Material feeding and discharging device

Abstract

The utility model relates to the technical field of battery production, and particularly discloses a material feeding and discharging device which comprises a carrying mechanism, a material placing mechanism, a conveying belt and a lifting mechanism. The material placing mechanism is used for placing materials; the conveying belt is used for conveying the materials; the carrying mechanism comprises a mechanical arm, and the mechanical arm is used for clamping the materials and transferring the materials to the position above the conveying belt. The lifting mechanism comprises a lifting disc, and the lifting disc can be arranged on the conveying belt in a lifting mode; the lifting disc can ascend to the position above the conveying belt to bear materials on the mechanical arm and can descend to place the materials on the conveying belt. According to the scheme, through cooperative operation of the mechanical arm and the lifting disc, automatic conveying of the materials between the material containing mechanism and the conveying belt can be achieved, the labor intensity of workers is reduced, the production efficiency is improved, and the material conveying accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of battery manufacturing technology, and in particular to a material loading and unloading device. Background Technology

[0002] In industrial production, materials need to be conveyed and transferred to reach different equipment for different processes. When materials are transferred between different conveying devices, the smoothness of material flow is often affected due to differences in design specifications, interface types, and other aspects, thus often requiring manual assistance from workers.

[0003] Taking photovoltaic cell production as an example, the production process requires transferring stacked cell packaging boxes onto a conveyor belt. The existing method of loading and unloading materials onto the conveyor belt relies on manual loading and unloading by workers, which has problems such as high labor intensity for workers and large deviations in the placement of materials, affecting the overall production efficiency of the product. Utility Model Content

[0004] In view of this, the purpose of this application is to provide a material loading and unloading device to solve the problems of low efficiency, poor accuracy and high labor intensity of existing conveyor belt loading and unloading methods.

[0005] To achieve the above-mentioned technical objectives, this application provides a material loading and unloading device, including: a handling mechanism, a material placement mechanism, a conveyor belt, and a lifting mechanism;

[0006] The material placement mechanism is used to place materials;

[0007] The conveyor belt is used to transport the material;

[0008] The handling mechanism includes a robotic arm, which is used to grip the material and transfer it above the conveyor belt;

[0009] The lifting mechanism includes a lifting plate, which is vertically mounted on the conveyor belt;

[0010] The lifting platform can rise above the conveyor belt to receive a preset number of materials from the robotic arm, and can descend to place the preset number of materials onto the conveyor belt.

[0011] Furthermore, the robotic arm includes two gripping members that can be opened and closed;

[0012] The length of the clamping member in the vertical direction is greater than the height of the material, so that the robot can simultaneously move multiple materials above the conveyor belt.

[0013] Furthermore, the lifting plate is used to rise to a preset height after the robotic arm picks up multiple materials above the conveyor belt, at which time the lifting plate abuts against the materials or the distance between the lifting plate and the materials is less than the height of one of the materials;

[0014] The robotic arm is used to raise the lifting plate to the preset height and release multiple materials so that the materials slide down onto the lifting plate.

[0015] The lifting platform is used to descend a preset stroke after receiving the material;

[0016] The robotic arm is used to grip the material within its gripping range after the lifting plate descends the preset stroke, so as to leave the preset number of the material on the lifting plate;

[0017] The lifting plate is used to lower itself after being gripped by the robotic arm to place the preset number of materials onto the conveyor belt.

[0018] Furthermore, the conveying mechanism includes: a transfer assembly, a lifting assembly, and a support frame;

[0019] The support frame is disposed on the side of the conveyor belt;

[0020] The robotic arm is mounted on the transfer assembly;

[0021] The transfer assembly is disposed on the support frame and is used to drive the robot arm to move between the support frame and the conveyor belt;

[0022] The lifting assembly is located below the lifting mechanism and is used to drive the material on the material placement mechanism to rise and fall so that it can be gripped by the robotic arm.

[0023] Furthermore, the lifting assembly includes: a vertical track and a gripper, wherein the vertical track is fixed to the support frame;

[0024] The gripper is slidably mounted on the vertical track for gripping the material on the material placement mechanism.

