Automatic feeding and discharging equipment

Abstract

The invention discloses automatic feeding and discharging equipment, and relates to the technical field of feeding and discharging conveying. A working platform and a lifting discharging mechanism are arranged on the same straight line, a conveying mechanism is arranged at the bottom of the working platform and the bottom of the lifting discharging mechanism, and a jacking mechanism is matched; according to the device, feeding and discharging stacking operation can be achieved only through one conveying mechanism, when parts are stacked on the working platform, the annular belt conveys the parts in the forward direction, when the parts machined on the second supporting plate are output, the annular belt conveys the parts in the reverse direction, feeding conveying and discharging conveying are staggered and share the conveying mechanism, the feeding operation and the discharging operation do not interfere with each other, and the production efficiency is improved. The device is simple in structure and flexible and convenient to operate, can effectively reduce the endless belt stagnation time, can effectively reduce the construction cost of a feeding and discharging conveying line in the production and machining process, and is favorable for reducing the production cost during feeding and discharging conveying.

Description

Technical Field

[0001] The invention relates to the technical field of loading and unloading conveying, and in particular to automatic loading and unloading equipment. Background Art

[0002] In modern manufacturing, loading and unloading operations are key links in the production process, and their transportation efficiency and cost directly affect the benefits of the entire production process.

[0003] In traditional loading and unloading equipment, two independent conveying mechanisms are usually used to realize loading and unloading operations respectively. This design method is simple in concept. Although it can meet basic production needs to a certain extent, it still has many obvious disadvantages. In the loading and unloading process, two independent conveying mechanisms mean that double drive devices, transmission components and support structures are required, which makes the entire loading and unloading conveying structure extremely complicated, which not only increases the footprint of the equipment, but also easily leads to a significant increase in manufacturing and use costs. Especially when the parts are transported, stacked and stacked one by one, due to the limitation of the capacity of the parts processing and stacking area, the number of parts stacked during loading and unloading is limited. After the rated number of parts are transported and stacked, the conveying mechanism will be in a stagnant state for a certain period of time. If two conveying mechanisms are set up for loading and unloading respectively, double stagnation will be formed, resulting in waste of resources and not conducive to reducing production costs.

[0004] Therefore, an automatic loading and unloading device is proposed to solve some problems existing in the above-mentioned prior art. Summary of the invention

[0005] The purpose of the present invention is to propose an automatic loading and unloading device to solve the problems existing in the prior art, in which two independent conveying mechanisms are used for loading and unloading respectively, which easily leads to complex loading and unloading conveying structures, increased costs and waste of resources.

[0006] In order to solve the problems existing in the prior art, the present invention adopts the following technical solutions: The automatic loading and unloading equipment includes a base, a face frame is fixedly installed on the upper front of the base, a chassis is fixedly installed on the back of the base, and a manipulator is fixedly installed on the top of the chassis, a conveying mechanism located in front of the chassis is installed at the bottom of the base, and the conveying mechanism includes two left-right symmetrical conveying frames, conveying wheels are rotatably installed at the front and rear ends of the conveying frames, and the outer sides of the two front and rear symmetrical conveying wheels are jointly driven and sleeved with an annular belt, a first servo motor is fixedly installed in the base, a working platform located above the end of the conveying frame is fixedly installed in the base, and a window is opened in the middle position of the working platform, an annular groove sleeved on the outer side of the window is opened on the top of the working platform, and an axle seat is fixedly installed in the annular groove, a first support plate is rotatably connected to the axle seat, and a torsion spring is installed at the rotating connection between the first support plate and the axle seat, a lifting mechanism located below the window is fixedly installed in the base, and a lifting and unloading mechanism located above the front end of the conveying frame is installed in the base.

[0007] Preferably, a plurality of longitudinally distributed support wheels are rotatably mounted in each conveying frame, and the outer dimensions of the support wheels are adapted to the inner dimensions of the endless belt.

[0008] Preferably, the lifting mechanism includes a hydraulic push rod vertically fixed in the base, and a horizontally arranged tray is fixedly installed on the top of the telescopic end above the hydraulic push rod, and the tray is located below the middle position of the window.

[0009] Preferably, the lifting and unloading mechanism includes slides symmetrically erected inside the front end of the base, sprockets are rotatably installed on the upper and lower ends of each slide, and a chain is commonly connected to the outer sides of the two symmetrical sprockets, and each slide is slidably connected to a sliding table that can be lifted up and down, and a second support plate extending horizontally toward the middle of the base is fixed on the slide, the second support plate is fixedly connected to one side of the corresponding chain, and a second transmission shaft is fixedly installed inside the base.

[0010] Preferably, a transversely arranged first transmission shaft is coaxially fixed between the two conveying wheels located at the rear, one of the conveying wheels is drivingly connected to the driving shaft of the first servo motor, the two sprockets located below are located below the endless belt, a transversely arranged second transmission shaft is coaxially fixed between the two sprockets located below, and the second transmission shaft is drivingly connected to the driving shaft of the second servo motor.

