Feeding and discharging device

Abstract

The utility model relates to the technical field of industrial automation, and discloses a feeding and discharging device. The feeding and discharging device comprises an integration module and a lifting module, the integration module is provided with a positioning module and an execution module which can reciprocate in the first direction, the execution module comprises a plurality of execution sub-mechanisms, and the positioning module comprises positioning sub-platforms in one-to-one correspondence with the execution sub-mechanisms; the execution sub-mechanism can take and place workpieces from the positioning sub-platform, and the positioning sub-platform can position the workpieces; the lifting module is used for driving the integrated module to lift in the vertical direction; the first direction is perpendicular to the vertical direction. The multi-station feeding and discharging device can realize multi-station feeding and discharging, and is high in feeding and discharging efficiency and high in precision; meanwhile, a certain avoiding function is achieved, and a larger space can be provided for other operations in the vertical direction.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation technology, and in particular to a loading and unloading device. Background Technology

[0002] Automated loading and unloading has become a trend in automated processing equipment. Currently, using a six-axis robot for loading and unloading is the most common technology. However, using a six-axis robot for loading and unloading has drawbacks: low accuracy when loading and unloading multiple batches simultaneously, and excessively long loading and unloading times when picking up and placing materials individually. Furthermore, using a separate linear module for loading and unloading has structural layout limitations that make it inconvenient for operators to perform other tasks.

[0003] Therefore, there is an urgent need for a loading and unloading device to solve the above problems. Utility Model Content

[0004] Based on the above, the purpose of this utility model is to provide a loading and unloading device that can realize multi-station loading and unloading with high efficiency and high precision; at the same time, it has a certain avoidance function, providing more space for other operations in the vertical direction.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] The loading and unloading device includes:

[0007] An integrated module is provided with a positioning module and an execution module, both of which can reciprocate along a first direction. The execution module includes multiple execution sub-mechanisms, and the positioning module includes a positioning sub-platform corresponding to each of the execution sub-mechanisms. The execution sub-mechanisms can pick up and place workpieces onto the positioning sub-platforms, and the positioning sub-platforms can position the workpieces.

[0008] A lifting module is used to drive the integrated module to move up and down in a vertical direction; the first direction is perpendicular to the vertical direction.

[0009] As a preferred embodiment of the loading and unloading device, the integrated module is provided with a first driving module, the first driving module comprising:

[0010] A first drive slide rail and a first drive slider, wherein the first drive slide rail extends along the first direction and is disposed on the platform, and the first drive slider is slidably disposed on the first drive slide rail;

[0011] The second drive slide rail extends along the first direction and is disposed on the first drive slider, the second drive slider is slidably disposed on the second drive slide rail, and the execution module is disposed on the second drive slider.

[0012] As a preferred embodiment of the loading and unloading device, the lifting module includes:

[0013] A lifting screw and a lifting block, wherein the lifting screw extends along the vertical direction, the lifting block is threadedly connected to the lifting screw, and the integrated module is disposed on the lifting block;

[0014] A lifting drive component is used to drive the lifting screw to rotate.

[0015] As a preferred embodiment of the loading and unloading device, the integrated module includes two integrated mounting plates arranged in parallel and spaced apart. The positioning module and the execution module are both arranged between the two integrated mounting plates. There are two lifting screws and two lifting blocks. The lifting blocks are arranged one-to-one on opposite sides of the integrated mounting plates. The lifting module is also provided with a transmission component. The lifting drive component is connected to the two lifting screws through the transmission component.

[0016] As a preferred embodiment of the loading and unloading device, the transmission assembly includes a reduction gearbox and two transmission rods. The input end of the reduction gearbox is connected to the output end of the lifting drive component. The reduction gearbox has two output ends, which are connected to one end of each transmission rod. The other end of the transmission rod is connected to the lifting drive screw.

[0017] As a preferred embodiment of the loading and unloading device, the loading and unloading device is further provided with a frame structure, and the lifting module is further provided with a lifting guide rail. The lifting guide rail is arranged vertically on the frame structure, and the integrated mounting plate is slidably connected to the lifting guide rail.

