Loading and unloading robot and automatic feeding device

Abstract

The invention discloses a loading and unloading robot and an automatic feeding device. The loading and unloading robot comprises a conveying storage frame, a temporary storage table and a loading and unloading mechanism, and the loading and unloading mechanism and the temporary storage table are arranged on the two sides of the conveying storage frame correspondingly; and the loading and unloading mechanism moves in the vertical direction of the conveying and storing frame, and the loading and unloading mechanism places the trays on the temporary storage table or takes down the trays from the temporary storage table through stretching out and drawing back. According to the loading and unloading robot, the loading and unloading mechanism and the temporary storage table are arranged on the two sides of the conveying storage frame correspondingly, the loading and unloading mechanism can place the trays on the temporary storage table or take down the trays from the temporary storage table in a telescopic mode, the trays are conveyed in the telescopic mode, conveying is stable and soft, and the trays and base rods on the trays are not prone to scattering.

Description

Technical Field

[0001] The present application relates to the technical field of heating cigarette feeding, and particularly relates to a loading and unloading robot and an automatic feeding device. Background Art

[0002] A high-speed wheel-type combined cigarette making and tipping machine is used for producing heated tobacco products, which are composed of base rods of multiple different materials. The heated cigarette base rod feeding device supplies base rods of different materials to the high-speed wheel-type combined cigarette making and tipping machine.

[0003] There is a staircase platform behind the high-speed wheel-type combined cigarette making and tipping machine. Operators need to climb up this staircase platform to place full trays of different types on the full tray table of the heated cigarette base rod feeding device and remove the empty trays that have been emptied on the heated cigarette base rod feeding device.

[0004] The work intensity of operators going up and down the stairs to carry materials is very high, and due to the relatively high staircase platform, there is a risk of falling and getting injured. During the normal operation of the high-speed wheel-type combined cigarette making and tipping machine, the staircase platform is placed fixed behind the machine set, and the staircase platform is very heavy. Operators or maintenance personnel need to often open the cabinet door behind the high-speed wheel-type combined cigarette making and tipping machine to check or repair the equipment, which requires often moving the staircase platform away and then resetting the staircase platform after checking or repairing, increasing the daily work intensity. Summary of the Invention

[0005] The present invention provides a loading and unloading robot and an automatic feeding device to solve the technical problem in the prior art that the work intensity of operators climbing up the staircase platform for feeding is increased and the risk of falling and getting injured exists.

[0006] To achieve the above object, the technical solution provided by the present invention is as follows:

[0007] In a first aspect of the present invention, a loading and unloading robot is provided, including a transportation and storage rack, a buffer table, and a loading and unloading mechanism. The loading and unloading mechanism and the buffer table are respectively arranged on two sides of the transportation and storage rack; the loading and unloading mechanism moves along the vertical direction of the transportation and storage rack, and the loading and unloading mechanism places a tray on the buffer table or removes the tray from the buffer table through expansion and contraction.

[0008] Further, the loading and unloading mechanism includes a base, two side plates, and a conveying component. The base is slidably arranged on the transportation and storage rack, the two side plates are oppositely installed on the base, and the conveying components are respectively arranged on the two side plates; the conveying component includes a first driving unit, a conveyor belt, and a telescopic unit. The tray is placed on the conveyor belt, and the first driving unit drives the conveyor belt to move back and forth; the telescopic unit extends and contracts to make the conveyor belt extend and contract for picking and placing the tray.

[0009] Further, the telescopic unit includes a telescopic bracket, a second driving unit, a first moving roller, a second moving roller, and a first fixed roller. The output end of the second driving unit is connected to the telescopic bracket to enable the telescopic bracket to expand and contract. The first fixed roller is installed on the side plate. The first moving roller is installed at one end of the telescopic bracket close to the buffer table, and the second moving roller is installed at the end of the telescopic bracket away from the buffer table. The conveyor belt sequentially winds around the first moving roller, the second moving roller, and the first fixed roller. The second driving unit pushes the telescopic bracket to extend so that the conveyor belt picks up and places the tray.

[0010] Further, the conveyor belt winds around the front end of the first moving roller, the rear end of the second moving roller, and the front end of the first fixed roller and is tensioned.

