Automatic loading and unloading device

Abstract

The application discloses automatic feeding and discharging equipment and relates to the technical field of feeding and discharging conveying. The working platform and the lifting discharging mechanism are arranged on the same straight line, the conveying mechanism is arranged at the bottom of the working platform and the lifting discharging mechanism, and the jacking mechanism is matched, so that the device can realize feeding and discharging stacking operation only by using one conveying mechanism. When the work platform is used to stack parts, the ring belt is positively conveyed. When the parts processed on the second supporting plate are output, the ring belt is reversely conveyed. The feeding conveying and the discharging conveying are staggered with each other, the conveying mechanisms are shared, the feeding and discharging operations do not interfere with each other, the operation is flexible and convenient, the length of time during which the ring belt is stalled can be effectively reduced, the construction cost of the feeding and discharging conveying line during production and processing can be effectively reduced, and the production cost during feeding and discharging conveying is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of feeding and discharging conveying, and particularly relates to automatic feeding and discharging equipment. BACKGROUND

[0002] In modern manufacturing, feeding and discharging operation is a key link in the production process, and its conveying efficiency and cost directly affect the benefit of the entire production process.

[0003] In the traditional feeding and discharging equipment, two independent conveying mechanisms are usually used to realize feeding and discharging operation respectively. This design method is simple in thinking, and although it can meet the basic production requirements to some extent, it still has many obvious disadvantages. In the feeding and discharging conveying process, two independent conveying mechanisms mean that double driving devices, transmission components and supporting structures need to be equipped, which makes the entire feeding and discharging conveying structure extremely complex, increases the floor area of the equipment, and easily leads to a substantial increase in manufacturing and use costs. Especially when the parts are conveyed and stacked one by one, due to the limitation of the part processing and stacking area capacity, the number of parts stacked during conveying is limited. After the rated number of parts is conveyed and stacked, the conveying mechanism will be in a certain period of stagnation. If two conveying mechanisms are set to perform feeding and discharging conveying respectively, double stagnation will be formed, which causes resource waste and is not conducive to reducing production costs.

[0004] Therefore, the automatic feeding and discharging equipment is proposed to solve some problems existing in the prior art. SUMMARY

[0005] The purpose of the present application is to solve the problems existing in the prior art, that is, to use two independent conveying mechanisms to perform feeding and discharging conveying respectively, which easily leads to complex feeding and discharging conveying structure, cost increase and resource waste, and to propose the automatic feeding and discharging equipment.

[0006] In order to solve the problems existing in the prior art, the present application adopts the following technical scheme:

[0007] An automatic loading and unloading device includes a base, a face frame fixedly installed on the top front of the base, a chassis fixedly installed on the back of the base, a robot arm fixedly installed on the top of the chassis, a conveying mechanism installed at the bottom of the base in front of the chassis, and the conveying mechanism includes two symmetrical conveyor frames, conveyor wheels rotatably installed at the front and rear ends of the conveyor frames, and a ring belt connected to the outer sides of the two symmetrical conveyor wheels for common transmission. A first servo motor is fixedly installed inside the base, a work platform located above the end of the conveyor frame is fixedly installed inside the base, and a window is opened in the middle of the work platform. An annular groove is opened on the top of the work platform and fitted outside the window, and a bearing is fixedly installed in the annular groove. A first support plate is rotatably connected to the bearing, and a torsion spring is installed at the rotatable connection between the first support plate and the bearing. A lifting mechanism located below the window is fixedly installed inside the base, and a lifting and unloading mechanism located above the front end of the conveyor frame is installed inside the base.

[0008] Preferably, each conveyor frame is rotatably equipped with multiple longitudinally distributed support wheels, and the outer dimensions of the support wheels are adapted to the inner dimensions of the ring belt.

[0009] Preferably, the lifting mechanism includes a hydraulic push rod that is vertically fixed in the base, and a horizontally set tray is fixedly installed on the top of the telescopic end above the hydraulic push rod, with the tray located below the middle position of the window.

[0010] Preferably, the lifting and unloading mechanism includes symmetrically erected slides inside the front end of the base. Each slide has rotatably mounted sprockets at both the upper and lower ends. The outer sides of the two symmetrical sprockets are connected to a chain for transmission. Each slide has a sliding platform for lifting and lowering, and a second support plate extending horizontally towards the middle of the base is fixed on the slide plate. The second support plate is fixedly connected to one side of the corresponding chain. A second drive shaft is fixedly installed inside the base.