[0018] As a preferred embodiment of the loading and unloading device, the positioning sub-platform includes a support platform and a positioning block disposed on the support platform. The support platform is used to support the workpiece, and the positioning block is used to abut against the workpiece to position the workpiece.

[0019] As a preferred embodiment of the loading and unloading device, the execution submechanism includes a material picking component and a lifting component. The lifting component can drive the material picking component to move up and down in the vertical direction, and the material picking component can be connected to the workpiece.

[0020] As a preferred embodiment of the loading and unloading device, the material handling component further includes multiple grippers and a clamping drive. The clamping drive is disposed at the drive end of the lifting component and can drive the multiple grippers to move closer or further away from each other to clamp or release the workpiece.

[0021] As a preferred embodiment of the loading and unloading device, the loading and unloading device is further provided with a frame structure and a functional platform disposed on the frame structure. The integrated module and the lifting module are both disposed on the frame structure, and the lifting module can drive the integrated module to rise and fall so that the positioning module and the execution module are not higher than the upper surface of the functional platform.

[0022] The beneficial effects of this utility model are as follows:

[0023] This invention integrates the positioning module and the execution module by setting up an integrated module, thereby improving the integration level of the loading and unloading device. Simultaneously, both the positioning module and the execution module can reciprocate along a first direction, enabling multiple workpiece handling operations with higher precision. The execution module includes multiple execution sub-mechanisms; correspondingly, the positioning module includes multiple positioning sub-platforms. That is, the execution sub-mechanisms and positioning sub-platforms are arranged in a one-to-one correspondence, allowing workpiece handling between them. Different execution sub-mechanisms can perform different actions, transforming conventional through-feeding into parallel loading and unloading, saving time while maintaining positioning accuracy, thus improving handling efficiency. Furthermore, by setting up a lifting module to drive the integrated module to move vertically, the integrated module can perform obstacle avoidance operations, providing more space for other operations in the vertical direction, reducing interference between the positioning and execution modules and other operations, and minimizing the impact of other operations on the positioning and execution modules, thereby improving the precision and reliability of workpiece handling by the positioning and execution modules. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the loading and unloading device provided in a specific embodiment of this utility model;

[0026] Figure 2 This is a partial schematic diagram of the loading and unloading device provided in a specific embodiment of this utility model;

[0027] Figure 3 This is a schematic diagram of the execution sub-mechanism of the loading and unloading device provided in a specific embodiment of this utility model.

[0028] In the picture:

[0029] 1. Workpiece;

[0030] 100. Integrated module; 110. Integrated mounting plate;

[0031] 200. Positioning module; 210. Positioning platform group; 211. Positioning sub-platform; 220. Positioning mounting plate;

[0032] 300. Execution module; 310. Execution mechanism group; 311. Execution sub-mechanism; 3111. Material handling assembly; 3112. Lifting assembly; 3113. Gripper; 320. Execution mounting plate; 330. Drive control component;

[0033] 400. Lifting module; 410. Lifting screw; 420. Lifting block; 430. Lifting drive component; 440. Transmission assembly; 441. Gearbox; 442. Transmission rod; 450. Lifting guide rail;

[0034] 510. First drive module; 511. First drive slide rail; 512. First drive slider; 513. Second drive slide rail; 514. Second drive slider; 515. First drive component; 520. Second drive module; 521. Third drive component; 522. Third drive screw;

[0035] 600. Frame structure;

[0036] 700. Function table. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0039] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and connections within two components or interactions between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0040] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0041] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0042] like Figures 1-3 As shown, this embodiment provides a loading and unloading device, which includes an integrated module 100 and a lifting module 400. The integrated module 100 is provided with a positioning module 200 and an execution module 300, both of which can reciprocate along a first direction. The execution module 300 includes a plurality of execution sub-mechanisms 311. The positioning module 200 includes a positioning sub-platform 211 corresponding to each execution sub-mechanism 311. The execution sub-mechanisms 311 can pick up and place workpieces 1 onto the positioning sub-platforms 211, and the positioning sub-platforms 211 can position the workpieces 1. The lifting module 400 is used to drive the integrated module 100 to move up and down in the vertical direction. The first direction is perpendicular to the vertical direction.

