Sheet loading and unloading machine and loading method thereof

Abstract

The invention relates to the technical field of carrying equipment, in particular to a loading and unloading machine and a loading method thereof, and the loading and unloading machine comprises a rack, a swinging device, a grabbing device and a turnover device. A support of the grabbing device is fixedly connected with the turnover device, and the adjusting assembly is connected to the suction cup. When the suction cup faces the raw materials on the feeding conveying belt, the adjusting assembly enables the suction cup to be tightly attached to the raw materials, the swing device is used for driving the overturning device, the grabbing device and the raw materials to rotate to the discharging conveying belt, the overturning device drives the grabbing device and the raw materials to be wholly overturned to be horizontal so that the raw materials can be located between the discharging conveying belt and the support, and the carrying efficiency is high. And moreover, the raw materials on the discharging conveying belt can be carried to the feeding conveying belt through reverse operation of the swinging device and the overturning device, feeding and discharging can be achieved, compatibility is higher, and cost is lower.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment technology, and in particular to a loading and unloading machine and its loading method. Background Technology

[0002] After firing, ceramic tile blanks require surface processing. The blanks are typically stacked flat on a rack and then manually or using a clamping mechanism to move them to a conveyor belt for surface processing. The tile loading machine is a pre-processing unit for automated tile packaging; its main function is to load tiles from the rack onto the conveyor belt of the automatic packaging machine in predetermined quantities. After processing, the tiles need to be transported to the packaging location. Existing handling equipment usually uses a linkage-driven gripping mechanism to grasp both sides of the tile before transporting it to another conveyor line. This method only allows for unidirectional handling, has poor compatibility, and low efficiency. While some machines use robots to handle tiles, their continuous handling time is short, typically only able to handle about seven or eight tiles at a time. Robotic handling is inefficient and costly. Summary of the Invention

[0003] In order to address the technical deficiencies mentioned in the background art, the purpose of this invention is to provide a loading and unloading machine and its loading method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A loading and unloading machine is used to transfer raw materials from a feeding conveyor belt to a discharging conveyor belt. It includes a frame, a swinging device mounted on the frame, a gripping device mounted on the swinging device, and a flipping device for driving the gripping device to flip. The gripping device includes a support, at least one set of suction cups, and an adjusting component for adjusting the position of the suction cups. The support is fixedly connected to the flipping device, and the suction cups are fixed to the adjusting component. The suction cups are used to adsorb and grip the raw materials. When the suction cups face the raw materials on the feeding conveyor belt, the adjusting component is used to make the suction cups adhere tightly to the raw materials. The swinging device is used to drive the flipping device, the gripping device, and the raw materials to rotate onto the discharging conveyor belt. The flipping device is used to drive the gripping device and the raw materials to flip horizontally so that the raw materials are located between the discharging conveyor belt and the support.

[0006] By adopting the above technical solution, the suction cup adheres to the side of the raw material to fix it in place. The swinging device drives the flipping device, gripping device, and raw material to swing together towards one side of the discharge conveyor belt. During the swinging process, the flipping device drives the gripping device to flip the raw material at a set angle so that the front of the raw material faces the discharge conveyor belt, and then the raw material is placed on the discharge conveyor belt, resulting in high handling efficiency. After the suction cup adsorbs the raw material, the adjusting component drives the suction cup and raw material to retract, and then the whole assembly swings, which can effectively prevent adjacent raw materials from being scratched or the surface of the raw material from being scratched when the suction cup swings to the adsorption position, thus improving the quality of handling. Moreover, the swinging device and the flipping device can also rotate in opposite directions to transfer the raw material from the discharge conveyor belt to the feeding conveyor belt, enabling both loading and unloading, with stronger compatibility and lower cost.

[0007] Furthermore, the adjustment assembly includes an adjustment cylinder and a mounting base. The mounting base is disposed on the bracket, the body of the adjustment cylinder is fixed on the mounting base, and the output shaft of the adjustment cylinder is connected to the suction cup. The structure is simple and occupies little space.