[0011] Preferably, a first transmission shaft arranged laterally is coaxially fixed between the two rear conveyor wheels, one of which is connected to the drive shaft of the first servo motor. The two lower sprockets are located below the belt, and a second transmission shaft arranged laterally is coaxially fixed between the two lower sprockets, and the second transmission shaft is connected to the drive shaft of the second servo motor.

[0012] Preferably, the end of the robotic arm is connected to a first support plate and a second support plate arranged parallel to the bottom of the first support plate. Multiple evenly distributed first pneumatic suction cups are fixedly installed on the bottom of the second support plate, and an air knife is installed at the middle position of the bottom of the second support plate.

[0013] Preferably, a third support plate is provided below the second support plate and parallel to it, and the third support plate has through holes that correspond to and are adapted to the multiple first pneumatic suction cups. The air knife is fixedly installed on the third support plate, and a first pneumatic push rod is fixedly installed on the first support plate, and the telescopic end of the first pneumatic push rod is fixedly connected to the third support plate.

[0014] 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.

[0015] Preferably, a vacuum generator is fixedly mounted on the first support plate, and the vacuum generator includes a vacuum generator body fixedly connected to the first support plate. A first channel is opened at one end of the vacuum generator body, and 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 communicating with the first channel is fixed in the chamber. The nozzle points into the second channel. A third channel communicating with the inner wall of the chamber is opened in the vacuum generator body. A first pneumatic suction cup and a second pneumatic suction cup are connected to the third channel. A dust collection box is connected to the outside of the second channel, and the air outlet of the dust collection box is connected to an air knife. A filter element is installed at the air outlet.

[0016] Preferably, a secondary positioning mechanism is installed on the upper back of the face frame, and the secondary positioning mechanism includes a positioning platform horizontally fixed on the upper back 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 horizontally fixed on 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 vertically fixed on the top of the positioning platform, and a second push block is fixed on the telescopic end behind the second electric push rod.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In this invention, by setting the working platform and the lifting and unloading mechanism on the same straight line, and setting the conveying mechanism at the bottom of the working platform and the lifting and unloading mechanism, and cooperating with the lifting mechanism, the device can realize loading and unloading stacking operations with only one conveying mechanism. When stacking parts on the working platform, the belt conveyor is in the forward direction, and when outputting the processed parts on the second pallet, the belt conveyor is in the reverse direction, without interfering with each other. The operation is flexible and convenient, which can effectively reduce the time of belt stagnation, effectively reduce the construction cost of the loading and unloading conveyor line in the production process, and help reduce the production cost of loading and unloading conveyor.

[0019] 2. In this invention, by connecting the first pneumatic suction cup to the suction airflow, the negative pressure provided by the suction airflow allows the parts to be stably gripped by the robotic arm. Simultaneously, by mounting the second pneumatic suction cup on the fourth support plate located outside the second support plate, and connecting the fourth support plate to the suction airflow, the robotic arm can simultaneously grip the tray with the second pneumatic suction cup when gripping the parts. The fourth support plate moves the second pneumatic suction cup, allowing for flexible release of the tray during the gripping process. This enables the tray to be pre-placed in the lifting and unloading mechanism during the gripping process, eliminating the need to process the empty tray on the work platform after the parts have been gripped and processed, thus improving the convenience and efficiency of loading and unloading.

[0020] 3. In this invention, by connecting the air knife to a high-speed outward airflow, when the first pneumatic suction cup adsorbs and grips the parts, the high-speed airflow ejected from the air knife acts on the surface of the parts, which can clean the surface of the parts with air. At the same time, by adjusting the robot arm, the air knife can be directed towards the cutting tool on the processing equipment. With the help of the high-speed airflow blown from the air knife, the surface of the cutting tool is cleaned. There is no need for the staff to manually clean the cutting tool of the processing equipment, which can effectively reduce the labor burden of the staff. By installing the nozzle connected to the high-pressure water pump around the air knife, the cutting tool of the processing equipment can be rinsed with water. The simultaneous spraying of water and air can effectively improve the cleaning effect. Moreover, water and air can be controlled independently, making the operation flexible and convenient.

