Automatic feeding and discharging device

Abstract

The invention relates to the technical field of feeding and discharging, and discloses an automatic feeding and discharging device which comprises a feeding device, the feeding device comprises two feeding conveying belts which are arranged in a spaced mode and rotate synchronously, and the two feeding conveying belts are symmetrically arranged relative to a set vertical plane; at least two protrusion sets are arranged on the feeding conveying belt at intervals, each protrusion set comprises a plurality of positioning protrusions arranged in the conveying direction of the feeding conveying belt at intervals in an array mode, a positioning groove is formed between every two adjacent positioning protrusions in the same protrusion set, and the positioning grooves are used for positioning a front wall plate or a rear wall plate of a material disc. The front wall plate of the material plate is clamped into the positioning groove in one protrusion set, and the two feeding conveying belts synchronously rotate forwards, so that the rear wall plate of the material plate in the horizontal forward conveying process is clamped into the positioning groove in the next protrusion set. According to the automatic feeding and discharging device, the automation degree of feeding can be effectively improved, and the labor intensity of workers can be reduced.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading materials, and in particular to an automatic loading and unloading material device. Background Art

[0002] The current loading and unloading devices generally include a loading device and an unloading device. The loading device is generally placed directly into the lifting station by the operator, and then the loading device can drive a stack of material trays located at the lifting station to rise synchronously, so that the top material tray is at the feeding height to facilitate the robot to grab the workpiece in the tray.

[0003] The material trays in the prior art require workers to manually place the trays into a position that is convenient for lifting and lowering. During the tray placement process, the stacked trays generally need to be pushed inward so that the stacked trays are in a suitable lifting and lowering position. However, this can easily cause the bottom tray to be damaged due to friction, and also increases the labor intensity of the workers, making it difficult to achieve the purpose of automated feeding.

[0004] In view of this, it is necessary to design an automatic loading and unloading device that can effectively improve the degree of automation of feeding and help reduce the labor intensity of workers.

[0005] The above information is presented as background information only to assist with understanding the present disclosure and no determination or admission is made as to whether any of the above may be used as prior art with respect to the present disclosure. Summary of the invention

[0006] The present invention provides an automatic loading and unloading device, which can effectively improve the automation degree of feeding and is beneficial to reducing the labor intensity of workers.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] An automatic loading and unloading device comprises a loading device, wherein the loading device comprises two feeding conveyor belts which are arranged at intervals and rotate synchronously, the feeding conveyor belts are connected head to tail, and the two feeding conveyor belts are arranged symmetrically with respect to a set vertical plane;

[0009] At least two groups of protrusions are arranged at intervals on the feed conveyor belt, each group of protrusions includes a plurality of positioning protrusions arranged in an array at intervals along the conveying direction of the feed conveyor belt, and a positioning groove is formed between two adjacent positioning protrusions in the same group of protrusions, and the positioning groove is used to position the front wall plate or the rear wall plate of the material tray;

[0010] The front wall plate of the material tray is inserted into the positioning groove in one group of protrusions, and the two feed conveyor belts rotate forward synchronously so that the rear wall plate of the material tray during the horizontal forward conveying process is inserted into the positioning groove in the latter group of protrusions.

[0011] Optionally, the feeding device further comprises a rotation driving device, a feeding sensor, a conveyor belt position detection sensor and a positioning sensor; the feeding sensor, the conveyor belt position detection sensor and the positioning sensor are electrically connected to the rotation driving device respectively;

[0012] The feed sensor is arranged at the feed ends of the two feed conveyor belts;

[0013] The rotary drive device is connected to the two feed conveyor belts in a transmission manner, and the conveyor belt position detection sensor is arranged beside the feed conveyor belts to detect whether the protrusion group enters the set area;

[0014] The positioning sensor is used to detect whether the material tray is transported to the set lifting position.

[0015] Optionally, the feeding device further comprises a lifting frame and a lifting drive device for driving the lifting frame to lift; the lifting frame is used to drive the material tray in the set lifting station to lift to a set discharge height;

[0016] The lifting frame is in a mountain shape, including a vertical plate portion and three support plates connecting the vertical plate portion, and two adjacent support plates are parallel to each other; one of the support plates is located between the two feed conveyor belts, and the feed conveyor belt is located between two adjacent support plates; and the lifting frame can avoid the feed conveyor belt and enter the bottom side of the feed conveyor belt;

[0017] The vertical plate portion is also used to stop the material tray at a set lifting position.

