Automatic feeding and discharging device

Abstract

The invention belongs to the field of material conveying, and particularly relates to an automatic feeding and discharging device which comprises a positioning jig, a feeding mechanism and a discharging mechanism. An insertion groove and an information code are arranged on the detection jig; a non-defective product groove is formed in the first material disc; a defective product groove is formed in the second material disc; the conveying mechanism sequentially comprises an inflow end, a discharging section, a feeding section and an outflow end; the recognition mechanism corresponds to the position of the discharging section; a discharging grabbing mechanism; and a feeding grabbing mechanism. According to the automatic feeding and discharging mechanism, through the arrangement of the mechanisms, automatic feeding of the materials and parts and automatic classified discharging of the materials and parts can be completed in the process that the materials and parts are detected through external detection equipment, the use requirement can be better met, the detection efficiency can be greatly improved, and the production requirement can be better met.

Description

Technical Field

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

[0002] After the production and processing of memory sticks and other strip-shaped materials are completed, they need to be tested. For the testing of the materials, it can be known that the testing includes the following processes:

[0003] Loading stage: insert multiple parts one by one and install them on the tray;

[0004] Testing stage: the tray is sent to the testing equipment for testing;

[0005] Unloading stage: unloading the material tray after inspection, and sorting the materials on the tray to sort and store defective and good products;

[0006] In the above-mentioned whole process, the loading and unloading stages cannot be fully automated in the prior art, thus affecting the detection efficiency of the whole detection process. However, with the current pursuit of production and processing efficiency, the low detection efficiency can no longer meet production needs. Summary of the invention

[0007] In order to solve the above problems, the purpose of the present invention is to provide an automatic loading and unloading device, which can automatically load and unload materials, greatly improve the detection efficiency, and better meet production needs.

[0008] In order to achieve the above object, the technical solution of the present invention is.

[0009] An automatic loading and unloading device, characterized in that it comprises:

[0010] A positioning jig, wherein the positioning jig is provided with a placement groove for horizontally carrying a material piece to position the material piece;

[0011] A detection jig, wherein the detection jig is provided with an insertion slot for vertically inserting a material piece and an information code corresponding to the insertion slot;

[0012] A first material tray, wherein the first material tray is provided with a good product slot for horizontally carrying materials;

[0013] A second material tray, wherein the second material tray is provided with a defective product slot for horizontally carrying the material pieces;

[0014] A transmission mechanism for transmitting the inspection jig, the transmission mechanism sequentially comprising an inflow end for the inspection jig to flow into the external inspection equipment for inspection, a material unloading section for unloading the inspection jig, a material loading section for loading the inspection jig, and an outflow end for the jig to be inspected to flow out to the external inspection equipment;

[0015] An identification mechanism for identifying the information code of the detection fixture at the unloading section, wherein the identification mechanism corresponds to the position of the unloading section;

[0016] A material unloading grabbing mechanism used to insert the inspection jig into the slot at the unloading section, pull out the material and place it horizontally in the good product slot or the bad product slot;

[0017] A material loading and grabbing mechanism is used to grab the material in the placement slot and insert it into the insertion slot on the detection fixture at the unloading section.

[0018] In the device, the specific operation includes a loading process and a unloading process; in the loading process, the material is horizontally loaded through the placement slot of the positioning fixture to position and place the material, and the material in the placement slot is grabbed out by the loading grabbing mechanism and vertically inserted into the insertion slot of the detection fixture located at the loading section, and finally directly transported to the external detection device through the loading section of the transmission mechanism for detection by the external detection device; in the unloading process, the detection device can be directly connected by the unloading section to receive the detection fixture that has been detected by the external detection device First, the information code on the detection fixture is identified by the identification mechanism to obtain the detection result of the material on the detection fixture, and then the material inserted in the slot is pulled out by the unloading grasping mechanism to classify the material into the good product slot of the first material tray or the defective product slot of the second material tray according to the detection result; through the setting of the above mechanism, the material can be automatically loaded and the material can be automatically classified and unloaded during the inspection process of the material by the external detection equipment, which can better meet the use requirements, greatly improve the detection efficiency, and better meet the production needs.

[0019] Furthermore, the device also includes two locking mechanisms for respectively locking or loosening the detection jigs at the loading section and the unloading section, one locking mechanism corresponding to the loading section, and the other locking mechanism corresponding to the unloading section.

[0020] Furthermore, the transmission mechanism includes two transmission belts, the two transmission belts are arranged in parallel, and the locking mechanism is arranged between the two transmission belts.

[0021] Furthermore, the locking mechanism includes a first locking assembly for locking the front and rear sides of the detection fixture and a lifting assembly for controlling the lifting of the first locking assembly.

[0022] Furthermore, the lifting assembly includes a lifting cylinder, the first locking assembly includes a locking platform, a fixed claw for holding the rear side of the fixture, a first movable claw for holding the front side of the detection fixture, and a first movable claw cylinder for driving the first movable claw to move, the lifting cylinder is drivingly connected to the locking platform, the fixed claw is fixedly set on the rear side of the locking platform, the first movable claw cylinder is fixedly set on the front side of the locking platform, and the first movable claw cylinder is drivingly connected to the first movable claw.

[0023] Furthermore, the locking mechanism also includes a second locking component 53 for locking the left side or the right side or both sides of the detection fixture, and the second locking components are respectively arranged on the outside of the transmission belt.

[0024] Furthermore, the second locking assembly includes a second movable claw cylinder and a second movable claw for abutting against the left side or the right side of the detection fixture.

[0025] Furthermore, the device also includes a third material tray, on which a material waiting trough is provided for horizontally carrying the material pieces to be further confirmed, and the material waiting trough corresponds to the material unloading grabbing mechanism.

[0026] Furthermore, the device also includes:

[0027] A first material storage mechanism for stacking and storing empty first material trays, wherein the first material storage mechanism corresponds to the material unloading and grabbing mechanism;

[0028] A second material storage mechanism for stacking and storing first material trays loaded with materials;

[0029] A first material grabbing mechanism is used to grab a first material tray loaded with materials at a first material storage mechanism and move it to a second material storage mechanism.

[0030] Furthermore, the device also includes:

[0031] A third material storage mechanism for stacking and storing the first material trays loaded with materials;

[0032] a fourth storage mechanism for stacking and storing empty first trays;

[0033] A second material grabbing mechanism for grabbing the material on the first material tray of the third material storage mechanism to the placement slot, and grabbing the empty first material tray of the third material storage mechanism to the fourth material storage mechanism;

[0034] And the second material storage mechanism, the first material storage mechanism, the fourth material storage mechanism and the third material storage mechanism are arranged in a row.

[0035] Furthermore, the first material storage mechanism and the third material storage mechanism both include:

[0036] A first material storage and conveying assembly for conveying a first material tray in a first direction, wherein one end of the first material storage and conveying assembly is provided with a material tray placement end for placing the first material tray;

[0037] A second material storage and conveying assembly for conveying the first material tray conveyed by the first material storage and conveying assembly in a second direction, wherein one end of the second material storage and conveying assembly is connected to the other end of the first material storage and conveying assembly, and a material tray loading and unloading end is formed at the other end of the second material storage and conveying assembly;

[0038] A tray locking assembly is used to lock and fix the first tray at the upper and lower ends of the tray, and the tray locking assembly corresponds to the position of the upper and lower ends of the tray.

