An automatic loading and unloading device

Abstract

This invention relates to the field of material loading and unloading technology, and discloses an automatic material loading and unloading device, including a loading device. The loading device includes two feeding conveyor belts that are spaced apart and rotate synchronously. The two feeding conveyor belts are symmetrically arranged about a set vertical plane. At least two sets of protrusions are spaced apart on the feeding conveyor belts. Each set of protrusions includes a plurality of positioning protrusions arranged in an array along the conveying direction of the feeding conveyor belt. A positioning groove is formed between two adjacent positioning protrusions in the same set of protrusions. The positioning groove 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 engaged in the positioning groove of one set of protrusions. The two feeding conveyor belts rotate forward synchronously so that the rear wall plate of the material tray during the horizontal forward conveying process is engaged in the positioning groove of the next set of protrusions. The automatic material loading and unloading device of this invention can effectively improve the automation level of feeding and help reduce the labor intensity of workers.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading technology, and in particular to an automatic loading and unloading device. Background Technology

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

[0003] In existing technologies, pallets require workers to manually place them into a position that facilitates lifting and lowering. During this process, the stacked pallets are usually pushed inwards to position them in a suitable lifting and lowering position. However, this can easily damage the bottom pallet due to friction and increases the labor intensity of workers, making it difficult to achieve the goal of automated feeding.

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

[0005] The above information is provided as background information only to aid in understanding this disclosure and does not constitute an assertion or admission that any of the above content can be used as prior art relative to this disclosure. Summary of the Invention

[0006] This invention provides an automatic loading and unloading device that can effectively improve the automation level of feeding and reduce the labor intensity of workers.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] An automatic loading and unloading device includes a loading device, which includes two feeding conveyor belts that are spaced apart and rotate synchronously. The feeding conveyor belts are connected end to end, and the two feeding conveyor belts are symmetrically arranged about a set vertical plane.

[0009] At least two sets of protrusions are spaced apart on the feeding conveyor belt. Each set of protrusions includes a plurality of positioning protrusions arranged in a spaced array along the conveying direction of the feeding conveyor belt. A positioning groove is formed between two adjacent positioning protrusions in the same set of protrusions. The positioning groove is used to position the front wall or rear wall of the material tray.

[0010] The front wall of the material tray engages in the positioning groove of a set of protrusions, and the two feeding conveyor belts rotate forward synchronously so that the rear wall of the material tray engages in the positioning groove of the next set of protrusions during the horizontal forward conveying process.

[0011] Optionally, the feeding device further includes a rotary drive 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 respectively electrically connected to the rotary drive device;

[0012] The feed sensor is installed at the feed end of the two feed conveyor belts;

[0013] The rotary drive device is connected to the two feeding conveyor belts, and the conveyor belt position detection sensor is set on the side of the feeding conveyor belt to detect whether the protrusion group enters the set area.

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

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

[0016] The lifting frame is shaped like a mountain and includes a vertical plate and three support plates connecting the vertical plate. Adjacent support plates are parallel to each other. One of the support plates is located between the two feeding conveyor belts, and the feeding conveyor belts are located between two adjacent support plates. The lifting frame can avoid the feeding conveyor belts and enter the bottom side of the feeding conveyor belts.

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

[0018] Optionally, the feeding device further includes a positioning component for positioning the material tray at a set discharge height, the positioning component including four positioning cylinders;

[0019] The positioning cylinder has a positioning corner block on its telescopic shaft, and the positioning corner block has a positioning groove that matches one 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 and second tank walls are perpendicular to each other, and the third tank wall has an inclined guide surface.

[0022] Optionally, a foolproof notch is provided at one corner of the tray, and the shape of the positioning groove of one of the positioning corner blocks matches the shape of the foolproof notch.

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

[0024] The frame is provided with a telescopic limiting assembly for pressing and positioning the material tray. The telescopic limiting assembly includes a telescopic cylinder and a plate on a telescopic shaft mounted on the telescopic cylinder.

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

[0026] Optionally, the automatic loading and unloading device also includes a positioning frame that supports the positioning cylinder;

[0027] The positioning frame is provided with a positioning support plate, and the positioning support plate is provided with a linear through groove and an arc-shaped through groove extending arc 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 body of the positioning cylinder; a positioning post is also installed on the body of the positioning cylinder, and the positioning post extends into the arc-shaped through groove; when the positioning cylinder is installed on the positioning support plate, the positioning post and the sliding shaft are fixedly connected to the positioning support plate respectively.

[0029] Optionally, the arc-shaped through groove has a smaller width as it approaches the end.

[0030] Optionally, the automatic loading and unloading device further includes a tray-shifting robot 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 pallet-shifting robot includes a suction cup frame, a Z-axis device for lifting the suction cup frame, and a linear drive module for translating the Z-axis device.

