Receiving and feeding device and discharging equipment

Abstract

The utility model relates to the technical field of automation, and provides a receiving and feeding device and discharging equipment. The material receiving and feeding device comprises a first jacking mechanism, a material disc positioning mechanism, a first transferring mechanism, a second jacking mechanism and two material frame locking mechanisms. The first jacking mechanism comprises a first jacking assembly and a second jacking assembly, the material frame is provided with a containing space, the containing space is used for containing the material disc, and the material disc is used for bearing workpieces. The tray positioning mechanism is used for bearing and positioning a tray. The first transferring mechanism is used for transferring the material disc at the first material taking position to the material disc positioning mechanism, further used for placing the workpiece to the material disc at the material disc positioning mechanism and used for transferring the material disc loaded with the workpiece to the second material taking position. The second jacking mechanism comprises a third jacking assembly and a fourth jacking assembly. The two material frame locking mechanisms are used for locking or releasing the material frames located at the fixed positions. The workpiece transfer device has the beneficial effect that the workpiece transfer efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a material receiving and feeding device and a material unloading device. Background Art

[0002] When some production lines are running, workpieces need to be transferred from the carrier of the previous process to the carrier of the next process. In the existing workpiece transfer process, the workpiece is usually placed on a new carrier, and then the carriers are stacked and sent to the next process. However, some conveying devices cannot fix the carriers while stacking them, so the stacked carriers cannot directly enter the process where the carriers need to be fixed, making the workpiece transfer efficiency still low. Utility Model Content

[0003] The present application provides a material receiving and feeding device and a material unloading device to solve the technical problem of low workpiece transfer efficiency.

[0004] The embodiment of the present application is implemented as follows:

[0005] In the first aspect, the present application provides a material receiving and feeding device, including a first lifting mechanism, a material tray positioning mechanism, a first transfer mechanism, a second lifting mechanism and two material frame locking mechanisms. The first lifting mechanism includes a first lifting assembly and a second lifting assembly, the first lifting assembly is used to drive the material frame to reciprocate between a first fixed position and an input position along the Z direction, the material frame is provided with a receiving space, the receiving space is used to receive a material tray, the material tray is used to carry a workpiece, and the second lifting assembly is used to drive the material tray to move along the Z direction to a first material fetching position. The material tray positioning mechanism is provided on one side of the first lifting mechanism along the X direction, and the material tray positioning mechanism is used to carry and position the material tray. The first transfer mechanism is used to transfer the material tray at the first material fetching position to the material tray positioning mechanism, and is also used to place the workpiece on the material tray at the material tray positioning mechanism, and is used to transfer the material tray loaded with the workpiece to the second material fetching position. The second lifting mechanism is arranged on the side of the tray positioning mechanism away from the first lifting mechanism along the X direction, and the second lifting mechanism includes a third lifting component and a fourth lifting component, the third lifting component is used to drive the material frame to reciprocate between the second fixed position and the output position along the Z direction, and the fourth lifting component is used to drive the tray to move along the Z direction and leave the second material taking position. One of the material frame locking mechanisms is used to lock or release the material frame at the first fixed position, and the other material frame locking mechanism is used to lock or release the material frame at the second fixed position.

[0006] During the operation of the cleaning device, the positioning device, the second transfer mechanism, the separation device, etc., the material frame containing the stacked empty material trays is transported to the input position of the first lifting component by the AGV trolley and other conveying equipment. The first lifting component drives the material frame to move to the first fixed position, and the material frame locking mechanism fixes the material frame at the first fixed position to ensure that the material frame does not shake during the material tray retrieval process, thereby ensuring the reliability of the material tray transfer. The second lifting component drives the topmost material tray of the stacked material trays to move to the first retrieval position. Another material frame locking mechanism fixes the material frame at the third lifting component to the second fixed position. The second transfer mechanism grabs the material tray at the first retrieval position to the material tray positioning mechanism and positions the material tray. Thereafter, the second transfer mechanism grabs the workpiece to the positioned material tray, and then grabs the material tray loaded with the workpiece to the second retrieval position at the fourth lifting component, and thereafter the fourth lifting component drives the material tray loaded with the workpiece to leave the second retrieval position. In this way, multiple trays loaded with workpieces can be stacked in the material frame at the third lifting component. After the workpieces are loaded, the material frame locking mechanism locks the material frame at the second fixed position, and the third lifting component drives the material frame to move to the output position for the conveying equipment to take away the material frame, thereby completing the efficient and reliable transfer of the workpieces.

[0007] According to the material receiving and feeding device of the present application, it is possible to load the workpiece onto the positioned material tray, thereby improving the accuracy of the workpiece loading process. After the workpiece loading is completed, the material tray loaded with the workpiece is stacked in an empty material frame in sequence, and finally the material frame is output, thereby improving the transfer efficiency of the workpiece. During the material receiving and feeding process, the material frame is locked by the material frame locking mechanism to ensure that the material tray can be stably and reliably taken and placed, thereby avoiding the problem of the material tray colliding with the material frame and causing the workpiece to shake. Placing the workpiece onto the positioned material tray can improve the placement efficiency of the workpiece and avoid scratches between the workpiece and the material tray. Therefore, the material receiving and feeding device of this embodiment can improve the transfer efficiency of the workpiece and ensure the transfer quality of the workpiece.

[0008] In one possible implementation:

[0009] The material frame locking mechanism includes a plurality of circumferential locking members and a Z-direction locking member. The plurality of circumferential locking members are arranged around the first fixed position or the second fixed position, and the plurality of circumferential locking members are used to fix or release the material frame along the circumference of the material frame. The Z-direction locking member is arranged on one side of the tray positioning mechanism, and the Z-direction locking member is used to fix or release the material frame along the Z-direction.

[0010] In one possible implementation:

[0011] The first lifting assembly includes a first bearing member, the first bearing member is used to bear the material frame, and the first bearing member defines a first avoidance space; the second lifting assembly includes a second bearing member, the second bearing member is used to bear the material tray, and a projection of the second bearing member along the Z direction is located in the first avoidance space;

[0012] The third lifting assembly includes a third support member, which is used to support the material frame and defines a second avoidance space; the fourth lifting assembly includes a fourth support member, which is used to support the material tray and a projection of the fourth support member along the Z direction is located within the second avoidance space.

[0013] In one possible implementation:

[0014] The receiving and feeding device also includes a first conveying mechanism and a second conveying mechanism. The first conveying mechanism includes two first conveying components, the two first conveying components are arranged at intervals along the X direction on both sides of the input position, and the two first conveying components are used to convey the material frame from the material frame loading position to the input position. The first conveying mechanism includes two second conveying components, the two second conveying components are arranged at intervals along the X direction on both sides of the output position, and the two second conveying components are used to convey the material frame from the output position to the material frame unloading position.

[0015] In one possible implementation:

[0016] The material frame includes a first ring portion, a second ring portion, a plurality of connecting portions, and a cover portion. The first ring portion and the second ring portion are arranged at intervals. The plurality of connecting portions are respectively connected between the first ring portion and the second ring portion. The plurality of connecting portions are distributed at intervals along the circumference of the material frame. The first ring portion, the second ring portion and the plurality of connecting portions together enclose the receiving space. The cover portion is detachably engaged with the first ring portion and is used to press the material tray against the second ring portion.

[0017] In one possible implementation:

[0018] The first transfer mechanism includes a workpiece grabbing member, a lifting drive member and a tray grabbing member. The workpiece grabbing member is used to grab the workpiece, and the workpiece grabbing member defines a lifting avoidance hole. The lifting drive member is connected to the workpiece grabbing member. The tray grabbing member is connected to the lifting drive member, and the tray grabbing member is used to grab the tray. The tray grabbing member can move along the Z direction under the drive of the lifting drive member, and move to one side of the workpiece grabbing member along the Z direction through the lifting avoidance hole.