[0039] Furthermore, the device also includes a frame, and the second material tray, transmission mechanism, identification mechanism, and material unloading grabbing mechanism are all arranged on the frame, and a material tray opening is arranged on the upper side of the frame, and the first material storage and conveying assembly and the second material storage and conveying assembly are both arranged in the frame, and the material tray placement end extends out from the side of the frame to protrude outwardly, and the material tray upper and lower ends extend out of the material tray opening, and the material tray locking assembly is fixedly arranged on the side of the material tray opening.

[0040] Furthermore, there are multiple tray locking assemblies, and at least two tray locking assemblies are respectively arranged on two opposite sides of the tray opening to respectively tighten or loosen the opposite sides of the first tray at the upper and lower ends of the tray.

[0041] Furthermore, at least four tray locking assemblies are respectively arranged at the four sides of the tray opening to respectively tighten or loosen the four opposite sides of the first tray at the upper and lower ends of the tray.

[0042] Furthermore, the tray locking assembly includes a tray locking cylinder and a locking pressure block. The tray locking cylinder is fixed at the side of the tray mouth. The tray locking cylinder is driven and connected to the locking pressure block to drive the locking pressure block to tighten or loosen the side of the first tray at the upper and lower ends of the tray.

[0043] Furthermore, the device also includes a first camera mechanism for photographing the posture of the material being fed by the feeding and grabbing mechanism, and a second camera mechanism for photographing the insertion groove on the inspection jig located at the feeding section or the insertion status of the material in the insertion groove;

[0044] The first camera mechanism includes a first camera, and the first camera corresponds to the position of the feeding and grabbing mechanism;

[0045] The second camera mechanism includes a second camera and a camera two-axis motion assembly for controlling the second camera to move in the XY axis directions. The second camera is arranged on the camera two-axis motion assembly to correspond to the position of the loading section.

[0046] Furthermore, at least one locking block of the tray locking assembly is provided with an upper supporting portion corresponding to the upper and lower ends of the first tray.

[0047] Furthermore, side baffles are provided on both sides of the first material storage and conveying assembly, a material storage cavity is formed between the first material storage and conveying assembly and the side baffles on both sides thereof, and the second material storage and conveying assembly is located in the material storage cavity.

[0048] Furthermore, the first material storage conveying assembly includes two groups of transverse transmission belts and at least one transverse drive motor, the two groups of transverse transmission belts are arranged in parallel in the frame, at least one transverse drive motor is drivingly connected to the two groups of transverse transmission belts, two groups of side baffles are respectively arranged on the sides of the two groups of transverse transmission belts, and one end of the second material storage conveying assembly extends between the two groups of transverse transmission belts.

[0049] Furthermore, the second material storage and conveying assembly includes a lifting plate and a lifting drive member, and the lifting drive member is drivingly connected to the lifting plate to drive the lifting plate to move back and forth between the two sets of transverse transmission belts and the material tray mouth.

[0050] Furthermore, a position sensor for identifying whether the first material tray is delivered in place is provided at the other end of the first material storage and conveying assembly;

[0051] A posture sensor for identifying whether the posture of the first material tray is correct is provided at the other end of the first material storage and conveying assembly;

[0052] A material return sensor for identifying whether the first material tray has been returned to the correct position is provided at the tray placement end;

[0053] A loading sensor for identifying whether there is a tray at the first tray loading section is provided at the corresponding loading port of the frame.

[0054] Furthermore, the positioning fixture includes:

[0055] A fixture body, wherein the placement groove is arranged on the fixture body;

[0056] A first pressing component for pressing the material into the placement groove, wherein the first pressing component is movably arranged on the fixture body, and the first pressing component corresponds to the placement groove;

[0057] A first clamping drive assembly is used to drive the first clamping assembly to move, wherein the first clamping drive assembly is fixedly disposed on the fixture body, and the first clamping drive assembly is drivingly connected to the first clamping assembly.

[0058] Furthermore, grabbing avoidance grooves for avoiding the feeding grabbing mechanism are provided on the left and right sides of the placement groove.

[0059] Furthermore, the positioning fixture also includes a second clamping component for pressing the material into the placement slot and a second clamping drive component for driving the second clamping component to move; the first clamping component is movably arranged on the left or right side of the placement slot, and the second clamping component is movably arranged on the front or rear side of the placement slot, and the second clamping drive component is fixed on the fixture body and is drivingly connected to the second clamping component.

[0060] Furthermore, the positioning fixture also includes a first linkage member, the first clamping assembly includes two first clamping members, the two first clamping members are both fixed on the first linkage member, and the first clamping drive assembly is drivingly connected to the first linkage member.

[0061] Furthermore, first clamping movable grooves penetrating the jig body are provided on both sides of the left or right grabbing and avoiding grooves of the placement groove, and the two first clamping movable grooves are connected to the placement groove; the placement groove is located on one side of the jig body, the first linkage part is located on the other side of the jig body, and the two first clamping parts are respectively movably arranged in the two first clamping movable grooves.

[0062] Furthermore, the first clamping drive assembly includes a first fixing frame and a first clamping cylinder, the first fixing frame is fixed to the other side of the fixture body, the first clamping cylinder is fixed to the first fixing frame, and the first clamping cylinder is drivingly connected to the first linkage member.

[0063] Furthermore, a second clamping movable groove penetrating the fixture body is arranged on the front side or the rear side of the placement groove, the second clamping movable groove is connected to the placement groove, and the second clamping assembly is movably arranged in the second clamping movable groove.

[0064] Furthermore, the positioning fixture also includes a second linkage, and the second clamping drive assembly includes a second fixed frame and a second clamping cylinder; the placement slot is located on one side of the fixture body, the second fixed frame, the second clamping cylinder, and the second linkage are located on the other side of the fixture body, the second clamping assembly passes through the second clamping movable slot to be fixed on the second linkage, the second fixed frame is fixedly arranged on the other side of the fixture body, the second clamping cylinder is fixed on the second fixed frame, and the second clamping cylinder is drivingly connected to the second linkage.

[0065] Furthermore, there are multiple placement slots, first clamping assemblies, and second clamping assemblies; multiple first clamping assemblies are movably arranged at the left side or right side of the placement slots, and multiple second clamping assemblies are movably arranged at the front side or rear side of the placement slots; the first clamping drive assembly is drivingly connected to the multiple first clamping assemblies, and the second clamping drive assembly is drivingly connected to the multiple second clamping assemblies.

[0066] Furthermore, the unloading grabbing mechanism and the loading grabbing mechanism both include a multi-axis robotic arm, a connector, a clamp body and a plurality of clamp assemblies, the connector is fixed to the clamp body, the side of the clamp body is surrounded by a plurality of support bodies, the plurality of clamp assemblies are respectively arranged on the plurality of support bodies to surround the connector, and the end of the connector away from the clamp body is connected to the multi-axis robotic arm.

