Automatic feeding and discharging composite robot device of coating machine and automatic feeding and discharging method

Abstract

The invention discloses a cladding machine automatic feeding and discharging composite robot device and an automatic feeding and discharging method.The cladding machine automatic feeding and discharging composite robot device comprises a cabinet body on a basic moving platform, the cabinet body is provided with a radar, a mechanical arm and a material box, the mechanical arm is provided with a cladding material double-position clamping device, and the cladding material double-position clamping device comprises a low-position electric cylinder and a high-position electric cylinder which are symmetrically installed in a staggered mode; a movable tail end execution device and a fixed tail end execution device are mounted on the low-position electric cylinder and the high-position electric cylinder; tail end clamping devices for taking and placing materials are mounted on the movable tail end execution device and the fixed tail end execution device; the mechanical arm is controlled to rotate, the positions of the low-position electric cylinder and the high-position electric cylinder are adjusted, and the movable tail end executing device is driven to drive the clamping device to sequentially execute the feeding operation, the feeding and discharging operation and the discharging operation of the coating materials. By the adoption of the device, feeding and discharging of a plurality of coating materials can be achieved, the automation degree is high, the speed is high, and the labor cost is saved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation, and relates to an automatic loading and unloading composite robot device and an automatic loading and unloading method for a covering machine. Background Art

[0002] As a key link in textile production, polyamide is widely used in fields such as chemical fiber filaments and fabric processing, and is an important guarantee for the smooth progress of processes such as spinning and weaving. Against the background of the rapid development of modern textile industry, especially in large-scale continuous production, the efficiency, accuracy, and stability of the polyamide loading and unloading process are crucial for the production capacity and product quality of the production line, and are the key for the textile industry to move towards intelligent and automated production.

[0003] Currently, with the progress of textile equipment technology and the improvement of production efficiency requirements, the traditional manual loading and unloading method can no longer meet the needs of modern production lines. The manual method has problems such as high labor intensity, low efficiency, and high cost, which severely restricts the automation level and production capacity improvement of textile production. In China, manual loading and unloading is still commonly used. Therefore, it is urgent to develop an automatic and efficient loading and unloading composite robot system. Summary of the Invention

[0004] To solve the above-mentioned defects in the prior art, the purpose of the present invention is to provide an automatic loading and unloading composite robot device and an automatic loading and unloading method for a covering machine to meet the requirements for high-efficiency automation in the loading and unloading process of the covering machine. The method of the present invention is fast, efficient, saves labor costs, and improves the automation level of the textile industry.

[0005] The present invention is realized through the following technical solutions.

[0006] One aspect of the present invention provides an automatic loading and unloading composite robot device for a covering machine, including a basic mobile platform. There is a cabinet on the basic mobile platform. There are a radar, a manipulator, and a material box on the cabinet respectively. A covering material double-position clamping device is installed on the manipulator, and the material box is located on the cabinet corresponding to the covering material double-position clamping device at the end of the manipulator;

[0007] The covering material double-position clamping device includes a low-position electric cylinder and a high-position electric cylinder installed in an alternating and symmetric manner. A movable end effector and a fixed end effector are installed on the low-position electric cylinder and the high-position electric cylinder, and end clamping devices for picking and placing materials are installed on both the movable end effector and the fixed end effector;

[0008] By controlling the rotation of the manipulator, adjusting the positions of the low-position electric cylinder and the high-position electric cylinder, and driving the movable end effector to drive the clamping device to perform the feeding operation, the loading and unloading operation, and the unloading operation of the covering material in sequence.

[0009] Preferably, positioning posts are arranged in the material box in an array distribution, and a coating material or a coating material tube is sleeved on the positioning posts. Guide holes serving as positioning references are also distributed in the material box.

[0010] Preferably, the coating material double-position clamping device includes a front-end extension rod, on which a coating material double-position cross beam and a force sensor are installed. On both sides of the coating material double-position cross beam, porous mounting substrates are installed in a vertically staggered and symmetric manner with high and low positions. A low-position electric cylinder, a high-position electric cylinder, and an end effector extension plate are respectively installed at the low position and the high position of the porous mounting substrate.

[0011] Preferably, end effector connecting plates are respectively installed on the low-position electric cylinder and the high-position electric cylinder. A movable end effector is installed on the end effector connecting plate, and a fixed end effector is installed on the end effector extension plate.

