Feeding and discharging system

Abstract

The utility model discloses a feeding and discharging system and further discloses an XXX with an XXX. The XXX provided by the utility model can be used.

Description

Technical Field

[0001] The present application relates to the technical field of loading and unloading devices, and in particular to a loading and unloading system. Background Art

[0002] In the related art, when annular workpieces need to be processed, such as for anodizing reactions, the workpieces are often manually placed one by one into a storage frame for locking the workpieces, and then the storage frame is directly placed into a reaction tank for reaction. After the reaction is completed, the storage frame is manually taken out of the reaction tank, and then the annular workpieces are taken out one by one. This loading and unloading method is extremely inefficient and labor-intensive, seriously affecting the realization of the company's goal of reducing costs and increasing efficiency. Utility Model Content

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a loading and unloading system that can automatically unlock or lock the storage bars on the storage rack and automatically load and unload the workpieces on the storage bars, thereby improving the degree of automation.

[0004] According to the embodiment of the present invention, the loading and unloading system includes: a main line body, an loading and unloading line body and a transfer module. The main line body includes a first conveying mechanism and a locking and unlocking mechanism respectively arranged at the head and tail of the first conveying mechanism. The first conveying mechanism is used to convey the storage rack, and the locking and unlocking mechanism is used to unlock or lock the storage bar located on the storage rack; the loading and unloading line body is arranged on at least one side of the main line body and includes a second conveying mechanism, a positioning module, a unloading robot and a loading robot. The second conveying mechanism is used to convey the storage bar, and the conveying path passes under the positioning module. The unloading robot is used to unload the workpiece on the storage bar, and the loading robot is used to load the workpiece to be processed onto the storage bar; the transfer module is arranged between the main line body and the loading and unloading line body, and is used to transfer the storage bar.

[0005] The loading and unloading system according to the embodiment of the present invention has at least the following beneficial effects: the loading and unloading system mainly includes a main line body, a loading and unloading line body and a transfer module. When in use, a storage rack with a locked storage bar is first placed on one end of the first conveying mechanism in the main line body by a person or an AGV trolley. The storage bar is used to store the processed workpieces. The first conveying mechanism conveys the storage rack to the first locking and unlocking mechanism for unlocking. The unlocked storage bar is transferred via the transfer module. The emptied storage rack will continue to be transported by the first conveying mechanism for transporting the storage rack. The storage bar is transferred The module is transferred to the second conveying mechanism in the loading and unloading line, and the second conveying mechanism conveys the storage bar to the positioning module for positioning, so that the unloading robot can first unload the workpiece on the storage bar, and then the loading robot can load the workpiece to be processed onto the storage bar, and then another set of transfer modules will transfer the storage bar with the workpiece to be processed to the storage rack at the other end of the first conveying mechanism; therefore, the loading and unloading system of the present application can realize automatic unlocking or locking of the storage bar on the storage rack, and automatic unloading and loading of the workpiece on the storage bar, thereby improving the degree of automation.

[0006] The cam is configured to move the locking member to a position corresponding to the first and second positions of the cam, and the locking member is configured to lock the cam in the locked position. The material taking position, several groups of pushing members and supporting mechanisms are provided on the opposite sides of the two groups of mounting plates, and each group of mounting plates is also provided with a third driving mechanism and a slide plate, the supporting mechanism is arranged on the mounting plate through the slide plate, the third driving mechanism is arranged on the mounting plate, and the output end is connected to the slide plate; the output end of the first driving mechanism is connected to the mounting plate, and is used to drive the two groups of mounting plates close to each other, so that the pushing member can squeeze the elastic part on the storage bar for tightening the workpiece, so that the workpiece can break away from the deformed elastic part and fall on the support plate mechanism; the supporting mechanism includes a second driving assembly and a support plate assembly, the support plate assembly is correspondingly arranged above the pushing member, and is used to support the workpiece, and can push the workpiece out of the elastic part of the storage bar under the drive of the second driving assembly, and the third driving mechanism is used to drive the two groups of slide plates close to or away from each other, so that the support plate assemblies on both sides can position or release the workpiece.

[0007] According to some embodiments of the present invention, the locking member is a locking crank, the first end of the locking crank is rotatably connected to the storage rack, and the first end is provided with a cam surface. The push plate can drive the second end to rotate under the drive of the first drive member and / or the second drive member, so that the cam surface can cooperate with the storage rack to clamp or release the storage strip.

[0008] According to some embodiments of the present invention, a positioning mechanism is further included. The positioning mechanism is set in a locking and unlocking position and is used to position and fix the storage rack.

