Carrying device and feeding and discharging equipment

Abstract

The utility model provides a carrying device and feeding and discharging equipment. The carrying device comprises a machine table, a feeding mechanism, a discharging mechanism, a tray carrying mechanism and a carrying empty tray, and a feeding port and a receiving port are formed in the machine table side by side; the feeding mechanism comprises a feeding assembly and a feeding in-place sensor, the feeding assembly is connected with the machine table and located below the feeding opening, the feeding assembly is used for driving the loaded full material disc to move upwards to the feeding opening, and the feeding in-place sensor is arranged on the machine table, is close to the feeding opening and is used for sensing whether the full material disc moves upwards to the feeding opening or not; the discharging mechanism comprises a discharging in-place sensor and a discharging assembly, and the discharging in-place sensor is arranged on the machine table. A carrying driving part of the tray carrying mechanism is arranged on the machine table and stretches across the feeding opening and the receiving opening, the carrying driving part is in driving connection with a lifting driving part, and the lifting driving part is in driving connection with a clamping jaw. According to the carrying device, full trays can be automatically fed, empty trays can be carried, the trays can be driven to move downwards to the preset position for discharging, and the feeding and discharging efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of feeding and discharging, in particular to a carrying device and a feeding and discharging equipment. BACKGROUND

[0002] At present, for some feeding and discharging equipment, when feeding and discharging, a person needs to place a tray containing raw materials on a feeding position of a machine table to take the raw materials, after the taking is completed, the person needs to place an empty tray on a discharging position of the machine table and place cooked materials on the empty tray, and after the tray is full, the person takes away the tray containing the cooked materials. However, this operation mode is complicated, time-consuming and laborious, and the feeding and discharging efficiency is low. CONTENT OF THE UTILITY MODEL

[0003] In view of the above, it is necessary to provide a carrying device and a feeding and discharging equipment to improve the feeding and discharging efficiency.

[0004] The embodiment of the present application provides a carrying device, which comprises a machine table, a feeding port and a discharging port are arranged side by side on the machine table; a feeding mechanism comprising a feeding assembly and a feeding-in-place sensor, the feeding assembly is connected with the machine table and located below the feeding port, the feeding assembly is used to drive a full tray to move upwards to the feeding port, the feeding-in-place sensor is arranged on the machine table and close to the feeding port, and is used to sense whether the full tray moves upwards to the feeding port so as to take out raw materials in the full tray to form an empty tray; a discharging mechanism comprising a discharging-in-place sensor and a discharging assembly, the discharging-in-place sensor is arranged on the machine table and close to the discharging port, and is used to sense whether the empty tray is moved to the discharging port, the discharging assembly is used to carry the empty tray moved to the discharging port so as to load cooked materials to form a cooked tray and then move downwards to a preset position; a tray carrying mechanism comprising a carrying driving member, a lifting driving member and a clamping jaw, the carrying driving member is arranged on the machine table and across the feeding port and the discharging port, the carrying driving member is drivingly connected with the lifting driving member, and the lifting driving member is drivingly connected with the clamping jaw; the carrying driving member and the lifting driving member cooperate to drive the clamping jaw to move between the feeding port and the discharging port, so that the clamping jaw clamps the empty tray on the feeding assembly in the feeding port, and places the empty tray on the discharging assembly in the discharging port.

[0005] The carrying device described above first drives the full tray carried by the feeding assembly to move up to the feeding port. When the full tray is sensed by the feeding-in-place sensor to move up to the feeding port, the material on the full tray can be removed. After the material removal is completed, the carrying drive drives the lifting drive to move the clamping jaw to the feeding port. The lifting drive drives the clamping jaw to grab the empty tray and place the empty tray in the material collection port. When the empty tray is sensed by the discharging-in-place sensor to move to the material collection port, the discharging assembly carries the empty tray moved to the material collection port. Thus, the carrying device of the present application can automatically feed the full tray, carry the empty tray, and drive the tray to move down to a preset position for discharging. The operation is simple, and the feeding and discharging efficiency is high.

[0006] In some embodiments, the feeding assembly comprises a feeding drive connected with the machine, a feeding member drivingly connected with the feeding drive and located below the feeding port, the feeding drive being configured to drive the feeding member to drive the full tray carried thereby to move up to the feeding port, and / or the discharging assembly comprises a discharging drive connected with the machine, a discharging member drivingly connected with the discharging drive and located below the material collection port, the discharging drive being configured to drive the discharging member to drive the empty tray carried thereby to move down from the material collection port to a preset position.