[0032] An even number of suction heads are arrayed on the suction cup holder.

[0033] Optionally, the feeding conveyor belt is provided with four sets of protrusions;

[0034] The positioning groove has a rectangular cross-section.

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

[0036] The automatic loading and unloading device provided by this invention places stacked pallets onto a feeding conveyor belt. The front wall of the bottom pallet is then engaged in a positioning groove. The feeding conveyor belt rotates, causing the rear wall of the bottom pallet to engage in the positioning groove. The feeding conveyor belt then transports the pallets forward, transferring all the stacked pallets horizontally onto the feeding conveyor belt. The feeding conveyor belt then moves the stacked pallets to a suitable lifting position. The automatic loading and unloading device in this embodiment optimizes the pallet transport method, eliminating the need for a jig to support the pallets. Automated loading and transport can be achieved simply by having the front wall of the bottom pallet engaged in the positioning groove, effectively reducing worker movements and labor intensity.

[0037] The present invention has other features and advantages, which will be apparent from or will be set forth in detail in the accompanying drawings and the following detailed description, which together serve to explain the particular principles of the invention. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a three-dimensional structural diagram of the automatic loading and unloading device provided in an embodiment of the present invention;

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

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

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

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

[0044] Figure 6 yes Figure 5 Enlarged schematic diagram of the feeding device at point A;

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

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

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

[0048] Figure 10 This is a three-dimensional structural diagram of the positioning cylinder, positioning corner block, and positioning frame provided in the embodiments of the present invention.

[0049] Reference numerals: 1. Feeding device; 11. Feeding conveyor belt; 111. Protrusion group; 101. Positioning protrusion; 102. Positioning groove; 12. Rotary 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 corner block; 1701. First groove wall; 1702. Second groove wall; 1703. Third groove wall; 1704. Guide surface; 18. Positioning frame; 181. Positioning support piece; 182. Linear through groove; 183. Arc-shaped through groove; 2. Frame; 21. Telescopic limit assembly; 22. Telescopic cylinder; 23. Insert piece; 3. Transfer robot; 4. Unloading device. Detailed Implementation

[0050] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0051] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0052] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0053] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0054] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0055] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0056] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0057] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0058] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0059] In view of the deficiencies of the existing loading and unloading devices, the applicant, based on years of practical experience and professional knowledge in the design and manufacture of such products, and in conjunction with the application of theoretical principles, actively researched and innovated in order to create a technology that could solve the deficiencies of the existing technology and make the automatic loading and unloading device more practical. After continuous research, design, and repeated prototype production and improvement, the present invention with practical value was finally created.

[0060] Please refer to Figures 1 to 10 This invention provides an automatic loading and unloading device, including a loading device 1. The loading device 1 includes two feeding conveyor belts 11 that are spaced apart and rotate synchronously. The feeding conveyor belts 11 are connected end to end, and the two feeding conveyor belts 11 are symmetrically arranged about a set vertical plane, thereby better supporting stacked pallets. Stacked pallets refer to multiple pallets of the same size and specifications carrying workpieces, stacked vertically for easy unloading. The pallets are generally plastic pallets.

[0061] At least two sets of protrusions 111 are spaced apart on the feeding conveyor belt 11. Each set of protrusions 111 includes a plurality of positioning protrusions 101 arranged in a spaced array along the conveying direction of the feeding conveyor belt 11. A positioning groove 102 is formed between two adjacent positioning protrusions 101 in the same set of protrusions 111. 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 engaged in the positioning groove 102 in one set of protrusions 111. 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 engaged in the positioning groove 102 in the next set of protrusions 111.

[0062] In this embodiment, stacked pallets can be placed onto the feeding conveyor belt 11, and then the front wall of the bottom pallet is engaged in the positioning groove 102. The feeding conveyor belt 11 then rotates so that the rear wall of the bottom pallet is engaged in the positioning groove 102. The feeding conveyor belt 11 conveys forward, thereby transferring all the stacked pallets horizontally forward onto the feeding conveyor belt 11. The feeding conveyor belt 11 then transfers the stacked pallets to a suitable lifting position. The automatic loading and unloading device in this embodiment optimizes the pallet conveying method. It eliminates the need for a jig to support the pallets, and only requires the front wall of the bottom pallet to be engaged in the positioning groove to achieve automated loading and conveying, effectively reducing worker movements and labor intensity.

[0063] Whether manual or trolley feeding is used, after adopting the feeding method in this embodiment, it is only necessary to insert the front wall of the bottom pallet into the positioning groove 102, and then the feeding conveyor belt 11 can rotate to realize feeding, which further simplifies the feeding steps, improves the degree of automation of feeding, and the simplification of the feeding steps is also significantly 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 bend of the head and tail feeding 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, which avoids the occurrence of material tray swaying and enables the material tray to be conveyed horizontally forward.

