Visual positioning automatic feeding and discharging machine for whole-plate materials

Abstract

The whole plate material visual positioning automatic feeding and discharging machine comprises a first material shoveling mechanism, a second material shoveling mechanism and a feeding and discharging mechanism, the first material shoveling mechanism and the second material shoveling mechanism are arranged side by side, and the feeding and discharging mechanism is arranged above the first material shoveling mechanism and the second material shoveling mechanism; the first shoveling mechanism comprises a shoveling moving assembly, a first lifting guide assembly and a second lifting guide assembly are arranged on the shoveling moving assembly, a first lifting assembly is arranged between the first lifting guide assembly and the second lifting guide assembly, and a second lifting assembly is arranged in the first lifting assembly. Through assistance of the first CCD camera and the second CCD camera, the operation that the first feeding and discharging assembly clamps semi-finished products and the second feeding and discharging assembly discharges finished products for tray arrangement and stacking is more accurate, and the automatic tray arrangement machine has the advantages of being high in feeding and discharging efficiency, high in feeding and discharging precision, high in feeding efficiency, high in tray arrangement efficiency and good in tray arrangement effect. And the whole process does not need manual operation, so that the labor intensity is reduced, and the labor cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of loading and unloading machines, in particular to an automatic loading and unloading machine for whole-plate materials with visual positioning. Background Art

[0002] When semi-finished products enter the processing line, they need to be placed on the operating line for processing into finished products. The finished products are then removed from the line for unloading, palletizing, and stacking. Traditionally, semi-finished products are manually placed on the processing line for loading, and then the finished products are manually removed from the line for unloading and palletizing. This manual operation has the disadvantages of low work efficiency, high labor intensity for workers, and high labor costs for enterprises. To address these labor intensity and high labor costs, and to meet the rapid development of industrial automation, companies are currently using intelligent robots to automate loading and unloading on production lines. The robot first picks up a single semi-finished product from a material preparation station and places it on the production line. After the semi-finished product is processed into a finished product on the production line, the robot then picks up a single finished product from the finished product line and places it on the finished product station. However, since the robot can only pick up and transfer a single semi-finished product or finished product at a time, this still cannot solve the problem of low loading and unloading efficiency, which affects the efficiency of industrial production. Summary of the Invention

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide an automatic loading and unloading machine for whole-plate materials with visual positioning.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions: the whole plate material visual positioning automatic loading and unloading machine includes a first shoveling mechanism, a second shoveling mechanism and a loading and unloading mechanism. The first shoveling mechanism and the second shoveling mechanism are arranged in parallel, and the loading and unloading mechanism is arranged above the first shoveling mechanism and the second shoveling mechanism.

[0005] Furthermore, the first shoveling mechanism includes a shoveling moving assembly, which is provided with a first lifting guide assembly and a second lifting guide assembly, a first lifting assembly is provided between the first lifting guide assembly and the second lifting guide assembly, and the first lifting assembly slides and rises and falls in the first lifting guide assembly and the second lifting guide assembly; the first lifting assembly is provided in the first lifting assembly, and the second lifting assembly slides and rises and falls in the first lifting assembly; the shoveling moving assembly is also provided with a lifting transmission assembly, which is connected to a hydraulic cylinder, which drives the first lifting assembly and the second lifting assembly to lift and move through the lifting transmission assembly, and a shoveling track is provided under the shoveling moving assembly, and the shoveling moving assembly moves on the shoveling track.

[0006] Furthermore, the loading and unloading mechanism includes a loading and unloading frame, a first linear sliding module and a second linear sliding module are provided at the upper end of the loading and unloading frame, a first loading and unloading assembly and a second loading and unloading assembly are provided across the first linear sliding module and the second linear sliding module, a first CCD camera and a second CCD camera are provided at the left and right ends of the loading and unloading frame respectively, a turntable is provided on the loading and unloading frame, and the turntable is fixed to the loading and unloading frame through a mounting rod.

[0007] By employing the above-mentioned technical solution, the first CCD camera identifies the location of semi-finished products (materials) in the first shoveling mechanism. Based on the signals or information regarding the location of the semi-finished products (materials) fed back by the first CCD camera, the first loading and unloading assembly can accurately grasp the semi-finished products and transfer them to the processing line. The second CCD camera identifies the empty spaces on the carrier tray in the second shoveling mechanism. Based on the information on the empty spaces on the carrier tray fed back by the second CCD camera, the second loading and unloading assembly can sequentially and orderly place finished products onto the empty spaces on the carrier tray in the second shoveling mechanism until the carrier tray is full of finished products. The assistance of the first and second CCD cameras enables more precise operations for the first loading and unloading assembly to grasp the semi-finished products and the second loading and unloading assembly to palletize the finished products, resulting in high loading and unloading efficiency, high loading and unloading accuracy, and a high degree of automation.

[0008] Furthermore, the shoveling moving assembly includes a shoveling moving chassis, which is arranged in an H shape. The left end of the shoveling moving chassis is respectively provided with a first driving roller and a first driven roller, and the right end of the shoveling moving chassis is respectively provided with a second driving roller and a second driven roller. The first driving roller is connected to a first servo motor, and the second driving roller is connected to a second servo motor.