[0007] In some embodiments, the feeding member comprises a feeding support frame drivingly connected with the feeding drive and a feeding carrying plate slidingly connected with the feeding carrying plate and configured to carry the full tray. The feeding mechanism further comprises a feeding suction member arranged between the feeding support frame and the feeding carrying plate and connected with the feeding carrying plate, a feeding magnetic suction member arranged between the feeding support frame and the feeding carrying plate, the feeding magnetic suction member being connected with the feeding support frame and located on a movement path of the feeding suction member, and configured to adsorb and fix the feeding suction member when the feeding suction member moves to be opposite to the feeding magnetic suction member. The discharging member comprises a discharging support frame drivingly connected with the discharging drive and a discharging carrying plate slidingly connected with the discharging carrying plate and configured to carry the empty tray. The discharging mechanism further comprises a discharging suction member arranged between the discharging support frame and the discharging carrying plate and connected with the discharging carrying plate, and a discharging magnetic suction member arranged between the discharging support frame and the discharging carrying plate, the discharging magnetic suction member being connected with the discharging support frame and located on a movement path of the discharging suction member, and configured to adsorb and fix the discharging suction member when the discharging suction member moves to be opposite to the discharging magnetic suction member.

[0008] In some embodiments, the feeding mechanism further comprises a feeding sensor disposed on the feeding support plate and close to the feeding magnetic member, for sensing whether the feeding support plate slides above the feeding magnetic member; and / or the discharging mechanism further comprises a discharging sensor disposed on the discharging support plate and close to the discharging magnetic member, for sensing whether the discharging support plate slides above the discharging magnetic member.

[0009] In some embodiments, the feeding mechanism further comprises: a plurality of feeding positioning members disposed on the machine and located on two adjacent sides of the feeding port; and a plurality of feeding positioning driving members disposed on the machine and located on two other sides of the feeding port, for pushing the tray of the feeding port to move towards the plurality of feeding positioning members to position the tray; and / or the discharging mechanism further comprises a discharging positioning assembly, which comprises: a plurality of discharging positioning members disposed on the machine and located on two adjacent sides of the discharging port; and a plurality of discharging positioning driving members disposed on the machine and located on two other sides of the discharging port, for pushing the tray of the discharging port to move towards the plurality of discharging positioning members to position the tray.

[0010] In some embodiments, the feeding mechanism further comprises a feeding overheight detector disposed on the machine and close to the feeding port, for sensing whether the height of the tray in place of the feeding port meets the standard; and / or the discharging mechanism further comprises a discharging overheight detector disposed on the machine and close to the discharging port, for sensing whether the height of the tray in place of the discharging port meets the standard.

[0011] In some embodiments, the gripper comprises: two clamping members, each of which comprises a connecting body and a clamping head disposed at two ends of the connecting body, the connecting bodies and the clamping heads of the two clamping members being oppositely disposed; and a clamping driving member drivingly connected with the lifting driving member and connected to the two connecting bodies, for driving the two connecting bodies to approach to clamp the empty tray or the clinker tray.

[0012] In some embodiments, the tray carrying mechanism further comprises: a fixed body drivingly connected with the carrying driving member, the lifting driving member being disposed on the fixed body; and a posture detector disposed on the fixed body and located on one side of the lifting driving member, for sensing whether the posture of the tray clamped by the clamping member meets the standard.

[0013] In some embodiments, the tray carrying mechanism further comprises: a mounting body drivingly connected with the lifting drive, the clamping drive being connected with the mounting body; a slide rail provided on the machine table and arranged opposite to the carrying drive, the fixing body being slidingly connected with the slide rail; a guide member provided on the fixing body; a guide shaft, one end of the guide shaft being connected with the mounting body, the other end of the guide shaft slidingly penetrating the guide member, the guide shaft being used for guiding the movement of the mounting body.

[0014] The embodiments of the present application also provide a feeding and discharging device, which comprises the carrying device, the positioning and moving device, the raw material taking and placing device and the clinker taking and placing device according to any one of the above, wherein the raw material taking and placing device is used for moving and taking the raw material on the full tray on the feeding mechanism and placing the raw material on the positioning and moving device, the positioning and moving device is used for positioning the raw material and moving the raw material to a preset distance, so that the external mechanical hand can take away the raw material and place the clinker on the positioning and moving device for positioning, and the clinker taking and placing device is used for moving and taking the clinker positioned by the positioning and moving device and placing the clinker on the empty tray of the discharging mechanism.

