Feeding and discharging equipment and feeding and discharging method
By designing automated loading and unloading equipment, using mechanical claws and detectors to achieve automatic transfer and positioning of raw materials and clinker, the high labor intensity and low efficiency problems caused by human work are solved, production efficiency is improved and workpiece damage is reduced.
Patent Information
- Application Number
- CN202510600669.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-09
- Publication Date
- 2025-08-19
AI Technical Summary
In the prior art, loading and unloading operations mainly rely on human work, resulting in high labor intensity, high labor costs and low efficiency.
A loading and unloading equipment is designed, including a material tray transfer mechanism, loading mechanism and unloading mechanism. Through the synergy between the mechanical claws and the drive parts, the automatic transfer and positioning of raw materials and clinker are achieved, and the workpiece position accuracy is ensured by combining detectors and calibration components.
Automatic loading and unloading of materials is realized, labor intensity is reduced, operating efficiency is improved, and the risk of workpiece damage is reduced through precise positioning and correction functions.
Smart Images
Figure CN120504141A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of automation equipment, and in particular to a loading and unloading device and a loading and unloading method. Background Art
[0002] During the production process, workpieces typically undergo multiple processing steps. When transferring workpieces between different processes, trays are often used to load multiple workpieces to improve transfer efficiency. During the processing process, unprocessed raw materials must be removed from the trays to facilitate processing by the processing equipment. After processing, the processed clinker is placed in the trays for collection. Currently, loading and unloading operations are often performed manually, which is labor-intensive, costly, and inefficient. Summary of the Invention
[0003] In view of the above, it is necessary to propose a loading and unloading equipment and a loading and unloading method, which can automatically load and unload materials, have low labor intensity and high operating efficiency.
[0004] The embodiment of the present application provides a loading and unloading device, comprising: a tray transfer mechanism, comprising a feeding component, an empty tray component, a receiving component and a shifting tray component, wherein the feeding component, the empty tray component and the receiving component are arranged in an array along a first direction, the feeding component is used to carry a tray loaded with raw material, the empty tray component is used to carry an empty tray, the receiving component is used to carry the tray to receive clinker, the shifting tray component is mounted above the feeding component, the empty tray component and the receiving component, and is used to transfer the empty tray; a loading mechanism, comprising a loading component and a feeding component, wherein the loading component is mounted above the feeding component and is used to In order to take out the raw material in the feeding component, the feeding component is arranged close to the feeding component along a second direction perpendicular to the first direction, and the feeding component is used to receive the raw material and transmit the raw material along the second direction to supply the raw material to the external equipment; and the unloading mechanism includes a receiving component and a unloading component, the receiving component is arranged close to the receiving component along the second direction, the receiving component is used to receive the clinker and move the clinker toward the receiving component along the second direction, and the unloading component is mounted above the receiving component, and is used to transfer the clinker in the receiving component to the receiving component.
[0005] The above-mentioned loading and unloading equipment is provided with a tray transfer mechanism, including a feeding component, an empty tray component, a receiving component and a shifting tray component. The feeding component can carry a tray loaded with raw material, the receiving component can carry a tray loaded with clinker, the empty tray component can collect empty trays, or provide empty trays for the receiving component, the shifting tray component can transfer the empty tray on the feeding component to the empty tray component or the receiving component, and the shifting tray component can also transfer the empty tray on the empty tray component to the receiving component, thus realizing the functions of feeding, receiving and tray transfer. The loading mechanism includes a loading component and a feeding component. The loading component is used to take out the raw material in the tray of the feeding component. The feeding component can receive and transmit the raw material so that an external device can take the raw material from the feeding component, thus realizing the automatic loading function. The unloading mechanism includes a receiving component and a unloading component. The receiving component can receive and transmit clinker to the receiving component. The unloading component can transfer the clinker in the receiving component to the tray of the receiving component, thus realizing automatic unloading. The above-mentioned loading and unloading equipment can realize automatic loading and unloading through the mutual cooperation of the tray transfer mechanism, the loading mechanism and the unloading mechanism, effectively reducing labor intensity and improving work efficiency.
[0006] In some embodiments, the loading assembly includes a first transverse drive member, a first longitudinal drive member, a first vertical drive member, a loading claw and a detector. The first transverse drive member is mounted above the feeding assembly and extends along the first direction. The first longitudinal drive member is connected to the first transverse drive member and extends along the second direction. The first vertical drive member is connected to the first longitudinal drive member and extends along a third direction perpendicular to the first and second directions. The loading claw is connected to the first longitudinal drive member. The detector is connected to the first longitudinal drive member and is arranged adjacent to the loading claw. The first transverse drive member is used to drive the first longitudinal drive member to extend along the first direction. The first longitudinal drive member is used to drive the first vertical drive member and the detector to move along the second direction, the vertical drive member is used to drive the loading claw to move along the third direction, the loading claw is used to take and place the raw material, and the detector is used to detect the front and back of the raw material in the material tray in the feeding assembly; the loading mechanism also includes a correction assembly, which is adjacent to the feeding assembly, and the correction assembly includes a rotary drive member and a rotating member connected to the rotary drive member, the loading claw is used to place the raw material that is placed upside down on the rotating member, and the rotary drive member drives the rotating member to rotate around the third direction to adjust the front and back of the raw material.
[0007] In some embodiments, the loading mechanism further includes a positioning assembly, which is arranged along the second direction close to the correction assembly. The positioning assembly includes a positioning seat, a fixed positioning member, a positioning drive member and a movable positioning member. The positioning seat is used to carry the raw material, the fixed positioning member is connected to the positioning seat, the positioning drive member is connected to the positioning seat, the movable positioning member is connected to the positioning drive member and is arranged opposite to the fixed positioning member, and the positioning drive member is used to drive the movable positioning member to push the raw material to the fixed positioning member to position the raw material.
[0008] In some embodiments, the loading mechanism also includes a transfer assembly, which includes a transfer drive and a transfer claw. The transfer drive is mounted above the feeding assembly and the positioning assembly, and the transfer claw is connected to the transfer drive. The transfer drive is used to drive the transfer claw to move between the feeding assembly and the positioning assembly so that the transfer claw transfers the raw material on the positioning assembly to the feeding assembly.
