Feeding and discharging device and machining system

Abstract

The embodiment of the invention discloses a feeding and discharging device and a machining system, and relates to but is not limited to the technical field of product machining. The liquid outlet device comprises a rack, a material storage mechanism and a manipulator. The manipulator comprises a manipulator body and a clamping jaw mechanism. The manipulator body can drive the clamping jaw mechanism to move between the machining station and the storage mechanism to take and place the workpiece, so that the manipulator replaces a conveying belt mechanism to achieve workpiece feeding and discharging, the feeding and discharging device occupies a small space, the machining station is located on the outer side of the feeding and discharging device, the feeding and discharging device does not need to be modified according to the machining environment, and the machining efficiency is improved. And the transformation cost is saved.

Description

Technical Field

[0001] This disclosure relates to, but is not limited to, the field of product processing technology, and particularly to a loading and unloading device and processing system. Background Technology

[0002] Currently, in some product processing, workpieces are loaded and unloaded via conveyor belt mechanisms. On the one hand, conveyor belt mechanisms require a large conveying distance to achieve workpiece loading, processing, and unloading, resulting in a large overall space requirement. On the other hand, processing stations need to modify the conveyor belt mechanism according to the processing environment. Due to the characteristics of the conveyor belt mechanism, each part of its conveying structure needs to pass through the processing station, which leads to the need for overall modification of the conveyor belt mechanism, resulting in high modification costs. Summary of the Invention

[0003] The purpose of this disclosure is to propose a loading and unloading device and a processing system, which aims to solve the problems of large overall space occupation and the need for overall modification of the conveyor belt mechanism caused by the use of conveyor belt mechanism for loading and unloading in existing processing systems.

[0004] This disclosure provides a loading and unloading device, including: The frame has an operating space and multiple windows communicating with the operating space. Each window has a processing station on the side away from the frame. The operating space has a worktable connected to the frame. A storage mechanism is provided on the workbench; and A robotic arm, comprising a robotic arm body and a gripper mechanism, wherein the gripper mechanism is disposed at the output end of the robotic arm body, and the robotic arm body is configured to drive the gripper mechanism to move between the processing station and the storage mechanism to pick up and place workpieces.

[0005] This disclosure also provides a processing system, including: The loading and unloading device as described above; and Multiple processing devices, each of which has a processing station.

[0006] Compared with related technologies, implementing the embodiments of this disclosure will have the following beneficial effects: The liquid dispensing device described above includes a frame, a storage mechanism, and a robotic arm. The robotic arm comprises a robotic arm body and a gripper mechanism. The robotic arm body can drive the gripper mechanism to move between the processing station and the storage mechanism to pick up and place workpieces. In this way, the robotic arm replaces the conveyor belt mechanism to realize workpiece loading and unloading. The loading and unloading device occupies less space, and since the processing station is located outside the loading and unloading device, the loading and unloading device does not need to be modified according to the processing environment, saving modification costs.

[0007] Other features and advantages of this disclosure will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the disclosure. Other advantages of this disclosure may be realized and obtained by means of the methods described in the description and the accompanying drawings. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] in: Figure 1 This is a schematic diagram of the processing system in an embodiment of this disclosure; Figure 2 This is an assembly diagram of the loading / unloading device and the online fixing assembly of the processing system in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the material storage mechanism of the processing system in an embodiment of this disclosure; Figure 4 for Figure 3 Enlarged structural diagram of section A in the middle; Figure 5 This is a schematic diagram of the material storage mechanism of the processing system in an embodiment of this disclosure from another perspective; Figure 6 for Figure 5 Enlarged structural diagram of section B; Figure 7 This is a top view of the material storage mechanism of the processing system in an embodiment of this disclosure; Figure 8 for Figure 7 Enlarged structural diagram of section C; Figure 9 This is a schematic diagram of the lifting component of the processing system in an embodiment of this disclosure; Figure 10 for Figure 9 Enlarged structural diagram of section D in the middle; Figure 11 This is another schematic diagram of the lifting component of the processing system in an embodiment of this disclosure; Figure 12 for Figure 11 Enlarged structural diagram of section E in the middle; Figure 13 This is another schematic diagram of the lifting component of the processing system in an embodiment of this disclosure; Figure 14 for Figure 13 Enlarged structural diagram of section F in the middle; Figure 15 This is another schematic diagram of the lifting component of the processing system in an embodiment of this disclosure; Figure 16 for Figure 15 Enlarged structural diagram of section G in the middle; Figure 17 This is a schematic diagram of the material storage mechanism of the processing system in another embodiment of the present disclosure; Figure 18 for Figure 17 Enlarged structural diagram of the middle H section; Figure 19 This is a schematic diagram from another perspective of the material storage mechanism of the processing system in another embodiment of the present disclosure; Figure 20 for Figure 19 Enlarged structural diagram of the middle section (I); Figure 21 This is a schematic diagram of the material storage mechanism of the processing system in another embodiment of the present disclosure after the pallet is removed; Figure 22 for Figure 21 Enlarged structural diagram of the middle J section; Figure 23 This is a schematic diagram of the structure of the second limiting frame of the material storage mechanism of the processing system in another embodiment of the present disclosure; Figure 24 This is a schematic diagram of the gripper mechanism of the processing system in an embodiment of this disclosure; Figure 25 for Figure 24 Enlarged structural diagram of section K in the middle; Figure 26 This is a schematic diagram of the gripper mechanism of the processing system in an embodiment of this disclosure from another perspective; Figure 27 for Figure 26 Enlarged structural diagram of the middle L section; Figure 28 This is a schematic diagram of the gripper mechanism of the processing system in another embodiment of the present disclosure; Figure 29 This is a schematic diagram of the gripper assembly of the machining system in another embodiment of the present disclosure; Figure 30 This is a schematic diagram from another perspective of the gripper assembly of the machining system in another embodiment of this disclosure. Detailed Implementation