[0008] Furthermore, the mounting base is provided with guide holes. The adjustment assembly also includes at least one guide rod, one end of which is connected to the output shaft of the adjustment cylinder, and the other end of which passes through the corresponding guide hole. The bracket is connected to the suction cup to improve the stability of the telescopic movement and the adjustment accuracy.

[0009] Furthermore, the adjustment assembly also includes a buffer spring, which is fitted onto the guide rod and located between the suction cup and the bracket, which helps to protect the raw materials and improve the quality of handling.

[0010] Furthermore, the gripping device also includes a proximity switch, with one proximity switch provided on each mounting base. The proximity switch is used to monitor the distance between the suction cup and the surface of the raw material, thereby improving safety performance and ensuring accurate adsorption.

[0011] Furthermore, the support includes a crossbeam and multiple support beams. The crossbeam is fixedly connected to the flipping device, and multiple support beams are spaced apart along the length of the crossbeam. Each support beam is equipped with at least one set of the adjustment components and the suction cup, resulting in a compact structure, stronger adhesion, and higher handling stability.

[0012] Furthermore, the swing device includes a swing motor, a reducer, two supports, and a swing frame. The two supports are spaced apart on the frame, and the swing frame is connected to the two supports via bearings. The swing motor is driven by the reducer to the swing frame. The swing motor drives the swing frame to move the gripping device and the raw material on it to swing back and forth around the center of the bearings of the two supports. The structure is simple, the cost is low, and it can realize loading and unloading operations.

[0013] A method for loading a wafer loading / unloading machine, comprising any of the wafer loading / unloading machines described above, characterized in that it includes:

[0014] Step S1: The feeding conveyor belt transports the raw material to the loading station. The swinging device drives the gripping device and the flipping device to swing to the loading station position. The adjusting component drives the suction cup to adsorb and fix it to the side of the raw material.

[0015] Step S2: The swinging device drives the flipping device, the gripping device, and the raw material to swing together toward the discharge conveyor belt; synchronously, the flipping device rotates counterclockwise to drive the gripping device and the raw material on it to flip over at a set angle so that the side of the raw material faces the conveying surface of the discharge conveyor belt.

[0016] Step S3: The swinging device swings to a set position, the flipping device stops rotating, the gripping device lowers the raw material onto the conveying surface of the discharge conveyor belt, and the adjusting component drives the suction cup to retract.

[0017] Step S4: The swinging device swings in the opposite direction to reset the flipping device and the gripping device. Simultaneously, the flipping device reverses to reset the gripping device. The feeding conveyor belt transports the next raw material to the loading station for the next round of loading.

[0018] Furthermore, in step S1, each of the suction cups is equipped with a proximity switch. When all the lights of the proximity switches corresponding to all the suction cups are lit, the swinging device stops swinging towards the side of the raw material.

[0019] Furthermore, step S4 also includes: when the feeding conveyor belt transports the next raw material to the loading station, the feeding conveyor belt stops transporting the raw material after the suction cup is attached to the side of the raw material.

[0020] In summary, the beneficial effects of the present invention are as follows:

[0021] In this invention, a suction cup adheres to the side of the raw material to secure it. A swinging device drives a flipping device, a gripping device, and the raw material to swing together towards one side of the discharge conveyor belt. During the swing, the flipping device rotates the gripping device and the raw material at a set angle so that the raw material's face is directly opposite the discharge conveyor belt, allowing it to be placed on the belt. This results in high handling efficiency. After the suction cup adsorbs the raw material, an adjusting component retracts the suction cup and the raw material, followed by another overall swing. This effectively prevents adjacent raw materials from being scratched or the surface of the raw material from being scratched when the suction cup swings to the adsorption position, improving the quality of handling. Furthermore, the swinging and flipping devices can rotate in opposite directions to transfer raw materials from the discharge conveyor belt to the feeding conveyor belt, enabling both loading and unloading, offering greater compatibility and lower costs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the production line assembly structure of an embodiment of the loading and unloading machine of the present invention.