[0009] In some embodiments, the feeding assembly includes a feeding drive and a first distance-changing unit connected to the feeding drive, the feeding drive is used to drive the first distance-changing unit to move closer to or away from the feeding assembly along the second direction, the first distance-changing unit includes a first distance-changing drive and a plurality of first distance-changing seats, the first distance-changing drive is connected to the feeding drive, the plurality of first distance-changing seats are all connected to the first distance-changing drive and are arranged along the second direction, the first distance-changing seat is used to carry the raw material, the first distance-changing drive is used to drive the plurality of first distance-changing seats to move closer to or away from each other, so as to adjust the raw material carried by the plurality of first distance-changing seats. Material distance change; the receiving component includes a receiving drive and a second distance change unit connected to the receiving drive, the receiving drive is used to drive the second distance change unit to move closer to or away from the material receiving component along the second direction, the second distance change unit includes a second distance change drive and a plurality of second distance change seats, the second distance change drive is connected to the receiving drive, and the plurality of second distance change seats are all connected to the second distance change drive and arranged along the second direction, the second distance change seat is used to carry the clinker, and the second distance change drive is used to drive the plurality of second distance change seats to move closer to or away from each other, so as to change the distance of the plurality of clinkers carried by the plurality of second distance change seats.
[0010] In some embodiments, the unloading assembly includes a second transverse drive member, a second longitudinal drive member, a second vertical drive member and a unloading claw. The second transverse drive member is mounted above the receiving assembly and extends along the first direction. The second longitudinal drive member is connected to the second transverse drive member and extends along the second direction. The second vertical drive member is connected to the second longitudinal drive member and extends along a third direction perpendicular to the first direction and the second direction. The unloading claw is connected to the second longitudinal drive member. The second transverse drive member is used to drive the second longitudinal drive member to move along the first direction. The second longitudinal drive member is used to drive the second vertical drive member to move along the second direction. The vertical drive member is used to drive the unloading claw to move along the third direction. The unloading claw is used to take and place the clinker.
[0011] In some embodiments, the feeding assembly includes a lifting drive and a supporting plate connected to the lifting drive, the lifting drive is used to drive the supporting plate to rise or fall along a third direction perpendicular to the first direction and the second direction, and the supporting plate is used to support the material tray; the tray moving assembly includes a tray moving drive, a chuck drive and a chuck member, the tray moving drive is arranged above the feeding assembly, the empty tray assembly and the material receiving assembly, the chuck drive is connected to the tray moving drive, the chuck member is connected to the chuck drive, the tray moving drive is used to drive the chuck drive to move along the first direction, and the chuck drive is used to drive the chuck member to clamp the material tray.
[0012] An embodiment of the present application also provides a loading and unloading method, which uses the above-mentioned loading and unloading equipment, and the loading and unloading method includes: a feeding component carries a tray loaded with raw materials; a loading component takes out the raw materials in the feeding component and places the raw materials in the feeding component; the feeding component transmits the raw materials along a second direction to supply the raw materials to an external device; a receiving component receives the clinker processed by the external device and transmits the clinker along the second direction to a place close to a receiving component; the receiving component carries the empty tray; the unloading component transfers the clinker on the receiving component to the tray on the receiving component; and the tray moving component transfers the empty trays between the feeding component, the empty tray component and the receiving component.
[0013] In some embodiments, the step of transferring the empty material tray by the tray moving assembly includes: transferring the empty material tray on the material feeding assembly to the empty tray assembly; or transferring the empty material tray on the material feeding assembly to the material receiving assembly.
[0014] In some embodiments, the step of transferring the empty material tray by the tray moving assembly further comprises: transferring the empty material tray on the empty tray assembly to the material receiving assembly. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 A schematic structural diagram of the loading and unloading equipment provided in an embodiment of the present application.
[0016] Figure 2 for Figure 1 The internal structure diagram of the loading and unloading equipment is shown.
[0017] Figure 3 for Figure 2 The structural diagram of the tray transfer mechanism of the loading and unloading equipment is shown.
[0018] Figure 4 for Figure 2 The schematic diagram of the structure of the loading and unloading mechanism and part of the loading and unloading mechanism of the loading and unloading equipment from another angle.
[0019] Figure 5 for Figure 2 The diagram shows a partial structure diagram of the loading and unloading mechanism of the loading and unloading equipment.
[0020] Figure 6 A schematic flow chart of the loading and unloading method provided in an embodiment of the present application.
[0021] Figure 7 A schematic diagram of the process of the tray shifting component of the loading and unloading method provided in an embodiment of the present application.
[0022] Main component symbols: loading and unloading equipment 100, tray transfer mechanism 10, feeding assembly 11, lifting drive 111, carrying plate 112, empty tray assembly 12, receiving assembly 13, shifting tray assembly 14, shifting tray drive 141, chuck drive 142, chuck 143, loading mechanism 20, loading assembly 21, first horizontal drive 211, first longitudinal drive 212, first vertical drive 213, loading claw 214, detector 215, feeding assembly 22, feeding drive 221, first variable distance unit 222, first variable distance drive 2221, first variable distance seat 2222, calibration Positive component 23, rotating drive member 231, rotating member 232, positioning component 24, positioning seat 241, fixed positioning member 242, positioning drive member 243, movable positioning member 244, transfer component 25, transfer drive member 251, transfer claw 252, unloading mechanism 30, receiving component 31, receiving drive member 311, second variable distance unit 312, second variable distance drive member 3121, second variable distance seat 3122, unloading component 32, second horizontal drive member 321, second longitudinal drive member 322, second vertical drive member 323, unloading claw 324, raw material 200, clinker 300, material tray 400. DETAILED DESCRIPTION
[0023] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and should not be understood as limiting the present application.
[0024] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0025] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the term "connection" should be understood in a broad sense. For example, it can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, or mutual communication; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two elements or an interaction between two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0026] The following further describes the embodiments of the present application in conjunction with the accompanying drawings. To facilitate understanding and explanation of the embodiments of the present application, a three-dimensional coordinate system is established in some of the accompanying drawings, with the X-axis being the first direction, the Y-axis being the second direction, and the Z-axis being the third direction, with the X-axis, Y-axis, and Z-axis directions being perpendicular to each other.
[0027] See Figure 1 、 Figure 2 and Figure 3The embodiment of the present application provides a loading and unloading device 100 for automatically loading raw material 200 and unloading clinker 300. It can be understood that the loading and unloading device 100 provided in this embodiment can be connected to an external device (not shown) to provide raw material 200 to the external device and collect the clinker 300 processed by the external device. The external device can be a welding machine, a marking machine, or other equipment for processing raw material 200. In this embodiment, the raw material 200 is an unprocessed product, and the clinker 300 is a product after the raw material 200 has been processed. Both the raw material 200 and the clinker 300 can be in the form of strips, sheets, or blocks, and are not limited here. The loading and unloading device 100 includes a tray transfer mechanism 10, a loading mechanism 20, and a unloading mechanism 30.