[0009] By adopting the above technical solution, the first servo motor drives the first active roller to rotate forward and reverse while the second servo motor drives the second active roller to rotate forward and reverse synchronously to drive the shoveling mobile chassis to move back and forth in a straight line, that is, the first servo motor and the second servo motor respectively drive the first active roller and the second active roller to rotate simultaneously to drive the material production mobile chassis to move.

[0010] Furthermore, the first lifting guide assembly includes a first fixed guide rail, the second lifting guide assembly includes a second fixed guide rail, the first fixed guide rail and the second fixed guide rail are arranged in a vertically balanced manner, a first guide wheel and a second guide wheel are respectively provided on the side of the upper end of the first fixed guide rail facing the second fixed guide rail, a third guide wheel and a fourth guide wheel are respectively provided on the side of the upper end of the second fixed guide rail facing the first fixed guide rail, the axial directions of the rotating shaft of the first guide wheel and the rotating shaft of the third guide wheel are arranged in the same manner, the axial directions of the rotating shaft of the second guide wheel and the rotating shaft of the fourth guide wheel are arranged in the same manner, and the axial directions of the rotating shaft of the first guide wheel and the rotating shaft of the second guide wheel are arranged perpendicularly to the axial directions of the rotating shaft of the second guide wheel.

[0011] By adopting the above technical solution, the first lifting guide assembly guides the lifting of one side of the first lifting assembly through the first guide wheel and the second guide wheel, and the second lifting guide assembly guides the lifting of the other side of the first lifting assembly through the third guide wheel and the fourth guide wheel.

[0012] Furthermore, the first lifting assembly includes a first guide wheel guide rail and a second guide wheel guide rail, the first guide wheel guide rail and the second guide wheel guide rail are arranged in a vertically balanced manner, and a horizontal plate is connected between the upper ends of the first guide wheel guide rail and the second guide wheel guide rail; the two edges of the first guide wheel guide rail extend to one side and are respectively provided with a first guide part and a second guide part, and the other side surface of the first guide wheel guide rail extends outward to be provided with a lifting guide bar, and the structure of the second guide wheel guide rail is the same as that of the first guide wheel guide rail.

[0013] By adopting the above technical solution, the first guide wheel guides the side of the first guide wheel guide rail provided with the lifting guide bar, the second guide wheel guides the lifting guide bar, and the first lifting assembly smoothly rises and slides between the first lifting guide assembly and the second lifting guide assembly.

[0014] Furthermore, the second lifting assembly includes a first guide wheel mounting plate and a second guide wheel mounting plate, the first guide wheel mounting plate and the second guide wheel mounting plate are arranged in a vertically balanced manner, a fifth guide wheel is provided on the side of the first guide wheel mounting plate facing away from the second guide wheel mounting plate, a sixth guide wheel is provided on the side of the second guide wheel mounting plate facing away from the first guide wheel mounting plate, a chain mounting plate is connected between the first guide wheel mounting plate and the second guide wheel mounting plate, a bracket is provided on the front side of the first guide wheel mounting plate and the second guide wheel mounting plate, and a bracket is mounted on the bracket.

[0015] By adopting the above technical solution, the first guide wheel guide rail guides the fifth guide wheel, and the second guide wheel guide rail guides the sixth guide wheel, so that the second lifting assembly can accurately slide and lift in the first lifting assembly.

[0016] Furthermore, the lifting transmission assembly includes a gear shaft mounted on the output end of the hydraulic cylinder, with a first gear and a second gear mounted on each end. A first chain is mounted on the first gear; one end of the first chain is connected to a chain mounting plate, and the other end of the first chain is connected to a shovel-moving chassis. A second chain is mounted on the second gear; one end of the second chain is connected to the chain mounting plate, and the other end of the second chain is connected to the shovel-moving chassis. A connecting rod is mounted perpendicular to the gear shaft, with the upper end of the connecting rod fixed to the cross plate and the lower end of the connecting rod fixed to the gear shaft. The hydraulic cylinder is connected to a hydraulic motor, which supplies oil to the hydraulic cylinder.

[0017] By adopting the above technical solution, the hydraulic cylinder drives the gear shaft to move upward and downward when it telescopes. When the hydraulic cylinder extends upward, it drives the gear shaft to rise, which drives the connecting rod to rise, thereby driving the first lifting assembly to rise between the first lifting guide assembly and the second lifting guide assembly. At the same time, the raised gear shaft drives the first gear and the second gear to rise synchronously, and the first gear and the second gear respectively lift the first chain and the second chain. Because one end of the first chain and the second chain are fixedly connected to the shovel moving chassis, and the other ends of the first chain and the second chain are connected and installed to the chain mounting plate in the second lifting assembly, the first chain and the second chain can jointly pull the chain mounting plate and thereby pull the second lifting assembly to rise within the first lifting assembly. The support plate can rise as the second lifting assembly rises to support multiple layers of stacked or stacked materials. Conversely, when the hydraulic cylinder drives the gear shaft to return to its original position and lower, the support plate can lower as the second lifting assembly lowers.

[0018] Furthermore, the structure and working principle of the second shoveling mechanism are the same as those of the first shoveling mechanism.