[0023] Figure 2 This is a schematic diagram of the production line assembly structure from another perspective of an embodiment of the loading and unloading machine of the present invention.

[0024] Figure 3 This is a schematic diagram of the structure of an embodiment of the loading and unloading machine of the present invention.

[0025] Figure 4 This is a side view of an embodiment of the loading and unloading machine of the present invention.

[0026] Figure 5 This is a schematic diagram of the structure of an embodiment of the adjustment component of the loading and unloading machine of the present invention.

[0027] Figure 6 This is a schematic diagram of the production line assembly structure of another embodiment of the loading and unloading machine of the present invention.

[0028] Explanation of the reference numerals in the figure:

[0029] 1. Loading and unloading machine; 2. Frame; 3. Swinging device; 31. Reducer; 32. Support; 33. Swing frame; 331. Main beam; 332. Swing arm; 4. Gripping device; 41. Bracket; 411. Crossbeam; 412. Support beam; 4121. Adjustment groove; 42. Suction cup; 43. Adjustment assembly; 431. Adjustment cylinder; 432. Mounting base; 433. Guide rod; 434. Buffer spring; 44. Proximity switch; 5. Tilting device; 52. Planetary reducer; 53. First transmission assembly; 531. Drive gear; 532. First chain belt; 533. First driven wheel; 54. Bearing seat; 55. Second transmission assembly; 551. Second driven wheel; 552. Third driven wheel; 553. Second chain belt; 6. Feeding conveyor belt; 7. Discharge conveyor belt; 8. Raw material. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0031] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0032] In the description of this invention, the use of terms such as "a number" means one or more, with "more than" meaning two or more. Terms like "greater than," "less than," and "exceeding" are understood to exclude the stated number, while terms like "above," "below," and "within" are understood to include the stated number. The use of terms like "first," "second," and "third" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, the number of indicated technical features, or the sequential relationship between indicated technical features.

[0033] The following is in conjunction with the appendix Figure 1-6 The embodiments of the present invention will be described in further detail below.

[0034] A type of loading and unloading machine 1, such as Figure 1 , Figure 2 , Figure 3 As shown, this machine is used to transfer raw material 8 from the feeding conveyor belt 6 to the discharge conveyor belt 7. The loading and unloading machine 1 includes a frame 2, a swinging device 3 mounted on the frame 2, a gripping device 4 mounted on the swinging device 3, and a flipping device 5 for driving the gripping device 4 to flip. The gripping device 4 includes a support 41, at least one set of suction cups 42, and an adjusting assembly 43 for adjusting the position of the suction cups 42. The support 41 is fixedly connected to the flipping device 5, and the suction cups 42 are fixed to the adjusting assembly 43. The suction cups 42 are used to grip and hold the raw material 8. When the suction cups 42 face the raw material 8 on the feeding conveyor belt 6, the output shaft of the adjusting cylinder 431 extends to make the suction cups 42 adhere tightly to the raw material 8. The swinging device 3 drives the flipping device 5, the gripping device 4, and the raw material 8 to rotate onto the discharge conveyor belt 7. The flipping device 5 drives the gripping device 4 and the raw material 8 to flip horizontally so that the raw material 8 is located between the discharge conveyor belt 7 and the support 41.