[0028] The tray transfer mechanism 10 includes a feeding assembly 11, an empty tray assembly 12, a material receiving assembly 13 and a tray moving assembly 14. The feeding assembly 11, the empty tray assembly 12 and the material receiving assembly 13 are arranged along a first direction. The feeding assembly 11 is used to carry a tray 400 loaded with raw material 200, the empty tray assembly 12 is used to carry an empty tray 400, and the material receiving assembly 13 is used to carry a tray 400 to receive clinker 300. The tray moving assembly 14 is mounted above the feeding assembly 11, the empty tray assembly 12 and the material receiving assembly 13, and is used to transfer the empty tray 400.
[0029] The feed assembly 11 is used to carry trays 400 containing raw material 200. Multiple trays 400 can be stacked, such as five, ten, or fifteen. The number of trays 400 carried by the feed assembly 11 is related to the size of the feed assembly 11 itself and the thickness of each tray 400. The specific number of trays 400 can be set according to actual conditions and is not limited here. The empty tray assembly 12 and the material receiving assembly 13 can also carry multiple trays 400, such as five, ten, or fifteen, etc., which will not be described in detail here. In some embodiments, the feeding component 11, the empty tray component 12 and the receiving component 13 can be provided in plurality, such as two, three, etc. The multiple feeding components 11, the empty tray component 12 and the receiving component 13 can be arranged along the first direction and operate independently, which can improve the working efficiency. For example, after the raw material 200 and the tray 400 in one of the feeding components 11 are taken out, the other feeding components 11 can continue to feed, and the operator can assemble the tray 400 carrying the raw material 200 on the feeding component 11.
[0030] After the raw material 200 in the uppermost tray 400 of the feeding assembly 11 has been completely removed, the tray moving assembly 14 can remove the empty tray 400 above the feeding assembly 11. If the uppermost tray 400 of the receiving assembly 13 is full of clinker 300 at this time, the tray moving assembly 14 will transfer the empty tray 400 to the receiving assembly 13. If the uppermost tray 400 of the receiving assembly 13 is not full of clinker 300 at this time, the tray moving assembly 14 will place the empty tray 400 in the empty tray assembly 12. If the raw material 200 in the uppermost tray 400 of the feeding assembly 11 has not been completely removed, and the uppermost tray 400 of the receiving assembly 13 is full of clinker 300, the tray moving assembly 14 will take the empty tray 400 from the empty tray assembly 12 and place it in the receiving assembly 13. If the raw material 200 in the top tray 400 of the feeding assembly 11 has not been completely removed, the top tray 400 of the receiving assembly 13 is full of clinker 300, and there is no empty tray in the empty tray assembly 12, the operator needs to place an empty tray 400 in the empty tray assembly 12 so that the tray transfer assembly 14 can transfer the empty tray 400 to the receiving assembly 13. During single-cooking, the tray transfer assembly 14 is used to transfer the empty tray 400 on the feeding assembly 11 to the empty tray assembly 12. During single-cooking, the tray transfer assembly 14 is used to transfer the empty tray 400 on the empty tray assembly 12 to the receiving assembly 13.
[0031] In this embodiment, the feeding assembly 11 and the receiving assembly 13 can also be docked with an AGV (Automated Guided Vehicle) (not shown) to automatically provide the material tray 400 loaded with raw material 200 and automatically remove the material tray 400 loaded with clinker 300 to further improve the degree of automation.
[0032] The loading mechanism 20 includes a loading assembly 21 and a feeding assembly 22. The loading assembly 21 is mounted above the feeding assembly 11 and is used to take out the raw material 200 in the feeding assembly 11. The feeding assembly 22 is arranged close to the feeding assembly 11 along a second direction perpendicular to the first direction. The feeding assembly 22 is used to receive the raw material 200 and transmit the raw material 200 along the second direction to supply the raw material 200 to the external equipment.
[0033] The unloading mechanism 30 includes a receiving component 31 and a unloading component 32. The receiving component 31 is arranged near the receiving component 13 along the second direction. The receiving component 31 is used to receive the clinker 300 and move the clinker 300 toward the receiving component 13 along the second direction. The unloading component 32 is mounted above the receiving component 13 and is used to transfer the clinker 300 in the receiving component 31 to the receiving component 13.
[0034] In this embodiment, the loading and unloading equipment 100 may also be configured with a rack, processor, operation panel, protective cover, alarm and other structures (not shown in the figure), which shall be based on actual production needs and are not limited here.
[0035] The loading and unloading equipment 100 provided in the embodiment of the present application is provided with a tray transfer mechanism 10, including a feeding component 11, an empty tray component 12, a receiving component 13 and a tray moving component 14. The feeding component 11 can carry a tray 400 loaded with raw materials 200, the receiving component 13 can carry a tray 400 loaded with clinker 300, the empty tray component 12 can collect empty trays 400, or provide empty trays 400 for the receiving component 13, the tray moving component 14 can transfer the empty tray 400 on the feeding component 11 to the empty tray component 12 or the receiving component 13, and the tray moving component 14 can also transfer the empty tray 400 on the empty tray component 12 to the receiving component 13, so that the functions of feeding, receiving and transferring the tray 400 can be realized. The loading mechanism 20 includes a loading component 21 and a feeding component 11. The loading component 21 is used to take out the raw material 200 in the material tray 400 of the feeding component 11. The feeding component 22 can receive and transmit the raw material 200 so that an external device can take the raw material 200 from the feeding component 22, thereby realizing the automatic loading function. The unloading mechanism 30 includes a receiving component 31 and an unloading component 32. The receiving component 31 can receive and transmit the clinker 300 to the receiving component 13. The unloading component 32 can transfer the clinker 300 in the receiving component 31 to the material tray 400 of the receiving component 13, thereby realizing automatic unloading. The loading and unloading equipment 100 provided in the embodiment of the present application can realize automatic loading and unloading through the mutual cooperation of the material tray transfer mechanism 10, the loading mechanism 20 and the unloading mechanism 30, effectively reducing labor intensity and improving work efficiency.