[0011] Preferably, the end of the manipulator is connected to a first supporting plate, and a second supporting plate arranged parallel to the first supporting plate below, a plurality of evenly distributed first pneumatic suction cups are fixedly mounted on the bottom of the second supporting plate, and a wind knife is installed in the middle position of the bottom of the second supporting plate.

[0012] Preferably, a third supporting plate parallel to the second supporting plate is arranged below the second supporting plate, and the third supporting plate is provided with through holes corresponding one-to-one to multiple first pneumatic suction cups, the wind knife is fixedly mounted on the third supporting plate, the first pneumatic push rod is fixedly mounted on the first supporting plate, and the telescopic end of the first pneumatic push rod is fixedly connected to the third supporting plate.

[0013] Preferably, a fourth bearing plate is sleeved on the outer side of the second bearing plate, and a plurality of evenly distributed second pneumatic suction cups are fixedly installed on the bottom of the fourth bearing plate, a second pneumatic push rod is fixedly installed on the first bearing plate, and the telescopic end of the second pneumatic push rod is fixedly connected to the fourth bearing plate.

[0014] Preferably, a vacuum generator is fixedly mounted on the first supporting plate, and the vacuum generator comprises a vacuum generator body fixedly connected to the first supporting plate, a first channel is opened at one end of the vacuum generator body, a second channel is opened at the other end of the vacuum generator body, a chamber connected between the first channel and the second channel is opened in the vacuum generator body, and a nozzle connected to the first channel is fixed in the chamber, the nozzle points to the second channel, a third channel connected to the inner end wall of the chamber is opened in the vacuum generator body, the first pneumatic suction cup and the second pneumatic suction cup are connected to the third channel, the second channel is connected to an external dust box, and the air outlet of the dust box is connected to the wind knife, and a filter element is installed at the air outlet.

[0015] Preferably, a secondary positioning mechanism is installed on the upper back side of the face frame, and the secondary positioning mechanism includes a positioning platform horizontally fixed on the upper back side of the face frame, and a square groove is provided on the top of the positioning platform, a first electric push rod located on the left side of the square groove is laterally fixed to the top of the positioning platform, and a first push block is fixed on the telescopic end on the right side of the first electric push rod, a second electric push rod located in front of the square groove is longitudinally fixed to the top of the positioning platform, and a second push block is fixed on the telescopic end behind the second electric push rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, by arranging the working platform and the lifting and unloading mechanism on the same straight line, and arranging the conveying mechanism at the bottom of the working platform and the lifting and unloading mechanism, and cooperating with the jacking mechanism, the device only needs to use one conveying mechanism to realize the loading and unloading stacking operation. When stacking parts on the working platform, the endless belt is conveyed in the forward direction, and when the parts processed on the second pallet are output, the endless belt is conveyed in the reverse direction, without interfering with each other, and the operation is flexible and convenient, which can effectively reduce the stagnation time of the endless belt, can effectively reduce the structural cost of the loading and unloading conveying line in the production and processing process, and is conducive to reducing the production cost during loading and unloading conveying; 2. In the present invention, by connecting the first pneumatic suction cup to the suction airflow, the parts can be stably grasped by the manipulator by means of the negative pressure adsorption provided by the airflow suction. At the same time, by installing the second pneumatic suction cup on the fourth bearing plate arranged outside the second bearing plate, and connecting the fourth bearing plate to the suction airflow, the manipulator can grasp the tray synchronously with the help of the second pneumatic suction cup when grasping the parts, and cooperate with the fourth bearing plate to drive the second pneumatic suction cup to move. In the process of grasping the parts, the tray can be flexibly released, and the operation of placing the tray in the lifting and unloading mechanism in advance is realized in the process of grasping the parts by the manipulator, and there is no need to process the empty tray on the working platform after the parts are grasped and processed, which is conducive to improving the convenience and efficiency of loading and unloading. 3. In the present invention, by connecting the wind knife to the outward high-speed airflow, when the first pneumatic suction cup adsorbs and grabs the parts, the high-speed airflow ejected outward from the wind knife will act on the surface of the parts, and the surface of the parts can be cleaned by air blowing. At the same time, by adjusting the manipulator, the wind knife can be directed toward the tool on the processing equipment, and the surface of the tool can be cleaned with the help of the high-speed airflow blown out of the wind knife. There is no need for the staff to manually clean the tool of the processing equipment, which can effectively reduce the labor burden of the staff. By installing a nozzle connected to the high-pressure water pump around the wind knife, the tool of the processing equipment can be flushed with water. The cleaning operation can be carried out by spraying water and air at the same time, which can effectively improve the cleaning effect. In addition, the water and air can be independently controlled, and the operation is flexible and convenient. 4. In the present invention, by opening a square groove on the top of the positioning platform and equipping a first electric push rod and a second electric push rod for lateral and longitudinal pushing respectively, during the robot grasping process, if the parts are deflected, there is no need for manual adjustment by the staff. The device can automatically adjust the posture of the parts with the help of the secondary positioning mechanism, which is beneficial to ensure the long-term continuous and stable operation of the device, thereby helping to improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 A perspective view of the present invention; Figure 2 It is a three-dimensional diagram of the conveying mechanism, working platform, lifting mechanism and lifting and unloading mechanism of the present invention; Figure 3 This is a disassembled diagram of the conveying wheel, the supporting wheel and the endless belt of the present invention; Figure 4 A three-dimensional diagram of the window and tray of the present invention; Figure 5 A three-dimensional diagram of the tray of the present invention placed on the lifting and unloading mechanism; Figure 6 A three-dimensional diagram of the end structure of the manipulator of the present invention; Figure 7 is a cutaway view of a vacuum generator of the present invention; Figure 8 is a side view of the present invention; Fig. 9 It is a front view of the present invention; Fig.10 A top view of the present invention; Fig.11 For the present invention Fig.10 Sectional view at AA in the middle; Fig.12 For the present invention Fig.11 Enlarged view of point B in the middle.