[0035] Initially, the adjusting cylinder 431 extends, and the suction cup 42 retracts under the action of the adjusting cylinder 431. When the suction cup 42 is lowered to the side of the raw material 8, the adjusting cylinder 431 retracts, and the suction cup 42 is pushed out by the adjusting cylinder 431. The suction cup 42 adheres to the side of the raw material 8 to fix the raw material 8. The swinging device 3 drives the flipping device 5, the gripping device 4, and the raw material 8 to swing together toward one side of the discharge conveyor belt 7. During the swinging process, the flipping device 5 drives the gripping device 4 and the raw material 8 to flip at a set angle so that the front of the raw material 8 faces the discharge conveyor belt 7. Then the raw material 8 is placed on the discharge conveyor belt 7, resulting in high handling efficiency. After the suction cup 42 adheres to the raw material 8, the adjusting component 43 drives the suction cup 42 and the raw material 8 to retract, and then the whole assembly swings. This can effectively prevent two adjacent raw materials 8 from being scratched or the surface of the raw material 8 from being scratched when the suction cup 42 swings to the adsorption position, thus improving the quality of handling. Furthermore, the reverse operation of the swing device 3 and the flipping device 5 can also transfer the raw material 8 from the discharge conveyor belt 7 to the feeding conveyor belt 6, enabling both loading and unloading, thus enhancing compatibility and reducing costs. This loading and unloading machine 1 is suitable for use in specialized intelligent packaging equipment, offering higher transfer efficiency and improving the packaging efficiency of the raw material 8.

[0036] Specifically, during the unloading process, the swinging device 3 swings the flipping device 5 and the gripping device 4 onto the discharge conveyor belt 7, where the gripping device 4 adsorbs and fixes the raw material 8 on the discharge conveyor belt 7. Then, the swinging device 3 drives the flipping device 5, the gripping device 4, and the raw material 8 to swing towards one side of the feeding conveyor belt 6. During the swinging process, the flipping device 5 drives the gripping device 4 and the raw material 8 to flip in the opposite direction at a set angle. When the swinging device 3 swings to the set position, the flipping device 5 makes the side of the raw material 8 face the trolley of the feeding conveyor belt 6, and the gripping device 4 releases, placing the raw material 8 on the trolley, thus completing the unloading operation of the raw material 8.

[0037] In some embodiments, the adjustment assembly 43 includes an adjustment cylinder 431 and a mounting base 432. The mounting base 432 is disposed on the bracket 41, the body of the adjustment cylinder 431 is fixed on the mounting base 432, and the output shaft of the adjustment cylinder 431 is connected to the suction cup 42. The structure is simple and occupies less space.

[0038] In some embodiments, the mounting base 432 is provided with a guide hole. The adjustment assembly 43 also includes at least one guide rod 433, one end of which is connected to the output shaft of the adjustment cylinder 431, and the other end of which passes through the corresponding guide hole and is connected to the suction cup 42 by the bracket 41, thereby improving the stability of the telescopic movement and the accuracy of the adjustment.

[0039] Specifically, a guide rod 433 is provided on both sides of the output shaft of the regulating cylinder 431, and one end of each guide rod 433 is fixedly connected to the output shaft of the regulating cylinder 431 through the mounting base 432.

[0040] For preferred options, please refer to [the provided text]. Figure 3 , Figure 4 , Figure 5 The adjustment assembly 43 also includes a buffer spring 434, which is mounted on the guide rod 433 and is located between the suction cup 42 and the bracket 41. This helps to protect the raw material 8 and improve the quality of handling.

[0041] Preferably, in order to detect whether the suction cup 42 is firmly attached, the gripping device 4 also includes a proximity switch 44. Each mounting base 432 is provided with a proximity switch 44. The proximity switch 44 is used to monitor the distance between the suction cup 42 and the surface of the raw material 8, improve safety performance, and ensure accurate adsorption.

[0042] Simultaneously, a suction force sensor switch can be installed on the suction cup 42. This sensor can detect the strength of the suction force to determine if the suction cup 42 is firmly attached and if there is any air leakage. When the suction force sensor reaches a set value, it indicates that the suction cup 42 is firmly attached, and the next step of the operation can proceed, enhancing safety. The suction force sensor switch is not shown in the figure.

