Double-station feeding and discharging equipment

Abstract

The application provides a double-station feeding and discharging equipment, which comprises a workbench, two work devices arranged on the workbench and a transfer device. Each work device comprises a separating disc device, a positioning device, a carrying device, a receiving disc device and a collecting disc device. The separating disc device is movable relative to the carrying device, and the positioning device is arranged on the workbench and close to one side of the carrying device. The separating disc device carries a material disc to the positioning device, and the carrying device carries material to the positioning device or takes material from the positioning device. The receiving disc device is arranged below the carrying device and is movable relative to the positioning device. The receiving disc device is moved to receive and transfer the material disc on the positioning device which has completed feeding or discharging, and the collecting disc device buffers the material disc on the receiving disc device. The equipment not only realizes automatic feeding, automatic separating disc, automatic feeding, automatic loading and automatic material collecting, but also optimizes the production process and improves the production continuity and efficiency.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading equipment technology, and in particular to a dual-station loading and unloading equipment. Background Technology

[0002] Existing material handling equipment is predominantly single-station models, which expose numerous structural shortcomings in multi-product manufacturing scenarios. The core issues lie in three dimensions: adaptability, economy, and ease of operation and maintenance. Current material handling equipment is mostly single-station, typically designed for a single product specification. Its core components, such as the feeding mechanism and clamping assembly, have a narrow range of adaptability, making it inflexible to meet the material handling needs of multiple product categories and sizes. To achieve multi-product production, companies need to configure multiple dedicated machines to form a production line, directly leading to a significant increase in floor space. This is particularly problematic for small and medium-sized enterprises with limited factory space, where crowded equipment layouts hinder production process optimization. Using multiple machines increases purchase costs and operating expenses, raising operational costs. Furthermore, multiple machines require professional maintenance personnel, increasing labor costs and extending troubleshooting and repair cycles, impacting production continuity and efficiency. Therefore, there is an urgent need in this field for a new type of dual-station material handling equipment to solve these problems. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a dual-station loading and unloading device, which adopts a combination of vertical transmission and multiple hoppers, has strong versatility, makes full use of space, and realizes the cyclic conveying of materials.

[0004] One embodiment of the present invention provides a dual-station loading and unloading device, including a workbench (10), a first working device and a second working device are provided on the workbench (10), and a transfer device (3) is provided between the first working device and the second working device; each working device includes a tray separating device (21), a positioning device (22), a conveying device (23), a tray receiving device (24) and a tray collecting device (25).

[0005] The tray-splitting device (21) and the conveying device (23) are located above the workbench (10), the tray receiving device (24) and the tray collecting device (25) are located below the workbench (10), and the positioning device (22) is located on the workbench (10) on the side close to the conveying device (23).

[0006] The receiving device (25) is located below the distributing device (21). The receiving device (25) includes a transmission component (252), which is connected to the receiving device (24) in a transmission manner. The receiving device (24) is located below the conveying device (23) and moves relative to the positioning device (22).

[0007] The transfer device (3) is set between the handling device (23) of the first working device (1) and the second working device (2) for transferring materials located on the first working device (1) and the second working device (2).

[0008] Furthermore, the transfer device (3) includes a torque converter assembly (31) and a transfer assembly (32). The torque converter assembly (31) includes a torque converter cylinder (311) and a torque converter clamp (312). The transfer assembly (32) includes a transfer cylinder (321) and a transfer clamp (322). The moving end of the torque converter cylinder (311) is connected to the torque converter clamp (312) and drives the torque converter clamp (312) to open and close. The moving end of the transfer cylinder (321) is connected to the transfer clamp (322) and drives the transfer clamp (322) to move left and right.

[0009] Furthermore, the tray-separating device (21) includes a transfer traverse assembly (215) and a tray-separating fixing plate (218); the transfer traverse assembly (215) includes two transfer tank chains (2152), the transfer tank chains (2152) and the tray-separating fixing plate (218) are mounted on the bottom of the workbench (10), and the transfer tank chains (2152) are mounted on both sides of the tray-separating fixing plate (218), and the tray-separating fixing plate (218) can move along the transfer tank chains (2152).

[0010] Furthermore, the tray-splitting device (21) also includes a tray-splitting cylinder (211) and a transfer lifting cylinder (212), and the transfer traverse assembly (215) also includes a transfer traverse cylinder (2151); the clamping cylinder (211) is fixed on the workbench (10), the transfer lifting cylinder (212) is fixed at the bottom of the tray-splitting fixing plate (218), the tray-splitting cylinder (211) and the transfer lifting cylinder (212) jointly control the tray splitting, and the transfer traverse cylinder (2151) is fixed at the bottom of the workbench (10) and connected to the tray-splitting fixing plate (218) to drive the tray-splitting fixing plate (218) to move along the transfer tank chain (2152).

[0011] Furthermore, the positioning device (22) includes two pallet pick-and-place cylinders (221) and a positioning connecting plate (223); the positioning connecting plate (223) is installed on the workbench (10), and the two pallet pick-and-place cylinders (221) are fixedly connected to both sides of the positioning connecting plate (223).

[0012] Furthermore, the receiving device (24) includes a drive unit (241) and a base unit (243). The drive unit (241) is mounted on the base unit (243). The drive unit (241) includes an absolute servo motor (2412). The base unit (243) includes a synchronous belt (2432) and a receiving device base (2434). The absolute servo motor (2412) is mounted on the receiving device base (2434), and the synchronous belt (2432) is mounted on the side of the receiving device base (2434). The absolute servo motor (2412) drives the synchronous belt (2432) to run.

[0013] Furthermore, the receiving device (24) also includes a lifting unit (242), and the base unit (243) also includes a guide rail (2436). The guide rail (2436) is installed on the side of the receiving device base (2434), and the absolute value servo motor (2412) drives the lifting unit (242) to move along the guide rail (2436).

[0014] Furthermore, the receiving device (25) also includes a buffer assembly (251) and a base frame (253), the buffer assembly (251) being mounted on the base frame (253); the buffer assembly (251) includes a connecting plate (2512); the base frame (253) abuts against the receiving device (24), and the connecting plate (2512) is mounted on the base frame (253).

