Feeding and discharging equipment

Abstract

The utility model discloses feeding and discharging equipment. The feeding and discharging equipment comprises a base; the material frame is arranged on the base, and a feeding station, a discharging station and a detection station are arranged on the material frame; the material taking and placing arm is movably arranged on the base so as to selectively take and place materials on at least one of the feeding station, the discharging station and the detection station; the sensors are arranged on the material frame and correspond to the feeding station, the discharging station and the detection station respectively; and the controller is electrically connected with the sensor and the material taking and placing arm. Therefore, the sensor and the material taking and placing arm are arranged, and the controller is electrically connected with the sensor and the material taking and placing arm, so that taking and placing scheduling at different stations can be achieved, automatic feeding and discharging can be achieved, the function of multi-station parallel detection can be achieved, the intelligence and automation of feeding and discharging equipment can be improved, and the working efficiency is improved. The efficiency is improved and the time cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of material processing, in particular to a loading and unloading device. Background Art

[0002] Due to their unique shape and fragility, ingot loading and unloading relies primarily on manual labor. This not only takes a lot of time but also requires extreme caution and can easily damage the ingots during the loading and unloading process. Therefore, it is extremely important to achieve automated loading and unloading of ingots and multi-station loading and unloading.

[0003] In the related technology, there is equipment that uses robots for loading and unloading, but it only takes into account the inspection and processing of a single workstation and cannot realize the loading and unloading scheduling of parallel inspection and processing at multiple workstations. The equipment has low working efficiency, and there are problems of waste of workstation resources and high time costs. Utility Model Content

[0004] The present invention aims to solve at least one of the technical problems in the prior art. To this end, one purpose of the present invention is to provide a loading and unloading device that can not only realize automatic loading and unloading, but also realize the function of multi-station parallel detection.

[0005] According to the embodiment of the present invention, the loading and unloading equipment includes: a base; a material rack, the material rack is arranged on the base, and the material rack is provided with a loading station, an unloading station and a detection station; a material picking and placing arm, the material picking and placing arm is movably arranged on the base to selectively pick up and place materials on at least one of the loading station, the unloading station and the detection station; a sensor, the sensor is arranged on the material rack and corresponds to the loading station, the unloading station and the detection station respectively to detect material information on the loading station, the unloading station and the detection station; a controller, the controller is electrically connected to the sensor and the material picking and placing arm respectively.

[0006] Therefore, by setting up sensors and material picking and placing arms, the controller is electrically connected to the sensors and material picking and placing arms respectively, so that picking and placing scheduling can be realized at different workstations, which can not only realize automatic loading and unloading, but also realize the function of parallel detection of multiple workstations, thereby improving the intelligence and automation of loading and unloading equipment, improving efficiency and reducing time costs.

[0007] In some examples of the present invention, the sensor includes a loading station sensor, an unloading station sensor and a detection station sensor, and the loading station sensor, the unloading station sensor and the detection station sensor are all electrically connected to the controller, the loading station sensor corresponds to the loading station, the unloading station sensor corresponds to the unloading station, and the detection station sensor corresponds to the detection station.

[0008] In some examples of the present invention, the material rack includes a loading rack, a unloading rack and a material detection rack spaced apart from each other, the loading station is provided on the loading rack, the unloading station is provided on the unloading rack, the detection station is provided on the material detection rack, the loading station sensor is provided on the loading rack, the unloading station sensor is provided on the unloading rack, and the detection station sensor is provided on the material detection rack.

[0009] In some examples of the present invention, there are multiple loading stations, and the loading station sensor corresponds to the multiple loading stations; there are multiple unloading stations, and the unloading station sensor corresponds to the multiple unloading stations; there are multiple inspection stations, and the multiple inspection stations are suitable for detecting defects in multiple different aspects of the material, and the inspection station sensor corresponds to the multiple inspection stations.

[0010] In some examples of the present invention, the material picking and placing arm includes a lifting rod and a claw assembly, the lifting rod extends in the Z direction and can be lifted and lowered in the Z direction, the claw assembly is arranged at one end of the lifting rod and extends in the X direction, and the claw assembly selectively picks and places materials, wherein the Z direction and the X direction are perpendicular to each other.

[0011] In some examples of the present invention, the claw assembly includes a first claw member and a second claw member, and the first claw member and the second claw member move closer or farther away in the Y direction to pick up and place materials, and the Z direction, the X direction and the Y direction are arranged perpendicular to each other.

