Multi-axis linkage gantry type full-automatic feeding and discharging device

Abstract

The utility model relates to a multi-shaft linkage gantry type full-automatic feeding and discharging device, and belongs to the technical field of edge bonding machines. The device comprises a rack, a stock bin, a material taking mechanism, a material receiving mechanism and a board dividing and conveying mechanism, the board dividing and conveying mechanism comprises a board dividing and conveying main support, a transverse conveying assembly, a longitudinal conveying assembly and a lifting assembly, and the transverse conveying assembly, the longitudinal conveying assembly and the lifting assembly are all arranged on the board dividing and conveying main support; the transverse conveying assembly is used for driving plates to move in the first direction X, the longitudinal conveying assembly is used for receiving the plates located at the discharging position and driving the plates to move in the second direction Y, and the lifting assembly is used for driving the transverse conveying assembly to move in the third direction Z. According to the scheme, accurate positioning and efficient conveying of the plates in multiple directions can be achieved through three-axis cooperative movement of the transverse conveying assembly, the longitudinal conveying assembly and the lifting assembly, and the automation degree and the production takt are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of edge banding machine technology, and in particular to a multi-axis linkage gantry-type fully automatic loading and unloading device. Background Technology

[0002] Existing gantry loading and unloading mechanisms mostly use single-direction conveying components, making it difficult to achieve coordinated control of sheet metal in the transverse, longitudinal, and vertical directions. This results in low sorting accuracy and insufficient automation. In traditional designs, the coordination between transverse and longitudinal conveying components is poor, leading to a sorting error rate as high as 5%, and the inability to process two sheets simultaneously, resulting in a slow production cycle. Furthermore, the fixed lifting height of the hopper cannot adapt to the stacking requirements of sheets of different thicknesses, necessitating frequent shutdowns for adjustments, and reducing equipment utilization to less than 60%. These shortcomings severely restrict production efficiency and equipment adaptability, urgently requiring a solution that can achieve multi-axis linkage, flexible material feeding, and efficient sorting. Utility Model Content

[0003] To overcome the problems existing in related technologies, this utility model provides a multi-axis linkage gantry-type fully automatic loading and unloading device, which can achieve precise positioning and efficient conveying of plates in multiple directions through the three-axis coordinated movement of the transverse conveying component, the longitudinal conveying component and the lifting component, significantly improving the degree of automation and production cycle.

[0004] This utility model provides a multi-axis linkage gantry-type fully automatic loading and unloading device, including a frame with a first direction X, a second direction Y and a third direction Z intersecting in pairs;

[0005] A hopper is located on one side of the frame along the first direction X. The hopper is used to store sheet metal and to lift the sheet metal to the loading position.

[0006] The material handling mechanism is used to transport the board located at the loading position to the receiving position. It includes a transverse component, a longitudinal component and a material handling component. The transverse component is slidably mounted on the frame along the first direction X. The longitudinal component is slidably mounted on the transverse component along the third direction Z. The material handling component is mounted on the longitudinal component. The material handling component is used to pick up one or two boards.

[0007] The receiving mechanism is used to transport the sheet material located at the receiving position to the unloading position;

[0008] The plate-sliding conveying mechanism includes a plate-sliding conveying main support, a transverse conveying component, a longitudinal conveying component, and a lifting component. The transverse conveying component, the longitudinal conveying component, and the lifting component are all mounted on the plate-sliding conveying main support. The transverse conveying component is used to drive the plate to move along a first direction X. The longitudinal conveying component is used to pick up the plate located at the unloading position and drive the plate to move along a second direction Y. The lifting component is used to drive the transverse conveying component to move along a third direction Z.

[0009] In some embodiments, there are two hoppers, and the material handling mechanism is located between the two hoppers.

[0010] In some embodiments, the hopper includes a lifting base, an inclined conveyor roller line, a power assembly, a transverse reference plate, a longitudinal reference plate, a first photoelectric sensor, and a second photoelectric sensor.

[0011] The lifting base is provided with two cross-arranged scissor arms, and the top of the scissor arms is provided with the inclined conveyor roller line;

[0012] The power unit is mounted on the lifting base and is used to drive the inclined conveyor roller line to move along the third direction Z.

[0013] The transverse reference plate is located on the side of the lifting base away from the frame, and the transverse reference plate has a side reference surface extending along the first direction X. The longitudinal reference plate is located on the side of the lifting base close to the receiving mechanism, and the longitudinal reference plate has a side reference surface extending along the second direction Y.

[0014] The first photoelectric sensor is located at the top of the transverse reference plate and at the end of the inclined conveyor roller line. The first photoelectric sensor is used to detect the stacking height of the plates.

[0015] The second photoelectric sensor is installed on the inclined conveyor roller line and is used to detect the feeding of the sheet material.

[0016] In some embodiments, the traverse assembly includes a rack, a traverse slide, and a first motor;

[0017] The rack is mounted on the frame along the first direction X; the frame is horizontally provided with a first guide rail; the transverse slide is provided with a first slider that slides with the first guide rail; the first motor is mounted on the transverse slide; and the output shaft of the first motor is provided with a gear that meshes with the rack.

[0018] The longitudinal movement assembly includes a ball screw, a vertical movement slide, and a second motor;

[0019] The second motor is mounted on the transverse slide and located on one side of the first motor. The output shaft of the second motor is connected to a ball screw. The axial direction of the ball screw is parallel to the third direction Z. The nut of the ball screw is connected to the vertical slide. The transverse slide is vertically provided with a second guide rail. The vertical slide is provided with a second slider that slides with the second guide rail.

[0020] The material handling component is located at the bottom of the vertical sliding block.

[0021] In some embodiments, the material handling assembly includes a material handling bracket, a sliding rod, a suction cup, a spring, an air tank, and a first detection sensor;

[0022] The number of suction cups is four, and the four suction cups are arranged in pairs side by side.

[0023] The material picking bracket is mounted on a vertical sliding block. Two fixed seats are provided at both ends of the material picking bracket. The fixed seats are provided with sliding holes. The sliding rod passes through the sliding holes. One end of the sliding rod is engaged with the fixed seat, and the other end is threaded to the suction cup. The spring is sleeved on the sliding rod, and the two ends of the spring abut against the fixed seat and the suction cup, respectively.

[0024] The gas storage tank is mounted on the material receiving bracket and connected to the suction cup;

[0025] The first detection sensor is mounted on the material pick-up bracket, with its probe end facing the suction cup, and is used to detect the distance between the suction cup and the material pick-up bracket.