[0036] In some embodiments, see Figure 2 、 Figure 3 and Figure 4 The feeding assembly 21 includes a first transverse driving member 211, a first longitudinal driving member 212, a first vertical driving member 213, a feeding claw 214 and a detector 215. The first transverse driving member 211 is mounted above the feeding assembly 11 and extends along the first direction. The first longitudinal driving member 212 is connected to the first transverse driving member 211 and extends along the second direction. The first vertical driving member 213 is connected to the first longitudinal driving member 212 and extends along a third direction perpendicular to the first and second directions. The feeding claw 214 is connected to the first longitudinal driving member 212. The detector 215 is connected to the first longitudinal driving member 212 and is arranged adjacent to the loading claw 214. The first transverse driving member 211 is used to drive the first longitudinal driving member 212 to move in a first direction. The first longitudinal driving member 212 is used to drive the first vertical driving member 213 and the detector 215 to move in a second direction. The first vertical driving member 213 is used to drive the loading claw 214 to move in a third direction. The loading claw 214 is used to take and place the raw material 200. The detector 215 is used to detect the front and back of the raw material 200 in the material tray 400 in the feeding assembly 11.
[0037] The first transverse drive 211 and the first longitudinal drive 212 can each be a linear module, etc. The first vertical drive 213 can be a telescopic cylinder, etc. The loading gripper 214 can be a gripper or a suction cup gripper, etc. The detector 215 can be a device capable of capturing images, such as a CCD (Charge-Coupled Device) camera. The first transverse drive 211, the first longitudinal drive 212, and the first vertical drive 213 are configured to cooperate with each other to drive the loading gripper 214 to move freely in three-dimensional space, so that the loading gripper 214 can grasp the raw material 200 within the feeding assembly 11 and place the raw material 200 at a target position, which can be the position of the feed assembly 22 or the calibration assembly 23 or positioning assembly 24 described below for receiving the raw material 200.
[0038] In this embodiment, the detector 215 is arranged on the side of the loading gripper 214 away from the feeding assembly 22 along the second direction. In this way, before the loading gripper 214 grabs the raw material 200, the detector 215 first passes over the raw material 200 in the material tray 400, and obtains the image and other position information of the raw material 200 when passing over the raw material 200 to identify whether the position of the workpiece is correct.
[0039] Please also see Figure 5The loading mechanism 20 also includes a correction assembly 23, which is positioned adjacent to the feed assembly 22. The correction assembly 23 includes a rotary drive member 231 and a rotating member 232 connected to the rotary drive member 231. The loading gripper 214 is used to place the upside-down raw material 200 onto the rotating member 232. The rotary drive member 231 drives the rotating member 232 to rotate about a third direction to adjust the orientation of the raw material 200. The rotary drive member 231 may be a rotary cylinder, and the rotating member 232 may be a block-shaped structure. The rotating member 232 is provided with a trough for accommodating the raw material 200. It will be understood that the tray 400 accommodates multiple pieces of raw material 200. To prevent collisions between the raw materials 200 during transportation, the tray 400 is typically provided with multiple troughs to separate the raw materials 200. The trough within the tray 400 is typically designed to match the structure of the raw material 200, further enhancing the tray's stability in supporting the raw material 200 and reducing the chance of incorrect placement of the raw material 200. However, when the raw material 200 is placed in the tray 400, it can sometimes become inverted 180° around the third direction. After the detector 215 detects the inverted raw material 200, the loading gripper 214 places the inverted raw material 200 onto the rotating member 232. The rotary drive member 231 then rotates the rotating member 232 180° to adjust the position of the raw material 200. The adjusted raw material 200 is then transferred to the feed assembly 22. It is understandable that there are still other misplacement phenomena when the raw material 200 is placed in the tray 400, such as placement 90° around the first direction. Due to the structural limitations of the tray 400, the probability of such phenomena occurring is small. When the detector 215 detects that the raw material 200 is not placed correctly and is not placed upside down 180° around the third direction, the detector 215 sends this information to the processor, and the processor controls the alarm to sound an alarm, and the operator performs manual adjustment.
[0040] In this embodiment, the correction component 23 may also be configured with a sensor (not shown), such as an infrared sensor, a proximity switch, etc. The sensor corresponds to the trough of the rotating member 232 for accommodating the raw material 200 to detect whether the raw material 200 is placed on the rotating member 232, so as to prevent the loading claw 214 from placing other raw materials 200 on the rotating member 232 when there is raw material 200 on the rotating member 232, causing the raw material 200 to collide and be damaged.
[0041] In some embodiments, see Figure 2 and Figure 3 , the first vertical driving member 213 and the loading claw 214 are both provided with multiple and one-to-one corresponding connections, and the multiple first vertical driving members 213 are arranged along the second direction, and each first vertical driving member 213 independently drives the loading claw 214 connected thereto to move along the third direction.
[0042] The number of first vertical drive members 213 and loading grippers 214 can be ten, fifteen, twenty, or the like, so that multiple raw materials 200 can be simultaneously grasped, thereby improving loading efficiency. If one or more of the raw materials 200 corresponding to the multiple loading grippers 214 are placed upside down, the first vertical drive member 213 corresponding to the upside-down raw material 200 can independently drive the corresponding loading gripper 214 to place the upside-down raw material 200 onto the rotating member 232, thereby further improving processing efficiency.
[0043] In some embodiments, see Figure 3 and Figure 5 The feeding mechanism 20 also includes a positioning assembly 24, which is arranged along the second direction close to the correction assembly 23. The positioning assembly 24 includes a positioning seat 241, a fixed positioning member 242, a positioning driving member 243 and a movable positioning member 244. The positioning seat 241 is used to carry the raw material 200, the fixed positioning member 242 is connected to the positioning seat 241, the positioning driving member 243 is connected to the positioning seat 241, the movable positioning member 244 is connected to the positioning driving member 243 and is arranged opposite to the fixed positioning member 242. The positioning driving member 243 is used to drive the movable positioning member 244 to push the raw material 200 to the fixed positioning member 242 to position the raw material 200.
[0044] The positioning seat 241 can be a plate-like structure, the fixed positioning member 242 can be a block or plate-like structure, the positioning driver 243 can be a cylinder or the like, and the movable positioning member 244 can be a block-like structure. In this embodiment, at least two fixed positioning members 242 are provided, one located on two adjacent sides of the positioning seat 241. Two positioning drivers 243 and two movable positioning members 244 can be provided, one opposite the other two adjacent sides of the positioning seat 241. After the raw material 200 is placed on the positioning seat 241, the positioning driver 243 drives the movable positioning member 244 to push the raw material 200 against the corresponding fixed positioning member 242, thereby precisely positioning the raw material 200.
