Feeding and discharging equipment

Abstract

The invention belongs to the technical field of electronic product manufacturing, and discloses feeding and discharging equipment which comprises a feeding conveying mechanism, a first lifting mechanism, a translation mechanism, a discharging conveying mechanism and a second lifting mechanism, the feeding conveying mechanism is arranged right opposite to a first feeding port and used for conveying trays to an adsorption position, and the second lifting mechanism is arranged right opposite to a second feeding port. At the adsorption position, the pickup equipment adsorbs the workpiece on the tray; the first lifting mechanism is used for moving the tray at the second feeding port to the feeding conveying mechanism; the translation mechanism can drive the tray at the adsorption position to move to the stacking position; the discharging conveying mechanism is used for conveying the trays at the stacking position to the first discharging opening and further used for conveying the trays at the stacking position to the position below the second discharging opening. The second lifting mechanism is used for moving the trays on the discharging conveying mechanism to the second discharging opening. The loading and unloading equipment realizes various loading and unloading modes, so that the loading and unloading equipment can be matched with loading interfaces among different manufacturers.

Description

Technical Field

[0001] This invention relates to the field of electronic product manufacturing technology, and in particular to a loading and unloading device. Background Technology

[0002] Trays, also known as pallets or material trays, are commonly used containers on electronic product production lines. They are mainly used for transportation and storage on the production line, ensuring stable transfer and precise positioning of workpieces or products, thereby improving production efficiency.

[0003] When using trays, workers arrange workpieces or products in a specific shape and place the tray into the loading / unloading mechanism. The mechanism moves the tray to a designated position, and a robotic arm removes the workpiece or product from the tray. The empty tray is then moved to the next process, and this cycle repeats to transport the workpiece or product. However, existing loading / unloading mechanisms have a limited feeding method, which cannot accommodate different loading interface types. Manual loading and docking operations are still required, which is time-consuming, labor-intensive, and poses significant safety hazards.

[0004] Therefore, there is an urgent need to design a loading and unloading device to solve the above-mentioned problems in the existing technology. Summary of the Invention

[0005] The purpose of this invention is to provide a loading and unloading device that can realize multiple loading and unloading methods, thereby matching the loading interfaces of different manufacturers, and is highly practical and efficient in production.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Loading and unloading equipment, including:

[0008] The loading and unloading equipment has a first inlet, a second inlet, a first outlet, and a second outlet. The loading and unloading mechanism is arranged directly opposite the first inlet along the X-axis and is located below the second inlet. The loading and unloading mechanism is used to transport the tray to the adsorption position. At the adsorption position, the picking device adsorbs the workpiece on the tray.

[0009] A first lifting mechanism is used to move the tray at the second inlet to the feeding conveyor mechanism.

[0010] A translation mechanism, which can move the tray at the adsorption position to the stacking position;

[0011] The discharge conveying mechanism is arranged directly opposite the first discharge port along the X-axis direction. The discharge conveying mechanism is used to convey the pallet at the stacking position to the first discharge port, and is also used to convey the pallet at the stacking position to below the second discharge port.

[0012] The second lifting mechanism is used to move the tray on the discharge conveying mechanism to the second discharge port.

[0013] Preferably, the feeding and conveying mechanism includes a feeding roller conveyor and a third lifting mechanism, with one end of the feeding roller conveyor facing the first inlet.

[0014] The feeding roller conveyor can transport the tray to the front position along the X-axis direction. The front position is located below the adsorption position. The third lifting mechanism is used to lift the tray at the front position to the adsorption position along the height direction.

[0015] Preferably, the loading and unloading equipment further includes a first calibration mechanism. Multiple trays are stacked to form a tray group. When the tray group moves to the front position, the first calibration mechanism can push the tray group from opposite sides of the tray group.

[0016] Preferably, the first calibration mechanism includes a mounting base plate, a drive screw, and push plates connected to both ends of the drive screw. The drive screw is rotatably mounted on the mounting base plate, and the push plates are threadedly engaged with the drive screw and movably mounted on the mounting base plate.

