Automatic material loading and unloading equipment

Abstract

The invention discloses automatic material loading and unloading equipment, which relates to the technical field of loading and unloading, and comprises a rack, a mounting seat is mounted at the top of the rack through a driving unit, the driving unit is used for driving the mounting seat to translate on the rack, a driving cylinder is mounted at the top of the mounting seat, and the output end of the driving cylinder is in transmission connection with a suction cup grabbing plate; the guide assembly is installed between the installation base and the suction cup grabbing plate, the limiting frame is arranged outside the suction cup grabbing plate, the linkage assembly is arranged at the top of the suction cup grabbing plate, and the linkage assembly adjusts the position of the limiting frame through friction force generated by movement of the guide assembly. By means of the cooperative use mode of the suction cup grabbing plate, the guide assembly, the limiting frame and the linkage assembly, when the suction cup grabbing plate descends to grab materials, the guide assembly can enable the limiting frame to be unfolded through the linkage assembly, and when the suction cup grabbing plate drives the materials to ascend, the guide assembly can enable the limiting frame to be closed through the linkage assembly; and materials at the bottom of the suction cup grabbing plate are protected from falling off.

Description

Technical Field

[0001] The present invention relates to the field of loading and unloading equipment, and particularly to an automatic material loading and unloading equipment. Background Art

[0002] Automatic material loading and unloading technology refers to a series of technologies and methods adopted for the loading, unloading, transfer, and handling of materials during the production and manufacturing process, aiming to improve production efficiency, reduce manual intervention, and optimize material flow. This technology is particularly applicable to automated production lines, and can effectively support the continuity and stability of the production process, thereby improving production efficiency, reducing labor costs, and optimizing the production line.

[0003] When loading and unloading materials on the production line, usually a suction cup gripper is used to adsorb and pick up the materials, and then a lifting mechanism is used to drive the suction cup gripper and the materials to move upward. Then, through a translation guide rail mechanism, the suction cup gripper and the materials are translated to the unloading area or the loading area. The lifting mechanism drives the suction cup gripper and the materials to descend, and the suction cup gripper releases the materials. And in order to improve the accuracy of material loading and unloading, a vision recognition and positioning system is usually equipped to assist the suction cup gripper in loading and unloading materials.

[0004] Since the suction cup gripper picks up and holds the materials by adsorption, and the lifting mechanism that drives the suction cup gripper to move up and down usually uses a cylinder for driving, and the suction cup gripper is located at the bottom of the translation guide rail mechanism, so that the translation guide rail mechanism will not affect the suction cup gripper's adsorption and picking up of materials. In this way, there will be a certain height difference between the suction cup gripper and the translation guide rail mechanism. Therefore, when the translation guide rail mechanism drives the suction cup gripper to translate, especially when the translation guide rail mechanism starts and stops moving, under the action of inertia, the suction cup gripper and the materials will shake to a certain extent. And when there is dust at the connection between the material and the suction cup, it will also affect the stability of the suction cup gripper in picking up materials, resulting in the materials falling from the bottom of the suction cup gripper, which will not only cause the materials to fall and be damaged, but also pose a certain safety hazard.

[0005] Therefore, an automatic material loading and unloading equipment is proposed to solve or alleviate the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide an automatic material loading and unloading equipment to solve the problems raised in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solution: an automatic material loading and unloading equipment, comprising:

[0008] A frame;

[0009] A mounting seat and a driving unit, the mounting seat is installed on the top of the frame through the driving unit, and the driving unit is used to drive the mounting seat to translate on the frame;

[0010] A driving cylinder, wherein the driving cylinder is mounted on the top of the mounting seat;

[0011] A suction cup grab plate, the output end of the driving cylinder is transmission-connected to the suction cup grab plate, and the suction cup grab plate is used to take up the adsorbed material;

[0012] A guide assembly, wherein the guide assembly is installed between the mounting seat and the suction cup gripping plate;

[0013] A limit frame, which is arranged outside the suction cup gripping plate and is used to prevent the suction cup gripping plate from dropping the adsorbed material;

[0014] A linkage component is arranged on the top of the suction cup gripping plate, and the linkage component adjusts the position of the limit frame through the friction force generated by the movement of the guide component.

[0015] Preferably, the linkage component comprises:

[0016] A fixed shell, the fixed shell is fixedly mounted on the top of the suction cup gripping plate, and a notch corresponding to the limit frame is opened on one side of the fixed shell;

[0017] An installation shaft, the installation shaft is rotatably installed inside the fixed housing, and the outer wall of the installation shaft is fixedly connected to the limiting frame;

[0018] An installation shell, wherein the installation shell is fixedly connected to the top of the fixed shell;

[0019] A transmission assembly, which is arranged inside the mounting housing, and is linked with the guide assembly, and is used to drive the mounting shaft to rotate;

[0020] A locking assembly is arranged inside the mounting shell and is used to lock the transmission assembly.