[0018] Optionally, the feeding device further comprises a positioning assembly for positioning the material tray at a set discharge height, and the positioning assembly comprises four positioning cylinders;

[0019] A positioning angle pressing block is arranged on the telescopic shaft of the positioning cylinder, and the positioning angle pressing block is provided with a positioning groove matching a corner of the material tray;

[0020] The positioning groove has a first groove wall for pressing on one side of the material tray, a second groove wall for pressing on the other side of the material tray, and a third groove wall for pressing on the top surface of the material tray;

[0021] The first groove wall and the second groove wall are perpendicular to each other, and the third groove wall has an inclined guide surface.

[0022] Optionally, a fool-proof notch is provided at a corner of the material tray, and the shape of a positioning groove of one of the positioning corner pressing blocks matches the shape of the fool-proof notch.

[0023] Optionally, the automatic loading and unloading device further includes a frame;

[0024] The frame is provided with a telescopic limit assembly for pressing and positioning the material tray, and the telescopic limit assembly includes a telescopic cylinder and an insert installed on a telescopic shaft on the telescopic cylinder;

[0025] The material tray is provided with a separation slot, and the insert piece can extend into the separation slot to block the bottom wall of the separation slot.

[0026] Optionally, the automatic loading and unloading device further comprises a positioning frame supporting the positioning cylinder;

[0027] The positioning frame is provided with a positioning support sheet, and the positioning support sheet is provided with a linear through groove and an arc-shaped through groove extending in an arc shape around the linear through groove;

[0028] A sliding shaft is installed in the linear through groove, and the sliding shaft is fixedly connected to the main body of the positioning cylinder; a positioning column is also installed on the main body of the positioning cylinder, and the positioning column extends into the arc-shaped through groove; when the positioning cylinder is installed on the positioning support plate, the positioning column and the sliding shaft are respectively fixedly connected to the positioning support plate.

[0029] Optionally, the closer the arc-shaped through groove is to the end, the smaller the groove width is.

[0030] Optionally, the automatic loading and unloading device further comprises a tray shifting manipulator and a unloading device installed on one side of the loading device, the structure of the unloading device is the same as that of the loading device and they are arranged side by side;

[0031] The plate moving robot comprises a suction cup frame, a Z-axis device for driving the suction cup frame to rise and fall, and a linear drive module for driving the Z-axis device to translate;

[0032] An even number of suction heads are installed in an array on the suction cup frame.

[0033] Optionally, the feed conveyor belt is provided with four groups of protrusions;

[0034] The cross section of the positioning groove is rectangular.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] The automatic loading and unloading device provided by the present invention places the stacked pallets onto the feed conveyor belt, then the front wall plate of the bottom pallet is stuck in the positioning groove, and then the feed conveyor belt rotates to make the rear wall plate of the bottom pallet stuck in the positioning groove, and the feed conveyor belt conveys forward, thereby transferring all the stacked pallets horizontally forward to the feed conveyor belt, and then the feed conveyor belt transfers the stacked pallets to a suitable lifting position; the automatic loading and unloading device in this embodiment optimizes the pallet conveying method, does not require a jig plate to support the pallet, and only requires the front wall plate of the bottom pallet to be stuck in the positioning groove to realize automatic loading and conveying, which effectively reduces the workers' movements and reduces the workers' labor intensity.

[0037] The present invention has other features and advantages, which will be apparent from or will be described in detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic loading and unloading device provided by an embodiment of the present invention;

[0040] Figure 2 It is a partially enlarged schematic diagram of the automatic loading and unloading device provided in an embodiment of the present invention;

[0041] Figure 3 is a schematic top view of an automatic loading and unloading device provided in an embodiment of the present invention;

[0042] Figure 4 is a side view schematic diagram of an automatic loading and unloading device provided by an embodiment of the present invention;

[0043] Figure 5 It is a schematic diagram of the three-dimensional structure of a feeding device provided in an embodiment of the present invention;

[0044] Figure 6 yes Figure 5 An enlarged schematic diagram of the feeding device at position A;

[0045] Figure 7 is a schematic top view of a feeding device provided in an embodiment of the present invention;

[0046] Figure 8 is a bottom view schematic diagram of a feeding device provided by an embodiment of the present invention;

[0047] Fig. 9 is a schematic diagram of the installation structure of the positioning cylinder provided in an embodiment of the present invention;

[0048] Fig.10 It is a three-dimensional structural schematic diagram of a positioning cylinder, a positioning angle pressing block and a positioning frame provided in an embodiment of the present invention.