[0019] Furthermore, the first loading and unloading assembly includes a loading and unloading horizontal moving plate connected and installed with the first linear sliding module and the second linear sliding module, a lifting cylinder is provided vertically through the loading and unloading horizontal moving plate, and a clamping assembly is provided at the output end of the lifting cylinder; a pulley kit is provided between the first linear sliding module and the second linear sliding module, the pulley kit is connected to the third servo motor, the pulley kit is connected and installed with the loading and unloading horizontal moving plate, and the third servo motor drives the loading and unloading horizontal moving plate to move left and right on the first linear sliding module and the second linear sliding module through the pulley kit, and the third servo motor, the lifting cylinder and the clamping assembly cooperate to clamp and transport materials or empty trays.

[0020] Furthermore, the clamping assembly includes a cylinder mounting plate, on which a first double-axis double-outlet cylinder and a second double-axis double-outlet cylinder are provided. The first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder are arranged in a balanced manner. The output ends of the first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder on the same side are commonly connected to a first clamping block, and the output ends of the first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder on the other side are commonly connected to a second clamping block.

[0021] By adopting the above-mentioned technical solution, the first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder in the clamping assembly can clamp the material when they simultaneously drive the first clamping block and the second clamping block to move towards each other, and can release the clamping of the material when the first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder simultaneously drive the first clamping block and the second clamping block to move away from each other.

[0022] Furthermore, the structure of the second loading and unloading assembly is arranged in a mirror-symmetrical manner to the structure of the first loading and unloading assembly.

[0023] Furthermore, a controller or control system is provided for signal control of the first shoveling mechanism, the second shoveling mechanism, and the loading and unloading mechanism. The controller is a PLC programmable logic controller, which may be, but is not limited to, a Shenzhen-made XDS-40T-D model. Relevant signals or information captured by the first and second CCD cameras are automatically fed back to the controller or control system. After receiving the signals or information, the controller or control system controls the operation of the first and second loading and unloading assemblies in the loading and unloading mechanism.

[0024] It should be noted that the loading and unloading frame, shoveling mobile base, lifting guide bar, chain mounting plate, and loading and unloading horizontal movable plate are functional descriptions of the frame, base, guide bar, mounting plate, and movable plate, respectively. Both the first and second linear sliding modules include a slide rail and a slider mounted on the rail. The slide rail is connected to other components or assemblies via the slider. The pulley assembly includes two pulleys and a belt connecting the two pulleys. Its operating principle is well known and will not be explained in detail here.

[0025] Compared with the existing technology, the beneficial effects of the present invention are:

[0026] 1. A first CCD camera and a second CCD camera are respectively provided at the left and right ends of the loading and unloading frame in the loading and unloading mechanism. The first CCD camera identifies the position of the semi-finished product in the first shoveling mechanism, and the first loading and unloading component accurately clamps the semi-finished product according to the signal of the position of the semi-finished product fed back by the first CCD camera and transmits it to the processing assembly line; and the second CCD camera identifies the empty space of the carrier in the second shoveling mechanism, so that the second loading and unloading component can place the finished products in the empty space of the carrier in the second shoveling mechanism in an orderly manner according to the empty space information on the carrier fed back by the second CCD camera until the carrier is full of finished products; with the assistance of the first and second CCD cameras, the operation of the first loading and unloading component to clamp the semi-finished product and the second loading and unloading component to unload the finished product and stack it on the plate is more accurate, which has the advantages of high loading and unloading efficiency, high loading and unloading precision and high degree of loading and unloading automation.

[0027] 2. It designs the structures of the first shoveling mechanism and the loading and unloading mechanism respectively, and uses the first shoveling mechanism in conjunction with the loading and unloading mechanism, so that the first shoveling mechanism can realize fully automatic moving of multi-layer stacked semi-finished products to the loading and unloading mechanism for preparation, and the first loading and unloading component in the loading and unloading mechanism can clamp a row of semi-finished products from the first shoveling mechanism each time and transmit them to the processing line, so that it can realize efficient loading and feeding; in addition, the first loading and unloading component in the loading and unloading mechanism can also clamp the empty tray and place it on the transfer table to realize automatic cleaning of the empty tray of the first shoveling mechanism.

[0028] 3. It designs the structure of the second shoveling mechanism and cooperates the second material mechanism with the loading and unloading mechanism, so that the second loading and unloading component in the loading and unloading mechanism can clamp the empty tray from the turntable and place it on the second shoveling mechanism to prepare the tray before the finished products are unloaded, and the second loading and unloading component in the loading and unloading mechanism can clamp a row of finished products from the finished product assembly line each time and place them on the empty tray in the second shoveling mechanism until the tray is full of finished products, and the second shoveling mechanism can move the tray with multiple layers stacked and full of finished products out of the loading and unloading mechanism to make room for the next tray for unloading of finished products, which realizes automatic grabbing of a whole row of materials and automatic tray placement of a whole row of materials, thereby greatly improving the efficiency of material unloading and tray placement and stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] For ease of explanation, the present invention is described in detail with reference to the following preferred embodiments and accompanying drawings.

[0030] Figure 1 This is a three-dimensional diagram of the automatic loading and unloading machine for whole-plate material visual positioning according to the present invention.