[0021] 4. In this invention, by opening a square groove on the top of the positioning platform and equipping it with a first electric push rod and a second electric push rod for lateral and longitudinal pushing respectively, if the parts are tilted during the robotic arm's grasping process, no manual adjustment by the operator is required. The device can automatically adjust the posture of the parts with the help of a secondary positioning mechanism, which helps to ensure the device operates continuously and stably for a long time, thereby improving work efficiency. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a perspective view of the present invention;

[0024] Figure 2 This is a perspective view of the conveying mechanism, working platform, lifting mechanism, and lifting and unloading mechanism of the present invention;

[0025] Figure 3This is an exploded view of the conveyor wheel, support wheel, and ring belt of the present invention;

[0026] Figure 4 This is a perspective view of the window and tray of the present invention;

[0027] Figure 5 This is a perspective view of the Tray disk of the present invention placed on the lifting and feeding mechanism;

[0028] Figure 6 This is a perspective view of the end effector structure of the robotic arm of the present invention;

[0029] Figure 7 This is a cross-sectional view of the vacuum generator of the present invention;

[0030] Figure 8 This is a side view of the present invention;

[0031] Figure 9 This is a front view of the present invention;

[0032] Figure 10 This is a top view of the present invention;

[0033] Figure 11 For the present invention Figure 10 Sectional view at point AA;

[0034] Figure 12 For the present invention Figure 11 Enlarged view of point B in the middle.

[0035] Number in the diagram:

[0036] 1. Base; 101. Faceplate; 102. Control panel; 103. Chassis; 104. Robotic arm;

[0037] 2. Conveyor frame; 201. Conveyor wheel; 202. Belt; 203. Support wheel; 204. First servo motor; 205. First drive shaft;

[0038] 3. Working platform; 301. Window; 302. Annular groove; 303. Shaft seat; 304. First support plate;

[0039] 4. Hydraulic push rod; 401. Pallet;

[0040] 5. Carriage; 501. Sprocket; 502. Chain; 503. Slide table; 504. Second support plate; 505. Second servo motor; 506. Second drive shaft;

[0041] 6. First support plate; 601. Second support plate; 602. First pneumatic suction cup; 603. Air knife; 604. Third support plate; 605. First pneumatic push rod; 606. Fourth support plate; 607. Second pneumatic suction cup; 608. Second pneumatic push rod;

[0042] 7. Vacuum generator body; 701. First channel; 702. Second channel; 703. Chamber; 704. Nozzle; 705. Third channel;

[0043] 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 Implementation

[0044] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0045] Example: This example provides an automatic loading and unloading device, see [link / reference]. Figure 1 - Figure 12 Specifically, the system includes a base 1, a face frame 101 fixedly mounted on the top front of the base 1, and a control panel 102 fixedly mounted on the face frame 101. A chassis 103 is fixedly mounted on the back of the base 1, and a robotic arm 104 is fixedly mounted on the top of the chassis 103. A conveying mechanism is mounted at the bottom of the base 1 in front of the chassis 103, and the conveying mechanism includes two symmetrically arranged longitudinally arranged conveyor frames 2. Each conveyor frame 2 has conveyor wheels 201 rotatably mounted at both ends. The outer sides of the two symmetrically arranged conveyor wheels 201 are connected to a common drive belt 202. A first servo motor 204 is fixedly mounted inside the base 1. A work platform 3 is fixedly mounted inside the base 1 above the end of the conveyor frame 2, and a window 301 is opened in the middle of the work platform 3. An annular groove 302 is opened on the top of the work platform 3 and fits outside the window 301. A bearing seat 303 is fixedly mounted in the annular groove 302 in four directions (front, back, left, and right). A horizontally extending shaft 303 is rotatably connected to the bearing seat 303. The first support plate 304 is installed in the base 1, and a torsion spring is installed at the rotatable connection between the first support plate 304 and the bearing 303. A lifting mechanism located below the window 301 is fixedly installed in the base 1. The lifting mechanism includes a hydraulic push rod 4 vertically fixed in the base 1, and a horizontally set tray 401 is fixedly installed at the top of the telescopic end above the hydraulic push rod 4. The tray 401 is located below the middle position of the window 301. A lifting and unloading mechanism located above the front end of the conveyor frame 2 is installed in the base 1. The lifting and unloading mechanism includes symmetrically erected slides 5 inside the front end of the base 1. Each slide 5 has rotatably installed sprockets 501 at both the upper and lower ends. The outer sides of the two symmetrical sprockets 501 are connected to a chain 502. Each slide 5 is slidably connected to a vertically lifting slide 503, and a second support plate 504 extending horizontally towards the middle of the base 1 is fixed on the slide 503. The second support plate 504 is fixedly connected to one side of the corresponding chain 502. A second drive shaft 506 is fixedly installed in the base 1.