[0021] Preferably, the transmission assembly comprises:

[0022] A connecting gear, wherein the connecting gear is fixedly mounted on the outside of the mounting shaft;

[0023] A transmission plate, the transmission plate being slidably disposed inside the mounting housing;

[0024] A latch plate, the latch plate is fixedly connected to the bottom of the transmission plate, a mounting hole matching the latch plate is provided between the mounting housing and the fixed housing, and the latch plate is meshedly connected with the connecting gear;

[0025] A connecting plate is slidably arranged on the top of the inner cavity of the mounting shell, and the top of the connecting plate is connected to the guide assembly.

[0026] Preferably, the transmission assembly further includes:

[0027] A connecting member, which is fixedly connected to the bottom of the connecting plate;

[0028] A fixing plate and a shaft rod, the end of the shaft rod is fixedly connected to the fixing plate, and the outer wall of one of the shaft rods is rotatably connected to the connecting member;

[0029] A sliding hole, which is obliquely formed on the front surface of the transmission plate, and the outer wall of the other shaft rod is slidably sleeved in the inner cavity of the sliding hole, and the other shaft rod forms a linkage with the locking assembly.

[0030] Preferably, the transmission assembly further includes:

[0031] A fixing rod, which is fixedly installed inside the installation housing, and the outer wall of the fixing rod is slidably inserted through the connecting plate;

[0032] A support spring, which is slidably sleeved on the outside of the fixing rod, and the support spring is located at the bottom of the connecting plate.

[0033] Preferably, the locking assembly includes:

[0034] A locking rod, and a through hole corresponding to the locking rod is formed at the bottom of one side of the transmission plate;

[0035] A locking groove, which is formed at the bottom of the inner wall of the installation housing, and the locking rod is clamped with the locking groove for clamping and locking the transmission plate;

[0036] A driving plate, the bottom of the driving plate is fixedly connected to the locking rod, a slotted opening corresponding to the driving plate is formed on the side of the transmission plate, and the driving plate is located on one side of the shaft rod;

[0037] A fixed collar, which is fixedly sleeved inside the through hole;

[0038] A limiting block, which is fixedly connected to the end of the locking rod;

[0039] A return spring, which is sleeved on the outside of the locking rod, and the return spring is located between the limiting block and the fixed collar.

[0040] Preferably, the guiding assembly includes:

[0041] A guiding sleeve, the bottom of the outer wall of the guiding sleeve is fixedly sleeved with the mounting base;

[0042] A guiding rod, the outer wall of the guiding rod is slidably sleeved with the guiding sleeve, and the bottom of the guiding rod is fixedly connected to the connecting plate;

[0043] Assembly plate, and an assembly hole corresponding to the assembly plate is formed on the side of the guiding sleeve;

[0044] Rubber sheet, the rubber sheet is fixedly connected to one side of the assembly plate, and one side of the rubber sheet is in pressing fit with the guiding rod.

[0045] Preferably, the guiding assembly further includes:

[0046] Limit housing, the limit housing is clamped on the side of the guiding sleeve, and the limit housing is sleeved outside the assembly plate;

[0047] Top cover, the top cover is arranged on the top of the limit housing;

[0048] Elastic member, the elastic member is arranged inside the limit housing, the elastic member acts on the assembly plate with an elastic force towards the guiding rod, and the elastic member is also used for clamping and limiting the top cover.

[0049] Preferably, the guiding assembly further includes:

[0050] Second positioning plate, the second positioning plate is fixedly connected to the inside of the limit housing;

[0051] First positioning plate, one end of the first positioning plate is fixedly connected to the guiding sleeve, and the first positioning plate is slidably clamped between adjacent second positioning plates;

[0052] Inserting rod, the top of the inserting rod is fixedly connected to the top cover, and the outer wall of the inserting rod is slidably inserted and sleeved with the first positioning plate and the second positioning plate.

[0053] Preferably, the elastic member includes:

[0054] Straight plate portion, one side of the straight plate portion is in contact with the assembly plate;

[0055] Bending portion, the bending portion is connected to one side of the straight plate portion, and the bending portion is used for storing elastic potential energy;

[0056] Side plate portion, one side of the side plate portion is fixedly connected to the bending portion, and one side of the side plate portion is in pressing contact with the inner wall of the limit housing;

[0057] Arc block, the arc block is connected to one side of the side plate portion, and an arc-shaped groove matching the arc block is formed at the other end of the first positioning plate;

[0058] Inclined guiding portion, the inclined guiding portion is connected to the bottom of the straight plate portion.

