Robot type feeding and discharging mechanism and using method thereof

Abstract

The invention discloses a robot type feeding and discharging mechanism and a using method thereof, and relates to the technical field of additive manufacturing, the robot type feeding and discharging mechanism comprises an end effector, an adapter flange, a robot flange and a robot, the robot flange is installed at the front end of a moving arm of the robot, and the robot flange is connected with the end effector through the adapter flange; the end effector is used for accurately detecting and clamping the position of the charging tray; the end effector comprises a clamping part, a detecting part and a moving part, and the moving part is mounted on the adapter flange; through cooperative arrangement of the detection component, the moving component and the clamping component, the precise recognition and clamping process of hole sites on the material disc can be achieved, a robot can automatically replace the material disc for feeding and discharging, manual operation is not needed in the process, and therefore the production efficiency is improved, meanwhile, the consistency and stability of material disc installation are high, and the production efficiency is improved. And the production quality of products is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of additive manufacturing, and in particular to a robotic loading and unloading mechanism and a method of using the same. Background Art

[0002] Wire-feed additive manufacturing technology is an advanced manufacturing technology that forms parts by depositing melted metal / non-metallic wires layer by layer. It mainly uses electric arc, laser or electron beam as heat source. Due to its advantages such as high material utilization, high deposition rate, low manufacturing cost and suitability for complex structure manufacturing, it is widely used in aerospace, energy and power, shipbuilding machinery, mold repair, building structures and other fields.

[0003] Wire trays are key auxiliary components for storing and transporting metal or non-metallic wires. In actual production, current wire trays still require manual loading and unloading. This manual process hinders efficiency improvements when operating large quantities of equipment simultaneously. Furthermore, manual tray installation often lacks precision and consistency, leading to issues like misalignment and breakage after installation, impacting product quality. Therefore, a robotic loading and unloading mechanism and its use method are needed to address these issues. Summary of the Invention

[0004] The object of the present invention is to provide a robotic loading and unloading mechanism and a method of using the same, so as to solve the problems existing in the prior art mentioned in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A robotic loading and unloading mechanism includes an end effector, an adapter flange, a robot flange, and a robot. The robot flange is installed at the front end of the robot's moving arm. The end effector is connected to the robot flange via the adapter flange. The end effector is used to accurately detect and clamp the position of the material tray.

[0007] The end effector includes a clamping component, a detection component and a moving component, the moving component is installed on the adapter flange, the detection component and the clamping component are respectively installed on the upper and lower sides of the moving component, the moving component is used to drive the clamping component to move linearly, the clamping component is used to clamp the material tray, and the detection component is used to detect the position of the material tray to ensure that the clamping component accurately clamps the material tray.

[0008] Preferably, the moving component includes a support plate V, a lead screw and a motor II, the support plate V is connected to the adapter flange, and bearing supports I and II are installed at both ends of the support plate V. A retaining ring and a deep groove ball bearing are installed in the bearing support I, and angular contact bearings I and II are installed in the bearing support II. A sealing cover is installed at the end of the bearing support II, and both ends of the lead screw are installed in the bearing support I and the bearing support II;

[0009] A motor support is installed on the support plate V, a motor II is installed on the motor support, a motor shaft II of the motor II is connected to the end of the screw through a coupling, a nut is threaded on the screw, and a nut support seat is installed on the nut.

[0010] Preferably, the detection component includes a guide rail III, a support plate IV and a cylinder, the guide rail III and the support plate IV are both installed on the support plate V, the guide rail III is slidably connected to the slider III, the slider III is connected to the bracket I, and the front end of the bracket I is installed with a laser displacement sensor; the support plate IV is installed with a cylinder, and the cylinder push rod of the cylinder is connected to the slider III.