[0045] The number of positioning assemblies 24 can be multiple, such as ten, fifteen, or twenty. The multiple positioning assemblies 24 are arranged sequentially along the second direction and are provided in a one-to-one correspondence with the multiple loading grippers 214. This allows for simultaneous positioning of multiple raw materials 200. When multiple positioning assemblies 24 are provided, the multiple movable positioning members 244 that push and position the same side of the multiple raw materials 200 can be connected to the same positioning drive member 243 to reduce manufacturing costs.
[0046] It can be understood that the position deviation of the raw material 200 in the tray 400 is relatively large. By setting the positioning component 24, the raw material 200 can be accurately positioned, improving the position accuracy when multiple raw materials 200 are transferred to the feeding component 22, and facilitating external equipment to take the material.
[0047] It can be understood that for the raw material 200 that is placed upside down, the material taking gripper first places the raw material 200 that is placed upside down in the correction component 23 for correction, and then places the corrected raw material 200 in the positioning component 24 for positioning.
[0048] In some embodiments, see Figure 2 、 Figure 3 and Figure 5 The feeding mechanism 20 further includes a transfer assembly 25, which includes a transfer drive 251 and a transfer claw 252. The transfer drive 251 is mounted above the feeding assembly 22 and the positioning assembly 24, and the transfer claw 252 is connected to the transfer drive 251. The transfer drive 251 is used to drive the transfer claw 252 to move between the feeding assembly 22 and the positioning assembly 24, so that the transfer claw 252 transfers the raw material 200 on the positioning assembly 24 to the feeding assembly 22. The transfer drive 251 can be a combined drive structure of a linear module and a vertical cylinder, and the transfer claw 252 can be a clamping claw or a suction cup claw. By providing the transfer assembly 25, after the feeding claw 214 places the raw material 200 on the positioning assembly 24, the next step of the material removal process can be carried out, and the transfer drive 251 can drive the transfer claw 252 to transfer the raw material 200 on the positioning assembly 24 to the feeding assembly 22, thereby improving work efficiency.
[0049] In some embodiments, see Figure 2 、 Figure 3 and Figure 5 The feeding assembly 22 includes a feeding drive 221 and a first distance variable unit 222 connected to the feeding drive 221. The feeding drive 221 is used to drive the first distance variable unit 222 to move closer to or away from the feeding assembly 11 along the second direction. The first distance variable unit 222 includes a first distance variable driving member 2221 and multiple first distance variable seats 2222. The first distance variable driving member 2221 is connected to the feeding drive 221. The multiple first distance variable seats 2222 are all connected to the first distance variable driving member 2221 and are arranged along the second direction. The first distance variable seats 2222 are used to carry the raw material 200. The first distance variable driving member 2221 is used to drive the multiple first distance variable seats 2222 to approach or move away from each other, so as to change the distance of the multiple raw materials 200 carried by the multiple first distance variable seats 2222.
[0050] The feed drive 221 can be a linear module, etc., and the output end of the feed drive 221 can be provided with a plate-like structure to connect and support the first variable-pitch unit 222. The first variable-pitch drive 2221 can be a cylinder, etc., and the first variable-pitch seat 2222 can be a block-shaped structure. The first variable-pitch seat 2222 defines a groove for positioning the raw material 200. It is understood that the distance between adjacent raw materials 200 in the tray 400 is relatively small. When multiple raw materials 200 are placed in the feed assembly 22, external equipment can easily bump into adjacent raw materials 200 during the material removal process, causing damage to the raw materials 200. By providing the first variable-pitch unit 222, when the feed drive 221 drives the first variable-pitch unit 222 to move in the second direction away from the feed assembly 11, the first variable-pitch drive 2221 drives the multiple first variable-pitch seats 2222 away from each other, thereby increasing the distance between adjacent first variable-pitch seats 2222, and thereby increasing the spacing between adjacent raw materials 200. After the raw material 200 on the first distance variable seat 2222 is taken out, the feed drive 221 drives the first distance variable unit 222 to move toward the feeding assembly 11. At this time, the first distance variable drive 2221 drives multiple first distance variable seats 2222 to approach each other, so that multiple first distance variable seats 2222 can receive multiple raw materials 200.
[0051] In some embodiments, see Figure 2 、 Figure 3 and Figure 5 The receiving component 31 includes a receiving drive member 311 and a second distance variable unit 312 connected to the receiving drive member 311. The receiving drive member 311 is used to drive the second distance variable unit 312 to move closer to or away from the material receiving component 13 along the second direction. The second distance variable unit 312 includes a second distance variable drive member 3121 and multiple second distance variable seats 3122. The second distance variable drive member 3121 is connected to the receiving drive member 311. The multiple second distance variable seats 3122 are all connected to the second distance variable drive member 3121 and arranged along the second direction. The second distance variable seats 3122 are used to carry clinker 300. The second distance variable drive member 3121 is used to drive the multiple second distance variable seats 3122 to approach or move away from each other, so as to change the distance of the multiple clinkers 300 carried by the multiple second distance variable seats 3122.
[0052] The receiving drive member 311 may be a linear module, etc., and the output end of the receiving drive member 311 may be provided with a plate-like structure to connect to and support the second pitch-variable unit 312. The second pitch-variable drive member 3121 may be a cylinder, etc., and the second pitch-variable seat 3122 may be a block-shaped structure. The second pitch-variable seat 3122 includes a groove for positioning the clinker 300. It is understood that to facilitate external equipment in placing the clinker 300 on the second pitch-variable seat 3122, the distance between adjacent second pitch-variable seats 3122 needs to be increased when the second pitch-variable seats 3122 receive the clinker 300. Since the distance between adjacent clinkers 300 in the material tray 400 is relatively small, the distance between adjacent second pitch-variable seats 3122 is reduced when the unloading assembly 32 removes the clinker 300 from the second pitch-variable seat 3122. By providing the second variable distance unit 312, when the receiving driver 311 drives the second variable distance unit 312 to move in the second direction away from the material receiving assembly 13, the second variable distance driver 3121 drives the plurality of second variable distance seats 3122 to move away from each other, thereby increasing the distance between adjacent second variable distance seats 3122, and thereby increasing the spacing between adjacent clinker 300. After the second variable distance seats 3122 are filled with clinker 300, the receiving driver 311 drives the second variable distance unit 312 to move toward the material receiving assembly 13. At this time, the second variable distance driver 3121 drives the plurality of second variable distance seats 3122 to move closer to each other, so that the unloading assembly 32 can remove clinker 300 from the second variable distance seats 3122.