[0011] Further, the first driving unit includes a servo motor and a driving roller. The driving roller is fixed on the side plate, and the output end of the servo motor is connected to the driving roller. The conveying assembly further includes a second fixed roller. The second fixed roller is fixed on the side plate and is arranged at one end away from the first moving roller. The conveyor belt sequentially winds around the driving roller, the second fixed roller, the first moving roller, the second moving roller, and the first fixed roller.

[0012] Further, the second driving unit includes a guide rail, a slider, and an electric push rod. The guide rails are respectively installed on the side plates. A slider is arranged on the guide rail, and a telescopic bracket is fixed on the slider. The electric push rod is installed on the side plate, and the output end of the electric push rod is connected to the telescopic bracket to push the telescopic bracket to slide on the guide rail.

[0013] Further, the telescopic unit further includes a partition member. The partition member is installed at one end of the telescopic bracket close to the buffer table to limit the tray.

[0014] Further, a groove is formed on the buffer table. The front end of the loading and unloading mechanism extends above the groove and moves downward to place both ends of the tray on the buffer table, or the front end of the loading and unloading mechanism extends below the groove and moves upward to take away the tray on the buffer table.

[0015] Further, the number of the buffer tables is multiple, and the multiple buffer tables are arranged at intervals along the vertical direction of the transportation and storage rack.

[0016] Further, the loading and unloading mechanism further includes a photoelectric switch. The photoelectric switch is installed at the front end of the base or the side plate and transmits a detection signal to the conveying assembly to control the telescopic unit to extend.

[0017] Further, the loading and unloading mechanism includes a guide plate which is installed on the base, and a guide plate is arranged above each side plate to guide the tray.

[0018] Further, the loading and unloading mechanism includes a driving motor, a sprocket and a chain. The output end of the driving motor is connected to the sprocket to drive the sprocket to rotate. The chain meshes with the sprocket and moves along the extension direction of the transportation and storage rack under the drive of the sprocket. The base is fixed on the chain and slides on the transportation and storage rack.

[0019] In a second aspect of the present invention, an automatic feeding device is provided, which includes a tray, a full tray table, an empty tray table, a feeding mechanism and the above-mentioned loading and unloading robot. The feeding mechanism is installed above the tipping and linking unit to feed the tipping and linking unit; a plurality of trays filled with base rods are placed on the full tray table, and a plurality of emptied trays are placed on the empty tray table; the loading and unloading robot transports the tray from the full tray table to the feeding mechanism, and transports the emptied tray from the feeding mechanism back to the empty tray table.

[0020] Further, the full tray table includes a first conveying component and a first separating mechanism. The tray is placed on the first conveying component and moves therewith. The first separating mechanism is arranged on both sides of the first conveying component to convey a preset number of trays to the front end of the first conveying component.

[0021] Further, the full tray table includes a locking cylinder which is installed at the front end of the first conveying component to lock or unlock the limit of the tray.

[0022] For the loading and unloading robot provided by the present invention, a loading and unloading mechanism and a buffer table are respectively arranged on both sides of the transportation and storage rack. The loading and unloading mechanism can place the tray on the buffer table or take the tray off the buffer table by means of telescoping, and convey the tray in a telescoping manner, with stable and gentle conveying, and it is not easy for the tray and the base rod on the tray to fall.

[0023] For the automatic feeding device of the present invention, a plurality of trays filled with base rods are placed on the full tray table, and a plurality of emptied trays are placed on the empty tray table. The loading and unloading robot transports the full tray from the full tray table to the feeding mechanism, and transports the emptied tray from the feeding mechanism back to the empty tray table. The feeding mechanism provides base rods for the tipping and linking unit, which can realize automatic feeding for the tipping and linking unit, without setting a stair platform on the tipping and linking unit, and without requiring an operator to climb onto the stair platform to add materials to the feeding mechanism. The above automatic feeding device reduces the working intensity of the operator, avoids the risk of personnel being injured by climbing heights, and improves the feeding efficiency. Description of the Drawings

[0024] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 Structural schematic diagram of the loading and unloading robot in the embodiment of the present invention;

[0026] Figure 2 Structural schematic diagram of the loading and unloading mechanism in the embodiment of the present invention;

[0027] Figure 3 For Figure 2 Side view of the loading and unloading mechanism in

[0028] Figure 4 For Figure 2 Side view of the telescopic unit in the extended state in