[0018] Serial number in the picture: 1. Base; 101. Surface frame; 102. Control panel; 103. Chassis; 104. Manipulator; 2. Conveying frame; 201. Conveying wheel; 202. Belt; 203. Supporting wheel; 204. First servo motor; 205. First transmission shaft; 3. Working platform; 301. Window; 302. Ring groove; 303. Shaft seat; 304. First support plate; 4. Hydraulic push rod; 401. Pallet; 5. Slide; 501. Sprocket; 502. Chain; 503. Slide; 504. Second support plate; 505. Second servo motor; 506. Second transmission shaft; 6. First bearing plate; 601. Second bearing plate; 602. First pneumatic suction cup; 603. Wind knife; 604. Third bearing plate; 605. First pneumatic push rod; 606. Fourth bearing plate; 607. Second pneumatic suction cup; 608. Second pneumatic push rod; 7. Vacuum generator body; 701. First channel; 702. Second channel; 703. Chamber; 704. Nozzle; 705. Third channel; 8. Positioning platform; 801. Square groove; 802. First electric push rod; 803. First push block; 804. Second electric push rod; 805. Second push block. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] Embodiment: This embodiment provides an automatic loading and unloading device, see Figure 1 - Fig.12 Specifically, it includes a base 1, a face frame 101 is fixedly installed on the upper front of the base 1, and a control panel 102 is fixedly installed on the face frame 101, a chassis 103 is fixedly installed on the back of the base 1, and a manipulator 104 is fixedly installed on the top of the chassis 103, a conveying mechanism located in front of the chassis 103 is installed at the bottom of the base 1, and the conveying mechanism includes two conveying frames 2 that are symmetrically arranged longitudinally, and each conveying frame 2 is rotatably installed with conveying wheels 201 at both front and rear ends, and the outer sides of the two front and rear symmetrical conveying wheels 201 are jointly driven and sleeved with an annular belt 202, a first servo motor 204 is fixedly installed in the base 1, a working platform 3 located above the end of the conveying frame 2 is fixedly installed in the base 1, and a window 301 is opened in the middle position of the working platform 3, an annular groove 302 is opened on the top of the working platform 3 and sleeved on the outside of the window 301, and an axle seat 303 is fixedly installed in the annular groove 302 in four directions of front, back, left and right, and a horizontally extending to the window 30 is rotatably connected to the axle seat 303 1, and a torsion spring is installed at the rotation connection between the first support plate 304 and the shaft seat 303, a jacking mechanism located below the window 301 is fixedly installed in the base 1, the jacking mechanism includes a hydraulic push rod 4 vertically fixed in the base 1, and a horizontally arranged tray 401 is fixedly installed on the top of the telescopic end above the hydraulic push rod 4, and the tray 401 is located below the middle position of the window 301, and a lifting and unloading mechanism located above the front end of the conveying frame 2 is installed in the base 1, and the lifting and unloading mechanism includes a slide 5 symmetrically erected inside the front end of the base 1, and a sprocket 501 is rotatably installed at the upper and lower ends of each slide 5, and a chain 502 is commonly driven and sleeved on the outer sides of the two symmetrical sprockets 501, and each slide 5 is slidably connected with a slide 503 that lifts up and down, and a second support plate 504 extending horizontally toward the middle direction of the base 1 is fixed on the slide 503, and the second support plate 504 is fixedly connected to one side of the corresponding chain 502, and a second transmission shaft 506 is fixedly installed in the base 1.