[0015] Furthermore, the transmission assembly (252) includes a transmission belt motor (2521) and a transmission belt (2522); the transmission belt motor (2521) is fixed to the bottom of the base frame (253), the transmission belt (2522) meshes with the transmission belt motor (2521), and the transmission belt motor (2521) drives the transmission belt (2522) to circulate.

[0016] Furthermore, the handling device (23) includes a high-precision four-axis robot (231), a four-axis robot fixture (232), and a four-axis robot base (233); the four-axis robot base (233) is fixed on the worktable (10), the high-precision four-axis robot (231) is connected to the four-axis robot base (233), and the four-axis robot fixture (232) is fixed at the front end of the high-precision four-axis robot (231).

[0017] This invention provides a dual-station loading and unloading device, including a workbench, two working devices mounted on the workbench, and a transfer device. Each working device includes a tray-separating device, a positioning device, a conveying device, a tray-receiving device, and a tray-collecting device. The tray-separating device carries a tray and moves it to one end of the positioning device. The conveying device conveys materials to the positioning device or retrieves materials from the positioning device. The tray-receiving device moves up and down to receive and transfer the trays that have been unloaded or loaded from the positioning device. The tray-collecting device buffers the trays on the tray-receiving device. The tray-separating device has buffering and storage functions, the tray-receiving device adopts a vertical lifting design, and the tray-collecting device uses a transmission component and is equipped with multiple sensors, realizing integrated automation of material storage, automatic tray separation, automatic feeding, automatic loading, and automatic collection.

[0018] Furthermore, it integrates with the MES system, enabling real-time monitoring and traceability of production plans, equipment status, and quality data. Additionally, it can switch between loading / unloading production modes via HMI based on actual conditions, improving production continuity and efficiency. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is an overall schematic diagram of a dual-station loading and unloading device provided in an embodiment of the present invention.

[0021] Figure 2 for Figure 1 An internal schematic diagram of the provided dual-station loading and unloading equipment.

[0022] Figure 3 for Figure 2 An internal top view of the provided dual-station loading and unloading equipment.

[0023] Figure 4 for Figure 2 An internal side view of the provided dual-station loading and unloading equipment.

[0024] Figure 5 for Figure 1 A partial schematic diagram of the tray-separating device of the provided dual-station loading and unloading equipment.

[0025] Figure 6 for Figure 1 A bottom schematic diagram of the tray-separating device of the provided dual-station loading and unloading equipment.

[0026] Figure 7 for Figure 1 A schematic diagram of the transfer structure of the tray-splitting device in the provided dual-station loading and unloading equipment.

[0027] Figure 8 for Figure 1 A schematic diagram of the positioning device for the provided dual-station loading and unloading equipment.

[0028] Figure 9 for Figure 1 A schematic diagram of the four-axis robot fixture structure of the provided dual-station loading and unloading equipment.

[0029] Figure 10 for Figure 1 A schematic diagram of the four-axis robot floating suction head structure of the provided dual-station loading and unloading equipment.

[0030] Figure 11 for Figure 1 A schematic diagram of the receiving device for the provided dual-station loading and unloading equipment.

[0031] Figure 12 for Figure 1 A schematic diagram of the receiving device of the provided dual-station loading and unloading equipment.

[0032] Figure 13 for Figure 12 A schematic diagram of the bottom structure of the receiving device of the provided dual-station loading and unloading equipment.

[0033] Figure 14 for Figure 1 A schematic diagram of the transfer device for the provided dual-station loading and unloading equipment.

[0034] Figure 15 for Figure 1 The provided flowchart shows the operation of the dual-station loading and unloading equipment.

[0035] In the diagram: Workbench 10; Upper workbench 101; Control panel 11; First working device 1; Second working device 2; Distributor 21; Distributor cylinder 211; Transfer lifting cylinder 212; Transfer pallet lifting cylinder 213; Transfer clamping cylinder 214; Transfer lateral movement assembly 215; Transfer lateral movement cylinder 2151; Transfer tank chain 2152; Sensor assembly 216; Insufficient pallet detection sensor 2161; Missing pallet detection sensor 2162; Partition assembly 217; Pallet anti-foolproof limit block 2171; Loading bin partition 2172; Pallet guide partition 2173; Partition U-shaped hole 2174; Distributor fixing plate 218; Transfer lifting connecting plate 219; Positioning device 22 ; Pallet pick-and-place cylinder 221; Pressure plate 222; Positioning connecting plate 223; Handling device 23; High-precision four-axis robot 231; Four-axis robot fixture 232; Floating suction head 2321; Locking pin 23211; Telescopic output shaft 23212; Spring 23213; Suction head 23214; Top connector 23215; Positioning column 2322; Fixture fixing plate 2323; Four-axis robot base 233; Receiving device 24; Drive unit 241; Reducer 2411; Absolute servo motor 2412; Groove sensor 2413; Lifting unit 242; Receiving lifting cylinder 2421; Lifting guide column 2422; Lifting base 2423; Positioning pin 2424; Positioning plate; Base unit; Synchronous pulley; Synchronous belt; Contour metal connecting clamp; Receiving device base; U-shaped hole; Guide rail; Receiving device; Receiving buffer assembly; Receiving lifting cylinder; Connecting plate; Block; One-way check block; Receiving bin partition; Receiving bin; Receiving bin Warehouse guide plate 2516; lifting guide column 2517; transmission assembly 252; transmission belt motor 2521; transmission belt 2522; follower wheel 2523; transmission belt guide plate 2524; base plate frame 253; transfer device 3; torque converter assembly 31; torque converter cylinder 311; torque converter clamp 312; transfer assembly 32; transfer cylinder 321; transfer clamp 322; base plate assembly 33; base plate 331; side plate 332. Detailed Implementation

[0036] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. Based on the description of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0037] The main purpose of this application is to provide a dual-station loading and unloading device to solve the problems of large footprint, difficult maintenance, and low production efficiency of existing loading and unloading devices.

[0038] First Embodiment

[0039] Please refer to the following first. Figures 1 to 4 One aspect of this application provides a dual-station loading and unloading device, which is applicable to product loading or unloading trays and has strong versatility.