[0059] The technical effects and advantages of the present invention:

[0060] (1) The present invention utilizes the cooperative use mode of a suction cup gripper plate, a guiding component, a limiting frame, and a linkage component. When the suction cup gripper plate descends to grasp materials, the guiding component can cause the limiting frame to unfold through the linkage component, avoiding affecting the suction cup gripper plate from grasping materials. When the suction cup gripper plate drives the materials to rise, the guiding component can cause the limiting frame to close through the linkage component, thereby providing anti-drop protection for the materials at the bottom of the suction cup gripper plate;

[0061] (2) The present invention utilizes the setting mode of the guiding component. The guiding component includes a guiding sleeve, a guiding rod, an assembly plate, a rubber sheet, a limiting outer shell, and an elastic member. Under the action of the elastic member, there is a certain frictional force between the rubber sheet and the guiding rod, so that the guiding rod can not only guide the up and down movement of the suction cup gripper plate, but also drive the linkage component to change the working state of the limiting plate by the frictional force of the up and down movement of the guiding rod;

[0062] (3) The present invention utilizes the cooperative use mode of the linkage component. The linkage component includes a fixed housing, a mounting shaft, a mounting housing, a transmission component, and a locking component. When the guiding rod drives the limiting frame to close through the transmission component, the transmission component can also drive the locking component to lock the limiting frame, thereby avoiding the automatic opening of the limiting frame when the goods drop and impact the limiting frame, and thus ensuring the stability of the anti-falling protection of the limiting frame for the goods. Description of the Drawings

[0063] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0064] Figure 2 is a schematic diagram of the overall structure of the mounting seat of the present invention;

[0065] Figure 3 is a schematic diagram of the overall structure of the suction cup gripper plate of the present invention;

[0066] Figure 4 is a schematic diagram of the internal structure of the side of the fixed housing of the present invention;

[0067] Figure 5 is a schematic diagram of the internal structure of the front of the mounting housing of the present invention;

[0068] Figure 6 is a schematic diagram of the overall structure of the shaft rod of the present invention;

[0069] Figure 7 is a schematic diagram of the overall structure of the guiding sleeve of the present invention;

[0070] Figure 8 is a schematic diagram of the internal structure of the front of the guiding sleeve of the present invention;

[0071] Figure 9 is a schematic diagram of the internal structure of the top view of the guiding sleeve of the present invention;

[0072] Figure 10 One of the overall structural schematic diagrams of the elastic member of the present invention;

[0073] Figure 11 Another overall structural schematic diagram of the elastic member of the present invention;

[0074] Figure 12 Internal structural schematic diagram of the front side of the limit housing of the present invention.

[0075] In the figure: 1, frame; 2, mounting seat; 3, driving unit; 4, driving cylinder; 5, suction cup gripper plate; 6, guiding assembly; 61, guiding sleeve; 62, guiding rod; 63, assembling plate; 64, rubber sheet; 65, limit housing; 66, elastic member; 661, straight plate portion; 662, bending portion; 663, side plate portion; 664, arc block; 665, inclined guiding portion; 67, top cover; 68, first positioning plate; 69, second positioning plate; 610, inserting rod; 7, limit frame; 8, linkage assembly; 81, fixed housing; 82, mounting shaft; 83, mounting housing; 84, transmission assembly; 841, connecting gear; 842, transmission plate; 843, toothed plate; 844, connecting plate; 845, connecting member; 846, fixing plate; 847, shaft rod; 848, sliding hole; 849, fixing rod; 8410, supporting spring; 85, locking assembly; 851, locking rod; 852, through hole; 853, locking groove; 854, fixed collar; 855, limit block; 856, return spring; 857, driving plate. Specific embodiments

[0076] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0077] The present invention provides as Figures 1-12The material automatic loading and unloading equipment shown in the figure includes a frame 1, a mounting base 2, a driving unit 3, a driving cylinder 4, a suction cup grab plate 5, a guide assembly 6, a limit frame 7 and a linkage assembly 8. The mounting base 2 is installed on the top of the frame 1 through the driving unit 3. The driving unit 3 is used to drive the mounting base 2 to translate on the frame 1. The driving unit 3 is composed of a motor, a gear and a card rack. The motor transmission gear moves on the card rack, so that the mounting base 2 can move on the frame 1. The driving cylinder 4 is installed on the top of the mounting base 2. The output end of the driving cylinder 4 is connected to the suction cup grab plate 5. The suction cup grab plate 5 is used to pick up the adsorbed material. The suction cup grab plate 5 is composed of a plurality of suction cups installed on a plate, and the suction cup is provided with an adsorption power source by a vacuum generator, and the vacuum generator, the driving cylinder 4 and the suction cup grab plate 5 are connected to the suction cup grab plate 5. The moving unit 3 and the driving cylinder 4 are both controlled and operated by an external controller, and a friction monitoring system is recorded inside the controller. The guide component 6 is installed between the mounting base 2 and the suction cup grab plate 5, and the limit frame 7 is arranged on the outside of the suction cup grab plate 5. The limit frame 7 is used to prevent the suction cup grab plate 5 from picking up and adsorbing the material to prevent it from falling. The linkage component 8 is arranged on the top of the suction cup grab plate 5. The linkage component 8 adjusts the position of the limit frame 7 through the friction force generated by the movement of the guide component 6, so that when the suction cup grab plate 5 descends to grab the material, the two limit frames 7 rotate to an open state to prevent the limit frames 7 from affecting the suction cup grab plate 5 to grab the material. When the suction cup grab plate 5 drives the material, the two limit frames 7 are in a closed state, thereby preventing the material at the bottom of the suction cup grab plate 5 from falling.