[0017] The rotation of the drive screw can drive the push plates at both ends to move closer to each other, so as to push the disc assembly located in the front position.

[0018] Preferably, the first lifting mechanism includes a toothed fork and a Z-axis drive module. The toothed fork is positioned directly opposite the second inlet and is used to support the tray. The toothed fork is connected to the Z-axis drive module, which can drive the toothed fork to move along the height direction.

[0019] The feeding roller conveyor includes multiple roller groups, with clearance space between adjacent roller groups. When the toothed fork is in the clearance space, the upper surface of the toothed fork is lower than the upper surface of the feeding roller conveyor.

[0020] Preferably, the translation mechanism includes a support platform and a Y-axis drive module. The support platform is used to support the tray located at the adsorption position. The support platform is connected to the Y-axis drive module, which can drive the support platform to move along the Y-axis between the adsorption position and the stacking position.

[0021] Preferably, the translation mechanism further includes a second suction cup assembly, which is used to adsorb the tray in the carrying platform and move the tray along the height direction to the stacking position.

[0022] Preferably, the discharge conveying mechanism includes a discharge roller conveyor and a fourth lifting mechanism. One end of the discharge roller conveyor is positioned directly opposite the first discharge port. The fourth lifting mechanism is used to move the tray at the stacking position to a rear position along the height direction. The rear position is located on the discharge roller conveyor below the stacking position.

[0023] Preferably, the second lifting mechanism includes a toothed fork and a Z-axis drive module. The toothed fork is positioned directly opposite the second discharge port and is used to support the pallet. The Z-axis drive module can drive the toothed fork to move along the height direction.

[0024] The discharge roller conveyor includes multiple roller groups, with clearance space between adjacent roller groups. When the toothed fork is in the clearance space, the upper surface of the toothed fork is lower than the upper surface of the discharge roller conveyor.

[0025] Preferably, the loading and unloading equipment further includes a second calibration mechanism, which can push the pallet against the pallet from opposite sides when the pallet moves on the discharge roller conveyor to below the second discharge port.

[0026] The beneficial effects of this invention are as follows:

[0027] The loading and unloading equipment provided by this invention includes a loading conveying mechanism, a first lifting mechanism, a translation mechanism, a discharging conveying mechanism, and a second lifting mechanism. Since the loading conveying mechanism is positioned directly opposite the first inlet along the X-axis and can transport the pallet to the adsorption position, and since the discharging conveying mechanism is positioned directly opposite the first outlet along the X-axis and can transport the empty pallet behind the adsorbed workpiece at the stacking position to the first outlet, this loading and unloading equipment can achieve automated loading and unloading operations, encompassing a complete feeding, adsorption, and discharging process, reducing the workload of manual labor. This device reduces labor intensity and improves production efficiency. Because the loading and unloading mechanism includes a second inlet and a second outlet, with the loading conveyor located below the second inlet, the first lifting mechanism can move the pallet at the second inlet to the loading conveyor along the height direction. Furthermore, the outlet conveyor can transport the pallet from the stacked position to below the second outlet, while the second lifting mechanism can move the pallet on the outlet conveyor along the height direction to the second outlet. Therefore, this loading and unloading equipment can achieve pallet transport along the height direction, making it suitable for overhead crane handling systems. This loading and unloading equipment has a first inlet and a second inlet, enabling loading via ordinary guided vehicles or manual horizontal loading, as well as vertical overhead crane loading. This allows it to match loading interfaces between different manufacturers without requiring manual adjustments, greatly improving the practicality of the equipment and increasing product production efficiency. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the external structure of the loading and unloading equipment provided in a specific embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the internal structure of the loading and unloading equipment provided in a specific embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the feeding conveyor and discharging conveyor provided in a specific embodiment of the present invention;

[0031] Figure 4 This is an exploded view of the feeding conveyor and the discharging conveyor provided in a specific embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the first calibration mechanism provided in a specific embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the translation mechanism provided in a specific embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of the Y-axis drive module provided in a specific embodiment of the present invention.