[0019] In one possible implementation:

[0020] The material tray includes a material tray body and a workpiece positioning protrusion, the workpiece positioning protrusion is arranged on the surface of the material tray body and surrounds a contoured space, the workpiece positioning protrusion is used to position the workpiece in the contoured space, and the workpiece positioning protrusion is also used to cooperate with the material tray above to surround a hollow space.

[0021] In a second aspect, the present application provides a material unloading device, comprising a loading device, a separation device and the aforementioned material receiving and feeding device. The loading device is used to grab a jig to a loading position, and the surface of the jig has the workpiece adsorbed thereon. The separation device is used to separate the workpiece from the surface of the jig. The first transfer mechanism of the material receiving and feeding device is used to grab the separated workpiece to a tray at a tray positioning mechanism.

[0022] In one possible implementation:

[0023] The jig has a first surface and a second surface that are arranged opposite to each other, the jig is provided with an air hole that is connected between the first surface and the second surface, and the workpiece is arranged on the first surface;

[0024] The separation device includes a separation piece and a blowing head, wherein the blowing head is arranged on the separation piece, the separation piece is used to support the second surface of the fixture, and the blowing head is connected with the air hole, and the blowing head is used to blow air into the air hole to separate the workpiece from the first surface.

[0025] In one possible implementation:

[0026] The feeding device includes a second transfer mechanism, which includes a transverse driving assembly, a lifting driving assembly and a jig grabbing assembly. The lifting driving assembly is connected to the output end of the transverse driving assembly and can move along the Y direction under the drive of the transverse driving assembly. The jig grabbing assembly is connected to the lifting driving assembly and can move along the Z direction under the drive of the lifting driving assembly. The jig grabbing assembly is used to grab the jig. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 This is a schematic structural diagram of a material unloading device according to an embodiment of the present application.

[0029] Figure 2 for Figure 1 Top view of the feeding equipment.

[0030] Figure 3 This is a schematic structural diagram of an internal support gripper according to an embodiment of the present application.

[0031] Figure 4 for Figure 1 Schematic diagram of the structure of the cleaning device of the middle and lower feeding equipment.

[0032] Figure 5 for Figure 4 Schematic diagram of the structure of the cleaning parts.

[0033] Figure 6 for Figure 1 Schematic diagram of the positioning device, material tray and workpiece structure of the middle and lower feeding equipment.

[0034] Figure 7 for Figure 5 Cross-sectional view of the positioning device, tray and workpiece.

[0035] Figure 8 for Figure 1 Schematic diagram of the structure of the second transfer mechanism of the middle and lower feeding equipment.

[0036] Fig. 9 for Figure 8 Schematic diagram of the partial structure of the second transfer mechanism.

[0037] Fig.10 for Figure 1 Schematic diagram of the structure of the separation device and fixture of the feeding equipment.

[0038] Fig.11 for Fig.10 Schematic diagram of the structure of the separation device and the fixture from another perspective.

[0039] Fig.12 for Figure 1 Schematic diagram of the structure of the material frame of the middle and lower feeding equipment.

[0040] Fig.13 for Figure 1 Schematic diagram of the structure of a part of the frame of the feeding equipment.

[0041] Fig.14 for Figure 1 Schematic diagram of the structure of the feeding and receiving device of the middle and lower feeding equipment.

[0042] Fig.15 for Fig.14 One of the partial structural diagrams of the central receiving and feeding device.

[0043] Fig.16 for Fig.15 Schematic diagram of the exploded structure of the feeding and receiving device.

[0044] Fig.17 for Fig.14 The second schematic diagram of the partial structure of the central feeding device.

[0045] Fig.18 for Fig.14 The third schematic diagram of the partial structure of the central feeding device.

[0046] Fig.19 for Fig.18 Schematic diagram of the exploded structure of the feeding and receiving device.

[0047] Fig. 20 for Fig.19 A schematic diagram of the structure of part of the central feeding device from another perspective.

[0048] Fig.21 for Figure 1 Schematic diagram of the structure of the first transfer mechanism of the middle and lower feeding equipment.

[0049] Fig. 22 for Fig.21 Schematic diagram of the explosion structure after the second manipulator is removed from the first transfer mechanism.

[0050] Fig.23 for Figure 1 Schematic diagram of the structure of the material tray of the middle and lower feeding equipment.

[0051] Fig.24 for Fig.23 Schematic diagram of the local structure at point A. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0053] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be a centered element. When an element is considered to be "set on" another element, it may be directly set on the other element or there may also be a centered element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0055] Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

[0056] See also Figures 1 to 24 This embodiment provides a material unloading device 100, including a frame 10, a loading device 20, a cleaning device 80, a positioning device 30, a separation device 40, a first transfer mechanism 50, a carrying device, a material receiving and feeding device 90, a first conveying mechanism 95 and a second conveying mechanism 96.

[0057] See also Figure 1 The frame 10 includes an upper layer 16 and a lower layer 17 spaced apart in the Z direction, and a partition 18 is provided between the upper layer 16 and the lower layer 17. The frame 10 is also provided with a loading position 11, a material taking position 12, a material unloading position 13, a separation position 14 and a material unloading position 15. The loading position 11, the material taking position 12 and the material unloading position 13 are sequentially provided on the upper layer 16 in the Y direction.

[0058] In this embodiment, see Figure 6 and Fig.13 The partition 18 is provided with a first avoidance hole 314 and a second avoidance hole 182, and the partition 18 is also provided with a plurality of first support seats 183 and a plurality of second support seats 184. The first avoidance hole 314 is provided at the material taking position 12, and the plurality of first support seats 183 are arranged around the first avoidance hole 314 and are used to support the fixture 500. Figure 1 The second avoidance hole 182 is disposed at the material unloading position 13 , and a plurality of second support seats 184 are disposed around the second avoidance hole 182 and are used to support the fixture 500 .

[0059] In this embodiment, see Figure 2 The positioning device 30 is disposed at the loading position 11. The cleaning device 80 is disposed at the lower layer 17, and the cleaning device 80 is used to receive and clean the fixture 500. The loading device 20 includes a first manipulator 22, and the first manipulator 22 is used to grab the cleaned fixture 500 to the positioning device 30.

[0060] The separation device 40 is disposed on the upper layer 16 and is movably disposed between the material taking position 12 and the separation position 14 along the X direction, thereby driving the fixture 500 to move between the material taking position 12 and the separation position 14 .

[0061] See also Figure 1The loading device 20 further includes a second transfer mechanism 21, which is disposed on the upper layer 16. The second transfer mechanism 21 is used to move the fixture 500 at the positioning device 30 to the separation device 40 at the material collection position 12. Thereafter, the separation device 40 drives the fixture 500 to the separation position 14 and completes the separation of the workpiece 400 and the fixture 500. The separation device 40 then drives the empty fixture 500 to the material collection position 12. The second transfer mechanism 21 then moves the fixture 500 at the material collection position 12 to the material discharge position 13. The first manipulator 22 is also used to move the fixture 500 at the material discharge position 13 out.

[0062] See also Figure 1 and Figure 2 , there are two receiving and feeding devices 90, and the two receiving and feeding devices 90 are arranged on both sides of the first transfer mechanism 50 along the Y direction. The receiving and feeding device 90 is used to receive the material frame 200 carrying the material tray 300. After the separation device 40 separates the workpiece 400 and the fixture 500 at the separation position 14, the first transfer mechanism 50 drives the workpiece 400 to move to the receiving and feeding device 90, and places the workpiece 400 on the material tray 300 in the material frame 200, and then the receiving and feeding device 90 outputs the material frame 200 with the material tray 300 containing the workpiece 400. The receiving and feeding device 90 can transport the material frame 200 to the AGV trolley to realize the input and output of the material frame 200.