[0012] In some examples of the present invention, the claw assembly includes a connecting base, which extends in the X direction, is connected to the lifting rod at one end of the connecting base in the X direction, and is provided with a slide groove at the other end of the connecting base in the X direction, and the first claw member and the second claw member are slidably arranged in the slide groove in the Y direction at one end adjacent to the connecting base.

[0013] In some examples of the present invention, the first claw member is provided with a first groove on the side facing the second claw member in the Y direction, and the second claw member is provided with a second groove on the side facing the second claw member in the Y direction. The first groove and the second groove are arranged opposite to each other in the Y direction to adapt to the edge of the material.

[0014] In some examples of the present invention, a foot support portion is provided on the side of the first groove and the second groove away from the lifting rod in the Z direction.

[0015] In some examples of the present invention, the claw assembly also includes a claw switch component, which is arranged on the connecting seat and electrically connected to the controller. The claw switch component is electrically connected to the first claw component and the second claw component to selectively drive the first claw component and the second claw component to move closer to or away from each other.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and will become apparent from the following description or learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0018] Figure 1 It is a partial schematic diagram of the loading and unloading equipment according to an embodiment of the utility model;

[0019] Figure 2 Schematic diagram of a material handling arm according to an embodiment of the present utility model;

[0020] Figure 3 is a schematic diagram of a claw assembly according to an embodiment of the present utility model;

[0021] Figure 4 This is a flow chart of a method for controlling loading and unloading equipment according to an embodiment of the present utility model;

[0022] Figure 5 is a flow chart of steps S1 and S2 according to an embodiment of the present utility model;

[0023] Figure 6 is a flow chart of steps S7, S8 and S9 according to an embodiment of the present invention.

[0024] Reference numerals:

[0025] 100. Loading and unloading equipment; 200. Materials;

[0026] 10. Base;

[0027] 20. Material rack; 21. Loading rack; 211. Loading station; 212. Loading group; 22. Unloading rack; 221. Unloading station; 222. Unloading group;

[0028] 30. Material pick-up and placement arm; 31. Lifting rod; 32. Claw assembly; 321. First claw member; 3211. First groove; 322. Second claw member; 3221. Second groove; 323. Connecting seat; 3231. Slide; 324. Footrest; 325. Claw switch member; 326. Claw sensor; 33. First rotating arm; 34. Second rotating arm;

[0029] 40. Sensor; 41. Loading station sensor; 42. Unloading station sensor. DETAILED DESCRIPTION

[0030] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0031] Reference below Figures 1-6 The loading and unloading equipment 100 according to an embodiment of the present invention is described.

[0032] Combine Figure 1-Figure 3 As shown, the loading and unloading equipment 100 according to the present invention can mainly include: a base 10, a material rack 20, a material picking and placing arm 30, a sensor 40 and a controller.

[0033] Among them, the material rack 20 is set on the base 10, and the material rack 20 is provided with a loading station 211, a unloading station 221 and a detection station. The material picking and placing arm 30 is movably set on the base 10 to selectively pick up and place the material 200 on at least one of the loading station 211, the unloading station 221 and the detection station. The sensor 40 is set on the material rack 20 and corresponds to the loading station 211, the unloading station 221 and the detection station respectively to detect the information of the material 200 on the loading station 211, the unloading station 221 and the detection station. The controller is electrically connected to the sensor 40 and the material picking and placing arm 30 respectively.

[0034] Specifically, the loading station 211 is used to store the material 200 to be loaded, the unloading station 221 is used to store the unloaded material 200, and the inspection station can perform defect detection on the material 200 placed at this position. It should be noted that since the defect detection required for the material 200 involves multiple aspects, there are multiple inspection stations, and the multiple inspection stations can be suitable for detecting defects in multiple different aspects of the material 200, including but not limited to: shape, scratches, bumps, surface flatness, etc. It can also be understood that the multiple inspection stations can be suitable for detecting defects in multiple different aspects of the material 200, that is, the specific detection aspects of the defects at the multiple inspection stations are different, and the order of detection of defects in different aspects is not required. It is only necessary to ensure that a material 200 passes through all the inspection stations and completes the inspection, so that all defects to be detected in the material 200 are guaranteed to be detected, and the inspection of the material 200 can be completed.

[0035] The basic working process of the loading and unloading equipment 100 is: transferring the material 200 from the loading station 211 to the inspection station, transferring the material 200 inspected at the inspection station to another inspection station, or transferring the material 200 inspected at the inspection station to the unloading station 221.

