rail and a first driving cylinder; the first mounting frame is symmetrically arranged on both sides of the first lifting module along the linear module, the first linear slide rail and the first driving cylinder are arranged on the first mounting frame, the first guide plate is slidably arranged on the first linear slide rail and connected to the driving end of the first driving cylinder, the first cache support plate is installed on the side of the first guide plate facing the linear module, the first cache support plate is provided with a first bracket, and the first bracket forms a material tray cache position for loading materials;

[0011] Limiting plates are also provided on both sides of the first cache module.

[0012] Further, the material unloading buffer assembly includes a second lifting module installed on the frame along the linear module, and a second buffer module arranged above the second lifting module;

[0013] The second lifting module includes a second lifting cylinder and a second lifting support plate connected to the second lifting cylinder and used for positioning the tray, and the second lifting support plate is driven by the second lifting cylinder to transfer the tray from the tray transport assembly to the second buffer module and transfer the tray from the second buffer module to the tray transport assembly;

[0014] The second cache module includes a second mounting frame, a second guide plate, a second cache support plate, a second linear slide rail and a second driving cylinder; the second mounting frame is symmetrically arranged on both sides of the second lifting module along the linear module, the second linear slide rail and the second driving cylinder are arranged on the second mounting frame, the second guide plate is slid on the second linear slide rail and is connected to the driving end of the second driving cylinder, the second cache support plate is installed on the side of the second guide plate facing the linear module, and the second cache support plate is provided with a second bracket, and the second bracket forms a material tray cache position for unloading.

[0015] Furthermore, the material tray storage assembly includes a lifting motor installed on the frame along the linear module, a lifting bracket connected to the lifting motor through a transmission belt, and a material storage pallet symmetrically installed on both sides of the lifting bracket along the linear module, and multiple layers of third brackets are arranged on the material storage pallet, and the multiple layers of third brackets form a material tray storage position for unloading.

[0016] Furthermore, the material picking device also includes a support frame, a Y-axis linear module, a Z-axis linear module and a third driving cylinder; the support frame is horizontally arranged on the frame, the Y-axis linear module and the third driving cylinder are installed on the support frame, the Z-axis linear module is slidably arranged on the Y-axis linear module and moves along the Y-axis linear module, the first material picking manipulator is slidably arranged on the Z-axis linear module and moves along the Z-axis linear module, the second material picking manipulator is connected to the third driving cylinder, and the third driving cylinder drives the second material picking manipulator to move along the Y-axis;

[0017] The first material-retrieving robot and the second material-retrieving robot both include air grippers and clamping claws installed on the air grippers; the second material-retrieving robot is also provided with an elastic pressure piece.

[0018] Furthermore, the product conveyor line includes a conveying bracket installed on a frame, a conveying guide wheel installed on the conveying bracket, a conveyor belt connected to the conveying guide wheel, a conveying roller installed on the conveying bracket and connected to the conveyor belt, and a conveying motor installed on the conveying bracket and drivingly connected to the conveying roller. The conveying motor drives the conveying roller to drive the conveyor belt to drive the feeding jig for conveying.

[0019] Furthermore, the conveying bracket is equipped with a plurality of third positioning modules for positioning the feeding jig, and the third positioning module includes a third lifting cylinder installed on the conveying bracket, and a third lifting plate connected to the third lifting cylinder and used for positioning the feeding jig. The third lifting plate is driven by the third lifting cylinder to lift the feeding jig to facilitate positioning and material loading.

[0020] Furthermore, the feeding jig includes a jig seat, a cover plate rotatably connected to the jig seat, a clamping groove opened in the jig seat, and an elastic clamping member arranged on one side of the clamping groove; the elastic clamping member includes an elastic shaft, a clamping block and a baffle, one end of the elastic shaft is fixed to the jig seat, the other end of the elastic shaft is connected to the clamping block, and the baffle is arranged above the clamping block.

[0021] Furthermore, the conveying bracket is equipped with a jig limiting module for limiting the feeding jig, and the jig limiting module is located below the second material picking robot. The jig limiting module includes a vertical plate, a positioning plate, a movable pull plate and a fourth driving cylinder. The vertical plate is installed on the conveying bracket, the positioning plate is installed above the vertical plate, and the fourth driving cylinder is installed on one side of the vertical plate. The movable pull plate is arranged above the positioning plate through the fourth driving cylinder. The movable pull plate is extended with a pull rod, and a pressure block is arranged on one side of the pull rod facing the conveying bracket. When the third lifting cylinder drives the third lifting plate to lift the feeding jig to the jig limiting module, the positioning plate abuts against the feeding jig, and the pressure block is located on one side of the baffle.