[0029] Figure 5 For Figure 2 Structural schematic diagram of the telescopic unit in the extended state in

[0030] Figure 6 For Figure 2 Top view of the telescopic unit in the extended state in

[0031] Figure 7 For Figure 6 State diagram of the telescopic unit placing or removing the tray in

[0032] Figure 8 Structural schematic diagram of the automatic feeding device in the embodiment of the present invention;

[0033] Figure 9 For Figure 8 Feeding state diagram of the loading and unloading robot in

[0034] Figure 10 For Figure 8 Material taking state diagram of the loading and unloading robot in

[0035] Reference numerals:

[0036] 100, tray;

[0037] 200, transportation and storage rack;

[0038] 300, buffer table; 310, groove;

[0039] 400, loading and unloading mechanism;

[0040] 410, base; 420, side plate;

[0041] 431. Servo motor; 432. Driving roller; 433. Conveyor belt;

[0042] 434. Telescopic bracket; 435. Partition member; 436. Guide rail; 437. Electric push rod; 438. First moving roller; 439. Second moving roller; 440. First fixed roller; 441. Second fixed roller;

[0043] 450. Photoelectric switch; 460. Guide plate;

[0044] 470. Driving motor; 480. Chain;

[0045] 500. Empty material table;

[0046] 600. Full material table;

[0047] 610. First conveying assembly; 620. First separating mechanism; 630. Locking cylinder;

[0048] 700. Feeding mechanism. Detailed implementation manners

[0049] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0051] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0052] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more such features. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise specifically defined.

[0053] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the implementation conditions of this application. Therefore, they do not have substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that this application can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in this application.

[0054] Referring to Figure 1 , in the first aspect of the embodiment of this application, a loading and unloading robot is provided, which includes a transportation storage rack 200, a buffer table 300, and a loading and unloading mechanism 400. The loading and unloading mechanism 400 and the buffer table 300 are respectively arranged on both sides of the transportation storage rack 200; the loading and unloading mechanism 400 moves along the vertical direction of the transportation storage rack 200, and the loading and unloading mechanism 400 places the tray 100 on the buffer table 300 or removes the tray 100 from the buffer table 300 by stretching.

[0055] In the embodiment of this application, the loading and unloading mechanism 400 and the buffer table 300 are respectively arranged on both sides of the transportation storage rack 200, so that after the loading and unloading mechanism 400 picks up the tray 100, it can be transported to the buffer table 300, or after taking away the tray 100 from the buffer table 300, it can be transported to the feeding mechanism 700; and it avoids mutual interference between the two during operation, and also facilitates the movement of the loading and unloading mechanism 400 on the transportation storage rack 200 and the placement of the tray 100 on the buffer table 300. Among them, a set of trays 100 is placed on each buffer table 300. The height of the material picking position and the material feeding position of the loading and unloading mechanism 400 is different. For the convenience of the operation of the loading and unloading mechanism 400, it is set to move along the vertical direction of the transportation storage rack 200. The loading and unloading mechanism 400 provides the tray 100 to the buffer table 300 or takes away the tray 100 from the buffer table 300 by stretching. The transportation is stable and gentle, and the tray 100 and the base rods on the tray 100 are not likely to spill.

[0056] In some embodiments, the loading and unloading mechanism 400 includes a base 410, two side plates 420, and a conveying assembly. The base 410 is slidably disposed on the transportation and storage rack 200. The two side plates 420 are oppositely installed on the base 410, and the conveying assemblies are respectively disposed on the two side plates 420. The conveying assembly includes a first driving unit, a conveyor belt 433, and a telescopic unit. The tray 100 is placed on the conveyor belt 433. The first driving unit drives the conveyor belt 433 to reciprocate. The telescopic unit extends and contracts to enable the conveyor belt 433 to extend and contract for picking and placing the tray 100.