[0010] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0011] Please combine them together Figure 1 and Figure 2 This disclosure provides a processing system including a loading / unloading device 20 and multiple processing devices 10, each processing device having a processing station. The processing devices 10 can be, but are not limited to, ordinary lathes, CNC machine tools, laser cutting equipment, stamping equipment, forging equipment, and sandblasting equipment. Specifically, the processing system includes multiple processing devices 10, the loading / unloading device 20, and a connecting and fixing assembly 30. In this embodiment, the number of processing devices 10 is two, located on the left and right sides of the loading / unloading device 20 respectively. The loading / unloading device 20 includes a frame 21, a storage mechanism 22, and a robot arm. The frame 21 has an operating space 100 and multiple windows 101 communicating with the operating space 100. Each window 101 has a processing station on the side away from the frame 21. Each processing station corresponds one-to-one with multiple processing devices 10 and is located on the corresponding processing device 10. The operating space 100 has a worktable 211 connected to the frame 21. The storage mechanism 22 is located on the worktable 211. The robot arm includes a robot arm body 23 and a gripper mechanism 24. The gripper mechanism 24 is located at the output end of the robot arm body 23. The robot arm body 23 is configured to drive the gripper mechanism 24 to move between the processing station and the storage mechanism 22 to pick up and place workpieces. A connection fixing assembly 30 is connected between the multiple processing devices 10. The workpieces include workpieces to be processed, processed workpieces, and NG (not yet processed) workpieces.

[0012] Compared with related technologies, implementing the embodiments of this disclosure will have the following beneficial effects: The processing system of the above solution includes multiple processing equipment 10, a loading / unloading device 20, and a connection fixing assembly 30. Each processing equipment 10 is provided with a processing station. The connection fixing assembly 30 connects the multiple processing equipment 10 to ensure the stability of the position of each processing station. The loading / unloading device 20 includes a frame 21, a storage mechanism 22, and a robot arm. The robot arm includes a robot arm body 23 and a gripper mechanism 24. The robot arm body 23 can drive the gripper mechanism 24 to move between the processing station and the storage mechanism 22 to pick up and place workpieces. Thus, by replacing the conveyor belt mechanism with a robot arm, workpiece loading and unloading is achieved. The loading / unloading device 20 occupies less space, and since the processing station is located outside the processing equipment 10 of the loading / unloading device 20, the loading / unloading device 20 does not need to be modified according to the processing environment, saving modification costs.

[0013] In the exemplary embodiments, please refer to Figures 3 to 16 The material storage mechanism 22 includes a material frame 41, a lifting component 42, and a translation component 43. The material frame 41 has multiple storage slots 201, each of which can form a slot opening in the material frame 41. Each storage slot 201 is provided with a material tray 44, which can slide relative to the material frame 41 along the storage slot 201 and move out of the slot opening. The material tray 44 is configured to hold the workpiece to be processed.

[0014] The lifting component 42 is disposed on the worktable 211, and the material frame 41 is disposed on the lifting component 42. The lifting component 42 is configured to lift the material frame 41 to lift each material tray 44 to the pick-up and drop position.

[0015] Translation component 43 is disposed on worktable 211. Translation component 43 can drive the material tray 44 in the pick-up and place position to move out of the slot and into the loading position and from the loading position to the pick-up and place position via the slot.

[0016] The material storage mechanism 22 described above is applied to the processing system. Besides providing excellent material storage efficiency, it also improves processing efficiency and reduces worker workload. Specifically, the material storage mechanism 22 includes a material frame 41, a lifting component 42, and a translation component 43. The material frame 41 has multiple storage slots 201, capable of holding multiple trays 44 filled with workpieces to be processed at once. This allows workers to place multiple layers of workpieces through the material frame 41, increasing the number of workpieces waiting to be processed simultaneously and improving processing efficiency. Furthermore, the increased number of workpieces reduces the number of times workers need to add workpieces, and the longer time interval between adding workpieces allows workers sufficient rest time, thus reducing their workload. The lifting component 42 can lift each tray 44 to the pick-up and place position. The translation component 43 drives the tray 44 in the pick-up and place position to move out of the slot and to the loading station and from the loading station to the pick-up and place position through the slot. This can solve the problem that the robot cannot take out the lower layer of workpieces to be processed for processing, so that each tray 44 can be taken out and recycled one by one, and the entire process of taking out all the workpieces to be processed in the entire material frame 41 can be completed.