[0036] The material 200 includes but is not limited to an ingot.

[0037] By providing sensors 40 corresponding to the loading station 211, the unloading station 221, and the inspection station, the sensors 40 can detect material information at the loading station 211, the unloading station 221, and the inspection station, such as the quantity, location, and inspection completion status of the material 200. By providing a material pick-up and placement arm 30, the material pick-up and placement arm 30 can be used to grip, transfer, and release the material 200.

[0038] Furthermore, the controller is electrically connected to the sensor 40 and the material pick-up and placement arm 30, respectively, so that the controller can obtain material information detected by the sensor 40 and control the operation of the material pick-up and placement arm 30, so that the material pick-up and placement arm 30 selectively grasps, transfers, and releases the material 200. The material pick-up and placement arm 30 can be a four-axis robotic arm.

[0039] Specifically, the sensor 40 can detect the position and quantity of the material 200 at the loading station 211, obtain the specific position information of the material 200 to be loaded, and determine whether there is material 200 at the loading station. If there is no material 200, the material 200 at the loading station 211 needs to be processed.

[0040] When there is at least one empty position on multiple inspection stations, the controller can control the material picking and placing arm 30 to work and transfer the material 200 at the loading station 211 to the empty position, so that at the same time, multiple inspection stations can respectively inspect different materials 200, and when the material 200 of a certain inspection station completes the inspection of the station, the material picking and placing arm 30 can be controlled to transfer the material 200 to other idle and uninspected inspection stations for inspection.

[0041] When a material 200 has been inspected at all inspection stations, it means that the inspection of the material 200 has been completed. The controller can control the material picking and placing arm 30 to work and transfer the material 200 at the inspection station to the unloading station 221.

[0042] It should be noted that regardless of whether the test results meet the acceptance criteria, the controller will record the test results of the material 200 at the corresponding inspection station and continue with subsequent inspections. Only when all the required inspections for a material 200 have been completed will the material 200 be transferred to the unloading station 221, and the specific location of the material 200 in the unloading station 221 will also be recorded. This allows the specific defect level of each material 200 to be recorded, facilitating subsequent classification and processing of the material 200.

[0043] It should be noted that the transportation and inspection of different materials 200 at different inspection stations are similar and will not be described in detail herein. Until all materials 200 have been inspected and transported to the unloading station 221, the entire automatic unloading and unloading process is completed.

[0044] In this way, the loading and unloading equipment 100 can realize the pick-up and placement scheduling at different workstations, which can not only realize automatic loading and unloading, but also realize the function of parallel detection of multiple workstations, make full use of the resources of the detection workstations, and greatly reduce the time from loading to unloading of the material 200, thereby improving the intelligence and automation of the loading and unloading equipment 100, improving efficiency, and reducing time costs.

[0045] Therefore, by setting up the sensor 40 and the material picking and placing arm 30, the controller is electrically connected to the sensor 40 and the material picking and placing arm 30 respectively, so that the picking and placing scheduling at different workstations can be realized, which not only can realize automatic loading and unloading, but also can realize the function of parallel detection of multiple workstations, thereby improving the intelligence and automation of the loading and unloading equipment 100, improving efficiency and reducing time costs.

[0046] Combine Figure 1As shown, the sensor 40 may include a loading station sensor 41, a unloading station sensor 42 and a detection station sensor. The loading station sensor 41, the unloading station sensor 42 and the detection station sensor are all electrically connected to the controller. The loading station sensor 41 corresponds to the loading station 211, the unloading station sensor 42 corresponds to the unloading station 221, and the detection station sensor corresponds to the detection station.

[0047] Specifically, by electrically connecting the loading station sensor 41 to the controller so that it faces the loading station 211, the loading station sensor 41 can detect the quantity and position of the material 200 at the corresponding loading station 211 and transmit this information to the controller. By electrically connecting the unloading station sensor 42 to the controller so that it faces the unloading station 221, the unloading station sensor 42 can detect the quantity and position of the material 200 at the corresponding unloading station 221 and transmit this information to the controller. Furthermore, the detection station sensor can detect the quantity and detection completion status of the material 200 at the detection station and transmit this information to the controller.

[0048] Combine Figure 1 As shown, the material rack 20 may include a loading rack 21, a unloading rack 22 and a material detection rack spaced apart from each other, the loading rack 21 is provided with a loading station 211, the unloading rack 22 is provided with an unloading station 221, the material detection rack is provided with a detection station, the loading station sensor 41 is provided on the loading rack 21, the unloading station sensor 42 is provided on the unloading rack 22, and the detection station sensor is provided on the material detection rack.