[0025] Furthermore, the interior of the support frame has a hollow structure, so that the material placement mechanism can move into the support frame.

[0026] Furthermore, the material placement mechanism is a movable vehicle structure.

[0027] Furthermore, the material placement mechanism is equipped with a position sensor to sense whether the material placement mechanism is located at the feeding station.

[0028] Furthermore, the material placement mechanism includes: a frame body and a drive component;

[0029] The main frame is used to hold the materials;

[0030] The bottom of the main frame is equipped with wheels;

[0031] The output end of the drive unit is connected to the wheel.

[0032] Furthermore, a locking component is provided on the main body of the vehicle frame;

[0033] The locking element is used to restrict the movement of the frame body when locked.

[0034] Furthermore, the transport mechanism is equipped with vehicle body guide rails;

[0035] The main body of the vehicle frame is equipped with guide wheels;

[0036] During the process of the conveying mechanism clamping the material from the frame body, the guide wheel is slidably connected to the vehicle body guide rail.

[0037] As can be seen from the above technical solutions, this application provides a material loading and unloading device, including: a handling mechanism, a material placement mechanism, a conveyor belt, and a lifting mechanism; the material placement mechanism is used to place materials; the conveyor belt is used to transport the materials; the handling mechanism includes a robotic arm, which is used to grip the materials and transfer them above the conveyor belt; the lifting mechanism includes a lifting plate, which is vertically and vertically mounted on the conveyor belt; the lifting plate can rise above the conveyor belt to receive the materials on the robotic arm, and can descend to place the materials on the conveyor belt.

[0038] In this solution, the coordinated operation of the robotic arm and the lifting platform enables automated material transfer between the material placement mechanism and the conveyor belt, reducing the labor intensity of workers, improving production efficiency, and enhancing the accuracy of material transfer. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the overall structure of a material loading and unloading device provided in an embodiment of this application;

[0041] Figure 2This is a schematic diagram of the handling mechanism of a material loading and unloading device provided in an embodiment of this application;

[0042] Figure 3 A partial schematic diagram of a material placement mechanism provided in an embodiment of this application;

[0043] In the picture:

[0044] 100. Handling mechanism; 110. Robotic arm; 111. Clamping component; 120. Transfer assembly; 130. Lifting assembly; 131. Vertical track; 132. Gripper; 140. Support frame; 150. Car body guide rail;

[0045] 200. Material placement mechanism; 210. Chassis body; 211. Wheels; 212. Locking components; 213. Guide wheels; 214. Locking pins; 220. Drive components;

[0046] 300. Conveyor belt;

[0047] 400. Lifting mechanism; 410. Lifting platform;

[0048] 500, materials 500. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection claimed in this application.

[0050] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0052] Please see Figure 1 The material loading and unloading device provided in this application embodiment includes: a handling mechanism 100, a material placement mechanism 200, a conveyor belt 300, and a lifting mechanism 400.

[0053] The conveyor belt 300 is used to transport material 500. The conveyor belt 300 can be a belt type, chain type, or mesh belt type, as long as it can transport material 500.

[0054] The material placement mechanism 200 is used to place the material 500. The material placement mechanism 200 can be fixed or movable, specifically designed to stably place the material 500. In this embodiment, the material 500 can be a photovoltaic cell packaging box, which can be stacked on the material placement mechanism 200. The stacking height can be adjusted according to actual needs, ensuring that the material 500 remains stable during the movement of the material placement mechanism 200.

[0055] The handling mechanism 100 includes a robotic arm 110, which is used to grip material 500 and transfer it above the conveyor belt 300. In this embodiment, the robotic arm 110 is capable of moving along multiple axes to achieve precise gripping and transfer of material 500.

[0056] The lifting mechanism 400 includes a lifting plate 410, which is vertically mounted on the conveyor belt 300. The lifting plate 410 can rise above the conveyor belt 300 to receive a preset number of materials 500 from the robot arm 110, and can descend to place the preset number of materials 500 on the conveyor belt 300.