[0017] In the exemplary embodiments, please refer to Figures 3 to 8The material tray 44 has a connecting groove 202 on the side facing the translation component 43. The material tray 44 has two connecting protrusions 441, which are positioned within the connecting groove 202 and spaced apart to form the opening of the groove. Each connecting protrusion 441 is spaced apart from the material tray 44 on the side facing away from the translation component 43, forming a hooking space. This results in a smaller outer dimension and a larger inner dimension for the connecting groove 202. The translation component 43 includes a translation motor 431, a hook cylinder 432, and two hooks 433. Two hooks 433 are located at the output end of the hook cylinder 432. Hook grooves 203 are provided on the opposite sides of the two hooks 433 to form hook parts 4331 in the hooks 433. The hook cylinder 432 can drive the two hooks 433 to switch between a combined state and an unfolded state. The translation motor 431 can drive the hook cylinder 432 to approach the material tray 44 in the pick-up and put-down position so that the two hooks 433 in the combined state enter the connecting groove 202 through the opening. The hook cylinder 432 drives the two hooks 433 to the unfolded state so that the connecting protrusion 441 can be placed in the hook groove 203 and the hook part 4331 can be placed in the hook holding space. The translation motor 431 resets and can move the material tray 44 in the pick-up and put-down position out of the groove and into the loading position. In this way, the hook cylinder 432 can switch the two hooks 433 between a folded state and an unfolded state. In the folded state, the hooks have a smaller size and can pass through the opening to enter the connecting groove 202. In the unfolded state, the hooks have a larger size to prevent the two hooks 433 from moving out of the opening. In conjunction with the translation motor 431, the material tray 44 is moved out of and into the storage groove 201, and the two hooks 433 are moved out of and into the connecting groove 202.

[0018] In the exemplary embodiments, please refer to Figure 3 , Figure 6 and Figure 7 The translation component 43 also includes a translation base plate 434 and a translation support frame 435. The translation base plate 434 is disposed on the worktable 211, and the translation support frame 435 is disposed on the translation base plate 434. The translation support frame 435 is configured to support the material tray 44 at the loading station, providing support for the material tray 44 removed from the material frame 41, so that the material tray 44 can be stably positioned at the loading station, facilitating material handling by the robot arm. The translation motor 431 is disposed on the translation base plate 434, and the claw cylinder 432 is disposed on the translation motor 431 via the translation bracket 436.

[0019] In an exemplary embodiment, such as Figure 6 As shown, the translation support frame 435 has two opposing support grooves 204, which are located on both sides of the loading station and extend through the translation support frame 435. This arrangement of the support grooves 204 facilitates the movement of the tray 44 to the loading station and increases the contact area between the tray 44 and the translation support frame 435, thereby improving connection stability.

[0020] In the exemplary embodiments, please refer to Figures 9 to 16 The lifting assembly 42 includes a lifting support frame 421, a lifting motor 422, and a lifting frame 423. The lifting support frame 421 is mounted on the worktable 211, the lifting motor 422 is mounted on the lifting support frame 421, and the lifting frame 423 is mounted on the output end of the lifting motor 422. The material frame 41 is mounted on the lifting frame 423. The lifting motor 422 drives the material frame 41 to rise and fall via the lifting frame 423, thereby lifting each material tray 44 to the pick-up / placement position. The lifting support frame 421 is provided with a lifting guide rail 424 parallel to the moving direction of the lifting frame 423, and the lifting frame 423 is slidably connected to the lifting guide rail 424. This increases the connection area between the lifting support frame 421 and the lifting frame 423 via the lifting guide rail 424, improving sliding stability.