[0040] like Figures 1 to 4 As shown, a dual-station loading and unloading device includes a workbench 10 and a control panel 11 electrically connected to the workbench 10. The operator can switch the working state of the workbench 10 via the control panel 11. Two independent working positions are set on the workbench 10, with a first working device 1 and a second working device 2 respectively located on each position. A transfer device 3 is provided between the first working device 1 and the second working device 2. Each working device includes a tray-separating device 21, a positioning device 22, a conveying device 23, a tray-receiving device 24, and a tray-collecting device 25. The transfer device 3 is located between the conveying devices 23 of the first working device 1 and the second working device 2, and is used to transfer materials located on the first working device 1 and the second working device 2. The workbench 10 includes an upper workbench 101 and a lower workbench (not shown), which are arranged vertically. The first working device 1 and the second working device 2 are located on opposite sides of the upper workbench 101 and can be mirror images of each other, having identical structures and functions.

[0041] This embodiment uses the second working device 2 as an example to describe the equipment, which includes a tray-splitting device 21, a positioning device 22, a conveying device 23, a tray-receiving device 24, and a tray-collecting device 25. The tray-splitting device 21 and the conveying device 23 are located above the upper worktable 101 of the worktable 10, and the positioning device 22 is disposed on the upper worktable 101 of the worktable 10, on the side close to the conveying device 23. Furthermore, the tray-splitting device 21 can move relative to the positioning device 22 and the conveying device 23. The tray-splitting device 21 carries the material tray and moves it to the positioning device 22, and the conveying device 23 loads or unloads the material tray at the positioning device 22.

[0042] The receiving device 24 and the collecting device 25 are located below the upper worktable 101 of the worktable 10 (i.e., mounted on the lower worktable). The collecting device 25 is positioned below the distributing device 21 and includes a transmission component 252, which is drively connected to the receiving device 24. The receiving device 24 is positioned below the conveying device 23 and is movable relative to the positioning device 22. The receiving device 24 moves up and down to receive and transfer the trays that have been loaded or unloaded from the positioning device 22. The collecting device 25 buffers the trays on the receiving device 24.

[0043] like Figures 3 to 7As shown, the tray distribution device 21 is used for buffering and providing trays. It includes a transfer traverse assembly 215, a sensor assembly 216, a partition assembly 217, a tray distribution fixing plate 218, and a transfer lifting connecting plate 219. The transfer traverse assembly 215 includes a transfer traverse cylinder 2151 and a transfer tank chain 2152. The transfer traverse cylinder 2151 drives other cylinders to complete the tray distribution and tray displacement actions. It is fixed to the bottom of the upper worktable 101 and connected to the tray distribution fixing plate 218. Preferably, there are two transfer tank chains 2152. These two transfer tank chains 2152 are installed at the bottom of the upper worktable 101. Each transfer tank chain 2152 includes a moving end and a fixed end. The fixed ends of the two transfer tank chains 2152 are fixed to the bottom of the upper worktable 101 with screws to support the reciprocating movement of the tray distribution fixing plate 218. The tray fixing plate 218 is also installed at the bottom of the upper worktable 101, and the transfer tank chain 2152 is installed between the tray fixing plate 218 and the upper worktable 101. The moving ends of the two transfer tank chains 2152 are respectively installed on both sides of the tray fixing plate 218. The tray fixing plate 218 can move left and right along the transfer tank chain 2152 under the action of the transfer transverse cylinder 2151. The transfer lifting connecting plate 219 is installed on the tray fixing plate 218 to receive the tray and can move up and down relative to the tray fixing plate 218 under the action of the cylinder.

[0044] like Figure 5 As shown, the partition assembly 217 includes a tray anti-foolproof limit block 2171, two loading bin partitions 2172, multiple tray guide partitions 2173, and multiple partition U-shaped holes 2174. The two loading bin partitions 2172 of the partition assembly 217 are respectively fixed on the upper worktables 101 on both sides of the tray fixing plate 218. The loading bin partitions 2172 are U-shaped plates with bent sides, and the backs of the two loading bin partitions 2172 stand facing each other. The area between the two loading bin partitions 2172 is defined as the loading bin. The loading bin partitions 2172 are provided with multiple partition U-shaped holes 2174. Some of the partition U-shaped holes 2174 are located on the plate body of the loading bin partitions 2172, and the other part of the partition U-shaped holes 2174 are located on the contact surface between the loading bin partitions 2172 and the upper worktable 101, which facilitates the adjustment of the position when installing the loading bin partitions 2172. The installation of the feed hopper partition 2172 adopts the installation method of partition U-shaped hole 2174, which facilitates position adjustment, eliminates processing errors, reduces vibration and buffers, and can be used for load-bearing devices of various widths and specifications, with high flexibility.

[0045] Each of the two feeding bin partitions 2172 has multiple tray guide partitions 2173 on its opposite side. The tray guide partitions 2173 have toothed structures to separate the multiple trays. The multiple tray guide partitions 2173 have unequal lengths and are all installed on both sides of the back of the feeding bin partition 2172. Furthermore, the sides of the multiple tray guide partitions 2173 are connected to the back of the feeding bin partition 2172, enabling the feeding bin partition 2172 to separate the trays. A tray anti-foolproof limit block 2171 is used to prevent reverse trays from being put into the equipment during manual tray loading and is installed at the connection between one of the tray guide partitions 2173 and one of the feeding bin partitions 2172. The tray separating device 21, through the buffering and storage of the trays by the partition assembly 217, eliminates the impact of material supply fluctuations on the production line, thereby ensuring the continuity of normal production.

[0046] The sensor assembly 216 includes a low-disc detection sensor 2161 and a low-disc detection sensor 2162. These sensors detect the remaining material level in the feeding hopper of the dispensing device 21. They are installed on the outer side of the opposing dispensing guide partition 2173, and their installation height needs to be adjusted automatically according to the dispensing thickness. By configuring the low-disc detection sensor 2161 and low-disc detection sensor 2162, low-disc alerts and low-disc alarm shutdown functions are implemented, reducing manual intervention and lowering operating costs.