[0078] In particular, the linkage assembly 8 includes a fixed housing 81, a mounting shaft 82, a mounting housing 83, a transmission assembly 84 and a locking assembly 85. The fixed housing 81 is fixedly mounted on the top of the suction cup gripping plate 5. A notch corresponding to the limit frame 7 is opened on one side of the fixed housing 81, and the limit frame 7 is in a C shape, with a plate-like bottom and a bent rod-like upper part, such as Figure 3 As shown, the mounting shaft 82 is rotatably mounted inside the fixed shell 81, the outer wall of the mounting shaft 82 is fixedly connected to the limit frame 7, the mounting shell 83 is fixedly connected to the top of the fixed shell 81, the transmission assembly 84 is arranged inside the mounting shell 83, the transmission assembly 84 and the guide assembly 6 form a linkage, the transmission assembly 84 is used to drive the mounting shaft 82 to rotate, so that the transmission assembly 84 drives the mounting shaft 82 to rotate, and the limit frame 7 can be rotated, the locking assembly 85 is arranged inside the mounting shell 83, the locking assembly 85 is used to lock the transmission assembly 84, and then lock the closed limit frame 7, so as to ensure the stability of the limit frame 7 when it is closed to protect the material from falling.

[0079] Specifically, the transmission assembly 84 includes a connecting gear 841, a transmission plate 842, a toothed plate 843, and a connecting plate 844. The connecting gear 841 is fixedly installed outside the mounting shaft 82. The transmission plate 842 is slidably arranged inside the mounting housing 83. The toothed plate 843 is fixedly connected to the bottom of the transmission plate 842. An installation hole matching the toothed plate 843 is formed between the mounting housing 83 and the fixed housing 81. The installation hole can guide the connection of the toothed plate 843, and further guide the transmission plate 842, ensuring the stability of the transmission plate 842 sliding inside the mounting housing 83. The toothed plate 843 is meshed with the connecting gear 841. Thus, when the transmission plate 842 drives the toothed plate 843 to descend, the toothed plate 843 can drive the mounting shaft 82 to rotate through the connecting gear 841. And when the transmission plate 842 drives the toothed plate 843 to descend to the lowest position, the mounting shaft 82 drives the limit frame 7 to be in a closed state. When the transmission plate 842 drives the toothed plate 843 to rise to the highest position, the angle of rotation of the mounting shaft 82 driving the limit frame 7 is greater than sixty degrees, so as to ensure that the bottom of the limit frame 7 is higher than the bottom of the suction cup gripper plate 5, avoiding the limit frame 7 affecting the suction cup gripper plate 5 from grasping materials. The connecting plate 844 is slidably arranged at the top of the inner cavity of the mounting housing 83, and the top of the connecting plate 844 is connected to the guiding assembly 6.

[0080] Furthermore, the transmission assembly 84 further includes a connecting piece 845, a fixing plate 846, a shaft rod 847, and a sliding hole 848. The connecting piece 845 is fixedly connected to the bottom of the connecting plate 844. The end of the shaft rod 847 is fixedly connected to the fixing plate 846. The outer wall of one of the shaft rods 847 is rotatably connected to the connecting piece 845. The sliding hole 848 is obliquely formed on the front surface of the transmission plate 842. The outer wall of the other shaft rod 847 is slidably sleeved in the inner cavity of the sliding hole 848. The other shaft rod 847 forms a linkage with the locking assembly 85. As Figure 5 and Figure 6 shown, when the connecting plate 844 drives one of the shaft rods 847 to descend relative to the transmission plate 842 through the connecting piece 845, one of the shaft rods 847 drives the other shaft rod 847 to slide obliquely downward in the sliding hole 848 on the transmission plate 842 through the fixing plate 846, and then drives the transmission plate 842 to move downward.

[0081] Further, the transmission assembly 84 further includes a fixing rod 849 and a supporting spring 8410. The fixing rod 849 is fixedly installed inside the mounting housing 83. The outer wall of the fixing rod 849 is slidably inserted through the connecting plate 844. The supporting spring 8410 is slidably sleeved outside the fixing rod 849. The supporting spring 8410 is located at the bottom of the connecting plate 844. The supporting spring 8410 can give an elastic supporting force to the connecting plate 844, thereby balancing the weight of the connecting plate 844 connecting the guiding rod 62. Thus, when the transmission assembly 84 works, the influence of the weight of the guiding rod 62 is reduced.