[0067] Furthermore, the connecting body is arranged at the axial direction of the clamping jaw body and is perpendicular to the clamping jaw body.

[0068] Furthermore, an end of the support body away from the clamp body is provided with an inclined surface inclined relative to the axial direction of the support body, and the clamp assembly is arranged on the inclined surface.

[0069] Furthermore, the clamping jaw assembly includes a connecting seat and a third clamping jaw cylinder. One side of the connecting seat is fixed to the inclined surface, one side of the third clamping jaw cylinder is arranged at the other side of the connecting seat, and the other side of the third clamping jaw cylinder is provided with a clamping port for clamping the material.

[0070] Furthermore, a slide rail slider structure is provided at the other side of the connecting seat, the third clamping jaw cylinder is movably provided on the slide rail slider structure, a supporting piece is also provided at the end of the connecting seat, and a pressure sensor is provided between the supporting piece and the third clamping jaw cylinder.

[0071] Furthermore, anti-dropout parts for preventing the material from falling out are arranged on both sides of the clamping opening.

[0072] In the present invention, the beneficial effect of the present invention is that when working, it includes a loading process and a unloading process; in the loading process, the placement slot of the positioning fixture is horizontally loaded with materials to position and place the materials, and the materials in the placement slot are grabbed out by the loading grabbing mechanism and vertically inserted into the insertion slot of the detection fixture located at the loading section, and finally directly transported to the external detection device through the loading section of the transmission mechanism for detection by the external detection device; in the unloading process, the detection device can be directly connected by the unloading section to receive the detection fixture that has been detected by the external detection device, and firstly the identification mechanism is used to identify the materials. Identify the information code on the detection fixture to obtain the detection result of the material on the detection fixture, and then pull out the material inserted in the slot through the unloading grabbing mechanism, so as to classify the material into the good product slot of the first material tray or the defective product slot of the second material tray according to its detection result, and the empty detection fixture with the pulled out material can continue to be transported to the loading section for loading; through the setting of the above-mentioned mechanism, the automatic loading of the material can be completed during the inspection process of the material by the external detection equipment, and the classification and unloading of the material can be automatically completed, which can better meet the use requirements, can greatly improve the detection efficiency, and can better meet the production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 It is a structural schematic diagram of the present invention.

[0074] Figure 2 It is a structural diagram of the locking mechanism.

[0075] Figure 3 It is a structural schematic diagram of the first material storage mechanism and part of the frame.

[0076] Figure 4 It is a structural schematic diagram of the first material storage mechanism.

[0077] Figure 5 It is a structural schematic diagram of the second material storage and conveying component and the material tray locking component.

[0078] Figure 6 It is a schematic diagram of the structure of the second camera mechanism.

[0079] Figure 7 It is a structural diagram of the first material grabbing mechanism.

[0080] Figure 8 It is a structural schematic diagram of the second material grabbing mechanism.

[0081] Fig. 9 It is a structural diagram of the positioning fixture from the first perspective.

[0082] Fig.10 It is a structural diagram of the positioning fixture from the second perspective.

[0083] Fig.11 It is a structural schematic diagram of the positioning fixture hiding the fixture body.

[0084] Fig.12 It is a structural diagram of the material feeding and grabbing mechanism.

[0085] Fig.13 It is a schematic diagram of the structure of the multi-axis robotic arm hidden in the material removal and grabbing mechanism.

[0086] 11. Positioning fixture; 111. Placement slot; 1111. Grasping avoidance slot; 1112. First clamping movable slot; 1113. Second clamping movable slot; 112. Fixture body; 113. First clamping assembly; 1131. First clamping member; 114. First clamping drive assembly; 1141. First fixing frame; 1142. First clamping cylinder; 115. Second clamping assembly; 1151. Second clamping member; 116. Second clamping drive assembly; 1161. Second fixing frame; 1162. Second clamping cylinder; 117. First linkage member; 118. Second linkage member; 12. Inspection fixture; 121. Insertion slot; 13. First material tray; 131. Good product slot; 14. Second material tray; 141. Bad product slot; 15. Third material tray; 151. Waiting slot;

[0087] 2. Transmission mechanism; 21. Inflow end; 22. Unloading section; 23. Loading section; 24. Outflow end; 25. Transmission belt;

[0088] 3. Identification mechanism; 31. First barcode scanner;

[0089] 41. Unloading and grabbing mechanism; 411. Multi-axis robot arm; 412. Connector; 413. Gripper body; 414. Gripper assembly; 4141. Connecting seat; 4142. Third gripper cylinder; 4143. Gripping port; 4144. Slide rail and slider structure; 4145. Abutment; 4146. Pressure sensor; 4147. Anti-slip part; 415. Support body; 4151. Inclined surface; 42. Unloading and grabbing mechanism;

[0090] 5. Locking mechanism; 51. First locking assembly; 511. Locking platform; 512. Fixed claw; 513. First movable claw; 514. First movable claw cylinder; 52. Lifting assembly; 521. Lifting cylinder; 53. Second locking assembly; 531. Second movable claw cylinder; 532. Second movable claw;

[0091] 61. First material storage mechanism; 611. First material storage conveying assembly; 6111. Material tray placement end; 6112. Transverse transmission belt; 6113. Transverse drive motor; 612. Second material storage conveying assembly; 6121. Material tray loading and unloading end; 6122. Lifting plate; 6123. Lifting drive member; 613. Material tray locking assembly; 6131. ​​Material tray locking cylinder; 6132. Locking block; 6133. Upper supporting part; 614. Side baffle; 615. Material storage chamber; 62. Second material storage mechanism; 63. Third material storage mechanism; 64. Fourth material storage mechanism;

[0092] 71, first material grabbing mechanism; 711, first grabbing two-axis motion assembly; 712, first material tray grabbing assembly; 7121, first vacuum suction cup; 72, second material grabbing mechanism; 721, second grabbing two-axis motion assembly; 722, second material grabbing assembly; 7221, second gripper cylinder; 723, second material tray grabbing assembly; 7231, second vacuum suction cup;

[0093] 81. first camera mechanism; 811. first camera; 82. second camera mechanism; 821. second camera; 822. camera two-axis motion assembly; 823. second barcode scanner;

[0094] 9. Frame; 91. Material tray. DETAILED DESCRIPTION

[0095] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0096] See also Figure 1-13 This embodiment provides an automatic loading and unloading device, comprising:

[0097] A positioning fixture 11, wherein the positioning fixture 11 is provided with a placement groove 111 for horizontally carrying a material to position the material;

[0098] A detection jig 12, wherein the detection jig 12 is provided with an insertion slot 121 for vertically inserting a material piece and an information code corresponding to the insertion slot 121;

[0099] A first material tray 13, on which a good product slot 131 for horizontally carrying materials is provided;

[0100] A second material tray 14, on which a defective product slot 141 for horizontally carrying materials is provided;

[0101] A transmission mechanism 2 for transmitting the detection jig 12, the transmission mechanism 2 sequentially includes an inflow end 21 for flowing into the detection jig 12 for detection by an external detection device, a material unloading section 22 for unloading the material of the detection jig 12, a material loading section 23 for loading the material of the detection jig 12, and an outflow end 24 for flowing out the jig 12 to be detected to the external detection device;

[0102] An identification mechanism 3 for identifying the information code of the detection fixture 12 at the blanking section 22, wherein the identification mechanism 3 corresponds to the position of the blanking section 22;

[0103] A material unloading grasping mechanism 41 for pulling out the material in the insertion slot 121 of the inspection jig 12 at the unloading section 22 and placing it horizontally in the good product slot 131 or the bad product slot 141;

[0104] The loading and grabbing mechanism 42 is used to grab the material in the placement groove 111 and insert it into the insertion groove 121 on the detection fixture 12 at the unloading section 22.