[0022] The beneficial effects of the present invention are:

[0023] The automatic loading and unloading mechanism of the product of the present invention comprises a frame, and a feeding device, a material taking device, a foot cutting device, a product conveying line and a feeding fixture transmitted to the product conveying line arranged on the frame; the feeding device comprises a loading buffer component, a unloading buffer component and a tray transport component. When loading, the unloading tray is cached in the unloading buffer component by the tray transport component, and when unloading, the loading tray is cached in the loading buffer component by the tray transport component to complete the alternation of the trays. The process does not require manual loading and unloading or AGV trolleys, and the overall efficiency of loading and unloading is high, and the space occupied is small.

[0024] The material picking device in the present invention includes a first material picking robot and a second material picking robot. The first material picking robot is used to grab the workpiece of the feeding device and place it on the product conveyor line for loading and to grab the workpiece of the cutting device and place it on the feeding device for unloading. The second material picking robot grabs the workpiece of the product conveyor line and places it on the cutting device for cutting, with a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of the overall structure of the automatic loading and unloading mechanism of the product according to the embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the partial structure of the automatic loading and unloading mechanism of the product according to the embodiment of the present invention;

[0027] Figure 3 for Figure 2 Schematic diagram of the structure of the middle A area;

[0028] Figure 4 A schematic structural diagram of a feeding device according to an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the structure of a material loading and caching component according to an embodiment of the present invention;

[0030] Figure 6 A schematic structural diagram of a material taking device according to an embodiment of the present invention;

[0031] Figure 7 A schematic structural diagram of a product conveying line according to an embodiment of the present invention;

[0032] Figure 8 A schematic structural diagram of a feeding fixture according to an embodiment of the present invention;

[0033] Reference numerals:

[0034] 100-rack;

[0035] 20-tray transport assembly; 21-linear module; 22-first drive motor; 23-moving seat; 24-tray placement seat; 25-tray;

[0036] 30-feeding cache assembly; 31-first lifting module; 311-first lifting cylinder; 312-first lifting support plate; 32-first cache module; 321-first mounting frame; 322-first guide plate; 323-first cache support plate; 324-first linear slide rail; 325-first driving cylinder; 326-limiting plate;

[0037] 40- material unloading cache assembly; 41- second jacking module; 42- second cache module;

[0038] 50- material tray storage assembly; 51- lifting motor; 52- lifting bracket; 53- material storage support plate; 54- third bracket;

[0039] 60- material picking device; 61- first material picking manipulator; 62- second material picking manipulator; 63- support frame; 64- Y-axis linear module; 65- Z-axis linear module; 66- third driving cylinder; 601- air claw; 602- clamping claw; 603- elastic pressure piece;

[0040] 70-foot cutting device;

[0041] 80-product conveyor line; 81-conveying bracket; 82-conveying guide wheel; 83-conveying belt; 84-conveying roller; 85-conveying motor; 86-third positioning module; 861-third lifting cylinder; 871-third lifting support plate; 88-fixture limit module; 881-vertical plate; 882-positioning plate; 883-movable pull plate; 884-pull rod; 885-pressing block; 886-fourth driving cylinder;

[0042] 90-feeding fixture; 91-fixture seat; 92-cover plate; 93-pressing groove; 94-elastic pressing member; 941-elastic shaft; 942-pressing block; 943-baffle. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "vertical direction", "up", "down", "horizontal", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] like Figures 1 to 8As shown, an embodiment of the present invention provides an automatic loading and unloading mechanism for products, comprising a frame 100, a feeding device, a material taking device 60, a foot cutting device 70, a product conveying line 80 and a feeding fixture 90, wherein the feeding device, the material taking device 60, the foot cutting device 70 and the product conveying line 80 are arranged on the frame 100. The product conveying line 80 is horizontally arranged on the frame 100, the feeding fixture 90 is transmitted on the product conveying line 80, the feeding device is arranged on one side of the product conveying line 80, the foot cutting device 70 is arranged between the feeding device and the product conveying line 80, and the material taking device 60 is arranged above the product conveying line 80 and the foot cutting device 70.