[0021] When the device is in use, the staff connects the device to an external power supply so that the external power supply provides power support for the device, and then the staff controls the device to start. The front end of the conveying structure can be connected to an electric conveyor belt, and the external parts to be processed are placed in the Tray disk, and are transported one by one to the left and right ring belts 202 in an orderly manner through the electric conveyor belt. Then the staff controls the first servo motor 204 to be powered on and started, driving the conveying wheels 201 on the left and right sides to rotate synchronously, and then driving the ring belts 202 on the left and right sides to rotate synchronously, and the Tray disk placed on the top of the ring belt 202 is transported to the end of the conveying mechanism in an orderly manner. When the Tray disk containing the parts is transported to the top of the tray 401 at the end of the conveying mechanism, the hydraulic push rod 4 is powered on and started, and its telescopic end drives the tray 401 to move up, so that the tray 401 lifts the Tray disk through The window 301 moves upward, and during the upward movement of the Tray, the shaft seat 303 is pushed upward from the bottom, overcoming the elastic support of the torsion spring and flipping upward. The tray 401 can lift the Tray and move it above the shaft seat 303. At this time, the shaft seat 303 loses the upward push from the bottom. Under the elastic reset of the torsion spring, the shaft seat 303 rotates in the opposite direction and fits horizontally in the annular groove 302 again. Then the hydraulic push rod 4 controls the tray 401 to fall and places the Tray on the horizontal shaft seat 303. The hydraulic push rod 4 drives the tray 401 to move up and down reciprocatingly, and stacks the numerous Trays transported by the conveying mechanism one by one on the top of the working platform 3 to realize the loading operation of parts. In subsequent processing, the staff can use the manipulator 104 to grab parts from the Tray on the working platform 3 for processing, and the operation is flexible and convenient.

[0022] Since a lifting and unloading mechanism is provided on the upper outer side of the front end of the conveying frame 2, during the loading and conveying process, in order to facilitate the placement of the empty Tray when grabbing parts, the staff can first place the Tray into the lifting and unloading mechanism during the loading process. In the lifting and unloading mechanism, after the second servo motor 505 is powered on and started, it will drive the sprockets 501 on the left and right sides to rotate, thereby driving the chain 502 to rotate synchronously. With the help of the rotation of the chain 502, the slide 503 is controlled to slide up and down. By controlling the rotation direction of the driving shaft of the second servo motor 505, the second support plate 504 is controlled to slide up and down. In the initial state, the second support plate 504 is in the uppermost position driven by the slide 503. When the manipulator 104 grabs the parts for processing, it will first grab the Tray together. The grabbed Tray and the parts placed therein will be transferred together and placed on the second support plate 504, and then the manipulator 104 releases its grip on the Tray. Take, only keep grabbing the parts, the parts are grabbed by the robot 104 for processing, and after the parts processing is completed, the robot 104 directly places them in the Tray on the second pallet 504, and after the robot 104 places the processed parts in the uppermost Tray on the second pallet 504, the chain 502 rotates and controls the second pallet 504 to descend one position under the drive of the second servo motor 505, so as to facilitate the subsequent stacking on the Tray on the second pallet 504, and the above operation is continuously cycled, the robot 104 grabs parts from the work platform 3 for processing, and transfers the Tray from the work platform 3 to the second pallet 504 during the grabbing process, and then places the processed parts on the second pallet 504, which is flexible and convenient to operate, avoids the need to transfer the vacant Tray on the work platform 3 after grabbing parts for processing, and can effectively improve work efficiency.

[0023] As the processed parts are stacked layer by layer on the second pallet 504, the position of the second pallet 504 is gradually lowered. When a certain number of parts are stacked on the second pallet 504, the second pallet 504 is lowered to a state below the top of the endless belt 202. At this time, the Tray originally supported by the second pallet 504 will be transferred to the top of the endless belt 202. In this state, the staff controls the first servo motor 204 to start in reverse, so that the many Trays with the processed parts and neatly stacked can be transported out together. When the device is in operation, the staff The working platform 3 and the lifting and unloading mechanism are arranged on the same straight line, and the conveying mechanism is arranged at the bottom of the working platform 3 and the lifting and unloading mechanism, and cooperates with the jacking mechanism, so that the device only needs to use one conveying mechanism to realize loading and unloading stacking operations. When stacking parts on the working platform 3, the endless belt 202 is conveyed in the forward direction, and when the processed parts on the second pallet 504 are output, the endless belt 202 is conveyed in the reverse direction, without interfering with each other, and the operation is flexible and convenient, which can effectively reduce the stagnation time of the endless belt 202, can effectively reduce the manufacturing cost of the device, and is conducive to reducing the production cost during loading and unloading transportation.

[0024] In the specific implementation process, Figure 3 As shown, each conveyor frame 2 is rotatably installed with multiple longitudinally distributed support wheels 203, and the outer size of the support wheel 203 is adapted to the inner size of the endless belt 202. When the device is in use, by evenly distributing many support wheels 203 in the conveyor frame 2, the inner side of the endless belt 202 can be evenly supported, which is beneficial to improving the stability of the device when the endless belt 202 is used to rotate the conveyor tray to perform loading and unloading operations.