[0063] In this way, through the unloading equipment 100 in this embodiment, the jig 500 can be cleaned, the workpiece 400 can be separated from the jig 500, and the separated workpiece 400 can be placed on the material tray 300. Multiple material trays 300 are loaded through the material frame 200, so that a large number of workpieces 400 can be put into the next process at one time, thereby realizing efficient and automated separation and loading processing of the workpiece 400.

[0064] See also Figure 6 The jig 500 has a first surface 501 and a second surface 502 that are arranged opposite to each other. The jig 500 has an air hole 503 that is connected between the first surface 501 and the second surface 502. The first surface 501 is provided with a workpiece mounting position 504, and the workpiece 400 is attached to the workpiece mounting position 504 of the first surface 501. In the previous process (for example, the polishing process), the workpiece 400 is firmly attached to the first surface 501 of the jig 500. The bottom surface of the jig 500 is provided with a detection groove.

[0065] See also Figure 1 The cleaning device 80 is disposed on the lower layer 17 and is located below the partition plate 18 along the Z direction. Figure 4 and Figure 5The cleaning device 80 includes a cleaning box 81, an isolation frame 82 and a cleaning member 84. The cleaning box 81 is open on one side along the X direction, and the isolation frame 82 is arranged in the cleaning box 81, and the inner side of the cleaning box 81 is divided into a plurality of cleaning positions 83, each of which can accommodate a group of stacked fixtures 500. The cleaning member 84 is arranged at each cleaning position 83. The cleaning member 84 includes a disc-shaped cleaning plate 841, and the cleaning plate 841 is provided with a plurality of cleaning holes 85 distributed at intervals, and the cleaning holes 85 are used to spray cleaning liquid to clean the stacked fixtures 500.

[0066] The stacked fixtures 500 can be transported to the cleaning device 80 via a transportation device such as an AGV.

[0067] See also Figure 6 and Figure 7 The positioning device 30 includes a positioning bearing member 31, a positioning rotating driving member 32, a positioning lifting driving member 33, a positioning lifting rod 34, a positioning protrusion 36, a positioning lifting plate 35, a positioning lifting bearing 37, a positioning guide assembly 38, a position detector 391 and an incoming material sensor 392.

[0068] The positioning bearing member 31 includes a first mounting plate 311 and a second mounting plate 312. The first mounting plate 311 is arranged on the upper layer 16 and fixed to the partition 18. The first mounting plate 311 is provided with a first avoidance hole 314, and the first avoidance hole 314 is used to avoid the positioning jacking plate 35. The first mounting plate 311 is provided with a plurality of positioning support platforms 313, and the plurality of positioning support platforms 313 are arranged around the first avoidance hole 314. The position detector 391 is arranged below the first mounting plate 311 and connected to the positioning jacking plate 35. The incoming material detector is arranged above the first mounting plate 311.

[0069] The second mounting plate 312 is disposed on the lower layer 17 . The second mounting plate 312 and the first mounting plate 311 are spaced apart from each other along the Z direction. The second mounting plate 312 and the first mounting plate 311 are fixedly connected.

[0070] The positioning guide assembly 38 includes a positioning support plate 381 and a plurality of positioning guide rods 382. The plurality of positioning guide rods 382 are connected between the first mounting plate 311 and the second mounting plate 312. The positioning support plate 381 is slidably matched with the plurality of positioning guide rods 382 along the Z direction. The positioning jacking drive member 33 is connected to the positioning support plate 381.

[0071] The positioning support plate 381 is also connected to the positioning rotation drive member 32, and the positioning rotation drive member 32 is slidably arranged in the second mounting plate 312 along the Z direction. The output end of the positioning rotation drive member 32 is rotatably matched with the positioning support plate 381. The positioning rotation drive member 32 is connected to the positioning lifting plate 35 through the positioning lifting rod 34. In this way, when the positioning lifting drive member 33 drives the positioning support plate 381 to move along the Z direction, the positioning support plate 381 can drive the positioning rotation drive member 32 to move along the Z direction, and then drive the positioning lifting plate 35 to move along the Z direction, thereby lifting the fixture 500.

[0072] The surface of the positioning lifting plate 35 is provided with two first positioning parts, and the fixture 500 is provided with two second positioning parts, and the second positioning parts are used to cooperate with the first positioning parts to position the fixture 500 on the positioning lifting plate 35. Optionally, the first positioning part includes two positioning protrusions arranged at intervals, and the second positioning part includes two positioning holes 506 arranged at intervals. After the two positioning holes 506 and the two positioning protrusions cooperate, the fixture 500 can be positioned on the positioning carrier 31.

[0073] During the loading process, the first manipulator 22 places the jig 500 on a plurality of positioning support platforms 313. After the incoming material detector detects the jig 500, the positioning rotary drive 32 drives the positioning lift plate 35 to rotate until the position detector 391 detects the detection groove on the bottom surface of the jig 500. The positioning rotary drive 32 stops driving the positioning lift plate 35 to rotate, completing the circumferential positioning of the jig 500. The positioning lift drive 33 drives the positioning lift plate 35 to rise along the Z direction to the first positioning portion and cooperate with the second positioning portion, thereby completing the positioning of the jig 500 on the positioning lift plate 35.

[0074] In this way, it is not necessary to locate the placement position of the fixture 500 during the loading process of the first robot 22, thereby improving the loading efficiency.

[0075] In this embodiment, see Figure 8 and Fig. 9 The second transfer mechanism 21 includes a transverse driving assembly 211, a lifting driving assembly 212 and a fixture grabbing assembly 213. The transverse driving assembly 211 is movably arranged on the frame 10 along the Y direction. The lifting driving assembly 212 is connected to the output end of the transverse driving assembly 211. The fixture grabbing assembly 213 is movably connected to the lifting driving assembly 212 along the Z direction. Optionally, the transverse driving assembly 211 and the lifting driving assembly 212 can be respectively set as a linear module, a screw nut mechanism, etc.

[0076] The lateral drive assembly 211 can drive the lifting drive assembly 212 and the fixture grabbing assembly 213 to move back and forth along the Y direction in sequence between the loading position 11, the material taking position 12 and the unloading position 13. The fixture grabbing assembly 213 can move along the Z direction driven by the lifting drive assembly 212 to grab the fixture 500 or put down the fixture 500.

[0077] In this embodiment, see Figure 8 The second transfer mechanism 21 further includes a transverse guide assembly 214, which includes a transverse guide rail 2141 and a transverse guide slider 2142. The transverse guide rail 2141 is provided on the frame 10, and the length direction of the transverse guide rail 2141 is parallel to the Y direction. The transverse guide slider 2142 is connected to the lifting drive assembly 212 and is slidably matched with the transverse guide rail 2141 along the Y direction. The transverse guide assembly 214 can improve the reliability of the movement of the fixture grasping assembly 213 along the Y direction, and improve the grasping reliability of the fixture 500.

[0078] In this embodiment, see Figure 8 The second transfer mechanism 21 also includes a transverse transfer member 215 , which is connected to the output end of the transverse drive assembly 211 , and the lifting drive assembly 212 is fixedly connected to the transverse transfer member 215 .