[0047] like Figure 6 As shown, the tray-separating device 21 also includes two tray-separating cylinders 211, one transfer lifting cylinder 212, two transfer tray lifting cylinders 213, and two transfer clamping cylinders 214. The tray-separating cylinders 211 are fixed on the upper worktable 101. Further, the two tray-separating cylinders 211 are respectively installed on the outside of the two loading bin partitions 2172 and connected to the two loading bin partitions 2172 to drive the loading bin partitions 2172 to move back and forth. When the tray-separating cylinders 211 extend, the two loading bin partitions 2172 clamp together to limit the tray placed between the two loading bin partitions 2172. When the tray-separating cylinders 211 retract, the two loading bin partitions 2172 separate from each other, allowing the tray placed between the two loading bin partitions 2172 to move downwards and fall onto the transfer lifting connecting plate 219, thereby completing the tray buffering and separation.

[0048] The transfer lifting cylinder 212 is fixed to the bottom of the tray fixing plate 218. The transfer pallet lifting cylinder 213 and the transfer clamping cylinder 214 are both fixed to the transfer lifting connecting plate 219 through the tray fixing plate 218. Furthermore, the transfer lifting cylinder 212 is installed in the center of the tray fixing plate 218, and the two transfer pallet lifting cylinders 213 are arranged to the left and right of the lifting cylinder 212, and the two transfer clamping cylinders 214 are arranged in front and behind the lifting cylinder 212. During operation, the transfer lateral movement cylinder 2151 drives the tray-separating cylinder 211, the transfer lifting cylinder 212, the transfer pallet lifting cylinder 213, and the transfer clamping cylinder 214. The transfer lateral movement cylinder 2151 also drives the horizontal movement of the tray-separating fixing plate 218. The transfer lifting cylinder 212 drives the lifting and lowering of the tray-separating fixing plate 218, the transfer pallet lifting cylinder 213 drives the lifting and lowering of the transfer lifting connecting plate 219, and the transfer clamping cylinder 214 clamps the tray placed on the transfer lifting connecting plate 219. Therefore, it can be understood that tray separation is completed through the coordinated drive of the tray-separating cylinder 211, the transfer lifting cylinder 212, and the transfer pallet lifting cylinder 213, while the transfer lateral movement cylinder 2151 completes the tray relocation action. Therefore, in this embodiment, the initial position of the tray-separating fixing plate 218 is the tray-separating position.

[0049] During the transfer and lifting stroke, at the tray separation position, the transfer lifting cylinder 212 and the transfer pallet lifting cylinder 213 extend to receive the trays in the loading bin of the tray separation device 21, and then cooperate with the tray separation cylinder 211 to separate the trays. Simultaneously, after the transfer lateral movement cylinder 2151 extends to the positioning device 22, the transfer lifting cylinder 212 extends to align the height of the tray with the positioning device 22, completing the handover. In this process, the transfer pallet lifting cylinder 213 generally takes precedence, as the total stroke needs to be adjusted via it during the tray separation action, and the stroke of the transfer pallet lifting cylinder 213 is primarily determined by the thickness of the tray.

[0050] like Figure 3 and Figure 8 As shown, the positioning device 22 is used to position the material trays that need to be loaded or unloaded, which are conveyed from the tray distribution device 21. It includes two tray-loading cylinders 221, four pressure plates 222, and a positioning connecting plate 223. The positioning connecting plate 223 is a square frame plate and is installed on the upper worktable 101. The two tray-loading cylinders 221 are fixedly connected to the left and right sides of the positioning connecting plate 223 and are connected to the positioning connecting plate 223. The four pressure plates 222 are respectively fixed to the four inner frames of the positioning connecting plate 223 to position the material trays and restrict their movement. During loading, the tray-loading cylinders 221 extend to support and limit the material tray for easy loading or unloading; after loading or unloading is completed, the tray-loading cylinders 221 retract to release the material tray so that the receiving device 24 can remove it.

[0051] like Figure 2 and Figure 3 As shown, the conveying device 23 is used to convey materials to the tray on the positioning device 22, and includes a high-precision four-axis robot 231, multiple four-axis robot grippers 232, and a four-axis robot base 233. The four-axis robot base 233 is fixed to the upper worktable 101 with screws to increase the robot's height for obstacle avoidance. The high-precision four-axis robot 231 is connected to the four-axis robot base 233 with screws. The multiple four-axis robot grippers 232 are fixed to the front end of the high-precision four-axis robot 231 using a ring clamp. The four-axis robot grippers 232 are used to hold materials, and the high-precision four-axis robot 231 drives the four-axis robot grippers 232 and the materials to rotate together, placing or removing the materials from the fixed position of the positioning device 22, thereby completing the material feeding or retrieval.

[0052] like Figures 9 to 10 As shown, the four-axis robot gripper 232 further includes multiple floating suction heads 2321, two positioning posts 2322, and a gripper fixing plate 2323. The multiple floating suction heads 2321 are evenly installed on one side of the gripper fixing plate 2323, while the two positioning posts 2322 are installed on the side of the gripper fixing plate 2323 facing away from the floating suction heads 2321. The two positioning posts 2322 are used to position the material tray to be loaded or unloaded, and the floating suction heads 2321 pick up and unload materials when the positioning is accurate. Furthermore, the floating suction head 2321 includes a locking pin 23211, a telescopic output shaft 23212, a spring 23213, a suction head 23214, and a top connector 23215. One end of the telescopic output shaft 23212 is connected to the spring 23213, and the other end is connected to the top connector 23215 via the locking pin 23211 and a nut. The end of the spring 23213 away from the telescopic output shaft 23212 is connected to the suction head 23214. The top connector 23215 is cylindrical, with a round hole and an air inlet at its top. The four-axis robot gripper 232 adopts a cylindrical structure, namely the telescopic output shaft 23212, and designs the air inlet on the top-perforated cylindrical structure, reducing additional air path connections. The middle section is fixed by a nut and the locking pin 23211, ensuring structural stability. The telescopic output shaft 23212 and the spring 23213 constitute a spring floating buffer mechanism. The spring floating buffer mechanism is mounted on the floating suction head 2321, realizing the flexible floating function and better ensuring product quality. In addition, the suction head 23214 at the bottom is used to install the material suction cup, realizing a quick-change design and making maintenance very convenient.