[0043] In some embodiments, please refer to Figure 2 , Figure 3 The support frame 41 includes a crossbeam 411 and multiple support beams 412. The crossbeam 411 is fixedly connected to the flipping device 5, and multiple support beams 412 are spaced apart along the length of the crossbeam 411. Each support beam 412 is equipped with at least one set of adjustment components 43 and suction cups 42, resulting in a compact structure, stronger adhesion, and higher handling stability.

[0044] Specifically, the length direction of the support beam 412 is perpendicular to the length direction of the crossbeam 411. An adjustment assembly 43 and a suction cup 42 are provided at both ends of the support beam 412. An adjustment groove 4121 is provided at both ends of the support beam 412, with its length direction aligned with that of the support beam 412. The installation positions of the adjustment assembly 43 and the suction cup 42 can be adjusted via the adjustment groove 4121, making on-site assembly and debugging more convenient and faster, adaptable to the handling of raw materials 8 of different sizes, and offering greater compatibility. The length of the end of the support beam 412 located between the crossbeam 411 and the main beam 331 is less than the distance between the support beam 412 and the crossbeam 411, preventing the raw material 8 from colliding with the main beam 331 during the flipping process and improving safety.

[0045] In some embodiments, please refer to Figure 2 , Figure 3The swing device 3 includes a swing motor, a reducer 31, two supports 32, and a swing frame 33. The two supports 32 are spaced apart on the frame 2. The swing frame 33 is connected to the two supports 32 by bearings. The swing motor is driven to the swing frame 33 by the reducer 31. The swing motor drives the swing frame 33 to drive the gripping device 4 and the raw material 8 on it to swing back and forth around the center of the bearings of the two supports 32. The structure is simple, the cost is low, and it can realize loading and unloading operations.

[0046] Preferably, the swing frame 33 includes a main beam 331 and two swing arms 332. Both ends of the main beam 331 are bearing-connected to corresponding supports 32. A swing arm 332 is fixed to both ends of the main beam 331, with one end of the swing arm 332 fixedly connected to one end of the main beam 331. A bracket 41 is connected via bearings between the ends of the two swing arms 332 furthest from the main beam 331, avoiding cross-operation, providing space for the turning of the raw material 8, resulting in a compact structure and improved handling efficiency. Both ends of the crossbeam 411 are bearing-connected to the corresponding swing arms 332.

[0047] Specifically, the 332 hollow design of the swing arm reduces its weight and saves costs.

[0048] In some embodiments, please refer to Figure 2 , Figure 3 , Figure 4 The tilting device 5 includes a tilting motor, a planetary reducer 52, a first transmission assembly 53, a bearing housing 54, and a second transmission assembly 55. The tilting motor is connected to the first transmission assembly 53 via the planetary reducer 52, which is fixed to the frame 2. The first transmission assembly 53 is vertically arranged, and its upper end is connected to the bearing housing 54, which is fixed to one end of the main beam 331. The second transmission assembly 55 is located on one side of the corresponding swing arm 332 and is connected to the bearing housing 54 and the bracket 41 to drive the bracket 41 to tilt.

[0049] Preferably, the flipping device 5 and the swinging device 3 are respectively arranged on both sides of the bracket 41, which has a compact structure, avoids misalignment, has high space utilization, and avoids work interference.

[0050] Specifically, the first transmission assembly 53 includes a driving gear 531, a first chain belt 532, and a first driven pulley 533. The driving gear 531 is fixed to the output end of the planetary reducer 52, and the first driven pulley 533 is fixed to one end of the bearing housing 54. The first chain belt 532 meshes with the driving gear 531 and the driven gear. The first chain belt 532 is vertically arranged, and the first driven pulley 533 is located above the driving gear 531, resulting in a compact structure and high space utilization.