[0021] In the exemplary embodiments, please refer to Figures 11 to 16 The storage mechanism 22 also includes a pull-out slide rail assembly 45. The pull-out slide rail assembly 45 includes a first pull-out slide rail 451, a pull-out slider 452, a second pull-out slide rail 453, and a table 454. The material frame 41 is disposed on the table 454. The first pull-out slide rail 451 is disposed on the lifting frame 423. The second pull-out slide rail 453 is parallel to the first pull-out slide rail 451 and is disposed on the side of the table 454 facing the first pull-out slide rail 451. The pull-out slider 452 is located between the table 454 and the lifting frame 423, and is slidably connected to the first pull-out slide rail 451 and the second pull-out slide rail 453 respectively. The lifting frame 423 is provided with two first table surface limiting blocks 455 spaced apart along the movement path of the table 454. The pull-out slider 452 is provided with a first moving block 456, which can cooperate with the two first table surface limiting blocks 455 to limit the movement range of the pull-out slider 452. The platform 454 has two second platform limiting blocks 457 spaced apart along its movement path. The pull-out slider 452 is equipped with a second moving block 458, which can cooperate with the two second platform limiting blocks 457 to limit the movement range of the platform 454. In this way, the platform 454 can be extended in multiple sections through the first pull-out slide rail 451, the pull-out slider 452, the second pull-out slide rail 453, the two first platform limiting blocks 455, the first moving block 456, the two second platform limiting blocks 457, and the second moving block 458. This ensures the extension distance of the material frame 41 while shortening the laying distance occupied by the first pull-out slide rail 451 and the second pull-out slide rail 453, making the structure of the material storage mechanism 22 more compact.

[0022] In the exemplary embodiments, please refer to Figures 9 to 12The storage mechanism 22 also includes a positioning cylinder 46, which is mounted on the lifting frame 423. The output end of the positioning cylinder 46 has an insertion protrusion, and the table surface 454 has a positioning block 47 with a positioning groove. The positioning cylinder 46 can drive the insertion protrusion to insert into the positioning groove. In this way, the cooperation between the insertion protrusion and the positioning groove can fix the position of the table surface 454, preventing it from moving relative to the lifting frame 423 via the pull-out slide rail assembly 45, thus ensuring the stability of the material tray 44.

[0023] In the exemplary embodiments, please refer to Figure 7 , Figure 9 , Figure 11 and Figure 12 On the side of the table 454 away from the pull-out slider 452, there are multiple limiting blocks 48. The multiple limiting blocks 48 surround to form a placement space. In the placement space, there are multiple positioning protrusions connected to the table 454. The material frame 41 has multiple positioning through holes. The material frame 41 can be movably installed in the placement space, and the multiple positioning protrusions are placed one-to-one with the multiple positioning through holes. In this way, the placement space, positioning protrusions and positioning through holes can facilitate the quick positioning of the material frame 41 and the table 454, and set it relatively stably on the table 454.

[0024] In the exemplary embodiments, please refer to Figure 3 , Figure 5 , Figure 7 , Figure 9 , Figure 11 , Figure 13 and Figure 15 The storage mechanism 22 also includes a feeding box 411 and an NG box 412. The feeding box 411 is set on the worktable 211 and is configured for the robot to place the processed workpiece. The NG box 412 is set on the lifting support frame 421 and is configured for the robot to place the NG workpiece.

[0025] In the exemplary embodiments, please refer to Figures 17 to 23 The material storage mechanism 22 includes rollers 51, a tray 52, a loading rack 53, an NG material rack 54, and a unloading rack 55. The rollers 51 are rotatably connected to the worktable 211. The tray 52 is slidably connected to the worktable 211 via a sliding component 56 and can be rotatably connected to the rollers 51, so that it can be moved out of and into the processing system (operating space 100). On the side of the tray 52 away from the worktable 211, a loading station, an NG station, and an unloading station are arranged in sequence. The loading rack 53 is located at the loading station and is configured to place the workpiece to be processed. The NG material rack 54 is located at the NG station and is configured to place NG workpieces. The unloading rack 55 is located at the unloading station and is configured to place processed workpieces.

[0026] The material storage mechanism 22 described above is applied to the processing system. In addition to giving the processing system excellent material storage efficiency, it can also remove the loading station, unloading station, and NG station from the processing system at one time, thereby improving work efficiency. Specifically, the material storage mechanism 22 includes rollers 51, a tray 52 with loading station, NG station, and unloading station, a loading rack 53 at the loading station, an NG rack 54 at the NG station, and an unloading rack 55 at the unloading station. The tray 52 is slidably connected to the worktable 211 via the sliding component 56 and can be rolledly connected to the roller 51, so that it can be moved out of and into the processing system. This allows the loading station, unloading station and NG station to be moved out of the processing system at one time. The sliding component 56 ensures the sliding accuracy of the tray 52 relative to the worktable 211, while the roller 51 uses rolling instead of sliding, which reduces the sliding area between the tray 52 and the worktable 211, reduces sliding friction, and facilitates the smooth movement of the tray 52 relative to the worktable 211.

[0027] In an exemplary embodiment, such as Figure 21 As shown, the sliding assembly 56 includes a slide rail 561 and multiple sliding blocks 562. The sliding blocks 562 are disposed on the tray 52 and slidably connected to the slide rail 561. The rollers 51 are disposed corresponding to the slide rail 561. The sliding blocks 562 are configured to move along the slide rail 561 close to the rollers 51 to move the tray 52 out of the processing system. The sliding blocks 562 are also configured to move along the slide rail 561 away from the rollers 51 to move the tray 52 into the processing system. Thus, inside the processing system, the distance between the sliding blocks 562 and the rollers 51 is relatively large, which can provide stable support for the tray 52.