[0026] In some embodiments, the material handling assembly further includes a dual-axis motor, a drive shaft, a first spacing adjustment assembly, and a second spacing adjustment assembly;

[0027] The material handling bracket includes a frame and two mounting plates respectively located at both ends of the frame. The mounting plates are long strip-shaped structures. The fixing seat is located on the opposite side of the two mounting plates. The first spacing adjustment component and the second spacing adjustment component are respectively located on the side of the two mounting plates away from the fixing seat.

[0028] The dual-axis motor is fixed on the mounting plate. One of the output shafts of the dual-axis motor is connected to the drive shaft, the drive shaft is connected to the first pitch adjustment component, and the other output shaft of the dual-axis motor is connected to the second pitch adjustment component.

[0029] Both the first and second spacing adjustment components include a synchronous pulley, a synchronous belt, a third guide rail, a third slider, an upper pressure plate, and a lower pressure plate;

[0030] The mounting plate is rotatably equipped with synchronous pulleys at both ends, and the two synchronous pulleys are connected by a synchronous belt drive.

[0031] The mounting plate is horizontally provided with a third guide rail, and two third sliders are slidably connected to the third guide rail. The third sliders are connected to the fixed bases, and the two third sliders are respectively connected to the upper top wall and the lower bottom wall of the timing belt so that the two fixed bases move in opposite directions.

[0032] The upper and lower pressure plates are clamped together with a synchronous belt, and the upper pressure plate is equipped with a second detection sensor for detecting the limit of the distance between the two suction cups.

[0033] In some embodiments, the receiving mechanism includes a receiving bracket, a conveying platform, and a lifting assembly;

[0034] The receiving bracket is located below the material picking mechanism, the conveying platform is mounted on the receiving bracket, the conveying platform is used to transfer the sheet material, and the lifting component is used to drive the conveying platform to move in the third direction Z.

[0035] In some embodiments, the conveying platform is a first straight row of conveyor rollers;

[0036] The lifting assembly includes a support arm, a drive motor, a cam, a swing arm, and a limit guide rail;

[0037] The receiving bracket is vertically provided with two fourth guide rails, and the fourth guide rails are slidably connected to a fourth slider. The fourth slider is connected to the support arm. The conveying platform is located on the top of the support arm. The support arm is horizontally provided with two parallel limiting guide rails. The two limiting guide rails form a sliding groove. The cam is housed in the sliding groove. The drive motor is located on the receiving bracket. The output shaft of the drive motor is connected to the swing arm. The swing arm is rotatably connected to the cam through a rotating shaft.

[0038] The sliding groove is provided with a limiting plate, the limiting plate is provided with an elongated hole, and the rotating shaft is accommodated in the elongated hole.

[0039] In some embodiments, a side baffle extending in the second direction Y is provided on one side of the main support for the plate conveying;

[0040] The longitudinal conveying component is a second straight conveyor roller line, which includes a first drive motor and several rollers. The first drive motor drives the several rollers to rotate via a drive belt.

[0041] The lifting assembly is a lifting cylinder;

[0042] The transverse conveying assembly includes a plate-splitting bracket, a plate-splitting frame, and a second drive motor;

[0043] The plate support is provided with several parallel horizontal forks, which are arranged alternately with the rollers of the second straight conveyor roller line. The horizontal forks are U-shaped rod structures, and the opening side of the horizontal forks faces the side baffle.

[0044] The number of the plate-splitting frame and the lifting cylinder are both two. The plate-splitting frame is fixed on the plate-splitting conveying main support. Both plate-splitting frames are provided with a fifth guide rail extending along the second direction Y.

[0045] The lifting cylinder is equipped with a fifth slider, which is slidably connected to a fifth guide rail. The output shaft of the lifting cylinder is connected to the plate support.

[0046] The partition frame is provided with two drive pulleys, which are connected by belt drive. The second drive motor is fixed on the partition frame, and the output shaft of the second drive motor is connected to the drive pulleys.

[0047] The lifting cylinder is connected to a belt via a connecting plate;

[0048] Driven by the lifting cylinder, the cross fork extends out of the rolling plane of the first straight conveyor roller.

[0049] In some embodiments, a feeding conveyor mechanism and a pressure roller mechanism are also included. The feeding conveyor mechanism is connected to the plate-splitting conveyor mechanism, which is a third straight conveyor roller line. The pressure roller mechanism is located above the feeding conveyor mechanism and is used to limit the position of the plates to control the conveying distance of each plate in the feeding conveyor mechanism.

[0050] The technical solution provided by this utility model can include the following beneficial effects:

[0051] This utility model provides a multi-axis linkage gantry-type fully automatic loading and unloading device. Through the three-dimensional layout of the frame in the X, Y, and Z directions, combined with the lateral, longitudinal, and lifting movements of the picking mechanism and the plate-separating conveyor mechanism, it achieves precise positioning and coordinated conveying of plates in three-dimensional space. This solves the problem of insufficient flexibility caused by traditional single-direction conveying. When the picking mechanism picks up two plates simultaneously, the lateral conveying component can separate the two parallel plates for side-by-side conveying, achieving full automation from picking, receiving, sorting to transfer, significantly improving production efficiency. Furthermore, the lifting loading design of the hopper reduces the stroke requirements of the longitudinal movement component, improving the response time of the picking mechanism. Combined with the plate-separating conveyor mechanism, it enables continuous conveying and rapid plate separation of plates, reducing equipment downtime and optimizing production cycle time.

[0052] Tests show that the maximum working cycle of this device is 18 times / min, and it can feed 24 pieces of a specific size board (400mm*1800mm*18mm) per minute. Attached Figure Description

[0053] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0054] Figure 1 This is a schematic diagram of the overall structure of the multi-axis linkage gantry-type fully automatic loading and unloading device shown in this embodiment of the utility model;

[0055] Figure 2 This is a schematic diagram of the structure of the multi-axis linkage gantry-type fully automatic loading and unloading device after the protective fence has been removed, as shown in this embodiment of the utility model.