[0035] In the picture:

[0036] 100-pallet;

[0037] 200-disk set;

[0038] 300 - Pickup device;

[0039] 1-Machine casing; 11-First feed inlet; 12-Second feed inlet; 13-First discharge outlet; 14-Second discharge outlet;

[0040] 2-Feeding conveyor mechanism; 21-Feeding roller conveyor; 22-Third lifting mechanism; 23-First suction cup assembly; 231-Suction nozzle; 232-Lifting module; 233-First mounting rod; 234-Second mounting rod;

[0041] 3-First lifting mechanism; 31-Tooth fork; 32-Z-axis drive module;

[0042] 4-Translation mechanism; 41-Bearing platform; 42-Y-axis drive module; 421-Servo motor; 422-Slide rail; 423-First sliding block; 424-Horizontal movement rod; 43-Second suction cup assembly;

[0043] 5-Second lifting mechanism;

[0044] 6-Discharge conveying mechanism; 61-Discharge roller conveyor; 62-Fourth lifting mechanism;

[0045] 7-First calibration mechanism; 71-Mounting base plate; 72-Drive screw; 73-Push plate; 74-Drive motor; 75-Moving stage; 76-Guide rail;

[0046] 8-Second Calibration Agency

[0047] 9-Third calibration agency. Detailed Implementation

[0048] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0049] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0051] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0052] like Figures 1 to 4As shown, the present invention provides a loading and unloading device, which includes a loading conveying mechanism 2, a first lifting mechanism 3, a translation mechanism 4, a discharging conveying mechanism 6, and a second lifting mechanism 5. The loading and unloading device has a first inlet 11, a second inlet 12, a first outlet 13, and a second outlet 14. The loading conveying mechanism 2 is arranged directly opposite the first inlet 11 along the X-axis direction and is located below the second inlet 12. The loading conveying mechanism 2 is used to convey the tray 100 to the adsorption position. At the adsorption position, the picking device 300 adsorbs the tray 100. The first lifting mechanism 3 is used to move the tray 100 at the second inlet 12 to the feeding conveying mechanism 2; the translation mechanism 4 can drive the tray 100 at the adsorption position to the stacking position; the discharge conveying mechanism 6 is set directly opposite the first discharge port 13 along the X-axis direction, and the discharge conveying mechanism 6 is used to transport the tray 100 at the stacking position to the first discharge port 13, and the discharge conveying mechanism 6 is also used to transport the tray 100 at the stacking position to below the second discharge port 14; the second lifting mechanism 5 is used to move the tray 100 on the discharge conveying mechanism 6 to the second discharge port 14.

[0053] Specifically, since the feeding conveyor 2 is positioned directly opposite the first inlet 11 along the X-axis and can transport the tray 100 to the adsorption position, and since the discharging conveyor 6 is positioned directly opposite the first outlet 13 along the X-axis and can transport the empty tray 100 behind the adsorbed workpiece at the stacking position to the first outlet 13, this loading and unloading equipment can achieve automated loading and unloading operations, including a complete feeding, picking, and discharging process, reducing the labor intensity of workers and improving production efficiency; since this loading and unloading mechanism also includes a second inlet... The loading and unloading equipment includes a first inlet 12 and a second outlet 14. The loading conveyor 2 is located below the second inlet 12. The first lifting mechanism 3 can move the pallet 100 at the second inlet 12 to the loading conveyor 2 along the height direction. The outlet conveyor 6 can transport the pallet 100 from the stacked position to below the second outlet 14. Simultaneously, the second lifting mechanism 5 can move the pallet 100 on the outlet conveyor 6 to the second outlet 14 along the height direction. Therefore, this loading and unloading equipment can transport the pallet 100 along the height direction, making it suitable for overhead crane handling systems. This equipment has a first inlet 11 and a second inlet 12, enabling loading via ordinary guide car or manual horizontal loading, as well as vertical overhead crane loading. This allows it to match loading interfaces between different manufacturers without requiring manual adjustment, greatly improving the practicality of the equipment and increasing production efficiency.