[0028] In the exemplary embodiments, please refer to Figures 20 to 23The storage mechanism 22 also includes a first limiting frame 57 and a second limiting frame 58. The first limiting frame 57 and the second limiting frame 58 are disposed on the worktable 211, spaced apart along the moving path of the pallet 52. The pallet 52 is provided with a limiting plate 59, which is configured to move with the pallet 52 and abut against the first limiting frame 57 and the second limiting frame 58 respectively, thus limiting the moving distance of the pallet 52. A first elastic plate 571 is provided on the side of the first limiting frame 57 facing the second limiting frame 58. A second elastic plate 581 is provided on the side of the second limiting frame 58 facing the first limiting frame 57. The first elastic plate 571 and the second elastic plate 581 provide a buffering effect, preventing the limiting plate 59 from impacting and causing abnormal noise. A first snap-fit ​​hole is provided on the side of the first limiting frame 57 facing the second limiting frame 58. A second snap-fit ​​hole 301 is provided on the side of the second limiting frame 58 facing the first limiting frame 57. The limiting plate 59 has a first engaging protrusion that engages with the first engaging hole and a second engaging protrusion 591 that engages with the second engaging hole 301 on both sides opposite to the moving path of the tray 52. ​​The arrangement of the first engaging hole, the second engaging hole 301, the first engaging protrusion and the second engaging protrusion 591 can play a positioning role, ensuring the positional accuracy of the limiting plate 59 when it abuts against the first limiting frame 57 and the second limiting frame 58 respectively.

[0029] like Figure 18 As shown, the pallet 52 is equipped with multiple anti-fooling posts 521, and the loading rack 53 and unloading rack 55 are equipped with anti-fooling holes, through which the anti-fooling posts 521 pass. This arrangement of anti-fooling posts 521 and anti-fooling holes facilitates quick positioning of the loading rack 53 and unloading rack 55 with the pallet 52.

[0030] In the exemplary embodiments, please refer to Figures 17 to 19 and Figure 21 The storage mechanism 22 includes a liquid baffle 522 and a sheet metal plate 523. A sliding assembly 56 is mounted on the worktable 211 via the liquid baffle 522. An upper feed rack 53, an NG material rack 54, and an lower feed rack 55 are mounted on a tray 52 via the sheet metal plate 523. The outer circumferential side of the sheet metal plate 523 has a folded edge, which together forms a liquid storage space. The sheet metal plate 523 has a drain hole 302 communicating with the liquid storage space, and the drain hole 302 is configured to drain liquid towards the liquid baffle 522. Thus, the sheet metal plate 523 and the folded edge allow for temporary liquid storage and drainage into the liquid baffle 522.

[0031] In an exemplary embodiment, such as Figure 21As shown, the storage mechanism 22 also includes a sensor assembly 524, which includes multiple sensor brackets and multiple sensors. The multiple sensor brackets are set on the baffle plate 522, and the multiple sensors are suspended on the sheet metal plate 523. The multiple sensors are configured to sense the positions of the loading rack 53, the NG material rack 54 and the unloading rack 55, so as to ensure that the pallet 52 moves to the preset position inside the processing system, which is convenient for the robot to load and unload materials.

[0032] In the exemplary embodiments, please refer to Figure 17 , Figure 19 and Figure 20 The material storage mechanism 22 also includes a brush assembly 525, which is disposed on the baffle plate 522 and suspended above the sheet metal plate 523. The brush assembly 525 is designed to facilitate the removal of impurities from itself and the workpiece when the robot arm passes by.

[0033] In the exemplary embodiments, please refer to Figures 24 to 27 The gripper mechanism 24 includes a connecting body 61, multiple main cylinders 62, and multiple gripping components 63. The connecting body 61 is located at the output end of the robot body 23 and can move and rotate in three-dimensional space under the drive of the robot body 23 to adjust the position of the gripping components 63. Two main cylinders 62 are located on the connecting body 61 and are spaced apart along the connecting body 61. Some of the gripping components 63 are connected to the connecting body 61 via the main cylinders 62, while another portion of the gripping components 63 are located at the output end of the main cylinders 62. There are four gripping components 63 in total, with two gripping components 63 corresponding to each main cylinder 62.

[0034] The gripper mechanism 24 described above is used in a machining system. Besides providing excellent workpiece gripping performance, it can also adapt to different loading and unloading environments. Specifically, the gripper mechanism 24 includes a connecting body 61, multiple main cylinders 62 mounted on the connecting body 61, and multiple clamping components 63. Some of the clamping components 63 are mounted on the connecting body 61 via the main cylinders 62, while others are mounted at the output end of the main cylinders 62. This allows some clamping components 63 to be fixed in position, while others can be adjusted under the drive of the main cylinders 62, enabling them to extend and grip workpieces at deeper positions. Therefore, the gripper mechanism 24 can adapt to different loading and unloading environments.