[0011] Preferably, guide rails IV and guide rails V are respectively installed on both sides of the lower end surface of the support plate V, and sliders IV and sliders V are respectively slidably connected to the guide rails IV and guide rails V;

[0012] The clamping component includes a box, a guide rail I and a guide rail II, the box is installed on the slider IV and the slider V, a support plate III is installed on one side of the box, the guide rail I and the guide rail II are installed in parallel on the support plate III, the guide rail I and the guide rail II are respectively slidably connected to the slider I and the slider II, the slider I and the slider II are respectively connected to the support plate I and the support plate II, the support plate I and the support plate II are respectively installed with a rack I and a rack II, and the support plate I and the support plate II are also respectively installed with a clamping leg I and a clamping leg II;

[0013] A motor I is mounted on the support plate III, and a motor shaft I of the motor I is key-connected with a gear, which is engaged with the rack I and the rack II.

[0014] Preferably, the moving component also includes a bracket IV, a baffle and a length meter, the bracket IV is installed on the box body, the length meter is installed on the bracket IV, the baffle is connected to the support plate V by bolts, and the baffle contacts the length meter during the movement of the clamping component and detects the moving distance of the clamping component.

[0015] Preferably, the clamping component also includes a proximity switch, a bracket III and a force rod, the bracket III is installed on the support plate III, the proximity switch is installed on the bracket III, and the proximity switch is located on the side of the support plate I, for monitoring the moving distance of the support plate I and playing a limiting role.

[0016] Preferably, the clamping component also includes a force rod, a pressure sensor and a bracket II, the force rod is installed at one end of the support plate II, the bracket II is connected to the support plate III, and a pressure sensor is installed on the bracket II, and the pressure sensor is used to monitor the clamping force during the clamping process.

[0017] A method for using a robotic loading and unloading mechanism comprises the following steps:

[0018] S1: The loading process begins, and the robot moves from the Home point to position A;

[0019] S2: The robot drives the end effector to move to the center of the tray;

[0020] S3: The robot drives the end effector to move so that the detection component is located near the axis hole on the tray;

[0021] S4: The detection component scans the spatial positions of the shaft hole, waist-shaped hole I and waist-shaped hole II on the tray;

[0022] S5: According to the spatial positions of the shaft hole, waist-shaped hole I, and waist-shaped hole II scanned in S4, the robot drives the end effector to move so that the clamping component is aligned with the clamping part of the tray;

[0023] S6: The moving part starts to work, driving the clamping part to move so that the clamping leg II and the clamping leg I are respectively inserted into the waist-shaped hole II and the waist-shaped hole I, and the tray is clamped;

[0024] S7: The robot joints are linked to install the clamped tray to position B;

[0025] S8: The clamping component releases the material tray and moves the clamping leg II and the clamping leg I out of the waist-shaped hole II and the waist-shaped hole I respectively;

[0026] S9: The robot drives the end effector back to the Home point;

[0027] S10: The loading process ends;

[0028] S11: The unloading process begins, and the robot moves from the Home point to position B;

[0029] S12: The robot drives the end effector to move to the vicinity of the center of the tray;

[0030] S13: Repeat S3 to S7, the robot joints are linked, and the material tray is moved to position A;

[0031] S14: Repeat S8-S9, and the tray is placed in position A;

[0032] S15: The robot drives the end effector back to the Home point;

[0033] S16: The blanking process ends.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention can realize the accurate identification and clamping process of the hole positions on the material tray through the coordinated arrangement of the detection component, the moving component and the clamping component, so that the robot can automatically exchange and load the material tray. This process does not require manual operation, thereby improving production efficiency. At the same time, the consistency and stability of the material tray installation are strong, ensuring the production quality of the product.

[0036] 2. The present invention configures a pressure sensor in the clamping component to monitor the clamping force during the clamping process, thereby ensuring the clamping stability of the material tray. A proximity switch is configured in the clamping component to monitor the moving distance of the support plate 1 and act as a limiter, making the clamping more stable. A length meter is configured in the moving component to detect the moving distance of the clamping component, making the moving distance of the clamping component more accurate.