[0009] According to some embodiments of the present invention, the main line body also includes a stop mechanism and a frame. The stop mechanism can be raised and lowered and is arranged in front of the conveying direction of the first conveying mechanism, and is used to stop the storage rack from moving along the conveying direction of the first conveying mechanism. The first conveying mechanism is arranged below the frame, and a top guide wheel is provided on the upper part of the frame. The rolling direction of the top guide wheel is consistent with the conveying direction of the first conveying mechanism.

[0010] According to some embodiments of the present invention, the pushing member is a roller; the material storage bar is provided with a plurality of jigs, and at least one end of the jig is provided with at least three elastic parts, the elastic parts have elastic forces that move away from or gather together to support or release the workpiece, and the support plate assembly includes a plurality of support plate parts, and the support plate parts can be inserted between adjacent elastic parts.

[0011] According to some embodiments of the present invention, the second conveying mechanism includes a fifth driving mechanism and a conveying chain, the output end of the fifth driving mechanism is connected to the conveying chain and is used to drive the conveying chain to rotate, and the conveying chain is provided with multiple positioning members in sequence along the conveying direction, and the positioning members are adapted to the positioning holes at both ends of the storage bar so that the two ends of the storage bar can be hung on the positioning members; the positioning module also includes a fourth driving mechanism and a support plate, the mounting plate and the first driving mechanism are both provided on the support plate, the output end of the fourth driving mechanism is connected to the support plate, and is used to drive the support plate to rise and fall, so that the storage bar can be detached from or inserted into the conveying chain.

[0012] According to some embodiments of the present invention, a flipping mechanism is further included. The flipping mechanism is mounted above the second conveying mechanism and is used to flip the material storage bar on the second conveying mechanism so that the other end of the fixture is flipped upward for unloading and loading.

[0013] According to some embodiments of the present invention, the main line body also includes a positioning and rotating mechanism, which is arranged on the main line body and includes a jacking assembly, which is used to jack and position the storage rack after unlocking or before locking.

[0014] According to some embodiments of the present invention, two groups of loading and unloading lines are provided and are respectively located on both sides of the main line body. Both sides of the storage rack can be used to store storage strips. The positioning and rotating mechanism also includes a rotating component, which is arranged on the jacking component and is used to drive the storage rack to rotate so that the storage strips can be directed towards the loading and unloading line on either side.

[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become obvious from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0017] Figure 1 This is a top view of the overall structural diagram of one embodiment of the loading and unloading system of the present utility model;

[0018] Figure 2 This is a structural diagram of a portion of the main line body in the loading and unloading system of the present invention;

[0019] Figure 3 for Figure 2 A schematic structural diagram of the storage rack in the main line body shown in FIG;

[0020] Figure 4 for Figure 3 A schematic structural diagram of the material storage bars in the material storage rack shown in FIG;

[0021] Figure 5 for Figure 3 A partial enlarged view of point A in the middle;

[0022] Figure 6 for Figure 4 The main line body shown in the figure is removed from the structural diagram of the storage rack;

[0023] Figure 7 for Figure 6 A partial enlarged view of point B in the middle;

[0024] Figure 8 for Figure 6 A partial enlarged view of point C in the middle;

[0025] Figure 9 This is a top view of the loading and unloading line in the loading and unloading system of the present invention;

[0026] Figure 10 for Figure 9 The structural diagram of the positioning module in the loading and unloading system is shown in FIG;

[0027] Figure 11 for Figure 10 A front view of the positioning module shown in ;

[0028] Figure 12 for Figure 10 A top view of the positioning module shown in ;

[0029] Figure 13 for Figure 10 A partial enlarged view of position D in the positioning module shown in FIG;

[0030] Figure 14 for Figure 12 A partial enlarged view of position E in the positioning module shown in FIG;

[0031] Figure 15 for Figure 9 The structural diagram of the turning mechanism in the loading and unloading line is shown in FIG;

[0032] Figure 16 for Figure 1 The structural diagram of the positioning and rotating mechanism in the loading and unloading system shown in FIG;

[0033] Figure 17 for Figure 1 The structural diagram of the transfer turntable in the loading and unloading system is shown in the figure.