[0012] Preferably, a depth camera is installed on the porous mounting substrate.

[0013] In another aspect of the present invention, an automatic loading and unloading method for the automatic loading and unloading composite robot device of the coating machine is provided, including a loading process:

[0014] Step 1, sleeve the coating material on the positioning posts in the material box to make the material box full.

[0015] Step 2, control the loading and unloading composite robot device to move to the position of the loading and unloading area of the coating machine.

[0016] Step 3, when the depth camera recognizes that the coating machine station is empty, the loading and unloading composite robot device starts to perform the loading operation.

[0017] Step 4, control the manipulator to rotate, adjust the position of the low-position electric cylinder of the coating material double-position clamping device, and drive the movable end effector and the fixed end effector to make the end clamping device grab the coating material in the material box.

[0018] Step 5, control the manipulator to move to the loading and unloading area of the coating machine, adjust the position of the high-position electric cylinder for loading positioning; the coating material double-position clamping device rotates 180°; the manipulator moves to the corresponding position, and the end clamping device places the coating material on the coating machine station to complete the first loading.

[0019] Step 6, repeat Steps 3-5 until all the coating materials in the material box are loaded; the loading and unloading composite robot device replaces the full material box with a full coating material to the full loading and unloading area of the coating machine to complete the loading process.

[0020] In still another aspect of the present invention, an automatic loading and unloading method for the automatic loading and unloading composite robot device of the coating machine is provided, including an unloading process:

[0021] Step 1: Install the bin on the cabinet of the basic mobile platform through the guiding holes. The bin is empty.

[0022] Step 2: Control the loading and unloading composite robot device to move to the loading and unloading area of the covering machine. The depth camera recognizes that the covering material on the covering machine has been used up, and only the covering material tube remains.

[0023] Step 3: Control the manipulator to rotate, move the covering material double-position clamping device to the loading and unloading area of the covering machine, adjust the position of the low-position electric cylinder, and identify the blanking position through the depth camera. The manipulator grabs the covering material tube through the end clamping device.

[0024] Step 4: Control the manipulator to rotate, move the covering material double-position clamping device to the bin, adjust the position of the low-position electric cylinder, and place the covering material tube in the bin to complete the first blanking.

[0025] Step 5: Repeat Steps 3 - 4 until the bin is full of covering material tubes. Move the loading and unloading composite robot device to the corresponding process to replace the empty bin, and repeat the blanking operation until the loading and unloading area of the covering machine is empty to complete the blanking process.

[0026] Another aspect of the present invention provides an automatic loading and unloading method for the above-mentioned covering machine automatic loading and unloading composite robot device, including the loading and unloading synchronous operation process:

[0027] Step 1: The depth camera recognizes that only the covering material tube remains on the covering machine in the loading and unloading area of the covering machine, and the loading and unloading composite robot device performs the loading and unloading operation.

[0028] Step 2: Control the manipulator to rotate, drive the movable end effector and the fixed end effector, so that the end clamping device grabs the covering material in the bin.

[0029] Step 3: Control the manipulator, adjust the position of the high-position electric cylinder, and the depth camera recognizes the blanking position. The manipulator grabs the covering material tube on the covering machine through the end clamping device, and controls the manipulator to move to a non-interference area.

[0030] Step 4: The depth camera recognizes the loading and unloading position, the covering material double-position clamping device rotates 180°, and the manipulator places the covering material on the covering machine station through the end clamping device to complete the loading.

[0031] Step 5: Control the manipulator to rotate, move the covering material double-position clamping device to the bin, adjust the position of the low-position electric cylinder, and place the covering material tube removed from the covering machine in the bin to complete the first loading and unloading.

[0032] Step 6: Repeat Steps 2 - 6 until all the covering materials in the bin are loaded onto the covering machine, and at the same time, the covering material tubes on the covering machine are unloaded into the bin.

[0033] Step 7: The loading and unloading composite robot device replaces the bin full of coated material tubes with a bin full of coated materials, and repeats the loading and unloading operation until the loading and unloading area of the coater is full, completing the loading and unloading process.

[0034] Preferably, adjust the position of the low-position electric cylinder so that the distance between the movable end effector and the fixed end effector is the same as the distance between the two positioning posts in the bin.

