Automatic feeding and discharging machine

Abstract

The utility model relates to the technical field of feeding and discharging equipment, in particular to an automatic feeding and discharging machine which comprises a machine table, the machine table is provided with a feeding area, a containing cavity and a discharging area, the machine table is provided with an installation frame, the installation frame is provided with a reciprocating motion driving mechanism, and the moving end of the reciprocating motion driving mechanism is provided with a feeding mechanical arm and a discharging mechanical arm. The containing cavity is divided into a front area and a rear area, the feeding mechanical arm is movably arranged above the feeding area and the front area, the discharging mechanical arm is movably arranged above the front area and the discharging area, the machine table is provided with a double-layer track, and the double-layer track is in sliding connection with a first material disc and a second material disc. The double-layer track is provided with a first movement driving mechanism in driving connection with the first material disc and a second movement driving mechanism in driving connection with the second material disc. According to the feeding and discharging device, feeding and discharging of the plate materials can be achieved, partition paper can be temporarily stored through the first material disc so that the partition paper can be conveniently stacked between the two adjacent plate materials, and the processed bad plate materials can be temporarily stored through the second material disc.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading equipment, in particular to an automatic loading and unloading machine. Background Art

[0002] The applicant applied for a Chinese patent document with application number 202122409836.5 on September 30, 2021, which discloses an automatic loading and unloading sheet material equipment, including a workbench, the workbench is provided with a accommodating space for accommodating a processing equipment, a loading and unloading slot hole connecting the side surface of the workbench and the accommodating space, and a first sheet material placement area and a second sheet material placement area located on both sides of the loading and unloading slot hole, the workbench is equipped with a support frame, the support frame is equipped with a manipulator and a moving drive mechanism for driving the manipulator to move, the manipulator grabs The sheet material in the first sheet material placement area is transferred to the processing equipment below the loading and unloading slots, and the manipulator grabs the sheet material processed by the processing equipment and transfers it to the second sheet material placement area. There are two manipulators, and the two manipulators are installed side by side on the support frame. When transporting the sheet material, the mobile drive mechanism drives the two manipulators to move to the second sheet material placement area at the same time, one of the manipulators grabs the sheet material processed by the processing equipment and transfers it to the second sheet material placement area, and the other manipulator grabs the sheet material in the first sheet material placement area and transfers it to the processing equipment below the loading and unloading slots. Although this patent document can realize the loading and unloading of sheets, it cannot temporarily store separators and poorly processed sheets, resulting in limited use. Therefore, the defects are very obvious, and a solution is urgently needed. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide an automatic loading and unloading machine.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An automatic loading and unloading machine includes a machine platform, which is provided with a accommodating chamber, a loading area and a unloading area. A mounting frame is arranged on the top surface of the machine platform, and a reciprocating driving mechanism is installed on the mounting frame. A loading robot and a unloading robot are installed side by side at the moving end of the reciprocating driving mechanism. The accommodating chamber is divided into a front area and a rear area. The loading area and the unloading area are located on both sides of the front area. The loading robot is movably arranged above the loading area and the front area, and the unloading robot is movably arranged above the front area and the unloading area. The machine platform is equipped with a double-layer track, and the upper and lower layers of the double-layer track are respectively slidably connected with a first material tray and a second material tray. The double-layer track is equipped with a first movable driving mechanism connected to the first material tray and a second movable driving mechanism connected to the second material tray. The first movable driving mechanism is used to drive the first material tray to reciprocate between the front area and the rear area, and the second movable driving mechanism is used to drive the second material tray to reciprocate between the front area and the rear area.

[0006] Furthermore, the loading area is provided with a loading platform.

[0007] Furthermore, the loading area is equipped with an adjustment device, the loading table is installed at the adjustment end of the adjustment device, the machine table or the mounting frame is equipped with a visual positioning mechanism, the visual positioning mechanism is located above the loading table, the visual positioning mechanism is electrically connected to the adjustment device, and there is space between the visual positioning mechanism and the loading table for the loading robot to move.

[0008] Furthermore, the adjustment device includes a displacement adjustment mechanism installed in the loading area and an angle rotation adjustment mechanism installed at the adjustment end of the displacement adjustment mechanism, and the loading platform is installed at the adjustment end of the angle rotation adjustment mechanism.

[0009] Furthermore, the displacement adjustment mechanism includes an X-axis moving module installed in the loading area and a Y-axis moving module installed at the moving end of the X-axis moving module, and the angle rotation adjustment mechanism is installed at the moving end of the Y-axis moving module.

[0010] Furthermore, the unloading area is provided with an unloading platform.

[0011] Furthermore, the loading robot is equipped with a first proximity sensor, and the first proximity sensor is electrically connected to the loading robot.