[0051] The second transmission assembly 55 includes a second driven wheel 551, a third driven wheel 552, and a second chain belt 553. The second driven wheel 551 is fixed to the other end of the bearing seat 54 and is located between the support 32 and the swing arm 332. The third driven wheel 552 is fixed to the other end of the swing arm 332; specifically, the third driven wheel 552 can be fixed to the end of the crossbeam 411. The second chain belt 553 is meshed with the second driven wheel 551 and the third driven wheel 552. The tilting motor drives the driving gear 531 to rotate through the planetary reducer 52. The driving gear 531 drives the crossbeam 411 and its gripping device 4 and raw material 8 to tilt sequentially through the first chain belt 532, the first driven wheel 533, the second driven wheel 551, the second chain belt 553, and the third driven wheel 552, resulting in more stable transmission.

[0052] In practical applications, please refer to Figure 1 , Figure 6 This loading and unloading machine 1 can be applied to two different types of conveyor belts. In one case, the feeding direction of the feeding conveyor belt 6 is the same as the discharge direction of the discharge conveyor belt 7, and the loading and unloading machine 1 is located between the feeding conveyor belt 6 and the discharge conveyor belt 7. Alternatively, the feeding direction of the feeding conveyor belt 6 is perpendicular to the discharge direction of the discharge conveyor belt 7, and the loading and unloading machine 1 is located between the feeding conveyor belt 6 and the discharge conveyor belt 7. In this case, multiple sets of loading and unloading machines 1 can be spaced apart along the conveying direction of the discharge conveyor belt 7, with each set of loading and unloading machines 1 corresponding to one set of feeding conveyor belt 6, which can improve the feeding efficiency. Furthermore, this loading and unloading machine 1 can be applied to industries such as glass, ceramic tiles, wood, and lithium batteries.

[0053] A feeding method for a loading / unloading machine 1, comprising any one of the loading / unloading machines 1 described above, characterized in that it includes:

[0054] Step S1: The feeding conveyor belt 6 transports the raw material 8 to the loading station. The swing device 3 drives the gripping device 4 and the flipping device 5 to swing to the loading station position. The adjusting component 43 drives the suction cup 42 to adsorb and fix it to the side of the raw material 8.

[0055] Step S2: The swinging device 3 drives the flipping device 5, the gripping device 4, and the raw material 8 to swing together toward the discharge conveyor belt 7; synchronously, the flipping device 5 rotates counterclockwise to drive the gripping device 4 and the raw material 8 on it to flip over by a set angle so that the side of the raw material 8 faces the conveying surface of the discharge conveyor belt 7.

[0056] Step S3: The swing device 3 swings to the set position, the flipping device 5 stops rotating, the gripping device 4 lowers the raw material 8 onto the conveying surface of the discharge conveyor belt 7, and the adjusting component 43 drives the suction cup 42 to retract.

[0057] Step S4: The swinging device 3 swings in the opposite direction to reset the flipping device 5 and the gripping device 4. Simultaneously, the flipping device 5 reverses to reset the gripping device 4. The feeding conveyor belt 6 transports the next raw material 8 to the loading station for the next round of loading operations.

[0058] In step S1, the swinging device 3 drives the gripping device 4 and the flipping device 5 to swing to the loading position, so that the suction port side of the suction cup 42 faces the raw material 8. Then the adjusting component 43 drives the suction cup 42 to extend so that the suction cup 42 is attached to the side of the raw material 8.

[0059] Since the placement angle of each raw material 8 varies, each suction cup 42 is equipped with a proximity switch 44 to determine whether all suction cups 42 are firmly attached. When all the lights on the proximity switches 44 corresponding to all suction cups 42 are lit, the swinging device 3 stops swinging towards one side of the raw material 8. When some of the proximity switches 44 are not lit, the flipping component can drive the bracket 41 to flip and adjust the suction port position of the suction cup 42 so that the suction cup 42 can accurately attach to the raw material 8, until all the lights on the proximity switches 44 are lit, at which point the flipping component and the swinging device 3 stop moving towards one side of the raw material 8. If the angle adjusted by the flipping component exceeds the set compensation value, and some of the proximity switches 44 are not lit, an alarm will be triggered to troubleshoot the problem.