[0049] Attached figures: 1. feeding device; 11. feeding conveyor belt; 111. protrusion group; 101. positioning protrusion; 102. positioning groove; 12. rotating drive device; 13. feeding sensor; 14. conveyor belt position detection sensor; 15. positioning sensor; 16. lifting frame; 161. vertical plate; 162. support plate; 171. positioning cylinder; 172. positioning angle pressure block; 1701. first groove wall; 1702. second groove wall; 1703. third groove wall; 1704. guide surface; 18. positioning frame; 181. positioning support plate; 182. linear through groove; 183. arc through groove; 2. frame; 21. telescopic limit assembly; 22. telescopic cylinder; 23. insert; 3. plate moving robot; 4. unloading device. DETAILED DESCRIPTION

[0050] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0051] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0052] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0053] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0054] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0055] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in the sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0056] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0057] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0058] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0059] In view of the above-mentioned defects of the existing loading and unloading devices, the applicant, based on many years of rich practical experience and professional knowledge in the design and manufacture of such products, and in conjunction with the application of theory, actively conducts research and innovation, hoping to create a technology that can solve the defects in the existing technology and make the automatic loading and unloading device more practical. After continuous research and design, and after repeated trial production and improvement, the present invention with real practical value was finally created.

[0060] Please refer to Figures 1 to 10 The embodiment of the present invention provides an automatic loading and unloading device, including a loading device 1, wherein the loading device 1 includes two feeding conveyor belts 11 which are arranged at intervals and rotate synchronously, the feeding conveyor belts 11 are connected head to tail, and the two feeding conveyor belts 11 are arranged symmetrically about a set vertical plane, so as to better support stacked pallets. Stacked pallets refer to pallets with multiple workpieces of the same size and specifications, which are stacked in the vertical direction to facilitate unloading. The pallets are generally plastic pallets.

[0061] At least two groups of protrusion groups 111 are arranged at intervals on the feed conveyor belt 11, and each group of protrusion groups 111 includes a plurality of positioning protrusions 101 arranged in an array at intervals along the conveying direction of the feed conveyor belt 11, and a positioning groove 102 is formed between two adjacent positioning protrusions 101 in the same group of protrusion groups 111, and the positioning groove 102 is used to position the front wall plate or the rear wall plate of the material tray; the front wall plate of the material tray is inserted into the positioning groove 102 in one group of protrusion groups 111, and the two feed conveyor belts 11 rotate forward synchronously, so that the rear wall plate of the material tray during the horizontal forward conveying process is inserted into the positioning groove 102 in the latter group of protrusion groups 111.

[0062] In this embodiment, the stacked pallets can be placed on the feed conveyor belt 11, and then the front wall plate of the bottom pallet is stuck in the positioning groove 102, and then the feed conveyor belt 11 is rotated to make the rear wall plate of the bottom pallet stuck in the positioning groove 102, and the feed conveyor belt 11 is transported forward, so that the stacked pallets are all transferred horizontally forward to the feed conveyor belt 11, and then the feed conveyor belt 11 transfers the stacked pallets to a suitable lifting position; the automatic loading and unloading device in this embodiment optimizes the pallet conveying method, and does not require a jig plate to support the pallet, and only requires the front wall plate of the bottom pallet to be stuck in the positioning groove to realize automatic loading and conveying, which effectively reduces the workers' movements and reduces the workers' labor intensity.

[0063] Regardless of whether manual feeding or trolley feeding is adopted, after adopting the feeding method in this embodiment, it is only necessary to insert the front wall panel of the bottom tray into the positioning groove 102, and then the feed conveyor belt 11 is rotated to realize loading, which further simplifies the loading steps and improves the degree of automation of loading. The simplification of the loading steps is also obviously beneficial to reducing the labor intensity of workers.

[0064] It should also be noted that during the horizontal forward conveying process, the rear wall of the material tray is actually lower than the positioning protrusion 101. Therefore, at the end turning point of the head and tail feed conveyor belts 11, the positioning protrusion 101 is at a lower height, and the rear wall of the material tray is inserted into the positioning groove 102 from a lower position, avoiding the occurrence of bumps in the material tray and enabling the material tray to be conveyed horizontally forward.

[0065] Preferably, the material tray is provided with a flat portion, and the flat portion can lie flat on the protrusion group 111.