[0105] Specifically, the identification mechanism 3 includes a first code scanner 31, and the information code is a QR code or a bar code.

[0106] See also Figure 1 , 2In this embodiment, the device further includes two locking mechanisms 5 for respectively locking or releasing the detection jig 12 at the loading section 23 and the unloading section 22, one locking mechanism 5 corresponding to the loading section 23, and the other locking mechanism 5 corresponding to the unloading section 22. The two locking mechanisms 5 are provided to ensure the accuracy and stability of the position of the detection jig 12 located at the loading section 23 when the loading section 23 is loading, and to ensure the accuracy and stability of the position of the detection jig 12 located at the unloading section 22 when the unloading section 22 is unloading.

[0107] In this embodiment, the transmission mechanism 2 includes two transmission belts 25, the two transmission belts 25 are arranged in parallel, and the locking mechanism 5 is arranged between the two transmission belts 25. Specifically, the transmission belt 25 is an existing transmission belt 25 structure, and is specifically driven by a motor.

[0108] In this embodiment, the locking mechanism 5 includes a first locking assembly 51 for locking the front and rear sides of the detection fixture 12 and a lifting assembly 52 for controlling the lifting of the first locking assembly 51 .

[0109] In this embodiment, the lifting assembly 52 includes a lifting cylinder 521, the first locking assembly 51 includes a locking platform 511, a fixed claw 512 for holding the rear side of the fixture, a first movable claw 513 for holding the front side of the detection fixture 12, and a first movable claw cylinder 514 for driving the first movable claw 513 to move, the lifting cylinder 521 is drivingly connected to the locking platform 511, the fixed claw 512 is fixedly set on the rear side of the locking platform 511, the first movable claw cylinder 514 is fixedly set on the front side of the locking platform 511, and the first movable claw cylinder 514 is drivingly connected to the first movable claw 513. The locking platform 511 can be driven to rise and fall by the lifting cylinder 521. When the detection fixture 12 passes through the corresponding position of the loading section 23 or the unloading section 22, the lifting cylinder 521 drives the locking platform 511 to rise to support the detection fixture 12, and drives the first movable claw 513 by the first movable claw cylinder 514, so that the first movable claw 513 and the fixed claw 512 are respectively clamped on the front and rear sides of the detection fixture 12 to fix the position of the detection fixture 12.

[0110] In this embodiment, the locking mechanism 5 further includes a second locking assembly 5353 for locking the left side or the right side or both sides of the detection fixture 12, and the second locking assembly 53 is respectively arranged on the outside of the transmission belt 25; the outside here refers to the side where the two transmission belts 25 are separated from each other. Specifically, it can be preferred that there are two sets of second locking assemblies 5353, which are respectively used to lock the left and right sides of the detection fixture 12.

[0111] In this embodiment, the second locking assembly 53 includes a second movable claw cylinder 531 and a second movable claw 532 for abutting against the left side or the right side of the detection fixture 12 .

[0112] See also Figure 1 In this embodiment, the device further includes a third material tray 15, on which a material waiting slot 151 for horizontally carrying materials to be further confirmed is provided, and the material waiting slot 151 corresponds to the material unloading and grabbing mechanism 41. For the external detection equipment, when it is testing, there may be a situation where the test result is unclear. In this case, the corresponding material can be placed in the material waiting slot 151 of the third material tray 15 for further testing.

[0113] See also Figure 1 , 3 -5. In this embodiment, the device further includes:

[0114] A first material storage mechanism 61 for stacking and storing empty first material trays 13, wherein the first material storage mechanism 61 corresponds to the material unloading and grabbing mechanism 41;

[0115] A second material storage mechanism 62 for stacking and storing the first material tray 13 loaded with materials;

[0116] A first material grabbing mechanism 71 for grabbing the first material tray 13 loaded with materials at the first material storage mechanism 61 to the second material storage mechanism 62;

[0117] A third material storage mechanism 63 for stacking and storing the first material tray 13 loaded with materials;

[0118] A fourth storage mechanism 64 for stacking and storing empty first trays 13;

[0119] A second material grabbing mechanism 72 for grabbing the material pieces on the first material tray 13 of the third material storage mechanism 63 to the placement slot 111, and grabbing the empty first material tray 13 at the third material storage mechanism 63 to the fourth material storage mechanism 64;

[0120] The second material storage mechanism 62 , the first material storage mechanism 61 , the fourth material storage mechanism 64 , and the third material storage mechanism 63 are arranged in a row.

[0121] Specifically, in the unloading stage: a plurality of empty first material trays 13 are stacked and stored by the first material storage mechanism 61, and the material unloading grasping mechanism 41 grasps the material pieces detected as good products and places them in the good product slot 131 of the first material tray 13 at the top of the first material storage mechanism 61, and when the first material tray 13 at the top of the first material storage mechanism 61 is full of materials, the full first material tray 13 is grasped by the material tray grasping mechanism and placed in the second material storage mechanism 62 for stacking and storage; it can be known that after all the first material trays 13 in the first material storage mechanism 61 are grasped, a stack of empty first material trays 13 is replenished manually or by other means, and when the stacked first material trays 13 in the second material storage mechanism 62 reach a certain number, they can be taken out manually or by other means;

[0122] In the loading stage: a plurality of trays filled with materials can be stacked and stored by the third storage mechanism 63, and the materials on the uppermost tray of the third storage mechanism 63 are grabbed and placed in the placement slot 111 by the storage grabbing mechanism, and after the materials on the uppermost tray of the third storage mechanism 63 are grabbed, the empty tray is grabbed and placed in the fourth storage mechanism 64 for stacking and storage by the storage grabbing mechanism; it can be known that after all the materials on the trays in the third storage mechanism 63 are grabbed, a stack of trays filled with materials is replenished manually or by other means, and when the stacked trays in the fourth storage mechanism 64 reach a certain number, they can be taken out manually or by other means;

[0123] In this embodiment, the first material storage mechanism 61 and the third material storage mechanism 63 both include:

[0124] A first material storage and conveying assembly 611 for conveying the first material tray 13 in a first direction, wherein one end of the first material storage and conveying assembly 611 is provided with a material tray placement end 6111 for placing the first material tray 13;

[0125] A second material storage and conveying assembly 612 for conveying the first material tray 13 conveyed by the first material storage and conveying assembly 611 in a second direction, one end of the second material storage and conveying assembly 612 is connected to the other end of the first material storage and conveying assembly 611, and a material tray loading and unloading end 6121 is formed at the other end of the second material storage and conveying assembly 612;

[0126] The tray locking assembly 613 is used to lock and fix the first tray 13 at the upper and lower feeding ends 6121 of the tray, and the tray locking assembly 613 corresponds to the position of the upper and lower feeding ends 6121 of the tray.