[0035] Due to the above technical solutions adopted by the present invention, it has the following beneficial effects:

[0036] 1. The present invention realizes the loading and unloading of the coater for the first time. By adopting a double-position clamping device for coated materials, the loading and unloading of multiple coated materials can be realized, with high automation, high speed, and labor cost savings.

[0037] 2. The present invention uses an electric cylinder, and by changing the distance between the end effectors, the loading and unloading scenarios of different machines (such as winding machines) can be realized.

[0038] 3. The automatic loading and unloading method of the device described in the present invention is fast and efficient, improving the coating output.

[0039] Due to the above advantages of the present invention, it can be used as a general device for loading and unloading in various fields. This device has a simple structure, complete functions, and high automation, and can conveniently realize the function upgrade or automation transformation of production lines in fields such as advanced manufacturing, smart factories, and electronic information. The automatic loading and unloading composite robot device of this coater can be applied in textile automatic production. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and do not constitute an improper limitation to the present invention. In the drawings:

[0041] Figure 1 is a schematic diagram of the overall structure of the loading and unloading composite robot of the present invention;

[0042] Figure 2 is a schematic diagram of the bin structure of the present invention;

[0043] Figure 3 is a schematic diagram of the overall structure of the double-position clamping device for coated materials of the present invention;

[0044] Figure 4 is a top view of the double-position clamping device for coated materials of the present invention;

[0045] Figure 5 is a diagram showing the state of clamping the coated material and the state of clamping the coated material tube of the clamping device of the present invention;

[0046] Figure 6It is an application scenario diagram of the loading and unloading composite robot of the present invention;

[0047] Figure 7 It is another application scenario diagram of the loading and unloading composite robot of the present invention.

[0048] In the figure: 101, basic mobile platform; 102, cabinet; 103, radar; 104, manipulator; 105, double-position clamping device for covering material; 106, material box;

[0049] 201, positioning column; 202, guiding hole; 203, force sensor; 204, front end extension rod; 205, double-position cross beam for covering material; 206, multi-hole mounting substrate; 207a, low-position electric cylinder; 207b, high-position electric cylinder; 208, end effector extension plate; 209, end effector connection plate; 210, movable end effector; 211, fixed end effector; 212, depth camera; 213, end clamping device;

[0050] 301, covering material; 302, covering material tube;

[0051] 401, loading and unloading composite robot device; 402, covering machine; 403, loading and unloading area of covering machine; 404, working station of covering machine; 405, winding machine; 406, loading and unloading area of winding machine; 407, working station of winding machine. Detailed implementation manners

[0052] The present invention will be described in detail below in conjunction with the drawings and specific embodiments. Here, the schematic embodiments of the present invention and the descriptions are used to explain the present invention, but not to limit the present invention.

[0053] As Figure 1 shown, a loading and unloading composite robot device provided by an embodiment of the present invention includes a basic mobile platform 101. There is a cabinet 102 on the basic mobile platform 101. There are a radar 103, a manipulator 104 and a material box 106 on the cabinet 102 respectively. The manipulator 104 has 6 degrees of freedom and can complete complex actions in three-dimensional space. A double-position clamping device 105 for covering material is installed on the manipulator 104. The material box 106 is located at the position of the cabinet 102 corresponding to the double-position clamping device 105 at the end of the manipulator 104.

[0054] The basic mobile platform 101 ensures the normal operation of the entire system. The cabinet 102 provides mechanical structure support for the system. The radar 103 is used for obstacle avoidance to further improve safety. The material box 106 serves as a workpiece for storing materials, realizes the loading and unloading function of the system, and ensures the continuity of the system.

[0055] As Figure 2As shown, positioning posts 201 are arranged in an array in the material box 106. A covering material 301 or a covering material tube 302 can be sleeved on the positioning posts 201. Guide holes 202 are also distributed in the material box 106. The guide holes 202 are used as positioning references to assist in installing the material box at a predetermined position on the cabinet 102.

[0056] As Figure 3 , Figure 4 Combined Figure 1 As shown, a covering material double-position clamping device 105 is installed at the end of the manipulator 104. The covering material double-position clamping device 105 includes a front-end extension rod 204. A covering material double-position cross beam 205 and a force sensor 203 are installed on the front-end extension rod 204. Porous mounting substrates 206 are installed on both sides of the covering material double-position cross beam 205. The porous mounting substrates 206 are symmetrically distributed in a staggered up-and-down manner and at different heights along both sides of the covering material double-position cross beam 205.