[0054] In this embodiment, as Figure 1As shown, the loading and unloading equipment also includes a frame and a housing 1. The loading conveying mechanism 2, the first lifting mechanism 3, the translation mechanism 4, the unloading conveying mechanism 6, and the second lifting mechanism 5 are all installed on the frame. The housing 1 is the outer shell of the entire loading and unloading equipment. The housing 1 is set on the frame and encloses the frame into a cuboid structure. The first inlet 11 and the first outlet 13 are opened on the same side of the housing 1, and the second inlet 12 and the second outlet 14 are opened on the top surface of the housing 1. It can be understood that the first inlet 11 and the first outlet 13 are used for common guide car or manual horizontal loading and unloading methods, and the second inlet 12 and the second outlet 14 are used for common overhead crane loading and unloading methods.

[0055] Furthermore, such as Figures 2 to 4 As shown, the feeding conveyor 2 includes a feeding roller conveyor 21 and a third lifting mechanism 22. One end of the feeding roller conveyor 21 is positioned directly opposite the first inlet 11. The feeding roller conveyor 21 can transport the tray 100 to the front position along the X-axis direction. The front position is located below the adsorption position. The third lifting mechanism 22 is used to lift the tray 100 at the front position to the adsorption position along the height direction. In this embodiment, the loading roller conveyor 21 is composed of multiple electric rollers for conveying the pallet 100 along the X-axis direction. The pallet 100 has an adsorption position and a stacking position in the loading and unloading equipment. Before being transported to the adsorption position, the pallet 100 is first transported to the forward position by the loading roller conveyor 21. Then, the pallet 100 is lifted to the adsorption position by the third lifting mechanism 22 along the height direction, so that the pallet 100 is closer to the picking device 300 above, thereby facilitating the picking device 300 to pick up the workpiece in the pallet 100. In this embodiment, the picking device 300 is a six-axis robotic arm with suction cups commonly used in the art, which can automatically identify and pick up the workpiece in the pallet 100 located at the adsorption position.

[0056] like Figures 3 to 5 As shown, the loading and unloading equipment also includes a first calibration mechanism 7. Multiple trays 100 are stacked to form a tray group 200. When the tray group 200 moves to the front position, the first calibration mechanism 7 can push the tray group 200 from opposite sides of the tray group 200, thereby centering and aligning the stacked tray group 200 to ensure that the subsequent picking device 300 can smoothly position the tray 100 and pick up the workpiece in the tray 100.

[0057] The specific structure of the first calibration mechanism 7 can be set according to actual conditions, as long as it can apply force from opposite sides of the disk assembly 200 to make the trays 100 in the disk assembly 200 vertically aligned. In this embodiment, such as Figure 4 and Figure 5As shown, the first calibration mechanism 7 includes a mounting base plate 71, a drive screw 72, and push plates 73 connected to both ends of the drive screw 72. The drive screw 72 is rotatably mounted on the mounting base plate 71, and the push plates 73 are threadedly engaged with the drive screw 72 and movably mounted on the mounting base plate 71. The rotation of the drive screw 72 can drive the push plates 73 at both ends to move closer to each other, thereby pushing the disk assembly 200 located in the front position. Specifically, each end of the drive screw 72 is provided with three or four push plates 73, and the push plates 73 on the same side are all connected to the moving stage 75. The mounting base plate 71 is provided with a guide rail 76 extending along the Y-axis direction, and the moving stage 75 is slidably mounted on the guide rail 76. The drive screw 72 has two threads with opposite directions of rotation, and one thread is engaged with the moving stage on one side. The drive screw 72, the movable stage 75, and the guide rail 76 form a common screw and guide rail device in the art. When the drive screw 72 rotates in the forward direction, one of the movable stages 75 moves along the guide rail 76 towards the disk assembly 200 under the drive of the drive screw 72. Since the two movable stages 75 on both sides are respectively engaged with two sections of threads in opposite directions, the other movable stage 75 also moves along the guide rail 76 towards the disk assembly 200. That is, the two movable stages 75 move in opposite directions and move closer to each other, thereby driving the push plates 73 on both sides to clamp the disk assembly 200 in the middle. When the drive screw 72 rotates in the reverse direction, the two movable stages 75 move in opposite directions and move away from each other.