[0053] like Figure 4 and Figure 11As shown, the receiving device 24 is used to receive trays that have been loaded or unloaded and transport them to the receiving point. It includes a drive unit 241, a lifting unit 242, and a base unit 243. Both the drive unit 241 and the lifting unit are mounted on the base unit 243, and the drive unit 241 drives the lifting unit 242 to move up and down. The base unit 243 includes a synchronous pulley 2431, a synchronous belt 2432, a contoured metal connecting plate 2433, a receiving device base 2434, a U-shaped hole 2435, and a guide rail 2436. The receiving device base 2434 is fixedly mounted on the lower worktable, and the receiving device base 2434 is provided with a U-shaped hole 2435, through which the position of the receiving device base 2434 can be adjusted.

[0054] Both the synchronous belt 2432 and the guide rail 2436 are mounted on the side of the receiving device base 2434. The synchronous pulley 2431 is mounted on the top of the receiving device base 2434 facing the lifting unit 242. The surface of the synchronous belt 2432 has teeth that precisely mesh with the tooth grooves on the synchronous pulley 2431 to prevent relative slippage and ensure that the rotational speed of the driving pulley and the driven pulley is constant, thus achieving synchronous transmission. The guide rail 2436 is used to guide the vertical movement of the lifting unit 242. The head and tail of the synchronous belt 2432 are connected to the contoured metal connecting clamp 2433. The lifting unit 242 is connected to the synchronous belt 2432 through the contoured metal connecting clamp 2433. When the synchronous pulley 2431 drives the synchronous belt 2432, the lifting unit 242 rises or falls along the guide rail 2436 with the synchronous belt 2432, thereby realizing the vertical transport of the material tray.

[0055] The drive unit 241 includes a reducer 2411, an absolute servo motor 2412, and a groove sensor 2413. The reducer 2411 is fixed to the top of the receiving device base 2434. One end of the reducer 2411 is connected to the synchronous pulley 2431, and the other end is connected to the absolute servo motor 2412. The rotation of the absolute servo motor 2412 drives the synchronous pulley 2431 to rotate. The groove sensors 2413 are all installed on the side of the receiving device base 2434 and are located next to the guide rail 2436. When the battery voltage of the absolute encoder is too low, the servo origin will be lost, and the encoder battery needs to be replaced. After replacing the encoder battery, the groove sensor 2413 can be used to return to zero, which can quickly restore the origin coordinates without manually teaching the point again, further optimizing the workflow of this device.

[0056] The lifting unit 242 includes a receiving tray lifting cylinder 2421, a lifting guide column 2422, a lifting base 2423, a positioning pin 2424, and a positioning plate 2425. The lifting base 2423 is connected to the contoured metal connecting clamp 2433 on the synchronous belt 2432. The lifting guide column 2422 is perpendicular to and passes through the lifting base 2423. The positioning plate 2425 is located on the top of the lifting guide column 2422. The receiving tray lifting cylinder 2421 is fixed to the bottom of the lifting base 2423. The moving end of the receiving tray lifting cylinder 2421 is connected to the positioning plate 2425 and is guided and positioned by the lifting guide column 2422. The positioning pin 2424 is fixed to the upper surface of the positioning plate 2425 for tray positioning. The receiving and lifting cylinder 2421 drives the positioning plate 2425 to move within a certain range along the direction of the lifting guide column 2422, making the process of the receiving device 24 receiving the tray from the positioning device 22 and the process of the receiving device 24 transferring the tray to the receiving device 25 more seamless. Simultaneously, the lifting base 2423 is connected to the synchronous belt 2432, so the lifting unit 242 as a whole moves along the guide rail 2436 under the drive of the absolute servo motor 2412, thereby realizing the cyclic conveying of materials. Therefore, in this embodiment, the lifting unit 242 has a tray-retrieving position at the top of the receiving device base 2434 and a tray-retrieving position at the bottom of the receiving device base 2434. The receiving device 24 of this equipment adopts a vertical lifting design, which, combined with the absolute servo motor 2412 driving the synchronous belt 2432, achieves up-and-down reciprocating motion, completing the orderly vertical material conveying; furthermore, the vertical lifting design also significantly saves planar space, has a smaller interference area with the receiving device 25, and greatly improves the efficiency of conveying and changing materials.

[0057] like Figure 4 , Figure 12 and Figure 13 As shown, the receiving device 25 is used to collect and buffer the trays on the receiving device 24, and includes a receiving buffer assembly 251, a transmission assembly 252, and a base frame 253. The base frame 253 is a basic frame composed of two sets of parallel elongated guide rails. One end of the elongated guide rails of the base frame 253 abuts against the receiving device base 2434 of the receiving device 24, and its installation height is consistent with the tray-retrieving position of the positioning plate 2425 of the lifting unit 242. The receiving buffer assembly 251 and the transmission assembly 252 are both mounted on the base frame 253 to support the receiving buffer assembly 251 and guide the transmission assembly 252. The installation height of the base frame 253 is consistent with the tray-retrieving position of the positioning plate 2425 of the lifting unit 242, so that the conveyor belt 2522 of the transmission assembly 252 can precisely contact the tray on the positioning plate 2425, thereby automatically conveying the tray to one end of the receiving buffer assembly 251.

[0058] The transfer component 252 is used to transfer the trays on the receiving device 24 to the receiving buffer component 251, which is used to buffer the trays. The receiving buffer component 251 includes a receiving lifting cylinder 2511, a connecting plate 2512, a blocking block 2513, a one-way check block 2514, a receiving bin partition 2515, a receiving bin guide plate 2516, a lifting guide column 2517, and a positioning detection photoelectric sensor (not shown). The connecting plate 2512 is mounted on the base frame 253, and the receiving lifting cylinder 2511 is fixed to the bottom of the base frame 253, with its upper end connected to the connecting plate 2512. The cylinder 2511 is used to push the connecting plate 2512 up and down, thereby pushing the trays to stack upwards. The lifting guide column 2517 is fixed below the connecting plate 2512 and is used for guiding and positioning the receiving lifting cylinder 2511 during its up and down movement. The blocking block 2513 is installed on the side of the connecting plate 2512 away from the receiving device 24; the blocking block 2513 is used to block the material tray from being conveyed to the receiving buffer assembly 251 when the material tray is conveyed to the receiving buffer assembly 251. The position detection photoelectric sensor is used to detect whether the material tray has been conveyed to the buffer position and to detect that the number of material trays in the buffer exceeds the limit.