[0035] In the exemplary embodiments, please refer to Figures 24 to 27The connecting body 61 includes a flange 611, an adapter plate 612, and a support plate 613. The flange 611 is located at the output end of the robot body 23. The adapter plate 612 is stacked and connected to the flange 611 as a single unit. The adapter plate 612 increases the connection area between the support plate 613 and the flange 611, improving the connection stability between the support plate 613 and the robot body 23. The support plate 613 is located on the adapter plate 612 and coaxially arranged with the output end of the robot body 23. The main cylinder 62 is located on one side of the support plate 613.

[0036] In the exemplary embodiments, please refer to Figures 24 to 27 Each clamping assembly 63 includes a clamping fixing plate 631, a clamping cylinder 632, and two gripper bodies 633. The clamping cylinder 632 is located on the side of the clamping fixing plate 631 opposite to the main cylinder 62, and has a guide groove. The two gripper bodies 633 are positioned on both sides of the clamping gap of the clamping assembly 63, are located in the guide groove, and are connected to the clamping cylinder 632. The two gripper bodies 633 can move closer or further apart under the drive of the clamping cylinder 632. The guide groove increases the movement accuracy of the gripper bodies 633. Some of the clamping fixing plates 631 are mounted on the connecting body 61 via the main cylinder 62, while another portion of the clamping fixing plates 631 are located at the output end of the main cylinder 62.

[0037] In the exemplary embodiments, please refer to Figures 24 to 27 The output end of the main cylinder 62 has an output rod 621 and a guide plate 622. The output rod 621 and the guide plate 622 are respectively connected to a clamping and fixing plate 631 disposed at the output end of the main cylinder 62. The guide plate 622 is provided with a guide groove, and the main cylinder 62 is provided with a guide bar that cooperates with the guide groove. The arrangement of the guide plate 622 and the guide bar increases the movement accuracy and stability of the clamping assembly 63 disposed at the output end of the main cylinder 62. The output end of the main cylinder 62 also has a transmission plate 623, which is provided with a slot. The output rod 621 is provided with a snap-fit ​​connector 624 that snaps into the slot, which facilitates quick connection between the output rod 621 and the transmission plate 623. The output rod 621 is connected to the clamping and fixing plate 631 disposed at the output end of the main cylinder 62 through the transmission plate 623 to increase the connection area between the output rod 621 and the clamping and fixing plate 631. The guide plate 622 is connected to the transmission plate 623 to increase the connection area between the guide plate 622 and the clamping and fixing plate 631. Figure 25 As shown, the gripper body 633 has a missing groove 401 on the side facing the clamping gap to adapt to the circumferential shape of the workpiece.

[0038] In the exemplary embodiments, please refer to Figures 24 to 26Each clamping assembly 63 also includes an elastic support plate 634. One end of the elastic support plate 634 is disposed on the clamping cylinder 632, and the other end of the elastic support plate 634 is horizontally suspended in the clamping gap and located between the two gripper bodies 633. This allows the elastic support plate 634 to provide elastic support for the workpiece, increase the contact area between the workpiece and the clamping assembly 63, improve clamping stability, and prevent the elastic support plate 634 from bumping into the workpiece. Some clamping assemblies 63 are provided with a nozzle assembly 64. The nozzle assembly 64 is configured to blow air towards the side away from the main cylinder 62. This nozzle assembly 64 can blow away impurities on the workpiece before clamping, ensuring that the workpiece surface is clean.

[0039] In the exemplary embodiments, please refer to Figures 28 to 30 The gripper mechanism 24 includes a connecting arm 71, multiple gripper assemblies 72, and multiple suction cup assemblies 73. The connecting arm 71 is located at the output end of the robot body 23 and can move and rotate in three-dimensional space under the drive of the robot body 23. The connecting arm 71 has a first connecting surface and a second connecting surface arranged opposite to each other. Some of the gripper assemblies 72 are located on the first connecting surface, and other gripper assemblies 72 are located on the second connecting surface. The multiple suction cup assemblies 73 are connected one-to-one to the multiple gripper assemblies 72 and are placed in the gripping space of the corresponding gripper assembly 72.

[0040] The gripper mechanism 24 described above is applied to a machining system. Besides providing excellent workpiece gripping performance, it also prevents the robotic arm from idling and resetting, thus improving loading and unloading efficiency. Specifically, the gripper mechanism 24 includes a connecting arm 71, multiple gripper assemblies 72, and multiple suction cup assemblies 73. Some of the gripper assemblies 72 are located on a first connecting surface, while others are located on a second connecting surface. This allows the gripper assemblies 72 on one side (either the first or second connecting surface) to grip the workpiece to be processed, while those on the other side (either the first or second connecting surface) can grip the already processed workpiece. This ensures that every movement of the gripper mechanism 24 involves workpiece movement, preventing idle periods and improving loading and unloading efficiency. Multiple suction cup components 73 are connected one-to-one with multiple gripper components 72 and placed in the gripping space of the corresponding gripper components 72. This allows the suction cup components 73 to adsorb the workpiece, increasing the contact area between the workpiece and the gripper mechanism 24 and improving the gripping stability.