[0057] In this embodiment, the lifting plate 410 can gradually descend after holding the material 500, thus smoothly placing the material 500 onto the conveyor belt 300. Specifically, the lifting plate 410 can rise and fall on the conveyor belt 300 and transfer the material 500 to the conveyor belt 300, for example, by setting the middle of the conveyor belt 300 as a hollow structure, so that the lifting plate 410 can pass through the hollow structure to rise and fall. When the lifting plate 410 descends below the conveyor belt 300, the material 500 can smoothly fall onto the conveyor belt 300.

[0058] In this solution, the lifting plate 410 can transfer a preset quantity of material 500 onto the conveyor belt 300 each time, achieving quantitative feeding of the material 500. The quantitative feeding method of the lifting plate 410 can be, for example, that the robot arm 110 acquires a preset quantity of material 500 each time and then places the preset quantity of material 500 onto the robot arm 110. Alternatively, the quantitative feeding method of the lifting plate 410 can be, for example, that the robot arm 110 acquires a second preset quantity of material each time, where the second preset quantity is greater than the preset quantity, and then the robot arm 110 places the preset quantity of material onto the lifting plate 410 each time through quantitative dispensing. An embodiment of quantitative dispensing by the robot arm 110 provided in this application can be found in the following examples.

[0059] In this solution, the robotic arm 110 and the lifting platform 410 work together to achieve efficient and precise transfer of material 500 from the material placement mechanism 200 to the conveyor belt 300, ensuring stable transport of material 500 throughout the loading and unloading process, improving production efficiency and reducing errors caused by manual handling. Furthermore, compared to the robotic arm 110 directly transferring material 500 onto the conveyor belt 300, this solution, through the buffering effect of the lifting platform 410, effectively reduces the risk of impact and damage to material 500 during transfer, improving the smoothness of material 500 transfer from the robotic arm 110 to the conveyor belt 300.

[0060] For a more specific embodiment, please refer to Figure 1 and Figure 2 The robotic arm 110 includes two opening and closing grippers 111. The vertical length of the grippers 111 is greater than the height of the material 500, so that the robotic arm 110 can simultaneously hold multiple materials 500 above the conveyor belt 300. The vertical length of the grippers 111 can be several times the height of the material 500, such as five times, so that after the two grippers 111 are aligned and clamped, they can grip multiple materials 500 at once, thereby improving handling efficiency.

[0061] During operation, the coordinated movements of the robotic arm 110 and the lifting platform 410 enable quantitative grasping and batch transfer of material 500, achieving efficient, precise, and quantitative transfer of material 500 onto the conveyor belt 300. Simultaneously, the clamping member 111, whose vertical length is greater than the height of material 500, guides the material 500 as it slides down, ensuring it falls vertically.

[0062] Taking a stack of materials 500 conveyed on conveyor belt 300 as an example, where the robot arm 110 can grip five materials 500 at a time (i.e., the second preset quantity is five), after the robot arm 110 grips five materials 500, it moves the materials 500 above the lifting platen 410. Then, the lifting platen 410 rises to a preset height. At this preset height, the lifting platen 410 either abuts against the lowest material 500 or has a gap between it and the material 500. It should be noted that when the robot arm 110 grips the material 500, the lowest material 500 can partially protrude outside the robot arm 110, allowing the lifting platen 410 to rise directly to abut against the material 500. Simultaneously, the lifting platen 410 can also rise below the material 500. After the robot arm 110 releases, guided by the robot arm 110, the material 500 slides vertically onto the lifting platen 410 without horizontal displacement. When the robotic arm 110 is holding the material 500, if the bottommost material 500 is completely inside the robotic arm 110 and the lifting plate 410 cannot reach the material 500, then similarly, after the robotic arm 110 is released, the material 500 will slide vertically onto the lifting plate 410 under the guidance of the robotic arm 110 without any horizontal displacement.