[0037] 3. The robotic loading and unloading mechanism provided in the present invention is flexible and versatile in use. It can realize the clamping and disassembly of trays of different sizes by adjusting the distance between the two clamping legs, and has strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the overall assembly of the present invention.

[0039] Figure 2 It is a structural schematic diagram of the end effector of the present invention.

[0040] Figure 3 It is a schematic structural diagram of the clamping component of the present invention.

[0041] Figure 4 It is a schematic structural diagram of the detection component of the present invention.

[0042] Figure 5 It is a schematic structural diagram of the moving parts of the present invention.

[0043] Figure 6 It is a front view of a material tray of the present invention.

[0044] Figure 7It is a schematic diagram of the matching relationship between the waist-shaped hole and the parallel sides of the clamping legs and the waist-shaped length of the present invention.

[0045] Figure 8 It is a schematic diagram of the matching relationship between the waist-shaped hole and the arc edge of the clamping leg and the arc length radius of the present invention.

[0046] In the figure: 1. End effector; 2. Adapter flange; 3. Robot flange; 4. Robot;

[0047] 5. Feeding tray; 501. Kidney-shaped hole I; 502. Kidney-shaped hole II; 503. Axis hole;

[0048] 6. Clamping component; 601. Clamping leg I; 602. Clamping leg II; 603. Gear; 604. Motor shaft I; 605. Motor I; 606. Rack I; 607. Rack II; 608. Support plate I; 609. Support plate II; 610. Slider I; 611. Slider II; 612. Guide rail I; 613. Guide rail II; 614. Support plate III; 615. Box; 616. Proximity switch; 617. Bracket III; 618. Force rod; 619. Pressure sensor; 620. Bracket II;

[0049] 7. Detection components; 701. Guide rail III; 702. Support plate IV; 703. Cylinder; 704. Cylinder push rod; 705. Slider III; 706. Bracket I; 707. Laser displacement sensor;

[0050] 8. Moving parts; 801. Bearing support I; 802. Circlip; 803. Deep groove ball bearing; 804. Nut; 805. Screw; 806. Nut support seat; 807. Angular contact bearing I; 808. Angular contact bearing II; 809. Bearing support II; 810. Sealing cover; 811. Coupling; 812. Motor support; 813. Motor shaft II; 814. Slider IV; 815. Slider V; 816. Guide rail IV; 817. Guide rail V; 818. Bracket IV; 819. Baffle; 820. Length gauge; 821. Support plate V; 822. Motor II. DETAILED DESCRIPTION

[0051] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0052] See also Figure 1-8 , the present invention provides the following technical solutions:

[0053] A robotic loading and unloading mechanism includes an end effector 1, an adapter flange 2, a robot flange 3 and a robot 4. The front end of the moving arm of the robot 4 is installed with the robot flange 3, and the robot flange 3 is connected to the end effector 1 through the adapter flange 2. The end effector 1 is used to accurately detect and clamp the position of the material tray 5; the middle part of the material tray 5 is provided with symmetrically distributed waist-shaped holes I501 and waist-shaped holes II502, and an axial hole 503 is provided between the waist-shaped holes I501 and the waist-shaped holes II502. The axial hole 503 adopts a combination of circular and rectangular design, and the long side of the rectangle of the axial hole 503 is parallel to the parallel sides of the waist-shaped holes I501 and the waist-shaped holes II502.

[0054] The end effector 1 includes a clamping component 6, a detection component 7 and a moving component 8. The moving component 8 is installed on the adapter flange 2. The detection component 7 and the clamping component 6 are respectively installed on the upper and lower sides of the moving component 8. The moving component 8 is used to drive the clamping component 6 to move linearly.