[0041] In an exemplary embodiment, such as Figure 28As shown, the connecting arm 71 includes a flange 711, a connecting plate 712, and a vertical plate 713. The flange 711 is disposed at the output end of the robot body 23. The connecting plate 712 is stacked and connected to the flange 711 as a whole. The connection plate 712 increases the connection area between the vertical plate 713 and the flange 711, thereby improving the connection stability between the vertical plate 713 and the robot body 23. The vertical plate 713 is disposed on the connecting plate 712 and coaxially disposed with the output end of the robot body 23. The first connecting surface and the second connecting surface are disposed on the vertical plate 713.

[0042] In the exemplary embodiments, please refer to Figures 28 to 30 The gripper assembly 72 includes a cylinder fixing plate 721, a finger-gripping cylinder 722, and two grippers 723. The cylinder fixing plate 721 is fixedly connected to the upright plate 713. The finger-gripping cylinder 722 is located on the side of the cylinder fixing plate 721 opposite to the upright plate 713 and has a sliding groove. The sliding groove increases the movement accuracy of the grippers 723. The two grippers 723 are located on both sides of the gripping space. The grippers 723 are located in the sliding groove and connected to the finger-gripping cylinder 722. The two grippers 723 can move closer to or further away from the finger-gripping cylinder 722.

[0043] In the exemplary embodiments, please refer to Figures 28 to 30 The cylinder fixing plate 721 has a positioning groove 501, and the upright plate 713 is at least partially disposed in the positioning groove 501 to improve the connection stability between the cylinder fixing plate 721 and the upright plate 713. The suction cup assembly 73 includes a suction cup connecting plate 731, a suction cup plate 732, and a plurality of accordion suction cups 733. The suction cup plate 732 is disposed on the finger-clamping cylinder 722 via the suction cup connecting plate 731 and suspended in the clamping space. The plurality of accordion suction cups 733 are spaced apart on the side of the suction cup plate 732 away from the finger-clamping cylinder 722 and located between two grippers 723. The suction cup connecting plate 731 has a positioning notch 502, and the finger-clamping cylinder 722 is at least partially disposed in the positioning notch 502 to improve the connection stability between the suction cup connecting plate 731 and the finger-clamping cylinder 722. A suction cup pad 74 is provided on the side of the suction cup plate 732 away from the finger-clamping cylinder 722, so that the suction cup pad 74 can elastically abut against the workpiece and avoid bumping the workpiece. The suction cup pad 74 is provided with multiple suction cup through holes, and multiple bellows suction cups 733 are installed one-to-one in the multiple suction cup through holes, and are partially exposed on the side of the suction cup pad 74 away from the suction cup plate 732.

[0044] In the exemplary embodiments, please refer to Figure 29 and Figure 30 The two grippers 723 are provided with a gripper clearance groove 503 on the opposite side. The gripper clearance groove 503 is positioned with the suction cup plate 732 and avoids the suction cup pad 74, so as to prevent the suction cup pad 74 from being squeezed laterally and causing wrinkles, which would affect the stability of the gripper assembly 72 in clamping the workpiece.

[0045] In an exemplary embodiment, such as Figure 28 As shown, the gripper mechanism 24 also includes an air blowing assembly 75, which is disposed on the upright plate 713. The air blowing assembly 75 thus removes impurities from the workpiece before gripping it, ensuring a clean workpiece surface.

[0046] Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A loading and unloading device, characterized in that, include: The frame has an operating space and multiple windows communicating with the operating space. Each window has a processing station on the side away from the frame. The operating space has a worktable connected to the frame. A material storage mechanism is provided on the workbench; and A robotic arm, comprising a robotic arm body and a gripper mechanism, wherein the gripper mechanism is disposed at the output end of the robotic arm body, and the robotic arm body is configured to drive the gripper mechanism to move between the processing station and the storage mechanism to pick up and place workpieces.

2. The loading and unloading device according to claim 1, characterized in that, The storage mechanism includes: A material frame has multiple storage slots, each of which can form an opening in the material frame. Each of the storage slots is provided with a material tray, which can slide along the storage slot relative to the material frame and move out of the opening. The material tray is configured to hold the workpiece to be processed. A lifting assembly is disposed on the worktable, and the material frame is disposed on the lifting assembly. The lifting assembly is configured to lift the material frame to raise each of the material trays to the pick-up / placement position. A translation component is disposed on the worktable. The translation component can drive the tray in the pick-up and place position to move out of the slot and to the loading position, and from the loading position to the pick-up and place position via the slot.