[0056] Figure 3This is a schematic diagram of the structure of the silo shown in an embodiment of the present invention;

[0057] Figure 4 This is another structural schematic diagram of the silo shown in this embodiment of the utility model;

[0058] Figure 5 This is a schematic diagram of the frame structure shown in an embodiment of the present invention;

[0059] Figure 6 This is a schematic diagram of the structure of the transverse and longitudinal moving components shown in the embodiments of this utility model;

[0060] Figure 7 This is another structural schematic diagram of the transverse and longitudinal moving components shown in this embodiment of the present invention;

[0061] Figure 8 This is a schematic diagram of the material handling component shown in an embodiment of the present invention;

[0062] Figure 9 This is a schematic diagram of the material handling component after the suction cup has been removed, as shown in an embodiment of this utility model.

[0063] Figure 10 This is a schematic diagram of the structure of the first spacing adjustment component shown in an embodiment of the present invention;

[0064] Figure 11 yes Figure 9 Enlarged view of point A in the middle;

[0065] Figure 12 This is a schematic diagram of the material receiving mechanism shown in an embodiment of the present invention;

[0066] Figure 13 This is a schematic diagram of the structure of the plate conveying mechanism shown in an embodiment of the present invention;

[0067] Figure 14 This is a schematic diagram of the structure of the plate-separating conveyor mechanism after the longitudinal conveying component has been removed, as shown in an embodiment of this utility model.

[0068] Figure 15 This is a schematic diagram of the structure of the transverse conveying assembly shown in an embodiment of the present invention;

[0069] Figure 16 This is a schematic diagram of the structure of a portion of the transverse conveying assembly shown in an embodiment of the present invention;

[0070] Figure 17 This is a schematic diagram of the material feeding and conveying mechanism and the pressure roller mechanism shown in an embodiment of this utility model.

[0071] Figure label:

[0072] 1. Rack;

[0073] 2. Hopper; 21. Lifting base; 22. Inclined conveyor roller conveyor; 23. Power unit; 24. Horizontal reference plate; 25. Longitudinal reference plate; 26. First photoelectric sensor; 27. Second photoelectric sensor; 28. Scissor arm;

[0074] 3. Material handling mechanism;

[0075] 31. Transverse traverse assembly; 311. Rack; 312. Transverse traverse slide; 313. First motor; 314. First guide rail; 315. Gear;

[0076] 32. Longitudinal translation assembly; 322. Ball screw; 323. Vertical translation slide; 324. Second motor; 325. Second guide rail;

[0077] 33. Material handling assembly; 331. Material handling bracket; 3311. Frame; 3312. Mounting plate; 332. Sliding rod; 333. Suction cup; 334. Spring; 335. Air tank; 336. First detection sensor; 337. Dual-axis motor; 338. Drive shaft; 339. First spacing adjustment assembly; 3390. Synchronous pulley; 3391. Synchronous belt; 3392. Third guide rail; 3393. Third slider; 3394. Upper pressure plate; 3395. Lower pressure plate; 3396. Second detection sensor; 3397. Fixing base;

[0078] 4. Receiving mechanism; 41. Receiving bracket; 42. Conveying platform; 43. Lifting assembly; 431. Support arm; 432. Drive motor; 433. Cam; 434. Swing arm; 435. Limiting guide rail; 436. Fourth guide rail; 437. Limiting plate;

[0079] 5. Plate conveying mechanism;

[0080] 50. Main support for the slab conveyor; 500. Side baffles;

[0081] 51. Lateral conveyor assembly; 511. Plate separating bracket; 512. Plate separating frame; 513. Second drive motor; 514. Cross fork; 515. Fifth guide rail; 516. Drive pulley; 517. Belt; 518. Connecting plate;

[0082] 52. Longitudinal conveying assembly; 53. Lifting assembly;

[0083] 6. Material feeding and conveying mechanism;

[0084] 7. Pressure roller mechanism;

[0085] 8. Board material;

[0086] 9. Protective fencing;

[0087] X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0088] Preferred embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present invention will be thorough and complete, and will fully convey the scope of the present invention to those skilled in the art.

[0089] The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular forms “a,” “the,” and “the” used in this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0090] It should be understood that although the terms "first," "second," "third," etc., may be used in this invention to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this invention, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0091] It should be noted that, according to Figure 1 As shown, in this embodiment of the invention, the X-axis direction intersects with the Y-axis direction. For ease of explanation, the first direction is defined as the X-axis direction, and the second direction is defined as the Y-axis direction. In this embodiment, the X-axis direction and the Y-axis direction are coplanar and relatively perpendicular, and the first direction is relatively perpendicular to the second direction. Further explanation: in this utility model, the term "parallel" includes not only absolute parallelism but also the generally understood parallelism in engineering, such as "parallel" referring to the angle formed by lines and lines, lines and surfaces, or surfaces being ±1°. Similarly, "perpendicular" also includes not only absolute perpendicularity but also the generally understood perpendicularity in engineering, such as "perpendicular" referring to the angle formed by lines and lines, lines and surfaces, or surfaces being 89° to 91°. Equal distances or equal angles include not only absolute equality but also generally understood equality in engineering, meaning there may be some error, such as a tolerance range of -1% to 1%.

[0092] The technical solutions of the embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0093] Figure 1 This is a schematic diagram of the overall structure of a multi-axis linkage gantry-type fully automatic loading and unloading device shown in an embodiment of this utility model. Figure 2 This is a schematic diagram of the structure of the multi-axis linkage gantry-type fully automatic loading and unloading device after the protective fence 9 has been removed, as shown in this embodiment of the utility model.

[0094] See Figure 1 and Figure 2 The multi-axis linkage gantry-type fully automatic loading and unloading device provided in this embodiment of the utility model includes:

[0095] The frame 1 has a first direction X, a second direction Y, and a third direction Z that intersect each other in pairs;

[0096] The hopper 2 is located on one side of the frame 1 along the first direction X. The hopper 2 is used to store the sheet metal 8 and to lift the sheet metal 8 to the loading position.

[0097] The material handling mechanism 3 is used to transport the board 8 located at the loading position to the receiving position. It includes a transverse moving component 31, a longitudinal moving component 32 and a material handling component 33. The transverse moving component 31 is slidably mounted on the frame 1 along the first direction X. The longitudinal moving component 32 is slidably mounted on the transverse moving component 31 along the third direction Z. The material handling component 33 is mounted on the longitudinal moving component 32. The material handling component 33 is used to pick up one or two boards 8.