[0047] like Figure 1 and Figure 4 As shown, the feeding device includes a loading buffer assembly 30 , a unloading buffer assembly 40 , a material tray transport assembly 20 and a material tray storage assembly 50 .

[0048] In this embodiment, the tray transport assembly 20 includes a linear module 21 arranged on the frame 100, a first drive motor 22 for driving the linear module 21 to move linearly, and a moving seat 23 installed on the linear module 21 and following the linear module 21 to move linearly. A tray placement seat 24 is provided on the moving seat 23, and the tray placement seat 24 is used to place the tray 25. The linear module 21 is driven by the first drive motor 22, thereby driving the tray 25 to move linearly.

[0049] In this embodiment, the loading buffer assembly 30 includes a first lifting module 31 installed on the frame 100 along the linear module 21, and a first buffer module 32 disposed above the first lifting module 31;

[0050] The first lifting module 31 includes a first lifting cylinder 311 and a first lifting support plate 312 connected to the first lifting cylinder 311 and used for positioning the tray. The first lifting support plate 312 is driven by the first lifting cylinder 311 to transfer the tray 25 from the first buffer module 32 to the tray transport assembly 20 and transfer the tray 25 from the tray transport assembly 20 to the first buffer module 32.

[0051] The first cache module 32 includes a first mounting frame 321, a first guide plate 322, a first cache support plate 323, a first linear slide rail 324 and a first driving cylinder 325; the first mounting frame 321 is symmetrically arranged on both sides of the first lifting module 31 along the linear module 21, the first linear slide rail 324 and the first driving cylinder 325 are arranged on the first mounting frame 321, the first guide plate 322 is slidably arranged on the first linear slide rail 324 and is connected to the driving end of the first driving cylinder 325, the first cache support plate 323 is installed on the side of the first guide plate 322 facing the linear module 21, and a first bracket is arranged on the first cache support plate 323, and the first bracket forms a material tray cache position for loading; limit plates 326 are also arranged on both sides of the first cache module 32.

[0052] The material unloading buffer assembly 40 includes a second lifting module 41 installed on the frame 100 along the linear module 21, and a second buffer module 42 arranged above the second lifting module 41; the second lifting module 41 includes a second lifting cylinder, and a second lifting support plate connected to the second lifting cylinder and used for positioning the tray 25, and the second lifting support plate is driven by the second lifting cylinder to transfer the tray 25 from the tray transport assembly 20 to the second buffer module 42 and transfer the tray 25 from the second buffer module 42 to the tray transport assembly 20; the second buffer The module 42 includes a second mounting frame, a second guide plate, a second cache tray, a second linear slide rail and a second driving cylinder; the second mounting frame is symmetrically arranged on both sides of the second lifting module 41 along the linear module 21, the second linear slide rail and the second driving cylinder are arranged on the second mounting frame, the second guide plate is slid on the second linear slide rail and is connected to the driving end of the second driving cylinder, the second cache tray is installed on the side of the second guide plate facing the linear module 21, and a second bracket is arranged on the second cache tray, and the second bracket forms a material tray cache position for unloading.

[0053] In the present invention, when loading, the tray transport component 20 transfers the unloading tray to the unloading cache component 40 for caching, and then transfers the loading tray from the loading cache component 30 to the grabbing station to wait for material collection; when unloading, the tray transport component 20 transfers the loading tray to the loading cache component 30 for caching, completing the alternation and caching of the trays, and then transfers the unloading tray from the unloading cache component 40 to the grabbing station to wait for material discharge. The present invention caches and alternates the trays in the loading cache component 30 and the unloading cache component 40 through the tray transport component 20, and the process does not require manual loading and unloading or AGV trolleys, occupies less space, and has a higher overall efficiency of loading and unloading.

[0054] In this embodiment, the material tray storage assembly 50 includes a lifting motor 51 installed on the frame 100 along the linear module 21, a lifting bracket 52 connected to the lifting motor 51 through a transmission belt, and a material storage pallet 53 symmetrically installed on both sides of the lifting bracket 52 along the linear module 21, and a multi-layer third bracket 54 is arranged on the material storage pallet 53, and the multi-layer third bracket 54 forms a material tray storage position for unloading.