[0079] In this embodiment, see Figure 8 The lifting drive assembly 212 includes a vertical drive member 2121, a vertical guide module 2122 and a vertical adapter 2123. The vertical guide module 2122 includes a vertical guide rail and a vertical slider. The vertical drive member 2121 is fixed to the transverse transfer member 215. The vertical guide rail is arranged on the transverse transfer member 215. The length direction of the vertical guide rail is parallel to the Z direction. The vertical slider is slidably matched with the vertical guide rail along the Z direction. The vertical adapter 2123 is connected to the output end of the vertical drive member 2121 and to the vertical slider. The fixture grabbing assembly 213 is connected to the vertical adapter 2123. In this way, the vertical adapter 2123 can be accurately moved along the Z direction.

[0080] In this embodiment, see Fig. 9 The fixture grabbing assembly 213 includes a first grabbing fixing plate, a second grabbing fixing plate, a grabbing mounting plate 2131 , a grabbing elastic member 2132 , a grabbing driving member 2133 , an inner supporting clamp 2134 , and a grabbing connecting rod 2136 .

[0081] The first grabbing and fixing plate is connected to the output end of the lifting drive assembly 212. In this embodiment, the first grabbing and fixing plate is fixedly connected to the vertical adapter 2123. The first grabbing and fixing plate is arranged on the upper side of the vertical adapter 2123 along the Z direction, and the second grabbing and fixing plate is arranged on the lower side of the vertical adapter 2123 along the Z direction. The first grabbing and fixing plate and the second grabbing and fixing plate are connected by a grabbing connecting rod 2136. The grabbing and mounting plate 2131 is slidably matched with the grabbing connecting rod 2136 along the Z direction. The grabbing elastic member 2132 is matched with the grabbing connecting rod 2136, and the grabbing elastic member 2132 is elastically supported between the first grabbing and fixing plate and the grabbing and mounting plate 2131. The grabbing driving member 2133 is fixed to the grabbing and mounting plate 2131, and the inner support jaw 2134 is connected to the output end of the grabbing driving member 2133.

[0082] When the jig grabbing assembly 213 grabs the jig 500, the lifting drive assembly 212 drives the inner support jaw 2134 to extend into the center hole 505 of the jig 500, and the grab driving member 2133 drives the inner support jaw 2134 to open, so that the inner support jaw 2134 grabs the jig 500. When the jig grabbing assembly 213 puts down the jig 500, the lifting drive assembly 212 drives the inner support jaw 2134 to reach the predetermined position, and the grab driving member 2133 drives the inner support jaw 2134 to retract, so that the jig 500 is no longer grabbed and placed at the predetermined position. The predetermined position can be any one of the loading position 11, the taking position 12 or the unloading position 13.

[0083] When the jig grabbing assembly 213 puts down the jig 500 , the grabbing elastic member 2132 can play a buffering role to prevent the jig 500 from colliding with other parts, thereby protecting the parts and the jig 500 .

[0084] In other embodiments of the present application, the inner support jaws 2134 may also be replaced with other types of jaws such as vacuum adsorption jaws.

[0085] In this embodiment, see Figure 8 and Fig. 9 The second transfer mechanism 21 also includes a transfer connector 216, which is connected to the output end of the vertical drive member 2121, and can be specifically connected to the vertical adapter 2123. The length direction of the transfer connector 216 is parallel to the Y direction. The two ends of the transfer connector 216 are respectively connected to a transfer grabbing assembly. The spacing between the two transfer grabbing assemblies along the Y direction, the spacing between the loading position 11 and the picking position 12 along the Y direction, and the spacing between the picking position 12 and the unloading position 13 along the Y direction are all the same. In this way, during the movement of the second transfer mechanism 21, the jig 500 at the loading position 11 and the picking position 12 can be grabbed at the same time, or the jig 500 at the picking position 12 and the unloading position 13 can be grabbed at the same time, thereby improving the transfer efficiency of the jig 500.

[0086] See also Fig.10 and Fig.11 The separation device 40 includes a separation member 41 and a blowing head 44. The blowing head 44 is disposed on the separation member 41. The separation member 41 is used to support the second surface 502 of the fixture 500 and to connect the blowing head 44 with the air hole 503. The blowing head 44 is used to blow air into the air hole 503 to separate the workpiece 400 from the first surface 501.

[0087] By blowing air into the fitting gap between the workpiece 400 and the first surface 501 through the air blowing head 44 through the air hole 503, the negative pressure environment between the workpiece 400 and the first surface 501 can be destroyed, so that the workpiece 400 and the first surface 501 are completely separated, which is convenient for realizing automatic grasping of the workpiece 400 and improving the material taking efficiency of the workpiece 400. At the same time, this method does not need to pry the workpiece 400 from the fixture 500 through a mechanical structure, which can ensure the protection of the workpiece 400. When the previous process of the workpiece 400 is a polishing process, the surface quality of the workpiece 400 can be further guaranteed to avoid deformation or scratch damage to the workpiece 400.

[0088] In this embodiment, see Fig.10 A plurality of air blowing heads 44 are provided, and the plurality of air blowing heads 44 are arranged around the separation piece 41 , and can be arranged one-to-one correspondingly to the plurality of air holes 503 of the fixture 500 .

[0089] In this embodiment, see Fig.10 The separation device 40 further includes two third positioning portions 45, which are spaced apart on the separation member 41 and are used to cooperate with the two second positioning portions of the fixture 500, thereby positioning the fixture 500 on the separation member 41. The two third positioning portions 45 can be provided as positioning protrusions.

[0090] In this embodiment, see Fig.11 , the separation device 40 also includes a transfer drive 43 and a transfer guide assembly 42. The transfer drive 43 is arranged on the partition 18, the transfer drive 43 is connected to the separation member 41, and is used to drive the separation member 41 to move along the Y direction. The transfer guide assembly 42 is connected between the separation member 41 and the partition 18, and is used to guide the separation member 41 to move along the Y direction. Optionally, the transfer guide assembly 42 includes a transfer guide rail 421 and a transfer slider 422. The length direction of the transfer guide rail 421 is parallel to the Y direction, and the transfer slider 422 is slidably matched with the transfer guide rail 421 and connected to the separation member 41.

[0091] In this embodiment, see Figures 14 to 16The material receiving and feeding device 90 includes a first lifting mechanism 91, a tray positioning mechanism 93, a first transfer mechanism 50, a second lifting mechanism 92 and two material frame locking mechanisms 94. The first lifting mechanism 91 includes a first lifting component 911 and a second lifting component 912. The first lifting component 911 is used to drive the material frame 200 to move back and forth between the first fixed position and the input position along the Z direction. The material frame 200 is provided with a receiving space, and the receiving space is used to receive the tray 300. The tray 300 is used to carry the workpiece 400. The second lifting component 912 is used to drive the tray 300 to move along the Z direction to the first material taking position. The tray positioning mechanism 93 is arranged on one side of the first lifting mechanism 91 along the X direction. The tray positioning mechanism 93 is used to carry and position the tray 300. The first transfer mechanism 50 is used to transfer the material tray 300 at the first material fetching position to the material tray positioning mechanism 93, and is also used to place the workpiece 400 on the material tray 300 at the material tray positioning mechanism 93, and is used to transfer the material tray 300 loaded with the workpiece 400 to the second material fetching position. The second lifting mechanism 92 is arranged on the side of the material tray positioning mechanism 93 away from the first lifting mechanism 91 along the X direction. The second lifting mechanism 92 includes a third lifting component 921 and a fourth lifting component 922. The third lifting component 921 is used to drive the material frame 200 to reciprocate between the second fixed position and the output position along the Z direction, and the fourth lifting component 922 is used to drive the material tray 300 to move along the Z direction and leave the second material fetching position. One material frame locking mechanism 94 is used to lock or release the material frame 200 at the first fixed position, and the other material frame locking mechanism 94 is used to lock or release the material frame 200 at the second fixed position.