[0025] In the specific implementation process, Figure 2 , Figure 3 and Figure 5As shown, a transversely arranged first transmission shaft 205 is coaxially fixed between the two conveying wheels 201 at the rear, one of the conveying wheels 201 is connected to the driving shaft of the first servo motor 204, and the two sprocket wheels 501 at the bottom are located below the endless belt 202. A transversely arranged second transmission shaft 506 is coaxially fixed between the two sprocket wheels 501 at the bottom, and the second transmission shaft 506 is connected to the driving shaft of the second servo motor 505. When the device is used, after the first servo motor 204 is powered on and started, the transmission connection of the first transmission shaft 205 can drive the left and right sides. The synchronous rotation of the conveying wheel 201 can not only reduce the usage of the first servo motor 204, but also ensure the synchronous consistency of the rotation and conveying of the endless belts 202 on the left and right sides. Similarly, by fixing the second transmission shaft 506 between the two left and right sprockets 501 below, the second transmission shaft 506 transmits the rotational power, so that only one second servo motor 505 is needed to drive the chains 502 on the left and right sides to maintain synchronous rotation, which is beneficial to ensure the consistency of the lifting and lowering adjustment of the second support plates 504 on the left and right sides, and to a certain extent improves the stability of the device during long-term operation.

[0026] In the specific implementation process, Figure 6 and Fig.12As shown, the end of the manipulator 104 is connected to a first carrier plate 6, and a second carrier plate 601 arranged parallel to the bottom of the first carrier plate 6, a plurality of evenly distributed first pneumatic suction cups 602 are fixedly installed on the bottom of the second carrier plate 601, a wind knife 603 is installed at the middle position of the bottom of the second carrier plate 601, a third carrier plate 604 parallel to the second carrier plate 601 is arranged below the second carrier plate 601, and the third carrier plate 604 is provided with through holes corresponding to the plurality of first pneumatic suction cups 602, the wind knife 603 is fixedly installed on the third carrier plate 604, a first pneumatic push rod 605 is fixedly installed on the first carrier plate 6, and the telescopic end of the first pneumatic push rod 605 is fixedly connected to the third carrier plate 604, when the device is used, the first pneumatic suction cup 602 is connected to the suction airflow, and the lower airflow is pumped upward through the first pneumatic suction cup 602, forming a bottom of the first pneumatic suction cup 602 Negative pressure adsorption, when the bottom of the first pneumatic suction cup 602 contacts the surface of the component, the negative pressure adsorption provided by the airflow suction can make the component stably grasped by the manipulator 104, and the wind knife 603 arranged in the middle position of the bottom of the second carrier plate 601 is connected to the outward high-speed airflow. When the first pneumatic suction cup 602 adsorbs and grasps the component, the high-speed airflow ejected outward from the wind knife 603 will act on the surface of the component to achieve air blowing cleaning of the surface of the component. After the component is grasped and transferred to the processing equipment for processing, through the adjustment of the manipulator 104, the wind knife 603 can be directed toward the tool on the processing equipment, and the surface of the tool can be cleaned with the help of the high-speed airflow blown out from the wind knife 603. During the processing, there is no need for the staff to manually clean the tool of the processing equipment, which can effectively reduce the labor burden of the staff and help to ensure the processing stability.

[0027] When the wind knife 603 is used to perform air-blowing cleaning on the cutting tools on the processing equipment, the first pneumatic push rod 605 is powered on and started, which will control the third supporting plate 604 to move in a direction away from the second supporting plate 601, so that the end of the first pneumatic suction cup 602 is in the through hole opened on the third supporting plate 604. In this way, during the air-blowing cleaning of the cutting tools on the processing equipment, the high-speed airflow is blown toward the cutting tools through the wind knife 603, and the debris and impurities that fall on the surface of the cutting tools will be collected by the suction of the first pneumatic suction cup 602 under the blocking protection of the third supporting plate 604, so as to avoid the rampant dust when the device is used to air-blowing cleaning the cutting tools on the processing equipment, which is conducive to ensuring the stability and safety of the device during actual use. A nozzle can also be arranged around the wind knife 603, and the nozzle is connected to a high-pressure water pump. The high-pressure water pump provides a high-speed flowing water flow, which can be used to flush the cutting tools of the processing equipment. The water and air are sprayed simultaneously to cooperate in the cleaning operation, which can effectively improve the cleaning effect. Moreover, the water and air can be independently controlled, and the operation is flexible and convenient.