[0012] Furthermore, the material unloading robot is equipped with a second proximity sensor, and the second proximity sensor is electrically connected to the material unloading robot.

[0013] The beneficial effects of the utility model: the utility model can not only realize the loading and unloading of sheet materials, but also can temporarily store the separator paper through the first material tray so as to stack the separator paper between two adjacent sheet materials, and can also temporarily store the processed defective sheet materials through the second material tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0015] Figure 2 It is a three-dimensional structural schematic diagram of the double-layer track, the first material tray, the second material tray, the first mobile drive mechanism and the second mobile drive mechanism of the utility model.

[0016] Figure 3 It is a three-dimensional structural schematic diagram of the adjustment device of the utility model.

[0017] Figure 4 It is a three-dimensional structural schematic diagram of the mounting frame, the reciprocating drive mechanism, the loading manipulator, the unloading manipulator, the first proximity sensor and the second proximity sensor of the utility model.

[0018] Description of reference numerals:

[0019] 1. Machine; 2. Accommodating cavity; 3. Loading area; 4. Unloading area; 5. Mounting frame; 6. Reciprocating driving mechanism; 7. Loading robot; 8. Unloading robot; 9. Double-layer track; 10. First tray; 11. Second tray; 12. First moving driving mechanism; 13. Second moving driving mechanism; 14. Loading platform; 15. Adjustment device; 16. Visual positioning mechanism; 17. Displacement adjustment mechanism; 18. Angle rotation adjustment mechanism; 19. X-axis moving module; 20. Y-axis moving module; 21. Unloading platform; 22. Front area; 23. First proximity sensor; 24. Second proximity sensor. DETAILED DESCRIPTION

[0020] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0021] like Figures 1 to 4 As shown, the utility model provides an automatic loading and unloading machine, which includes a machine platform 1, the machine platform 1 is provided with a accommodating chamber 2, a loading area 3 and a unloading area 4, a mounting frame 5 is mounted on the top surface of the machine platform 1, the mounting frame 5 is equipped with a reciprocating driving mechanism 6, and a loading manipulator 7 and a unloading manipulator 8 are installed side by side at the moving end of the reciprocating driving mechanism 6, the accommodating chamber 2 is divided into a front area 22 and a rear area, the loading area 3 and the unloading area 4 are located on both sides of the front area 22, the loading manipulator 7 is movably arranged above the loading area 3 and the front area 22, and the unloading manipulator 8 is movably arranged above the front area 22 and the unloading area 4, the machine platform 1 is equipped with a double-layer track 9, and the double-layer track The upper and lower layers of the track 9 are respectively slidably connected with the first material tray 10 and the second material tray 11, the first material tray 10 and the second material tray 11 are located above the accommodating chamber 2, and the first material tray 10 and the second material tray 11 are located below the loading manipulator 7 or the unloading manipulator 8. The double-layer track 9 is equipped with a first mobile drive mechanism 12 drivingly connected to the first material tray 10 and a second mobile drive mechanism 13 drivingly connected to the second material tray 11. The first mobile drive mechanism 12 is used to drive the first material tray 10 to reciprocate between the front area 22 and the rear area, and the second mobile drive mechanism 13 is used to drive the second material tray 11 to reciprocate between the front area 22 and the rear area. Specifically, the first mobile drive mechanism 12 and the second mobile drive mechanism 13 can both use cylinders.