[0098] The receiving mechanism 4 is used to transport the sheet metal 8 located at the receiving position to the unloading position;

[0099] The plate-slitting conveying mechanism 5 includes a plate-slitting conveying main support 50, a transverse conveying component 51, a longitudinal conveying component 52, and a lifting component 53. The transverse conveying component 51, the longitudinal conveying component 52, and the lifting component 53 are all mounted on the plate-slitting conveying main support 50. The transverse conveying component 51 is used to drive the plate 8 to move along the first direction X. The longitudinal conveying component 52 is used to pick up the plate 8 located at the unloading position and drive the plate 8 to move along the second direction Y. The lifting component 53 is used to drive the transverse conveying component 51 to move along the third direction Z.

[0100] It should be noted that the horizontal direction is the first direction X, and the vertical direction is the second direction Y.

[0101] It should be noted that the control system is integrated into the control cabinet of rack 1 (not shown in the figure).

[0102] In this embodiment, the frame 1 consists of a crossbeam and legs, which are welded from square steel. A hopper 2 is positioned on one side of the frame 1 along the first direction X. The end of the hopper 2 closest to the frame 1 serves as the loading end for the sheet metal 8. The hopper 2 can be loaded manually or by external equipment. The hopper 2 can be raised and lowered along the third direction Z so that different stacking heights of the sheet metal 8 can be adapted to the current loading height, ensuring that the sheet metal 8 to be picked up is in the loading position, thereby reducing the stroke of the longitudinal movement component 32. The picking mechanism 3 is on the same side as the hopper 2 and is mounted on the frame 1. The transverse movement component 31 of the picking mechanism 3 drives the picking component 33 to move in the first direction X, and the longitudinal movement component 32 drives the picking component 33 to move in the third direction Z. When the top plate 8 of the hopper 2 is at the same level as the loading position, the control system's horizontal movement component 31 moves the picking component 33 to directly above the loading position, and the vertical movement component 32 moves the picking mechanism 3 down to the loading position, then controls the picking component 33 to pick up the plate 8. When two plates 8 are placed in the hopper 2 along the second direction (double-row plates 8), the picking component 33 picks up both plates 8 simultaneously, and the plate-separating conveyor mechanism 5 switches the double-row plates 8 to double-row plates 8.

[0103] Specifically, when the material picking component 33 picks up one piece of board 8, the transverse conveying component 51 does not work, and the longitudinal conveying component 52 conveys the board 8 to the next process along the second direction Y.

[0104] When the material-picking component 33 picks up a double-row of sheet metal 8, the double-row sheet metal 8 is lowered by the material-picking component 33 to the receiving mechanism 4. The receiving mechanism 4 then conveys the double-row sheet metal 8 into the separating conveying mechanism 5. The longitudinal conveying component 52 simultaneously moves the double-row sheet metal. When the double-row sheet metal 8 reaches the working area of ​​the transverse conveying component 51, the lifting component 53 raises the transverse conveying component 51. The transverse conveying component 51 lifts the sheet metal 8 in the second row. The first row of sheet metal 8 continues to move, driven by the longitudinal conveying component 52. The transverse conveying component 51 moves the second row of sheet metal 8 along the first direction X, moving the second row of sheet metal 8 to the position of the first row of sheet metal 8, thus achieving parallel conveying of the two sheet metal 8. The transverse conveying component 51 increases the number of sheets fed at once, thereby improving conveying efficiency.

[0105] In this embodiment, the three-dimensional precise positioning and efficient conveying of the sheet material is achieved through coordinated movement in the X, Y, and Z directions, solving the problem of insufficient flexibility in traditional single-direction conveying and improving production cycle time.

[0106] To improve production cycle time and avoid downtime for material handling, please refer to the following specific implementation methods, based on the above: Figure 1 and Figure 2There are two material bins 2, and the material handling mechanism 3 is located between the two material bins 2. The material bins 2 are used to achieve alternating material supply, avoid downtime for material replenishment, realize continuous production, and improve equipment utilization.

[0107] Further, please refer to Figure 3 and Figure 4 The hopper 2 includes a lifting base 21, an inclined conveyor roller line 22, a power unit 23, a transverse reference plate 24, a longitudinal reference plate 25, a first photoelectric sensor 26, and a second photoelectric sensor 27.

[0108] The lifting base 21 is provided with two cross-arranged scissor arms 28, and the top of the scissor arms 28 is provided with the inclined conveyor roller line 22.

[0109] The power component 23 is mounted on the lifting base 21 and is used to drive the inclined conveyor roller 22 to move along the third direction Z.

[0110] The transverse reference plate 24 is disposed on the side of the lifting base 21 away from the frame 1. The transverse reference plate 24 has a side reference surface extending along the first direction X. The longitudinal reference plate 25 is disposed on the side of the lifting base 21 close to the receiving mechanism 4. The longitudinal reference plate 25 has a side reference surface extending along the second direction Y.

[0111] The first photoelectric sensor 26 is disposed on the top of the transverse reference plate 24 and located at the end of the inclined conveyor roller line 22. The first photoelectric sensor 26 is used to detect the stacking height of the plates 8.

[0112] The second photoelectric sensor 27 is installed on the inclined conveyor roller line 22 and is used to detect the feeding of the plate 8.

[0113] Specifically, for ease of explanation, the two hoppers 2 are defined as hopper A and hopper B, respectively. When the stacking height of hopper A triggers the monitoring threshold of the first photoelectric sensor 26 (e.g., height ≤ 50mm), the control system switches to hopper B for feeding. At this time, the control system controls the power component 23 to drive the inclined conveyor roller 22 to lift the stacking height of the first photoelectric sensor 26 in hopper B, and the material handling mechanism 3 continues to perform the material handling operation. While hopper B is working, hopper A can be replenished with sheet metal 8 manually or by external equipment. During the replenishment of sheet metal 8, the sheet metal 8 is aligned sideways by the inclined conveyor roller 22. If the second photoelectric sensor 27 detects an interruption in feeding in real time, for example, if there is no signal within 5 seconds, an alarm and shutdown are triggered.

[0114] The first photoelectric sensor 26 can be a laser ranging type with a detection frequency of 100Hz and a detection accuracy of ±0.5mm. The stacking height detection range can be set to 50~1000mm. The second photoelectric sensor 27 can be an infrared through-beam type to improve the response speed and facilitate real-time monitoring of the feeding status.