[0028] In the specific implementation process, Figure 6 and Fig.12 As shown, a fourth carrier plate 606 is sleeved on the outer side of the second carrier plate 601, and a plurality of evenly distributed second pneumatic suction cups 607 are fixedly installed on the bottom of the fourth carrier plate 606, a second pneumatic push rod 608 is fixedly installed on the first carrier plate 6, and the telescopic end of the second pneumatic push rod 608 is fixedly connected to the fourth carrier plate 606. When the device is in use, the staff uses the manipulator 104 to grab and process the parts in the Tray. During this process, in order to facilitate the grabbing of the Tray onto the second support plate 504, when the staff uses the first pneumatic suction cup 602 to adsorb and grab the parts, the second pneumatic push rod 608 will be powered on and started, driving the fourth carrier plate 606 connected to its telescopic end to move toward the Tray, so that the evenly distributed second pneumatic suction cups 607 on the fourth carrier plate 606 are close to the Tray, and when the outer end of the second pneumatic suction cup 607 is in contact with the Tray , through air suction, the tray is firmly grasped, and after the manipulator 104 transfers the tray together with the internal parts to the second support plate 504, the second pneumatic push rod 608 controls the fourth supporting plate 606 to move in the opposite direction and reset, so that the outer end of the second pneumatic suction cup 607 is separated from the tray. In this state, the first pneumatic suction cup 602 keeps grasping the parts, while the second pneumatic suction cup 607 disconnects the grasping of the tray, and the parts can be grasped by the manipulator 104 to continue the processing operation. By setting the second pneumatic push rod 608 to drive the fourth supporting plate 606 to move, the second pneumatic suction cup 607 can be controlled to be close to the tray during the grasping of the parts, thereby realizing the grasping and releasing operation of the tray, and the operation is flexible and convenient, which is conducive to improving the flexibility and stability of the device in grasping the tray when grasping the parts for processing.

[0029] In the specific implementation process, Figure 7 and Fig.12 As shown, a vacuum generator is fixedly mounted on the first supporting plate 6, and the vacuum generator includes a vacuum generator body 7 fixedly connected to the first supporting plate 6, a first channel 701 is opened at one end of the vacuum generator body 7, a second channel 702 is opened at the other end of the vacuum generator body 7, a chamber 703 connected between the first channel 701 and the second channel 702 is opened in the vacuum generator body 7, and a nozzle 704 connected to the first channel 701 is fixed in the chamber 703, and the nozzle 704 points to the second channel 702, a third channel 705 connected to the inner end wall of the chamber 703 is opened in the vacuum generator body 7, the first pneumatic suction cup 602 and the second pneumatic suction cup 607 are connected to the third channel 705, the second channel 702 is externally connected to a dust collecting box, and the air outlet of the dust collecting box is connected to the wind knife 603, and a filter element is installed at the air outlet.

[0030] When the device is in use, the air supply port of the external air pump is connected to the first channel 701 through a pipeline to provide a high-speed airflow for the vacuum generator, and then the airflow in the first channel 701 is ejected into the second channel 702 at a high speed through the nozzle 704. With the help of the Bernoulli effect, a low-pressure area is formed in the chamber 703, so that a negative pressure suction operation is performed on the outside through the third channel 705. The airflow in the first channel 701 and the airflow in the third channel 705 are finally discharged to the outside through the second channel 702. In the device, by connecting the first pneumatic suction cup 602 and the second pneumatic suction cup 607 to the third channel 705, a stable suction airflow can be provided to the first pneumatic suction cup 602 and the second pneumatic suction cup 607 through the vacuum generator. When the device is used to perform air blowing cleaning on the tools of the processing equipment, the debris and impurities generated by the cleaning enter the chamber 703 through the connection between the first pneumatic suction cup 602 and the third channel 705, and are finally ejected through the second channel 702. Since the second channel 702 is externally connected to a dust collection box, the debris and impurities collected by the cleaning are stored in the dust collection box, which is convenient for the staff to clean them uniformly. The airflow entering the dust collection box is finally transported to the wind knife 603 through the air outlet and ejected, forming a high-speed airflow for cleaning the tool. Under the cooperation of each other, the device can not only clean the tool surface by air blowing through the wind knife 603, but also collect the dust generated by the cleaning through the first pneumatic suction cup 602, which is beneficial to ensure the stability of the device during actual operation.

[0031] In the specific implementation process, Fig.10 As shown, a secondary positioning mechanism is installed on the upper back side of the face frame 101, and the secondary positioning mechanism includes a positioning platform 8 horizontally fixed on the upper back side of the face frame 101, and a square groove 801 is arranged on the top of the positioning platform 8, a first electric push rod 802 located on the left side of the square groove 801 is transversely fixed to the top of the positioning platform 8, and a first push block 803 is fixed to the telescopic end on the right side of the first electric push rod 802, a second electric push rod 804 located in front of the square groove 801 is longitudinally fixed to the top of the positioning platform 8, and a second push block 805 is fixed to the telescopic end behind the second electric push rod 804.