[0015] The feeding and discharging device described above can move the full tray carried by the feeding assembly to the feeding port, when the full tray is moved to the feeding port and sensed by the feeding-in-place sensor, the material on the full tray can be moved and taken, after the taking of the material is completed, the carrying drive drives the lifting drive to move the clamping jaw to the feeding port, the lifting drive drives the clamping jaw to take the empty tray and place the empty tray on the collecting port, when the empty tray is moved to the collecting port and sensed by the discharging-in-place sensor, the discharging assembly carries the empty tray moved to the collecting port, thus, the carrying device of the present application can automatically feed the full tray, carry the empty tray and move the tray to a preset position for discharging, the operation is simple and the feeding and discharging efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 FIG. 1 is a perspective structural schematic view of a carrying device provided by an embodiment of the present application.

[0017] Figure 2 FIG. 2 is a perspective structural schematic view of a machine table, a feeding mechanism and a discharging mechanism shown in FIG. 1. Figure 1

[0018] Figure 3 FIG. 3 is an exploded structural schematic view of the feeding mechanism and the discharging mechanism shown in FIG. 2. Figure 2

[0019] Figure 4 FIG. 4 is a perspective structural schematic view of a carrying mechanism shown in FIG. 2. Figure 1

[0020] Figure 5 ​​​Fig. 1 is a schematic diagram of a perspective view of a feeding and discharging device according to an embodiment of the present application.

[0021] Main element symbol description

[0022] Carrying device 100, machine table 10, feeding port 11, discharging port 12, feeding mechanism 20, feeding assembly 21, feeding driving element 211, feeding element 212, feeding support frame 2121, feeding bearing plate 2122, feeding in-place sensor 22, feeding suction element 23, feeding magnetic suction element 24, feeding sensor 25, feeding positioning element 26, feeding positioning driving element 27, feeding over-height detector 28, discharging mechanism 30, discharging in-place sensor 31, discharging assembly 32, discharging driving element 321, discharging element 322, discharging support frame 3221, discharging bearing plate 3222, discharging suction element 33, discharging magnetic suction element 34, discharging sensor 35, discharging positioning element 36, discharging positioning driving element 37, discharging over-height detector 38, tray carrying mechanism 40, carrying driving element 41, lifting driving element 42, clamping jaw 43, clamping element 431, connecting body 4311, clamping head 4312, clamping driving element 432, fixing body 44, posture detector 45, mounting body 46, sliding rail 47, guide element 48, guide shaft 49, positioning displacement device 200, raw material taking and placing device 300, clinker taking and placing device 400, feeding and discharging device 1000, tray 1001. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are examples for explaining the present application and should not be understood as limiting the present application.

[0024] In the description of the present application, it should be understood that the terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, in the description of the present application, it should be noted that the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0025] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be a fixed connection, or a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection, or can communicate with each other, it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.

[0026] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0027] Please refer to Figure 1 The embodiment of the present application provides a carrying device 100, which comprises a machine table 10, a feeding mechanism 20, a discharging mechanism 30 and a tray carrying mechanism 40.

[0028] The machine table 10 is provided with a feeding port 11 and a collecting port 12 side by side, and the feeding port 11 and the collecting port 12 can be rectangular. The feeding mechanism 20 comprises a feeding assembly 21 and a feeding in-place sensor 22. The feeding assembly 21 is connected with the machine table 10 and located below the feeding port 11, and is used to drive the full material tray 1001 to move upwards to the feeding port 11. The feeding in-place sensor 22 is arranged on the machine table 10 and close to the feeding port 11, and is used to sense whether the full material tray 1001 moves upwards to the feeding port 11, so that the robot or the worker takes the raw material from the full material tray 1001 to form an empty material tray 1001. Specifically, the feeding in-place sensor 22 can be an optical sensor. The discharging mechanism 30 comprises a discharging in-place sensor 31 and a discharging assembly 32. The discharging in-place sensor 31 is arranged on the machine table 10 and close to the collecting port 12, and is used to sense whether the empty material tray 1001 is moved to the collecting port 12. The discharging assembly 32 is used to carry the empty material tray 1001 moved to the collecting port 12 to move downwards to a preset position after being filled with the cooked material to form a cooked material tray 1001. Specifically, the discharging in-place sensor 31 is an optical sensor, and the discharging assembly 32 can drive the empty material tray 1001 to move downwards or the cooked material tray 1001 filled with the cooked material to move downwards. The tray carrying mechanism 40 comprises a carrying drive 41, a lifting drive 42 and a clamping jaw 43. The carrying drive 41 is arranged on the machine table 10 and crosses the feeding port 11 and the collecting port 12. The carrying drive 41 is drivingly connected with the lifting drive 42, and the lifting drive 42 is drivingly connected with the clamping jaw 43. When the raw material on the material tray 1001 of the feeding port 11 is taken, the carrying drive 41 and the lifting drive 42 cooperate to drive the clamping jaw 43 to move between the feeding port 11 and the collecting port 12, so that the clamping jaw 43 clamps the empty material tray 1001 on the feeding assembly 21 of the feeding port 11 and places the empty material tray 1001 on the discharging assembly 32 of the collecting port 12. Specifically, the carrying drive 41 is an electric sliding table, and the lifting drive 42 is a lifting cylinder.