[0115] In this embodiment, the power component 23 can be a hydraulic cylinder, an electric cylinder, or a pneumatic cylinder, preferably a hydraulic cylinder with a thrust of 10kN. Correspondingly, the lifting stroke of the scissor arm 28 is 200~1000mm, and a horizontal support beam is provided on one of the scissor arms 28. The output shaft of the hydraulic cylinder is connected to the support beam, and the hydraulic cylinder is hinged to the lifting base 21. The scissor arm 28 lifts and lowers stably. The first photoelectric sensor 26 accurately detects the stacking height of the sheet metal 8, and the second photoelectric sensor 27 accurately detects the feeding status of the sheet metal, ensuring feeding accuracy and safety.

[0116] Further, please refer to Figures 5-7 The transverse assembly 31 includes a rack 311, a transverse slide 312, and a first motor 313;

[0117] The rack 311 is mounted on the frame 1 along the first direction X; the frame 1 is horizontally provided with a first guide rail 314; the transverse slide 312 is provided with a first slider that slides in cooperation with the first guide rail 314; the first motor 313 is mounted on the transverse slide 312; and the output shaft of the first motor 313 is provided with a gear 315 that meshes with the rack 311.

[0118] The longitudinal movement assembly 32 includes a ball screw 322, a vertical movement slide 323, and a second motor 324;

[0119] The second motor 324 is mounted on the transverse slide 312 and located to one side of the first motor 313. The output shaft of the second motor 324 is connected to a ball screw 322. The axial direction of the ball screw 322 is parallel to the third direction Z, and the nut of the ball screw 322 is connected to a vertical slide 323. The transverse slide 312 is vertically provided with a second guide rail 325, and the vertical slide 323 is provided with a second slider that slides in cooperation with the second guide rail 325. The material handling assembly 33 moves in the first direction X through the gear 315 and rack 311, while the ball screw 322 achieves precise lifting and lowering in the third direction Z.

[0120] The material handling component 33 is located at the bottom of the vertical sliding block 323. The first motor 313 and the second motor 324 can be either servo motors or stepper motors.

[0121] To ensure reliable material handling, please refer to [further details]. Figures 8-11 The material handling component 33 includes a material handling bracket 331, a sliding rod 332, a suction cup 333, a spring 334, an air storage tank 335, and a first detection sensor 336;

[0122] The number of suction cups 333 is four, and the four suction cups 333 are arranged in pairs side by side.

[0123] The material picking bracket 331 is mounted on the vertical sliding block 323. Two fixed seats 3397 are provided at both ends of the material picking bracket 331. The fixed seats 3397 are provided with sliding holes. The sliding rod 332 passes through the sliding holes. One end of the sliding rod 332 is engaged with the fixed seat 3397, and the other end is threadedly connected to the suction cup 333. The spring 334 is sleeved on the sliding rod 332, and the two ends of the spring 334 abut against the fixed seat 3397 and the suction cup 333 respectively.

[0124] The gas storage tank 335 is mounted on the material receiving bracket 331 and is connected to the suction cup 333;

[0125] The first detection sensor 336 is mounted on the material pick-up bracket 331, with the detection end of the first detection sensor 336 facing the suction cup 333, and is used to detect the distance between the suction cup 333 and the material pick-up bracket 331.

[0126] In this embodiment, the spring 334 buffers and protects the surface of the plate 8, the suction cup 333 performs compression detection to prevent overload, and the air tank 335 stabilizes negative pressure adsorption.

[0127] To improve adaptability to different sheet materials 8, the above-mentioned material handling assembly 33 also includes a dual-axis motor 337, a drive shaft 338, a first spacing adjustment assembly 339, and a second spacing adjustment assembly;

[0128] The material handling bracket 331 includes a frame 3311 and two mounting plates 3312 respectively disposed at both ends of the frame 3311. The mounting plates 3312 are long strip-shaped structures. The fixing seat 3397 is disposed on the opposite side of the two mounting plates 3312. The first spacing adjustment component 339 and the second spacing adjustment component are respectively disposed on the opposite side of the two mounting plates 3312 away from the fixing seat 3397.

[0129] The dual-axis motor 337 is fixed on the mounting plate 3312. One of the output shafts of the dual-axis motor 337 is connected to the transmission shaft 338. The transmission shaft 338 is connected to the first pitch adjustment component 339. The other output shaft of the dual-axis motor 337 is connected to the second pitch adjustment component.

[0130] The first pitch adjustment component 339 has the same structure as the second pitch adjustment component. Both the first pitch adjustment component 339 and the second pitch adjustment component include a synchronous pulley 3390, a synchronous belt 3391, a third guide rail 3392, a third slider 3393, an upper pressure plate 3394, and a lower pressure plate 3395.

[0131] The mounting plate 3312 has synchronous pulleys 3390 rotatably mounted at both ends. The two synchronous pulleys 3390 are connected by a synchronous belt 3391. The tooth pitch of the synchronous pulleys 3390 is 5mm, the width of the synchronous belt 3391 is 20mm, and the transmission ratio is 1:1.

[0132] Mounting plate 3312 is horizontally provided with a third guide rail 3392. The third guide rail 3392 is slidably connected to two third sliders 3393. The third sliders 3393 are connected to the fixed base 3397. The two third sliders 3393 are respectively connected to the upper top wall and the lower bottom wall of the timing belt 3391 so that the two fixed bases 3397 move in opposite directions.

[0133] The upper pressure plate 3394 and the lower pressure plate 3395 are clamped together with a synchronous belt 3391. The upper pressure plate 3394 is provided with a second detection sensor 3396 for detecting the limit of the distance between the two suction cups 333. The second detection sensor 3396 is a photoelectric switch type, and the detection distance range is 200-600mm.

[0134] When switching from a single board to a double-row board or replacing with other board materials 8, the dual-axis motor 337 drives the synchronous pulley 3390 to increase or decrease the distance between the two suction cups 333. After the suction cups 333 adsorb the material, vibration is reduced by the spring 334. The first detection sensor 336 triggers an alarm when the distance is ≤5mm to prevent overload, realizing flexible switching between single and double boards and improving versatility.

[0135] Further, please refer to Figure 12 The receiving mechanism 4 includes a receiving bracket 41, a conveying platform 42, and a lifting assembly 43;

[0136] The receiving bracket 41 is located below the material picking mechanism 3, and the conveying platform 42 is mounted on the receiving bracket 41. The conveying platform 42 is used to transfer the plate 8, and the lifting component 43 is used to drive the conveying platform 42 to move in the third direction Z.