[0034] Reference numerals:

[0035] Storage rack 100; locking member 110; cam surface 111; storage rack body 120; placement member 130; locking position 131; locking and unlocking mechanism 200; first driving member 210; second driving member 220; push plate 230; lifting mechanism 310; positioning protrusion 311; pressing mechanism 320; first conveying mechanism 400; stopping mechanism 500; top guide wheel 610; side guide wheel 620; storage bar 700; fixture 710; workpiece 720;

[0036] Positioning module 1000; mounting plate 1100; pushing member 1110; first driving mechanism 1200; slide plate 1300; third driving mechanism 1400; supporting mechanism 1500; second driving assembly 1510; supporting plate portion 1520; fourth driving mechanism 1600; supporting plate 1700; material storage bar 700; fixture 710; elastic portion 711; workpiece 720; second conveying mechanism 2000; unloading robot 3100; first hopper 3200; loading robot 3300; second hopper 3400; flipping mechanism 4000; clamping member 4100; first driving module 4200; second driving module 4300; third driving module 4400;

[0037] Transfer module 5000; first manipulator 5100; transfer turntable 5200; second manipulator 5300; positioning and rotating mechanism 6000; lifting assembly 6100; rotating assembly 6200; loading and unloading line 7000. DETAILED DESCRIPTION

[0038] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0039] In the description of this application, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0040] In the description of this application, "several" means more than one, "plurality" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0041] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0042] In the description of this application, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0043] Reference below Figures 1 to 17 The loading and unloading system of the embodiment of the present utility model is described.

[0044] like Figures 1 to 9As shown, according to the embodiment of the present invention, the loading and unloading system includes: a main line body, an loading and unloading line body and a transfer module. The main line body includes a first conveying mechanism and a locking and unlocking mechanism respectively arranged at the head and tail of the first conveying mechanism. The first conveying mechanism is used to convey the storage rack, and the locking and unlocking mechanism is used to unlock or lock the storage bar located on the storage rack; the loading and unloading line body is arranged on at least one side of the main line body and includes a second conveying mechanism, a positioning module, a unloading robot and a loading robot. The second conveying mechanism is used to convey the storage bar, and the conveying path passes under the positioning module. The unloading robot is used to unload the workpiece on the storage bar, and the loading robot is used to load the workpiece to be processed onto the storage bar; the transfer module is arranged between the main line body and the loading and unloading line body, and is used to transfer the storage bar.

[0045] It can be understood that this loading and unloading system mainly includes a main line body, a loading and unloading line body and a transfer module. When in use, a storage rack with a locked storage bar is first placed on one end of the first conveying mechanism in the main line body by a person or an AGV trolley. The storage bar is used to store the processed workpieces. The first conveying mechanism conveys the storage rack to the first locking and unlocking mechanism for unlocking. The unlocked storage bar is transferred through the transfer module. The emptied storage rack will continue to be transported by the first conveying mechanism for transporting the storage rack. The storage bar is moved to the loading and unloading line body by the transfer module. The second conveying mechanism in the material storage bar is used to transport the material storage bar to the positioning module for positioning, so that the unloading robot can first unload the workpiece on the material storage bar, and then the loading robot can load the workpiece to be processed onto the material storage bar. Subsequently, another set of transfer modules will transfer the material storage bar with the workpiece to be processed to the material storage rack at the other end of the first conveying mechanism; therefore, the loading and unloading system of the present application can realize the automatic unlocking or locking of the material storage bar on the material storage rack, and the automatic unloading and loading of the workpiece on the material storage bar, thereby improving the degree of automation.

[0046] The cam is configured to move the locking member to a position corresponding to the first and second positions of the cam, and the locking member is configured to lock the cam in the locked position. The third driving mechanism is used to drive the two groups of slides to approach or move away from each other, so that the support plate assemblies on both sides can position or release the workpiece.

[0047] For example, Figure 2-5 、 Figure 10-13As shown, in this embodiment, this material storage module includes a material storage rack 100 and a locking and unlocking mechanism 200, the material storage rack 100 is provided with a locking member 110, and a locking position 131 is formed between the locking member 110 and the material storage rack 100, and the material storage bar 700 is used to store the workpiece 720. When the material storage bar 700 is in the locking position 131, the locking member 110 can lock or unlock the workpiece 720 under the drive of the locking and unlocking mechanism 200; specifically, the locking and unlocking mechanism 200 includes a first driving member 210, a second driving member 220 and a push plate 230, and the push plate 230 can be driven by the first driving member 210 and the second driving member 220 to realize movement in the first direction and the second direction, thereby realizing pushing The plate 230 pushes the locking piece 110, thereby realizing the locking or unlocking of the storage bar 700 by the locking piece 110, and the first direction and the second direction are perpendicular to each other; when it is necessary to perform batch anodizing reaction on the workpieces 720, the storage bar 700 in the storage rack 100 is locked by the locking and unlocking mechanism 200 in the storage module to prevent the workpieces 720 from moving or scattering. When the reaction is completed, the storage bar 700 is unlocked by the locking and unlocking mechanism 200, thereby removing the workpieces 720 in the storage bar 700; therefore, the storage module of the present application can realize batch storage, locking and unlocking of the workpieces 720, so as to facilitate batch reaction or processing of the workpieces 720 and improve processing efficiency.