[0046] When using this device, the operator connects it to an external power source to provide power. The operator then starts the device. An electric conveyor belt can be connected to the front end of the conveyor structure. The parts to be processed are placed in the tray and transported sequentially to the left and right ring belts 202 via the electric conveyor belt. The operator then powers on the first servo motor 204, causing the left and right conveyor wheels 201 to rotate synchronously, which in turn drives the ring belts 202 to rotate synchronously, transporting the trays placed on top of the ring belts 202 sequentially to the end of the conveyor mechanism. When the tray containing the parts is transported directly above the end tray 401 of the conveyor mechanism, the hydraulic push rod 4 is powered on, and its telescopic end moves the tray 401 upwards, allowing the tray 401 to lift the tray through... As window 301 moves upward, the tray moves upward, and the bearing 303 is pushed upward, overcoming the elastic support of the torsion spring and flipping upward. The tray 401 can lift the tray and move it above the bearing 303. At this time, the bearing 303 loses the upward push and, under the elastic reset of the torsion spring, the bearing 303 rotates in the opposite direction and re-fits horizontally into the annular groove 302. Then, the hydraulic push rod 4 controls the tray 401 to fall, placing the tray on the horizontal bearing 303. The hydraulic push rod 4 drives the tray 401 to move up and down repeatedly, stacking the numerous trays conveyed by the conveying mechanism one by one on the top of the work platform 3, realizing the loading operation of parts. In subsequent processing, the operator can use the robotic arm 104 to grab parts from the trays on the work platform 3 for processing, making the operation flexible and convenient.

[0047] Because a lifting and unloading mechanism is provided above the front outer side of the conveyor frame 2, during the material feeding process, to facilitate the placement of the empty tray when grabbing parts, the operator can first place the tray into the lifting and unloading mechanism. In the lifting and unloading mechanism, after the second servo motor 505 is powered on, it will drive the sprockets 501 on both sides to rotate, thereby driving the chain 502 to rotate synchronously. With the rotation of the chain 502, the slide table 503 is controlled to slide up and down. By controlling the rotation direction of the drive shaft of the second servo motor 505, the up and down sliding control of the second pallet 504 is realized. In the initial state, the second pallet 504 is in the highest position under the drive of the slide table 503. When the robot arm 104 grabs the parts for processing, it will first grab the tray together. The grabbed tray and the parts placed inside it will be transferred and placed on the second pallet 504. Then the robot arm 104 releases its grip on the tray. The robot arm 104 grips and processes the parts. After processing, the robot arm 104 directly places the processed parts into trays on the second pallet 504. Once the robot arm 104 has placed the processed parts into the top tray on the second pallet 504, the chain 502 rotates under the drive of the second servo motor 505, causing the second pallet 504 to descend one position, facilitating subsequent stacking on the trays on the second pallet 504. This operation is continuously repeated. The robot arm 104 grips parts from the work platform 3 for processing and transfers the trays from the work platform 3 to the second pallet 504 during the gripping and processing process. Then, the processed parts are placed onto the second pallet 504. The operation is flexible and convenient, avoiding the need to transfer empty trays on the work platform 3 after gripping and processing parts, which can effectively improve work efficiency.

[0048] As the processed parts are stacked layer by layer on the second pallet 504, the position of the second pallet 504 gradually decreases. Once a certain number of parts are stacked on the second pallet 504, it descends below the top of the ring belt 202. At this point, the trays previously supported on the second pallet 504 are moved to the top of the ring belt 202. In this state, the operator controls the first servo motor 204 to start in reverse, which can simultaneously transport and rotate the numerous trays containing the processed parts outwards. During operation, this device, through the... The working platform 3 and the lifting and unloading mechanism are set on the same straight line, and the conveying mechanism is set at the bottom of the working platform 3 and the lifting and unloading mechanism. With the lifting 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 3, the ring belt 202 conveys in the forward direction. When outputting the processed parts on the second pallet 504, the ring belt 202 conveys in the reverse direction. They do not interfere with each other, and the operation is flexible and convenient. It can effectively reduce the dwell time of the ring belt 202, effectively reduce the manufacturing cost of the device, and help reduce the production cost of loading and unloading.