[0127] Specifically, for the first material storage mechanism 61, a plurality of empty first material trays 13 can be stacked and placed at the material tray placement end 6111, and the first material storage conveying assembly 611 conveys the stacked first material trays 13 in a first direction. When conveyed to the other end of the first material storage conveying assembly 611, the second material storage conveying assembly 612 continues to convey the stacked first material trays 13 in the second direction. When the first material tray 13 located at the top is lifted to the material tray loading and unloading end 6121, the material tray locking assembly 613 locks the first material tray 13 to ensure the accuracy of the position of the first material tray 13 located at the material tray loading and unloading end 6121. Based on the locking of the material tray locking assembly 613, when the material unloading grasping mechanism 41 grasps the material parts detected as good products and places them on the first material tray 13, it is not easy to cause the position of the material tray to deviate, so as to ensure the stability of the position of the material tray.

[0128] For the third storage mechanism 63, a plurality of trays containing materials to be detected can be stacked and placed at the tray placement end 6111, and the stacked trays are transported in the first direction by the first storage and conveying assembly 611. When transported to the other end of the first storage and conveying assembly 611, the stacked trays are continued to be transported in the second direction by the second conveying assembly. When the tray located at the top is lifted to the tray upper material section 23, the tray locking assembly 613 locks the tray to ensure the accuracy of the position of the tray located at the tray upper material section 23. Based on the locking of the tray locking assembly 613, when the storage grabbing mechanism grabs the materials at the tray, it is not easy to cause the tray position to deviate, so as to ensure the stability of the tray position. The trays on the third storage mechanism 63 and the fourth storage mechanism 64 are substantially equivalent to the first trays on the first storage mechanism 61 and the second storage mechanism 62, and the only difference is that the materials carried are the materials before detection and the qualified materials after detection, respectively.

[0129] In this embodiment, the device further includes a frame 9, the second material tray 14, the transmission mechanism 2, the identification mechanism 3, and the material unloading and grabbing mechanism 41 are all arranged on the frame 9, the upper side of the frame 9 is provided with a material tray opening 91, the first material storage and conveying assembly 611 and the second material storage and conveying assembly 612 are both arranged in the frame 9, the material tray placement end 6111 extends out of the side of the frame 9 to protrude outward, the material tray loading and unloading end 6121 extends out of the material tray opening 91, and the material tray locking assembly 613 is fixedly arranged at the side of the material tray opening 91. Specifically, the side here may refer to the left side or the right side or the rear side or the front side.

[0130] In this embodiment, there are multiple tray locking assemblies 613, and at least two tray locking assemblies 613 are respectively arranged on the opposite sides of the tray opening 91 to respectively tighten or loosen the opposite sides of the first tray 13 located at the upper and lower ends 6121 of the tray.

[0131] In this embodiment, at least four tray locking assemblies 613 are respectively disposed at four sides of the tray opening 91 to respectively tighten or loosen four opposite sides of the first tray 13 at the upper and lower ends 6121 of the tray.

[0132] In this embodiment, the tray locking assembly 613 includes a tray locking cylinder 6131 and a locking pressure block 6132. The second movable claw cylinder 531 is fixed to the side of the tray mouth 91. The second movable claw cylinder 531 is driven and connected to the locking pressure block 6132 to drive the locking pressure block 6132 to tighten or loosen the side of the first tray 13 located at the upper and lower ends 6121 of the tray.

[0133] In this embodiment, a locking pressure block 6132 of at least one of the tray locking assemblies 613 is provided with an upper supporting portion 6133 for corresponding to the upper and lower ends 6121 of the tray.

[0134] In this embodiment, side baffles 614 are provided on both sides of the first material storage and conveying component 611 , a material storage cavity 615 is formed between the first material storage and conveying component 611 and the side baffles 614 on both sides thereof, and the second material storage and conveying component 612 is located in the material storage cavity 615 .

[0135] In this embodiment, the first material storage conveying assembly 611 includes two groups of transverse transmission belts 6112 and at least one transverse driving motor 6113, the two groups of transverse transmission belts 6112 are arranged in parallel in the frame 9, at least one transverse driving motor 6113 is drivingly connected to the two groups of transverse transmission belts 6112, two groups of side baffles 614 are respectively arranged on the sides of the two groups of transverse transmission belts 6112, and one end of the second material storage conveying assembly 612 extends between the two groups of transverse transmission belts 6112.

[0136] In this embodiment, the second material storage conveying assembly 612 includes a lifting plate 6122 and a lifting drive 6123, and the lifting drive 6123 is drivingly connected to the lifting plate 6122 to drive the lifting plate 6122 to go back and forth between the two groups of transverse transmission belts 6112 and the material tray opening 91. The lifting drive 6123 can be a linear motor, the lower end of the linear motor extends between the two groups of transverse transmission belts 6112, and the upper end extends out of the material tray opening 91, so as to drive the lifting plate 6122 to go back and forth between the two groups of transverse transmission belts 6112 and the material tray opening 91. In other embodiments of the present application, the lifting drive 6123 can also be other existing drive structures, such as a motor screw drive structure.

[0137] Specifically, in the present embodiment, the structures of the second material storage mechanism 62 and the fourth material storage mechanism 64 are equivalent to those of the first material storage mechanism 61 and the third material storage mechanism 63; it can be understood that, in other embodiments, the structures of the second material storage mechanism 62 and the fourth material storage mechanism 64 may also be substantially equivalent to the first material storage mechanism 61 and the third material storage mechanism 63 without the material tray locking assembly 613.

[0138] In this embodiment, a sensor for identifying whether the first material tray is delivered to the right position is provided at the other end of the first material storage and conveying component 611;

[0139] A posture sensor for identifying whether the posture of the first material tray is correct is provided at the other end of the first material storage and conveying component 611; it can be known that there is a notch design at a corner on the first material tray 13, and the notch design can be identified by the posture sensor to identify whether the position of the first material tray 13 is correct.

[0140] The tray placement end 6111 is provided with a material return sensor for identifying whether the first tray has been returned to the correct position;

[0141] The frame 9 is provided with a feeding sensor corresponding to the feeding port for identifying whether there is a feeding tray at the first feeding tray feeding section 23 .

[0142] See also Figure 1 , 7 8. In this embodiment, the first material grabbing mechanism 71 includes a first grabbing two-axis motion component 711 that moves in the Y and Z directions, and a first material tray grabbing component 712 for grabbing the first material tray 13. The first material tray grabbing component 712 is arranged on the first grabbing two-axis motion component 711, and is driven to move in the Y and Z directions by the first grabbing two-axis motion component 711. The first grabbing two-axis motion component 712 is a prior art, and its movement in the Y-axis direction is realized by a structure such as a motor screw rod, and its movement in the Z-axis direction is realized by a structure such as a cylinder, so as to drive the first material tray grabbing component 712 to move in the Y and Z directions.