[0055] In the present invention, the tray transport component 20 is used to cache and alternately transfer the trays in the loading buffer component 30 and the unloading buffer component 40, and the processed workpieces are transferred to the tray storage position by the tray transport component 20 for storage.

[0056] like Figure 1 , Figure 5 and Figure 6 As shown, in this embodiment, the material picking device 60 comprises a first material picking manipulator 61, a second material picking manipulator 62, a support frame 63, a Y-axis linear module 64, a Z-axis linear module 65 and a third driving cylinder 66. The first material picking manipulator 61 is used to grab the workpiece of the feeding device and place it on the product conveying line 80 for loading and to grab the workpiece of the foot cutting device 70 and place it on the feeding device for unloading, and the second material picking manipulator 62 grabs the workpiece of the product conveying line 80 and places it on the foot cutting device 70 for foot cutting.

[0057] In this embodiment, the support frame 63 is horizontally arranged on the frame 100, the Y-axis linear module 64 and the third driving cylinder 66 are installed on the support frame 63, the Z-axis linear module 65 is slidably arranged on the Y-axis linear module 64 and moves along the Y-axis linear module 64, the first material picking robot 61 is slidably arranged on the Z-axis linear module 65 and moves along the Z-axis linear module 65, the second material picking robot 62 is connected to the third driving cylinder 66, and the third driving cylinder 66 drives the second material picking robot 62 to move along the Y-axis to grab the workpiece of the product conveyor line 80 and place it on the foot cutting mechanism 70 for foot cutting.

[0058] The first material picking robot and the second material picking robot both include air grippers and clamping jaws installed on the air grippers; the second material picking robot is also provided with an elastic pressure piece; the first material picking robot 61 and the second material picking robot 62 both include air grippers 601 and clamping jaws 602 installed on the air grippers 601; the second material picking robot 62 is also provided with an elastic pressure piece 603. The elastic pressure piece 603 is provided to prevent the feeding jig 90 from being lifted up when the second material picking robot 62 grabs the workpiece from the feeding jig 90.

[0059] like Figure 1 , Figure 7 and Figure 8As shown, in this embodiment, the product conveyor line 80 includes a conveying bracket 81 installed on the frame 100, a conveying guide wheel 82 installed on the conveying bracket 81, a conveying belt 83 connected to the conveying guide wheel 82, a conveying roller 84 installed on the conveying bracket 81 and connected to the conveying belt 83, and a conveying motor 85 installed on the conveying bracket 81 and drivingly connected to the conveying roller 84. The conveying motor 85 drives the conveying roller 84 to drive the conveying belt 83 to drive the feeding fixture 90 for conveying.

[0060] In this embodiment, the conveying bracket 81 is equipped with multiple third positioning modules 86 for positioning the feeding jig 90. The third positioning module 86 includes a third lifting cylinder 861 installed on the conveying bracket 81, and a third lifting plate 871 connected to the third lifting cylinder 861 and used for positioning the feeding jig 90. The third lifting plate 871 is driven by the third lifting cylinder 861 to lift the feeding jig 90 to facilitate positioning and loading and unloading of materials.

[0061] In this embodiment, the feeding fixture 90 includes a fixture seat 91, a cover plate 92 rotatably connected to the fixture seat 91, a clamping groove 93 opened in the fixture seat 91, and an elastic clamping member 94 arranged on one side of the clamping groove 93; the elastic clamping member 94 includes an elastic shaft 941, a clamping block 942 and a baffle 943, one end of the elastic shaft 941 is fixed to the fixture seat 91, the other end of the elastic shaft 941 is connected to the clamping block 942, and the baffle 943 is arranged above the clamping block 942. The workpiece is placed in the clamping groove 93, the elastic clamping member 94 presses the workpiece in the clamping groove 93, and positions the workpiece laterally, and the cover plate 92 presses and fixes the surface of the workpiece.