[0043] By setting up the integration module 100, the positioning module 200 and the execution module 300 are integrated, improving the integration level of the loading and unloading device. Simultaneously, both the positioning module 200 and the execution module 300 can reciprocate along the first direction, enabling multiple handling of the workpiece 1 with higher handling accuracy. The execution module 300 includes multiple execution sub-mechanisms 311; correspondingly, the positioning module 200 includes multiple positioning sub-platforms 211. That is, the execution sub-mechanisms 311 and the positioning sub-platforms 211 are arranged in a one-to-one correspondence, and the workpiece 1 is handled between the execution sub-mechanisms 311 and the positioning sub-platforms 211. Different groups of execution sub-mechanisms 311 can perform different actions, transforming conventional through-feeding into parallel loading and unloading, saving time while maintaining positioning accuracy, thereby improving handling efficiency. In addition, by setting up a lifting module 400 to drive the integrated module 100 to move vertically, the integrated module 100 can perform avoidance operations, providing more space for other operations in the vertical direction, reducing interference between the positioning module 200 and the execution module 300 and other operations, and reducing the impact of other operations on the positioning module 200 and the execution module 300, thereby improving the accuracy and reliability of the positioning module 200 and the execution module 300 in handling the workpiece 1.

[0044] Preferably, the execution module 300 includes two groups of execution mechanism groups 310 spaced apart along a first direction, and each group of execution mechanism groups 310 has multiple execution sub-mechanisms 311 spaced apart along a second direction. Correspondingly, the positioning module 200 includes two groups of multiple positioning platform groups 210 spaced apart along the first direction, and each group of positioning platform groups 210 has multiple positioning sub-platforms 211 spaced apart along the second direction. The second direction is perpendicular to both the first direction and the vertical direction. With this configuration, the multiple execution sub-mechanisms 311 of each group of execution mechanism groups 310 can simultaneously perform picking or placing, and different groups of execution mechanism groups 310 can perform different actions, further improving the efficiency of parallel loading and unloading.

[0045] It is understandable that, in order to install multiple positioning sub-platforms 211, the positioning module 200 includes a positioning mounting plate 220, on which multiple positioning sub-platforms 211 are mounted; and in order to install multiple execution sub-mechanisms 311, the execution module 300 also includes an execution mounting plate 320, on which multiple execution sub-mechanisms 311 are mounted.

[0046] Specifically, the loading and unloading device further includes a first drive module 510 and a second drive module 520. The first drive module 510 is disposed in the integrated module 100 and is used to realize the reciprocating movement of the execution module 300 along the first direction; the second drive module 520 is disposed in the integrated module 100 and is used to realize the reciprocating movement of the positioning module 200 along the first direction. It is worth noting that since both the positioning mounting plate 220 and the execution mounting plate 320 extend along the second direction, two of the first drive module 510 and the second drive module 520 are provided to realize the driving of both.

[0047] Furthermore, the second drive module 520 includes a third drive member 521, a third drive screw 522, and a third nut. The third drive screw 522 extends along a first direction, the third nut is threadedly connected to the third drive screw 522, and the positioning mounting plate 220 is connected to the third nut. When the third drive member 521 drives the third drive screw 522 to rotate forward or backward, both the third nut and the positioning mounting plate 220 move along the first direction, thereby realizing the reciprocating movement of the positioning module 200 along the first direction. For example, the third drive member 521 can be configured as a servo motor. In other embodiments, the second drive module 520 can also be configured as a KK module; no specific limitation is made here.

[0048] In this embodiment, in order to increase the range of motion of the execution module 300 along the first direction, the first drive module 510 is configured as a two-way drive, that is, the execution module 300 can move along the first direction by about two lengths of the first drive module 510 in the first direction. This configuration also helps to reduce the size of the loading and unloading device in the first direction.