[0049] In the specific implementation process, such as Figure 3 As shown, each conveyor frame 2 is rotatably equipped with multiple longitudinally distributed support wheels 203, and the outer dimensions of the support wheels 203 are adapted to the inner dimensions of the ring belt 202. When the device is in use, by evenly distributing the numerous support wheels 203 within the conveyor frame 2, the inner side of the ring belt 202 can be evenly supported, which helps to improve the stability of the device when using the ring belt 202 to rotate and convey the tray for loading and unloading operations.

[0050] In the specific implementation process, such as Figure 2 , Figure 3 and Figure 5As shown, a first transmission shaft 205 is coaxially fixed between the two rear conveyor wheels 201 and arranged laterally. One of the conveyor wheels 201 is connected to the drive shaft of the first servo motor 204. Two sprockets 501 are located below the belt 202, and a second transmission shaft 506 is coaxially fixed between them and arranged laterally. The second transmission shaft 506 is connected to the drive shaft of the second servo motor 505. When the device is in use, after the first servo motor 204 is powered on and started, it can drive the left and right sides via the transmission connection of the first transmission shaft 205. The synchronous rotation of the conveyor wheel 201 not only reduces the amount of first servo motor 204 used, but also ensures the synchronous consistency of the rotation of the left and right ring belts 202. Similarly, by fixing the second drive shaft 506 between the two lower left and right sprockets 501, the transmission of rotational power by the second drive shaft 506 allows only one second servo motor 505 to drive the left and right chains 502 to rotate synchronously. This helps to ensure the consistency of the lifting and adjustment of the left and right second pallets 504, and to a certain extent improves the stability of the device during long-term operation.

[0051] In the specific implementation process, such as Figure 6 and Figure 12As shown, the end of the robotic arm 104 is connected to a first support plate 6 and a second support plate 601 arranged parallel to the bottom of the first support plate 6. Multiple evenly distributed first pneumatic suction cups 602 are fixedly installed on the bottom of the second support plate 601. An air knife 603 is installed at the center of the bottom of the second support plate 601. A third support plate 604, parallel to the second support plate 601, is arranged below it. The third support plate 604 has through holes that correspond one-to-one with the multiple first pneumatic suction cups 602. The air knife 603 is fixedly installed on the third support plate 604. A first pneumatic push rod 605 is fixedly installed on the first support plate 6, and the telescopic end of the first pneumatic push rod 605 is fixedly connected to the third support plate 604. When the device is in use, the first pneumatic suction cup 602 is connected to a suction airflow. The airflow below is drawn upwards through the first pneumatic suction cup 602, forming a suction flow at the 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 allows the component to be stably gripped by the robot arm 104. The air knife 603, located in the middle of the bottom of the second support plate 601, is connected to a high-speed outward airflow. When the first pneumatic suction cup 602 adsorbs and grips the component, the high-speed airflow ejected from the air knife 603 acts on the surface of the component, achieving air blowing cleaning of the component surface. After the component is gripped and transferred to the processing equipment for processing, the air knife 603 can be adjusted by the robot arm 104 to face the cutting tool on the processing equipment. The high-speed airflow blown from the air knife 603 cleans the surface of the cutting tool. During the processing, there is no need for the operator to manually clean the cutting tool of the processing equipment, which can effectively reduce the labor burden of the operator and help ensure the stability of the processing.

[0052] When using the air knife 603 to clean the cutting tools on the processing equipment with air, the first pneumatic push rod 605 is energized and activated, which controls the third support plate 604 to move away from the second support plate 601. This causes the end of the first pneumatic suction cup 602 to be positioned in the through hole on the third support plate 604. During the air cleaning process, the high-speed airflow blows through the air knife 603 onto the cutting tool. The debris and impurities blown off the surface of the cutting tool are collected by the suction of the first pneumatic suction cup 602 under the protection of the third support plate 604. This prevents dust from spreading during the air cleaning process and helps ensure the stability and safety of the device in actual use. The air knife 603 can also be equipped with nozzles connected to a high-pressure water pump. The high-speed water flow provided by the high-pressure water pump can rinse the cutting tools of the processing equipment. The simultaneous spraying of water and air effectively improves the cleaning effect. Moreover, water and air can be controlled independently, making the operation flexible and convenient.