[0058] Understandably, in order to avoid interference between the first calibration mechanism 7 and the feeding roller conveyor 21, the mounting base plate 71, guide rail 76, and moving platform 75 of the first calibration mechanism 7 are all located below the feeding roller conveyor 21, the push plate 73 is located above the rollers of the feeding roller conveyor 21, and the moving platform 75 is provided with a connecting rod. The connecting rod passes through the gap between two adjacent rollers in the feeding roller conveyor 21 and is connected to the push plate 73. Therefore, the push plate 73 will not interfere with the feeding roller conveyor 21 during the movement.

[0059] Furthermore, the driving method of the drive screw 72 can be set according to the actual situation, such as manual rotation or electric drive. In this embodiment, a drive motor 74 and a position sensor are connected to the mounting base plate 71. The position sensor is electrically connected to the drive motor 74, and the output shaft of the drive motor 74 is connected to the drive screw 72 through a gear set. When the position sensor detects that the disc assembly 200 has been conveyed to the front position, it will send an electrical signal to the drive motor 74. Then the output shaft of the drive motor 74 will drive the drive screw 72 to rotate. At this time, the feeding roller conveyor 21 stops operating, and the push plates 73 on both sides will press against the disc assembly 200 located on the middle feeding roller conveyor 21.

[0060] The specific structure of the first lifting mechanism 3 can be set according to the actual situation, as long as it can support the vertical movement of the tray 100. In this embodiment, for example... Figure 3 and Figure 4 As shown, the first lifting mechanism 3 includes a toothed fork 31 and a Z-axis drive module 32. The toothed fork 31 is positioned directly opposite the second feed port 12 and is used to support the pallet 100. The toothed fork 31 is connected to the Z-axis drive module 32, which can drive the toothed fork 31 to move along the height direction. The feeding roller conveyor 21 includes multiple roller groups, and there is a clearance space between two adjacent roller groups. When the toothed fork 31 is in the clearance space, the upper surface of the toothed fork 31 is lower than the upper surface of the feeding roller conveyor 21.

[0061] In this embodiment, the X-axis, Y-axis, and Z-axis are perpendicular to each other. The X-axis direction is the transport direction of the feeding roller conveyor 21 and the discharging roller conveyor 61, the Z-axis direction is the height direction, i.e., vertical, and the Y-axis is perpendicular to both the X-axis and Z-axis. The Z-axis drive module 32 is a commonly used lead screw guide device in the art, or it can be a commonly used electric cylinder, linear motor, or other device, as long as it can drive the toothed fork 31 to move along the Z-axis. The type of Z-axis drive module 32 is not limited here.

[0062] Understandably, the feeding roller conveyor 21 consists of multiple roller groups arranged sequentially along the X-axis. Each roller group includes a motor, a roller, a mounting frame, and a mounting side plate. The mounting side plate and the motor are connected to the mounting frame, and the two ends of the roller are rotatably mounted on the mounting side plates on both sides. When the first lifting mechanism 3 moves the pallet 100, the fork 31 will receive the pallet 100 entering from the second inlet 12. Then, driven by the Z-axis drive module 32, the fork 31 descends along the Z-axis and falls into the clearance space between two adjacent roller groups, so that the pallet 100 can be smoothly placed on the feeding roller conveyor 21. In this embodiment, the structure of the third lifting mechanism 22 is exactly the same as that of the first lifting mechanism 3. When the tray 100 reaches the front position, the tooth fork 31 of the third lifting mechanism 22 is located below the feeding roller conveyor 21. After the first calibration mechanism 7 completes the centering and alignment of the tray group 200, the tooth fork 31 of the third lifting mechanism 22 will rise under the drive of the Z-axis drive module 32, pass through the clearance space between two adjacent roller groups, and lift the tray group 200 on the feeding roller conveyor 21 along the Z-axis to the adsorption position.