[0082] Further, the locking component 85 includes a locking rod 851, a locking groove 853, a driving plate 857, a fixed collar 854, a limiting block 855 and a return spring 856. A through hole 852 corresponding to the locking rod 851 is formed at the bottom of one side of the transmission plate 842. The locking groove 853 is formed at the bottom of the inner wall of the mounting housing 83. The locking rod 851 is engaged with the locking groove 853 for locking the transmission plate 842. The bottom of the driving plate 857 is fixedly connected to the locking rod 851. A slotted opening corresponding to the driving plate 857 is formed at the side of the transmission plate 842. The driving plate 857 is located on one side of the shaft rod 847. When the other shaft rod 847 slides downward obliquely in the sliding hole 848 on the transmission plate 842, the other shaft rod 847 can squeeze the driving plate 857, and the driving plate 857 can drive the locking rod 851 to slide out, so that the locking rod 851 slides and fits with the inner wall of the mounting housing 83 until the transmission plate 842 and the tooth plate 843 descend to the lowest position. At this time, the locking rod 851 corresponds to the locking groove 853. When the other shaft rod 847 continues to slide downward in the sliding hole 848, the locking rod 851 can be engaged with the locking groove 853, thereby locking the transmission plate 842 and the tooth plate 843, and further ensuring the stability of the limiting frame 7 in the closed state. The fixed collar 854 is fixedly sleeved inside the through hole 852. The limiting block 855 is fixedly connected to the end of the locking rod 851. The return spring 856 is sleeved outside the locking rod 851. The return spring 856 is located between the limiting block 855 and the fixed collar 854. When the connecting plate 844 slides upward inside the mounting housing 83, the other shaft rod 847 slides upward obliquely in the sliding hole 848 on the transmission plate 842. At this time, the other shaft rod 847 no longer squeezes the driving plate 857. Under the action of the return spring 856, the locking rod 851 moves toward the inside of the through hole 852, and the locking rod 851 is separated from the locking groove 853, releasing the locking state of the transmission plate 842, so as to facilitate the subsequent upward sliding of the connecting plate 844 to drive the transmission plate 842 inside the mounting housing 83.

[0083] In particular, the guiding component 6 includes a guiding sleeve 61, a guiding rod 62, an assembly plate 63, a rubber sheet 64 and an elastic member 66. The bottom of the outer wall of the guiding sleeve 61 is fixedly sleeved with the mounting seat 2. The outer wall of the guiding rod 62 is slidably sleeved with the guiding sleeve 61. The guiding rod 62 can guide the up-and-down movement of the suction cup gripper plate 5. When the suction cup gripper plate 5 moves upward, the guiding rod 62 gives a downward acting force to the transmission component 84. When the suction cup gripper plate 5 moves downward, the guiding rod 62 gives an upward acting force to the transmission component 84. The bottom of the guiding rod 62 is fixedly connected to the connecting plate 844. An assembly hole corresponding to the assembly plate 63 is formed in the side of the guiding sleeve 61. The rubber sheet 64 is fixedly connected to one side of the assembly plate 63. The elastic member 66 acts on the assembly plate 63 with an elastic force towards the guiding rod 62. One side of the rubber sheet 64 is in extrusion fit with the guiding rod 62. Under the action of the elastic member 66, the assembly plate 63 can apply an extrusion force to the rubber sheet 64 towards the guiding rod 62, so that the rubber sheet 64 and the guiding rod 62 have a certain frictional resistance. Furthermore, when the guiding rod 62 moves relative to the guiding sleeve 61, the frictional resistance received by the guiding rod 62 is transmitted to the transmission component 84. A pressure sensor is installed on one side of the assembly plate 63 facing the elastic member 66. The pressure sensor can detect the extrusion force of the elastic member 66 on the assembly plate 63 and the rubber sheet 64, and the detected elastic extrusion force of the pressure sensor is uploaded to the frictional force monitoring system inside the controller. The frictional force between the rubber sheet 64 and the guiding rod 62 is calculated through the frictional force monitoring system. When the frictional resistance during the movement of the guiding rod 62 is less than the set value, the rubber sheet 64 needs to be replaced. The set value is related to the acting force value required for the transmission component 84 to drive the mounting shaft 82 and the limiting frame 7 to rotate.