[0063] Optionally, if there is a gap between the lifting plate 410 and the robot arm 110 at a preset height, the height of the gap is less than the height of a material 500, so as to ensure that the material 500 can be guided by the robot arm 110 throughout the process of sliding onto the lifting plate 410 and slide down stably and vertically.

[0064] After the lifting platform 410 rises to a preset height, the robotic arm 110 releases its grip, allowing the material 500 to slide onto the lifting platform 410. The gap at which the robotic arm 110 releases its grip is configured to be slightly larger than the length of the material 500, so that the material 500 can slide downwards while being guided by the robotic arm 110 without deviating.

[0065] After the lifting platform 410 receives the material 500, it descends a preset stroke; the preset stroke is adapted to the height of a preset number of materials 500. Taking one preset number as an example, the preset stroke can be the distance of one material 500's height. After the lifting platform 410 descends the preset stroke, one material 500 is removed from the gripping range of the robot arm 110. Then, the robot arm 110 clamps again to clamp the four materials 500 within its gripping range. At this time, the bottommost material 500 is left on the lifting platform 410. After the robot arm 110 clamps, the lifting platform 410 descends to place the material 500 outside the gripping range of the robot arm 110 onto the conveyor belt 300, realizing the process of transferring the preset number of materials 500 to the conveyor belt 300.

[0066] In practical applications, the lifting plate 410, in conjunction with the robotic arm 110, can repeat the above steps to complete the batch transfer of the material 500 held on the robotic arm 110 to the conveyor belt 300. After all the material 500 on the robotic arm 110 is transferred to the conveyor belt 300, the robotic arm 110 moves to the material placement mechanism 200 to pick up new material 500. Then, the above steps are repeated until all the material 500 on the material placement mechanism 200 is loaded.

[0067] It should be noted that the above describes the loading process of material 500 from the material placement mechanism 200 to the conveyor belt 300. The unloading process of material 500 from the conveyor belt 300 to the material placement mechanism 200 and other placement components is similar. Specifically, the lifting plate 410 first lifts the material 500 on the conveyor belt 300 to a set height, and then the robotic arm 110 grips and transfers it to the material placement mechanism 200, completing the unloading of material 500. During the unloading process, the robotic arm 110 grips the material from the lifting plate 410, which avoids the potential wear and tear on the conveyor belt 300 that could result from the robotic arm 110 directly grasping the material.

[0068] In one embodiment, the handling mechanism 100 includes: a transfer component 120, a lifting component 130, and a support frame 140; the support frame 140 is disposed on the side of the conveyor belt 300; a robot arm 110 is disposed on the transfer component 120; the transfer component 120 is disposed on the support frame 140 and is used to drive the robot arm 110 to move between the support frame 140 and the conveyor belt 300; the lifting component 130 is disposed below the lifting component 130 and is used to drive the material 500 on the material placement mechanism 200 to rise and fall for the robot arm 110 to grip.

[0069] In practical applications, the support frame 140 can be positioned adjacent to and abut against the conveyor belt 300 to reduce the travel distance of the transfer component 120. The lifting component 130 can lift the material 500 using linear drive components such as cylinders. With the lifting component 130, the robot arm 110 does not need to be equipped with a lifting function, thereby reducing the complexity of the robot arm 110 structure and ensuring the stability and accuracy of the transfer component 120's movement, thus improving overall work efficiency.

[0070] In one implementation, the transfer assembly 120 may include a horizontal slide rail and a horizontal drive. The robot arm 110 is slidably mounted on the horizontal slide rail and driven horizontally by the horizontal drive. The horizontal drive may be a servo motor to ensure precise and efficient movement of the robot arm 110.

[0071] In a more specific embodiment, the lifting assembly 130 includes a vertical track 131 and a gripper 132. The vertical track 131 is fixed to the support frame 140. The gripper 132 is slidably disposed on the vertical track 131 for gripping the material 500 on the material placement mechanism 200.

[0072] In this embodiment, the lifting component 130 grips the material 500 on the material placement mechanism 200 via the gripper 132, and the material 500 is lifted and lowered via the vertical track 131. During the coordinated operation of the lifting plate 410 and the robotic arm 110, the lifting component 130 can lift the material 500 on the material placement mechanism 200 for convenient gripping by the robotic arm 110, thereby improving work efficiency.