[0055] The moving part 8 includes a support plate V821, a lead screw 805 and a motor II822. The support plate V821 is connected to the adapter flange 2. The two ends of the support plate V821 are installed with a bearing support I801 and a bearing support II809. The bearing support I801 is installed with a retaining spring 802 and a deep groove ball bearing 803. The bearing support II809 is installed with an angular contact bearing I807 and an angular contact bearing II808. The ends of the bearing support II809 are installed with a retaining spring 802 and a deep groove ball bearing 803. A sealing cap 810 is mounted on the top of the screw 805. Both ends of the screw 805 are mounted within bearing supports I801 and II809. A motor support 812 is mounted on the support plate V821. A motor II822 is mounted on the motor support 812. The motor shaft II813 of the motor II822 is connected to the end of the screw 805 via a coupling 811. A nut 804 is threadedly connected to the screw 805, and a nut support 806 is mounted on the nut 804. Rotation of the motor II822 drives the screw 805, thereby causing the nut 804 and the nut support 806 to drive the clamping component 6 in linear motion.

[0056] The movable component 8 also includes a bracket IV818, a baffle 819 and a length gauge 820. The bracket IV818 is installed on the box body 615, the length gauge 820 is installed on the bracket IV818, and the baffle 819 is connected to the support plate V821 by bolts. The baffle 819 contacts the length gauge 820 during the movement of the clamping component 6 and detects the moving distance of the clamping component 6, so that the movable component 8 can accurately drive the clamping component 6 to move.

[0057] The clamping component 6 is used to clamp the material tray 5, and the guide rail IV816 and the guide rail V817 are respectively installed on both sides of the lower end surface of the support plate V821, and the guide rail IV816 and the guide rail V817 are respectively slidably connected with the slider IV814 and the slider V815; the clamping component 6 includes a box body 615, a guide rail I612 and a guide rail II613, the box body 615 is installed on the slider IV814 and the slider V815, and a support plate III614 is installed on one side of the box body 615, the guide rail I612 and the guide rail II613 are parallelly installed on the support plate III614, and the guide rail I612 and the guide rail II613 are respectively slidably connected with the slider I610 and the slider II611, and the slider I610 and the slider II611 are respectively connected Support plate I608 and support plate II609, rack I606 and rack II607 are respectively installed on the support plate I608 and support plate II609, and clamping leg I601 and clamping leg II602 are also respectively installed on the support plate I608 and support plate II609; the clamping leg I601 and clamping leg II602 adopt a waist-shaped design, and the waist-shaped length L2 of the waist-shaped hole II502 is greater than the waist-shaped length L1 of the clamping leg II602, so as to ensure that the clamping leg II602 is smoothly inserted into the waist-shaped hole II502, and the clamping leg I601 is smoothly inserted into the waist-shaped hole I501, and the arc length radius D2 of the waist-shaped hole II502 is equal to the arc length radius D1 of the clamping leg II602, so as to ensure that the waist-shaped hole II502 is in close contact with the clamping leg II602, thereby ensuring the stability of clamping.

[0058] A motor I605 is installed on the support plate III614, and the motor shaft I604 of the motor I605 is key-connected with a gear 603. The gear 603 is engaged with the rack I606 and the rack II607. The motor I605 can drive the gear 603 to rotate, and the gear 603 drives the support plate I608 and the support plate II609 to move closer to or away from each other through the rack I606 and the rack II607.

[0059] The clamping component 6 also includes a proximity switch 616, a bracket III617, and a force rod 618. The bracket III617 is mounted on the support plate III614. The proximity switch 616 is mounted on the bracket III617. The proximity switch 616 is located on the side of the support plate I608 and is used to monitor the movement distance of the support plate I608 and serve as a limiter. The clamping component 6 also includes a force rod 618, a pressure sensor 619, and a bracket II620. The force rod 618 is mounted on one end of the support plate II609. The bracket II620 is connected to the support plate III614. The bracket II620 is equipped with a pressure sensor 619, which is used to monitor the clamping force during the clamping process.