[0092] During the operation of the cleaning device 80, the positioning device 30, the second transfer mechanism 21, the separation device 40, etc., the material frame 200 containing the stacked empty material trays 300 is transported to the input position of the first jacking component 911 by the conveying equipment such as the AGV trolley. The first jacking component 911 drives the material frame 200 to move to the first fixed position, and the material frame locking mechanism 94 fixes the material frame 200 at the first fixed position to ensure that the material frame 200 does not shake during the material removal process of the material tray 300, thereby ensuring the transfer reliability of the material tray 300. The second jacking component 912 drives the topmost material tray 300 of the stacked material trays 300 to move to the first material removal position. Another material frame locking mechanism 94 fixes the material frame 200 at the third jacking component 921 to the second fixed position. The second transfer mechanism 21 grabs the material tray 300 at the first material removal position to the material tray positioning mechanism 93, and positions the material tray 300. After that, the second transfer mechanism 21 grabs the workpiece 400 to the positioned material tray 300, and then grabs the material tray 300 loaded with the workpiece 400 to the second material fetching position at the fourth jacking assembly 922, and then the fourth jacking assembly 922 drives the material tray 300 loaded with the workpiece 400 to leave the second material fetching position. In this way, multiple material trays 300 loaded with workpieces 400 can be stacked and placed in the material frame 200 at the third jacking assembly 921. After the loading of the workpiece 400 is completed, the material frame locking mechanism 94 locks the material frame 200 at the second fixed position, and the third jacking assembly 921 drives the material frame 200 to move to the output position, so that the conveying device can take away the material frame 200. Thereby, the efficient and reliable transfer of the workpiece 400 is completed.

[0093] According to the receiving and feeding device 90 of the present embodiment, the workpiece 400 can be loaded on the positioned material tray 300, thereby improving the accuracy of the loading process of the workpiece 400. After the loading of the workpiece 400 is completed, the material tray 300 loaded with the workpiece 400 is stacked in the empty material frame 200 in sequence, and finally the material frame 200 is output, thereby improving the transfer efficiency of the workpiece 400. In the process of receiving and feeding, the material frame 200 is locked by the material frame locking mechanism 94 to ensure that the material tray 300 is stably and reliably taken and placed, and to avoid the problem that the material tray 300 and the material frame 200 collide and cause the workpiece 400 to shake. Placing the workpiece 400 on the positioned material tray 300 can improve the placement efficiency of the workpiece 400, and can also avoid the workpiece 400 and the material tray 300 from being scratched. Therefore, the receiving and feeding device 90 of the present embodiment can improve the transfer efficiency of the workpiece 400 and ensure the transfer quality of the workpiece 400.

[0094] In this embodiment, see Fig.12The material frame 200 includes a first ring portion 202, a second ring portion 203, a cover portion (not shown in the figure), a clamping portion 201 and a plurality of connecting portions 204. The first ring portion 202 and the second ring portion 203 are arranged at intervals, and the plurality of connecting portions 204 are arranged at intervals along the circumference of the first ring portion 202, and the plurality of connecting portions 204 are respectively connected between the first ring portion 202 and the second ring portion 203. The clamping portion 201 is arranged on the first ring portion 202, and the cover portion is detachably matched with the clamping portion 201. The second ring portion 203 is used to support the material tray 300.

[0095] When the material frame 200 is arranged on the first lifting component 911, the second ring portion 203 is supported on the first lifting component 911, the first ring portion 202 and the second ring portion 203 are spaced apart along the Z direction, and the second lifting component 912 is arranged on the inner side of the second ring portion 203 and is used to carry the stacked material trays 300 so that the first transfer mechanism 50 can grab the material trays 300 to the positioning device 30.

[0096] The first material taking position may be disposed between the first ring portion 202 and the second ring portion 203 , or may be disposed on the inner side of the second ring portion 203 , or on the side of the second ring portion 203 away from the first ring portion 202 .

[0097] When the material frame 200 is arranged on the second lifting assembly 912, the second ring portion 203 is supported on the third lifting assembly 921, and the fourth lifting assembly 922 passes through the inner side of the second ring portion 203 and moves to the second material picking position to carry the material tray 300 loaded with the workpiece 400 grabbed by the first transfer mechanism 50. In the process of the first transfer mechanism 50 grabbing the material tray 300 loaded with the workpiece 400 to the second material picking position, the fourth lifting assembly 922 gradually descends along the Z direction to ensure that the second material picking position is vacant, so as to finally complete the loading of the workpiece 400 of all the material trays 300 in the material frame 200.

[0098] After the workpiece 400 is loaded, the cover is engaged with the engaging portion 201 manually or mechanically, so that all the trays 300 can be stably fixed in the material frame 200, thereby ensuring that the workpiece 400 will not fall off or shift during subsequent processing.

[0099] In addition, in this embodiment, the structural design of the first ring portion 202, the second ring portion 203 and the multiple connecting portions 204 allows the interior of the material frame 200 to form a hollow installation space, thereby facilitating the cleaning of the workpiece 400 in the material frame 200 by the cleaning liquid during the cleaning process, and also ensuring the discharge of the cleaning liquid, thereby improving the cleaning efficiency of the workpiece 400.

[0100] Optionally, there are multiple engaging parts 201, and the multiple engaging parts 201 are arranged around the first ring part 202. The cover part includes a body and multiple engaging protrusions, and the multiple engaging protrusions are distributed around the circumference of the body. The multiple engaging protrusions can elastically press between the body and the multiple engaging parts 201, so as to achieve fixed cooperation between the cover part and the first ring part 202. In other embodiments, the cover part and the first ring part 202 can also be engaged by a snap-fit ​​structure.

[0101] Alternatively, see Fig.12 The material frame 200 further includes a support portion 207, which is convexly disposed on the inner surface of the second ring portion 203 and is used to support a plurality of material trays 300. A plurality of support portions 207 are provided, and can be configured as a convex structure.

[0102] See also Fig.23 and 24 The material tray 300 includes a material tray body 301 and a workpiece positioning protrusion 302 . The workpiece positioning protrusion 302 is arranged on the surface of the material tray body 301 and surrounds a contoured space Q. The workpiece positioning protrusion 302 is used to position the workpiece 400 in the contoured space Q.

[0103] The material tray 300 is provided with a plurality of hollow holes, and the hollow holes are arranged corresponding to the contoured spaces Q, so that during the cleaning process, the cleaning liquid can enter between the material trays 300 and clean the workpieces 400 .

[0104] After the two material trays 300 are stacked together, the workpiece positioning protrusion 302 still presses against the upper material tray 300, and a hollow space is formed between the workpiece positioning protrusion 302 and the two material tray bodies 301 to ensure that the workpiece 400 will not fall during the cleaning process, so that the workpiece 400 can be cleaned through ultrasonic treatment, thereby improving the cleaning quality of the workpiece 400.

[0105] In addition, in this embodiment, the distribution position of the workpiece 400 contour space on the tray body 301 is the same as the distribution position of the workpiece mounting position 504 on the fixture 500, thereby facilitating the first transfer mechanism 50 to directly grab the workpiece 400 from the fixture 500 to the tray 300 where positioning is completed.

[0106] Alternatively, see Fig.23 The material frame 200 further includes a tray positioning portion 206, which is disposed on the connecting portion 204, and the length direction of the tray positioning portion 206 is parallel to the length direction of the connecting portion 204. The edge of the tray body 301 is provided with a tray positioning groove 304, which is used to cooperate with the tray positioning portion 206 to limit the tray body 301 to the material frame 200, so as to prevent the tray body 301 from shaking during the cleaning process of the workpiece 400.