[0049] Among them, there are multiple loading stations 211 and multiple loading station sensors 41, and multiple loading station sensors 41 correspond to multiple loading stations 211, so that each loading station sensor 41 can detect the quantity and position of the material 200 at the corresponding loading station 211, thereby facilitating the management and control of the material information of the multiple loading stations 211, and facilitating the material picking and placing arm 30 to automatically and accurately clamp the material 200 of the loading station 211.

[0050] Optionally, multiple loading stations 211 can be combined into a loading group 212 spaced apart in the Z direction, and each loading group 212 includes at least two loading stations 211 spaced apart, thereby making the arrangement of the multiple loading stations 211 more uniform and reasonable, and improving the structural compactness of the loading and unloading equipment 100.

[0051] In addition, there are multiple unloading stations 221 and multiple unloading station sensors 42, and multiple unloading station sensors 42 correspond to multiple unloading stations 221. In this way, each unloading station sensor 42 can detect the quantity and position of the material 200 at the corresponding unloading station 221, thereby facilitating the management and control of the material information of the multiple unloading stations 221, and facilitating the material picking and placing arm 30 to automatically and accurately release the material 200 to the unloading station 221.

[0052] Optionally, multiple unloading stations 221 can be combined into multiple unloading groups 222 spaced apart in the Z direction, and each unloading group 222 includes at least two spaced-apart unloading stations 221, thereby making the arrangement of the multiple unloading stations 221 more uniform and reasonable, and improving the structural compactness of the unloading and loading equipment 100.

[0053] In addition, there are multiple detection stations and multiple detection station sensors, and multiple detection station sensors correspond to multiple detection stations. In this way, each detection station sensor can detect the quantity and detection completion status of the material 200 at the corresponding detection station, thereby facilitating the management and control of the material information of multiple detection stations, and facilitating the material picking and placing arm 30 to transfer the material 200 from the loading station 211 to the detection station, or to transfer the material 200 that has been inspected to another detection station or the unloading station 221, which can facilitate the material picking and placing arm 30 to transfer the material 200.

[0054] It should be noted that each inspection station is also provided with a corresponding inspection element, each of which is electrically connected to the controller and is used to detect defects in different aspects of the material 200. For example, each inspection element can obtain image information of the material 200 at the corresponding inspection station and transmit this image information to the controller, which analyzes and processes the image information to complete defect detection of the material 200.

[0055] In this way, the controller can obtain the status of the material 200 at multiple loading stations 211, multiple inspection stations and multiple unloading stations 221, and control the operation of the material picking and placing arm 30 through an algorithm, so that the material picking and placing arm 30 can selectively perform loading, transfer or unloading operations, thereby realizing the coordinated scheduling of multiple loading stations 211, multiple inspection stations and multiple unloading stations 221, thereby not only realizing high-efficiency and fully automatic loading and unloading, but also making full use of the inspection stations, realizing multi-station parallel inspection, improving the utilization rate of the inspection stations, and reducing the working time cost of the loading and unloading equipment 100.

[0056] Combine Figure 2 and Figure 3As shown, the material picking and placing arm 30 may include a lifting rod 31 and a claw assembly 32. The lifting rod 31 extends in the Z direction and can be lifted and lowered in the Z direction. The claw assembly 32 is arranged at one end of the lifting rod 31 and extends in the X direction. The claw assembly 32 selectively picks and places the material 200, wherein the Z direction and the X direction are perpendicular to each other.

[0057] Specifically, the claw assembly 32 is used to selectively pick up and place the material 200. Considering that the loading rack 21 is provided with a plurality of loading stations 211 spaced apart in the Z direction, the unloading rack 22 is provided with a plurality of unloading stations 221 spaced apart in the Z direction, and the inspection rack is provided with a plurality of inspection stations spaced apart, the lifting rod 31 is provided to drive the claw assembly 32 to rise and fall in the Z direction, thereby facilitating the gripping, transfer, or release of the material 200 at different positions.

[0058] Also, considering that materials 200 may also be stacked on the loading station 211 and the unloading station 221, by setting a lifting rod 31, the lifting rod 31 can drive the claw assembly 32 to rise and fall in the Z direction. In this way, even if the materials 200 are stacked on the loading station 211 or the unloading station 221, the claw assembly 32 of the material picking arm 30 can also smoothly grab the materials 200, thereby facilitating the loading station 211 and the unloading station 221 to place more materials 200, thereby improving the utilization rate of the loading station 211 and the unloading station 221.