[0029] The above-mentioned carrying device 100 drives the full material tray 1001 to move upwards to the feeding port 11 through the feeding assembly 21. When the feeding in-place sensor 22 senses that the full material tray 1001 moves upwards to the feeding port 11, the raw material on the full material tray 1001 can be removed. After the raw material is taken, the empty material tray 1001 is formed. The carrying drive 41 drives the lifting drive 42 to drive the clamping jaw 43 to move to the feeding port 11. The lifting drive 42 drives the clamping jaw 43 to grab the empty material tray 1001 and place the empty material tray 1001 on the collecting port 12. When the discharging in-place sensor 31 senses that the empty material tray 1001 is moved to the collecting port 12, the discharging assembly 32 carries the empty material tray 1001 moved to the collecting port 12. Thus, the carrying device 100 of the present application can automatically feed the full material tray 1001, carry the empty material tray 1001 and drive the material tray 1001 to move downwards to a preset position for discharging. The operation is simple, and the feeding and discharging efficiency is high.

[0030] Please refer to Figure 2 The feeding assembly 21 comprises a feeding driving member 211 and a feeding member 212. The feeding driving member 211 is connected with the machine table 10. The feeding member 212 is drivingly connected with the feeding driving member 211 and is located below the feeding port 11. The feeding driving member 211 is used to drive the feeding member 212 to move upwardly to the feeding port 11 with the full tray 1001 carried thereon. Specifically, the feeding driving member 211 is an electric sliding table.

[0031] The discharging assembly 32 comprises a discharging driving member 321 and a discharging member 322. The discharging driving member 321 is connected with the machine table 10. The discharging member 322 is drivingly connected with the discharging driving member 321 and is located below the collecting port 12. The discharging driving member 321 is used to drive the discharging member 322 to move downwardly from the collecting port 12 to a preset position with the empty tray 1001 carried thereon. Specifically, the discharging driving member 321 is an electric sliding table.

[0032] By arranging the feeding driving member 211 and the feeding member 212, the tray 1001 can be loaded on the feeding member 212 and moved upwardly to the feeding port 11 by the feeding driving member 211. By arranging the discharging driving member 321 and the discharging member 322, the tray 1001 can be unloaded on the discharging member 322 and moved downwardly from the collecting port 12 to the preset position by the discharging driving member 321.

[0033] Please refer to Figure 3The feeding member 212 comprises a feeding support frame 2121 and a feeding bearing plate 2122. The feeding support frame 2121 is drivingly connected with the feeding driving member 211. The feeding bearing plate 2122 is slidingly connected with the feeding support frame 2121 and is used for bearing the full tray 1001. The feeding mechanism 20 further comprises a feeding suction member 23 and a feeding magnetic suction member 24. The feeding suction member 23 is arranged between the feeding support frame 2121 and the feeding bearing plate 2122. The feeding magnetic suction member 24 is connected with the feeding bearing plate 2122. The feeding magnetic suction member 24 is arranged between the feeding support frame 2121 and the feeding bearing plate 2122, is connected with the feeding support frame 2121 and is located on the moving path of the feeding suction member 23, is used for attracting and fixing the feeding suction member 23 when the feeding suction member 23 moves to be opposite to the feeding magnetic suction member 24. Specifically, the feeding suction member 23 is a metal block and the feeding magnetic suction member 24 is a magnet. By arranging the feeding support frame 2121 and the feeding bearing plate 2122, the feeding bearing plate 2122 can be manually pulled to slide out of the machine table 10, so that the tray 1001 is placed on the feeding bearing plate 2122. By arranging the feeding suction member 23 and the feeding magnetic suction member 24, the feeding bearing plate 2122 can be manually pushed to slide into the machine table 10, so that the feeding support frame 2121 and the feeding bearing plate 2122 are fixed together by the feeding suction member 23 and the feeding magnetic suction member 24. The connection stability of the feeding support frame 2121 and the feeding bearing plate 2122 is high.