[0057] Among them, the double-position cross beam 205 provides stable support for other mechanical components. The force sensor 203 monitors the magnitude and direction of the force in real time to form a system closed loop and improve system stability. The front-end extension rod 204 can increase the operation range. The low-side installation method of the porous mounting substrate 206 is used for taking materials from the material box, and the high-side installation method is used for taking materials from the covering machine.

[0058] A low-position electric cylinder 207a (electric cylinder in the closed state), a high-position electric cylinder 207b (electric cylinder in the open state) and an end effector extension plate 208 are respectively installed at the low position and the high position of the porous mounting substrate 206. End effector connection plates 209 are respectively installed on the low-position electric cylinder 207a and the high-position electric cylinder 207b. A movable end effector 210 is installed on the end effector connection plate 209. A fixed end effector 211 is installed on the end effector extension plate 208. The fixed end effector 211 and the movable end effector 210 are flush in height after installation. End clamping devices 213 are installed on the movable end effector 210 and the fixed end effector 211 to realize clamping of the covering material or the covering material tube. Figure 5 The states of clamping the covering material and clamping the covering material tube of the clamping device of the present invention are shown.

[0059] A depth camera 212 is further installed on the low side of the porous mounting substrate 206. By identifying the positioning mark points, it assists in completing the loading and unloading of the covering machine.

[0060] The present invention adopts a dual-position clamping device for coating materials, including four end effectors and an end clamping device. During loading, two end effectors are operated to clamp the coating materials. During unloading and loading, two end effectors are used for loading, and the other two end effectors are used for unloading. The end clamping device is a special finger structure suitable for taking and placing coating materials. The electric cylinder is used to adjust the position spacing of the end effectors and is suitable for grabbing materials in different scenarios. The depth camera is used to accurately identify the loading and unloading area; the radar is used to avoid obstacles in the position of the loading and unloading composite robot device to improve system stability; the robot arm can realize the clamping and placement of the coating material according to the precise position provided by the depth camera, completing the loading and unloading of the coating machine.

[0061] Accordingly, the present invention further provides an automatic loading and unloading method for the above-mentioned device, including a loading process, a unloading process, or a simultaneous loading and unloading process, specifically comprising the following steps:

[0062] Loading process: Place the coating material 301 on the coating machine station 404.

[0063] Step 1: Install the material box 106 on the cabinet 102 on the basic mobile platform 101 through the guide hole 202, and put the coating material 301 on the positioning column 201 in the material box 106 (the coating material is wrapped around the coating material tube 302) to fully load the material box 106;

[0064] Step 2: Control the loading and unloading composite robot device 401 to move to the loading and unloading area 403 of the coating machine 402. At this time, the coating machine 402 is unloaded.

[0065] Step 3: The depth camera 212 identifies the coating machine station 404 in the coating machine loading and unloading area 403, and the loading and unloading composite robot device 401 starts to perform the loading operation;

[0066] Step 4: Control the robot 104 to rotate and adjust the position of the low-position electric cylinder 207a of the double-position clamping device 105 of the coating material so that the distance between the movable end effector 210 and the fixed end effector 211 is the same as the distance between the two positioning columns 201 in the material box 106. Drive the movable end effector 210 and the fixed end effector 211 so that the end clamping device 213 grabs the coating material 301 in the material box 106.

[0067] Step 5: Control the manipulator 104 to move to the loading and unloading area 403 of the coater. Adjust the position of the high-position electric cylinder 207b to make the distance between the movable end effector 210 and the fixed end effector 211 the same as the distance between the two stations of the coater station 404. Identify the station to be loaded through the depth camera 212 for loading positioning; rotate the double-position clamping device 105 of the coating material by 180°; the manipulator 104 moves to the corresponding position, and the end clamping device 213 places the coating material 301 on the coater station 404 to complete the first loading.

[0068] Step 6: Repeat Steps 3 - 5 until all the coating materials 301 in the material box 106 are loaded; move the loading and unloading composite robot device 401 to the corresponding process to replace the material box 106 full of the coating material 301, and repeat the loading operation until the loading and unloading area 403 of the coater is full to complete the loading process of the loading and unloading composite robot device 401.

[0069] Unloading process: Remove the coated pipe 302 from the coater station 404.

[0070] Step 1: Install the material box 106 on the cabinet 103 of the basic moving platform 101 through the guiding hole 202, and the material box 106 is empty.