[0032] When the device is in use, during the process of grabbing parts for processing by the manipulator 104, or placing the processed parts in the tray on the second pallet 504, if the manipulator 104 deviates when grabbing parts, the parts can be placed in the square groove 801 for repositioning. When the parts are placed in the square groove 801, the first electric push rod 802 is powered on and started, which can drive the first push block 803 to move right and push the parts to the right. After the second electric push rod 804 is powered on and started, it can drive the second push block 805 to move backward and push the parts backward. In combination with the restrictions of the right side and rear inner walls of the square groove 801, the parts are finally neatly corrected in the square groove 801, and then the manipulator 104 continues to grab the corrected parts for subsequent operations. By providing a secondary positioning mechanism, when the parts are deviated during the grabbing process, there is no need for manual adjustment by the staff. The device can be automatically adjusted with the help of the secondary positioning mechanism, which is beneficial to ensure the long-term continuous and stable operation of the device, thereby improving the working efficiency.

[0033] Specifically, the working principle and operation method of the present invention are as follows: When the device is started, the front end of the conveying mechanism is connected to an electric conveyor belt, through which the numerous Trays loaded with parts are transported to the conveying mechanism one by one in an orderly manner, and then driven by the first servo motor 204, the left and right ring belts 202 in the conveying mechanism are driven to rotate continuously to transport the Tray backwards. When the Tray is transported to the end, the hydraulic push rod 4 is powered on and started, driving the tray 401 to rise and fall, and cooperating with the first support plate 304 driven by the torsion spring to rotate elastically, so that the numerous Trays loaded with parts are stacked in an orderly manner from bottom to top on the working platform 3, and then the manipulator 104 starts to grab the parts in the Tray on the working platform 3 from top to bottom. During the grabbing process, the first pneumatic suction cup 602 contacts the surface of the parts, and the negative pressure formed by the air suction makes the first pneumatic suction cup 602 adsorb on the surface of the parts. The suction cup 602 is firmly connected to the component. Synchronously, the second pneumatic push rod 608 is powered on to start controlling the second pneumatic suction cup 607 on the fourth carrier plate 606 to approach the tray. The second pneumatic suction cup 607 is firmly connected to the tray through the negative pressure adsorption formed by the airflow suction in the second pneumatic suction cup 607. Under the movement of the manipulator 104, the component and the outer tray are transferred to the second support plate 504. Then, the second pneumatic push rod 608 controls the fourth carrier plate 606 to drive the second pneumatic suction cup 607 to reset. The second pneumatic suction cup 607 is separated from the tray and the grip on the tray is released. The first pneumatic suction cup 602 keeps gripping the component. The manipulator 104 continues to move. The empty tray stays on the second support plate 504, and the component is gripped and processed. After the processing is completed, the manipulator 104 places the parts into the Tray controlled at the top of the second pallet 504. As the processed parts are placed, the second servo motor 505 drives the second pallet 504 to drive the Tray down one layer to provide a placement position for the subsequent empty Tray. When enough Trays and processed parts are stacked on the second pallet 504, the second pallet 504 is controlled to fall to a position below the top of the endless belt 202, so that the Tray originally stacked on the second pallet 504 is transferred to the endless belt 202, and then the endless belt 202 is controlled to rotate in the opposite direction by the first servo motor 204, and the processed parts are transferred out in coordination with the reverse rotation of the external electric conveyor belt. During the process of the manipulator 104 grabbing parts, if the parts are offset, the posture of the parts can be corrected through the cooperation of the square groove 801 and the first electric push rod 802 and the second electric push rod 804. When the manipulator 104 drives the wind knife 603 toward the tool of the processing equipment, the wind knife 603 can blow out a high-speed airflow to clean the tool, and the first pneumatic suction cup 602 can suck the airflow to collect the cleaned debris and impurities.

[0034] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. Automatic loading and unloading equipment, comprising a base (1), characterized in that: A face frame (101) is fixedly mounted on the upper front of the base (1), a chassis (103) is fixedly mounted on the back of the base (1), and a manipulator (104) is fixedly mounted on the top of the chassis (103), a conveying mechanism located in front of the chassis (103) is mounted on the bottom of the base (1), and the conveying mechanism comprises two left-right symmetrical conveying racks (2), conveying wheels (201) are rotatably mounted on the front and rear ends of the conveying racks (2), and an endless belt (202) is commonly driven and sleeved on the outer sides of the two front-and-rear symmetrical conveying wheels (201), a first servo motor (204) is fixedly mounted inside the base (1), and a conveying mechanism (204) is fixedly mounted inside the base (1). A working platform (3) is provided above the end of the conveying frame (2), and a window (301) is provided in the middle of the working platform (3). A ring groove (302) is provided on the top of the working platform (3) and is sleeved on the outside of the window (301). A shaft seat (303) is fixedly installed in the ring groove (302). A first support plate (304) is rotatably connected to the shaft seat (303), and a torsion spring is installed at the rotational connection between the first support plate (304) and the shaft seat (303). A lifting mechanism located below the window (301) is fixedly installed in the base (1), and a lifting and unloading mechanism located above the front end of the conveying frame (2) is installed in the base (1).