[0084] The frictional force monitoring system includes:

[0085] A data receiving module, which is used to receive the elastic extrusion force of the elastic member 66 acting on the assembly plate 63 and the rubber sheet 64 detected by the pressure sensor;

[0086] A frictional force calculation module, which is used to calculate the frictional force between the rubber sheet 64 and the guiding rod 62 through the frictional force formula. The frictional force formula is as follows:

[0087] F max =μ s .N

[0088] F max is the maximum static frictional force, μ sμ is the coefficient of friction, and the value of the coefficient of friction usually depends on the materials of the guide rod 62 and the rubber sheet 64, the roughness of the surface, and the change in temperature. N is the normal pressure, and the normal pressure is the elastic extrusion force detected by the pressure sensor when the elastic member 66 acts on the assembly plate 63 and the rubber sheet 64. When calculating the coefficient of friction, the guide rod 62 and the rubber sheet 64 can be placed horizontally, and a constant pressure is applied to the rubber sheet 64 towards the guide rod 62. The guide rod 62 is pulled by the tension sensor to slide relative to the rubber sheet 64, and the maximum tension when the guide rod 62 is pulled by the tension sensor to slide relative to the rubber sheet 64 is recorded, and the coefficient of friction is calculated inversely using the above friction formula;

[0089] The judgment module is used to compare the maximum static friction calculated by the friction formula with the friction set value. When the maximum static friction calculated by the friction formula is greater than or equal to the friction set value, the rubber sheet 64 does not need to be replaced. Otherwise, the rubber sheet 64 needs to be replaced to avoid the situation that the acting force of the guide rod 62 on the transmission component 84 cannot drive the limit frame 7 to expand or close;

[0090] The alarm module is used to send an alarm when the judgment module detects that the rubber sheet 64 needs to be replaced, so as to remind the staff to replace the rubber sheet 64 and stop the automatic material loading and unloading equipment, to avoid the situation that the limit frame 7 cannot be opened or closed when the suction cup gripper plate 5 operates to grab or place materials, resulting in the suction cup gripper plate 5 not working properly.

[0091] Furthermore, the guiding assembly 6 further includes a limit outer shell 65, a top cover 67, a second positioning plate 69, a first positioning plate 68, and a plugging rod 610. The limit outer shell 65 is clamped to the side of the guiding sleeve 61, the limit outer shell 65 is sleeved outside the assembly plate 63, the top cover 67 is arranged on the top of the limit outer shell 65, the elastic member 66 is arranged inside the limit outer shell 65, and the elastic member 66 is also used to clamp and limit the top cover 67. The second positioning plate 69 is fixedly connected to the inside of the limit outer shell 65. One end of the first positioning plate 68 is fixedly connected to the guiding sleeve 61, and the first positioning plate 68 is slidably clamped between the adjacent second positioning plates 69, that is, the two second positioning plates 69 can limit and guide the first positioning plate 68. The top of the plugging rod 610 is fixedly connected to the top cover 67, and the outer wall of the plugging rod 610 is slidably inserted through the first positioning plate 68 and the second positioning plate 69. Under the action of the plugging rod 610, the first positioning plate 68 can be stably clamped between the two second positioning plates 69, thereby ensuring the stability of the installation of the limit outer shell 65 on the side of the guiding sleeve 61.

[0092] In particular, the elastic member 66 includes a straight plate portion 661, a bent portion 662, a side plate portion 663, an arc block 664, and an inclined guiding portion 665. One side of the straight plate portion 661 is attached to the assembly plate 63. The bent portion 662 is connected to one side of the straight plate portion 661 and is used to store elastic potential energy, so that the straight plate portion 661 has an elastic extrusion force towards the assembly plate 63. One side of the side plate portion 663 is fixedly connected to the bent portion 662, and one side of the side plate portion 663 is in extrusion fit with the inner wall of the limit housing 65 to limit the bent portion 662. The arc block 664 is connected to one side of the side plate portion 663, and an arc-shaped groove matching the arc block 664 is provided at the other end of the first positioning plate 68. Thus, the arc block 664 is clamped in the arc-shaped groove, and the side plate portion 663 can be clamped and limited, ensuring the stability of the top cover 67 installed on the limit housing 65. The inclined guiding portion 665 is connected to the bottom of the straight plate portion 661. Under the action of the inclined guiding portion 665, the straight plate portion 661 can be slidably guided so that the straight plate portion 661 slides to the side of the assembly plate 63 away from the rubber sheet 64.

[0093] The automatic loading and unloading of materials includes the following steps:

[0094] Step 1: The driving cylinder 4 drives the suction cup gripper plate 5 to descend to grasp the material. The linkage assembly 8 drives the limit frame 7 to rotate to an open state through the friction force of the guiding assembly 6. That is, the suction cup gripper plate 5 drives the guiding rod 62 to slide downward relative to the guiding sleeve 61. There is a friction force between the guiding rod 62 and the rubber sheet 64. The guiding rod 62 has an upward pulling force on the connecting plate 844. The connecting plate 844 drives the transmission plate 842 and the tooth plate 843 to rise through the shaft rod 847. The tooth plate 843 drives the mounting shaft 82 to rotate clockwise through the connecting gear 841, and the mounting shaft 82 drives the limit frame 7 to rotate to an open state;