[0062] like Figure 1 , Figure 2 , Figure 3 and Figure 8 As shown, in this embodiment, the conveying bracket 81 is equipped with a fixture limiting module 88 for limiting the feeding fixture 90. The fixture limiting module 88 is located below the second material picking robot 62. The fixture limiting module 88 includes a vertical plate 881, a positioning plate 882, a movable pull plate 883 and a fourth driving cylinder 886. The vertical plate 881 is installed on the conveying bracket 81, the positioning plate 882 is installed above the vertical plate 881, and the fourth driving cylinder 886 is installed on the vertical plate 881. On one side of 81, the movable pull plate 883 is arranged above the positioning plate 882 through the fourth driving cylinder 886, and the movable pull plate 883 is extended with a pull rod 884, and the pull rod 884 is provided with a pressure block 885 on the side facing the conveying bracket 81. When the third lifting cylinder 861 drives the third lifting support plate 871 to lift the feeding jig 90 to the jig limiting module 88, the positioning plate 882 abuts against the feeding jig 90, and the pressure block 885 is located on the side of the baffle 943.

[0063] In the present invention, when the second material picking robot 62 grabs the workpiece of the product conveyor line 80 and places it on the cutting device 70, the positioning plate 882 abuts against the top of the feeding fixture 90, and the pressure block 885 abuts against one side of the baffle 943 of the feeding fixture 90. The fourth driving cylinder 886 is started, and the fourth driving cylinder 886 drives the movable pulling plate 883 to move and drive the elastic clamping member 94 to retract and retract. The workpiece is separated from the clamping fixation of the elastic clamping member 94, which facilitates the second material picking robot 62 to grab the workpiece.

[0064] It should be noted that in the present invention, the feeding device, the material taking device 60, the foot cutting device 70, the product conveyor line 80 and the feeding fixture 90 are all provided with position sensors, and the position sensors are communicated with the central control system to control the coordinated operation of each workstation, thereby realizing the automation of the production line.

[0065] The above only expresses the preferred technical solution of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. A product automatic loading and unloading mechanism, characterized in that: It includes a frame, and a feeding device, a picking device, a foot cutting device, a product conveyor line and a feeding fixture transmitted to the product conveyor line arranged on the frame; the product conveyor line is horizontally arranged on the frame, the feeding device is arranged on one side of the product conveyor line, the foot cutting device is arranged between the feeding device and the product conveyor line, and the picking device is arranged above the product conveyor line and the foot cutting device; the feeding device includes a loading buffer component, a unloading buffer component and a tray transport component, and the tray transport component is used to alternate and cache the tray in the loading buffer component and the unloading buffer component; the picking device includes a first picking manipulator and a second picking manipulator, the first picking manipulator is used to grab the workpiece of the feeding device and place it on the product conveyor line for loading and grab the workpiece of the foot cutting device and place it on the feeding device for unloading, and the second picking manipulator grabs the workpiece of the product conveyor line and places it on the foot cutting device for foot cutting.

2. The automatic loading and unloading mechanism for products according to claim 1 is characterized in that: The feeding device comprises a material tray storage assembly, and the upper material buffer assembly, the lower material buffer assembly and the material tray storage assembly are sequentially arranged on the frame along the material tray transport assembly; The tray transport assembly includes a linear module arranged on the frame, a first drive motor for driving the linear module to move linearly, and a moving seat installed on the linear module and following the linear module to move linearly, the moving seat is provided with a tray placement seat, the tray placement seat is used to place the tray, and the linear module is driven by the first drive motor to drive the tray to move linearly.

3. The automatic loading and unloading mechanism for products according to claim 2 is characterized in that: The loading buffer assembly includes a first lifting module installed on the frame along the linear module, and a first buffer module arranged above the first lifting module; The first lifting module comprises a first lifting cylinder and a first lifting support plate connected to the first lifting cylinder and used for positioning the tray, and the first lifting support plate is driven by the first lifting cylinder to transfer the tray from the first buffer module to the tray transport assembly and transfer the tray from the tray transport assembly to the first buffer module; The first cache module includes a first mounting frame, a first guide plate, a first cache support plate, a first linear slide rail and a first driving cylinder; the first mounting frame is symmetrically arranged on both sides of the first lifting module along the linear module, the first linear slide rail and the first driving cylinder are arranged on the first mounting frame, the first guide plate is slidably arranged on the first linear slide rail and connected to the driving end of the first driving cylinder, the first cache support plate is installed on the side of the first guide plate facing the linear module, the first cache support plate is provided with a first bracket, and the first bracket forms a material tray cache position for loading materials; Limiting plates are also provided on both sides of the first cache module.