2. The automatic loading and unloading equipment according to claim 1 is characterized in that: A plurality of longitudinally distributed support wheels (203) are rotatably mounted in each of the conveying racks (2), and the outer dimensions of the support wheels (203) are adapted to the inner dimensions of the endless belt (202).

3. The automatic loading and unloading equipment according to claim 1 is characterized in that: The lifting mechanism comprises a hydraulic push rod (4) vertically fixed in the base (1), and a horizontally arranged tray (401) is fixedly installed on the top of the telescopic end above the hydraulic push rod (4), and the tray (401) is located below the middle position of the window (301).

4. The automatic loading and unloading equipment according to claim 1 is characterized in that: The lifting and unloading mechanism comprises a slide (5) symmetrically erected inside the front end of the base (1), a sprocket (501) being rotatably mounted on the upper and lower ends of each slide (5), a chain (502) being commonly transmission-sleeved on the outer sides of the two symmetrical sprockets (501), each slide (5) being slidably connected to a sliding table (503) that can be lifted up and down, and a second support plate (504) extending horizontally toward the middle direction of the base (1) being fixed on the sliding table (503), the second support plate (504) being fixedly connected to one side of the corresponding chain (502), and a second transmission shaft (506) being fixedly mounted inside the base (1).

5. The automatic loading and unloading equipment according to claim 4 is characterized in that: A transversely arranged first transmission shaft (205) is coaxially fixed between the two conveying wheels (201) located at the rear, one of the conveying wheels (201) is drivingly connected to the driving shaft of the first servo motor (204), the two sprocket wheels (501) located below are located below the endless belt (202), a transversely arranged second transmission shaft (506) is coaxially fixed between the two sprocket wheels (501) located below, and the second transmission shaft (506) is drivingly connected to the driving shaft of the second servo motor (505).

6. The automatic loading and unloading equipment according to claim 1 is characterized in that: The end of the manipulator (104) is connected to a first supporting plate (6), and a second supporting plate (601) arranged parallel to and below the first supporting plate (6); a plurality of evenly distributed first pneumatic suction cups (602) are fixedly mounted on the bottom of the second supporting plate (601); and a wind knife (603) is mounted in the middle of the bottom of the second supporting plate (601).

7. The automatic loading and unloading equipment according to claim 6 is characterized in that: A third bearing plate (604) parallel to the second bearing plate (601) is arranged below the second bearing plate (601), and the third bearing plate (604) is provided with through holes corresponding to the plurality of first pneumatic suction cups (602) one by one, the wind knife (603) is fixedly mounted on the third bearing plate (604), a first pneumatic push rod (605) is fixedly mounted on the first bearing plate (6), and the telescopic end of the first pneumatic push rod (605) is fixedly connected to the third bearing plate (604).

8. The automatic loading and unloading equipment according to claim 7 is characterized in that: A fourth bearing plate (606) is sleeved on the outer side of the second bearing plate (601), and a plurality of evenly distributed second pneumatic suction cups (607) are fixedly mounted on the bottom of the fourth bearing plate (606); a second pneumatic push rod (608) is fixedly mounted on the first bearing plate (6), and a telescopic end of the second pneumatic push rod (608) is fixedly connected to the fourth bearing plate (606).

9. The automatic loading and unloading equipment according to claim 8, characterized in that: A vacuum generator is fixedly mounted on the first bearing plate (6), and the vacuum generator comprises a vacuum generator body (7) fixedly connected to the first bearing plate (6), a first channel (701) is provided at one end of the vacuum generator body (7), a second channel (702) is provided at the other end of the vacuum generator body (7), a chamber (703) connected between the first channel (701) and the second channel (702) is provided in the vacuum generator body (7), and a vacuum chamber (703) is fixedly mounted in the chamber (703). A nozzle (704) is provided in communication with the first channel (701), the nozzle (704) points into the second channel (702), a third channel (705) is provided in the vacuum generator body (7) and is communicated with the inner end wall of the chamber (703), the first pneumatic suction cup (602) and the second pneumatic suction cup (607) are communicated with the third channel (705), the second channel (702) is externally connected to a dust collecting box, and the air outlet of the dust collecting box is connected to the wind knife (603), and a filter element is installed at the air outlet.

10. The automatic loading and unloading equipment according to claim 1, characterized in that: A secondary positioning mechanism is installed on the upper back side of the face frame (101), and the secondary positioning mechanism comprises a positioning platform (8) fixed horizontally on the upper back side of the face frame (101), and a square groove (801) is arranged on the top of the positioning platform (8), a first electric push rod (802) located on the left side of the square groove (801) is transversely fixed on the top of the positioning platform (8), and a first push block (803) is fixed on the telescopic end on the right side of the first electric push rod (802), a second electric push rod (804) located in front of the square groove (801) is longitudinally fixed on the top of the positioning platform (8), and a second push block (805) is fixed on the telescopic end behind the second electric push rod (804).

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