[0049] Optionally, the first drive module 510 includes a first drive slide rail 511, a first drive slider 512, a second drive slide rail 513, and a second drive slider 514. The first drive slide rail 511 extends along a first direction and is disposed on the platform. The first drive slider 512 is slidably disposed on the first drive slide rail 511. When the first drive slider 512 slides on the first drive slide rail 511, the second drive module 520 and the execution module 300 move synchronously along the first direction. The second drive slide rail 513 extends along the first direction and is disposed on the first drive slider 512. The second drive slider 514 is slidably disposed on the second drive slide rail 513. The execution module 300 is disposed on the second drive slider 514. When the second drive slider 514 slides on the second drive slide rail 513, the execution module 300 moves synchronously along the first direction. That is, the moving distance of the execution module 300 along the first direction is the total stroke of the first drive module 510 and the second drive module 520. For example, the first drive module 510 can be configured as a KK module or a lead screw and nut mechanism, without specific limitations. Regarding the number of driving components, two driving components can be used for driving, which simplifies the structure. In this embodiment, a first driving component 515 can also be used in conjunction with a linkage mechanism to achieve two-way driving, which provides better synchronization. Those skilled in the art can select and set the appropriate components according to their actual needs.

[0050] As an optional solution for the loading and unloading device, the lifting module 400 includes a lifting drive 430, a lifting screw 410, and a lifting block 420. The lifting screw 410 extends vertically, and the lifting block 420 is threadedly connected to the lifting screw 410. The integrated module 100 is disposed on the lifting block 420. When the lifting drive 430 drives the lifting screw 410 to rotate, the lifting block 420 and the integrated module 100 move synchronously in the vertical direction to avoid other operations, such as changing sandpaper. At the same time, it avoids damage to the positioning module 200 and the execution module 300 caused by other operations.

[0051] In this embodiment, the integrated module 100 includes two integrated mounting plates 110 arranged in parallel and spaced apart. The positioning module 200 and the execution module 300 are both disposed between the two integrated mounting plates 110. That is, the two ends of the positioning mounting plate 220 and the execution mounting plate 320 are respectively connected to one integrated mounting plate 110, and each integrated mounting plate 110 is provided with a first driving module 510 and a second driving module 520.

[0052] Specifically, two lifting screws 410 and two lifting blocks 420 are provided to improve the smoothness and reliability of the lifting module 400's drive to the integrated module 100. Simultaneously, the lifting blocks 420 are correspondingly positioned on opposite sides of the integrated mounting plate 110, avoiding interference with the movement of the positioning module 200 and the execution module 300 along the first direction while achieving drive. It is worth noting that the lifting module 400 also includes a transmission assembly 440. The lifting drive component 430 is connected to the two lifting screws 410 through the transmission assembly 440, enabling the driving of both lifting screws 410 to be achieved with only one lifting drive component 430, resulting in better synchronization.

[0053] Optionally, the transmission assembly 440 includes a reduction gearbox 441 and two transmission rods 442. The input end of the reduction gearbox 441 is connected to the output end of the lifting drive component 430 to adjust the output speed of the lifting drive component 430. The reduction gearbox 441 also has two output ends, each connected to one end of a transmission rod 442. The other end of the transmission rod 442, away from the output end, is connected to the lifting drive screw. That is, the power of the lifting drive component 430 enters the two transmission rods 442 through the reduction gearbox 441, thereby driving the rotation of the two lifting screws 410. For example, to achieve the transmission connection between the transmission rods 442 and the lifting screws 410, bevel gears are provided at the mating ends of both the transmission rods 442 and the lifting screws 410. The meshing of the bevel gears achieves transmission and changes in power direction, and the transmission is more reliable.

[0054] As an optional solution for the loading and unloading device, the device also includes a frame structure 600. The integrated module 100 and the lifting module 400 are both mounted on the frame structure 600, which integrates the integrated module 100 and the lifting module 400. The lifting module 400 is further equipped with a lifting guide rail 450, which is vertically positioned on the frame structure 600. The integrated mounting plate 110 is slidably connected to the lifting guide rail 450, providing guidance for the lifting and lowering of the integrated mounting plate 110. Each integrated mounting plate 110 has a corresponding lifting guide rail 450 at both ends along the first direction, making the lifting and lowering of the integrated mounting plate 110 more stable and smooth.

[0055] Preferably, to improve the aesthetics of the loading and unloading device, a cover plate is also provided on the frame structure 600. The cover plate can also provide some protection for the modules placed inside the frame structure 600. In addition, traveling rollers can be provided at the lower end of the frame structure 600 to facilitate the movement of the loading and unloading device.