[0048] This positioning module 1000 includes a first driving mechanism 1200 and an oppositely arranged mounting plate 1100, and opposite sides of the mounting plate 1100 are provided with a pusher 1110, a slide plate 1300, a third driving mechanism 1400 and a supporting mechanism 1500; when it is necessary to unload the workpiece 720 on the storage bar 700, the storage bar 700 is located at the material taking position between the two mounting plates 1100, and the first driving mechanism 1200 first drives the mounting plates 1100 to approach each other, so that the pushers 1110 of the two mounting plates 1100 can approach and squeeze the storage material. The elastic portion 711 on the bar 700 causes the workpiece 720 originally supported by the elastic portion 711 to fall and fall on the supporting assembly located above the pushing member 1110. Subsequently, the supporting assembly can rise under the drive of the second driving assembly 1510, thereby causing the workpiece 720 to break away from the elastic portion 711. Then, the third driving mechanism 1400 drives the slide 1300 to approach, thereby causing the support plate assemblies on both sides of the mounting plate 1100 to approach each other and realize positioning of the outer side of the workpiece 720 for subsequent picking up by the robot. When the robot needs to move the workpiece 720 When the workpiece 720 is loaded onto the material storage bar 700, the material storage bar 700 is located at the material taking position, and the elastic portion 711 on the material storage bar 700 is in a state of being squeezed and retracted by the pushing member 1110, and the support plate assembly is also located above the material taking position. When the manipulator releases the workpiece 720 onto the support plate assembly, the support plate assemblies on both sides of the mounting plate 1100 are driven away from each other by the third driving mechanism 1400, and the workpiece 720 is driven down by the second driving assembly 1510, so that the workpiece 720 can be sleeved on the elastic portion 711, and then the mounting plates 1100 on both sides are moved away from each other by the first driving mechanism 1400. Driven by the moving mechanism 1200, it gradually moves away, and the pushing member 1110 gradually moves away from the elastic part 711 of the storage bar 700. The elastic part 711 can be stretched open under the action of the elastic restoring force, thereby supporting the workpiece 720 of the outer shell. At the same time, the support plate assembly also gradually moves away from the bottom of the workpiece 720, thereby realizing the precise transfer of the workpiece 720 between the manipulator and the storage bar 700; in summary, the positioning module 1000 of the present application can realize the precise transfer of the annular workpiece 720 between the manipulator and the storage bar 700, both of which position the workpiece 720 in an internal support manner, thereby improving the degree of automation.

[0049] It is understood that the locking member is a locking crank, the first end of which is rotatably connected to the storage rack, and the first end is provided with a cam surface, and the push plate can drive the second end to rotate under the drive of the first driving member and / or the second driving member, so that the cam surface can cooperate with the storage rack to clamp or release the storage strip. For example, Figure 5As shown, in this embodiment, the locking member 110 is a locking crank, the first end of which is rotatably connected to the storage rack 100, and the first end is provided with a cam surface 111. The push plate 230 can drive the second end to rotate under the drive of the first driving member 210 and / or the second driving member 220, so that the cam surface 111 can cooperate with the storage rack 100 to clamp or release the storage bar 700. For example, Figure 4 As shown, in this embodiment, the first end of the locking crank is rotatably connected to the storage rack 100, and a cam surface 111 is also provided on the outer periphery of the first end. Therefore, when the push plate 230 pushes the second end of the locking crank to rotate, the cam surface 111 of the first end can achieve clamping or releasing of the storage bar 700 by adjusting the distance between the outer contour and the storage rack 100 during rotation.

[0050] Specifically, when locked, the first driving member 210 drives the push plate 230 to move in the first direction, so that the inclined locking crank handle rotates to the horizontal. At this time, the distance between the cam surface 111 and the storage rack 100 is minimized, so that the storage bar 700 can be clamped. When unlocked, the second driving member 220 first drives the first driving member 210 to drive the push plate 230 to extend in the second direction, and then, under the drive of the first driving member 210, the push plate 230 extends in the first direction, and then, under the drive of the second driving member 220, the push plate 230 contracts in the second direction, and then, under the drive of the first driving member 210, the push plate 230 contracts in the first direction. At this time, the locking crank handle is pushed and unlocked, and the storage bar 700 can be taken out from the locking position 131.