[0031] Figure 2 This is a three-dimensional diagram of the first shoveling mechanism or the second shoveling mechanism of the automatic loading and unloading machine for visual positioning of whole plate materials in the utility model.

[0032] Figure 3 This is a three-dimensional diagram of the loading and unloading mechanism of the automatic loading and unloading machine for whole-plate material visual positioning according to the present invention.

[0033] Figure 4 This is a three-dimensional diagram of the first shoveling mechanism or the second shoveling mechanism of the automatic loading and unloading machine for visual positioning of whole plate materials of the present invention without the shoveling track.

[0034] Figure 5 This is a bottom view of the shoveling and moving assembly of the automatic loading and unloading machine for whole-plate material visual positioning according to the present invention.

[0035] Figure 6 This is a three-dimensional diagram of the first shoveling mechanism or the second shoveling mechanism of the automatic loading and unloading machine for visual positioning of whole plate materials of the present invention without the shoveling moving component.

[0036] Figure 7 This is a stereoscopic assembly diagram of the first lifting guide assembly of the automatic loading and unloading machine for visual positioning of whole plate materials of the utility model, in which the first fixed guide rail and the second lifting guide assembly are removed, and the second fixed guide rail is removed, and the first lifting assembly, the second lifting assembly and the lifting transmission assembly are assembled.

[0037] Figure 8 This is a main view of the first guide wheel guide rail or the second guide wheel guide rail of the automatic loading and unloading machine for visual positioning of whole plate materials in the utility model.

[0038] Figure 9 This is a three-dimensional assembly diagram of the first lifting guide component, the second lifting guide component, the first lifting component, the second lifting component and the lifting transmission component of the automatic loading and unloading machine for visual positioning of whole plate materials of the present invention.

[0039] Figure 10 This is a stereoscopic assembly diagram of the first loading and unloading component and the second loading and unloading component in the loading and unloading mechanism of the automatic loading and unloading machine for visual positioning of whole plate materials of the present invention.

[0040] Figure 11 This is a three-dimensional diagram of the clamping component in the first loading and unloading component or the second loading and unloading component of the automatic loading and unloading machine for visual positioning of whole plate materials of the present invention. DETAILED DESCRIPTION

[0041] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present invention. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present invention.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0043] In this embodiment, refer to Figures 1 to 11 As shown, the automatic loading and unloading machine for visual positioning of whole plate materials of the present invention includes a first shoveling mechanism 1, a second shoveling mechanism 2 and a loading and unloading mechanism 3. The first shoveling mechanism 1 and the second shoveling mechanism 2 are arranged in parallel, and the loading and unloading mechanism 3 is arranged above the first shoveling mechanism 1 and the second shoveling mechanism 2.

[0044] In one embodiment, the first shoveling mechanism 1 includes a shoveling moving component 4, which is provided with a first lifting guide component 51 and a second lifting guide component 52, and a first lifting component 6 is provided between the first lifting guide component 51 and the second lifting guide component 52, and the first lifting component 6 slides and rises and falls in the first lifting guide component 51 and the second lifting guide component 52; a second lifting component 7 is provided in the first lifting component 6, and the second lifting component 7 slides and rises and falls in the first lifting component 6; a lifting transmission component 8 is also provided on the shoveling moving component 4, and the lifting transmission component 8 is connected to a hydraulic cylinder 9, and the hydraulic cylinder 9 drives the first lifting component 6 and the second lifting component 7 to rise and fall through the lifting transmission component 8, and a shoveling track 10 is provided under the shoveling moving component 4, and the shoveling moving component 4 moves on the shoveling track 10.

[0045] In one embodiment, the loading and unloading mechanism 3 includes a loading and unloading frame 30, and a first linear sliding module 31 and a second linear sliding module 32 are provided at the upper end of the loading and unloading frame 30, and a first loading and unloading assembly 33 and a second loading and unloading assembly 34 are provided across the first linear sliding module 31 and the second linear sliding module 32. A first CCD camera 35 and a second CCD camera 36 are provided at the left and right ends of the loading and unloading frame 30 respectively, and a turntable 35 is provided on the loading and unloading frame 30, and the turntable 35 is fixed to the loading and unloading frame 30 through a mounting rod 36.

[0046] In one embodiment, the shoveling moving assembly 4 includes a shoveling moving base frame 40, which is arranged in an H shape. The left end of the shoveling moving base frame 40 is respectively provided with a first driving roller 41 and a first driven roller 42, and the right end of the shoveling moving base frame 40 is respectively provided with a second driving roller 43 and a second driven roller 44. The first driving roller 41 is connected to a first servo motor 45, and the second driving roller 43 is connected to a second servo motor 46.