[0107] In this embodiment, see Figures 18 to 20The first lifting component 911 includes a first supporting member 9111, which is used to support the material frame 200 and defines a first avoidance space 9113; the second lifting component 912 includes a second supporting member 9121, which is used to support the material tray 300 and a projection of the second supporting member 9121 along the Z direction is located in the first avoidance space 9113.

[0108] In this way, when the first lifting component 911 carries the material frame 200, the second supporting member 9121 can move along the Z direction and allow the material tray 300 to pass through the first avoidance space 9113, thereby moving the material tray 300 carried by the second supporting member 9121 to the first material picking position to facilitate the first transfer mechanism 50 to grab the material tray 300.

[0109] In this embodiment, the first lifting mechanism 91 further includes a first mounting member 913, a first driving member 9112 and a second driving member 9122. The first mounting member 913 is disposed on the frame 10. The first driving member 9112 and the second driving member 9122 are respectively connected to two sides of the first mounting member 913 that are disposed opposite to each other along the Y direction. The first bearing member 9111 is connected to the first driving member 9112, and the second bearing member 9121 is connected to the second driving member 9122. The first driving member 9112 and the second driving member 9122 can be respectively configured as driving structures such as linear modules and driving motors.

[0110] Alternatively, see Fig. 20 The first driving member 9112 is connected to a side of the first mounting member 913 away from the positioning device 30 along the Y direction, and the second driving member 9122 is connected to a side of the first mounting member 913 close to the positioning device 30 along the Y direction.

[0111] Alternatively, see Fig.18 The first bearing member 9111 includes two first bearing rods 9114, which are arranged at intervals on both sides of the first mounting member 913 along the X direction, and the two first bearing rods 9114 are connected to the first driving member 9112, and extend from one side of the first mounting member 913 to the other side along the Y direction, and a first avoidance space 9113 is defined between the two first bearing rods 9114. In other embodiments, the first bearing member 9111 can also be configured as a ring structure sleeved on the first mounting member 913.

[0112] Optionally, the first mounting member 913 may be configured as a vertical mounting plate.

[0113] In this embodiment, see Fig.18The first lifting mechanism 91 further includes two first columns 914, which are arranged on one side of the first mounting member 913 close to the positioning device 30 along the Y direction, and the two first columns 914 are arranged at intervals on both sides of the first mounting member 913 along the X direction. Two first bearing rods 9114 are arranged between the two first columns 914 along the X direction.

[0114] In this embodiment, see Figures 18 to 20 The third lifting component 921 includes a third supporting member 9211, which is used to support the material frame 200 and defines a second avoidance space 9213; the fourth lifting component 922 includes a fourth supporting member 9221, which is used to support the material tray 300 and a projection of the fourth supporting member 9221 along the Z direction is located in the second avoidance space 9213.

[0115] In this way, when the first lifting component 911 carries the material frame 200, the second supporting member 9121 can move along the Z direction and allow the material tray 300 to pass through the second avoidance space 9213, thereby allowing the second supporting member 9121 to carry the material tray 300 containing the workpiece 400 at the second material picking position. At the same time, after the second supporting member 9121 moves along the Z direction, it can also allow the second supporting member 9121 to pass through the second avoidance space 9213, thereby vacating the second material picking position, thereby facilitating the first transfer mechanism 50 to place the material tray 300 containing the workpiece 400 at the second material picking position.

[0116] The carried material tray 300 moves to the first material taking position so that the first transfer mechanism 50 can grab the material tray 300 .

[0117] In this embodiment, see Figures 18 to 20 The second lifting mechanism 92 further includes a second mounting member 923, a third driving member 9212 and a fourth driving member 9222. The second mounting member 923 is disposed on the frame 10. The third driving member 9212 and the fourth driving member 9222 are respectively connected to two sides of the second mounting member 923 that are disposed opposite to each other along the Y direction. The second bearing member 9121 is connected to the first driving member 9112, and the second bearing member 9121 is connected to the second driving member 9122. The first driving member 9112 and the second driving member 9122 can be respectively set as a driving structure such as a linear module and a driving motor.

[0118] Optionally, the first driving member 9112 is connected to a side of the first mounting member 913 away from the positioning device 30 along the Y direction, and the second driving member 9122 is connected to a side of the first mounting member 913 close to the positioning device 30 along the Y direction.

[0119] Optionally, the third bearing member 9211 includes two second bearing rods 9214, which are spaced apart on both sides of the first mounting member 913 along the X direction, and the two first bearing rods 9114 are connected to the first driving member 9112 and extend from one side to the other side of the second mounting member 923 along the Y direction, and a first avoidance space 9113 is defined between the two first bearing rods 9114. In other embodiments, the third bearing member 9211 can also be configured as an annular structure sleeved on the second mounting member 923.

[0120] Optionally, the second mounting member 923 may be configured as a vertical mounting plate.

[0121] In this embodiment, the second lifting mechanism 92 further includes two second columns 924, which are arranged on one side of the first mounting member 913 close to the positioning device 30 along the Y direction, and the two second columns 924 are arranged at intervals along the X direction on both sides of the second mounting member 923 along the X direction. The two second bearing rods 9214 are arranged between the two second columns 924 along the X direction.

[0122] In this embodiment, see Fig.15 and Fig.16 The receiving and feeding device 90 further includes a first conveying mechanism 95 and a second conveying mechanism 96. The first conveying mechanism 95 includes two first conveying components 951, which are spaced apart along the X direction at both sides of the input position, and the two first conveying components 951 are used to convey the material frame 200 from the material frame loading position to the input position. The first conveying mechanism 95 includes two second conveying components 961, which are spaced apart along the X direction at both sides of the output position, and the two second conveying components 961 are used to convey the material frame 200 from the output position to the material frame unloading position.

[0123] The material frame 200 stacked with empty material trays 300 can be input to the first lifting assembly 911 of the first lifting mechanism 91 through the two first conveying assemblies 951, so as to realize the material frame 200 being transported from the material frame loading position to the input position of the unloading device 100. The material frame 200 stacked with the material trays 300 loaded with workpieces 400 can be input to the two second conveying assemblies 961 through the second lifting assembly 912, so as to facilitate the material frame 200 to be output from the material frame unloading position from the unloading device 100.

[0124] Optionally, the first conveying assembly 951 is disposed along the Y direction at one side of the first carrier 9111 of the first lifting assembly 911, so that the first conveying assembly 951 can input the material frame 200 along the Y direction. The second conveying assembly 961 is disposed along the Y direction at the other side of the first carrier 9111 of the second lifting assembly 912, so that the second conveying assembly 961 can convey the material frame 200 loaded with the workpiece 400 to the outside of the unloading device 100 along the Y direction.

[0125] Optionally, the first conveying mechanism 95 also includes two third conveying components 952, which are arranged at intervals on both sides of the two first conveying components 951 along the X-direction, and extend to both sides of the first lifting component 911 along the X-direction. The two third conveying components 952 can assist the material frame 200 on the first conveying component 951 to move to the first carrier 9111, thereby ensuring the conveying reliability of the material frame 200.

[0126] Optionally, the second conveying mechanism 96 also includes two fourth conveying components 962, which are arranged at intervals on both sides of the two second conveying components 961 along the X-direction and extend to both sides of the second lifting component 912 along the X-direction. The two fourth conveying components 962 can facilitate the movement of the material frame 200 on the second carrier 9121 to the first carrier 9111, thereby ensuring the conveying reliability of the material frame 200.

[0127] Optionally, the first conveying assembly 951 and the second conveying assembly 961 are both belt transmission structures, and the third conveying assembly 952 and the fourth conveying assembly 962 are both chain transmission structures. In other embodiments, the specific structures of the first conveying assembly 951, the second conveying assembly 961, the third conveying assembly 952 and the fourth conveying assembly 962 can be adjusted according to actual needs.