[0051] It should be understood that, except for the locking member 110 in the form of a locking crank in this embodiment, in some other embodiments, the locking member 110 can also be a locking member 110 with a bevel. When the push plate 230 drives the locking member 110 to move horizontally under the drive of the first drive member 210 and / or the second drive member 220, the storage bar 700 can be clamped or released by the cooperation between the bevel of the locking member 110 and the storage rack 100.

[0052] It is understandable that a positioning mechanism is also included, which is set in the locking and unlocking position and is used to position and fix the storage rack. Figures 6 to 8 As shown, in this embodiment, a positioning mechanism is provided in the storage module to realize positioning of the storage rack 100 located in the locking and unlocking position, so that the locking and unlocking mechanism 200 can lock or unlock the storage rack 100, so as to prevent the position displacement of the storage rack 100 from affecting the locking or unlocking result during the locking or unlocking process.

[0053] Specifically, the positioning mechanism includes a clamping mechanism 320 located above the locking and unlocking position and a lifting mechanism 310 located below the locking and unlocking position. The lifting structure positions the bottom of the storage rack 100 and the clamping mechanism 320 positions the top of the storage rack 100, thereby achieving fixation of the storage rack 100 in the upper and lower directions.

[0054] Specifically, the positioning structure includes a positioning protrusion 311 provided on the top of the lifting mechanism 310 and a corresponding positioning groove provided at the bottom of the storage frame. After the upper part of the lifting mechanism 310 rises, the positioning protrusion 311 is inserted into the positioning groove at the bottom of the storage frame, thereby realizing accurate positioning of the storage frame, so as to facilitate the effectiveness of the unlocking and locking process.

[0055] It is understood that the main line body also includes a stop mechanism and a frame. The stop mechanism is escalable and arranged in front of the conveying direction of the first conveying mechanism, and is used to stop the storage rack from moving along the conveying direction of the first conveying mechanism. The first conveying mechanism is arranged below the frame, and a top guide wheel is arranged on the top of the frame. The rolling direction of the top guide wheel is consistent with the conveying direction of the first conveying mechanism. For example, Figures 6 to 8 As shown, in this embodiment, in order for the storage rack 100 to accurately stop moving when it reaches the locked and unlocked position under the conveyance of the first conveying mechanism 400, the setting of the stop mechanism 500 on the front side of the conveying direction can play a stopping role on the storage rack 100; Specifically, two stop mechanisms 500 can be provided, one of which is provided at the front side of the locked and unlocked position to stop the storage rack reaching the locked and unlocked position, and the other is provided at the rear side of the locked and unlocked position to stop the storage rack at the rear side to prevent the storage rack at the rear side from colliding with the storage rack at the locked and unlocked position. The storage rack originally in transit may tilt under the action of the stop mechanism 500, and the tilting of the storage rack can be effectively prevented by providing a top guide wheel 610 above the rack.

[0056] It is understandable that lateral guide wheels 620 are also provided above the frame, and two groups of guide rollers are provided and are located on both sides of the locking and unlocking positions respectively, so as to guide the two sides of the upper part of the storage rack 100.

[0057] It can be understood that the storage rack 100 includes a storage rack body 120 and a storage piece 130 arranged on the side of the storage rack body 120, the locking position 131 is arranged on the storage piece 130, and is used to place the storage bar 700, the locking crank is rotatably connected to the storage piece 130, and the cam surface 111 is set toward the card slot to cooperate with the storage piece 130 to clamp or release the storage bar 700.

[0058] It can be understood that the pusher is a roller; the material storage bar is provided with a plurality of jigs, at least one end of the jig is provided with at least three elastic parts, the elastic parts have elastic forces that move away from or gather together to support or release the workpiece, and the support plate assembly includes a plurality of support plate parts, and the support plate parts can be inserted between adjacent elastic parts. For example, Figures 10 to 14 As shown, in this embodiment, since the pushing member 1110 is a roller, in the process of the first driving mechanism 1200 driving the pushing member 1110 to squeeze the elastic part 711 of the storage bar 700, as the elastic part 711 is squeezed and deformed, there is rolling friction between the pushing member 1110 and the elastic part 711, thereby reducing the wear between the pushing member 1110 and the elastic part 711, improving the tightening effect of the elastic part 711 on the workpiece 720, and preventing the friction force of the elastic part 711 from decreasing and causing the workpiece 720 to fall off.