[0053] In the specific implementation process, such asFigure 6 and Figure 12 As shown, a fourth support plate 606 is sleeved on the outer side of the second support plate 601, and multiple evenly distributed second pneumatic suction cups 607 are fixedly installed on the bottom of the fourth support plate 606. A second pneumatic push rod 608 is fixedly installed on the first support plate 6, and the telescopic end of the second pneumatic push rod 608 is fixedly connected to the fourth support plate 606. When the device is in use, the operator uses the robotic arm 104 to grasp and process the parts in the tray. During this process, in order to facilitate the tray being grasped onto the second support plate 504, when the operator uses the first pneumatic suction cup 602 to adsorb and grasp the parts, the second pneumatic push rod 608 will be energized and activated, driving the fourth support plate 606 connected to its telescopic end to move towards the tray, so that the evenly distributed second pneumatic suction cups 607 on the fourth support plate 606 approach the tray. When the outer ends of the second pneumatic suction cups 607 contact the tray... The device uses airflow suction to firmly grasp the tray. After the robotic arm 104 transfers the tray along with its internal components to the second support plate 504, the second pneumatic push rod 608 controls the fourth support plate 606 to move in the reverse direction and reset, causing the outer end of the second pneumatic suction cup 607 to separate from the tray. In this state, the first pneumatic suction cup 602 maintains its grip on the components, while the second pneumatic suction cup 607 disengages from the tray. The robotic arm 104 can then grasp the components for further processing. By setting the second pneumatic push rod 608 to drive the fourth support plate 606 to move, the device can control the proximity of the second pneumatic suction cup 607 to the tray during the component grasping process, thereby enabling the grasping and releasing of the tray. This flexible and convenient operation improves the flexibility and stability of the device when grasping components for processing while simultaneously grasping the tray.

[0054] In the specific implementation process, such as Figure 7 and Figure 12 As shown, a vacuum generator is fixedly installed on the first support plate 6, and the vacuum generator includes a vacuum generator body 7 fixedly connected to the first support plate 6. A first channel 701 is opened at one end of the vacuum generator body 7, and a second channel 702 is opened at the other end of the vacuum generator body 7. A chamber 703 is opened in the vacuum generator body 7, connecting the first channel 701 and the second channel 702. A nozzle 704 communicating with the first channel 701 is fixed in the chamber 703. The nozzle 704 points into the second channel 702. A third channel 705 communicating with the inner end wall of the chamber 703 is opened in the vacuum generator body 7. A first pneumatic suction cup 602 and a second pneumatic suction cup 607 are connected to the third channel 705. A dust collection box is connected to the outside of the second channel 702, and the air outlet of the dust collection box is connected to the air knife 603. A filter element is installed at the air outlet.

[0055] In use, the external air pump's air supply port is connected to the first channel 701 via a pipe, providing a high-speed airflow to the vacuum generator. The airflow in the first channel 701 is then propelled at high speed through nozzle 704 into the second channel 702. Utilizing the Bernoulli effect, a low-pressure area is created within chamber 703, thereby enabling negative pressure suction from the outside through the third channel 705. The airflow in both the first and third channels 705 is ultimately discharged outwards through the second channel 702. Furthermore, by connecting the first pneumatic suction cup 602 and the second pneumatic suction cup 607 to the third channel 705, the vacuum generator can provide a stable suction airflow to both the first and second pneumatic suction cups 602 and 607. When using this device to clean the cutting tools of the processing equipment with air, the debris and impurities generated during 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 connected to a dust collection box, the debris and impurities collected during cleaning are stored in the dust collection box for easy cleaning by the staff. The airflow entering the dust collection box is finally delivered to the air knife 603 through the air outlet and ejected, forming a high-speed airflow to clean the cutting tool. With the cooperation of both, the device can not only clean the surface of the cutting tool with air by air blowing through the air knife 603, but also collect the dust generated during cleaning through the first pneumatic suction cup 602, which helps to ensure the stability of the device during actual operation.