[0057] In the embodiments of the present application, the base 410 is slidably disposed on the transportation and storage rack 200, and can raise or lower the position of the conveying assembly according to the need of conveying the tray 100, so as to facilitate the loading and unloading mechanism 400 to pick and place the tray 100. Refer to Figure 2 As shown in the figure, the first driving unit drives the conveyor belt 433 to reciprocate, which can move the tray 100 in different directions on the conveyor belt 433, facilitating the conveyance of the tray 100 to the buffer table 300 or taking the tray 100 from the buffer table 300. The telescopic unit can drive the conveyor belt 433 to extend and contract, so as to facilitate the picking and placing of the tray 100. After the conveyor belt 433 extends, it can directly convey the tray 100 to the buffer table 300, and then place the tray 100 on the buffer table 300 by raising and lowering the base 410 in the loading and unloading mechanism 400.

[0058] In some embodiments, the telescopic unit includes a telescopic bracket 434, a second driving unit, a first moving roller 438, a second moving roller 439, and a first fixed roller 440. The output end of the second driving unit is connected to the telescopic bracket 434 to enable the telescopic bracket 434 to extend and contract. The first fixed roller 440 is installed on the side plate 420. The first moving roller 438 is installed at one end of the telescopic bracket 434 close to the buffer table 300. The second moving roller 439 is installed at the end of the telescopic bracket 434 far from the buffer table 300. The conveyor belt 433 is sequentially wound around the first moving roller 438, the second moving roller 439, and the first fixed roller 440. The second driving unit pushes the telescopic bracket 434 to extend to enable the conveyor belt 433 to pick and place the tray 100.

[0059] In the embodiments of the present application, refer to Figures 3 to 7, the telescopic support 434 expands and contracts under the drive of the second drive unit. The conveyor belt 433 is sequentially wound around the first moving roller 438, the second moving roller 439, and the first fixed roller 440. When the telescopic support 434 extends towards the buffer table 300, the first moving roller 438 and the second moving roller 439 move forward accordingly, so that the distance between the second moving roller 439 and the first fixed roller 440 is shortened, and the conveyor belt 433 is compensated above the first moving roller 438 and the second moving roller 439, so that the conveyor belt 433 extends to the buffer table 300 along with the telescopic support 434. The position of the first fixed roller 440 needs to be set to ensure that before the telescopic support 434 extends, the distance between the first fixed roller 440 and the second moving roller 439 can compensate for the distance that the first moving roller 438 moves when the telescopic support 434 extends.

[0060] Specifically, referring to Figure 3 , the conveyor belt 433 is wound around the front end of the first moving roller 438, the rear end of the second moving roller 439, and the front end of the first fixed roller 440 and is tensioned.

[0061] In some embodiments, the first drive unit includes a servo motor 431 and a drive roller 432. The drive roller 432 is fixed on the side plate 420. The output end of the servo motor 431 is connected to the drive roller 432. The conveying assembly further includes a second fixed roller 441. The second fixed roller 441 is fixed on the side plate 420 and is arranged at one end far from the first moving roller 438. The conveyor belt 433 is sequentially wound around the drive roller 432, the second fixed roller 441, the first moving roller 438, the second moving roller 439, and the first fixed roller 440.

[0062] In the embodiment of the present application, the conveyor belt 433 is sequentially wound around the above-mentioned rollers. The first moving roller 438 and the second fixed roller 441 are arranged opposite to each other. The drive roller 432 is used to drive each roller to rotate, so that the conveyor belt 433 moves. The servo motor 431 can be installed on the base 410. The conveying assemblies are respectively installed on both side plates 420. The servo motor 431 can include two output shafts, which respectively drive the drive rollers 432 on the two side plates 420. The tray 100 straddles the two conveyor belts 433. The tray 100 is transported to the front end of the telescopic support 434 and can be directly transferred to the buffer table 300.

[0063] In some embodiments, the second drive unit includes a guide rail 436, a slider, and an electric push rod 437. The guide rails 436 are respectively installed on the side plates 420. A slider is arranged on the guide rail 436. A telescopic support 434 is fixed on the slider. The electric push rod 437 is installed on the side plate 420. The output end of the electric push rod 437 is connected to the telescopic support 434 to push the telescopic support 434 to slide on the guide rail 436.

[0064] Referring to Figure 4In the embodiments of the present application, the electric push rod 437 drives the telescopic bracket 434 to slide on the guide rail 436. The telescopic bracket 434 can slide in different front and rear directions, that is, extend and retract. The telescopic bracket 434 drives the conveyor belt 433 to extend and retract. The electric push rod 437 can be installed on only one side plate 420 to drive the telescopic brackets 434 on both side plates 420 to move.