[0095] Step 2: The driving cylinder 4 drives the suction cup gripper plate 5 and the material to rise. The linkage assembly 8 drives the limiting frame 7 to rotate to the closed state through the frictional force of the guiding assembly 6, and the linkage assembly 8 locks the limiting frame 7, so that the limiting frame 7 protects the material at the bottom of the suction cup gripper plate 5 from falling. That is, the suction cup gripper plate 5 drives the guiding rod 62 to slide upward relative to the guiding sleeve 61. There is frictional force between the guiding rod 62 and the rubber sheet 64. The guiding rod 62 has a downward thrust on the connecting plate 844. The connecting plate 844 pushes the shaft rod 847 to slide obliquely downward in the sliding hole 848. The shaft rod 847 first squeezes the driving plate 857 to slide in the slot. The driving plate 857 drives the locking rod 851 to slide until the end of the locking rod 851 fits against the inner wall of the mounting housing 83. At this time, the shaft rod 847 squeezes the transmission plate 842 and the toothed plate 843 to descend through the driving plate 857. The toothed plate 843 drives the mounting shaft 82 to rotate counterclockwise through the connecting gear 841. The mounting shaft 82 drives the limiting frame 7 to rotate to the closed state, and at this time the locking rod 851 corresponds to the locking groove 853 on the inner wall of the mounting housing 83. The shaft rod 847 continues to slide in the sliding hole 848, so that the shaft rod 847 squeezes the driving plate 857 to slide in the slot again, so that the locking rod 851 is engaged with the locking groove 853, thereby locking the transmission plate 842, and further locking the limiting frame 7 in the closed state;

[0096] Step 3: The driving unit 3 drives the mounting seat 2 to move on the frame 1, and moves the suction cup gripper plate 5 and the material to the unloading area;

[0097] Step 4: The driving cylinder 4 drives the suction cup gripper plate 5 to descend. Under the action of the guiding assembly 6 and the linkage assembly 8, the limiting frame 7 repeats the opening step in Step 1. The limiting frame 7 no longer protects the material of the suction cup gripper plate 5 from falling off. The suction cup gripper plate 5 transports the material to the unloading area for unloading.

[0098] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A material automatic loading and unloading equipment, characterized in that: include: Rack (1); A mounting seat (2) and a driving unit (3), wherein the mounting seat (2) is mounted on the top of the frame (1) via the driving unit (3), and the driving unit (3) is used to drive the mounting seat (2) to translate on the frame (1); A driving cylinder (4), wherein the driving cylinder (4) is mounted on the top of the mounting seat (2); A suction cup grab plate (5), wherein the output end of the driving cylinder (4) is in transmission connection with the suction cup grab plate (5), and the suction cup grab plate (5) is used to take up the adsorbed material; A guide assembly (6), wherein the guide assembly (6) is installed between the mounting seat (2) and the suction cup gripping plate (5); A limiting frame (7), the limiting frame (7) being arranged outside the suction cup gripping plate (5), and the limiting frame (7) being used to prevent the suction cup gripping plate (5) from dropping the adsorbed material; A linkage component (8) is arranged on the top of the suction cup gripping plate (5), and the linkage component (8) adjusts the position of the limiting frame (7) through the friction force generated by the movement of the guide component (6).

2. The material automatic loading and unloading equipment according to claim 1, characterized in that: The linkage component (8) comprises: A fixed shell (81), the fixed shell (81) is fixedly mounted on the top of the suction cup gripping plate (5), and a notch corresponding to the limiting frame (7) is formed on one side of the fixed shell (81); An installation shaft (82), the installation shaft (82) being rotatably installed inside the fixed housing (81), and the outer wall of the installation shaft (82) being fixedly connected to the limiting frame (7); An installation shell (83), wherein the installation shell (83) is fixedly connected to the top of the fixed shell (81); A transmission assembly (84), wherein the transmission assembly (84) is disposed inside the mounting housing (83), the transmission assembly (84) is linked with the guide assembly (6), and the transmission assembly (84) is used to drive the mounting shaft (82) to rotate; A locking assembly (85), wherein the locking assembly (85) is arranged inside the mounting housing (83), and the locking assembly (85) is used to lock the transmission assembly (84).

3. The material automatic loading and unloading equipment according to claim 2, characterized in that: The transmission assembly (84) comprises: A connecting gear (841), wherein the connecting gear (841) is fixedly mounted on the outside of the mounting shaft (82); A transmission plate (842), wherein the transmission plate (842) is slidably disposed inside the mounting housing (83); A latch plate (843), wherein the latch plate (843) is fixedly connected to the bottom of the transmission plate (842), a mounting hole matching the latch plate (843) is provided between the mounting housing (83) and the fixed housing (81), and the latch plate (843) is meshedly connected to the connecting gear (841); A connecting plate (844) is slidably disposed on the top of the inner cavity of the mounting shell (83), and the top of the connecting plate (844) is connected to the guide assembly (6).