[0047] In one embodiment, the first lifting guide assembly 51 includes a first fixed guide rail 510, a first guide wheel 511 and a second guide wheel 512, and the second lifting guide assembly 52 includes a second fixed guide rail 520, a third guide wheel 521 and a fourth guide wheel 522; the first fixed guide rail 510 and the second fixed guide rail 520 are arranged in a vertically balanced manner, and the first guide wheel 511 and the second guide wheel 512 are provided on the side of the upper end of the first fixed guide rail 510 facing the second fixed guide rail 520, and the second guide wheel 511 and the second guide wheel 512 are provided on the side of the upper end of the first fixed guide rail 510 facing the second fixed guide rail 520. A third guide wheel 521 and a fourth guide wheel 522 are provided on the side of the upper end of the fixed guide rail 520 facing the first fixed guide rail 510. The axial directions of the rotating shafts of the first guide wheel 511 and the third guide wheel 521 are arranged in the same manner, and the axial directions of the rotating shafts of the second guide wheel 512 and the fourth guide wheel 522 are arranged in the same manner. The axial directions of the rotating shafts of the first guide wheel 511 and the second guide wheel 512 are arranged perpendicularly to each other, and the axial directions of the rotating shafts of the third guide wheel 521 and the fourth guide wheel 522 are arranged perpendicularly to each other.

[0048] In one embodiment, the first lifting assembly 6 includes a first guide wheel guide rail 61 and a second guide wheel guide rail 62, and the first guide wheel guide rail 61 and the second guide wheel guide rail 62 are vertically balanced. A horizontal plate 63 is connected between the upper ends of the first guide wheel guide rail 61 and the second guide wheel guide rail 62; the two edges of the first guide wheel guide rail 61 extend to one side and are respectively provided with a first guide portion 64 and a second guide portion 65, and the other side surface of the first guide wheel guide rail 61 extends outward to be provided with a lifting guide bar 66; the structure of the second guide wheel guide rail 62 is the same as that of the first guide wheel guide rail 61.

[0049] In one embodiment, the second lifting assembly 7 includes a first guide wheel mounting plate 71 and a second guide wheel mounting plate 72. The first guide wheel mounting plate 71 and the second guide wheel mounting plate 72 are arranged in a vertically balanced manner. A fifth guide wheel is provided on the side of the first guide wheel mounting plate 71 facing away from the second guide wheel mounting plate 72, and a sixth guide wheel 73 is provided on the side of the second guide wheel mounting plate 72 facing away from the first guide wheel mounting plate 71. A chain mounting plate 74 is connected between the first guide wheel mounting plate 71 and the second guide wheel mounting plate 72. A bracket 75 is provided on the front side of the first guide wheel mounting plate 71 and the second guide wheel mounting plate 72, and a bracket 76 is mounted on the bracket 75.

[0050] In one embodiment, the lifting transmission assembly 8 includes a gear shaft 81 provided on the output end of the hydraulic cylinder 9, the hydraulic cylinder 9 is connected to the hydraulic motor 82, and a first gear 83 and a second gear 84 are respectively provided at both ends of the gear shaft 81, and a first chain 85 is mounted on the first gear 83; one end of the first chain 85 is connected and installed with the chain mounting plate 74, and the other end of the first chain 85 is connected and installed with the shoveling moving base 40; a second chain 86 is mounted on the second gear 84, one end of the second chain 86 is connected and installed with the chain mounting plate 74, and the other end of the second chain 86 is connected and installed with the shoveling moving base 40; a connecting rod 87 is provided perpendicular to the gear shaft 81, the upper end of the connecting rod 87 is fixedly mounted on the cross plate 63, and the lower end of the connecting rod 87 is fixedly mounted on the gear shaft 81.

[0051] In one embodiment, the structure and working principle of the second shoveling mechanism 2 are the same as those of the first shoveling mechanism 1 .

[0052] In one embodiment, the first loading and unloading assembly 33 includes a loading and unloading horizontal moving plate 331 connected to the first linear sliding module 31 and the second linear sliding module 32, a lifting cylinder 332 is provided vertically through the loading and unloading horizontal moving plate 331, and a clamping assembly 333 is provided at the output end of the lifting cylinder 332; a pulley kit 334 is provided between the first linear sliding module 31 and the second linear sliding module 32, the pulley kit 334 is connected to the third servo motor 335, the pulley kit 334 is connected to the loading and unloading horizontal moving plate 331, and the third servo motor 335 drives the loading and unloading horizontal moving plate 331 to move left and right on the first linear sliding module 31 and the second linear sliding module 32 through the pulley kit 334, and the third servo motor 335, the lifting cylinder 332 and the clamping assembly 333 cooperate to clamp and transport materials or empty trays.

[0053] In one embodiment, the clamping assembly 333 includes a cylinder mounting plate 3330, on which a first dual-axis dual-outlet cylinder 3331 and a second dual-axis dual-outlet cylinder 3332 are provided. The first dual-axis dual-outlet cylinder 3331 and the second dual-axis dual-outlet cylinder 3332 are balanced, and the output ends on the same side of the first dual-axis dual-outlet cylinder 3331 and the second dual-axis dual-outlet cylinder 3332 are commonly connected to a first clamping block 3334, and the output ends on the other side of the first dual-axis dual-outlet cylinder 3331 and the second dual-axis dual-outlet cylinder 3332 are commonly connected to a second clamping block 3335.

[0054] In one embodiment, the structure of the second loading and unloading assembly 34 is mirror-symmetrical to the structure of the first loading and unloading assembly 33 .