[0053] In some embodiments, see Figure 2 、 Figure 3 and Figure 4 The unloading component 32 includes a second transverse driving member 321, a second longitudinal driving member 322, a second vertical driving member 323 and a unloading claw 324. The second transverse driving member 321 is mounted above the receiving component 13 and extends along the first direction. The second longitudinal driving member 322 is connected to the second transverse driving member 321 and extends along the second direction. The vertical driving member is connected to the second longitudinal driving member 322 and extends along a third direction perpendicular to the first direction and the second direction. The unloading claw 324 is connected to the second longitudinal driving member 322. The second transverse driving member 321 is used to drive the second longitudinal driving member 322 to move in the first direction. The second longitudinal driving member 322 is used to drive the second vertical driving member 323 to move in the second direction. The second vertical driving member 323 is used to drive the unloading claw 324 to move in the third direction. The unloading claw 324 is used to take and place the clinker 300.
[0054] The second transverse drive member 321 and the second longitudinal drive member 322 can each be a linear module, etc. The second vertical drive member 323 can be a telescopic cylinder, etc. The unloading gripper 324 can be a clamping gripper or a suction cup gripper, etc. The second transverse drive member 321, the second longitudinal drive member 322, and the second vertical drive member 323 are configured to cooperate with each other to drive the unloading gripper 324 to move freely in three-dimensional space, so that the unloading gripper 324 can grasp the clinker 300 in the receiving assembly 31 and place the clinker 300 in the material tray 400 of the receiving assembly 13.
[0055] In this embodiment, only one of the first transverse driving member 211 and the second transverse driving member 321 can be provided, and the first longitudinal driving member 212 and the second longitudinal driving member 322 can be connected to the same first transverse driving member 211 or the second transverse driving member 321 to drive the first longitudinal driving member 212 and the second longitudinal driving member 322 to move along the first direction.
[0056] In this embodiment, a plurality of unloading grippers 324 can be provided, such as ten, fifteen, twenty, etc., so that a plurality of clinkers 300 can be grasped at the same time to improve unloading efficiency.
[0057] In some embodiments, see Figure 2 and Figure 3 The feeding assembly 11 includes a lifting drive 111 and a supporting plate 112 connected to the lifting drive 111. The lifting drive 111 is used to drive the supporting plate 112 to rise or fall in a third direction perpendicular to the first direction and the second direction. The supporting plate 112 is used to support the material tray 400. The lifting drive 111 can be a cylinder, a linear module, etc. The supporting plate 112 can be a plate-shaped structure. The lifting drive 111 can drive the supporting plate 112 to rise or fall in the third direction, thereby driving the material tray 400 to rise or fall, so that the loading assembly 21 can remove the raw material 200 from the uppermost material tray 400 on the supporting plate 112.
[0058] In this embodiment, the structures of the empty tray assembly 12 and the material receiving assembly 13 are the same as that of the material feeding assembly 11, and are not described in detail here.
[0059] In some embodiments, see Figure 2 and Figure 3 The plate shifting assembly 14 includes a plate shifting drive 141, a chuck drive 142 and a chuck member 143. The plate shifting drive 141 is arranged above the feeding assembly 11, the empty plate assembly 12 and the receiving assembly 13. The chuck drive 142 is connected to the plate shifting drive 141. The chuck member 143 is connected to the chuck drive 142. The plate shifting drive 141 is used to drive the chuck drive 142 to move along the first direction. The chuck drive 142 is used to drive the chuck member 143 to clamp the material plate 400.
[0060] The disc shifting driver 141 may be a combination of a rotary cylinder, a belt, and a rotating pulley; the chuck driver 142 may be a cylinder, etc.; and the chuck member 143 may be a sheet-like structure. In this embodiment, two disc shifting drivers 141 are provided, spaced apart along the second direction on either side of the feeding assembly 11, the empty disc assembly 12, and the receiving assembly 13. Two chuck drivers 142 are provided, one connected to each of the two disc shifting drivers 141; and two chuck members 143 are provided, one connected to each of the two chuck drivers 142. The two chuck drivers 142 and the chuck members 143 are symmetrically arranged. When moving the tray 400, the two tray-moving drivers 141 drive the two chuck drivers 142 to move synchronously. The two chuck drivers 142 drive the corresponding chuck members 143 to move synchronously toward the bottom of the tray 400, so that the two chuck members 143 support the tray 400. Then, the lifting driver 111 corresponding to the tray 400 drives the supporting plate 112 to move downward, so that the top tray 400 is separated from the remaining trays 400. Then, the tray-moving driver 141 drives the chuck drivers 142 to move in the first direction. When placing the tray 400, the two chuck drivers 142 drive the corresponding chuck members 143 away from the bottom of the tray 400.
[0061] The working process of the loading and unloading equipment 100 provided in the embodiment of the present application is roughly as follows: First, multiple trays 400 stacked along the third direction and loaded with raw material 200 are placed on the carrier plate 112 of the feeding assembly 11. The lifting drive 111 of the feeding assembly 11 drives the carrier plate 112 to move along the third direction to wait for material to be fed. An empty tray 400 is then placed on the receiving assembly 13 to wait for material to be received.
[0062] During loading, the loading assembly 21 of the loading mechanism 20 moves. The first transverse drive member 211 and the second transverse drive member 321 drive the first longitudinal drive member 212, the loading gripper 214, and the detector 215 toward the tray 400 of the feed assembly 11. The detector 215 detects whether the raw material 200 in the tray 400 is placed upside down. If the raw material 200 is not placed upside down, the loading gripper 214 grabs the raw material 200 from the tray 400 and places it in the positioning assembly 24. If the raw material 200 is placed upside down, the loading gripper 214 places the upside-down raw material 200 in the correction assembly 23 for correction. The loading gripper 214 then places the corrected raw material 200 in the positioning assembly 24. The positioning assembly 24 precisely positions the raw material 200. Once positioning is complete, the transfer assembly 25 transfers the raw material 200 from the positioning assembly 24 to the first positioning unit in the feed assembly 22. The feed drive 221 drives the first variable distance unit 222 to move in the second direction away from the feed assembly 11. The first variable distance drive 2221 drives the multiple first variable distance seats 2222 away from each other, increasing the distance between adjacent first variable distance seats 2222, and thereby increasing the spacing between adjacent raw materials 200. This allows the machine to wait for the raw materials 200 on the first variable distance seats 2222 to be removed by external equipment. After the raw materials 200 on the first variable distance seats 2222 have been removed, the feed drive 221 drives the first variable distance unit 222 toward the feed assembly 11. At this point, the first variable distance drive 2221 drives the multiple first variable distance seats 2222 toward each other, allowing the multiple first variable distance seats 2222 to receive multiple pieces of raw materials 200.