[0143] In this embodiment, the first material tray grabbing assembly 712 includes a plurality of first vacuum suction cups 7121 .

[0144] In this embodiment, the second material grabbing mechanism 72 includes a second grabbing two-axis motion component 721 that moves in the Y and Z directions, a second material grabbing component 722 for grabbing materials, and a second material tray grabbing component 723 for grabbing the second material tray 14. The second material tray grabbing component 723 and the second material grabbing component 722 are both arranged on the second grabbing two-axis motion component 721, and are driven to move in the Y and Z directions by the second grabbing two-axis motion component 721. The second grabbing two-axis motion component 721 is a prior art, such as realizing its movement in the Y-axis direction through structures such as motor screws, and realizing its movement in the Z-axis direction through structures such as cylinders, so as to drive the second material tray grabbing component 723 and the second material grabbing component 722 to move in the Y and Z directions.

[0145] In this embodiment, the second material tray grabbing assembly 723 includes a plurality of second vacuum suction cups 7231 .

[0146] In this embodiment, the second material grabbing assembly 722 includes a second clamping cylinder 7221 .

[0147] See also Figure 1 , 6 In this embodiment, the device further includes a first camera mechanism 81 for photographing the posture of the material being fed by the feeding gripping mechanism 42, and a second camera mechanism 82 for photographing the insertion slot 121 on the detection jig 12 located at the feeding section 23 or the insertion status of the material in the insertion slot 121;

[0148] The first camera mechanism 81 includes a first camera 811, and the first camera 811 corresponds to the position of the feeding and grabbing mechanism 42;

[0149] The second camera mechanism 82 includes a second camera 821 and a camera two-axis motion assembly 822 for controlling the second camera 821 to move in the XY axis directions. The second camera 821 is arranged on the camera two-axis motion assembly 822 to correspond to the position of the loading section 23 .

[0150] Specifically, a second barcode scanner 823 may be provided on the camera two-axis motion assembly 822. When the camera two-axis motion assembly 822 drives the second camera 821 to move, the second barcode scanner 823 may also be driven to move synchronously. The camera two-axis motion assembly 822 is a prior art, and a driving structure such as two sets of motor screws is used to drive the second barcode scanner 823 and the second camera 821 to move in the XY axis direction.

[0151] See also Figure 1 , 9 -11, in this embodiment, the positioning fixture 11 includes:

[0152] A fixture body 112, wherein the placement groove 111 is disposed on the fixture body 112;

[0153] A first pressing component 113 for pressing the material into the placement groove 111, wherein the first pressing component 113 is movably disposed on the fixture body 112, and the first pressing component 113 corresponds to the placement groove 111;

[0154] The first pressing driving assembly 114 is used to drive the first pressing assembly 113 to move, and the first pressing driving assembly 114 is fixedly disposed on the fixture body 112, and the first pressing driving assembly 114 is drivingly connected to the first pressing assembly 113. Specifically, after the material is placed in the placement groove 111, the first pressing driving assembly 114 drives the first pressing assembly 113 to press and position the material in the placement groove 111.

[0155] In this embodiment, the left and right sides of the placement slot 111 are further provided with grabbing avoidance slots 1111 for avoiding the loading grabbing mechanism 42. When the loading grabbing mechanism 42 moves to the placement slot 111 to grab the material, the grabbing avoidance slots 1111 can effectively avoid interference.

[0156] In this embodiment, the positioning fixture 11 further includes a second clamping assembly 115 for clamping the material into the placement slot 111 and a second clamping driving assembly 116 for driving the second clamping assembly 115 to move; the first clamping assembly 113 is movably arranged at the left or right side of the placement slot 111, the second clamping assembly 115 is movably arranged at the front or rear side of the placement slot 111, and the second clamping driving assembly 116 is fixed to the fixture body 112 and is drivingly connected to the second clamping assembly 115. While the clamping assembly is driven by the first clamping driving assembly 114, the second clamping driving assembly 116 is used to drive the second clamping assembly 115 to press on the adjacent two sides of the material, respectively, so that the position of the material in the placement slot 111 is more accurate and stable.

[0157] In this embodiment, the positioning fixture 11 further includes a first linkage 117, the first clamping assembly 113 includes two first clamping members 1131, the two first clamping members 1131 are both fixed to the first linkage 117, and the first clamping drive assembly 114 is drivingly connected to the first linkage 117. The first clamping drive assembly 114 drives the first linkage 117 to drive the two first clamping members 1131 of the first clamping assembly 113 to move synchronously through the first linkage 117 to be clamped on the material.

[0158] In this embodiment, first clamping movable grooves 1112 penetrating the jig body 112 are provided on both sides of the left side or right side grabbing and avoiding grooves 1111 of the placement groove 111, and the two first clamping movable grooves 1112 are connected to the placement groove 111; the placement groove 111 is located on one side of the jig body 112, the first linkage member 117 is located on the other side of the jig body 112, and the two first clamping members 1131 are respectively movably arranged in the two first clamping movable grooves 1112.

[0159] In this embodiment, the first clamping drive assembly 114 includes a first fixing frame 1141 and a first clamping cylinder 1142. The first fixing frame 1141 is fixed to the other side of the fixture body 112. The first clamping cylinder 1142 is fixed to the first fixing frame 1141, and the first clamping cylinder 1142 is drivingly connected to the first linkage 117. The first clamping cylinder 1142 pushes the first linkage 117 to drive the two first clamping members 1131 of the first clamping assembly 113 on the first linkage 117 to move synchronously to be clamped on the material.

[0160] In this embodiment, a second clamping movable groove 1113 penetrating the fixture body 112 is provided on the front or rear side of the placement groove 111 , the second clamping movable groove 1113 is connected to the placement groove 111 , and the second clamping assembly 115 is movably disposed in the second clamping movable groove 1113 .

[0161] In this embodiment, the positioning fixture 11 also includes a second linkage 118, and the second clamping drive assembly 116 includes a second fixed frame 1161 and a second clamping cylinder 1162; the placement slot 111 is located on one side of the fixture body 112, and the second fixed frame 1161, the second clamping cylinder 1162, and the second linkage 118 are located on the other side of the fixture body 112, and the second clamping assembly 115 passes through the second clamping movable slot 1113 to be fixed on the second linkage 118, and the second fixed frame 1161 is fixedly arranged on the other side of the fixture body 112, and the second clamping cylinder 1162 is fixed on the second fixed frame 1161, and the second clamping cylinder 1162 is drivingly connected to the second linkage 118. The second clamping cylinder 1162 pushes the second linkage 118 to drive the second clamping assembly 115 located on the second linkage 118 to move synchronously to be clamped on the material. Specifically, the second clamping assembly 115 includes a second clamping member 1151, which is "L"-shaped. The second clamping member 1151, driven by the second linkage member 118, can be driven by the second clamping cylinder 1162 to clamp on the front or rear side of the material.