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

[0066] Optionally, the feeding device 1 further includes a rotary drive 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 rotary drive device 12 respectively; the feeding sensor 13 is located at the feeding end of the two feeding conveyor belts 11; the rotary drive device 12 is drivenly connected to the two feeding conveyor belts 11, and the conveyor belt position detection sensor 14 is located beside the feeding conveyor belt 11 to detect whether the protrusion group 111 has entered the set area; the positioning sensor 15 is used to detect whether the material tray has been conveyed to the set lifting position.

[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. Then, the front wall of the bottom pallet is locked in the positioning groove 102. Then, the feed conveyor belt 11 rotates to drive the stacked pallets forward, so that the rear wall of the bottom pallet is locked 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 feeding device 1 further includes a lifting frame 16 and a lifting drive device for driving the lifting frame 16 to rise and fall; the lifting frame 16 is used to drive the material tray in the set lifting position to rise and fall to the set discharge height; the lifting frame 16 is in the shape of a mountain, including a vertical plate 161 and three support plates 162 connecting the vertical plate 161, with adjacent support plates 162 parallel to each other; one of the support plates 162 is located between two feeding conveyor belts 11, and the feeding conveyor belts 11 are located between two adjacent support plates 162; and the lifting frame 16 can avoid the feeding conveyor belts 11 and enter the bottom side of the feeding conveyor belts 11; the vertical plate 161 is also used to stop the material tray in the set lifting position.

[0069] Specifically, before the stacked pallets enter the designated lifting position, the lifting frame 16 needs to move to the underside of the feed conveyor belt 11; after the stacked pallets enter the designated lifting position, the lifting frame 16 rises, thereby lifting the stacked pallets upwards. The three support plates 162 provide more stable support for the pallets. The vertical plate 161 allows for more accurate pallet positioning. Furthermore, the pallets can partially rest against the vertical plate 161, and the friction between the pallets and the vertical plate 161 effectively maintains the stability of the stacked pallets.

[0070] Optionally, the feeding device 1 further includes a positioning component for positioning the tray at a set discharge height. The positioning component includes four positioning cylinders 171. Positioning corner blocks 172 are provided on the telescopic shaft of the positioning cylinders 171. The positioning corner blocks 172 are provided with positioning grooves that match one corner of the tray. The four positioning corner blocks 172 press against the four corners of the tray respectively, thereby accurately positioning the position of the tray and enabling the robot to more accurately grasp 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 position the corners of the pallet. Furthermore, a guide surface 1704 is provided to prevent the positioning corner pressing block 172 from pushing the top of the pallet above the set discharge height, thus preventing material from falling due to pallet compression. It should be noted that some pallet corners have a slight bulge at the top, which could cause the positioning corner pressing block 172 to push against the pallet corner when the third groove wall 1703 is pressing down on the corner. The guide surface 1704 effectively reduces this type of accident.

[0073] Optionally, a foolproof notch is provided at one corner of the tray, and the shape of the positioning groove of one of the positioning corner blocks 172 matches the shape of the foolproof notch. The foolproof notch can prevent the tray from being placed in the wrong position.

[0074] Optionally, the automatic loading and unloading device also includes a frame 2; the frame 2 is provided with a telescopic limiting component 21 for pressing and positioning the material tray, the telescopic limiting component 21 includes a telescopic cylinder 22 and a 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.

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

[0076] Optionally, the automatic loading and unloading device further includes a positioning frame 18 supporting the positioning cylinder 171; the positioning frame 18 is provided with a positioning support plate 181, which has a linear through groove 182 and an arc-shaped through groove 183 extending arcuately 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 pin is also installed on the body of the positioning cylinder 171, and the positioning pin extends into the arc-shaped through groove 183; when the positioning cylinder 171 is installed on the positioning support plate 181, the positioning pin and the sliding shaft are fixedly connected to the positioning support plate 181 respectively. In this embodiment, the arc-shaped through groove 183 is narrower closer to the end, such as... Figure 9 As shown.

[0077] Specifically, the position of the sliding shaft in the linear through-slot 182 is adjustable, thereby changing the distance between the positioning cylinder 171 and the tray; furthermore, the arc-shaped through-slot 183 allows the positioning cylinder 171 to adjust its rotation angle at different positions and also provides a certain limiting effect on the positioning post. Figure 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 the appropriate angle, the sliding shaft and the positioning column are locked with screws to completely fix the positioning cylinder 171.

[0078] It is worth emphasizing that the combination of linear through groove 182 and arc through groove 183 can provide a variety of different installation effects for positioning cylinder 171, and can adapt to the positioning needs of material trays of different widths and lengths.