[0063] During unloading, the receiving drive 311 in the receiving assembly 31 drives the second variable-length unit 312 to move in the second direction away from the receiving assembly 13. The second variable-length drive 3121 drives the multiple second variable-length seats 3122 to move away from each other, waiting for an external device to place the clinker 300 on the second variable-length seats 3122. After the second variable-length seats 3122 are filled with clinker 300, the receiving drive 311 drives the second variable-length unit 312 toward the receiving assembly 13. The second variable-length drive 3121 drives the multiple second variable-length seats 3122 toward each other. Then, the second transverse drive 321, the second longitudinal drive 322, and the second vertical drive 323 cooperate to drive the unloading claw 324 to move toward the second variable-length seat 3122 and place the clinker 300 on the second variable-length seat 3122 into the material tray 400 supported by the receiving assembly 13.
[0064] When the tray 400 is transferred, after the raw material 200 in the uppermost tray 400 of the feeding assembly 11 has been completely removed, the tray moving assembly 14 can remove the empty tray 400 above the feeding assembly 11. If the uppermost tray 400 of the receiving assembly 13 is full of clinker 300 at this time, the tray moving assembly 14 will transfer the empty tray 400 to the receiving assembly 13. If the uppermost tray 400 of the receiving assembly 13 is not full of clinker 300 at this time, the tray moving assembly 14 will place the empty tray 400 in the empty tray assembly 12. If the raw material 200 in the uppermost tray 400 of the feeding assembly 11 has not been completely removed, and the uppermost tray 400 of the receiving assembly 13 is full of clinker 300, the tray moving assembly 14 will take the empty tray 400 from the empty tray assembly 12 and place it in the receiving assembly 13. If the raw material 200 in the uppermost tray 400 of the feeding assembly 11 has not been completely removed, the uppermost tray 400 of the receiving assembly 13 is full of clinker 300, and there are no empty trays 400 in the empty tray assembly 12, an operator is required to place an empty tray 400 in the empty tray assembly 12 so that the tray transfer assembly 14 can transfer the empty tray 400 to the receiving assembly 13. During single-material loading, the tray transfer assembly 14 is used to transfer the empty tray 400 on the feeding assembly 11 to the empty tray assembly 12. During single-material unloading, the tray transfer assembly 14 is used to transfer the empty tray 400 on the empty tray assembly 12 to the receiving assembly 13.
[0065] See Figure 1 、 Figure 2 and Figure 6 The present invention also provides a method for loading and unloading materials. The method uses the above-mentioned loading and unloading equipment 100 and includes the following steps S1 to S7: Step S1: The feeding assembly 11 carries a material tray 400 loaded with raw material 200; Step S2: the loading assembly 21 takes out the raw material 200 in the feeding assembly 11 and places the raw material 200 into the feeding assembly 22; Step S3: the feeding assembly 22 transmits the raw material 200 along the second direction to supply the raw material 200 to the external device; Step S4: the receiving component 31 receives the clinker 300 processed by the external device and transfers the clinker 300 to the vicinity of the receiving component 13 along the second direction; Step S5: the receiving assembly 13 carries the empty tray 400; Step S6: the unloading component 32 transfers the clinker 300 on the receiving component 31 to the material tray 400 on the receiving component 13; Step S7 : the tray moving assembly 14 transfers the empty tray 400 between the feeding assembly 11 , the empty tray assembly 12 and the receiving assembly 13 .
[0066] In some embodiments, see Figure 2 、 Figure 6and Figure 7 Step S7, in which the tray moving assembly 14 moves the empty tray 400, includes the following steps S701 to S702: Step S701: transferring the empty tray 400 on the feeding assembly 11 to the empty tray assembly 12; Step S702 : or transferring the empty material tray 400 on the material feeding component 11 to the material receiving component 13 .
[0067] In some embodiments, see Figure 2 、 Figure 6 and Figure 7 The step S7 in which the tray moving assembly 14 moves the empty tray 400 further includes the following step S703: Step S703 : Transfer the empty material tray 400 on the empty tray assembly 12 to the material receiving assembly 13 .
[0068] In the loading and unloading method provided in this embodiment, during loading, the feeding assembly 11 carries a tray 400 loaded with raw material 200. The loading assembly 21 removes the raw material 200 from the tray 400 and places the raw material 200 on the feeding assembly 22. The feeding assembly 22 transports the raw material 200 in a second direction to facilitate access by an external device. During unloading, the external device places processed clinker 300 on the receiving assembly 31. The receiving assembly 31 transports the clinker 300 in the second direction to a location near the receiving assembly 13. The unloading assembly 32 transfers the clinker 300 from the receiving assembly 31 to the tray 400 on the receiving assembly 13.
[0069] When the raw material 200 in the tray 400 on the feeding component 11 is taken out, the tray moving component 14 grabs the empty tray 400 on the feeding component 11. If the tray 400 on the top layer of the receiving component 13 is full of clinker 300 at this time, the tray moving component 14 places the empty tray 400 on the receiving component 13; if the tray 400 on the top layer of the receiving component 13 is not full of clinker 300 at this time, the tray moving component 14 places the empty tray 400 on the empty tray component 12.
[0070] When the material tray 400 on the top layer of the material receiving component 13 is full of clinker 300, if the raw material 200 in the material tray 400 on the top layer of the material feeding component 11 has been taken out, the tray moving component 14 transfers the material tray 400 to the material receiving component 13 to use the material tray 400 to receive the clinker 300; if the raw material 200 in the material tray 400 on the top layer of the material feeding component 11 has not been taken out at this time, the tray moving component 14 takes out the empty material tray 400 in the empty tray component 12 and places it on the material receiving component 13.
[0071] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and all variations that come within the meaning and range of equivalents of the claims are intended to be embraced herein.
[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.
Claims
1. A loading and unloading equipment, characterized in that: include: The tray transfer mechanism includes a feeding assembly, an empty tray assembly, a receiving assembly, and a tray shifting assembly. The feeding assembly, the empty tray assembly, and the receiving assembly are arranged in a first direction. The feeding assembly is used to carry a tray loaded with raw material, the empty tray assembly is used to carry an empty tray, and the receiving assembly is used to carry the tray to receive clinker. The tray shifting assembly is mounted above the feeding assembly, the empty tray assembly, and the receiving assembly and is used to transfer the empty tray. a loading mechanism, comprising a loading assembly and a feeding assembly, wherein the loading assembly is mounted above the feeding assembly and is used to take out the raw material in the feeding assembly, and the feeding assembly is arranged close to the feeding assembly along a second direction perpendicular to the first direction, and is used to receive the raw material and transmit the raw material along the second direction to supply the raw material to an external device; and The unloading mechanism includes a receiving component and a unloading component. The receiving component is arranged close to the receiving component along the second direction. The receiving component is used to receive the clinker and move the clinker toward the receiving component along the second direction. The unloading component is mounted above the receiving component and is used to transfer the clinker in the receiving component to the receiving component.