[0059] There are two receiving bin partitions 2515, fixed to the left and right sides of the connecting plate 2512 on the base frame 253 respectively, and the area between the two receiving bin partitions 2515 is defined as the receiving bin. There are multiple receiving bin guide plates 2516, fixed to the front and rear sides of the receiving bin partitions 2515 and positioned on opposite sides of the two receiving bin partitions 2515. Each receiving bin guide plate 2516 is equipped with a one-way return block 2514, which contains a spring and automatically rebounds, allowing only unidirectional movement. Therefore, when the tray is transferred to its position, the receiving lifting cylinder 2511 pushes it into the bin from the bottom; when the receiving lifting cylinder 2511 descends, the one-way return block 2514 rebounds to support the tray in the bin, thus buffering the tray.

[0060] The conveying assembly 252 includes a conveyor belt motor 2521, a conveyor belt 2522, a follower wheel 2523, and a conveyor belt guide plate 2524. The conveyor belt motor 2521 is fixed to the bottom of the base frame 253. The conveyor belt 2522 has teeth and a follower wheel tooth groove (not shown). The teeth of the conveyor belt 2522 mesh with the drive wheel tooth groove on the conveyor belt motor 2521, and the follower wheel 2523 meshes with the follower wheel tooth groove on the conveyor belt 2522. The conveyor belt motor 2521 rotates, driving the conveyor belt 2522 to circulate, thereby moving the material. The conveyor belt guide plate 2524 is fixed to the upper surface of the base frame 253 and extends along the direction of the conveyor belt 2522, used to adjust and guide the conveying direction of the material. Therefore, in this embodiment, the connecting plate 2512 of the receiving device 25 is the receiving point.

[0061] When the lifting unit 242 of the receiving device 24 returns to the tray placement position, the conveyor belt motor 2521 drives the conveyor belt 2522 to transport the tray on the positioning plate 2425 to one end of the receiving buffer assembly 251. When it reaches one end of the receiving buffer assembly 251, the blocking block 2513 and the position detection photoelectric sensor work together to stop the tray at the fixed position of the connecting plate 2512. The receiving lifting cylinder 2511 extends and pushes the tray upward into the receiving bin partition 2515. When the receiving lifting cylinder 2511 descends, the one-way stop block 2514 limits the tray, thus completing the receiving process. The receiving device 25 of this equipment uses the rotation of the conveyor belt motor 2521 to drive the conveyor belt 2522 to move back and forth in sequence. Combined with the receiving lifting cylinder 2511 and the position detection photoelectric sensor, it realizes functions such as material conveying, automatic receiving, and material level over-limit warning.

[0062] like Figure 14 As shown, the transfer device 3 is used for transferring, diverting, and adjusting the material transport spacing of materials input from external equipment into this device. The transfer device 3 includes a torque converter assembly 31, a transfer assembly 32, and a base plate assembly 33. Both the torque converter assembly 31 and the transfer assembly 32 are mounted on the base plate assembly 33. The base plate assembly 33 includes a base plate 331 and side plates 332. The base plate 331 is fixed to the surface of the upper worktable 101, and the side plates 332 are vertically fixed to the base plate 331, thereby fixing the entire transfer device 3 between the two workstations.

[0063] The torque converter assembly 31 includes a torque converter cylinder 311 and a torque converter clamp 312, and the transfer assembly 32 includes a transfer cylinder 321 and a transfer clamp 322. The torque converter cylinder 311 is connected to the side of the side plate 332, and the moving end of the torque converter cylinder 311 is connected to the torque converter clamp 312 to drive the torque converter clamp 312 to open and close. The transfer cylinder 321 is fixed to the surface of the base plate 331, and the moving end of the transfer cylinder 321 is connected to the transfer clamp 322 to drive the transfer clamp 322 to move left and right. After the external equipment puts the input material into the transfer device 3 at once, the torque converter cylinder 311 drives the torque converter clamp 312 to change torque to match the spacing of the material trays, so that the robot of the handling device 23 can put multiple materials at the current station into the material trays at once. The transfer cylinder 321 drives the transfer clamp 322 to move left and right to avoid obstacles, so that the two stations can work simultaneously and improve production efficiency.

[0064] The dual-station loading and unloading equipment provided by this invention can be used for product unloading and palletizing scenarios, and conversely, for product loading, demonstrating strong versatility. It employs a combination of vertical transmission and multiple hoppers, fully utilizing space, achieving cyclical material transport, and improving system stability. This equipment mainly consists of two independent workstations, including two four-axis robots, two sets of high-precision absolute value servo motors, and 25 cylinders. Its advantages lie in its ability to achieve high-speed and precise product handling, and automatically perform palletizing, palletizing, and pallet collection functions. The robots adopt a multi-segment speed control mode, achieving efficient handling while ensuring gentle handling, guaranteeing that products are not squeezed or deformed during the process. It is suitable for various scenarios requiring high-quality, high-efficiency handling and processing. This device can complete loading and unloading in just 5.6 seconds / 24 pieces, with a simple structure and high speed. The number of pallets collected and packaged can be adjusted. High-precision photoelectric sensors detect whether there is material residue in the material transfer area during loading and unloading, preventing product defects caused by material accumulation during the process, thereby improving the quality of the final product.