[0060] The detection component 7 is used to detect the position of the material tray 5 to ensure that the clamping component 6 accurately clamps the material tray 5. The detection component 7 includes a guide rail III701, a support plate IV702, and a cylinder 703. The guide rail III701 and the support plate IV702 are both mounted on the support plate V821. The guide rail III701 is slidably connected to a slider III705, and the slider III705 is connected to a bracket I706. The front end of the bracket I706 is mounted with a laser displacement sensor 707; the support plate IV702 is mounted with a cylinder 703, and the cylinder push rod 704 of the cylinder 703 is connected to the slider III705.

[0061] The present invention also provides a method for using a robotic loading and unloading mechanism, comprising the following steps:

[0062] S1: The loading process begins, and the robot 4 moves from the Home point to position A.

[0063] S2: Robot 4 drives end effector 1 to move to the vicinity of the center of tray 5.

[0064] S3: The robot 4 drives the end effector 1 to move, so that the detection component 7 is located near the shaft hole 503 on the tray 5, and the laser displacement sensor 707 is parallel to the surface of the tray 5.

[0065] S4: The detection component 7 scans the spatial positions of the shaft hole 503, the waist-shaped hole I501 and the waist-shaped hole II502 on the tray 5; the specific steps are:

[0066] S41: The cylinder 703 starts working, and the cylinder push rod 704 pushes the laser displacement sensor 707 close to the material tray 5 and keeps a certain distance from the material tray 5;

[0067] S42: The robot's four joints are linked to drive the laser displacement sensor 707 to move parallel to scan the shape of the shaft hole 503 and calculate the spatial positions of the shaft hole 503, the waist-shaped hole I 501, and the waist-shaped hole II 502;

[0068] S43: The cylinder push rod 704 drives the laser displacement sensor 707 away from the material tray 5, and the laser displacement sensor 707 returns to its original position.

[0069] S5: According to the spatial positions of the axial hole 503, the waist-shaped hole I501 and the waist-shaped hole II502 scanned in S4, the robot 4 drives the end effector 1 to move so that the ends of the clamping leg II602 and the clamping leg I601 are parallel to the material tray 5 and maintain a certain distance from the material tray 5. At the same time, the parallel sides of the waist-shaped hole II502 are parallel to the parallel sides of the clamping leg II602, and the center of the waist-shaped hole II502 coincides with the center of the clamping leg II602.

[0070] S6: The moving part 8 starts working, driving the clamping part 6 to move so that the clamping legs II602 and I601 are respectively inserted into the waist-shaped holes II502 and I501, and clamp the tray 5; the specific steps are as follows:

[0071] S61: Motor II 822 is energized and drives the lead screw 805 to rotate. The nut 804 drives the clamping component 6 to move so that the clamping leg II 602 and the clamping leg I 601 are inserted into the waist-shaped hole II 502 and the waist-shaped hole I 501, respectively. During the movement of the nut 804, the length gauge 820 contacts the baffle 819. The movement distance of the clamping leg II 602 and the clamping leg I 601 is recorded in real time through the compression of the length gauge 820. Until the length gauge 820 reaches the set compression threshold, the motor II 822 is locked, the nut 804 stops moving, and the feeding of the clamping component 6 ends.

[0072] S62: The clamping component 6 starts to work, the motor I605 is energized and drives the gear 603 to rotate through the motor shaft I604, the rack I606 and the rack II607 engaged with the gear 603 move toward each other, the clamping leg I601 and the clamping leg II602 approach each other, and their arc edges contact the arc edges of the waist-shaped hole I501 and the waist-shaped hole II502 respectively. During the movement of the rack I606 and the rack II607 toward each other, the force rod 618 contacts the pressure sensor 619, and the pressure sensor 619 records the clamping force during the contact process between the waist-shaped hole I501 and the clamping leg I601 in real time. When the clamping force reaches the threshold, the motor I605 is locked, the clamping leg I601 and the clamping leg II602 stop approaching, the material tray 5 is clamped, and the clamping process ends.

[0073] S7: The robot 4 joints are linked to install the clamped tray 5 to position B.