4. The automatic material loading and unloading equipment according to claim 3, characterized in that: The transmission assembly (84) further comprises: A connecting member (845), wherein the connecting member (845) is fixedly connected to the bottom of the connecting plate (844); A fixed plate (846) and a shaft (847), wherein the end of the shaft (847) is fixedly connected to the fixed plate (846), and an outer wall of one of the shafts (847) is rotatably connected to a connecting piece (845); A sliding hole (848) is obliquely opened on the front side of the transmission plate (842), wherein the outer wall of the other shaft rod (847) is slidably sleeved with the inner cavity of the sliding hole (848), wherein the other shaft rod (847) is linked with the locking assembly (85).

5. The automatic material loading and unloading equipment according to claim 4, characterized in that: The transmission assembly (84) further comprises: A fixing rod (849), the fixing rod (849) is fixedly mounted inside the mounting housing (83), and the outer wall of the fixing rod (849) is slidably inserted and sleeved with the connecting plate (844); A support spring (8410), wherein the support spring (8410) is slidably sleeved on the outside of the fixing rod (849), and the support spring (8410) is located at the bottom of the connecting plate (844).

6. The automatic material loading and unloading equipment according to claim 5, characterized in that: The locking assembly (85) comprises: A locking rod (851), wherein a through hole (852) corresponding to the locking rod (851) is provided at the bottom of one side of the transmission plate (842); A locking groove (853), the locking groove (853) is formed at the bottom of the inner wall of the mounting housing (83), and the locking rod (851) is engaged with the locking groove (853) to lock the transmission plate (842); A driving plate (857), the bottom of which is fixedly connected to the locking rod (851), a side of the transmission plate (842) is provided with a slot corresponding to the driving plate (857), and the driving plate (857) is located on one side of the shaft (847); A fixed collar (854), wherein the fixed collar (854) is fixedly sleeved inside the through hole (852); A limit block (855), wherein the limit block (855) is fixedly connected to the end of the locking rod (851); A return spring (856), wherein the return spring (856) is sleeved on the outside of the locking rod (851), and the return spring (856) is located between the limit block (855) and the fixing ring (854).

7. The automatic material loading and unloading equipment according to claim 6, characterized in that: The guide assembly (6) comprises: A guide sleeve (61), wherein the bottom of the outer wall of the guide sleeve (61) is fixedly sleeved with the mounting seat (2); A guide rod (62), the outer wall of the guide rod (62) being slidably sleeved with the guide sleeve (61), and the bottom of the guide rod (62) being fixedly connected with the connecting plate (844); An assembly plate (63), wherein an assembly hole corresponding to the assembly plate (63) is provided on the side of the guide sleeve (61); A rubber sheet (64), wherein the rubber sheet (64) is fixedly connected to one side of the assembly plate (63), and one side of the rubber sheet (64) is pressed and fitted with the guide rod (62).

8. The automatic material loading and unloading equipment according to claim 7, characterized in that: The guide assembly (6) further comprises: A limiting shell (65), wherein the limiting shell (65) is clamped on the side of the guide sleeve (61), and the limiting shell (65) is sleeved on the outside of the assembly plate (63); A top cover (67), wherein the top cover (67) is arranged on the top of the limiting housing (65); An elastic member (66) is arranged inside the limiting housing (65), and the elastic member (66) acts on the assembly plate (63) to exert an elastic force toward the guide rod (62), and the elastic member (66) is also used to clamp and limit the top cover (67).

9. The automatic material loading and unloading equipment according to claim 8, characterized in that: The guide assembly (6) further comprises: A second positioning plate (69), the second positioning plate (69) being fixedly connected to the interior of the limiting housing (65); A first positioning plate (68), one end of which is fixedly connected to the guide sleeve (61), and the first positioning plate (68) is slidably engaged between adjacent second positioning plates (69); A plug-in rod (610), the top of which is fixedly connected to the top cover (67), and the outer wall of which is slidably inserted and sleeved with the first positioning plate (68) and the second positioning plate (69).

10. The automatic material loading and unloading equipment according to claim 9, characterized in that: The elastic member (66) comprises: A straight plate portion (661), one side of which is in contact with the assembly plate (63); A bending portion (662), the bending portion (662) being connected to one side of the straight plate portion (661), and the bending portion (662) being used to store elastic potential energy; A side plate portion (663), one side of the side plate portion (663) being fixedly connected to the bending portion (662), and one side of the side plate portion (663) being pressed and fitted to the inner wall of the limiting housing (65); An arc block (664), wherein the arc block (664) is connected to one side of the side plate portion (663), and the other end of the first positioning plate (68) is provided with an arc-shaped groove matching the arc block (664); An inclined guide portion (665), wherein the inclined guide portion (665) is connected to the bottom of the straight plate portion (661).

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