[0063] like Figure 2 , Figure 6 as well as Figure 7As shown, the translation mechanism 4 includes a support platform 41 and a Y-axis drive module 42. The support platform 41 is used to support the tray 100 located at the adsorption position. The support platform 41 is connected to the Y-axis drive module 42. The Y-axis drive module 42 can drive the support platform 41 to move between the adsorption position and the stacking position along the Y-axis direction. Therefore, the translation mechanism 4 can transport the empty tray 100. The Y-axis drive module 42 is a commonly used lead screw guide device, linear motor, electric cylinder, or other device in the art. The Y-axis drive module 42 can drive the bearing platform 41 to move along the Y-axis. In this embodiment, the Y-axis drive module 42 is a lead screw guide device, including a servo motor 421, a slide rail 422, a first sliding block 423, a second sliding block, and a transverse rod 424. The slide rail 422 and the transverse rod 424 are both arranged on the frame along the Y-axis direction, and the slide rail 422 and the transverse rod 424 are spaced apart. The servo motor 421 is arranged on the transverse rod 424, and a lead screw is arranged inside the transverse rod 424. The second sliding block passes through the lead screw and is threaded with the lead screw. The first sliding block 423 is slidably arranged on the slide rail 422. One side of the bearing platform 41 is fixedly connected to the second sliding block, and the other side is fixedly connected to the first sliding block 423. After the servo motor 421 is started, it can drive the lead screw to rotate, and the rotation of the lead screw can drive the bearing platform 41 to move along the Y-axis.

[0064] Specifically, such as Figure 5 As shown, the feeding and conveying mechanism 2 also includes a first suction cup assembly 23, which includes a suction nozzle 231, a lifting module 232, a first mounting rod 233, and a second mounting rod 234. The lifting module 232 is connected to the frame, and the first mounting rod 233 is connected to the lifting module 232. The first mounting rod 233 is provided with a slide rail extending along the Y-axis. There are two second mounting rods 234, which are arranged parallel to each other in the slide rail of the first mounting rod 233. The second mounting rods 234 can slide along the slide rail under the action of external force. The second mounting rod 234 is provided with a slide rail extending along the X-axis. Multiple suction nozzles 231 are spaced apart on the second mounting rod 234. The suction nozzles 231 are used to adsorb the tray 100 below. The lifting module 232 can drive the first mounting rod 233 and the second mounting rod 234 to move along the Z-axis. Furthermore, the translation mechanism 4 also includes a second suction cup assembly 43, which is used to adsorb the tray 100 in the carrying platform 41 and drive the tray 100 to move along the height direction to the stacking position; the structure of the second suction cup assembly 43 is exactly the same as that of the first suction cup assembly 23, and will not be described in detail here.

[0065] like Figure 2 and Figure 5As shown, the cooperation process of the first suction cup assembly 23, the second suction cup assembly 43, and the carrier platform 41 is roughly as follows: The third lifting mechanism 22 lifts the tray 100 located in the front position to the suction position. At this time, the suction nozzle 231 of the first suction cup assembly 23 is directly above the tray 100. The carrier platform 41 moves the empty tray 100, which has just had its workpiece picked up, to the position of the second suction cup assembly 43 on the right. Then, the suction nozzle 231 of the first suction cup assembly 23, driven by the lifting module 232, moves downward along the Z-axis towards the tray 100 and suctions the tray 100. The carrier platform 41, driven by the Y-axis drive module 42, moves to the left along the Y-axis. At the same time, the suction nozzle 231 of the first suction cup assembly 23 moves the tray 100 upward along the Z-axis until the height of the tray 100 is higher than the height of the carrier platform 41. After that, the carrier platform 41 moves along the Y-axis to the position where the workpiece is suctioned. Below the tray 100, the suction nozzle 231 stops adsorbing the tray 100, thus placing the tray 100 on the support platform 41. At this time, the picking device 300 picks up the workpiece in the tray 100. After the workpiece in the tray 100 is picked up, the support platform 41, driven by the Y-axis drive module 42, moves the empty tray 100 to the right along the Y-axis to below the second suction cup assembly 43. Then, the suction nozzle 231 of the second suction cup assembly 43 moves downward towards the tray 100 and adsorbs the tray 100. Subsequently, the support platform 41, driven by the Y-axis drive module 42, moves to the left along the Y-axis to support the next tray 100 at the adsorption position. The suction nozzle 231 of the second suction cup assembly 43, driven by the lifting module 232, moves the empty tray 100 down along the Z-axis to the stacking position. This process is repeated to transfer all the trays 100 in the tray group 200 to the stacking position.