[0059] Specifically, the surface of the elastic portion 711 is rough and can be provided with knurling or other means to increase friction to prevent the workpiece 720 from falling off. The storage bar 700 is provided with a plurality of jigs 710 for supporting the workpiece 720. Each jig 710 is provided with at least three elastic portions 711 at at least one end. The three elastic portions 711 can gather together under the action of external force, so as to pass through the interior of the annular workpiece 720, and open under the action of their own elastic restoring force, thereby supporting the workpiece 720; and the plurality of support plate portions 1520 of the support plate assembly can be alternately inserted between adjacent elastic portions 711, and avoidance positions are also formed between adjacent support plate portions 1520. The elastic portion 711 can enter the avoidance position, thereby avoiding interference between the support plate portion 1520 and the elastic portion 711, and realizing mutual transfer of the workpiece 720 between the two.

[0060] It can be understood that the second conveying mechanism includes a fifth driving mechanism and a conveying chain, the output end of the fifth driving mechanism is connected to the conveying chain and is used to drive the conveying chain to rotate, and the conveying chain is provided with a plurality of positioning members in sequence along the conveying direction, and the positioning members are adapted to the positioning holes at both ends of the storage bar so that both ends of the storage bar can be hung on the positioning members; the positioning module also includes a fourth driving mechanism and a support plate, the mounting plate and the first driving mechanism are both provided on the support plate, the output end of the fourth driving mechanism is connected to the support plate and is used to drive the support plate to rise and fall so that the storage bar can be separated from or inserted into the conveying chain. For example, Figure 10As shown, in this embodiment, the second conveying mechanism 2000 includes a conveying chain for conveying the storage bar 700 and a fifth driving mechanism for driving the conveying chain to transmit. The conveying chain is provided with a plurality of positioning members along the conveying direction, and the positioning members can be used to position the storage bar 700, thereby facilitating the accuracy of the subsequent positioning module 1000 on the storage bar 700 and improving the accuracy of positioning the workpiece 720. The mounting plate 1100 and the first driving mechanism 1200 are both provided on the support plate 1700, and the fourth driving mechanism 1600 can drive the support plate 1700 to rise and fall, so that the storage bar can be separated from or inserted into the conveying chain.

[0061] It is understandable that a flip mechanism is also included, which is mounted above the second conveying mechanism and is used to flip the material storage strip on the second conveying mechanism so that the other end of the jig is flipped upward for unloading and loading. Figure 15 As shown, in this embodiment, the loading and unloading line also includes a flipping mechanism 4000, and both ends of the fixture 710 of the storage bar 700 are provided with elastic parts 711 for supporting the workpiece 720. In this way, when the positioning module 1000 positions the workpiece 720 at one end of the storage bar 700 and the unloading robot 3100 unloads it, then with the transportation of the second conveying mechanism 2000, the storage bar 700 can be flipped through the flipping mechanism 4000, so that the workpiece 720 at the other end of the storage bar 700 is positioned and unloaded by another group of positioning modules 1000 and unloading robots 3100, so that the efficiency of the entire unloading is higher and the investment in the storage bar 700 is saved.

[0062] Specifically, the unloading robot 3100 can realize the transfer of the workpiece 720 on the positioning module 1000 to the first material bin 3200, that is, the unloading of the workpiece 720 on the storage bar 700 is realized; the loading robot 3300 can realize the transfer of the workpiece 720 to be processed in the second material bin 3400 to the storage bar 700, that is, the automatic loading of the storage bar 700 is realized.

[0063] Specifically, in this embodiment, four groups of positioning modules 1000 are provided along the conveying direction of the second conveying mechanism 2000, and two groups of flipping mechanisms 4000 are provided, and are respectively located between the first group of positioning modules 1000 and the second group of positioning modules 1000, and between the third group of positioning modules 1000 and the fourth group of positioning modules 1000. Two groups of unloading robots 3100 correspond to the first two groups of positioning modules 1000, and two groups of loading robots 3300 correspond to the last two groups of positioning modules 1000. During use, the existing first group of positioning modules 1000 and the first group of unloading robots 3100 cooperate to realize positioning and unloading of the workpiece 720 at one end of the jig 710 on the storage bar 700, and then the storage bar 700 is flipped over by the first group of flipping mechanisms 4000, and then the second group of positioning modules 1000 and the second group of unloading robots 3100 cooperate to realize positioning and unloading of the workpiece 720 at the other end of the jig 710 on the storage bar 700, and then the third group of positioning modules 1000 and the first group of loading robots 3300 cooperate to realize loading of the other end of the jig 710 on the storage bar 700, and after the storage bar 700 is flipped over by the second group of flipping mechanisms 4000, the fourth group of positioning modules 1000 and the second group of loading robots 3300 load one end of the jig 710 on the storage bar 700.