[0071] Step 2: Control the loading and unloading composite robot device 401 to move to the position of the loading and unloading area 403 of the coater 402. At this time, the coating material 301 on the coater 402 is used up, and only the coated pipe 302 remains on the coater 402, and the coated pipe 302 needs to be unloaded; the depth camera 212 identifies the coater station 404 in the loading and unloading area 403, and the loading and unloading composite robot device 401 starts to perform the unloading operation.

[0072] Step 3: Control the manipulator 104 to rotate, move the double-position clamping device 105 of the coating material to the loading and unloading area 403 of the coater. Adjust the position of the low-position electric cylinder 207a to make the distance between the movable end effector 210 and the fixed end effector 211 the same as the distance between the two stations of the coater station 404. Identify the station to be unloaded through the depth camera 212 for unloading positioning; the manipulator 104 moves to the corresponding position, drives the movable end effector 210 and the fixed end effector 211, and the end clamping device 213 grabs the coated pipe 302.

[0073] Step 4: Control the manipulator 104 to rotate, move the double-position clamping device 105 of the coating material to the material box 106. Adjust the position of the low-position electric cylinder 207a to make the distance between the movable end effector 210 and the fixed end effector 211 the same as the distance between the two positioning posts 201 separated in the material box 106, and place the coated pipe 302 in the material box 106 to complete the first unloading.

[0074] Step 5: Repeat Steps 3 - 4 until the bin 106 is full of the coated pipes 302; move the loading and unloading composite robot device 401 to the corresponding process to replace the empty bin 106, and repeat the unloading operation until the loading and unloading area 403 of the coating machine is empty, thus completing the unloading process of the loading and unloading composite robot device 401.

[0075] As Figure 6 shown is an application scenario of the loading and unloading composite robot in this embodiment.

[0076] The loading and unloading process is carried out synchronously: Remove the coated pipe 302 from the coating machine station 404, and at the same time, place the coating material 301 on the coating machine station 404.

[0077] The loading and unloading process includes the following steps:

[0078] When the coating material 301 on the coating machine 402 is used up and only the coated pipe 302 remains on the coating machine 402, it is necessary to unload the coated pipe 302. To ensure the continuous operation of the machine, it is necessary to load the coating material 301 onto the coating machine station 404 at the same time.

[0079] Step 1: When the depth camera 212 identifies the coating machine station 404 in the loading and unloading area 403 of the coating machine, the loading and unloading composite robot device 401 starts to perform the loading and unloading operation. The high and low position electric cylinders 207a and 207b on both sides of the coating material double-position clamping device 105 drive the movable end effector 210 and the fixed end effector 211 to drive the clamping device 213 to perform the loading and unloading operations successively.

[0080] Step 2: Control the manipulator 104 to rotate, adjust the position of the low position electric cylinder 207a so that the distance between the movable end effector 210 and the fixed end effector 211 is the same as the distance between the two positioning posts 201 in the bin 106. Drive the movable end effector 210 and the fixed end effector 211 so that the end clamping device 213 grabs the coating material 301 in the bin 106.

[0081] Step 3: Control the manipulator 104, adjust the position of the high position electric cylinder 207b so that the distance between the movable end effector 210 and the fixed end effector 211 is the same as the distance between the two stations of the coating machine station 404. Identify the station that needs to be unloaded through the depth camera 212 for unloading positioning; move the manipulator 104 to the corresponding position, drive the movable end effector 210 and the fixed end effector 211, and the end clamping device 213 grabs the coated pipe 302 on the coating machine 402, and control the manipulator 104 to move to a non-interference area.

[0082] Step 4: The depth camera 212 identifies the loading and unloading positions. The double-position clamping device 105 for the covering material rotates 180°. The manipulator 104 moves to the corresponding position, and the end clamping device 213 places the covering material 301 on the covering machine station 404 to complete the loading.

[0083] Step 5: Control the rotation of the manipulator 104 to move the double-position clamping device 105 for the covering material to the material box 106. Adjust the position of the low-position electric cylinder 207a so that the distance between the movable end effector 210 and the fixed end effector 211 is the same as the distance between the two positioning posts 201 in the middle of the material box 106. Place the covering material tube 302 removed from the covering machine 402 into the material box 106 to complete the first loading and unloading.