3. The loading and unloading device according to claim 2, characterized in that, The side of the tray facing the translation component is provided with a connecting groove; The material tray is provided with two connecting protrusions, which are disposed in the connecting groove. The two connecting protrusions are spaced apart to form the opening of the connecting groove. The side of each connecting protrusion facing away from the translation component is spaced apart from the material tray to form a hooking space. The translation assembly includes a translation motor, a hook cylinder, and two hooks; The two hooks are located at the output end of the hook cylinder. Hook grooves are provided on the opposite sides of the two hooks to form hook portions. The hook cylinder can drive the two hooks to switch between a folded state and an unfolded state. The translation motor can drive the hook cylinder to approach the material tray at the pick-up / placement position, so that the two hooks in the folded state enter the connecting groove through the opening. The hook cylinder drives the two hooks to the unfolded state, so that the connecting protrusion can be placed in the hook groove and the hook portion can be placed in the hook holding space. The translation motor resets, so that the material tray at the pick-up / placement position can be moved out of the groove and placed at the loading station.

4. The loading and unloading device according to claim 2 or 3, characterized in that, The lifting assembly includes a lifting support frame, a lifting motor, and a lifting frame. The lifting support frame is disposed on the worktable, the lifting motor is disposed on the lifting support frame, the lifting frame is disposed at the output end of the lifting motor, and the material frame is disposed on the lifting frame. The lifting motor drives the material frame to rise and fall through the lifting frame to lift each material tray to the pick-up and put-down position. The lifting support frame is provided with a lifting guide rail parallel to the moving direction of the lifting frame, and the lifting frame is slidably connected to the lifting guide rail.

5. The loading and unloading device according to claim 4, characterized in that, The storage mechanism also includes a pull-out slide rail assembly; The pull-out slide rail assembly includes a first pull-out slide rail, a pull-out slider, a second pull-out slide rail, and a tabletop; The material frame is disposed on the table surface; The first pull-out slide rail is disposed on the lifting frame, the second pull-out slide rail is parallel to the first pull-out slide rail and is disposed on the side of the table facing the first pull-out slide rail, and the pull-out slider is located between the table and the lifting frame and is slidably connected to the first pull-out slide rail and the second pull-out slide rail respectively; The lifting frame is provided with two first platform limiting blocks spaced apart along the moving path of the platform, and the pull-out slider is provided with a first moving block. The first moving block can cooperate with the two first platform limiting blocks to limit the moving range of the pull-out slider. The tabletop has two second tabletop limiting blocks spaced apart along the tabletop's movement path. The pull-out slider is equipped with a second moving block, which can cooperate with the two second tabletop limiting blocks to limit the tabletop's movement range.

6. The loading and unloading device according to claim 1, characterized in that, The storage mechanism includes: A roller, which is rotatably connected to the worktable; The tray is slidably connected to the worktable via a sliding component and can be rotatably connected to the rollers so as to be moved out of and into the machining system. The pallet is provided with a loading station, an NG station, and an unloading station on the side away from the workbench. A material loading rack is installed at the material loading station; NG material rack, located at the NG workstation; and The material unloading rack is installed at the unloading station.

7. The loading and unloading device according to claim 1, characterized in that, The gripper mechanism includes: The connector, located at the output end of the robotic arm body, is capable of moving and rotating in three-dimensional space under the drive of the robotic arm body; Multiple master cylinders, wherein the master cylinders are disposed on the connecting body; and Multiple clamping assemblies, some of which are mounted on the connecting body via the main cylinder, and other of which are mounted on the output end of the main cylinder.

8. The loading and unloading device according to claim 7, characterized in that, Each of the clamping assemblies includes a clamping fixing plate, a clamping cylinder, and two gripper bodies; The clamping cylinder is disposed on the side of the clamping fixing plate opposite to the main cylinder, and the clamping cylinder has a guide groove; The two gripper bodies are positioned on both sides of the gripping gap of the gripping assembly. The gripper bodies are disposed in the guide groove and connected to the gripping cylinder. The two gripper bodies can move closer to each other or further away from each other under the drive of the gripping cylinder. A portion of the multiple clamping and fixing plates are mounted on the connecting body via the main cylinder, while another portion of the multiple clamping and fixing plates are mounted on the output end of the main cylinder.

9. The loading and unloading device according to claim 1, characterized in that, The gripper mechanism includes: A connecting arm is disposed at the output end of the robotic arm body and can move and rotate in three-dimensional space under the drive of the robotic arm body. The connecting arm has a first connecting surface and a second connecting surface arranged opposite to each other. A plurality of gripper assemblies, wherein a portion of the gripper assemblies is disposed on the first connecting surface, and another portion of the gripper assemblies is disposed on the second connecting surface; and Multiple suction cup components are connected one-to-one with the multiple gripper components and placed in the gripping space of the corresponding gripper components.

10. A processing system, characterized in that, include: The loading and unloading device as described in any one of claims 1 to 9; and Multiple processing devices, each of which has a processing station.

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