[0064] Specifically, the flipping mechanism 4000 includes a sixth driving mechanism and a clamping member 4100. The sixth driving mechanism includes a first driving module 4200, a second driving module 4300 and a third driving module 4400. The output end of the first driving module 4200 is connected to the clamping member 4100 and is used to drive the two clamping members 4100 to move closer to or away from each other to clamp or release the storage bar 700. The output end of the second driving module 4300 is connected to the first driving module 4200 and is used to drive the storage bar 700 to rotate through the first driving module 4200. The output end of the third driving module 4400 is connected to the second driving module 4300 and is used to drive the second driving module 4300 to rise and fall.

[0065] It is understandable that the main line body also includes a positioning and rotating mechanism, which is provided on the main line body and includes a lifting component, which is used to lift and position the storage rack after unlocking or before locking. Figure 16 As shown, in this embodiment, after the material storage frame is unlocked by the locking and unlocking mechanism, it continues to be transported by the first conveying mechanism and is transported to the positioning and rotating mechanism, and the positioning and rotating mechanism positions the material storage frame so that the transfer module can transfer the material bars in the material storage frame.

[0066] It can be understood that there are two groups of loading and unloading lines and they are located on both sides of the main line. Both sides of the storage rack can be used to store storage strips. The positioning and rotating mechanism also includes a rotating component, which is arranged on the lifting component and is used to drive the storage rack to rotate so that the storage strips can be directed to either side of the loading and unloading line. For example, Figure 16 As shown, in this embodiment, both sides of the storage rack can store storage strips. Therefore, when any loading and unloading line on both sides of the main line body fails, the storage frame can be rotated by positioning the rotating component in the rotating mechanism, so that the storage strips on the other side are facing the normally working loading and unloading line body, thereby improving the flexibility of the entire system.

[0067] It should be understood that if Figure 17 The transfer module includes a first manipulator, a transfer turntable, and a second manipulator. The transfer path of the first manipulator passes through the main line and the transfer turntable. The transfer turntable is provided with multiple correction positions in different directions. Positioning cones are provided on both sides of the correction positions. The positioning cones are adapted to the positioning holes at both ends of the storage bar. The transfer path of the second manipulator passes through the transfer turntable and the loading and unloading line. When in use, the first manipulator first takes the storage bar out of the storage frame. Since the outer circumference of the transfer turntable is provided with correction positions in four mutually perpendicular directions in the horizontal direction, and each correction position is provided with multiple positioning cones on both sides, the positioning cones can be used to penetrate and position the positioning holes at both ends of the storage bar, thereby correcting the deviation of the storage bar, so that the second manipulator can unload the corrected storage bar to the second conveying mechanism.

[0068] The embodiments of the present application have been described in detail above with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Various modifications can be made within the scope of knowledge possessed by ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features of the embodiments can be combined with each other unless there is a conflict.

Claims

1. Loading and unloading system, characterized in that: include: The main line body includes a first conveying mechanism and locking and unlocking mechanisms respectively provided at the head and tail of the first conveying mechanism, wherein the first conveying mechanism is used to convey the storage rack, and the locking and unlocking mechanisms are used to unlock or lock the storage strips located on the storage rack; A loading and unloading line body is provided on at least one side of the main line body and includes a second conveying mechanism, a positioning module, a unloading manipulator and a loading manipulator. The second conveying mechanism is used to convey the material storage bar, and the conveying path passes under the positioning module. The unloading manipulator is used to unload the workpiece on the material storage bar, and the loading manipulator is used to load the workpiece to be processed onto the material storage bar; The transfer module is arranged between the main line body and the loading and unloading line body and is used for transferring the material storage strips.