[0055] In one embodiment, the working process and structural design principle of the automatic loading and unloading machine for visual positioning of whole plate materials are as follows: the semi-finished products to be processed are placed on the carrier 11 and stacked in multiple layers. The structure of the first shoveling mechanism 1 is designed, and the first servo motor 45 in the shoveling moving component 4 of the first shoveling mechanism 1 can drive the first active roller 41 to move forward and backward when it rotates forward and backward. At the same time, the second servo motor 46 in the shoveling moving component 4 of the first shoveling mechanism 1 can drive the second active roller 43 to move forward and backward when it rotates forward and backward. That is, the first servo motor 45 and the second servo motor 46 in the shoveling moving component 4 of the first shoveling mechanism 1 respectively drive the first active roller 41 and the second active roller 43 to rotate forward and backward to drive the shoveling moving chassis 40 to move back and forth in a straight line. When the shoveling moving chassis 40 moves toward the carrier 11 on which multiple layers of boards are stacked and filled with semi-finished products under the synchronous drive of the first servo motor 45 and the second servo motor 46, it can extend into the bottom surface of the carrier 11 which is filled with semi-finished products and multiple layers of boards are stacked or piled up, preparing to scoop up the carrier 11 on which multiple layers of boards are stacked or piled up.

[0056] It is achieved by providing a first lifting guide assembly 51 and a second lifting guide assembly 52 on the shoveling moving chassis 40, and providing a first lifting assembly 6 between the first lifting guide assembly 51 and the second lifting guide assembly 52. ​​The first lifting guide assembly 51 and the second lifting guide assembly 52 respectively guide the two sides of the lifting movement of the first lifting assembly 6 to ensure the high precision of the lifting movement of the first lifting assembly 6.

[0057] It also ensures that the second lifting assembly 7 can accurately rise and fall and slide in the first lifting assembly 6 by providing the second lifting assembly 7 in the first lifting assembly 6. The first guide wheel guide rail 61 in the first lifting assembly 6 guides the fifth guide wheel in the second lifting assembly 7, and the second guide wheel guide rail 62 in the second lifting assembly 7 guides the sixth guide wheel 73 in the second lifting assembly 7.

[0058] When the hydraulic cylinder 9 in the lifting transmission assembly 8 drives the gear shaft 81 to rise, the gear shaft 81 drives the connecting rod 87 to rise to drive the first lifting assembly 6 to rise between the first lifting guide assembly 51 and the second lifting guide assembly 52. ​​At the same time, the raised gear shaft 81 drives the first gear 83 and the second gear 84 to rise synchronously. The raised first gear 83 and the second gear 84 respectively lift the first chain 85 and the second chain 86. Since one end of the first chain 85 and the second chain 86 are fixedly connected to the shoveling moving chassis 40, the other ends of the first chain 85 and the second chain 86 are connected and installed with the chain mounting plate 74 in the second lifting assembly 7, so that the first chain 85 and the second chain 86 can jointly pull the chain mounting plate 74 and then pull the second lifting assembly 7 to rise in the first lifting assembly 6. The rise of the second lifting assembly 7 can drive the supporting plate 76 to rise synchronously to achieve the simultaneous lifting of the carrier 11 with multiple layers of plates stacked or stacked and filled with semi-finished products, thereby completing the automatic placement of the carrier with multiple layers of plates stacked or stacked on the shoveling moving chassis 40. Next, the shoveling moving chassis 40 retreats and resets to the bottom of the loading and unloading mechanism 3 under the synchronous drive of the first servo motor 45 and the second servo motor 46, preparing for the first loading and unloading component 33 in the loading and unloading mechanism 3 to take materials (clamp semi-finished products) from the shoveling moving component 4.

[0059] The third servo motor 335 in the first loading and unloading assembly 33 of the loading and unloading mechanism 3 drives the pulley assembly 334 to rotate forward and reverse, driving the loading and unloading horizontal movable plate 331 to move linearly back and forth on the first linear slide module 31 and the second linear slide module 32. This allows the clamping assembly 333 to move linearly back and forth with the movement of the loading and unloading horizontal movable plate 331. The clamping assembly 333 is driven by the lifting cylinder 332 to move up and down. The first CCD camera 35 identifies the position of the semi-finished product placed in the first shoveling mechanism 1. The third servo motor 335 and the lifting cylinder 332 of the first loading and unloading assembly 33 cooperate to accurately remove and deliver the semi-finished product based on the information provided by the first CCD camera 35 on the position of the semi-finished product. When the lifting cylinder 332 of the first loading and unloading assembly 33 drives the clamping assembly 333 to descend to the top of the semi-finished product on the carrier 11, the first double-axis double-outlet cylinder 3331 and the second double-axis double-outlet cylinder 3332 in the clamping assembly 333 of the first loading and unloading assembly 33 simultaneously drive the first clamping block 3334 and the second clamping block 3335 to move toward each other to clamp a row of semi-finished products from the carrier 11 on the shoveling moving chassis 40 and then reset and rise; then, the clamping assembly 333, driven by the third servo motor 335, transfers the clamped row of semi-finished products to the processing assembly line located on one side of the loading and unloading mechanism 3. The structural design of the first loading and unloading assembly 33 can clamp a row of semi-finished products (i.e., multiple semi-finished products) for transmission each time, which achieves high loading efficiency or high material retrieval efficiency and high feeding efficiency for the semi-finished products, thereby solving the problem that the current manipulator can only clamp one material per operation, resulting in low loading efficiency and low feeding efficiency.