[0074] S8: The clamping component 6 releases the clamping of the tray 5 and removes the clamping legs II602 and I601 from the waist-shaped hole II502 and I501 respectively; the specific steps are as follows:

[0075] S81: The motor I605 rotates in reverse, and the rack I606 and the rack II607 meshing with the gear 603 move in opposite directions, and the clamping legs I601 and II602 move away from each other until they reach the initial position;

[0076] S82: The motor II822 rotates in reverse, and the nut 804 drives the clamping component 6 to move so that the clamping leg II602 and the clamping leg I601 are respectively removed from the waist-shaped hole II502 and the waist-shaped hole I501.

[0077] S9: Robot 4 drives end effector 1 back to the Home point;

[0078] S10: The loading process ends.

[0079] S11: The unloading process begins, and the robot 4 moves from the Home point to position B.

[0080] S12: The robot 4 drives the end effector 1 to move to the vicinity of the center of the tray 5.

[0081] S13: Repeat S3 to S7, the robot 4 joints are linked, and the material tray 5 is clamped and moved to position A.

[0082] S14: Repeat S8-S9, and the tray 5 is placed at position A.

[0083] S15: Robot 4 drives end effector 1 back to the Home point.

[0084] S16: The blanking process ends.

[0085] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A robotic loading and unloading mechanism, characterized in that: The invention comprises an end effector (1), an adapter flange (2), a robot flange (3) and a robot (4), wherein the front end of the moving arm of the robot (4) is provided with the robot flange (3), the robot flange (3) is connected to the end effector (1) via the adapter flange (2), and the end effector (1) is used to accurately detect and clamp the position of the material tray (5); The end effector (1) comprises a clamping component (6), a detection component (7) and a moving component (8); the moving component (8) is mounted on the adapter flange (2); the detection component (7) and the clamping component (6) are mounted on the upper and lower sides of the moving component (8), respectively; the moving component (8) is used to drive the clamping component (6) to move linearly; the clamping component (6) is used to clamp the material tray (5); and the detection component (7) is used to detect the position of the material tray (5) to ensure that the clamping component (6) accurately clamps the material tray (5).

2. A robotic loading and unloading mechanism according to claim 1, characterized in that: The moving component (8) includes a support plate V (821), a lead screw (805) and a motor II (822), wherein the support plate V (821) is connected to the adapter flange (2), and the two ends of the support plate V (821) are installed with a bearing support I (801) and a bearing support II (809), wherein a retaining ring (802) and a deep groove ball bearing (803) are installed in the bearing support I (801), and an angular contact bearing I (807) and an angular contact bearing II (808) are installed in the bearing support II (809), and a sealing cover (810) is installed at the end of the bearing support II (809), and the two ends of the lead screw (805) are installed in the bearing support I (801) and the bearing support II (809); A motor support (812) is mounted on the support plate V (821), a motor II (822) is mounted on the motor support (812), a motor shaft II (813) of the motor II (822) is connected to the end of a lead screw (805) via a coupling (811), a nut (804) is threadedly connected to the lead screw (805), and a nut support seat (806) is mounted on the nut (804).

3. The robotic loading and unloading mechanism according to claim 2, characterized in that: The detection component (7) comprises a guide rail III (701), a support plate IV (702) and a cylinder (703). The guide rail III (701) and the support plate IV (702) are both mounted on a support plate V (821). A slider III (705) is slidably connected to the guide rail III (701). The slider III (705) is connected to a bracket I (706). A laser displacement sensor (707) is mounted at the front end of the bracket I (706). The support plate IV (702) is mounted with a cylinder (703). A cylinder push rod (704) of the cylinder (703) is connected to the slider III (705).