[0022] This embodiment is explained by taking the upper and lower sheets as an example. A large number of sheets are stacked in the loading area 3, and the sheets are separated by paper separators. The first tray 10 is used to carry the paper separators, and the second tray 11 is used to carry the poorly processed sheets. In actual application, at the beginning, the first tray 10 and the second tray 11 are stacked in the rear area, and the processing equipment is installed in the accommodating cavity 2. The processing area of ​​the processing equipment is arranged corresponding to the front area 22. The reciprocating drive mechanism 6 drives the loading manipulator 7 and the unloading manipulator 8 to move synchronously toward the loading area 3, so that the loading manipulator 7 moves from the front area 22 to the top of the loading area 3, and the unloading manipulator 8 moves from the unloading area 4 to the top of the front area 22. Then the reciprocating drive mechanism 6 drives the loading manipulator 7 and the unloading manipulator 8 to move synchronously toward the unloading area 4, so that the loading manipulator 7 moves from the loading area 3 to the top of the front area 22, and the unloading manipulator 8 moves from the front area 22 to the top of the unloading area 4.During use, when the loading robot 7 picks up the sheet material from the loading area 3, the first material tray 10 carrying the spacer paper is located below the unloading robot 8, the unloading robot 8 picks up the spacer paper on the first material tray 10, the first moving drive mechanism 12 drives the first material tray 10 to move to the rear area, and the reciprocating drive mechanism 6 drives the loading robot 7 and the unloading robot 8 to move synchronously toward the unloading area 4, so that the loading robot 7 places the sheet material on the processing area of ​​the processing equipment, the processing equipment processes the sheet material, and the unloading robot 8 places the spacer paper on the loading area carried by the unloading area 4. On the processed sheet material, during the processing of the sheet material by the processing equipment, the reciprocating driving mechanism 6 drives the loading robot 7 and the unloading robot 8 to move synchronously in the direction of the loading area 3, so that the loading robot 7 moves to the top of the loading area 3, and the unloading robot 8 moves to the top of the front area 22. When the loading robot 7 picks up the separator paper in the loading area 3, the unloading robot 8 picks up the processed sheet material on the processing area of ​​the processing equipment. If the processed sheet material is a defective sheet material, the second moving driving mechanism 13 drives the second material tray 11 to move to the front area 22, and the unloading robot 8 The defective sheet is placed on the second material tray 11, and then the second mobile drive mechanism 13 drives the second material tray 11 to move to the rear area, and then the reciprocating drive mechanism 6 drives the loading robot 7 and the unloading robot 8 that pick up the separator paper to move toward the unloading area 4, so that the loading robot 7 moves to the front area 22, and the first mobile drive mechanism 12 drives the first material tray 10 to move to the front area 22 and is located below the loading robot 7, and the loading robot 7 places the separator paper on the first material tray 10, and then the first mobile drive mechanism 12 drives the first material tray 10 carrying the separator paper. The tray 10 moves to the rear area, and the above-mentioned operation steps are repeated, so that the loading robot 7 can continuously disassemble and chop the sheet materials and separators stacked on the loading area 3, so that the loading robot 7 places the sheet materials in the loading area 3 on the processing area of ​​the processing equipment or places the separators in the loading area 3 on the first tray 10. At the same time, the unloading robot 8 picks up the processed sheet materials in the processing area of ​​the processing equipment to the unloading area 4, picks up the separators on the first tray 10 to the sheet materials in the unloading area 4, or picks up the defective sheet materials processed in the processing area of ​​the processing equipment to the second tray 11. The utility model can not only realize the loading and unloading of sheet materials, but also temporarily store the separators through the first tray 10, so as to facilitate the stacking of the separators between two adjacent sheet materials, and can also temporarily store the processed defective sheet materials through the second tray 11.

[0023] In this embodiment, the loading area 3 is provided with a loading platform 14; the loading platform 14 is used to carry the stacked plates and separator papers.

[0024] In this embodiment, the loading area 3 is equipped with an adjustment device 15, the loading platform 14 is installed at the adjustment end of the adjustment device 15, the machine 1 or the mounting frame 5 is equipped with a visual positioning mechanism 16, the visual positioning mechanism 16 is located above the loading platform 14, the visual positioning mechanism 16 is electrically connected to the adjustment device 15, and there is a space between the visual positioning mechanism 16 and the loading platform 14 for the loading robot 7 to move. Specifically, the visual positioning mechanism 16 is composed of an industrial camera and a light source.

[0025] Before the loading robot 7 picks up the sheet material or separator paper on the loading table 14, the visual positioning mechanism 16 visually locates the sheet material or separator paper on the loading table 14, and feeds back the result of the visual positioning to the adjustment device 15, so that the adjustment device 15 adjusts the position and angle of the loading table 14, thereby adjusting the position and angle of the sheet material or separator paper on the loading table 14, so that the loading robot 7 can accurately pick up the sheet material or separator paper.

[0026] In this embodiment, the adjustment device 15 includes a displacement adjustment mechanism 17 installed in the loading area 3 and an angle rotation adjustment mechanism 18 installed at the adjustment end of the displacement adjustment mechanism 17, and the loading platform 14 is installed at the adjustment end of the angle rotation adjustment mechanism 18. Specifically, the displacement adjustment mechanism 17 includes an X-axis moving module 19 installed in the loading area 3 and a Y-axis moving module 20 installed at the moving end of the X-axis moving module 19, and the angle rotation adjustment mechanism 18 is installed at the moving end of the Y-axis moving module 20. In practical applications, the displacement adjustment mechanism 17 is used to adjust the position of the loading platform 14, thereby adjusting the position of the sheet material and the separator paper on the loading platform 14; the angle rotation adjustment mechanism 18 is used to adjust the angle of the loading platform 14, thereby adjusting the angle of the sheet material and the separator paper on the loading platform 14.