[0079] Optionally, the automatic loading and unloading device also includes a transfer robot 3 and an 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 they are arranged side by side. The 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 move horizontally. An even number of suction heads are arrayed on the suction cup frame.

[0080] Specifically, after the material tray in the feeding device 1 is loaded, the tray transfer robot 3 transfers the empty tray to the feeding device 1 for discharge, automatically completing the tray change.

[0081] Optionally, the feeding conveyor belt 11 is provided with four sets of protrusions 111; the positioning groove 102 has a rectangular cross-section, which can better limit the front or rear wall of the material tray.

[0082] It should also be noted that each set of protrusions 111 includes multiple positioning protrusions 101 and multiple positioning grooves 102, which can adapt to conveying 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 text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. An automatic loading and unloading device, characterized in that, The device includes a feeding device (1), which includes two feeding conveyor belts (11) that are spaced apart and rotate synchronously. The feeding conveyor belts (11) are connected end to end, and the two feeding conveyor belts (11) are symmetrically arranged about a set vertical plane. At least two sets of protrusions (111) are spaced apart on the feeding conveyor belt (11). Each set of protrusions (111) includes a plurality of positioning protrusions (101) arranged in a spaced array along the conveying direction of the feeding conveyor belt (11). A positioning groove (102) is formed between two adjacent positioning protrusions (101) in the same set of protrusions (111). The positioning groove (102) is used to position the front wall or rear wall of the material tray. The front wall of the tray is engaged in the positioning groove (102) in a set of protrusions (111), and the two feeding conveyor belts (11) rotate forward synchronously so that the rear wall of the tray is engaged in the positioning groove (102) in the next set of protrusions (111) during the horizontal forward conveying process. The feeding device (1) further includes a lifting frame (16) and a lifting drive device for driving the lifting frame (16) to rise and fall; the lifting frame (16) is used to drive the material tray in the set lifting station to rise and fall to the set discharge height; The lifting frame (16) is shaped like a mountain and includes a vertical plate (161) and three support plates (162) connecting the vertical plate (161). Two adjacent support plates (162) are parallel to each other. One of the support plates (162) is located between the two feeding conveyor belts (11), and the feeding conveyor belts (11) are located between two adjacent support plates (162). The lifting frame (16) can bypass the feeding conveyor belts (11) and enter the bottom side of the feeding conveyor belts (11). The vertical plate (161) is also used to stop the material tray in a set lifting position; The feeding device (1) further includes a positioning component for positioning the material tray at a set discharge height, the positioning component including four positioning cylinders (171). The positioning cylinder (171) is provided with a positioning corner block (172) on its telescopic shaft, and the positioning corner block (172) is provided with a positioning groove that matches one corner of the material tray. 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). It also includes a positioning frame (18) that supports the positioning cylinder (171). The positioning frame (18) is provided with a positioning support piece (181), and the positioning support piece (181) is provided with a linear through groove (182) and an arc through groove (183) extending arc 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 post is also installed on the body of the positioning cylinder (171), and the positioning post extends into the arc-shaped through groove (183); when the positioning cylinder (171) is installed on the positioning support plate (181), the positioning post and the sliding shaft are fixedly connected to the positioning support plate (181) respectively; The arc-shaped through groove (183) becomes narrower as it approaches the end.

2. The automatic loading and unloading device according to claim 1, characterized in that, The feeding device (1) further includes a rotary drive 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 rotary drive device (12) respectively; The feed sensor (13) is installed at the feed end of the two feed conveyor belts (11); The rotary drive device (12) is connected to the two feed conveyor belts (11) in a transmission, and the conveyor belt position detection sensor (14) is set 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 tray is conveyed to the set lifting position.

3. The automatic loading and unloading device according to claim 1, characterized in that, A foolproof notch is provided at one corner of the tray, and the shape of the positioning groove of one of the positioning corner blocks (172) matches the shape of the foolproof notch.

4. The automatic loading and unloading device according to claim 1, characterized in that, It also includes the rack (2); The frame (2) is provided with a telescopic limiting assembly (21) for pressing the positioning tray. The telescopic limiting assembly (21) includes a telescopic cylinder (22) and a insert (23) on the telescopic shaft mounted on the telescopic cylinder (22). The 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.

5. The automatic loading and unloading device according to claim 1, characterized in that, It also includes a transfer robot (3) and a discharge device (4) installed on one side of the loading device (1). The structure of the discharge device (4) is the same as that of the loading device (1) and they are arranged side by side. The 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 arrayed on the suction cup holder.

6. The automatic loading and unloading device according to claim 1, characterized in that, The feeding conveyor belt (11) is provided with four sets of protrusions (111). The positioning groove (102) has a rectangular cross-section.

Images