[0065] In some embodiments, the telescopic unit further includes a partition member 435, and the partition member 435 is installed at one end of the telescopic bracket 434 close to the buffer table 300 to limit the tray 100. Refer to Figure 5 , the partition member 435 is arranged at the front end of the telescopic bracket 434, and can limit the tray 100 to prevent the tray 100 from falling.

[0066] The structure of the buffer table 300 can be a conveying unit that can be docked with the telescopic unit, or other structures. In some embodiments, a groove 310 is formed on the buffer table 300, and the front end of the loading and unloading mechanism 400 extends above the groove 310 and moves downward to place both ends of the tray 100 on the buffer table 300, or the front end of the loading and unloading mechanism 400 extends below the groove 310 and moves upward to take away the tray 100 on the buffer table 300.

[0067] Refer to Figure 6 , Figure 7 , in the embodiments of the present application, the front end of the loading and unloading mechanism 400, that is, the front end of the telescopic bracket 434, can penetrate into the groove 310. The loading and unloading mechanism 400 moves up and down along the transport and storage rack 200, so that the telescopic bracket 434 moves up and down in the groove 310 of the buffer table 300. When the loading and unloading mechanism 400 places the tray 100 on the buffer table 300, the telescopic bracket 434 is moved above the buffer table 300 and extended towards the buffer table 300. The tray 100 is conveyed by the conveyor belt 433 to the front end of the telescopic bracket 434. The loading and unloading mechanism 400 moves downward along the transport and storage rack 200, and the telescopic bracket 434 moves to the lower part of the buffer table 300 through the groove 310. Both ends of the tray 100 are placed on both sides of the groove 310 on the buffer table 300, and the telescopic bracket 434 retracts. When the loading and unloading mechanism 400 takes away the tray 100 from the buffer table 300, the telescopic bracket 434 is moved to the lower part of the buffer table 300 and extended towards the buffer table 300. The loading and unloading mechanism 400 moves upward along the transport and storage rack 200. The telescopic bracket 434 passes through the groove 310 of the buffer table 300 to take away the tray 100 and move upward, and the telescopic bracket retracts.

[0068] In the embodiments of the present application, the structural design of the buffer table 300 can be perfectly matched with the operation of the telescopic bracket 434. Not only is the structure of the buffer table 300 simple, but also the taking and placing of the tray 100 is more convenient. The cooperation between the telescopic bracket 434 and the buffer table 300 is stable and reliable.

[0069] In some embodiments, the loading and unloading mechanism 400 further includes a photoelectric switch 450. The photoelectric switch 450 is installed at the front end of the base 410 or the side plate 420 and transmits a detection signal to the conveying assembly to control the telescopic unit to extend. Refer to Figure 6 , the photoelectric switch 450 is arranged at the front end of the base 410 or the side plate 420, which can detect whether the tray 100 has been placed on the buffer table 300. If the tray 100 has been placed, the loading and unloading mechanism 400 is controlled to transport the tray 100 to other buffer tables 300. If the tray 100 has not been placed, the electric push rod 437 is controlled to push the telescopic bracket 434 to extend and place the tray 100 on this buffer table 300.

[0070] Furthermore, the number of buffer tables 300 is multiple, and the multiple buffer tables 300 are arranged at intervals along the vertical direction of the conveying and storage rack 200. It can be understood that the multiple buffer tables 300 can enable the loading and unloading robot to transport multiple full trays 100 or multiple empty trays 100 simultaneously, improving the feeding efficiency.

[0071] In some embodiments, the loading and unloading mechanism 400 includes a guide plate 460. The guide plate 460 is installed on the base 410, and a guide plate 460 is arranged above each side plate 420 to guide the tray 100. Refer to Figure 6 , the tray 100 is placed on the two conveyor belts 433 of the two side plates 420, and guide plates 460 are respectively arranged above the side plates 420. The guide plates 460 guide the tray 100 and can also prevent the tray 100 from falling off the conveyor belt 433. The photoelectric switch 450 can be installed at the front end of the guide plate 460.

[0072] In some embodiments, the loading and unloading mechanism 400 includes a driving motor 470, a sprocket and a chain 480. The output end of the driving motor 470 is connected to the sprocket to drive the sprocket to rotate. The chain 480 meshes with the sprocket and moves along the extending direction of the conveying and storage rack 200 under the drive of the sprocket. The base 410 is fixed on the chain 480 and slides on the conveying and storage rack 200.