[0066] Optionally, the loading device 1 also includes a rotary drive device 12, a feed sensor 13, a conveyor belt position detection sensor 14 and a positioning sensor 15; the feed sensor 13, the conveyor belt position detection sensor 14 and the positioning sensor 15 are electrically connected to the rotary drive device 12 respectively; the feed sensor 13 is arranged at the feed end of the two feed conveyor belts 11; the rotary drive device 12 is transmission-connected to the two feed conveyor belts 11, and the conveyor belt position detection sensor 14 is arranged on the side of the feed conveyor belt 11 to detect whether the protrusion group 111 enters the set area; the positioning sensor 15 is used to detect whether the material tray is transported to the set lifting station.

[0067] In actual production, after the feed sensor 13 detects the pallet, the rotary drive device 12 drives the feed conveyor belt 11 to rotate until the conveyor belt position detection sensor 14 detects that the protrusion group 111 is in the set area, and then the front wall plate of the bottom pallet is clamped in the positioning groove 102. Then the feed conveyor belt 11 rotates to drive the stacked pallets to move forward, so that the rear wall plate of the bottom pallet is clamped in the positioning groove 102 in another protrusion group 111, thereby stably supporting the stacked pallets and driving the stacked pallets to continue moving forward to the set lifting position.

[0068] Optionally, the loading device 1 also includes a lifting frame 16 and a lifting drive device for driving the lifting frame 16 to lift and lower; the lifting frame 16 is used to drive the material tray in the set lifting station to lift and lower to a set discharge height; the lifting frame 16 is in a mountain shape, including a vertical plate portion 161 and three support plates 162 connecting the vertical plate portion 161, and two adjacent support plates 162 are parallel to each other; one of the support plates 162 is located between the two feed conveyor belts 11, and the feed conveyor belt 11 is located between two adjacent support plates 162; and the lifting frame 16 can avoid the feed conveyor belt 11 and enter the bottom side of the feed conveyor belt 11; the vertical plate portion 161 is also used to stop the material tray in the set lifting station.

[0069] Specifically, before the stacked trays enter the set lifting station, the lifting frame 16 needs to move to the lower side of the belt surface of the feed conveyor belt 11; after the stacked trays enter the set lifting station, the lifting frame 16 is raised, which can drive the stacked trays to move upward. The provision of three support plates 162 can provide a more stable support effect for the trays. The provision of a vertical plate portion 161 can more accurately position the tray. In addition, the tray can partially lean on the vertical plate portion 161, and the friction between the tray and the vertical plate portion 161 can also more effectively maintain the stability of the stacked trays.

[0070] Optionally, the loading device 1 also includes a positioning assembly for positioning the material tray at a set discharge height, the positioning assembly includes four positioning cylinders 171; a positioning angle pressing block 172 is provided on the telescopic shaft of the positioning cylinder 171, and the positioning angle pressing block 172 is provided with a positioning groove matching a corner of the material tray; the four positioning angle pressing blocks 172 respectively press against the four corners of the tray, thereby accurately locating the position of the tray, so that the robot can more accurately grab the material on the tray.

[0071] In this embodiment, the positioning groove has a first groove wall 1701 for pressing on one side of the material tray, a second groove wall 1702 for pressing on the other side of the material tray, and a third groove wall 1703 for pressing on the top surface of the material tray; the first groove wall 1701 and the second groove wall 1702 are perpendicular to each other, and the third groove wall 1703 has an inclined guide surface 1704.

[0072] The first groove wall 1701, the second groove wall 1702, and the third groove wall 1703 can more accurately locate the position of the corner of the tray. In addition, a guide surface 1704 is provided to prevent the positioning angle pressing block 172 from pushing the top of the tray that is higher than the set discharge height, thereby avoiding the situation where the tray is squeezed and the material falls. It should be noted that there is a certain bulge on the top of the corner of some trays, which causes the positioning angle pressing block 172 to push the corner of the tray when the third groove wall 1703 is pressed. The provision of a guide surface 1704 can effectively reduce such accidents.

[0073] Optionally, a foolproof notch is provided at one corner of the material tray, and the shape of the positioning groove of one positioning angle pressing block 172 matches the shape of the foolproof notch. The foolproof notch can play a foolproof role and avoid the situation where the material tray is placed in the wrong position.