[0059] Furthermore, the material picking and placing arm 30 can also include a first rotating arm 33 and a second rotating arm 34, one end of the first rotating arm 33 is rotatably connected to the base 10, and the other end of the first rotating arm 33 is rotatably connected to one end of the second rotating arm 34, and the rotation axes of the first rotating arm 33 and the second rotating arm 34 are both extended in the Z direction, and the other end of the second rotating arm 34 is provided with a lifting rod 31, so that the lifting rod 31 and even the material picking and placing arm 30 can be driven to move in various directions perpendicular to the X direction by controlling the first rotating arm 33 and the second rotating arm 34, thereby ensuring that the material picking and placing arm 30 can adapt to the distances in various directions between the loading station 211, the detection station and the unloading station 221, and ensure that the material picking and placing arm 30 can clamp, transfer or release the material 200.

[0060] Combine Figure 2 and Figure 3 As shown, the claw assembly 32 may include a first claw member 321 and a second claw member 322. The first claw member 321 and the second claw member 322 move closer or farther away in the Y direction to pick up and place the material 200. The Z direction, X direction and Y direction are arranged perpendicular to each other.

[0061] Specifically, by making the claw assembly 32 include a first claw member 321 and a second claw member 322, it is only necessary to control the relative movement of the first claw member 321 and the second claw member 322, and selectively make the first claw member 321 and the second claw member 322 approach each other in the Y direction to clamp the material 200, or make the first claw member 321 and the second claw member 322 move away from each other in the Y direction to release the material 200, so as to achieve the picking and placing of the material 200, which can not only make the operation of picking and placing materials by the claw assembly 32 and even the loading and unloading equipment 100 more stable and reliable, but also make the structure of the claw assembly 32 and even the loading and unloading equipment 100 simple.

[0062] The first clamping jaw member 321 and the second clamping jaw member 322 may further be provided with a clamping jaw sensor 326 . The clamping jaw sensor 326 may be used to sense whether the material 200 is clamped, thereby further improving the reliability of the clamping jaw assembly 32 .

[0063] Further, combined with Figure 2 and Figure 3 As shown, the claw assembly 32 may include a connecting base 323, which is extended in the X direction. The connecting base 323 is connected to the lifting rod 31 at one end in the X direction, and a sliding groove 3231 is provided at the other end of the connecting base 323 in the X direction. The first claw member 321 and the second claw member 322 are slidably arranged in the sliding groove 3231 near one end of the connecting base 323 in the Y direction.

[0064] Specifically, by connecting the connecting seat 323 to the lifting rod 31 at one end in the X direction, the first claw member 321 and the second claw member 322 are both connected to the other end of the connecting seat 323 in the X direction. In this way, the lifting rod 31 can drive the connecting seat 323 and at the same time drive the first claw member 321 and the second claw member 322 to move in the Z direction to adapt to work stations in different positions.

[0065] Furthermore, a slide groove 3231 is provided at the other end of the connecting seat 323X upward, and the slide groove 3231 is extended in the Y direction, and one end of the first claw member 321 adjacent to the connecting seat 323 is slidably provided in the slide groove 3231 in the Y direction, and one end of the second claw member 322 adjacent to the connecting seat 323 is slidably provided in the Y direction, so that the end of the first claw member 321 slides with the slide groove 3231, and the end of the second claw member 322 slides with the slide groove 3231, so that the slide groove 3231 can limit the sliding path of the first claw member 321 and the second claw member 322 in the Y direction, ensuring that the first claw member 321 and the second claw member 322 are close to or away from each other in the Y direction, which can make the structure of the claw assembly 32 simpler and more reliable.

[0066] Combine Figure 2 and Figure 3As shown, the first claw member 321 is provided with a first groove 3211 on the side facing the second claw member 322 in the Y direction, and the second claw member 322 is provided with a second groove 3221 on the side facing the second claw member 322 in the Y direction. The first groove 3211 and the second groove 3221 are arranged opposite to each other in the Y direction to adapt to the edge of the material 200.

[0067] Specifically, the first claw member 321 and the second claw member 322 apply force to the material 200 by contacting the edge of the material 200, thereby clamping and transferring the material 200. The contact areas of the first claw member 321 and the second claw member 322 with the edges of the material 200 respectively affect the stability of the claw assembly 32 when clamping and transferring the material 200.