[0137] Furthermore, the conveyor platform 42 is the first straight-line conveyor roller line;

[0138] The lifting assembly 43 includes a support arm 431, a drive motor 432, a cam 433, a swing arm 434, and a limiting guide rail 435;

[0139] The receiving bracket 41 is vertically provided with two fourth guide rails 436, and the fourth guide rails 436 are slidably connected to a fourth slider. The fourth slider is connected to the support arm 431. The conveying platform 42 is located on the top of the support arm 431. The support arm 431 is horizontally provided with two parallel limiting guide rails 435, and the two limiting guide rails 435 form a sliding groove. The cam 433 is housed in the sliding groove. The drive motor 432 is located on the receiving bracket 41. The output shaft of the drive motor 432 is connected to the swing arm 434. The swing arm 434 is rotatably connected to the cam 433 through a rotating shaft.

[0140] The sliding groove is provided with a limiting plate 437, and the limiting plate 437 is provided with an elongated hole, and the rotating shaft is accommodated in the elongated hole.

[0141] In this embodiment, the cam 433 and the swing arm 434 structure enable rapid lifting and lowering, reducing the travel requirement of the material picking component 33 in the third direction (Z direction). The conveying platform 42 and the material picking component 33 lift and lower simultaneously, which can shorten the transfer time of the plate 8 and optimize the production cycle. The limiting guide rail 435 ensures the stability of lifting and lowering, and the elongated hole limits the travel of the cam 433 to prevent mechanical interference and improve the service life of the equipment.

[0142] Further, please refer to Figures 13-16 A side baffle 500 extending along the second direction Y is provided on one side of the plate conveying main support 50. The height of the side baffle 500 is 50~100mm. The side baffle 500 is made of plastic or aluminum alloy. The side baffle 500 is used to limit the offset of the plate 8 during the transverse conveying process to ensure the plate separation accuracy.

[0143] The longitudinal conveying assembly 52 is a second straight-line conveyor roller line, which includes a first drive motor and several rollers. The first drive motor drives the rollers to rotate via a transmission belt. The second straight-line conveyor roller line has two first drive motors with different output powers. Each motor drives half of the rollers to rotate. The first drive motor closer to the receiving mechanism 4 rotates at a lower speed than the other motor. In this configuration, the two first drive motors generate two independent forward speeds, thus achieving longitudinal plate separation. The longitudinal plate separation principle utilizes the speed difference between the two conveyor rollers. The first roller section moves slower, while the second roller section moves faster. When half (or more than half) of the plate 8 enters the second roller section, the faster speed at the front prevents the subsequent plate 8 from keeping up. This speed difference separates the plate 8 into the subsequent processing equipment at a certain distance. For example, the two first drive motors of the longitudinal conveying assembly 52 rotate at speeds of 30 r / min and 45 r / min, respectively, with a speed difference of 15 r / min, automatically separating the plate 8 to the appropriate spacing after entering the second roller section.

[0144] Furthermore, the lifting assembly 53 is a lifting cylinder.

[0145] Furthermore, the transverse conveying assembly 51 includes a plate-splitting bracket 511, a plate-splitting frame 512, and a second drive motor 513;

[0146] The plate support 511 is provided with several parallel horizontal forks 514. The horizontal forks 514 are arranged alternately with the rollers of the second straight conveyor roller line. The horizontal forks 514 are U-shaped rod structures, and the opening side of the horizontal forks 514 faces the side baffle 500.

[0147] The number of the plate-splitting frame 512 and the lifting cylinder are both two. The plate-splitting frame 512 is fixed on the plate-splitting conveying main support 50. Both plate-splitting frames 512 are provided with a fifth guide rail 515 extending along the second direction Y.

[0148] The lifting cylinder is equipped with a fifth slider, which is slidably connected to the fifth guide rail 515. The output shaft of the lifting cylinder is connected to the plate bracket 511.

[0149] The partition frame 512 is provided with two drive pulleys 516, which are connected by a belt 517. The second drive motor 513 is fixed on the partition frame 512, and the output shaft of the second drive motor 513 is connected to the drive pulleys 516.

[0150] The lifting cylinder is connected to the belt 517 via the connecting plate 518;

[0151] Driven by the lifting cylinder, the cross fork 514 extends out of the rolling plane of the first straight conveyor roller line.

[0152] In this embodiment, the cross forks 514 are arranged in an alternating manner to achieve double-plate splitting, and the dual-speed rollers utilize speed difference plates to improve sorting efficiency and accuracy.

[0153] Further, please refer to Figure 17 This multi-axis linkage gantry-type fully automatic loading and unloading device also includes a feeding conveyor mechanism 6 and a pressure roller mechanism 7. The feeding mechanism is connected to the plate-splitting conveyor mechanism 5. The feeding conveyor mechanism 6 is a third straight-line conveyor roller line. The pressure roller mechanism 7 is located above the feeding conveyor mechanism 6 and is used to limit the movement of the plates 8 to control the conveying distance of each plate 8 on the feeding conveyor mechanism 6. The third straight-line conveyor roller line and the pressure roller mechanism 7 are mature applications of existing technology, and therefore will not be described in detail here.

[0154] In addition, the multi-axis linkage gantry-type fully automatic loading and unloading device also includes a protective fence 9, which surrounds the main structure of the device to prevent personnel from accidentally entering and causing a collision between the person and the machine.

[0155] In summary, when applying the technical solution of this utility model to the edge banding machine production line, the size of the board 8 to be processed is first determined. Then, the board 8 after the previous process is completed can be sent into the left and right hoppers 2 through the power rolling line. The board 8 placed in the hopper 2 can be stored in a single row or in a double row according to the actual processing requirements, and the distance between the two suction cups 333 can be adjusted in real time.

[0156] When the sheet material 8 is fed, it is conveyed and placed in the hopper 2 by the inclined conveyor roller line 22, so that it is closely attached to the transverse reference plate 24 of the hopper 2, so as to prevent the reference error of the sheet material 8 from being too large during the feeding process, which may lead to equipment failure or machine collision.

[0157] After the sheet material 8 enters the hopper 2, it will automatically sense the second photoelectric sensor 27. After confirming that all parameters are correct, you can click the touch screen to start feeding.

[0158] During the startup phase, since the height of the plate 8 on the hopper 2 is not consistent with the working height of the suction cup 333, it is necessary to wait for the height of the hopper 2 to be in place. When the first photoelectric sensor 26 senses the plate 8, the height of the plate 8 is consistent with the lower end face of the suction cup 333. At this time, the first motor 313 starts and moves to the designated position through the gear 315 and rack 311. The second motor 324 on the vertical moving assembly starts and moves the picking assembly 33 down through the ball screw until the suction cup 333 below contacts the plate 8. After the suction cup 333 contacts the plate 8, it uses negative pressure to lift the plate 8. The second motor 324 starts again to lift the picking assembly 33 to a safe position and then begins to move laterally to the receiving position.