[0034] The blanking piece 322 includes a blanking support frame 3221 and a blanking bearing plate 3222. The blanking support frame 3221 is drivingly connected with the blanking driving piece 321. The blanking bearing plate 3222 is slidingly connected with the blanking support frame 3221 and is used for bearing the empty tray 1001. The blanking mechanism 30 further includes a blanking suction piece 33 and a blanking magnetic suction piece 34. The blanking suction piece 33 is arranged between the blanking support frame 3221 and the blanking bearing plate 3222. The blanking magnetic suction piece 34 is connected with the blanking bearing plate 3222. The blanking magnetic suction piece 34 is arranged between the blanking support frame 3221 and the blanking bearing plate 3222, is connected with the blanking support frame 3221 and is located on the moving path of the blanking suction piece 33, is used for attracting and fixing the blanking suction piece 33 when the blanking suction piece 33 moves to be opposite to the blanking magnetic suction piece 34. Specifically, the blanking suction piece 33 is a metal block. The blanking magnetic suction piece 34 is a magnet. By arranging the blanking support frame 3221 and the blanking bearing plate 3222, the blanking bearing plate 3222 can be manually pulled to slide out of the machine table 10, so that the tray 1001 is moved away on the blanking bearing plate 3222. By arranging the blanking suction piece 33 and the blanking magnetic suction piece 34, the blanking bearing plate 3222 can be manually pushed to slide into the machine table 10, so that the blanking support frame 3221 and the blanking bearing plate 3222 are fixed together by the blanking suction piece 33 and the blanking magnetic suction piece 34. The connection stability of the blanking support frame 3221 and the blanking bearing plate 3222 is high.

[0035] The feeding mechanism 20 further includes a feeding sensor 25. The feeding sensor 25 is arranged on the feeding bearing plate 2122 and is close to the feeding magnetic suction piece 24, is used for sensing whether the feeding bearing plate 2122 slides to the upper side of the feeding magnetic suction piece 24. Specifically, the feeding sensor 25 is an optical sensor. By arranging the feeding sensor 25, it can be ensured whether the feeding support frame 2121 and the feeding bearing plate 2122 are connected together by the feeding suction piece 23 and the feeding magnetic suction piece 24.

[0036] The blanking mechanism 30 further includes a blanking sensor 35. The blanking sensor 35 is arranged on the blanking bearing plate 3222 and is close to the blanking magnetic suction piece 34, is used for sensing whether the blanking bearing plate 3222 slides to the upper side of the blanking magnetic suction piece 34. Specifically, the blanking sensor 35 is an optical sensor. By arranging the blanking sensor 35, it can be ensured whether the blanking support frame 3221 and the blanking bearing plate 3222 are connected together by the blanking suction piece 33 and the blanking magnetic suction piece 34.

[0037] The feeding mechanism 20 further comprises a plurality of feeding positioning members 26 and a plurality of feeding positioning driving members 27. The feeding positioning members 26 are block-shaped structures, and are arranged on the machine table 10 and located at two adjacent sides of the feeding opening 11. The plurality of feeding positioning driving members 27 are arranged on the machine table 10 and located at the other two sides of the feeding opening 11, and are used to push the tray 1001 of the feeding opening 11 to move towards the plurality of feeding positioning members 26, so as to position the tray 1001. Specifically, the feeding positioning driving members 27 are air cylinders. By arranging the plurality of feeding positioning members 26 and the plurality of feeding positioning driving members 27, the tray 1001 of the feeding opening 11 can be fixed, the position of the tray 1001 is ensured to be stable, and abnormal taking and placing can be avoided. The discharging mechanism 30 further comprises a plurality of discharging positioning members 36 and a plurality of discharging positioning driving members 37. The discharging positioning members 36 are block-shaped structures, and are arranged on the machine table 10 and located at two adjacent sides of the material collecting opening 12. The plurality of discharging positioning driving members 37 are arranged on the machine table 10 and located at the other two sides of the material collecting opening 12, and are used to push the tray 1001 of the material collecting opening 12 to move towards the plurality of discharging positioning members 36, so as to position the tray 1001. Specifically, the discharging positioning driving members 37 are air cylinders. By arranging the plurality of discharging positioning members 36 and the plurality of discharging positioning driving members 37, the tray 1001 of the material collecting opening 12 can be fixed, the position of the tray 1001 is ensured to be stable, and abnormal taking and placing can be avoided.