[0068] By setting a first groove 3211 on the first claw member 321, setting a second groove 3221 on the second claw member 322, and making the first groove 3211 and the second groove 3221 relatively arranged in the Y direction, when the claw assembly 32 is used to pick up and place the material 200, the first groove 3211 and the second groove 3221 can respectively contact the two sides of the material 200Y upward, and the first groove 3211 and the second groove 3221 can be adapted to the edge of the material 200, thereby increasing the contact area between the first claw member 321 and the material 200, and increasing the contact area between the second claw member 322 and the material 200, thereby improving the safety and stability of the material 200 during clamping and transportation, and improving the reliability of the claw assembly 32 and even the loading and unloading equipment 100.

[0069] In a specific embodiment of the present invention, the material 200 is a billet, which is cylindrical. The first groove 3211 and the second groove 3221 can be set to an arc shape, so that the first groove 3211 and the second groove 3221 can be adapted to the edge of the billet to ensure the stability of the clamping state.

[0070] Combine Figure 2 and Figure 3 As shown, the first groove 3211 and the second groove 3221 are provided with a foot support portion 324 on the side away from the lifting rod 31 in the Z direction. Specifically, by providing the foot support portion 324 on the side away from the lifting rod 31 in the Z direction of the first groove 3211 and the second groove 3221, when the first clamping claw member 321 and the second clamping claw member 322 are used to clamp the material 200, the foot support portion 324 is in contact with at least a portion of the bottom of the material 200. The foot support portion 324 can support the material 200 in the Z direction and prevent the material 200 from slipping between the first clamping claw member 321 and the second clamping claw member 322, thereby further improving the safety and stability of the material 200 during clamping and transportation, and further improving the reliability of the clamping claw assembly 32 and even the loading and unloading equipment 100.

[0071] Combine Figure 2 As shown, the claw assembly 32 can also include a claw switch member 325, which is arranged on the connecting seat 323 and electrically connected to the controller. The claw switch member 325 is electrically connected to the first claw member 321 and the second claw member 322 to selectively drive the first claw member 321 and the second claw member 322 to move closer to or away from each other.

[0072] Specifically, by setting the claw switch member 325 on the connecting seat 323, the claw switch member 325 is electrically connected to the controller, and the claw switch member 325 is electrically connected to the first claw member 321 and the second claw member 322. In this way, the controller can selectively drive the first claw member 321 and the second claw member 322 to move closer to or away from each other by controlling the operation of the claw switch member 325, thereby realizing intelligent automatic control of the claw assembly 32 and ensuring the automation and intelligence of the loading and unloading equipment 100.

[0073] Combine Figure 4-Figure 6 As shown, the loading and unloading equipment 100 of the embodiment of the present invention can adopt the control method of the loading and unloading equipment 100 to realize the full process automation of loading and unloading and multi-station parallel detection.

[0074] Specifically, the control method of the loading and unloading equipment 100 may include the following steps.

[0075] Step S1: Check the loading station 211. Specifically, the loading station 211 check may include three steps: S19, S20, and S21. The loading station sensor 41 is used to detect the position and quantity of the material 200 at the loading station 211, obtain the specific location information of the material 200 to be loaded, and determine whether there is material 200 at the loading station. If there is material 200, proceed to the next step. If there is no material 200, the material 200 at the loading station 211 needs to be processed. If there is material 200 already being detected at the detection station, jump directly to step S4.

[0076] Step S2, picking up materials at the loading station 211. Specifically, after step S1, the operation of picking up materials at the loading station 211 can be performed, and the picking up materials at the loading station 211 can include six steps: S22, S23, S24, S25, S26, and S27. Specifically, first, according to step S22, the material picking arm 30 is controlled to move to the outside of the loading station 211, and then according to step S23, the first claw member 321 and the second claw member 322 of the claw assembly 32 are controlled to move away from each other, and then according to step S24, the claw assembly 32 is controlled to extend forward to the material 200 at the loading station 211, and then according to step S25, the first claw member 321 and the second claw member 322 of the claw assembly 32 are controlled to approach each other, and then according to step S26, the foot support portion 324 is controlled to fit the bottom of the material 200, and finally, according to step S27, the material 200 is grabbed at the loading station 211.