[0065] Please refer to Figure 3 , Figure 4 and Figure 15 The collaborative working process and action flow of the above-mentioned components are as follows:

[0066] I. Tray Separation Process: First, multiple trays are manually placed between the upper hopper partitions 2172 of the tray separation device 21. Tray shortage detection sensors 2161 and 2162 detect the status of the trays. After passing the detection, the transfer lifting cylinder 212 and the transfer pallet lifting cylinder 213 extend, the transfer lifting connecting plate 219 rises and abuts against the bottommost tray, and the tray separation cylinder 211 retracts, separating the upper hopper partitions 2172 so that the trays limited between the tray guide partitions 2173 fall onto the transfer lifting connecting plate 219. Then, the transfer pallet lifting cylinder 213 retracts, the transfer lifting connecting plate 219 lowers one tray position with the trays, and the tray separation cylinder 211 extends to continue limiting the trays other than the bottommost tray, separating the bottommost tray from the other trays, thus completing the tray separation process of the tray separation device 21.

[0067] II. Lateral Movement Process: After the trays are separated, the transfer clamping cylinder 214 clamps the trays separated onto the transfer lifting connecting plate 219. Then, the transfer lateral movement cylinder 2151 extends, driving the tray fixing plate 218 and the trays on it to move towards one end of the positioning device 22. Upon reaching the designated position, the transfer lifting cylinder 212 extends, raising the tray fixing plate 218 and the trays to the plane of the positioning connecting plate 223. The pallet loading / unloading cylinder 221 of the positioning device 22 extends to clamp the trays for easy unloading or loading. After the transfer lifting cylinder 212 is used up, it retracts, causing the tray fixing plate 218 to descend. After the transfer lateral movement cylinder 2151 is used up, it retracts, returning the tray fixing plate 218 to its original tray position. Thus, the tray separating device 21 completes the lateral movement process.

[0068] III. Material Picking and Unloading Process: Simultaneously, the transfer device 3 allows external equipment to unload materials. After unloading is completed, the torque converter cylinder 311 and the transfer cylinder 321 extend to complete torque conversion and avoidance. When the transfer device 3 allows the handling device 23 robot to unload or pick up materials, the robot will transport the materials at the transfer device 3 to the tray on the positioning device 22 or transport the materials in the tray on the positioning device 22 to the transfer device 3 to complete the handling process.

[0069] IV. Receiving Process: After the pallet-picking / discharging cylinder 221 clamps the pallet, the absolute servo motor 2412 of the receiving device 24 drives the lifting unit 242 to rise to the pallet-picking position (the top of the receiving device base 2434) to receive the pallet. At the same time, the receiving lifting cylinder 2421 extends to facilitate the smooth transfer of the pallet. Next, the conveying device 23 performs material feeding or picking. After feeding or picking is completed, the pallet-picking / discharging cylinder 221 retracts, and the pallet's limit disappears, falling onto the positioning plate 2425. The absolute servo motor 2412 drives the lifting unit 242 carrying the pallet to descend to the pallet-discharging position (the bottom of the receiving device base 2434), waiting for the receiving device 25 to transfer the pallet. Thus, the receiving device 24 completes one receiving cycle.

[0070] V. Receiving Process: After the receiving device 24 returns to the unloading position, the conveyor belt 2522 of the receiving device 25 starts, and the conveyor belt motor 2521 drives the conveyor belt 2522 to move the tray to the receiving position (connecting plate 2512). When it reaches the receiving position, the receiving lifting cylinder 2511 extends, the connecting plate 2512 rises to lift the tray, and it is limited by the receiving bin guide plate 2516 and the one-way stop block 2514, so that the tray can enter the receiving bin for buffering. At the same time, the position detection photoelectric sensor detects whether the material level exceeds the limit. If it exceeds the limit, a warning is issued to prompt the staff to remove all the buffered trays. The unloading or loading process of this equipment is now complete.

[0071] Through the above process, this equipment achieves integrated automation of material storage, automatic tray distribution, automatic feeding, automatic loading, and automatic receiving. It also interfaces with the MES system, enabling real-time monitoring and traceability of production plans, equipment status, and quality data. Furthermore, the HMI can switch between loading / unloading production modes according to actual needs, and supports customizing the number of rows and columns for grabbing or loading to adapt to different processing scenarios.

[0072] Based on the above operation process, this equipment can switch between two working modes: loading and unloading. The working process of the unloading mode is as follows: the tray separating device 21 carries the empty trays that have not been unloaded and moves to one end of the positioning device 22; the conveying device 23 transports the materials placed in the transfer device 3 by the external equipment to the positioning device 22 to unload the products; the receiving device 24 moves up and down to receive and transfer the products that have been unloaded on the positioning device 22; and the collecting device 25 transports the products that have been unloaded by the receiving device 24 to the collecting device 25 for collection.

[0073] The working process of the feeding mode is as follows: the tray-splitting device 21 carries the unloaded products and moves them to one end of the positioning device 22. The conveying device 23 transports the materials from the positioning device 22 to the transfer device 3 to load the products. The receiving device 24 moves up and down to receive and transfer the empty trays that have been loaded on the positioning device 22. The collecting device 25 transports the empty trays that have been loaded on the receiving device 24 to the collecting device 25 for collecting.

[0074] In summary, the dual-station loading and unloading equipment provided by the above embodiments of the present invention includes a workbench 10, two workstations disposed on the workbench 10, and a transfer device 3. The workbench 10 includes an upper workbench 101 and a lower workbench. Each workstation includes a tray-separating device 21, a positioning device 22, a conveying device 23, a tray-receiving device 24, and a tray-collecting device 25. The tray-separating device 21 can move horizontally relative to the conveying device 23. The positioning device 22 is disposed on the side of the tray-separating device 21 close to the conveying device 23. The tray-separating device 21 carries a tray and moves it to the side of the positioning device 22. The conveying device 23 conveys materials to the positioning device 22 or retrieves materials from the positioning device 22. The tray-receiving device 24 is disposed below the conveying device 23 and can move vertically relative to the positioning device 22. The tray-receiving device 24 moves to receive and transfer the trays that have completed unloading or loading on the positioning device 22. The tray-collecting device 25 buffers the trays on the tray-receiving device 24. The equipment's tray-separating device 21 has buffering and storage functions, the tray-receiving device 24 adopts a vertical lifting design, and the tray-collecting device 25 uses a transmission component 252 and is equipped with multiple sensors. It not only realizes the integrated automation of material storage, automatic tray separation, automatic feeding, automatic loading, and automatic collection, but also interfaces with the MES system to realize real-time monitoring and traceability of production plans, equipment status, and quality data, thereby optimizing the production process and improving production continuity and efficiency.