[0038] The feeding mechanism 20 further comprises a feeding height detector 28, which is arranged on the machine table 10 and close to the feeding opening 11, and is used to sense whether the height of the tray 1001 of the feeding opening 11 in place meets the standard. Specifically, the feeding height detector 28 is an optical sensor. By arranging the feeding height detector 28, whether the height of the tray 1001 of the feeding opening 11 is abnormal can be determined. The discharging mechanism 30 further comprises a discharging height detector 38, which is arranged on the machine table 10 and close to the material collecting opening 12, and is used to sense whether the height of the tray 1001 of the material collecting opening 12 in place meets the standard. Specifically, the discharging height detector 38 is an optical sensor. By arranging the discharging height detector 38, whether the height of the tray 1001 of the material collecting opening 12 is abnormal can be determined.

[0039] Please refer to Figure 4The clamping jaw 43 comprises two clamping members 431 and a clamping driving member 432. Each clamping member 431 comprises a connecting body 4311 and clamping heads 4312 arranged at two ends of the connecting body 4311. The connecting body 4311 is in a rod shape, and the clamping heads 4312 are in a block shape. The connecting bodies 4311 and the clamping heads 4312 of the two clamping members 431 are arranged oppositely. The clamping driving member 432 is drivingly connected with the lifting driving member 42 and connected with the two connecting bodies 4311, and is used to drive the two connecting bodies 4311 to move close to each other to clamp the empty tray 1001 or the clinker tray 1001. Specifically, the clamping driving member 432 is a pneumatic cylinder. In the embodiment, there are two clamping jaws 43, and the two clamping jaws 43 clamp one tray 1001 together. By arranging the two clamping members 431 and the clamping driving member 432, the stable grabbing of the tray 1001 can be ensured.

[0040] The tray carrying mechanism 40 further comprises a fixing body 44 and a posture detector 45. The fixing body 44 is drivingly connected with the carrying driving member 41, and the lifting driving member 42 is arranged on the fixing body 44. The posture detector 45 is arranged on the fixing body 44 and located at one side of the lifting driving member 42, and is used to sense whether the posture of the tray 1001 clamped by the clamping member 431 meets the standard. Specifically, the posture detector 45 is an optical sensor and the number thereof is two. By arranging the posture detector 45, whether the tray 1001 is clamped stably can be detected.

[0041] The tray carrying mechanism 40 further comprises a mounting body 46, a sliding rail 47, a guide member 48 and a guide shaft 49. The mounting body 46 is substantially in a plate shape. The mounting body 46 is drivingly connected with the lifting driving member 42, and the clamping driving member 432 is connected with the mounting body 46. The sliding rail 47 is arranged on the machine table 10 and arranged oppositely with the carrying driving member 41. The fixing body 44 is slidingly connected with the sliding rail 47. The guide member 48 is in a sleeve structure and arranged on the fixing body 44. One end of the guide shaft 49 is connected with the mounting body 46, and the other end of the guide shaft 49 slidingly penetrates the guide member 48. The guide shaft 49 is used to guide the movement of the mounting body 46. By arranging the sliding rail 47, the moving direction of the fixing body 44 can be ensured to be relatively consistent. By arranging the guide member 48 and the guide shaft 49, the moving direction of the mounting body 46 can be ensured to be relatively consistent.

[0042] Please refer to Figure 5The embodiment of the present application also provides a feeding and discharging device 1000, which comprises the conveying device 100, the positioning and moving device 200, the raw material taking and placing device 300 and the clinker taking and placing device 400 described above; the raw material taking and placing device 300 is used to move the raw material on the tray 1001 on the feeding mechanism 20 and place the raw material on the positioning and moving device 200; the positioning and moving device 200 is used to position the raw material and move the raw material to a preset distance, so that the external mechanical hand can grab the raw material and place the clinker on the positioning and moving device 200 for positioning; and the clinker taking and placing device 400 is used to move the clinker positioned by the positioning and moving device 200 and place the clinker on the empty tray 1001 of the discharging mechanism 30.

[0043] The implementation process of the feeding and discharging device 1000 of the embodiment of the present application is as follows:

[0044] The feeding support frame 2121 and the feeding carrying plate 2122 are fixed together by the feeding suction piece 23 and the feeding magnetic suction piece 24, and then the feeding sensor 25 senses that the feeding support frame 2121 and the feeding carrying plate 2122 are connected together by the feeding suction piece 23 and the feeding magnetic suction piece 24.

[0045] The feeding driving piece 211 drives the feeding piece 212 to move the carrying tray 1001 with raw material to the feeding port 11.