4. The robotic loading and unloading mechanism according to claim 2, characterized in that: A guide rail IV (816) and a guide rail V (817) are respectively installed on both sides of the lower end surface of the support plate V (821), and a slider IV (814) and a slider V (815) are respectively slidably connected to the guide rail IV (816) and the guide rail V (817); The clamping component (6) includes a box (615), a guide rail I (612) and a guide rail II (613), wherein the box (615) is mounted on a slider IV (814) and a slider V (815), a support plate III (614) is mounted on one side of the box (615), and the guide rail I (612) and the guide rail II (613) are mounted parallel to the support plate III (614), and the guide rail I (612) and the guide rail II (613) are respectively connected to the support plate III (614) by sliding. There are a slider I (610) and a slider II (611), the slider I (610) and the slider II (611) are respectively connected to a support plate I (608) and a support plate II (609), the support plate I (608) and the support plate II (609) are respectively installed with a rack I (606) and a rack II (607), and the support plate I (608) and the support plate II (609) are also respectively installed with a clamping leg I (601) and a clamping leg II (602); A motor I (605) is mounted on the support plate III (614), and a motor shaft I (604) of the motor I (605) is key-connected with a gear (603), and the gear (603) is meshed with a rack I (606) and a rack II (607).

5. The robotic loading and unloading mechanism according to claim 4, characterized in that: The moving component (8) further includes a bracket IV (818), a baffle (819) and a length meter (820), wherein the bracket IV (818) is mounted on the box body (615), the length meter (820) is mounted on the bracket IV (818), and the baffle (819) is connected to the support plate V (821) by bolts. During the movement of the clamping component (6), the baffle (819) contacts the length meter (820) and detects the movement distance of the clamping component (6).

6. The robotic loading and unloading mechanism according to claim 4, characterized in that: The clamping component (6) further includes a proximity switch (616), a bracket III (617) and a force rod (618), wherein the bracket III (617) is mounted on the support plate III (614), and the proximity switch (616) is mounted on the bracket III (617). The proximity switch (616) is located on the side of the support plate I (608) and is used to monitor the moving distance of the support plate I (608) and play a limiting role.

7. The robotic loading and unloading mechanism according to claim 4, characterized in that: The clamping component (6) further comprises a force rod (618), a pressure sensor (619) and a bracket II (620), wherein the force rod (618) is mounted on one end of the support plate II (609), the bracket II (620) is connected to the support plate III (614), and a pressure sensor (619) is mounted on the bracket II (620), and the pressure sensor (619) is used to monitor the clamping force during the clamping process.

8. A method for using the robotic loading and unloading mechanism according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1: The loading process begins, and the robot (4) moves from the Home point to position A; S2: The robot (4) drives the end effector (1) to move to the center of the tray (5); S3: The robot (4) drives the end effector (1) to move so that the detection component (7) is located near the shaft hole (503) on the tray (5); S4: The detection component (7) scans the spatial positions of the shaft hole (503), the waist-shaped hole I (501) and the waist-shaped hole II (502) on the material tray (5); S5: Based on the spatial positions of the axial hole (503), the waist-shaped hole I (501), and the waist-shaped hole II (502) scanned in S4, the robot (4) drives the end effector (1) to move so that the clamping component (6) is aligned with the clamping portion of the material tray (5); S6: The moving component (8) starts to work, driving the clamping component (6) to move so that the clamping leg II (602) and the clamping leg I (601) are respectively inserted into the waist-shaped hole II (502) and the waist-shaped hole I (501), and the material tray (5) is clamped; S7: The robot (4) moves its joints to install the clamped tray (5) to position B; S8: The clamping component (6) releases the clamping of the material tray (5), and moves the clamping leg II (602) and the clamping leg I (601) out of the waist-shaped hole II (502) and the waist-shaped hole I (501) respectively; S9: The robot (4) drives the end effector (1) back to the Home point; S10: The loading process ends; S11: The unloading process begins, and the robot (4) moves from the Home point to position B; S12: The robot (4) drives the end effector (1) to move to the vicinity of the center of the material tray (5); S13: Repeat S3 to S7, the robot (4) moves its joints to hold the material tray (5) and move to position A; S14: Repeat S8-S9, and the tray (5) is placed at position A; S15: The robot (4) drives the end effector (1) back to the Home point; S16: The blanking process ends.

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