[0056] In the specific implementation process, such as Figure 10 As shown, a secondary positioning mechanism is installed on the upper back of the face frame 101. The secondary positioning mechanism includes a positioning platform 8 that is horizontally fixed on the upper back of the face frame 101. A square groove 801 is provided 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 horizontally fixed on the top of the positioning platform 8. 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 vertically fixed on the top of the positioning platform 8. A second push block 805 is fixed on the telescopic end behind the second electric push rod 804.

[0057] When using this device, if the robotic arm 104 deviates while gripping parts for processing, or if the processed parts are placed into the tray on the second pallet 504, the parts can be repositioned in the square groove 801. Once the parts are in the square groove 801, the first electric push rod 802 is energized and starts, which moves the first push block 803 to the right, pushing the parts to the right. The second electric push rod 804 is energized and starts, which moves the second push block 805 to the rear, pushing the parts to the rear. With the constraint of the right side and rear inner wall of the square groove 801, the parts are finally neatly aligned in the square groove 801. The robotic arm 104 then continues to grip the aligned parts for subsequent operations. By setting up a secondary positioning mechanism, if the parts are deviated during the gripping process, there is no need for manual adjustment by the operator. The device can automatically adjust with the help of the secondary positioning mechanism, which helps to ensure the long-term continuous and stable operation of the device, thereby improving work efficiency.

[0058] Specifically, the working principle and operation method of this invention are as follows:

[0059] When the device is started, an electric conveyor belt is connected to the front end of the conveying mechanism. This belt transports numerous trays loaded with parts one by one onto the conveying mechanism. Then, driven by the first servo motor 204, the two ring belts 202 inside the conveying mechanism rotate continuously, transporting the trays backward. Once the trays are transported to the end, the hydraulic push rod 4 is energized, causing the tray 401 to rise and fall. This, combined with the first pallet 304 being driven by a torsion spring to rotate elastically, places the numerous trays loaded with parts onto the work platform 3 in an orderly fashion from bottom to top. Then, the robotic arm 104 starts gripping the parts from the trays on the work platform 3 from top to bottom. During the gripping process, the first pneumatic suction cup 602 contacts the surface of the parts, using the negative pressure created by the airflow to suction them. The suction cup 602 is securely connected to the component. Simultaneously, the second pneumatic push rod 608 is energized and starts to control the second pneumatic suction cup 607 on the fourth support plate 606 to approach the tray. The negative pressure suction formed by the airflow in the second pneumatic suction cup 607 achieves a secure connection between the second pneumatic suction cup 607 and the tray. Under the movement of the robot arm 104, the component, along with its outer tray, is transferred to the second support plate 504. Then, the second pneumatic push rod 608 controls the fourth support plate 606 to drive the second pneumatic suction cup 607 to reset. The second pneumatic suction cup 607 separates from the tray and releases its grip on the tray. The first pneumatic suction cup 602 maintains its grip on the component. The robot arm 104 continues to move, and the empty tray remains on the second support plate 504. The component is then gripped and processed.

[0060] After processing, the robot arm 104 places the parts into the tray controlled at the top of the second pallet 504. As the processed parts are placed in, the second servo motor 505 drives the second pallet 504 to lower the tray by one level, providing a place for the empty trays to be placed later. 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 belt 202, so that the trays originally stacked on the second pallet 504 are transferred to the belt 202. Then, the first servo motor 204 controls the belt 202 to rotate in the opposite direction, and in conjunction with the reverse rotation of the external electric conveyor belt, the processed parts are rotated out.

[0061] If the part shifts during the process of the robot arm 104 grasping the part, the part's posture can be corrected by the cooperation of the square slot 801 with the first electric push rod 802 and the second electric push rod 804. When the robot arm 104 drives the air knife 603 toward the cutting tool of the processing equipment, the air knife 603 can blow out a high-speed airflow to clean the cutting tool, and the first pneumatic suction cup 602 can suck up the airflow to collect the debris and impurities that have been cleaned.