[0128] In this embodiment, see Fig.16 and Fig.17 The material frame locking mechanism 94 includes a plurality of circumferential locking members 941 and a Z-direction locking member 942. The plurality of circumferential locking members 941 are arranged around the first fixed position or the second fixed position, and the plurality of circumferential locking members 941 are used to fix or release the material frame 200 along the circumference of the material frame 200. The Z-direction locking member 942 is arranged on one side of the tray positioning mechanism 93, and the Z-direction locking member 942 is used to fix or release the material frame 200 along the Z-direction.

[0129] In this way, the circumferential locking member 941 can limit the circumferential freedom of the material frame 200, and the Z-direction locking member 942 can limit the Z-direction freedom of the material frame 200, so that the material frame 200 can be completely fixed relative to the frame 10, thereby ensuring the stability and reliability of the material tray 300 during the process of taking and placing between the two material frames 200.

[0130] In this embodiment, the circumferential locking member 941 includes a circumferential locking driving member 9411 and a circumferential locking portion 9412. The circumferential locking driving member 9411 is disposed on the frame 10 and is located on one side of the first fixed position or the second fixed position. The circumferential locking portion 9412 is connected to the circumferential locking driving member 9411 and can push the material frame 200 against the first column 914 or the second column 924 under the drive of the circumferential locking driving member 9411 to achieve circumferential locking of the material frame 200.

[0131] Of course, in other embodiments, the circumferential locking members 941 may also be paired in pairs to lock or release the material frame 200 in different directions perpendicular to the Z direction.

[0132] Optionally, the circumferential locking member 941 further includes a circumferential locking roller 9413 , which is rotatably connected to the circumferential locking portion 9412 and is used to resist the material frame 200 , thereby improving the protection of the material frame 200 .

[0133] Optionally, the driving direction of the circumferential locking drive member 9411 is located between the X direction and the Y direction to simultaneously achieve locking and releasing of the material frame 200 in the X direction and the Y direction. In other embodiments, the driving direction of the circumferential locking drive member 9411 can also be adjusted according to the number and arrangement of the circumferential locking members 941.

[0134] In this embodiment, see Fig.16 and Fig.17 Of the two Z-direction locking members 942, one Z-direction locking member 942 is disposed above the first carrier 9111 along the Z-direction, and the other Z-direction locking member 942 is disposed above the third carrier 9211 along the Z-direction. The Z-direction locking member 942 can be moved along the Z-direction driven by a cylinder or a motor to fix the material frame 200 to the first carrier 9111 or the third carrier 9211 along the Z-direction, or release the material frame 200 on the first carrier 9111 or the third carrier 9211 along the Z-direction.

[0135] Alternatively, see Fig.16 and Fig.17 The Z-direction locking member 942 includes a Z-direction locking driver 9421 and a Z-direction locking portion 9422. The Z-direction locking driver 9421 is disposed on the frame 10 and is located on one side of the first fixed position or the second fixed position. The Z-direction locking portion 9422 is connected to the Z-direction locking driver 9421 and extends along the X direction to be used for pressing the material frame 200 along the Z direction to the first bearing member 9111 or the third bearing member 9211. The Z-direction locking driver 9421 can be configured as a motor or a cylinder.

[0136] Alternatively, see Fig.16 and Fig.17 , two Z-direction locking members 942 are provided, and the two Z-direction locking members 942 are provided on both sides of the first fixed position or the second fixed position along the X direction, so as to achieve the effect of uniformly applying force to the material frame 200 in the Z direction. In other embodiments, the number of Z-direction locking members 942 can be adjusted according to actual needs. For example, a plurality of Z-direction locking members 942 can be provided, and a plurality of Z-direction locking members 942 are provided around the first fixed position or the second fixed position. For another example, a single Z-direction locking member 942 can be provided, and one side of its Z-direction locking portion 9422 is connected to the Z-direction locking driving member 9421, and the other side is slidably matched with the frame 10.

[0137] In this embodiment, see Fig.16 and Fig.17 The material frame locking mechanism 94 also includes two X-direction locking members 943, which are arranged on both sides of the first fixed position or the second fixed position along the X-direction. The two X-direction locking members 943 are used to approach each other to lock the material frame 200 in the X-direction, or to move away from each other to release the material frame 200 in the X-direction.

[0138] Alternatively, see Fig.16 and Fig.17 The material frame locking mechanism 94 may include a plurality of X-direction locking members 943 , and some of the X-direction locking members 943 may be arranged at intervals along the Z direction, thereby improving the locking reliability of the material frame 200 in the X direction.

[0139] In other embodiments, the material frame locking mechanism 94 may also only be provided with a single X-axis locking member 943 , and only the material frame 200 may be locked on the frame 10 .

[0140] See also Fig.16 and Fig.17 The X-direction locking member 943 includes an X-direction locking driving member 9431 and an X-direction locking portion 9432. The X-direction locking driving member 9431 is disposed on the frame 10 and is located on one side of the first fixed position or the second fixed position. The X-direction locking portion 9432 is connected to the X-direction locking driving member 9431 and extends along the X-direction to press the material frame 200 against the X-direction locking portion 9432 of another X-direction locking member 943 along the X-direction. The X-direction locking driving member 9431 can be configured as a motor or a cylinder.

[0141] Alternatively, see Fig.16 and Fig.17 The X-direction locking portion 9432 can be slidably matched with the frame 10 along the X-direction. The sliding match between the X-direction locking portion 9432 and the frame 10 can be achieved through a guide structure such as a slider guide rail or a guide rod, which will not be repeated here.

[0142] Alternatively, see Fig.16 and Fig.17 The X-axis locking member 943 also includes an X-axis locking roller, which is rotatably connected to the X-axis locking portion 9432 and is used to resist the material frame 200, thereby improving the protection of the material frame 200.

[0143] Obviously, the structures of the circumferential locking member 941, the Z-direction locking member 942 and the X-direction locking member 943 can also be adjusted and modified according to actual needs, and this embodiment does not limit their specific structures.

[0144] In this embodiment, see Fig.21 and Fig. 22The first transfer mechanism 50 includes a workpiece grabbing member 52, a lifting driving member 53 and a tray grabbing member 54. The workpiece grabbing member 52 is used to grab the workpiece 400, and the workpiece grabbing member 52 defines a lifting avoidance hole 521. The lifting driving member 53 is connected to the workpiece grabbing member 52. The tray grabbing member 54 is connected to the lifting driving member 53, and the tray grabbing member 54 is used to grab the tray 300. The tray grabbing member 54 can move along the Z direction under the drive of the lifting driving member 53, and move to one side of the workpiece grabbing member 52 along the Z direction through the lifting avoidance hole 521.

[0145] In this way, the first transfer mechanism 50 can simultaneously realize the functions of grasping the workpiece 400 and grasping the tray 300, and by setting the avoidance hole 521, the grasping of the workpiece 400 and the tray 300 do not interfere with each other, thereby improving the grasping efficiency of the workpiece 400 and the tray 300.

[0146] In this embodiment, see Fig.21 The first transfer mechanism 50 further includes a second manipulator 51 and a transfer mounting member 55. The second manipulator 51 is disposed on the frame 10, and the transfer mounting member 55 is fixed to the second manipulator 51. The workpiece grabbing member 52 and the lifting driving member 53 are both connected to the transfer mounting member 55, and the lifting driving member 53 is arranged corresponding to the lifting avoidance hole 521. The tray grabbing member 54 is connected to the lifting driving member 53 and can pass through the lifting avoidance hole 521 along the Z direction. The second manipulator 51 can drive the transfer mounting member 55 to move, thereby driving the workpiece grabbing member 52 and the tray grabbing member 54 to move at the same time.