[0027] In this embodiment, the unloading area 4 is provided with an unloading platform 21. The unloading platform 21 is used to carry the separator paper and the processed sheet material.

[0028] In this embodiment, the feeding robot 7 is equipped with a first proximity sensor 23, and the first proximity sensor 23 is electrically connected to the feeding robot 7. When the feeding robot 7 picks up the separator paper or sheet material, when the separator paper or sheet material triggers the first proximity sensor 23, it proves that the feeding robot 7 has picked up the material in place, and the first proximity sensor 23 feeds back a signal to the feeding robot 7, so that the feeding robot 7 stops moving down and picks up the separator paper or sheet material, thereby improving the material picking accuracy of the feeding robot 7 and avoiding the collision phenomenon caused by excessive downward movement of the feeding robot 7.

[0029] In this embodiment, the unloading robot 8 is equipped with a second proximity sensor 24, and the second proximity sensor 24 is electrically connected to the unloading robot 8. When the unloading robot 8 picks up the separator paper or the processed sheet material, when the separator paper or the sheet material triggers the second proximity sensor 24, it proves that the unloading robot 8 has picked up the material in place, and the second proximity sensor 24 feeds back a signal to the unloading robot 8, so that the unloading robot 8 stops moving down and picks up the separator paper or the sheet material, thereby improving the material picking accuracy of the unloading robot 8 and avoiding the unloading robot 8 from excessively moving down and causing a collision with the machine.

[0030] All technical features in this embodiment can be freely combined according to actual needs.

[0031] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. An automatic loading and unloading machine, characterized in that: The machine comprises a machine platform (1), wherein the machine platform (1) is provided with a containing chamber (2), a loading area (3) and a unloading area (4), a mounting frame (5) is arranged on the top surface of the machine platform (1), the mounting frame (5) is provided with a reciprocating drive mechanism (6), a loading robot (7) and a unloading robot (8) are arranged side by side at the moving end of the reciprocating drive mechanism (6), the containing chamber (2) is divided into a front area (22) and a rear area, the loading area (3) and the unloading area (4) are located on both sides of the front area (22), the loading robot (7) is movably arranged above the loading area (3) and the front area (22), and the unloading robot (8) is movably arranged between the front area (22) and the rear area. Above the unloading area (4), the machine (1) is equipped with a double-layer track (9), the upper and lower layers of the double-layer track (9) are slidably connected to a first material tray (10) and a second material tray (11), respectively; the double-layer track (9) is equipped with a first movable drive mechanism (12) drivingly connected to the first material tray (10) and a second movable drive mechanism (13) drivingly connected to the second material tray (11); the first movable drive mechanism (12) is used to drive the first material tray (10) to reciprocate between the front area (22) and the rear area, and the second movable drive mechanism (13) is used to drive the second material tray (11) to reciprocate between the front area (22) and the rear area.

2. The automatic loading and unloading machine according to claim 1, characterized in that: The loading area (3) is provided with a loading platform (14).

3. The automatic loading and unloading machine according to claim 2, characterized in that: The loading area (3) is equipped with an adjustment device (15), the loading platform (14) is installed at the adjustment end of the adjustment device (15), the machine (1) or the mounting frame (5) is equipped with a visual positioning mechanism (16), the visual positioning mechanism (16) is located above the loading platform (14), the visual positioning mechanism (16) is electrically connected to the adjustment device (15), and there is a space between the visual positioning mechanism (16) and the loading platform (14) for the loading robot (7) to move.

4. The automatic loading and unloading machine according to claim 3, characterized in that: The adjustment device (15) comprises a displacement adjustment mechanism (17) installed in the loading area (3) and an angle rotation adjustment mechanism (18) installed at the adjustment end of the displacement adjustment mechanism (17); the loading platform (14) is installed at the adjustment end of the angle rotation adjustment mechanism (18).

5. The automatic loading and unloading machine according to claim 4, characterized in that: The displacement adjustment mechanism (17) comprises an X-axis movable module (19) installed on the loading area (3) and a Y-axis movable module (20) installed on the movable end of the X-axis movable module (19); the angle rotation adjustment mechanism (18) is installed on the movable end of the Y-axis movable module (20).

6. The automatic loading and unloading machine according to claim 1, characterized in that: The unloading area (4) is provided with an unloading platform (21).

7. The automatic loading and unloading machine according to claim 1, characterized in that: The feeding robot (7) is provided with a first proximity sensor (23), and the first proximity sensor (23) is electrically connected to the feeding robot (7).

8. The automatic loading and unloading machine according to claim 1, characterized in that: The unloading robot (8) is equipped with a second proximity sensor (24), and the second proximity sensor (24) is electrically connected to the unloading robot (8).

Images