[0073] Refer to Figure 1 , the driving motor 470 is installed at the bottom of the conveying and storage rack 200, and its output end is connected to the driving sprocket of the sprocket. The sprocket includes a driving sprocket and a driven sprocket. The output end of the driving motor 470 is connected to the driving sprocket, and the driven sprocket is installed on the conveying and storage rack 200. The chain 480 moves under the drive of the driving sprocket and the driven sprocket. The base 410 is fixed on the chain 480 and moves together with the chain 480.

[0074] Chains 480 are provided on both sides of the transportation storage rack 200. Both sides of the base 410 of the loading and unloading mechanism 400 are fixedly mounted on the corresponding chains 480, enabling the loading and unloading mechanism 400 to move smoothly on the transportation storage rack 200. A sliding bearing is provided on the base 410, and a track is provided on the inner side of the transportation storage rack 200, enabling the loading and unloading mechanism 400 to slide up and down along the track. The loading and unloading mechanism 400 slides smoothly on the transportation storage rack 200, ensuring that the trays 100 on the conveyor belt 433 will not fall and are smoothly transported to the buffer table 300 or taken from the buffer table 300; and it can move vertically between different buffer tables 300.

[0075] In the second aspect of the embodiments of the present application, an automatic feeding device is provided, including a tray 100, a full tray table 600, an empty tray table 500, a feeding mechanism 700, and the above-mentioned loading and unloading robot. The feeding mechanism 700 is installed above the tipping and linking unit to feed the tipping and linking unit; a plurality of trays 100 filled with base rods are placed on the full tray table 600, and a plurality of emptied trays 100 are placed on the empty tray table 500; the loading and unloading robot transfers the tray 100 from the full tray table 600 to the feeding mechanism 700, and transfers the emptied tray 100 from the feeding mechanism 700 back to the empty tray table 500.

[0076] In the embodiments of the present application, the stair platform on the tipping and linking unit is cancelled. The loading and unloading robot is used to carry the tray 100 filled with base rods on the full tray table 600 to the feeding mechanism 700, and take out the emptied tray 100 on the feeding mechanism 700 and place it back on the empty tray table 500. The operator does not need to go up and down the stairs, but only needs to fill the empty tray 100 with base rods on the empty tray table 500 and place it on the corresponding full tray table 600, which greatly reduces the working intensity of the operator and reduces the risk of falling. The cancellation of the stairs also enables the operation and maintenance personnel to easily open the cabinet door behind the tipping and linking unit to operate or maintain the unit without having to move the stairs away each time.

[0077] Refer to Figures 8 to 10 , in the embodiments of the present application, the tray 100 on the full tray table 600 contains base rods. The tray 100 on the empty tray table 500 is empty. Since heated cigarettes require base rods of various different sizes and materials, a plurality of full tray tables 600 are provided, and the base rod specifications contained in the trays 100 placed on each full tray table 600 are different. That is to say, base rods of different specifications can be stored on different full tray tables 600. In order to facilitate the operator to load the tray 100 and transfer the tray 100 from the empty tray table 500 to the full tray table 600 after it is full, the corresponding empty tray table 500 is placed on one side of the full tray table 600. Further, the number of full tray tables 600 and empty tray tables 500 is respectively a plurality. The plurality of full tray tables 600 are arranged at intervals, and the plurality of empty tray tables 500 are arranged at intervals. Each full tray table 600 has an empty tray table 500 provided on at least one side.

[0078] Referring to Figure 8 , in the embodiments of the present application, the loading and unloading robot is movable and can move on a set route and has an obstacle avoidance function. The loading and unloading mechanism 400 and the buffer table 300 are respectively arranged on both sides of the transportation storage rack 200 to avoid mutual interference during operation and facilitate the movement of the loading and unloading mechanism 400 on the transportation storage rack 200 and the placement of the tray 100 on the buffer table 300. Among them, a set of trays 100 is placed on each buffer table 300.

[0079] In some embodiments, the full tray table 600 includes a first conveying component 610 and a first separating mechanism 620. The tray 100 is placed on the first conveying component 610 and moves therewith. The first separating mechanism 620 is respectively arranged on both sides of the first conveying component 610 to convey a preset number of trays 100 to the front end of the first conveying component 610.