[0077] Step S3: Place the material on the inspection station according to the nearest principle. Specifically, after step S2, the grabbed material 200 can be placed according to the nearest principle. For example, the grabbed material 200 is first placed on the inspection station No. 1. If the inspection station No. 1 has already placed the material 200, it is placed on the inspection station No. 2, and so on.

[0078] Step S4: Randomly obtain a material 200 that has been inspected in a detection station. Specifically, after step S3, randomly obtain information about a material 200 that has been inspected in a detection station. If all materials 200 in the detection stations have not been inspected, wait until a material 200 that has been inspected is found.

[0079] Step S5: Record that the material has been inspected at this station. Specifically, after step S4, the controller records the station information of the material 200 that has just been inspected, and marks this station as inspected in the inspection record sheet of the material 200.

[0080] Step S6: Determine whether all stations have tested the material 200. Specifically, after step S5, the controller can determine whether all testing stations have completed testing of the material 200 based on the testing record sheet of the material 200.

[0081] Step S7: Check the unloading station 221. Specifically, if, in step S6, the controller determines that all stations have measured the material 200, it then performs an inspection of the unloading station 221. The inspection of the unloading station 221 may include three steps: S28, S29, and S30. Specifically, first, according to step S28, the sensor 40 of the unloading station 221 is read to obtain the storage information of the material 200 in the unloading station 221. Then, according to step S29, it is determined whether the unloading station 221 is full of material 200. If the material 200 is full, according to step S30, the material 200 in the unloading station 221 is handled and the process returns to step S29. Steps S28, S29, and S30 are repeated until, in step S29, it is determined that there is an idle station in the unloading station 221.

[0082] Step S8: Retrieving material from the inspection station. Specifically, after step S7, the material 200 is retrieved from the inspection station using the claw assembly 32. It should be noted that step S7 and step S31 are the same step.

[0083] Step S9, unloading of the material at the detection station. Specifically, after step S8, the unloading operation at the detection station can be performed, and the unloading of the material at the detection station can include five steps: S32, S33, S34, S35, and S36. Specifically, first, according to step S32, the material picking arm 30 is controlled to rotate and move to the outside of the unloading station 221, and then according to step S33, the clamping claw assembly 32 with the material is controlled to extend forward to the unloading station 221, and then according to step S34, the clamping claw assembly 32 with the material is controlled to be lowered, and then according to step S35, the first clamping claw member 321 and the second clamping claw member 322 are controlled to move away from each other to release the material 200, and finally according to step S36, the unloading of the material at the unloading station 221 is completed.

[0084] Step S10: Determine whether all materials 200 have been inspected. Specifically, after step S9, determine whether all materials 200 have been inspected and have arrived at the unloading station 221 through the inspection record sheet of all materials 200 and the material information storage information of the inspection station.

[0085] Step S11, automatic loading and unloading is completed. Specifically, in step S10, if it is determined that all materials 200 have been inspected and have arrived at the unloading station 221, the entire automatic loading and unloading process is completed.

[0086] Step S12: Whether the inspection station is idle. Specifically, if in step S6, the controller determines that not all inspection stations of the material 200 have been inspected, it will continue to determine whether the uninspected stations of the material 200 are idle.

[0087] Step S13: Pick up material from the inspection station. Specifically, if it is determined in step 12 that the uninspected station for the material 200 is idle, then pick up the material from the previous inspection station.

[0088] Step S14: placing the material to the unmeasured workstation. Specifically, after step S13, the controller controls the material pick-up and placement arm 30 to place the taken material to the unmeasured workstation.

[0089] Step S15: Whether all inspection stations have completed inspection. Specifically, if it is determined in step 12 that all uninspected stations of the material 200 are not idle, then it is determined whether all inspection stations have completed inspection. If not, go to step S5, and if completed, go to step 16.

[0090] Step S16: Taking out the material from the inspection station. Specifically, if it is determined in step S15 that all inspection stations have completed inspection, the material 200 can be taken out from the inspection station.

[0091] Step S17: Place the material 200 at an idle inspection station. Specifically, after step S16, place the taken material 200 at an idle inspection station without inspection and mark the inspection station as storing the inspected material 200.

[0092] Step S18: Determine whether the number of available inspection stations is greater than 1. Specifically, after step S10 determines that not all materials 200 have been inspected, and after steps 14 and 17, the number of available inspection stations can be determined. If it is greater than 1, it indicates that there are still additional inspection stations available, provided that one inspection station is reserved for transshipment. In this case, the process skips to step S1. If it is not greater than 1, it indicates that there are no additional inspection stations, so the process skips to step S4.