[0075] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A dual-station loading and unloading device, comprising a workbench (10), characterized in that, A first working device (1) and a second working device (2) are provided on the workbench (10), and a transfer device (3) is provided between the first working device (1) and the second working device (2); each working device includes a tray-splitting device (21), a positioning device (22), a transport device (23), a tray-receiving device (24), and a tray-collecting device (25). The tray-splitting device (21) and the conveying device (23) are located above the workbench (10), the tray-receiving device (24) and the tray-collecting device (25) are located below the workbench (10), and the positioning device (22) is located on the workbench (10) on the side close to the conveying device (23). The receiving device (25) is located below the distributing device (21). The receiving device (25) includes a transmission component (252), which is connected to the receiving device (24) in a driving manner. The receiving device (24) is located below the conveying device (23) and moves relative to the positioning device (22). The tray-splitting device (21) includes a transfer traverse assembly (215), a sensor assembly (216), a partition assembly (217), a tray-splitting fixing plate (218), and a transfer lifting connecting plate (219). The transfer lifting connecting plate (219) is installed on the tray-splitting fixing plate (218) to receive the trays and move up and down relative to the tray-splitting fixing plate (218). The tray-splitting device (21) also includes two tray-splitting cylinders (211), one transfer lifting cylinder (212), two transfer pallet lifting cylinders (213), and two transfer clamping cylinders (214); the tray-splitting cylinders (211) are fixed on the workbench (10), and the two tray-splitting cylinders (211) are respectively installed on the outside of the partition assembly (217) and respectively connected to the partition assembly (217) to drive the partition assembly (217) to move back and forth; The transfer lifting cylinder (212) is fixed to the bottom of the tray fixing plate (218). The transfer pallet lifting cylinder (213) and the transfer clamping cylinder (214) both pass through the tray fixing plate (218) and are fixed on the transfer lifting connecting plate (219). The transfer lifting cylinder (212) is installed at the center of the tray fixing plate (218), and the two transfer pallet lifting cylinders (213) are arranged to the left and right of the transfer lifting cylinder (212), and the two transfer clamping cylinders (214) are arranged in front and behind the transfer lifting cylinder (212). The positioning device (22) is used to position the material trays that need to be loaded or unloaded from the tray distribution device (21), including two tray picking and unloading cylinders (221) and a positioning connecting plate (223); the positioning connecting plate (223) is installed on the workbench (10), and the two tray picking and unloading cylinders (221) are fixedly connected to both sides of the positioning connecting plate (223); The receiving device (24) includes a drive unit (241) and a base unit (243). The drive unit (241) includes an absolute servo motor (2412) and a groove sensor (2413). When the battery voltage of the absolute encoder is too low, the servo origin will be lost, and the encoder battery needs to be replaced. After replacing the encoder battery, the groove sensor (2413) is used to return to zero in order to quickly restore the origin coordinates. The transfer device (3) is disposed between the conveying device (23) of the first working device (1) and the second working device (2) for transferring materials located on the first working device (1) and the second working device (2); The transfer device (3) includes a torque converter assembly (31) and a transfer assembly (32). The torque converter assembly (31) includes a torque converter cylinder (311) and a torque converter clamp (312). The transfer assembly (32) includes a transfer cylinder (321) and a transfer clamp (322). The moving end of the torque converter cylinder (311) is connected to the torque converter clamp (312) and drives the torque converter clamp (312) to open and close. The moving end of the transfer cylinder (321) is connected to the transfer clamp (322) and drives the transfer clamp (322) to move left and right.

2. The dual-station loading and unloading equipment as described in claim 1, characterized in that, The transfer traverse assembly (215) includes a transfer tank chain (2152), the transfer tank chain (2152) and the tray fixing plate (218) are mounted on the bottom of the workbench (10); and the transfer tank chain (2152) is mounted on both sides of the tray fixing plate (218), the tray fixing plate (218) is movable along the transfer tank chain (2152).

3. The dual-station loading and unloading equipment as described in claim 1, characterized in that, The drive unit (241) is mounted on the base unit (243), which includes a timing belt (2432) and a receiving device base (2434). The absolute value servo motor (2412) is mounted on the receiving device base (2434), and the timing belt (2432) is mounted on the side of the receiving device base (2434). The absolute value servo motor (2412) drives the timing belt (2432) to run.

4. A dual-station loading and unloading device as described in claim 3, characterized in that, The receiving device (24) further includes a lifting unit (242), and the base unit (243) further includes a guide rail (2436). The guide rail (2436) is installed on the side of the receiving device base (2434). The lifting unit (242) is connected to the synchronous belt (2432). The absolute value servo motor (2412) drives the lifting unit (242) to move along the guide rail (2436).

5. A dual-station loading and unloading device as described in claim 1, characterized in that, The receiving device (25) further includes a buffer assembly (251) and a base frame (253). The buffer assembly (251) is mounted on the base frame (253). The buffer assembly (251) includes a connecting plate (2512). The base frame (253) abuts against the receiving device (24), and the connecting plate (2512) is mounted on the base frame (253).

6. A dual-station loading and unloading device as described in claim 5, characterized in that, The transmission component (252) includes a transmission belt motor (2521) and a transmission belt (2522); the transmission belt motor (2521) is fixed to the bottom of the base frame (253), the transmission belt (2522) meshes with the transmission belt motor (2521), and the transmission belt motor (2521) drives the transmission belt (2522) to circulate.

7. A dual-station loading and unloading device as described in claim 1, characterized in that, The handling device (23) includes a high-precision four-axis robot (231), a four-axis robot gripper (232), and a four-axis robot base (233); the four-axis robot base (233) is fixed on the workbench (10), the high-precision four-axis robot (231) is connected to the four-axis robot base (233), and the four-axis robot gripper (232) is fixed to the front end of the high-precision four-axis robot (231).

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