[0084] Step 6: Repeat Steps 2 - 6 until all the covering materials 301 in the material box 106 are loaded onto the covering machine 402, and at the same time, the covering material tubes 302 on the covering machine 402 are unloaded into the material box 106.

[0085] Step 7: Move the loading and unloading composite robot device 401 to the corresponding process, replace the material box 106 full of covering material tubes 302 with the material box 106 full of covering materials 301, and repeat the loading and unloading operation until the loading and unloading area 403 of the covering machine is full to complete the loading and unloading process of the loading and unloading composite robot device 401.

[0086] As Figure 7 shown in another application scenario of the loading and unloading composite robot of this embodiment, this loading and unloading method can complete the loading and unloading at the winding machine station 407 on the winding machine 405.

[0087] The present invention solves the problems of high labor intensity, low efficiency, and high cost existing in the traditional manual loading and unloading method in the textile industry. By using the method of the present invention, the requirements for high-efficiency automation in the loading and unloading process of the covering machine are realized. The method of the present invention is fast, efficient, saves labor costs, and improves the automation level of the textile industry.

[0088] The present invention is not limited to the above embodiments. Based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and deformations of some technical features without creative labor according to the disclosed technical content, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. An automatic loading and unloading composite robot device for a coating machine, characterized in that, It includes a basic mobile platform (101), on which there is a cabinet body (102). On the cabinet body (102), there are a radar (103), a manipulator (104) and a material box (106) respectively. A double-position clamping device for covering materials (105) is installed on the manipulator (104). The material box (106) is located on the cabinet body (102) corresponding to the double-position clamping device for covering materials (105) at the end of the manipulator (104). The double-position clamping device for covering materials (105) includes a low-position electric cylinder (207a) and a high-position electric cylinder (207b) installed in an interleaved and symmetric manner. A movable end effector (210) and a fixed end effector (211) are installed on the low-position electric cylinder (207a) and the high-position electric cylinder (207b). End clamping devices (213) for picking and placing materials are installed on both the movable end effector (210) and the fixed end effector (211). By controlling the rotation of the manipulator (104), adjusting the positions of the low-position electric cylinder (207a) and the high-position electric cylinder (207b), and driving the movable end effector (210) to drive the clamping device (213) to perform the feeding operation, loading and unloading operation, and unloading operation of the covering materials in sequence.

2. The automatic loading and unloading composite robot device for a coating machine according to claim 1, characterized in that, Positioning columns (201) arranged in an array are provided in the material box (106). Covering materials (301) or covering material tubes (302) are sleeved on the positioning columns (201). Guide holes (202) serving as positioning references are also distributed in the material box (106).

3. An automatic loading and unloading composite robot device for a coating machine according to claim 1, characterized in that, The double-position clamping device for covering materials (105) includes a front-end extension rod (204). A double-position cross beam for covering materials (205) and a force sensor (203) are installed on the front-end extension rod (204). Porous mounting substrates (206) arranged in an upper and lower interleaved and symmetric manner and distributed at different heights are installed on both sides of the double-position cross beam for covering materials (206). The low-position electric cylinder (207a), the high-position electric cylinder (207b) and an end effector extension plate (208) are installed at the low position and the high position of the porous mounting substrate (206) respectively.

4. The automatic loading and unloading composite robot device for a coating machine according to claim 3, characterized in that End effector connection plates (209) are respectively installed on the low-position electric cylinder (207a) and the high-position electric cylinder (207b). The movable end effector (210) is installed on the end effector connection plate (209). The fixed end effector (211) is installed on the end effector extension plate (208).

5. An automatic loading and unloading composite robot device for a coating machine according to claim 3, characterized in that, A depth camera (212) is installed on the porous mounting substrate (206).

6. An automatic loading and unloading method for an automatic loading and unloading composite robot device of a coating machine as described in any one of claims 1-5, characterized in that, It includes the feeding process: Step 1: Sleeve the covering materials (301) on the positioning columns (201) in the material box (106) to make the material box (106) fully loaded. Step 2: Control the loading and unloading composite robot device (401) to move to the position of the loading and unloading area (403) of the covering machine (402). Step 3: When the depth camera (212) recognizes that the covering machine station (402) is empty, the loading and unloading composite robot device (401) starts to perform the feeding operation. Step 4: Control the manipulator (104) to rotate, adjust the position of the lower-position electric cylinder (207a) of the double-position clamping device (105) for the covering material, drive the movable end effector (210) and the fixed end effector (211), so that the end clamping device (213) grabs the covering material (301) in the material box (106). Step 5: Control the manipulator (104) to move to the loading and unloading area (403) of the covering machine, adjust the position of the upper-position electric cylinder (207b) for loading positioning; the double-position clamping device (105) for the covering material rotates 180°; the manipulator (104) moves to the corresponding position, and the end clamping device (213) places the covering material (301) on the working station (404) of the covering machine to complete the first loading. Step 6: Repeat Steps 3 - 5 until all the covering materials (301) in the material box (106) are loaded; the loading and unloading composite robot device (401) replaces the material box (106) full of covering materials (301) to be full in the loading and unloading area (403) of the covering machine to complete the loading process.