[0159] At the same time as the transverse component 31 is started, the receiving mechanism 4 below also moves. At this time, the drive motor 432 located below the main frame 1 starts and the swing arm 434 rotates, lifting the cam 433 and the limiting guide rail 435 of the receiving bracket 41 in the vertical direction. When the conveying platform 42 of the receiving bracket 41 reaches the highest point, the suction cup 333 above disconnects the suction force, placing the plate 8 on the conveying platform 42. The drive motor 432 rotates one revolution, and the position of the conveying platform 42 changes back and forth from the lowest point to the highest point.

[0160] When the conveyor platform 42 returns to its lowest point, its working height is exactly the same as the conveying height of the plate-splitting conveyor mechanism 5. When the double-row plates enter the plate-splitting conveyor mechanism 5 and are within the working range of the transverse conveyor assembly 51, the feed positioning photoelectric sensor inside the transverse conveyor assembly 51 senses the plate 8. The transverse fork 514 of the transverse conveyor assembly 51 then lifts the second row of plates 8 via a cylinder. Subsequently, the second transmission mechanism below moves the plates 8 to the position of the first row. Because the transverse fork 514 is U-shaped, when the second row of plates 8 is lifted laterally by the cylinder and moved to the position of the first row of plates 8, the first row of plates 8 can pass through the transverse fork 514. This method can greatly improve the efficiency of a single plate feeding.

[0161] Finally, after the plate 8 enters the longitudinal conveying assembly 52, the longitudinal conveying assembly 52 is equipped with a first drive motor, which can generate two independent forward speeds. The longitudinal plate separation principle is to use the speed difference between the two conveying rollers to perform the plate separation action. The first roller has a slower speed and the second roller has a faster speed. When half (or more than half) of the plate 8 enters the second roller, because the front speed is faster and the rear plate 8 does not keep up, the speed difference can be used to separate the plate 8 at a certain plate spacing and enter the subsequent processing equipment.

[0162] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A multi-axis gantry type full-automatic loading and unloading device, characterized in that, include: The frame (1) has a first direction X, a second direction Y and a third direction Z that intersect each other in pairs; A hopper (2) is located on one side of the frame (1) along the first direction X. The hopper (2) is used to store the sheet metal (8) and to lift the sheet metal (8) to the loading position. The material handling mechanism (3) is used to transport the board (8) located at the loading position to the receiving position. It includes a transverse component (31), a longitudinal component (32) and a material handling component (33). The transverse component (31) is slidably mounted on the frame (1) along the first direction X. The longitudinal component (32) is slidably mounted on the transverse component (31) along the third direction Z. The material handling component (33) is mounted on the longitudinal component (32). The material handling component (33) is used to pick up one or two boards (8). The receiving mechanism (4) is used to transport the sheet material (8) located at the receiving position to the unloading position; The plate-slitting conveying mechanism (5) includes a plate-slitting conveying main support (50), a transverse conveying component (51), a longitudinal conveying component (52), and a lifting component (53). The transverse conveying component (51), the longitudinal conveying component (52), and the lifting component (53) are all mounted on the plate-slitting conveying main support (50). The transverse conveying component (51) is used to drive the plate (8) to move along the first direction X. The longitudinal conveying component (52) is used to pick up the plate (8) located at the unloading position and drive the plate (8) to move along the second direction Y. The lifting component (53) is used to drive the transverse conveying component (51) to move along the third direction Z.

2. The multi-axis gantry full-automatic loading and unloading device according to claim 1, characterized in that, There are two hoppers (2), and the material handling mechanism (3) is located between the two hoppers (2).

3. The multi-axis gantry full-automatic loading and unloading device according to claim 2, characterized in that, The hopper (2) includes a lifting base (21), an inclined conveyor roller line (22), a power unit (23), a transverse reference plate (24), a longitudinal reference plate (25), a first photoelectric sensor (26), and a second photoelectric sensor (27); The lifting base (21) is provided with two cross-arranged scissor arms (28), and the top of the scissor arms (28) is provided with the inclined conveyor roller line (22); The power unit (23) is mounted on the lifting base (21) and is used to drive the inclined conveyor roller (22) to move along the third direction Z. The transverse reference plate (24) is located on the side of the lifting base (21) away from the frame (1). The transverse reference plate (24) has a side reference surface extending along the first direction X. The longitudinal reference plate (25) is located on the side of the lifting base (21) close to the receiving mechanism (4). The longitudinal reference plate (25) has a side reference surface extending along the second direction Y. The first photoelectric sensor (26) is located on the top of the transverse reference plate (24) and at the end of the inclined conveyor roller line (22). The first photoelectric sensor (26) is used to detect the stacking height of the plates (8). The second photoelectric sensor (27) is installed on the inclined conveyor roller line (22) and is used to detect the feeding of the plate (8).

4. The multi-axis gantry full-automatic loading and unloading device according to claim 1, characterized in that, The transverse assembly (31) includes a rack (311), a transverse slide (312), and a first motor (313); The rack (311) is mounted on the frame (1) along the first direction X; the frame (1) is horizontally provided with a first guide rail (314); the transverse slide (312) is provided with a first slider that slides in cooperation with the first guide rail (314); the first motor (313) is mounted on the transverse slide (312); the output shaft of the first motor (313) is provided with a gear (315) that meshes with the rack (311); The longitudinal movement assembly (32) includes a ball screw (322), a vertical movement slide (323), and a second motor (324); The second motor (324) is mounted on the transverse slide (312) and located on one side of the first motor (313). The output shaft of the second motor (324) is connected to the ball screw (322). The axial direction of the ball screw (322) is parallel to the third direction Z. The nut of the ball screw (322) is connected to the vertical slide (323). The transverse slide (312) is vertically provided with a second guide rail (325). The vertical slide (323) is provided with a second slider that slides with the second guide rail (325). The material handling component (33) is located at the bottom of the vertical sliding block (323).