[0162] In this embodiment, there are multiple placement slots 111, first clamping assemblies 113, and second clamping assemblies 115; multiple first clamping assemblies 113 are movably arranged at the left side or right side of the multiple placement slots 111, and multiple second clamping assemblies 115 are movably arranged at the front side or rear side of the multiple placement slots 111; the first clamping drive assembly 114 is drivingly connected to the multiple first clamping assemblies 113, and the second clamping drive assembly 116 is drivingly connected to the multiple second clamping assemblies 115. It can be known that multiple first clamping assemblies 113 are all fixed on the first linkage 117, and multiple second clamping assemblies 115 are all fixed on the second linkage 118; when the first clamping cylinder 1142 pushes the first linkage 117, the first linkage 117 drives multiple groups of first clamping assemblies 113 (each group of first clamping assemblies 113 is two first clamping members 1131) to move synchronously, so as to be respectively pressed on the left side or right side of the material; at the same time, when the second clamping cylinder 1162 pushes the second linkage 118, the second linkage 118 drives multiple groups of second clamping assemblies 115 to move synchronously, so as to be respectively pressed on the front side or the rear side of the material.

[0163] See also Figure 1 , 12 13. In this embodiment, the unloading grasping mechanism 41 and the loading grasping mechanism 42 both include a multi-axis mechanical arm 411, a connecting body 412, a clamping jaw body 413 and a plurality of clamping jaw assemblies 414. The connecting body 412 is fixed to the clamping jaw body 413. The side of the clamping jaw body 413 is surrounded by a plurality of supporting bodies 415. The plurality of clamping jaw assemblies 414 are respectively arranged on the plurality of supporting bodies 415 to surround the connecting body 412. One end of the connecting body 412 away from the clamping jaw body 413 is connected to the multi-axis mechanical arm 411. The multi-axis mechanical arm 411 can drive the clamping jaw body 413 through the connecting body 412, and then clamp the material through the plurality of clamping jaw assemblies 414 surrounding the side of the clamping jaw body 413 in turn, so as to meet the requirements of grasping materials with different spacings, and has better applicability. Specifically, the multi-axis mechanical arm 411 can be a six-axis mechanical arm.

[0164] In this embodiment, the connecting body 412 is disposed at the axial direction of the clamping jaw body 413 and is perpendicular to the clamping jaw body 413 .

[0165] In this embodiment, an end of the support body 415 away from the clamp body 413 is provided with an inclined surface 4151 that is inclined relative to the axial direction of the support body 415, and the clamp assembly 414 is provided on the inclined surface 4151. The setting of the inclined surface 4151 can prevent other clamp bodies 413 from interfering with the material insertion process when the clamp assembly 414 needs to insert the material it grasps into the insertion slot 121.

[0166] In this embodiment, the clamping jaw assembly 414 includes a connecting seat 4141 and a third clamping jaw cylinder 4142. One side of the connecting seat 4141 is fixed to the inclined surface 4151, and one side of the third clamping jaw cylinder 4142 is arranged at the other side of the connecting seat 4141. The other side of the third clamping jaw cylinder 4142 is provided with a clamping port 4143 for clamping the material.

[0167] In this embodiment, a slide rail slider structure 4144 is provided at the other side of the connecting seat 4141, and the third clamping jaw cylinder 4142 is movably provided on the slide rail slider structure 4144. A supporting member 4145 is also provided at the end of the connecting seat 4141, and a pressure sensor 4146 is provided between the supporting member 4145 and the third clamping jaw cylinder 4142.

[0168] In this embodiment, anti-dropout portions 4147 for preventing the material from dropping out are provided on both sides of the clamping opening 4143 .

[0169] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic loading and unloading device, characterized in that: include: A positioning jig, wherein the positioning jig is provided with a placement groove for carrying a material to position the material; A detection jig, wherein the detection jig is provided with an insertion slot for inserting a material and an information code corresponding to the insertion slot; A first material tray, wherein the first material tray is provided with a good product slot for carrying materials; A second material tray, wherein the second material tray is provided with a defective product slot for carrying the material parts; A transmission mechanism for transmitting the inspection jig, the transmission mechanism sequentially comprising an inflow end for the inspection jig to flow into the external inspection equipment for inspection, a material unloading section for unloading the material on the inspection jig, a material loading section for loading the material on the inspection jig, and an outflow end for the jig to be inspected to flow out to the external inspection equipment; An identification mechanism for identifying the information code of the detection fixture at the unloading section, wherein the identification mechanism corresponds to the position of the unloading section; A material unloading grabbing mechanism used to insert the inspection jig into the slot at the unloading section, pull out the material and place it in the good product slot or the bad product slot; A material loading and grabbing mechanism is used to grab the material in the placement slot and insert it into the insertion slot on the detection fixture at the unloading section.

2. The automatic loading and unloading device according to claim 1, characterized in that: The device also includes two locking mechanisms for respectively locking or loosening the detection jigs at the loading section and the unloading section, one locking mechanism corresponding to the loading section, and the other locking mechanism corresponding to the unloading section.

3. The automatic loading and unloading device according to claim 2, characterized in that: The transmission mechanism comprises two transmission belts, the two transmission belts are arranged in parallel, and the locking mechanism is arranged between the two transmission belts; The locking mechanism comprises a first locking assembly for locking the front and rear sides of the detection fixture and a lifting assembly for controlling the lifting of the first locking assembly; The lifting assembly includes a lifting cylinder, the first locking assembly includes a locking platform, a fixed claw for holding the rear side of the fixture, a first movable claw for holding the front side of the detection fixture, and a first movable claw cylinder for driving the first movable claw to move, the lifting cylinder is drivingly connected to the locking platform, the fixed claw is fixedly arranged at the rear side of the locking platform, the first movable claw cylinder is fixedly arranged at the front side of the locking platform, and the first movable claw cylinder is drivingly connected to the first movable claw; The locking mechanism further includes a second locking assembly 53 for locking the left side or the right side or both sides of the detection fixture, and the second locking assembly is arranged on the outside of the transmission belt; The second locking assembly includes a second movable claw cylinder and a second movable claw for abutting against the left side or the right side of the detection fixture.

4. The automatic loading and unloading device according to claim 1, characterized in that: The device also includes a third material tray, on which a material waiting trough is provided for horizontally carrying materials to be further confirmed, and the material waiting trough corresponds to the material unloading grasping mechanism.

5. The automatic loading and unloading device according to claim 1, characterized in that: The device also includes: A first material storage mechanism for stacking and storing empty first material trays, wherein the first material storage mechanism corresponds to the material unloading and grabbing mechanism; A second material storage mechanism for stacking and storing first material trays loaded with materials; A first material grabbing mechanism for grabbing a first material tray loaded with materials at a first material storage mechanism and moving it to a second material storage mechanism; A third material storage mechanism for stacking and storing the first material trays loaded with materials; a fourth storage mechanism for stacking and storing empty first trays; A second material grabbing mechanism for grabbing the material on the first material tray of the third material storage mechanism to the placement slot, and grabbing the empty first material tray of the third material storage mechanism to the fourth material storage mechanism; And the second material storage mechanism, the first material storage mechanism, the fourth material storage mechanism and the third material storage mechanism are arranged in a row.