[0073] In one embodiment, the interior of the support frame 140 is a hollow structure so that the material placement mechanism 200 can move into the support frame 140.

[0074] Specifically, the support frame 140 can be a gantry frame. During the loading and unloading process, the material placement mechanism 200 moves directly below the support frame 140, thus the area directly below the support frame 140 can serve as both a loading and unloading station. It should be noted that during the process of the material placement mechanism 200 entering the support frame 140, the lifting assembly 130 can control the gripper 132 to move to its highest position to avoid obstructing the material 500 on the material placement mechanism 200. Subsequently, when lifting is required, the gripper 132 opens to move downwards along both sides of the material 500 to its bottom, and finally closes to complete either gripping the material 500 or lifting its bottom.

[0075] In one embodiment, see Figure 3 The material placement mechanism 200 is a movable cart structure, allowing workers to push or drive equipment to move it. As one embodiment, the material placement mechanism 200 can be a trolley structure. The bottom of the material placement mechanism 200 is equipped with casters for easy steering and movement.

[0076] As a further improvement, a position sensor is provided on the material placement mechanism 200 to sense whether the material placement mechanism 200 is located at the loading station within the support frame 140.

[0077] Correspondingly, the conveying mechanism 100, the lifting mechanism 400, the conveyor belt 300, and the position sensor are all electrically connected to the control system. The control system can accurately control the coordinated operation of the conveying mechanism 100, the lifting mechanism 400, and the conveyor belt 300 based on the sensing signals from the position sensor, ensuring the accurate docking and transmission of the material 500 at each workstation, while preventing damage to the material 500 or equipment due to the material placement mechanism 200 failing to accurately reach the loading workstation.

[0078] In one embodiment, the material placement mechanism 200 includes: a frame body 210 and a drive member 220; the frame body 210 is used to place material 500; a wheel 211 is provided at the bottom of the frame body 210; and the output end of the drive member 220 is connected to the wheel 211.

[0079] The drive unit 220 drives the wheels 211, causing the material placement mechanism 200 to move. In practical applications, a material sensing component is also installed on the frame body 210. The materials on the material placement mechanism 200 are piled up. After the material sensing component detects that the material pile at the front of the material placement mechanism 200 has been loaded, the drive unit 220 controls the frame body 210 to move forward a set distance, causing the material pile at the rear to move to the loading station, thereby achieving continuous loading.

[0080] In one embodiment, a locking element 212 is provided on the frame body 210; the locking element 212 is used to restrict the movement of the frame body 210 when locked.

[0081] In one implementation, the locking member 212 is a braking structure provided on the wheel 211, which can stop the wheel 211 to limit the movement of the frame body 210.

[0082] As one implementation, the locking member 212 can be a lock hole structure provided on the frame body, such as... Figure 3 As shown. Correspondingly, a movable locking pin 214 can be provided below the support frame 140. When the frame body 210 is moved into place, the locking pin 214 can extend into the locking hole structure to lock the frame body. Through the cooperation of the locking pin 214 and the locking member 212, while fixing the frame body 210, it can help determine whether the material pile on the frame body 210 corresponds to the loading station.

[0083] In one embodiment, see Figure 1 The conveying mechanism 100 is equipped with a vehicle body guide rail 150; the frame body 210 is equipped with a guide wheel 213; during the process of the conveying mechanism 100 picking up the material 500 from the frame body 210, the guide wheel 213 is slidably connected to the vehicle body guide rail 150.

[0084] The car body guide rail 150 can be installed on both sides inside the support frame 140. The cooperation between the car body guide rail 150 and the guide wheel 213 can provide guidance for the movement of the main body of the car frame 210 during the loading and unloading process, ensuring the accurate delivery of materials 500.