5. The multi-axis linkage gantry-type fully automatic loading and unloading device according to claim 4, characterized in that, The material handling assembly (33) includes a material handling bracket (331), a sliding rod (332), a suction cup (333), a spring (334), an air storage tank (335), and a first detection sensor (336); The number of suction cups (333) is four, and the four suction cups (333) are arranged in pairs side by side; The material picking bracket (331) is mounted on the vertical sliding block (323). Two fixed seats (3397) are provided at both ends of the material picking bracket (331). The fixed seats (3397) are provided with sliding holes. The sliding rod (332) passes through the sliding holes. One end of the sliding rod (332) is engaged with the fixed seat (3397), and the other end is threadedly connected to the suction cup (333). The spring (334) is sleeved on the sliding rod (332), and the two ends of the spring (334) abut against the fixed seat (3397) and the suction cup (333) respectively. The gas storage tank (335) is mounted on the material receiving bracket (331) and connected to the suction cup (333); The first detection sensor (336) is mounted on the material pick-up bracket (331), with the detection end of the first detection sensor (336) facing the suction cup (333), and is used to detect the distance between the suction cup (333) and the material pick-up bracket (331).

6. The multi-axis gantry full-automatic loading and unloading device according to claim 5, characterized in that, The material handling assembly (33) also includes a dual-axis motor (337), a drive shaft (338), a first spacing adjustment assembly (339), and a second spacing adjustment assembly; The material handling bracket (331) includes a frame (3311) and two mounting plates (3312) respectively located at both ends of the frame (3311). The mounting plate (3312) is a long strip-shaped structure. The fixing seat (3397) is located on the opposite side of the two mounting plates (3312). The first spacing adjustment component (339) and the second spacing adjustment component are respectively located on the side of the two mounting plates (3312) away from the fixing seat (3397). The dual-axis motor (337) is fixed on the mounting plate (3312). One of the output shafts of the dual-axis motor (337) is connected to the drive shaft (338), the drive shaft (338) is connected to the first pitch adjustment component (339), and the other output shaft of the dual-axis motor (337) is connected to the second pitch adjustment component. Both the first pitch adjustment component (339) and the second pitch adjustment component include a synchronous pulley (3390), a synchronous belt (3391), a third guide rail (3392), a third slider (3393), an upper pressure plate (3394), and a lower pressure plate (3395); Both ends of the mounting plate (3312) are rotatably equipped with the synchronous pulleys (3390), and the two synchronous pulleys (3390) are connected by a synchronous belt (3391). The mounting plate (3312) is horizontally provided with a third guide rail (3392), and the third guide rail (3392) is slidably connected to two third sliders (3393). The third sliders (3393) are connected to the fixed seats (3397), and the two third sliders (3393) are respectively connected to the upper top wall and the lower bottom wall of the timing belt (3391) so that the two fixed seats (3397) move in opposite directions. The upper pressure plate (3394) and the lower pressure plate (3395) are sandwiched with a synchronous belt (3391), and the upper pressure plate (3394) is provided with a second detection sensor (3396) for detecting the limit of the distance between the two suction cups (333).

7. The multi-axis gantry full-automatic loading and unloading device according to claim 1, characterized in that, The receiving mechanism (4) includes a receiving bracket (41), a conveying platform (42), and a lifting assembly (43); The receiving bracket (41) is located below the material taking mechanism (3), the conveying platform (42) is located on the receiving bracket (41), the conveying platform (42) is used to transfer the plate (8), and the lifting component (43) is used to drive the conveying platform (42) to move in the third direction Z.

8. The multi-axis gantry full-automatic loading and unloading device according to claim 7, characterized in that, The conveying platform (42) is the first straight row of conveying rollers; The lifting assembly (43) includes a support arm (431), a drive motor (432), a cam (433), a swing arm (434), and a limiting guide rail (435); The receiving bracket (41) is vertically provided with two fourth guide rails (436), and the fourth guide rails (436) are slidably connected to a fourth slider. The fourth slider is connected to the support arm (431). The conveying platform (42) is located on the top of the support arm (431). The support arm (431) is horizontally provided with two parallel limiting guide rails (435). The two limiting guide rails (435) form a sliding groove. The cam (433) is housed in the sliding groove. The drive motor (432) is located on the receiving bracket (41). The output shaft of the drive motor (432) is connected to the swing arm (434). The swing arm (434) is rotatably connected to the cam (433) through a rotating shaft. The sliding groove is provided with a limiting plate (437), the limiting plate (437) is provided with an elongated hole, and the rotating shaft is accommodated in the elongated hole.

9. The multi-axis gantry full-automatic loading and unloading device according to claim 8, characterized in that, The plate conveying support (50) is provided with a side baffle (500) extending in the second direction Y on one side; The longitudinal conveying assembly (52) is a second straight conveying roller line, which includes a first drive motor and several rollers. The first drive motor drives the several rollers to rotate through a transmission belt. The lifting assembly (53) is a lifting cylinder; The transverse conveying assembly (51) includes a plate support (511), a plate frame (512), and a second drive motor (513); The plate support (511) is provided with several parallel cross forks (514), the cross forks (514) are arranged alternately with the rollers of the second straight conveyor roller line, the cross forks (514) are U-shaped rod structures, and the opening side of the cross forks (514) faces the side baffle (500). The number of the plate-splitting frame (512) and the lifting cylinder are both two. The plate-splitting frame (512) is fixed on the plate-splitting conveying main support (50). Both plate-splitting frames (512) are provided with a fifth guide rail (515) extending along the second direction Y. The lifting cylinder is provided with a fifth slider, which is slidably connected to the fifth guide rail (515), and the output shaft of the lifting cylinder is connected to the plate bracket (511). The partition frame (512) is provided with two drive pulleys (516), which are connected by a belt (517). The second drive motor (513) is fixed on the partition frame (512), and the output shaft of the second drive motor (513) is connected to the drive pulleys (516). The lifting cylinder is connected to the belt (517) via the connecting plate (518); Driven by the lifting cylinder, the cross fork (514) extends out of the rolling plane of the first straight conveyor roller line.

10. The multi-axis gantry full-automatic loading and unloading device according to claim 1, characterized in that, It also includes a feeding conveyor mechanism (6) and a pressure roller mechanism (7). The feeding conveyor mechanism (6) is connected to the plate conveyor mechanism (5). The feeding conveyor mechanism (6) is a third straight conveyor roller line. The pressure roller mechanism (7) is located above the feeding conveyor mechanism (6). The pressure roller mechanism (7) is used to limit the plate (8) to control the conveying distance of each plate (8) in the feeding conveyor mechanism (6).

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