[0060] In step S2, the swinging device 3 drives the flipping device 5, the gripping device 4, and the raw material 8 to swing together toward the discharge conveyor belt 7; simultaneously, the flipping device 5 rotates counterclockwise to drive the gripping device 4 and the raw material 8 on it to flip at a set angle so that the side of the raw material 8 is set toward the conveying surface of the discharge conveyor belt 7.

[0061] Specifically, each suction cup 42 is equipped with a suction force sensor switch. When the suction force sensor switch reaches a set value, it indicates that the suction cup 42 is firmly attached, and the swing device 3 begins to swing. The swing device 3 swings clockwise around the two supports 32 as axes, causing the raw material 8 to swing from the loading station to the discharge conveyor belt 7. Since the raw material 8 is initially placed at an angle, the conveying surface of the discharge conveyor belt 7 is different from the initial placement surface of the raw material 8. The raw material 8 needs to be rotated to be approximately the same as the conveying surface of the discharge conveyor belt 7 in order to properly place the raw material 8 on the conveying surface of the discharge conveyor belt 7. In order to improve the loading efficiency, during the swinging process, the flipping device 5 simultaneously drives the gripping device 4 and the raw material 8 on it to rotate counterclockwise, so that the side of the raw material 8 faces the conveying surface of the discharge conveyor belt 7.

[0062] In step S3, the swing device 3 swings to a set position, and the flipping device 5 stops rotating. At this time, the side of the raw material 8 is facing the conveying surface of the discharge conveyor belt 7. Then, the gripping device 4 lowers the raw material 8 onto the conveying surface of the discharge conveyor belt 7, and the adjusting component 43 drives the suction cup 42 to retract.

[0063] In step S4, the swing device 3 swings in the opposite direction to reset the flipping device 5 and the gripping device 4. Simultaneously, the flipping device 5 reverses to reset the gripping device 4. The feeding conveyor belt 6 transports the next raw material 8 to the loading station. The next round of loading operation begins.

[0064] When the feeding conveyor belt 6 transports the next raw material 8 to the loading station, the swing device 3 swings the suction cup 42 to the loading station, and the flipping device 5 flips it to adjust the orientation of the suction cup 42. After the suction cup 42 is completely adsorbed on the side of the raw material 8, the feeding conveyor belt 6 stops transporting the raw material 8 to the loading and unloading machine 1. This can ensure that the suction cup 42 is accurately adsorbed on the raw material 8, improve the adsorption efficiency of the suction cup 42, and enhance compatibility.

[0065] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A loading and unloading machine for transferring raw materials (8) from a feeding conveyor belt (6) to a discharging conveyor belt (7); characterized in that, The device includes a frame (2), a swinging device (3) mounted on the frame (2), a gripping device (4) mounted on the swinging device (3), and a flipping device (5) for driving the gripping device (4) to flip. The gripping device (4) includes a bracket (41), at least one set of suction cups (42), and an adjustment assembly (43) for adjusting the position of the suction cups (42). The bracket (41) is fixedly connected to the flipping device (5), and the suction cups (42) are fixed to the adjustment assembly (43). The suction cups (42) are used to adsorb and grip. Take raw material (8); when the suction cup (42) faces the raw material (8) on the feeding conveyor belt (6), the adjusting component (43) is used to make the suction cup (42) stick tightly to the raw material (8), the swing device (3) is used to drive the flipping device (5), the gripping device (4), and the raw material (8) to rotate onto the discharge conveyor belt (7), and the flipping device (5) is used to drive the gripping device (4) and the raw material (8) to flip to the horizontal so that the raw material (8) is located between the discharge conveyor belt (7) and the bracket (41).