[0085] The above are merely preferred embodiments of this application and are not intended to limit the present invention. Although the present application has been described in detail with reference to examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A material loading and unloading device, characterized by, The utility model relates to a material conveying device, including: a carrying mechanism (100), a material placing mechanism (200), a conveying belt (300) and a lifting mechanism (400); the material placing mechanism (200) is used for placing materials (500); the conveying belt (300) is used for conveying the materials (500); the carrying mechanism (100) includes a mechanical hand (110), and the mechanical hand (110) is used for clamping the materials (500) and transferring to above the conveying belt (300); the lifting mechanism (400) includes a lifting disc (410), and the lifting disc (410) is arranged on the conveying belt (300) in a lifting manner; the lifting disc (410) can be lifted to above the conveying belt (300) to receive a preset number of materials (500) on the mechanical hand (110), and can be lowered to place the preset number of materials (500) on the conveying belt (300).

2. The material loading and unloading device according to claim 1, characterized in that, the mechanical hand (110) includes two clamping pieces (111) that can be opened and closed; the length of the clamping piece (111) in the vertical direction is greater than the height of the material (500), so that the mechanical hand (110) can clamp multiple materials (500) to above the conveying belt (300) at the same time.

3. The material loading and unloading device according to claim 2, characterized in that, the lifting disc (410) is used to be lifted to a preset height after the mechanical hand (110) clamps multiple materials (500) to above the conveying belt (300), at this time, the lifting disc (410) abuts against the materials (500) or there is a gap between the lifting disc (410) and the materials (500); the mechanical hand (110) is used to loosen multiple materials (500) after the lifting disc (410) is lifted to the preset height, so that the materials (500) slide down to the lifting disc (410); the lifting disc (410) is used to be lowered by a preset stroke after receiving the materials (500); the mechanical hand (110) is used to clamp the materials (500) in its clamping range after the lifting disc (410) is lowered by the preset stroke, so as to leave the preset number of materials (500) on the lifting disc (410); the lifting disc (410) is used to be lowered to place the preset number of materials (500) on the conveying belt (300) after being clamped by the mechanical hand (110).

4. The material loading and unloading device according to claim 1, characterized in that, the carrying mechanism (100) includes a transfer assembly (120), a jacking assembly (130) and a support frame (140); the support frame (140) is arranged on the side of the conveying belt (300); the mechanical hand (110) is arranged on the transfer assembly (120); the transfer assembly (120) is arranged on the support frame (140) and is used to drive the mechanical hand (110) to move between the support frame (140) and the conveying belt (300); the jacking assembly (130) is arranged below the jacking assembly (130) and is used to drive the materials (500) on the material placing mechanism (200) to lift for clamping by the mechanical hand (110).

5. The material loading and unloading device according to claim 4, characterized in that, The jacking assembly (130) comprises a vertical rail (131) fixed to a support frame (140) and a gripper (132) slidably arranged in the vertical rail (131) for gripping the material (500) on the material placing mechanism (200). The support frame (140) is internally hollow structured to allow the material placing mechanism (200) to move into the support frame (140).

6. The material loading and unloading device according to claim 4, characterized in that, The material placing mechanism (200) is a movable trolley structure.

7. The material loading and unloading device according to any one of claims 1 to 6, characterized in that, The material placing mechanism (200) is provided with a position sensor to sense whether the position of the material placing mechanism (200) is located at a feeding station.

8. The material loading and unloading device according to claim 7, characterized in that, The material placing mechanism (200) comprises a trolley body (210) and a driving member (220).

9. The material loading and unloading device according to claim 7, characterized in that, The trolley body (210) is used for placing the material (500). The bottom of the trolley body (210) is provided with a wheel (211). The output end of the driving member (220) is connected to the wheel (211). The trolley body (210) is provided with a locking member (212). The locking member (212) is used for limiting the movement of the trolley body (210) when locked. The carrying mechanism (100) is provided with a trolley guide rail (150).

10. The material loading and unloading device according to claim 9, characterized in that, The trolley body (210) is provided with a guide wheel (213). In the process that the carrying mechanism (100) grips the material (500) from the trolley body (210), the guide wheel (213) is slidably connected to the trolley guide rail (150). ​

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