[0074] Optionally, the automatic loading and unloading device also includes a frame 2; a telescopic limit assembly 21 for pressing and positioning the material tray is provided on the frame 2, and the telescopic limit assembly 21 includes a telescopic cylinder 22 and an insert 23 installed on a telescopic shaft on the telescopic cylinder 22; the material tray is provided with a separation slot, and the insert 23 can extend into the separation slot to block the bottom wall of the separation slot.

[0075] Specifically, the insert 23 is inserted between the two trays and presses the bottom wall of the separation slot of the bottom tray, so that the top empty tray can be grabbed by the tray transfer robot 3 without affecting the bottom tray. That is, the effect of grabbing one empty tray at a time is achieved.

[0076] Optionally, the automatic loading and unloading device also includes a positioning frame 18 supporting the positioning cylinder 171; a positioning support plate 181 is provided on the positioning frame 18, and a linear through groove 182 and an arc-shaped through groove 183 extending in an arc shape around the linear through groove 182 are provided on the positioning support plate 181; a sliding shaft is installed in the linear through groove 182, and the sliding shaft is fixedly connected to the body of the positioning cylinder 171; a positioning column is also installed on the body of the positioning cylinder 171, and the positioning column extends into the arc-shaped through groove 183; when the positioning cylinder 171 is installed on the positioning support plate 181, the positioning column and the sliding shaft are respectively fixedly connected to the positioning support plate 181. In this embodiment, the closer the arc-shaped through groove 183 is to the end, the smaller the groove width is, such as Fig. 9 shown.

[0077] In particular, the position of the sliding shaft in the linear slot 182 is adjustable, thereby changing the distance between the positioning cylinder 171 and the tray; in addition, the arc slot 183 allows the positioning cylinder 171 in different positions to adjust the rotation angle and has a certain limiting effect on the positioning column. Fig. 9Regardless of whether the sliding shaft is in the middle or at both ends of the linear through groove 182, the rotation angle of the positioning cylinder 171 is adjustable. After the positioning cylinder 171 is adjusted to a suitable angle, the sliding shaft and the positioning column are locked by screws to completely fix the positioning cylinder 171.

[0078] It should be particularly emphasized that the cooperation between the linear through groove 182 and the arcuate through groove 183 can provide a variety of different installation effects for the positioning cylinder 171, which can adapt to the positioning needs of trays of different widths and lengths.

[0079] Optionally, the automatic loading and unloading device also includes a plate transfer robot 3 and a unloading device 4 installed on one side of the loading device 1, the structure of the unloading device 4 is the same as that of the loading device 1 and is arranged side by side; the plate transfer robot 3 includes a suction cup frame, a Z-axis device for driving the suction cup frame to rise and fall, and a linear drive module for driving the Z-axis device to translate; an even number of suction heads are installed in an array on the suction cup frame.

[0080] Specifically, after the tray loading in the loading device 1 is completed, the tray transfer robot 3 transfers the empty tray to the loading device 1 for unloading, and the tray change is automatically completed.

[0081] Optionally, four groups of protrusions 111 are provided on the feed conveyor belt 11; the cross section of the positioning groove 102 is rectangular, which can better limit the front wall plate or the rear wall plate of the material tray.

[0082] It should also be noted that each group of protrusions 111 includes a plurality of positioning protrusions 101 and a plurality of positioning grooves 102, which can adapt to the conveyance of trays of different lengths and has a wider range of applications.

[0083] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. An automatic loading and unloading device, characterized in that: The feeding device (1) comprises two feeding conveyor belts (11) which are arranged at intervals and rotate synchronously, the feeding conveyor belts (11) are connected head to tail, and the two feeding conveyor belts (11) are arranged symmetrically with respect to a set vertical plane; At least two groups of protrusion groups (111) are arranged at intervals on the feed conveyor belt (11), each group of protrusion groups (111) comprises a plurality of positioning protrusions (101) arranged in an array at intervals along the conveying direction of the feed conveyor belt (11), and a positioning groove (102) is formed between two adjacent positioning protrusions (101) in the same group of the protrusion groups (111), and the positioning groove (102) is used to position the front wall plate or the rear wall plate of the material tray; The front wall plate of the material tray is inserted into the positioning groove (102) in a group of protrusion groups (111), and the two feeding conveyor belts (11) rotate forward synchronously, so that the rear wall plate of the material tray during the horizontal forward conveying process is inserted into the positioning groove (102) in the latter group of protrusion groups (111).