6. The automatic loading and unloading device according to claim 5, characterized in that: The first material storage mechanism and the third material storage mechanism both include: A first material storage and conveying assembly for conveying a first material tray in a first direction, wherein one end of the first material storage and conveying assembly is provided with a material tray placement end for placing the first material tray; A second material storage and conveying assembly for conveying the first material tray conveyed by the first material storage and conveying assembly in a second direction, wherein one end of the second material storage and conveying assembly is connected to the other end of the first material storage and conveying assembly, and a material tray loading and unloading end is formed at the other end of the second material storage and conveying assembly; A tray locking assembly for locking and fixing the first tray at the upper and lower ends of the tray, wherein the tray locking assembly corresponds to the position of the upper and lower ends of the tray; The device also includes a frame, the second material tray, the transmission mechanism, the identification mechanism, and the material unloading and grabbing mechanism are all arranged on the frame, the upper side of the frame is provided with a material tray opening, the first material storage and conveying assembly and the second material storage and conveying assembly are both arranged in the frame, the material tray placement end extends out of the side of the frame to protrude outward, the material tray upper and lower ends extend out of the material tray opening, and the material tray locking assembly is fixedly arranged at the side of the material tray opening; There are multiple material tray locking assemblies, and at least four material tray locking assemblies are respectively arranged at the four sides of the material tray opening to respectively press or loosen the four opposite sides of the first material tray at the upper and lower ends of the material tray; The tray locking assembly includes a tray locking cylinder and a locking pressure block. The tray locking cylinder is fixed at the side of the tray mouth. The tray locking cylinder is driven and connected to the locking pressure block to drive the locking pressure block to tighten or loosen the side of the first tray at the upper and lower ends of the tray.

7. The automatic loading and unloading device according to claim 6, characterized in that: The other end of the first material storage and conveying assembly is provided with a position sensor for identifying whether the first material tray is conveyed to the position; A posture sensor for identifying whether the posture of the first material tray is correct is provided at the other end of the first material storage and conveying assembly; A material return sensor for identifying whether the first material tray has been returned to the correct position is provided at the tray placement end; A loading sensor for identifying whether there is a tray at the first tray loading section is provided at the corresponding loading port of the frame.

8. The automatic loading and unloading device according to claim 1, characterized in that: The device also includes a first camera mechanism for photographing the posture of the material being fed by the feeding and grabbing mechanism, and a second camera mechanism for photographing the insertion slot on the inspection jig at the feeding section or the insertion status of the material in the insertion slot; The first camera mechanism includes a first camera, and the first camera corresponds to the position of the feeding and grabbing mechanism; The second camera mechanism includes a second camera and a camera two-axis motion assembly for controlling the second camera to move in the XY axis directions. The second camera is arranged on the camera two-axis motion assembly to correspond to the position of the loading section.

9. The automatic loading and unloading device according to claim 1, characterized in that: The positioning fixture includes: A fixture body, wherein the placement groove is arranged on the fixture body; A first pressing component for pressing the material into the placement groove, wherein the first pressing component is movably arranged on the fixture body, and the first pressing component corresponds to the placement groove; A first clamping drive assembly for driving the first clamping assembly to move, wherein the first clamping drive assembly is fixedly disposed on the fixture body and is drivingly connected to the first clamping assembly; The left and right sides of the placement groove are also provided with grabbing avoidance grooves for avoiding the loading grabbing mechanism; The positioning fixture further includes a second clamping assembly for clamping the material into the placement slot and a second clamping driving assembly for driving the second clamping assembly to move; the first clamping assembly is movably arranged at the left side or right side of the placement slot, the second clamping assembly is movably arranged at the front side or rear side of the placement slot, and the second clamping driving assembly is fixed to the fixture body and is drivingly connected to the second clamping assembly; The positioning fixture further includes a first linkage member, the first clamping assembly includes two first clamping members, the two first clamping members are both fixed on the first linkage member, and the first clamping drive assembly is drivingly connected to the first linkage member; First clamping movable grooves penetrating the fixture body are provided on both sides of the grabbing and avoiding groove on the left or right side of the placement groove, and the two first clamping movable grooves are connected to the placement groove; the placement groove is located on one side of the fixture body, the first linkage member is located on the other side of the fixture body, and the two first clamping members are movably arranged in the two first clamping movable grooves respectively; The first clamping drive assembly includes a first fixing frame and a first clamping cylinder, the first fixing frame is fixed to the other side of the fixture body, the first clamping cylinder is fixed to the first fixing frame, and the first clamping cylinder is drivingly connected to the first linkage member; A second clamping movable groove penetrating the fixture body is provided at the front side or the rear side of the placement groove, the second clamping movable groove is connected to the placement groove, and the second clamping assembly is movably arranged in the second clamping movable groove; The positioning fixture also includes a second linkage member, and the second clamping drive assembly includes a second fixing frame and a second clamping cylinder; the placement slot is located on one side of the fixture body, the second fixing frame, the second clamping cylinder, and the second linkage member are located on the other side of the fixture body, the second clamping assembly passes through the second clamping movable slot to be fixed on the second linkage member, the second fixing frame is fixedly arranged on the other side of the fixture body, the second clamping cylinder is fixed on the second fixing frame, and the second clamping cylinder is drivingly connected to the second linkage member; There are multiple placement slots, first clamping assemblies, and second clamping assemblies; the multiple first clamping assemblies are movably arranged at the left side or right side of the multiple placement slots, and the multiple second clamping assemblies are movably arranged at the front side or rear side of the multiple placement slots; the first clamping drive assembly is drivingly connected to the multiple first clamping assemblies, and the second clamping drive assembly is drivingly connected to the multiple second clamping assemblies.

10. The automatic loading and unloading device according to claim 1, characterized in that: The unloading and loading gripping mechanisms both include a multi-axis mechanical arm, a connecting body, a clamping jaw body, and a plurality of clamping jaw assemblies. The connecting body is fixed to the clamping jaw body. The side of the clamping jaw body is surrounded by a plurality of supporting bodies. The plurality of clamping jaw assemblies are respectively arranged on the plurality of supporting bodies to surround the connecting body. One end of the connecting body away from the clamping jaw body is connected to the multi-axis mechanical arm. The connecting body is arranged at the axial position of the clamp body and is perpendicular to the clamp body; An end of the support body away from the clamp body is provided with an inclined surface inclined relative to the axial direction of the support body, and the clamp assembly is arranged on the inclined surface; The clamping jaw assembly includes a connecting seat and a third clamping jaw cylinder, wherein one side of the connecting seat is fixed to the inclined surface, one side of the third clamping jaw cylinder is arranged at the other side of the connecting seat, and a clamping opening for clamping a material is arranged at the other side of the third clamping jaw cylinder; A slide rail and slider structure is arranged at the other side of the connecting seat, the third clamping jaw cylinder is movably arranged on the slide rail and slider structure, an abutment is also arranged at the end of the connecting seat, and a pressure sensor is arranged between the abutment and the third clamping jaw cylinder; Anti-dropout parts for preventing the material from dropping out are arranged on both sides of the clamping opening.

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