[0066] Furthermore, such as Figures 2 to 4 As shown, the discharge conveying mechanism 6 includes a discharge roller conveyor 61 and a fourth lifting mechanism 62. One end of the discharge roller conveyor 61 is positioned directly opposite the first discharge port 13. The fourth lifting mechanism 62 is used to move the pallet 100 at the stacking position to the rear position along the height direction. The rear position is located on the discharge roller conveyor 61 below the stacking position. In this embodiment, the structure of the discharge roller conveyor 61 is the same as that of the loading roller conveyor 21, and the structure of the fourth lifting mechanism 62 is the same as that of the third lifting mechanism 22, with the rear position located below the stacking position. The carrying platform 41 transports the empty pallet 100 along the Y-axis to the top of the stacking position. Then, the second suction cup assembly 43 adsorbs the empty pallet 100 and places it on the tooth fork 31 of the fourth lifting mechanism 62 below. At this time, the pallet 100 is located in the stacking position. After all the pallets 100 have been moved to the stacking position, all the empty pallets 100 are re-stacked to form a pallet group 200. Then, the tooth fork 31 of the fourth lifting mechanism 62 moves downward under the drive of the Z-axis drive module 32 until the tooth fork 31 falls into the clearance space of the discharge roller conveyor 61 and finally places the pallet group 200 on the discharge roller conveyor 61.

[0067] like Figures 2 to 4 As shown, the loading and unloading equipment also includes a second calibration mechanism 8. When the pallet 100 moves on the discharge roller conveyor 61 to below the second discharge port 14, the second calibration mechanism 8 can push the pallet 100 from opposite sides. In this embodiment, the structure of the second calibration mechanism 8 is the same as that of the first calibration mechanism 7. When the discharge roller conveyor 61 transports the pallet 100 to below the second discharge port 14, the pushing plate 73 of the second calibration mechanism 8 presses against the middle pallet assembly 200 from both sides, thereby centering and aligning the pallet assembly 200 on the discharge roller conveyor 61 to ensure that the subsequent overhead crane handling system can smoothly position the pallet 100 and discharge it from the second discharge port 14.

[0068] The specific structure of the second lifting mechanism 5 is the same as that of the first lifting mechanism 3. After the second calibration mechanism 8 calibrates the disc assembly 200, the tooth fork 31 of the second lifting mechanism 5 is lifted upward under the drive of the Z-axis motion module 32, thereby driving the disc assembly 200 on the discharge roller conveyor 61 to move upward until it reaches the second discharge port 14 above.

[0069] The loading and unloading equipment also includes a third calibration mechanism 9, which is arranged at intervals along the X-axis on the loading roller conveyor 21. The third calibration mechanism 9 is used to center and align the tray 100 entering from the first inlet 11 to ensure the smoothness of subsequent automatic operation.

[0070] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A material loading and unloading device, characterized in that, include: The loading and unloading equipment has a first inlet (11), a second inlet (12), a first outlet (13) and a second outlet (14). The loading and unloading mechanism (2) is arranged directly opposite the first inlet (11) along the X-axis direction, and the loading and unloading mechanism (2) is arranged below the second inlet (12). The loading and unloading mechanism (2) is used to transport the tray (100) to the adsorption position. At the adsorption position, the picking device (300) adsorbs the workpiece on the tray (100). The first lifting mechanism (3) is used to move the tray (100) at the second inlet (12) to the feeding conveyor (2). Translation mechanism (4), which can move the tray (100) at the adsorption position to the stacking position; The discharge conveying mechanism (6) is arranged directly opposite the first discharge port (13) along the X-axis direction. The discharge conveying mechanism (6) is used to convey the pallet (100) at the stacking position to the first discharge port (13). The discharge conveying mechanism (6) is also used to convey the pallet (100) at the stacking position to the area below the second discharge port (14). The second lifting mechanism (5) is used to move the tray (100) on the discharge conveying mechanism (6) to the second discharge port (14).