2. The loading and unloading equipment according to claim 1, characterized in that: The loading assembly includes a first transverse driving member, a first longitudinal driving member, a first vertical driving member, a loading claw and a detector, the first transverse driving member being mounted above the feeding assembly and extending along the first direction, the first longitudinal driving member being connected to the first transverse driving member and extending along the second direction, the first vertical driving member being connected to the first longitudinal driving member and extending along a third direction perpendicular to the first direction and the second direction, the loading claw being connected to the first longitudinal driving member, the detector being connected to the first longitudinal driving member and arranged adjacent to the loading claw, the first transverse driving member being used to drive the first longitudinal driving member to move along the first direction, the first longitudinal driving member being used to drive the first vertical driving member and the detector to move along the second direction, the vertical driving member being used to drive the loading claw to move along the third direction, the loading claw being used to take and place the raw material, and the detector being used to detect the front and back of the raw material in the material tray in the feeding assembly; The feeding mechanism also includes a correction component, which is arranged adjacent to the feeding component. The correction component includes a rotary drive member and a rotating member connected to the rotary drive member. The feeding claw is used to place the raw material that is placed upside down on the rotating member. The rotary drive member drives the rotating member to rotate around the third direction to adjust the front and back of the raw material.
3. The loading and unloading equipment according to claim 2, characterized in that: The feeding mechanism also includes a positioning assembly, which is arranged along the second direction close to the correction assembly. The positioning assembly includes a positioning seat, a fixed positioning member, a positioning drive member and a movable positioning member. The positioning seat is used to carry the raw material, the fixed positioning member is connected to the positioning seat, the positioning drive member is connected to the positioning seat, the movable positioning member is connected to the positioning drive member and is arranged opposite to the fixed positioning member, and the positioning drive member is used to drive the movable positioning member to push the raw material to the fixed positioning member to position the raw material.
4. The loading and unloading equipment according to claim 3, characterized in that: The feeding mechanism also includes a transfer assembly, which includes a transfer drive and a transfer claw. The transfer drive is mounted above the feeding assembly and the positioning assembly. The transfer claw is connected to the transfer drive. The transfer drive is used to drive the transfer claw to move between the feeding assembly and the positioning assembly so that the transfer claw transfers the raw material on the positioning assembly to the feeding assembly.
5. The loading and unloading equipment according to claim 1, characterized in that: The feeding assembly includes a feeding drive and a first distance-changing unit connected to the feeding drive, the feeding drive is used to drive the first distance-changing unit to move toward or away from the feeding assembly along the second direction, the first distance-changing unit includes a first distance-changing drive and a plurality of first distance-changing seats, the first distance-changing drive is connected to the feeding drive, the plurality of first distance-changing seats are all connected to the first distance-changing drive and are arranged along the second direction, the first distance-changing seats are used to carry the raw material, and the first distance-changing drive is used to drive the plurality of first distance-changing seats to move toward or away from each other, so as to change the distance of the plurality of raw materials carried by the plurality of first distance-changing seats; The receiving assembly includes a receiving drive and a second distance variable unit connected to the receiving drive, the receiving drive is used to drive the second distance variable unit to move closer to or away from the receiving assembly along the second direction, the second distance variable unit includes a second distance variable drive and a plurality of second distance variable seats, the second distance variable drive is connected to the receiving drive, the plurality of second distance variable seats are all connected to the second distance variable drive and arranged along the second direction, the second distance variable seat is used to carry the clinker, and the second distance variable drive is used to drive the plurality of second distance variable seats to approach or move away from each other, so as to change the distance of the plurality of clinkers carried by the plurality of second distance variable seats.
6. The loading and unloading equipment according to claim 1, characterized in that: The unloading assembly includes a second transverse drive member, a second longitudinal drive member, a second vertical drive member and a unloading claw. The second transverse drive member is mounted above the receiving assembly and extends along the first direction. The second longitudinal drive member is connected to the second transverse drive member and extends along the second direction. The second vertical drive member is connected to the second longitudinal drive member and extends along a third direction perpendicular to the first direction and the second direction. The unloading claw is connected to the second longitudinal drive member. The second transverse drive member is used to drive the second longitudinal drive member to move along the first direction. The second longitudinal drive member is used to drive the second vertical drive member to move along the second direction. The vertical drive member is used to drive the unloading claw to move along the third direction. The unloading claw is used to take and place the clinker.
7. The loading and unloading equipment according to claim 1, characterized in that: The feeding assembly includes a lifting drive and a carrying plate connected to the lifting drive, wherein the lifting drive is used to drive the carrying plate to rise or fall along a third direction perpendicular to the first direction and the second direction, and the carrying plate is used to carry the material tray; The plate shifting assembly includes a plate shifting drive, a chuck drive and a chuck member. The plate shifting drive is arranged above the feeding assembly, the empty plate assembly and the receiving assembly. The chuck drive is connected to the plate shifting drive. The chuck member is connected to the chuck drive. The plate shifting drive is used to drive the chuck drive to move along the first direction. The chuck drive is used to drive the chuck member to clamp the material plate.
8. A loading and unloading method, characterized in that: Using the loading and unloading equipment according to any one of claims 1 to 7, the loading and unloading method includes: The feeding assembly carries a tray loaded with raw meal; The loading component takes out the raw material in the feeding component and places the raw material into the feeding component; The feeding assembly transports the raw material in a second direction to supply the raw material to an external device; The receiving component receives the clinker processed by the external device and transmits the clinker along the second direction to a location close to the receiving component; The material receiving assembly carries the empty material tray; The unloading component transfers the clinker on the receiving component to the material tray on the receiving component; The tray moving assembly transfers the empty trays among the feeding assembly, the empty tray assembly and the receiving assembly.
9. The loading and unloading method according to claim 8, characterized in that: The step of transferring the empty tray by the tray moving assembly comprises: Transferring the empty material tray on the feeding assembly to the empty tray assembly; Or transfer the empty material tray on the feeding component to the receiving component.
10. The loading and unloading method according to claim 9, characterized in that: The step of transferring the empty tray by the tray moving assembly further comprises: The empty material tray on the empty tray assembly is transferred to the material receiving assembly.