[0056] In this embodiment, the loading and unloading device also includes a functional platform 700 mounted on the frame structure 600, and the lifting module 400 can drive the integrated module 100 to rise and fall, ensuring that the positioning module 200 and the execution module 300 are not higher than the upper surface of the functional platform 700. It is worth noting that the functional platform 700 can be used by operators or other devices to perform corresponding operations, such as changing sandpaper. By lowering the positioning module 200 and the execution module 300 to a position no higher than the upper surface of the functional platform 700 via the lifting module 400, interference from the positioning module 200 and the execution module 300 on other operations on the functional platform 700 is reduced. In other embodiments, the lowering height of the positioning module 200 and the execution module 300 can be set as needed, and is not specifically limited here.

[0057] Specifically, such as Figure 3 As shown, to enable the execution submechanism 311 to pick up and place the workpiece 1 relative to the positioning sub-platform 211, the execution submechanism 311 includes a picking component 3111 and a lifting component 3112. The lifting component 3112 can drive the picking component 3111 to move up and down in the vertical direction, and the picking component 3111 can be connected to the workpiece 1. That is, after the execution submechanism 311 is connected to the workpiece 1, it can avoid collision with the workpiece 1 on the positioning sub-platform 211 by moving up and down.

[0058] In this embodiment, the material handling component 3111 further includes multiple grippers 3113 and a clamping drive. The clamping drive is disposed at the drive end of the lifting component 3112 and can drive the multiple grippers 3113 to move closer or further apart to clamp or detach from the workpiece 1. That is, the material handling component 3111 achieves connection with the workpiece 1 through clamping, making the connection more reliable. In other embodiments, the material handling component 3111 further includes a suction nozzle and an adsorption drive. The adsorption drive is disposed at the drive end of the lifting component 3112 and can generate negative pressure in the suction nozzle to adsorb the workpiece 1. Those skilled in the art can configure it according to actual needs, and no specific limitation is made here.

[0059] For example, the drive control unit 330 of each actuator sub-mechanism 311 in the actuator group 310 is integrated to facilitate synchronous control. The integrated drive control unit 330 is located above the support mounting plate to avoid interference between the actuator sub-mechanisms 311.

[0060] Furthermore, the positioning sub-platform 211 includes a support platform and a positioning block disposed on the support platform. The support platform is used to support the workpiece 1, and the positioning block is used to abut against the workpiece 1 to position the workpiece 1. That is, the positioning sub-platform 211 can not only support the workpiece 1, but also position the workpiece 1, making the subsequent execution sub-mechanism 311 more reliable when grasping the workpiece 1. For example, the positioning block is controlled by a cylinder. When the cylinder is open, the support platform can accommodate large positional errors. When the cylinder is retracted, the positioning block can push the workpiece 1 to a preset position on the support platform to achieve precise positioning.

[0061] For example, the above-mentioned loading and unloading device can be used in automated processing equipment, which also includes a feeding device and a processing device. The loading and unloading device is used to transport workpiece 1 between the feeding device and the processing device. Workpiece 1 includes unprocessed semi-finished products and processed finished products. By setting up the loading and unloading device between the feeding device and the processing device, the semi-finished products and finished products can be transported. Moreover, the above-mentioned loading and unloading device has a large space and higher loading and unloading accuracy compared to a six-axis robot. By setting up a function table 700 and a lifting module 400, the integrated module 100 can be lowered below the function table 700 when the operator is performing other operations, making the operator's operating space larger. At the same time, while the positioning module 200 of the loading and unloading device picks up the finished product and places the semi-finished product at the feeding device, the execution module 300 can simultaneously perform the actions of picking up the finished product and placing the semi-finished product relative to the processing device, changing from conventional serial to parallel, achieving precise positioning and improving efficiency. In addition, both the positioning module 200 and the execution module 300 are designed in two sets, so that the semi-finished product is placed immediately after the finished product is picked up, saving loading and unloading time and improving the utilization rate of the processing equipment.