2. The loading and unloading equipment according to claim 1, characterized in that, The feeding conveying mechanism (2) includes a feeding roller conveyor (21) and a third lifting mechanism (22), with one end of the feeding roller conveyor (21) facing the first inlet (11); The feeding roller conveyor (21) can transport the tray (100) to the front position along the X-axis direction. The front position is located below the adsorption position. The third lifting mechanism (22) is used to lift the tray (100) at the front position to the adsorption position along the height direction.

3. The loading and unloading equipment according to claim 2, characterized in that, The loading and unloading equipment also includes a first calibration mechanism (7). Multiple trays (100) are stacked to form a tray group (200). When the tray group (200) moves to the front position, the first calibration mechanism (7) can push the tray group (200) from opposite sides.

4. The loading and unloading equipment according to claim 3, characterized in that, The first calibration mechanism (7) includes a mounting base plate (71), a drive screw (72), and a push plate (73) connected to both ends of the drive screw (72). The drive screw (72) is rotatably mounted on the mounting base plate (71), and the push plate (73) is threadedly engaged with the drive screw (72) and movably mounted on the mounting base plate (71). The rotation of the drive screw (72) can drive the push plates (73) at both ends to move closer to each other, so as to push the disk assembly (200) located in the front position.

5. The loading and unloading equipment according to claim 2, characterized in that, The first lifting mechanism (3) includes a toothed fork (31) and a Z-axis drive module (32). The toothed fork (31) is positioned directly opposite the second feed port (12). The toothed fork (31) is used to support the pallet (100). The toothed fork (31) is connected to the Z-axis drive module (32). The Z-axis drive module (32) can drive the toothed fork (31) to move along the height direction. The feeding roller conveyor (21) includes multiple roller groups, and there is a clearance space between two adjacent roller groups. When the tooth fork (31) is in the clearance space, the upper surface of the tooth fork (31) is lower than the upper surface of the feeding roller conveyor (21).

6. The loading and unloading equipment according to claim 1, characterized in that, The translation mechanism (4) includes a support platform (41) and a Y-axis drive module (42). The support platform (41) is used to support the tray (100) located at the adsorption position. The support platform (41) is connected to the Y-axis drive module (42). The Y-axis drive module (42) can drive the support platform (41) to move along the Y-axis between the adsorption position and the stacking position.

7. The loading and unloading equipment according to claim 6, characterized in that, The translation mechanism (4) further includes a second suction cup assembly (43), which is used to adsorb the tray (100) in the carrying platform (41) and drive the tray (100) to move along the height direction to the stacking position.

8. The loading and unloading equipment according to claim 1, characterized in that, The discharge conveying mechanism (6) includes a discharge roller conveyor (61) and a fourth lifting mechanism (62). One end of the discharge roller conveyor (61) is positioned directly opposite the first discharge port (13). The fourth lifting mechanism (62) is used to move the tray (100) at the stacking position to a rear position along the height direction. The rear position is located on the discharge roller conveyor (61) below the stacking position.

9. The loading and unloading equipment according to claim 8, characterized in that, The second lifting mechanism (5) includes a toothed fork (31) and a Z-axis drive module (32). The toothed fork (31) is positioned directly opposite the second discharge port (14). The toothed fork (31) is used to support the pallet (100). The Z-axis drive module (32) can drive the toothed fork (31) to move along the height direction. The discharge roller conveyor (61) includes multiple roller groups, with a clearance space between two adjacent roller groups. When the tooth fork (31) is in the clearance space, the upper surface of the tooth fork (31) is lower than the upper surface of the discharge roller conveyor (61).

10. The loading and unloading equipment according to claim 9, characterized in that, The loading and unloading equipment also includes a second calibration mechanism (8). When the pallet (100) moves on the discharge roller conveyor (61) to below the second discharge port (14), the second calibration mechanism (8) can push the pallet (100) from opposite sides.

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