2. The loading and unloading system according to claim 1, characterized in that: The material storage rack is provided with a locking piece, a locking position is formed between the locking piece and the material storage rack, the locking position is used to place the material storage bar storing workpieces, and the locking piece is used to lock the material storage bar located at the locking position; The locking and unlocking mechanism is provided with a locking and unlocking position and includes a first driving member, a second driving member and a push plate, the output end of the first driving member is connected to the push plate and is used to drive the push plate to move in a first direction, the output end of the second driving member is connected to the push plate through the first driving member and is used to drive the push plate to move in a second direction, the push plate is used to push the locking member to move so that the locking member can lock or unlock the material storage bar in the locking and unlocking position, and the first direction and the second direction are perpendicular; The positioning module includes a mounting plate and a first driving mechanism; wherein, The mounting plates are provided with two groups arranged opposite to each other, and a material taking position for arranging the material storage strips is formed between the two groups of mounting plates. Opposite sides of the two groups of mounting plates are provided with several groups of pushing members and supporting mechanisms. Each group of mounting plates is also provided with a third driving mechanism and a slide plate. The supporting mechanism is arranged on the mounting plate through the slide plate. The third driving mechanism is arranged on the mounting plate, and the output end is connected to the slide plate. The output end of the first driving mechanism is connected to the mounting plate and is used to drive the two sets of mounting plates to move closer to each other, so that the pushing member can squeeze the elastic portion of the material storage bar used to hold the workpiece tightly, so that the workpiece can break away from the deformed elastic portion and fall onto the supporting plate mechanism; The supporting mechanism includes a second driving assembly and a pallet assembly. The pallet assembly is correspondingly arranged above the pushing member and is used to support the workpiece and can push the workpiece out of the elastic part of the storage bar under the drive of the second driving assembly. The third driving mechanism is used to drive the two groups of slides to move closer to or away from each other so that the pallet assemblies on both sides can position or release the workpiece.

3. The loading and unloading system according to claim 2, characterized in that: The locking member is a locking crank, the first end of the locking crank is rotatably connected to the storage rack, and the first end is provided with a cam surface. The push plate can drive the second end to rotate under the drive of the first driving member and / or the second driving member, so that the cam surface can cooperate with the storage rack to clamp or release the storage strip.

4. The loading and unloading system according to claim 3, characterized in that: It also includes a positioning mechanism, which is arranged at the locking and unlocking position and is used to position and fix the storage rack.

5. The loading and unloading system according to claim 4, characterized in that: The main line body also includes a stop mechanism and a frame. The stop mechanism can be raised and lowered in the front side of the conveying direction of the first conveying mechanism, and is used to stop the storage rack from moving along the conveying direction of the first conveying mechanism. The first conveying mechanism is arranged below the frame, and a top guide wheel is provided on the upper part of the frame. The rolling direction of the top guide wheel is consistent with the conveying direction of the first conveying mechanism.

6. The loading and unloading system according to claim 5, characterized in that: The pushing member is a roller; The material storage bar is provided with a plurality of jigs, and at least one end of the jig is provided with at least three elastic parts. The elastic parts have elastic forces that move away from or gather together to support or release the workpiece. The support plate assembly includes a plurality of support plate parts, and the support plate parts can be inserted between adjacent elastic parts.

7. The loading and unloading system according to claim 6, characterized in that: The second conveying mechanism includes a fifth driving mechanism and a conveying chain, the output end of the fifth driving mechanism is connected to the conveying chain and is used to drive the conveying chain to rotate, and the conveying chain is provided with a plurality of positioning members in sequence along the conveying direction, and the positioning members are adapted to the positioning holes at both ends of the material storage bar so that the two ends of the material storage bar can be hung on the positioning members; the positioning module also includes a fourth driving mechanism and a support plate, the mounting plate and the first driving mechanism are both provided on the support plate, the output end of the fourth driving mechanism is connected to the support plate, and is used to drive the support plate to rise and fall, so that the material storage bar can be detached from or inserted into the conveying chain.

8. The loading and unloading system according to claim 7, characterized in that: It also includes a flipping mechanism, which is mounted above the second conveying mechanism and is used to flip the material storage bar on the second conveying mechanism so that the other end of the jig is flipped upward for unloading and loading.

9. The loading and unloading system according to claim 1, characterized in that: The main line body also includes a positioning and rotating mechanism, which is arranged on the main line body and includes a lifting component, and the lifting component is used to lift and position the storage rack after unlocking or before locking.

10. The loading and unloading system according to claim 9, characterized in that: The loading and unloading lines are provided with two groups and are respectively located on both sides of the main line body. Both sides of the storage rack can be used to store the storage bars. The positioning and rotating mechanism also includes a rotating component, which is provided on the lifting component and is used to drive the storage rack to rotate so that the storage bars can face the loading and unloading lines on either side.

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