2. The loading and unloading machine according to claim 1, characterized in that, The adjustment assembly (43) includes an adjustment cylinder (431) and a mounting base (432); the mounting base (432) is disposed on the bracket (41), the body of the adjustment cylinder (431) is fixed on the mounting base (432), and the output shaft of the adjustment cylinder (431) is connected to the suction cup (42).

3. The loading and unloading machine according to claim 2, characterized in that, The mounting base (432) is provided with a guide hole; the adjustment assembly (43) also includes at least one guide rod (433), one end of the guide rod (433) is connected to the output shaft of the adjustment cylinder (431), and the other end of the guide rod (433) passes through the corresponding guide hole; the bracket (41) is connected to the suction cup (42).

4. The loading and unloading machine according to claim 3, characterized in that, The adjustment assembly (43) also includes a buffer spring (434), which is fitted onto the guide rod (433) and is located between the suction cup (42) and the bracket (41).

5. The loading and unloading machine according to claim 2, characterized in that, The gripping device (4) also includes a proximity switch (44), and each mounting base (432) is provided with a proximity switch (44), which is used to monitor the distance between the suction cup (42) and the surface of the raw material (8).

6. The loading and unloading machine according to claim 1, characterized in that, The support (41) includes a crossbeam (411) and multiple support beams (412). The crossbeam (411) is fixedly connected to the flipping device (5). Multiple support beams (412) are spaced apart along the length of the crossbeam (411). Each support beam (412) is provided with at least one set of the adjustment component (43) and the suction cup (42).

7. The loading and unloading machine according to claim 1, characterized in that, The swing device (3) includes a swing motor, a reducer (31), two supports (32) and a swing frame (33); the two supports (32) are spaced apart on the frame (2), the swing frame (33) is connected to the two supports (32) by bearings, the swing motor is connected to the swing frame (33) by the reducer (31), and the swing motor is used to drive the swing frame (33) to drive the gripping device (4) and the raw material (8) on it to swing back and forth about the bearing center of the two supports (32).

8. A feeding method for a wafer loading / unloading machine, comprising the wafer loading / unloading machine as described in any one of claims 1-7, characterized in that, include: Step S1: The feeding conveyor belt (6) transports the raw material (8) to the loading station. The swing device (3) drives the gripping device (4) and the flipping device (5) to swing to the loading station position. The adjusting component (43) drives the suction cup (42) to adsorb and fix it to the side of the raw material (8). Step S2: The swinging device (3) drives the flipping device (5), the gripping device (4), and the raw material (8) to swing together toward the discharge conveyor belt (7); synchronously, the flipping device (5) rotates counterclockwise to drive the gripping device (4) and the raw material (8) on it to flip at a set angle so that the side of the raw material (8) is set toward the conveying surface of the discharge conveyor belt (7); Step S3: The swinging device (3) swings to the set position, the flipping device (5) stops rotating, the gripping device (4) lowers the raw material (8) onto the conveying surface of the discharge conveyor belt (7), and the adjusting component (43) drives the suction cup (42) to retract. Step S4: The swinging device (3) swings in the opposite direction to reset the flipping device (5) and the gripping device (4). Simultaneously, the flipping device (5) reverses to reset the gripping device (4). The feeding conveyor belt (6) transports the next raw material (8) to the loading station for the next round of loading.

9. The feeding method of the loading and unloading machine according to claim 8, characterized in that, In step S1, each of the suction cups (42) is provided with a proximity switch (44). When all the lights of the proximity switches (44) corresponding to all the suction cups (42) are lit, the swinging device (3) stops swinging toward the side of the raw material (8).

10. The feeding method of the loading and unloading machine according to claim 8, characterized in that, Step S4 also includes: when the feeding conveyor belt (6) transports the next raw material (8) to the loading station, after the suction cup (42) is attached to the side of the raw material (8), the feeding conveyor belt (6) stops transporting the raw material (8).

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