4. The automatic loading and unloading mechanism for products according to claim 2 is characterized in that: The material unloading buffer assembly includes a second lifting module installed on the frame along the linear module, and a second buffer module arranged above the second lifting module; The second lifting module includes a second lifting cylinder and a second lifting support plate connected to the second lifting cylinder and used for positioning the tray, and the second lifting support plate is driven by the second lifting cylinder to transfer the tray from the tray transport assembly to the second buffer module and transfer the tray from the second buffer module to the tray transport assembly; The second cache module includes a second mounting frame, a second guide plate, a second cache support plate, a second linear slide rail and a second driving cylinder; the second mounting frame is symmetrically arranged on both sides of the second lifting module along the linear module, the second linear slide rail and the second driving cylinder are arranged on the second mounting frame, the second guide plate is slid on the second linear slide rail and is connected to the driving end of the second driving cylinder, the second cache support plate is installed on the side of the second guide plate facing the linear module, and the second cache support plate is provided with a second bracket, and the second bracket forms a material tray cache position for unloading.

5. The automatic loading and unloading mechanism for products according to claim 2 is characterized in that: The material tray storage assembly includes a lifting motor installed on the frame along the linear module, a lifting bracket connected to the lifting motor through a transmission belt, and a material storage pallet symmetrically installed on both sides of the lifting bracket along the linear module, and multiple layers of third brackets are arranged on the material storage pallet, and the multiple layers of the third brackets form a material tray storage position for unloading.

6. The automatic loading and unloading mechanism for products according to claim 1 is characterized in that: The material picking device also includes a support frame, a Y-axis linear module, a Z-axis linear module and a third driving cylinder; the support frame is horizontally arranged on the frame, the Y-axis linear module and the third driving cylinder are installed on the support frame, the Z-axis linear module is slidably arranged on the Y-axis linear module and moves along the Y-axis linear module, the first material picking manipulator is slidably arranged on the Z-axis linear module and moves along the Z-axis linear module, the second material picking manipulator is connected to the third driving cylinder, and the third driving cylinder drives the second material picking manipulator to move along the Y-axis; The first material-retrieving robot and the second material-retrieving robot both include air grippers and clamping claws installed on the air grippers; the second material-retrieving robot is also provided with an elastic pressure piece.

7. The automatic loading and unloading mechanism for products according to claim 1 is characterized in that: The product conveyor line includes a conveying bracket installed on a frame, a conveying guide wheel installed on the conveying bracket, a conveyor belt connected to the conveying guide wheel, a conveying roller installed on the conveying bracket and connected to the conveyor belt, and a conveying motor installed on the conveying bracket and drivingly connected to the conveying roller. The conveying motor drives the conveying roller to drive the conveyor belt to drive the feeding jig for conveying.

8. The automatic loading and unloading mechanism for products according to claim 7 is characterized in that: The conveying bracket is equipped with multiple third positioning modules for positioning the feeding jig. The third positioning module includes a third lifting cylinder installed on the conveying bracket, and a third lifting plate connected to the third lifting cylinder and used for positioning the feeding jig. The third lifting plate is driven by the third lifting cylinder to lift the feeding jig.

9. The automatic loading and unloading mechanism for products according to claim 8, characterized in that: The feeding jig includes a jig seat, a cover plate rotatably connected to the jig seat, a clamping groove opened in the jig seat, and an elastic clamping member arranged on one side of the clamping groove; the elastic clamping member includes an elastic shaft, a clamping block and a baffle, one end of the elastic shaft is fixed to the jig seat, the other end of the elastic shaft is connected to the clamping block, and the baffle is arranged above the clamping block.

10. The automatic loading and unloading mechanism for products according to claim 9, characterized in that: The conveying bracket is equipped with a fixture limiting module for limiting the feeding fixture, and the fixture limiting module is located below the second material-retrieving manipulator. The fixture limiting module includes a vertical plate, a positioning plate, a movable pull plate and a fourth driving cylinder. The vertical plate is installed on the conveying bracket, the positioning plate is installed above the vertical plate, the fourth driving cylinder is installed on one side of the vertical plate, the movable pull plate is arranged above the positioning plate through the fourth driving cylinder, and the movable pull plate extends with a pull rod, and the pull rod is directed toward A pressure block is arranged on one side of the conveying bracket. When the feeding fixture is lifted to the fixture limiting module, The positioning plate is in contact with the top of the feeding fixture, and the pressing block is located on one side of the baffle.

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