[0093] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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, and therefore should not be understood as a limitation to the present invention.

[0094] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0095] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A loading and unloading equipment, characterized in that: include: Base (10); A material rack (20), the material rack (20) being arranged on the base (10), and the material rack (20) being provided with a loading station (211), a unloading station (221) and a detection station; a material picking and placing arm (30), the material picking and placing arm (30) being movably disposed on the base (10) to selectively pick and place the material (200) on at least one of the loading station (211), the unloading station (221), and the inspection station; a sensor (40), the sensor (40) being arranged on the material rack (20) and corresponding to the loading station (211), the unloading station (221), and the detection station, respectively, to detect material information on the loading station (211), the unloading station (221), and the detection station; A controller is electrically connected to the sensor (40) and the material taking and placing arm (30) respectively.

2. The loading and unloading equipment according to claim 1, characterized in that: The sensor (40) includes a loading station sensor (41), a unloading station sensor (42) and a detection station sensor. The loading station sensor (41), the unloading station sensor (42) and the detection station sensor are all electrically connected to the controller. The loading station sensor (41) corresponds to the loading station (211), the unloading station sensor (42) corresponds to the unloading station (221), and the detection station sensor corresponds to the detection station.

3. The loading and unloading equipment according to claim 2, characterized in that: The material rack (20) includes a loading rack (21), a unloading rack (22) and a material detection rack that are spaced apart from each other. The loading station (211) is provided on the loading rack (21), the unloading station (221) is provided on the unloading rack (22), and the detection station is provided on the material detection rack. The loading station sensor (41) is provided on the loading rack (21), the unloading station sensor (42) is provided on the unloading rack (22), and the detection station sensor is provided on the material detection rack.

4. The loading and unloading equipment according to claim 3, characterized in that: There are multiple loading stations (211), and the loading station sensor (41) corresponds to each of the multiple loading stations (211); There are multiple blanking stations (221), and the blanking station sensors (42) correspond to the multiple blanking stations (221); There are a plurality of detection stations, and the plurality of detection stations are suitable for detecting defects in a plurality of different aspects of the material (200), and the detection station sensors correspond to the plurality of detection stations.

5. The loading and unloading equipment according to any one of claims 1 to 4, characterized in that: The material picking and placing arm (30) includes a lifting rod (31) and a claw assembly (32), wherein the lifting rod (31) extends in the Z direction and can be lifted and lowered in the Z direction, and the claw assembly (32) is arranged at one end of the lifting rod (31) and extends in the X direction, and the claw assembly (32) selectively picks and places the material (200), wherein the Z direction and the X direction are perpendicular to each other.

6. The loading and unloading equipment according to claim 5, characterized in that: The clamping claw assembly (32) comprises a first clamping claw member (321) and a second clamping claw member (322), wherein the first clamping claw member (321) and the second clamping claw member (322) move closer to or farther away from each other in the Y direction to pick up and place the material (200), and the Z direction, the X direction and the Y direction are arranged perpendicular to each other.

7. The loading and unloading equipment according to claim 6, characterized in that: The claw assembly (32) includes a connecting seat (323), the connecting seat (323) is extended in the X direction, the connecting seat (323) is connected to the lifting rod (31) at one end in the X direction, and the connecting seat (323) is provided with a slide groove (3231) at the other end in the X direction, and the first claw member (321) and the second claw member (322) are slidably arranged in the slide groove (3231) in the Y direction at one end adjacent to the connecting seat (323).

8. The loading and unloading equipment according to claim 6, characterized in that: The first clamping claw member (321) is provided with a first groove (3211) on a side facing the second clamping claw member (322) in the Y direction, and the second clamping claw member (322) is provided with a second groove (3221) on a side facing the second clamping claw member (322) in the Y direction. The first groove (3211) and the second groove (3221) are arranged opposite to each other in the Y direction to adapt to the edge of the material (200).

9. The loading and unloading equipment according to claim 8, characterized in that: The first groove (3211) and the second groove (3221) are provided with a foot support portion (324) on a side away from the lifting rod (31) in the Z direction.

10. The loading and unloading equipment according to claim 7, characterized in that: The claw assembly (32) further includes a claw switch member (325), which is disposed on the connecting seat (323) and electrically connected to the controller. The claw switch member (325) is electrically connected to the first claw member (321) and the second claw member (322) to selectively drive the first claw member (321) and the second claw member (322) to move closer to or farther from each other.

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