[0147] Optionally, the lifting drive member 53 can be configured as a cylinder or an electric push rod.

[0148] Alternatively, see Fig. 22 The transfer mounting member 55 includes a transfer mounting plate 551 and a plurality of transfer connecting parts 552. One end of the plurality of transfer connecting parts 552 is connected to the edge of the transfer mounting plate 551, and the other end extends from the Z direction and is connected to the edge of the workpiece grabbing member 52 near the lifting avoidance hole 521, so as to further ensure that the workpiece grabbing member 52 and the material tray grabbing member 54 are staggered, and ensure that there is no interference between the two when they work.

[0149] Alternatively, see Fig. 22 The workpiece grasping member 52 includes a suction grasping plate 522 and a plurality of suction nozzles 523. A lifting avoidance hole 521 is provided in the middle portion of the suction grasping plate 522. A plurality of suction nozzles 523 are connected to the suction grasping plate 522 and are arranged around the lifting avoidance hole 521. The number of suction nozzles 523 can be adjusted according to actual needs. When grasping the workpiece 400 from the fixture 500, the suction nozzle 523 can apply a suction force to the workpiece 400 away from the fixture 500 in the Z direction, thereby improving the separation efficiency of the fixture 500 from the surface of the workpiece 400.

[0150] Alternatively, see Fig. 22 The tray grabbing member 54 includes a lifting and mounting portion 541 and a plurality of tray suction nozzles 543. The lifting and mounting portion 541 defines a plurality of adjustment slots 542 extending in different directions, each of which is provided with at least one tray suction nozzle 543, and the tray suction nozzle 543 can move along the length direction of the adjustment slot 542 to facilitate grabbing trays 300 of different sizes, thereby improving the applicable range of the tray grabbing member 54.

[0151] The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A material receiving and feeding device, characterized in that: include: A first lifting mechanism, the first lifting mechanism comprising a first lifting assembly and a second lifting assembly, the first lifting assembly is used to drive the material frame to reciprocate between a first fixed position and an input position along the Z direction, the material frame is provided with a receiving space, the receiving space is used to receive a material tray, the material tray is used to carry a workpiece, and the second lifting assembly is used to drive the material tray to move along the Z direction to a first material taking position; A tray positioning mechanism, the tray positioning mechanism is arranged on one side of the first lifting mechanism along the X direction, and the tray positioning mechanism is used to carry and position the tray; a first transfer mechanism, the first transfer mechanism being used to transfer the material tray at the first material picking position to the material tray positioning mechanism, and also being used to place the workpiece on the material tray at the material tray positioning mechanism, and being used to transfer the material tray loaded with the workpiece to the second material picking position; A second lifting mechanism, the second lifting mechanism is arranged on a side of the tray positioning mechanism away from the first lifting mechanism along the X direction, the second lifting mechanism comprises a third lifting assembly and a fourth lifting assembly, the third lifting assembly is used to drive the material frame to reciprocate between the second fixed position and the output position along the Z direction, and the fourth lifting assembly is used to drive the tray to move along the Z direction and leave the second material taking position; Two material frame locking mechanisms, one of the material frame locking mechanisms is used to lock or release the material frame at the first fixed position, and the other of the material frame locking mechanisms is used to lock or release the material frame at the second fixed position.

2. The material receiving and feeding device according to claim 1, characterized in that: The material frame locking mechanism comprises: A plurality of circumferential locking members, wherein the plurality of circumferential locking members are arranged around the first fixed position or the second fixed position, and the plurality of circumferential locking members are used to fix or release the material frame along the circumference of the material frame; A Z-direction locking member is disposed on one side of the tray positioning mechanism and is used to fix or release the material frame along the Z direction.

3. The material receiving and feeding device according to claim 1, characterized in that: The first lifting assembly includes a first bearing member, the first bearing member is used to bear the material frame, and the first bearing member defines a first avoidance space; the second lifting assembly includes a second bearing member, the second bearing member is used to bear the material tray, and a projection of the second bearing member along the Z direction is located in the first avoidance space; The third lifting assembly includes a third support member, which is used to support the material frame and defines a second avoidance space; the fourth lifting assembly includes a fourth support member, which is used to support the material tray and a projection of the fourth support member along the Z direction is located within the second avoidance space.

4. The material receiving and feeding device according to claim 1, characterized in that: The material receiving and feeding device also includes: A first conveying mechanism, the first conveying mechanism comprising two first conveying assemblies, the two first conveying assemblies are arranged at intervals on both sides of the input position along the X direction, and the two first conveying assemblies are used to convey the material frame from the material frame loading position to the input position; The second conveying mechanism, the first conveying mechanism includes two second conveying components, the two second conveying components are arranged at intervals on both sides of the output position along the X direction, and the two second conveying components are used to convey the material frame from the output position to the material frame unloading position.

5. The material receiving and feeding device according to claim 1, characterized in that: The material frame includes a first ring portion, a second ring portion, a plurality of connecting portions, and a cover portion. The first ring portion and the second ring portion are arranged at intervals. The plurality of connecting portions are respectively connected between the first ring portion and the second ring portion. The plurality of connecting portions are distributed at intervals along the circumference of the material frame. The first ring portion, the second ring portion and the plurality of connecting portions together enclose the receiving space. The cover portion is detachably engaged with the first ring portion and is used to press the material tray against the second ring portion.

6. The material receiving and feeding device according to claim 1, characterized in that: The first transfer mechanism comprises: A workpiece grabbing member, the workpiece grabbing member is used to grab the workpiece, and the workpiece grabbing member defines a lifting avoidance hole; a lifting drive member connected to the workpiece grabbing member; A tray grabbing member, the tray grabbing member is connected to the lifting drive member, the tray grabbing member is used to grab the tray, the tray grabbing member can move along the Z direction under the drive of the lifting drive member, and move to one side of the workpiece grabbing member along the Z direction through the lifting avoidance hole.

7. The material receiving and feeding device according to claim 1, characterized in that: The material tray includes a material tray body and a workpiece positioning protrusion, the workpiece positioning protrusion is arranged on the surface of the material tray body and surrounds a contoured space, the workpiece positioning protrusion is used to position the workpiece in the contoured space, and the workpiece positioning protrusion is also used to cooperate with the material tray above to surround a hollow space.

8. A material unloading device, characterized in that: include: A loading device, the loading device is used to grab the fixture to the loading position, and the workpiece is adsorbed on the surface of the fixture; A separation device, the separation device is used to separate the workpiece from the surface of the fixture; According to any one of claims 1 to 7, the first transfer mechanism of the material receiving and feeding device is used to grab the separated workpieces and place them on the tray at the tray positioning mechanism.

9. The material discharging equipment according to claim 8, characterized in that: The jig has a first surface and a second surface that are arranged opposite to each other, the jig is provided with an air hole that is connected between the first surface and the second surface, and the workpiece is arranged on the first surface; The separation device includes a separation piece and a blowing head, wherein the blowing head is arranged on the separation piece, the separation piece is used to support the second surface of the fixture, and the blowing head is connected with the air hole, and the blowing head is used to blow air into the air hole to separate the workpiece from the first surface.

10. The material discharging equipment according to claim 8, characterized in that: The feeding device includes a second transfer mechanism, which includes a transverse driving assembly, a lifting driving assembly and a jig grabbing assembly. The lifting driving assembly is connected to the output end of the transverse driving assembly and can move along the Y direction under the drive of the transverse driving assembly. The jig grabbing assembly is connected to the lifting driving assembly and can move along the Z direction under the drive of the lifting driving assembly. The jig grabbing assembly is used to grab the jig.

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