[0046] When the full tray 1001 is moved to the feeding port 11 and the height of the tray 1001 at the feeding port 11 meets the standard, the plurality of feeding positioning driving pieces 27 push the tray 1001 at the feeding port 11 to move towards the plurality of feeding positioning pieces 26, so as to position the tray 1001.

[0047] The raw material taking and placing device 300 moves the raw material on the tray 1001 at the feeding port 11 and places the raw material on the positioning and moving device 200; the positioning and moving device 200 positions the raw material and moves the raw material to a preset distance; the external mechanical hand grabs the raw material on the positioning and moving device 200 for processing; and the above mechanical hand taking action is circular until the raw material in the tray 1001 is all taken out to form an empty tray 1001.

[0048] The carrying driving member 41 drives the lifting driving member 42 to drive the clamping jaw 43 to move to the feeding opening 11, the lifting driving member 42 drives the clamping jaw 43 to grab the empty tray 1001 and place the empty tray 1001 on the collecting opening 12, when the emptying position sensor 31 senses that the empty tray 1001 is moved to the collecting opening 12, the emptying driving member 321 drives the emptying member 322 to move up to the collecting opening 12, so that the emptying member 322 carries the empty tray 1001 moved to the collecting opening 12;

[0049] The external mechanical arm places the clinker on the positioning and transferring device 200 for positioning, the clinker taking and placing device 400 takes the clinker positioned by the positioning and transferring device 200 and places the clinker on the empty tray 1001 of the emptying mechanism 30 of the carrying device 100;

[0050] When the empty tray 1001 is full, the emptying driving member 321 drives the emptying member 322 to carry the full clinker tray 1001 to move down from the collecting opening 12 to a preset position, and the full clinker tray 1001 is manually taken out.

[0051] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and range of the equivalent elements of the claims are intended to be included in the present application.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting, and although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A handling device, characterized in that The application relates to a material tray conveying device. The device comprises a machine table, a feeding port and a collecting port arranged side by side on the machine table, a feeding mechanism, a feeding assembly and a feeding in-place sensor, the feeding assembly is connected with the machine table and located below the feeding port, the feeding assembly is used to drive the full material tray to move upwards to the feeding port, the feeding in-place sensor is arranged on the machine table and close to the feeding port, and is used to sense whether the full material tray moves upwards to the feeding port so as to take out the raw material in the full material tray to form an empty material tray, a discharging mechanism, a discharging in-place sensor and a discharging assembly, the discharging in-place sensor is arranged on the machine table and close to the collecting port, and is used to sense whether the empty material tray moves to the collecting port, the discharging assembly is used to carry the empty material tray moved to the collecting port so as to be filled with cooked material to form a cooked material tray and then move downwards to a preset position, a conveying driving element, a lifting driving element and a clamping jaw, the conveying driving element is arranged on the machine table and crosses the feeding port and the collecting port, the conveying driving element is drivingly connected with the lifting driving element, and the lifting driving element is drivingly connected with the clamping jaw, the conveying driving element and the lifting driving element are cooperatively driven to drive the clamping jaw to move between the feeding port and the collecting port, so that the clamping jaw clamps the empty material tray on the feeding assembly at the feeding port and places the empty material tray on the discharging assembly at the collecting port. The feeding assembly comprises a feeding driving element connected with the machine table, a feeding element drivingly connected with the feeding driving element and located below the feeding port, and the feeding driving element is used to drive the feeding element to drive the full material tray to move upwards to the feeding port. The discharging assembly comprises a discharging driving element connected with the machine table, a discharging element drivingly connected with the discharging driving element and located below the collecting port, and the discharging driving element is used to drive the discharging element to drive the empty material tray to move downwards to a preset position from the collecting port. The feeding element comprises a feeding support frame drivingly connected with the feeding driving element and a feeding carrying plate slidingly connected with the feeding carrying plate and used to carry the full material tray, and the feeding mechanism further comprises a feeding magnetic suction element arranged between the feeding support frame and the feeding carrying plate and connected with the feeding carrying plate, a feeding magnetic suction element arranged between the feeding support frame and the feeding carrying plate, the feeding magnetic suction element is connected with the feeding support frame and located on the moving path of the feeding magnetic suction element, and is used to adsorb and fix the feeding magnetic suction element when the feeding magnetic suction element moves to be opposite to the feeding magnetic suction element.