[0060] After the semi-finished products on a tray 11 have been removed, the first loading and unloading assembly 33, through the clamping assembly 333, picks up the empty tray from the first shoveling mechanism 1 and places it on the transfer table 35. The second loading and unloading assembly 34 of the loading and unloading mechanism 3 operates on the same principle as the first loading and unloading assembly 33. The third servo motor 335 and the lifting cylinder 332 in the second loading and unloading assembly 34 cooperate to drive the clamping assembly 333 to pick up the empty tray from the transfer table 35 and place it on the second shoveling mechanism 2 as a standby tray for unloading finished products. The second CCD camera 36 identifies the empty space of the carrier 11 on the second shoveling mechanism 2. The third servo motor 335 and the lifting cylinder 332 in the second loading and unloading assembly 34 cooperate to drive the clamping assembly 333 to clamp a row of finished products from the finished product assembly line on the side of the second loading and unloading assembly 34 according to the empty space information on the carrier 11 fed back by the second CCD camera 36 and place them in order on the empty carrier of the second shoveling mechanism 2 until the empty carrier is full of finished products. This cycle repeats. When the shoveling moving chassis 40 of the second shoveling mechanism 2 is stacked with multiple layers of carriers 11 filled with finished products, the first servo motor 45 and the second servo motor 46 in the second shoveling mechanism 2 simultaneously drive the first active roller 41 and the second active roller 43 to rotate to drive the shoveling moving chassis 40 to move the carrier with multiple layers of stacked boards out of the loading and unloading mechanism 3 to make room for the next finished product unloading.

[0061] Its overall structural design realizes fully automated completion on one device. The first shoveling mechanism 1 can move semi-finished products stacked in multiple layers to the loading and unloading mechanism 3 for preparation each time. The first loading and unloading component 33 can clamp a row of semi-finished products from the first shoveling mechanism 1 and transmit them to the processing line each time. The first loading and unloading component 33 clamps the empty tray and places it on the transfer table 35 to clean the empty tray on the first shoveling mechanism 1. The second loading and unloading component 34 clamps the empty tray from the transfer table 35 to the second shoveling mechanism 2 for preparation before finished product unloading. The second loading and unloading component 34 clamps a row of finished products from the finished product assembly line each time and places it on the empty tray in the second shoveling mechanism 2 until the tray is full of finished products. The second shoveling mechanism 2 moves the tray 11 stacked in multiple layers and full of finished products out of the loading and unloading mechanism 3 for the next finished product unloading. It performs a series of operations such as arranging and making room for the plates, and adopts the method of grabbing the semi-finished products in a row to load, conveying the semi-finished products in a row, unloading the semi-finished products in a row, grabbing the finished products in a row and arranging the finished products in a row to complete the loading of semi-finished products and unloading of finished products for palletizing and stacking. It has the advantages of high loading and unloading efficiency, high loading and unloading precision, high feeding efficiency, high feeding precision, high plating efficiency and good plating effect. The entire operation process does not require human participation, so as to reduce the labor intensity of workers and the labor cost of the enterprise. It not only solves the problem of high labor intensity of workers, high labor cost of the enterprise and low work efficiency due to the traditional manual operation method for loading and unloading semi-finished products and finished products, but also solves the problem of low loading and unloading efficiency due to the fact that the current robot can only load and unload one material at a time.

[0062] The above embodiment is only an example of the present invention and is not intended to limit the implementation and scope of rights of the present invention. Any technical solution that is identical or equivalent to the content described in the claims of the present invention should be included in the protection scope of the present invention.

Claims

1. Automatic loading and unloading machine for whole board materials with visual positioning, characterized by: It includes a first shoveling mechanism, a second shoveling mechanism and a loading and unloading mechanism. The first shoveling mechanism and the second shoveling mechanism are arranged in parallel, and the loading and unloading mechanism is arranged above the first shoveling mechanism and the second shoveling mechanism. The first shoveling mechanism includes a shoveling moving assembly, on which a first lifting guide assembly and a second lifting guide assembly are provided, a first lifting assembly is provided between the first lifting guide assembly and the second lifting guide assembly, the first lifting assembly slides and rises in the first lifting guide assembly and the second lifting guide assembly; a second lifting assembly is provided in the first lifting assembly, and the second lifting assembly slides and rises in the first lifting assembly; the shoveling moving assembly is also provided with a lifting transmission assembly, the lifting transmission assembly is connected to a hydraulic cylinder, and the hydraulic cylinder drives the first lifting assembly and the second lifting assembly to move up and down through the lifting transmission assembly, a shoveling track is provided under the shoveling moving assembly, and the shoveling moving assembly moves on the shoveling track; The loading and unloading mechanism includes a loading and unloading frame, a first linear sliding module and a second linear sliding module are provided at the upper end of the loading and unloading frame, a first loading and unloading assembly and a second loading and unloading assembly are provided across the first linear sliding module and the second linear sliding module, a first CCD camera and a second CCD camera are provided at the left and right ends of the loading and unloading frame respectively, a turntable is provided on the loading and unloading frame, and the turntable is fixed to the loading and unloading frame by a mounting rod.