2. The automatic loading and unloading device according to claim 1, characterized in that: The feeding device (1) further comprises a rotation driving device (12), a feeding sensor (13), a conveyor belt position detection sensor (14) and a positioning sensor (15); the feeding sensor (13), the conveyor belt position detection sensor (14) and the positioning sensor (15) are electrically connected to the rotation driving device (12) respectively; The feed sensor (13) is arranged at the feed ends of the two feed conveyor belts (11); The rotary drive device (12) is in transmission connection with the two feeding conveyor belts (11), and the conveyor belt position detection sensor (14) is arranged beside the feeding conveyor belt (11) to detect whether the protrusion group (111) enters a set area; The positioning sensor (15) is used to detect whether the material tray is transported to the set lifting position.

3. The automatic loading and unloading device according to claim 1, characterized in that: The loading device (1) further comprises a lifting frame (16) and a lifting drive device for driving the lifting frame (16) to move up and down; the lifting frame (16) is used to drive the material tray in a set lifting station to move up and down to a set discharge height; The lifting frame (16) is in a mountain shape, comprising a vertical plate portion (161) and three support plates (162) connected to the vertical plate portion (161), and two adjacent support plates (162) are parallel to each other; one of the support plates (162) is located between the two feed conveyor belts (11), and the feed conveyor belt (11) is located between two adjacent support plates (162); and the lifting frame (16) can avoid the feed conveyor belt (11) and enter the bottom side of the feed conveyor belt (11); The vertical plate portion (161) is also used to stop the material tray at a set lifting position.

4. The automatic loading and unloading device according to claim 3 is characterized in that: The feeding device (1) further comprises a positioning assembly for positioning the material tray at a set discharge height, the positioning assembly comprising four positioning cylinders (171); A positioning angle pressing block (172) is arranged on the telescopic shaft of the positioning cylinder (171), and the positioning angle pressing block (172) is provided with a positioning groove matching a corner of the material tray; The positioning groove comprises a first groove wall (1701) for pressing on one side of the material tray, a second groove wall (1702) for pressing on the other side of the material tray, and a third groove wall (1703) for pressing on the top surface of the material tray; The first groove wall (1701) and the second groove wall (1702) are perpendicular to each other, and the third groove wall (1703) has an inclined guide surface (1704).

5. The automatic loading and unloading device according to claim 4 is characterized in that: A foolproof notch is provided at one corner of the material tray, and the shape of a positioning groove of one of the positioning corner pressing blocks (172) matches the shape of the foolproof notch.

6. The automatic loading and unloading device according to claim 4, characterized in that: Also includes a frame (2); The frame (2) is provided with a telescopic limiting assembly (21) for pressing and positioning the material tray, and the telescopic limiting assembly (21) comprises a telescopic cylinder (22) and an insert (23) mounted on a telescopic shaft on the telescopic cylinder (22); The material tray is provided with a separation slot, and the insert (23) can extend into the separation slot to block the bottom wall of the separation slot.

7. The automatic loading and unloading device according to claim 4, characterized in that: It also includes a positioning frame (18) supporting the positioning cylinder (171); The positioning frame (18) is provided with a positioning support sheet (181), and the positioning support sheet (181) is provided with a linear through groove (182) and an arc-shaped through groove (183) extending in an arc shape around the linear through groove (182); A sliding shaft is installed in the linear through groove (182), and the sliding shaft is fixedly connected to the body of the positioning cylinder (171); a positioning column is also installed on the body of the positioning cylinder (171), and the positioning column extends into the arc-shaped through groove (183); when the positioning cylinder (171) is installed on the positioning support plate (181), the positioning column and the sliding shaft are respectively fixedly connected to the positioning support plate (181).

8. The automatic loading and unloading device according to claim 7, characterized in that: The closer the arc-shaped through groove (183) is to the end, the smaller the groove width is.

9. The automatic loading and unloading device according to claim 1, characterized in that: It also includes a tray transfer robot (3) and a material unloading device (4) installed on one side of the material loading device (1), wherein the structure of the material unloading device (4) is the same as that of the material loading device (1) and they are arranged side by side; The plate moving robot (3) comprises a suction cup frame, a Z-axis device for driving the suction cup frame to rise and fall, and a linear drive module for driving the Z-axis device to move in translation; An even number of suction heads are installed in an array on the suction cup frame.

10. The automatic loading and unloading device according to claim 1, characterized in that: The feed conveyor belt (11) is provided with four groups of protrusions (111); The cross section of the positioning groove (102) is rectangular.

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