7. An automatic loading and unloading method for an automatic loading and unloading composite robot device of a coating machine according to any one of claims 1-5, characterized in that, It includes the unloading process: Step 1: Install the material box (106) on the cabinet (103) of the basic moving platform (101) through the guiding hole (202), and the material box (106) is empty. Step 2: Control the loading and unloading composite robot device (401) to move to the position of the loading and unloading area (403) of the covering machine (402), and the depth camera (212) recognizes that the covering material (301) on the covering machine (402) is used up, and only the covering material pipe (302) remains. Step 3: Control the manipulator (104) to rotate, move the double-position clamping device (105) for the covering material to the loading and unloading area (403) of the covering machine, adjust the position of the lower-position electric cylinder (207a), and perform unloading positioning through the depth camera (212); the manipulator (104) grabs the covering material pipe (302) through the end clamping device (213). Step 4: Control the manipulator (104) to rotate, move the double-position clamping device (105) for the covering material to the position of the material box (106), adjust the position of the lower-position electric cylinder (207a), and place the covering material pipe (302) in the material box (106) to complete the first unloading. Step 5: Repeat Steps 3 - 4 until the material box (106) is filled with covering material pipes (302); move the loading and unloading composite robot device (401) to the corresponding process to replace the empty material box (103), and repeat the unloading operation until the loading and unloading area (403) of the covering machine is empty to complete the unloading process.

8. An automatic loading and unloading method for the automatic loading and unloading composite robot device of the coating machine according to any one of claims 1-5, characterized in that, It includes the synchronous loading and unloading operation process: Step 1: The depth camera (212) recognizes that only the covering material pipe (302) remains on the covering machine (402) in the loading and unloading area (403) of the covering machine, and the loading and unloading composite robot device (401) performs the loading and unloading operation. Step 2: Control the manipulator (104) to rotate, drive the movable end effector (210) and the fixed end effector (211), so that the end clamping device (213) grabs the covering material (301) in the material box (106). Step 3: Control the manipulator (104) to adjust the position of the high-position electric cylinder (207b). The depth camera (212) identifies the blanking positioning. The manipulator (104) grabs the covering material tube (302) on the covering machine (402) through the end clamping device (213), and controls the manipulator (104) to move to a non-interference area. Step 4: The depth camera (212) identifies the loading and unloading positions. The double-position clamping device (105) of the covering material rotates 180°. The manipulator (104) places the covering material (301) on the working station (404) of the covering machine through the end clamping device (213) to complete the loading. Step 5: Control the manipulator (104) to rotate, move the double-position clamping device (105) of the covering material to the material box (106), adjust the position of the low-position electric cylinder (207a), and place the covering material tube (302) removed from the covering machine (402) into the material box (106) to complete the first loading and unloading. Step 6: Repeat Steps 2-6 until all the covering materials (301) in the material box (106) are loaded onto the covering machine (402), and at the same time, the covering material tubes (302) on the covering machine (402) are unloaded into the material box (106). Step 7: The loading and unloading composite robot device (401) replaces the material box (106) full of covering material tubes (302) with a material box (106) full of covering materials (301), and repeats the loading and unloading operation until the loading and unloading area (403) of the covering machine is full to complete the loading and unloading process.

9. The automatic loading and unloading method of an automatic loading and unloading composite robot device for a coating machine according to any one of claims 6-8, characterized in that, Adjust the position of the low-position electric cylinder (207a) so that the distance between the movable end effector (210) and the fixed end effector (211) is the same as the distance between the two positioning columns (201) spaced in the material box (106).

10. An application of the covering machine automatic loading and unloading composite robot device according to any one of claims 1-5 in textile automated production.

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