[0080] In the embodiments of the present application, the first conveying component 610 drives the tray 100 thereon to move and sends the tray 100 to the front end of the first conveying component 610. After the first separating mechanism 620 detects that a preset number of trays 100 are conveyed to the front end of the first conveying component 610, it can block the trays 100 outside the preset number from continuing to move to the front end, so that the number of trays 100 at the front end matches the transportation quantity of the loading and unloading robot.

[0081] In some embodiments, the full tray table 600 includes a locking cylinder 630. The locking cylinder 630 is installed at the front end of the first conveying component 610 to lock or unlock the limit of the tray 100. In the embodiments of the present application, the locking cylinder 630 is arranged at the front end of the first conveying component 610. The locking cylinder 630 can extend the piston to block the tray 100 to prevent it from falling off the first conveying component 610. When the loading and unloading mechanism 400 is docked with the first conveying component 610, the locking cylinder 630 retracts the piston to cancel the limit of the tray 100, so that the tray 100 moves from the first conveying component 610 to the conveyor belt 433 of the loading and unloading mechanism 400 to pick up the full tray 100.

[0082] The working process of the loading and unloading robot is as follows: The loading and unloading mechanism 400 on the loading and unloading robot is driven by the driving motor 470 to move to the same height as the first conveyor belt 433 of the full material platform 600. The locking cylinder 630 at the front end of the full material platform 600 is opened. The servo motor 431 on the loading and unloading mechanism 400 of the loading and unloading robot drives the conveyor belt 433 to move. The four separated full material trays 100 are conveyed onto the loading and unloading mechanism 400 by the conveyor belt 433 and blocked by the fork arms rotated out by the partition member 435. The loading and unloading mechanism 400 is driven by the driving motor 470 to move to a position higher than the buffer platform 300. The photoelectric switch 450 on the loading and unloading mechanism 400 detects whether there are obstacles in front. If it is indicated that there is no material tray 100 on the buffer platform 300, the electric push rod 437 drives the telescopic support 434 to extend forward into the groove 310 of the buffer platform 300. The driving motor 470 drives the conveyor belt 433 to move, and the four full material trays 100 also move forward accordingly. The loading and unloading mechanism 400 is driven by the driving motor 470 to move downward, and the four full material trays 100 are placed on the buffer platform 300. The loading and unloading mechanism 400 continues to move downward until the telescopic support 434 of the loading and unloading mechanism 400 is completely separated from the full material tray 100. The electric push rod 437 drives the telescopic support 434 to retract to the initial position. Then, the loading and unloading robot sequentially conveys the full material trays 100 on the full material platform 600 to its own buffer platform 300, and then moves to the loading side of the heating cigarette rod feeding mechanism 700 according to the pre-set route, adds the full material trays 100 on the buffer platform 300 to the lower part of the heating cigarette rod feeding mechanism 700 in sequence, and takes away the empty material trays 100 on the empty tray conveyor above the heating cigarette rod feeding mechanism 700 and places them on its own buffer platform 300 in sequence. When the loading and unloading robot detects that an operator or maintenance personnel is approaching, it will automatically stop working, which is convenient for the operator or maintenance personnel to open the cabinet door behind the high-speed wheel type combined cigarette making and tipping machine set to check and repair the machine set.

[0083] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A loading and unloading robot, characterized in that, It includes a transportation storage rack, a buffer table and a loading and unloading mechanism. The loading and unloading mechanism and the buffer table are respectively arranged on both sides of the transportation storage rack; the loading and unloading mechanism moves along the vertical direction of the transportation storage rack, and the loading and unloading mechanism places the tray on the buffer table or removes the tray from the buffer table by stretching.

2. The loading and unloading robot according to claim 1, wherein The loading and unloading mechanism includes a base, two side plates and a conveying component. The base is slidably arranged on the transportation storage rack, the two side plates are oppositely installed on the base, and the conveying components are respectively arranged on the two side plates; the conveying component includes a first driving unit, a conveyor belt and a telescopic unit. The tray is placed on the conveyor belt, and the first driving unit drives the conveyor belt to move back and forth; the telescopic unit extends and contracts to make the conveyor belt extend and contract for picking and placing the tray.