2. The handling device of claim 1, wherein The discharging element comprises a discharging support frame drivingly connected with the discharging driving element and a discharging carrying plate slidingly connected with the discharging carrying plate and used to carry the empty material tray, and the discharging mechanism further comprises a discharging magnetic suction element arranged between the discharging support frame and the discharging carrying plate and connected with the discharging carrying plate. ​ ​ ​ ​ ​ 3. The handling device of claim 2, wherein ​ ​ ​ ​ ​ A lower material discharging magnetic attraction element is arranged between the lower material discharging support frame and the lower material discharging bearing plate. The lower material discharging magnetic attraction element is connected to the lower material discharging support frame and located on the moving path of the lower material discharging attracted element. When the lower material discharging attracted element moves to the opposite side of the lower material discharging magnetic attraction element, the lower material discharging magnetic attraction element can attract and fix the lower material discharging attracted element.

4. The handling device of claim 3, wherein The upper material feeding mechanism further comprises an upper material feeding sensor arranged on the upper material feeding bearing plate and close to the upper material feeding magnetic attraction element. The upper material feeding sensor is used to sense whether the upper material feeding bearing plate slides to the upper side of the upper material feeding magnetic attraction element. The lower material discharging mechanism further comprises a lower material discharging sensor arranged on the lower material discharging bearing plate and close to the lower material discharging magnetic attraction element. The lower material discharging sensor is used to sense whether the lower material discharging bearing plate slides to the upper side of the lower material discharging magnetic attraction element.

5. The carrier of claim 1, wherein The upper material feeding mechanism further comprises: A plurality of upper material positioning elements arranged on the machine table and located on two adjacent sides of the upper material feeding opening. A plurality of upper material positioning driving elements arranged on the machine table and located on two other sides of the upper material feeding opening. The upper material positioning driving elements are used to push the tray of the upper material feeding opening to move towards the plurality of upper material positioning elements, so that the plurality of upper material positioning elements can position the tray. The lower material discharging mechanism further comprises: A plurality of lower material positioning elements arranged on the machine table and located on two adjacent sides of the lower material discharging opening. A plurality of lower material positioning driving elements arranged on the machine table and located on two other sides of the lower material discharging opening. The lower material positioning driving elements are used to push the tray of the lower material discharging opening to move towards the plurality of lower material positioning elements, so that the plurality of lower material positioning elements can position the tray.

6. The carrier of claim 1, wherein The upper material feeding mechanism further comprises: An upper material feeding overheight detector arranged on the machine table and close to the upper material feeding opening. The upper material feeding overheight detector is used to sense whether the height of the tray in place of the upper material feeding opening meets the standard. The lower material discharging mechanism further comprises: A lower material discharging overheight detector arranged on the machine table and close to the lower material discharging opening. The lower material discharging overheight detector is used to sense whether the height of the tray in place of the lower material discharging opening meets the standard.

7. The carrier of claim 1, wherein The clamping jaw comprises: Two clamping elements. Each clamping element comprises a connecting body and a clamping head arranged at two ends of the connecting body. The connecting bodies and the clamping heads of the two clamping elements are arranged opposite to each other. A clamping driving element drivingly connected to the lifting driving element and connected to the two connecting bodies. The clamping driving element is used to drive the two connecting bodies to move close to each other, so as to clamp the empty tray or the clinkering tray.

8. The handling device of claim 7, wherein The tray carrying mechanism further comprises: A fixed body drivingly connected to the carrying driving element. The lifting driving element is arranged on the fixed body. A posture detector arranged on the fixed body and located on one side of the lifting driving element. The posture detector is used to sense whether the posture of the tray clamped by the clamping element meets the standard.

9. The handling device of claim 8, wherein, The tray carrying mechanism further comprises: An installation body drivingly connected to the lifting driving element. The clamping driving element is connected to the installation body. A sliding rail arranged on the machine table and arranged opposite to the carrying driving element. The fixed body is slidingly connected to the sliding rail. A guide element arranged on the fixed body. A guide shaft. One end of the guide shaft is connected to the installation body. The other end of the guide shaft slidingly penetrates the guide element. The guide shaft is used to guide the movement of the installation body.

10. A loading and unloading apparatus, characterized by, The application relates to a conveying device, a positioning and moving device, a raw material taking and placing device and a clinker taking and placing device. The raw material taking and placing device is used for moving and taking the raw material on the full material disc of the feeding mechanism and placing the raw material on the positioning and moving device; the positioning and moving device is used for positioning the raw material and moving the raw material to a preset distance, so that an external mechanical hand can grab the raw material and place clinker on the positioning and moving device for positioning; and the clinker taking and placing device is used for moving and taking the clinker positioned by the positioning and moving device and placing the clinker on the empty material disc of the discharging mechanism.

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