[0062] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An automatic loading and unloading device, comprising a base (1), characterized in that: A face frame (101) is fixedly installed on the upper front of the base (1). A chassis (103) is fixedly installed on the back of the base (1), and a robot arm (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 symmetrical conveyor frames (2). Conveyor wheels (201) are rotatably installed at the front and rear ends of the conveyor frames (2). A ring belt (202) is connected to the outer side of the two symmetrical conveyor wheels (201) for common transmission. A first servo motor (204) is fixedly installed inside the base (1). A working platform (3) is installed above the end of the conveyor frame (2), and a window (301) is opened in the middle 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). A bearing seat (303) is fixedly installed in the annular groove (302). A first support plate (304) is rotatably connected to the bearing seat (303). A torsion spring is installed at the rotatable connection between the first support plate (304) and the bearing seat (303). A lifting mechanism located below the window (301) is fixedly installed in the base (1). A lifting and unloading mechanism located above the front end of the conveyor frame (2) is installed in the base (1). The lifting mechanism includes a hydraulic push rod (4) that is vertically fixed in the base (1), and a horizontally set tray (401) is fixedly installed on the top of the telescopic end above the hydraulic push rod (4). The tray (401) is located below the middle position of the window (301). The lifting and unloading mechanism includes symmetrically erected slides (5) inside the front end of the base (1). Each slide (5) has rotatably mounted sprockets (501) at both the upper and lower ends. The outer sides of the two symmetrical sprockets (501) are connected to a chain (502) for transmission. Each slide (5) is slidably connected to a sliding table (503) for lifting and lowering. A second support plate (504) extending horizontally towards the middle of the base (1) is fixed on the sliding table (503). The second support plate (504) is fixedly connected to one side of the corresponding chain (502). A second drive shaft (506) is fixedly installed inside the base (1). A secondary positioning mechanism is installed on the upper back of the face frame (101), and the secondary positioning mechanism includes a positioning platform (8) horizontally fixed on the upper back of the face frame (101), and a square groove (801) is provided 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 horizontally 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 vertically 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).

2. The automatic loading and unloading equipment according to claim 1, characterized in that: Each of the conveyor frames (2) is rotatably equipped with a plurality of longitudinally distributed support wheels (203), and the outer dimensions of the support wheels (203) are adapted to the inner dimensions of the ring belt (202).

3. The automatic loading and unloading equipment according to claim 1, characterized in that: A first transmission shaft (205) is coaxially fixed between the two rear conveyor wheels (201), and one of the conveyor wheels (201) is connected to the drive shaft of the first servo motor (204). The two lower sprockets (501) are located below the belt (202), and a second transmission shaft (506) is coaxially fixed between the two lower sprockets (501), and the second transmission shaft (506) is connected to the drive shaft of the second servo motor (505).

4. The automatic loading and unloading equipment according to claim 1, characterized in that: The end of the robotic arm (104) is connected to a first support plate (6) and a second support plate (601) arranged parallel to the bottom of the first support plate (6). Multiple evenly distributed first pneumatic suction cups (602) are fixedly installed on the bottom of the second support plate (601), and an air knife (603) is installed in the middle of the bottom of the second support plate (601).

5. The automatic loading and unloading equipment according to claim 4, characterized in that: A third support plate (604) is provided below the second support plate (601) and parallel to it. The third support plate (604) has through holes that correspond to and are adapted to a plurality of first pneumatic suction cups (602). The air knife (603) is fixedly installed on the third support plate (604). A first pneumatic push rod (605) is fixedly installed on the first support plate (6), and the telescopic end of the first pneumatic push rod (605) is fixedly connected to the third support plate (604).

6. The automatic loading and unloading equipment according to claim 5, characterized in that: The second support plate (601) is fitted with a fourth support plate (606) on its outer side, and a plurality of evenly distributed second pneumatic suction cups (607) are fixedly installed on the bottom of the fourth support plate (606). A second pneumatic push rod (608) is fixedly installed on the first support plate (6), and the telescopic end of the second pneumatic push rod (608) is fixedly connected to the fourth support plate (606).

7. The automatic loading and unloading equipment according to claim 6, characterized in that: A vacuum generator is fixedly mounted on the first support plate (6), and the vacuum generator includes a vacuum generator body (7) fixedly connected to the first support plate (6). A first channel (701) is opened at one end of the vacuum generator body (7), and a second channel (702) is opened at the other end of the vacuum generator body (7). A chamber (703) is opened in the vacuum generator body (7) connecting the first channel (701) and the second channel (702), and the chamber (703) is fixedly mounted on the first support plate (6). A nozzle (704) is connected to the first channel (701). The nozzle (704) points into the second channel (702). The vacuum generator body (7) has a third channel (705) connected to the inner end wall of the chamber (703). 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 connected to a dust collection box, and the air outlet of the dust collection box is connected to the air knife (603). A filter element is installed at the air outlet.

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