3. The loading and unloading robot according to claim 2, characterized in that, The telescopic unit includes a telescopic bracket, a second driving unit, a first moving roller, a second moving roller and a first fixed roller. The output end of the second driving unit is connected to the telescopic bracket to make the telescopic bracket telescopic. The first fixed roller is installed on the side plate, the first moving roller is installed at one end of the telescopic bracket close to the buffer table, and the second moving roller is installed at the end of the telescopic bracket far from the buffer table; the conveyor belt is sequentially wound around the first moving roller, the second moving roller and the first fixed roller, and the second driving unit pushes the telescopic bracket to extend to make the conveyor belt pick and place the tray.

4. The loading and unloading robot according to claim 3, wherein, The conveyor belt is wound around the front end of the first moving roller, the rear end of the second moving roller and the front end of the first fixed roller and is tensioned.

5. The loading and unloading robot according to claim 3, wherein, The first driving unit includes a servo motor and a driving roller. The driving roller is fixed on the side plate, the output end of the servo motor is connected to the driving roller. The conveying component further includes a second fixed roller. The second fixed roller is fixed on the side plate and is arranged at one end far from the first moving roller. The conveyor belt is sequentially wound around the driving roller, the second fixed roller, the first moving roller, the second moving roller and the first fixed roller.

6. The loading and unloading robot according to claim 3, wherein The second driving unit includes a guide rail, a slider and an electric push rod. The guide rails are respectively installed on the side plates. A slider is arranged on the guide rail, and a telescopic bracket is fixed on the slider. The electric push rod is installed on the side plate, and the output end of the electric push rod is connected to the telescopic bracket to push the telescopic bracket to slide on the guide rail.

7. The loading and unloading robot according to claim 3, characterized in that, The telescopic unit further includes a baffle. The baffle is installed at one end of the telescopic bracket close to the buffer table to limit the tray.

8. The loading and unloading robot according to any one of claims 1 to 7, characterized in that, A groove is formed on the buffer table. The front end of the loading and unloading mechanism extends above the groove and moves downward to place both ends of the tray on the buffer table, or the front end of the loading and unloading mechanism extends below the groove and moves upward to remove the tray on the buffer table.

9. The loading and unloading robot according to any one of claims 1 to 7, characterized in that, The number of the buffer tables is multiple, and the multiple buffer tables are arranged at intervals along the vertical direction of the transportation storage rack.

10. The loading and unloading robot according to any one of claims 2 to 7, characterized in that The loading and unloading mechanism further includes a photoelectric switch, which is installed at the front end of the base or the side plate and transmits a detection signal to the conveying assembly to control the telescopic unit to extend.

11. The loading and unloading robot according to any one of claims 2 to 7, characterized in that, The loading and unloading mechanism includes a guiding plate, which is installed on the base, and a guiding plate is arranged above each side plate to guide the tray.

12. The loading and unloading robot according to any one of claims 2 to 7, characterized in that The loading and unloading mechanism includes a driving motor, a sprocket and a chain. The output end of the driving motor is connected to the sprocket to drive the sprocket to rotate. The chain meshes with the sprocket and moves along the extending direction of the conveying and storage rack under the drive of the sprocket. The base is fixed on the chain and slides on the conveying and storage rack.

13. An automatic feeding device, characterized in that, It includes a tray, a full tray table, an empty tray table, a feeding mechanism and the loading and unloading robot according to any one of claims 1 to 12. The feeding mechanism is installed above the tipping and linking unit to feed the tipping and linking unit; multiple trays filled with base rods are placed on the full tray table, and multiple emptied trays are placed on the empty tray table; the loading and unloading robot transports the tray from the full tray table to the feeding mechanism, and transports the emptied tray from the feeding mechanism back to the empty tray table.

14. The automatic feeding device according to claim 13, wherein The full tray table includes a first conveying assembly and a first separating mechanism. The tray is placed on the first conveying assembly and moves therewith. The first separating mechanism is arranged on both sides of the first conveying assembly to convey a preset number of trays to the front end of the first conveying assembly.

15. The automatic feeding device according to claim 14, characterized in that, The full tray table includes a locking cylinder, which is installed at the front end of the first conveying assembly to lock or unlock the limit of the tray.

Images