2. The whole board material visual positioning automatic loading and unloading machine according to claim 1 is characterized by: The shoveling moving assembly includes a shoveling moving chassis, which is arranged in an H shape. The left end of the shoveling moving chassis is respectively provided with a first driving roller and a first driven roller, and the right end of the shoveling moving chassis is respectively provided with a second driving roller and a second driven roller. The first driving roller is connected to a first servo motor, and the second driving roller is connected to a second servo motor.

3. The whole board material visual positioning automatic loading and unloading machine according to claim 1 is characterized by: The first lifting guide assembly includes a first fixed guide rail, a first guide wheel and a second guide wheel, and the second lifting guide assembly includes a second fixed guide rail, a third guide wheel and a fourth guide wheel; the first fixed guide rail and the second fixed guide rail are arranged in a vertically balanced manner, and the first guide wheel and the second guide wheel are provided on the side of the upper end of the first fixed guide rail facing the second fixed guide rail, and the third guide wheel and the fourth guide wheel are provided on the side of the upper end of the second fixed guide rail facing the first fixed guide rail, the axial directions of the rotating shaft of the first guide wheel and the rotating shaft of the third guide wheel are arranged in the same manner, the axial directions of the rotating shaft of the second guide wheel and the rotating shaft of the fourth guide wheel are arranged in the same manner, and the axial directions of the rotating shaft of the first guide wheel and the rotating shaft of the second guide wheel are arranged perpendicularly to the axial directions of the rotating shaft of the second guide wheel.

4. The whole board material visual positioning automatic loading and unloading machine according to claim 1 is characterized by: The first lifting assembly includes a first guide wheel guide rail and a second guide wheel guide rail, the first guide wheel guide rail and the second guide wheel guide rail are arranged in a vertically balanced manner, and a horizontal plate is connected between the upper ends of the first guide wheel guide rail and the second guide wheel guide rail; the two edges of the first guide wheel guide rail extend to one side and are respectively provided with a first guide part and a second guide part, and the other side surface of the first guide wheel guide rail extends outward to be provided with a lifting guide bar; the structure of the second guide wheel guide rail is the same as that of the first guide wheel guide rail.

5. The whole board material visual positioning automatic loading and unloading machine according to claim 1 is characterized by: The second lifting assembly includes a first guide wheel mounting plate and a second guide wheel mounting plate. The first guide wheel mounting plate and the second guide wheel mounting plate are arranged in a vertically balanced manner. A fifth guide wheel is provided on the side of the first guide wheel mounting plate facing away from the second guide wheel mounting plate. A sixth guide wheel is provided on the side of the second guide wheel mounting plate facing away from the first guide wheel mounting plate. A chain mounting plate is connected between the first guide wheel mounting plate and the second guide wheel mounting plate. A bracket is provided on the front side of the first guide wheel mounting plate and the second guide wheel mounting plate, and a bracket is mounted on the bracket.

6. The whole board material visual positioning automatic loading and unloading machine according to claim 1, 2 or 5, characterized in that: The lifting transmission assembly includes a gear shaft arranged on the output end of the hydraulic cylinder, and a first gear and a second gear are respectively provided at both ends of the gear shaft, and a first chain is mounted on the first gear; one end of the first chain is connected and installed with a chain mounting plate, and the other end of the first chain is connected and installed with a shoveling moving base; a second chain is mounted on the second gear, one end of the second chain is connected and installed with the chain mounting plate, and the other end of the second chain is connected and installed with the shoveling moving base; a connecting rod is provided perpendicular to the gear shaft, the upper end of the connecting rod is fixedly mounted on the cross plate, and the lower end of the connecting rod is fixedly mounted on the gear shaft.

7. The whole board material visual positioning automatic loading and unloading machine according to claim 6 is characterized by: The structure and working principle of the second shoveling mechanism are the same as those of the first shoveling mechanism.

8. The whole board material visual positioning automatic loading and unloading machine according to claim 1 is characterized by: The first loading and unloading assembly includes a loading and unloading horizontal movable plate connected to and installed with the first linear sliding module and the second linear sliding module, a lifting cylinder is provided vertically through the loading and unloading horizontal movable plate, and a clamping assembly is provided at the output end of the lifting cylinder; a pulley kit is provided between the first linear sliding module and the second linear sliding module, the pulley kit is connected to a third servo motor, the pulley kit is connected and installed with the loading and unloading horizontal movable plate, and the third servo motor drives the loading and unloading horizontal movable plate to move left and right on the first linear sliding module and the second linear sliding module through the pulley kit; The clamping assembly includes a cylinder mounting plate, on which a first double-axis double-outlet cylinder and a second double-axis double-outlet cylinder are provided, the first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder are balanced, the output ends of the first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder on the same side are commonly connected to a first clamping block, and the output ends of the first double-axis double-outlet cylinder and the second double-axis double-outlet cylinder on the other side are commonly connected to a second clamping block; The structure of the second loading and unloading assembly is arranged in a mirror-symmetrical manner to the structure of the first loading and unloading assembly.

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