[0062] Reference Figure 1The loading and unloading process of the automated processing equipment equipped with the loading and unloading device is as follows: During the first operation, the second drive module 520 moves the positioning module 200 away from the execution module 300 along the first direction. Other low-precision devices (such as composite robots) place the semi-finished products from the feeding device onto the positioning sub-platform 211 of one of the positioning platform groups 210. The second drive module 520 drives the positioning module 200 to move along the first direction to below the execution module 300. At this time, the first drive module 510 is in the retracted state. One of the execution mechanism groups 3... The material-grabbing components 3111 and lifting components 3112 of the five execution sub-mechanisms 311 on the 10 operate according to preset requirements to grab the semi-finished product. After grabbing, the lifting components 3112 drive the material-grabbing components 3111 and the semi-finished product to rise. The first drive module 510 extends and drives the semi-finished product on the execution module 300 to move along the first direction to the processing station of the processing device. The execution sub-mechanism 311 performs the opposite action to the material-grabbing action to put the semi-finished product into the processing station. The first drive module 510 retracts. At this time, the above-mentioned positioning platform group 210 has simultaneously put the semi-finished product in again. After two rounds of the above actions, a continuous working state is achieved: the second drive module 520 moves the positioning module 200 away from the execution module 300 along the first direction. At this time, the finished product is placed on another positioning platform group 210. Other low-precision devices (such as composite robots) place semi-finished products on the positioning platform group 210 used to place semi-finished products and remove the finished product from the other positioning platform group 210. The second drive module 520 drives the positioning module 200 to move along the first direction to below the execution module 300 (at this time, the first drive module 510 is in the retracted state, and the finished product is already on the other execution mechanism group 310). The two groups of execution modules 300... The execution sub-mechanisms 311 operate simultaneously, grabbing the semi-finished product while placing the finished product. After grabbing, the lifting component 3112 drives the material picking component 3111 and the semi-finished product to rise. The first drive module 510 then moves along the first direction to reach the processing station of the processing device. After the execution mechanism group 310 grabs the finished product, the first drive module 510 then moves, cooperating with another execution mechanism group 310 to place the semi-finished product at the processing station. The first drive module 510 retracts, and at this time the second drive module 520 has moved synchronously along the first direction. The finished product is taken away and placed into the semi-finished product, and moved below the execution module 300. The above action process is repeated in sequence.

[0063] The procedure for operators of the automated processing equipment equipped with loading and unloading devices to perform other operations is as follows: When the first drive module 510 is in the retracted state, the second drive module 520 cooperates to move the positioning module 200 in the first direction to below the execution module 300. Then, the lifting module 400 moves to lower the entire integrated module 100 (including the first drive module 510, the second drive module 520, the positioning module 200, and the execution module 300) vertically until it is level with the function table 700, thus completing the avoidance action.

[0064] The above description is only a preferred embodiment of this utility model. For those skilled in the art, there will be changes in the specific implementation method and application scope based on the idea of ​​this utility model. The content of this specification should not be construed as a limitation of this utility model.

Claims

1. A loading and unloading device, characterized in that, include: An integrated module (100) is provided, which includes a positioning module (200) and an execution module (300) that can reciprocate along a first direction. The execution module (300) includes multiple execution sub-mechanisms (311), and the positioning module (200) includes a positioning sub-platform (211) that corresponds one-to-one with the execution sub-mechanisms (311). The execution sub-mechanisms (311) can pick up and place workpieces (1) onto the positioning sub-platforms (211), and the positioning sub-platforms (211) can position the workpieces (1). A lifting module (400) is used to drive the integrated module (100) to move up and down in the vertical direction; the first direction is perpendicular to the vertical direction.

2. The loading and unloading device according to claim 1, characterized in that, The integrated module (100) is provided with a first driving module (510), the first driving module (510) including: A first drive slide rail (511) and a first drive slider (512) are provided, wherein the first drive slide rail (511) extends along the first direction and is disposed on the platform, and the first drive slider (512) is slidably disposed on the first drive slide rail (511). The second drive slide rail (513) and the second drive slider (514) extend along the first direction and are disposed on the first drive slider (512), the second drive slider (514) is slidably disposed on the second drive slide rail (513), and the execution module (300) is disposed on the second drive slider (514).

3. The loading and unloading device according to claim 1, characterized in that, The lifting module (400) includes: A lifting screw (410) and a lifting block (420) are provided, wherein the lifting screw (410) extends along the vertical direction, the lifting block (420) is threadedly connected to the lifting screw (410), and the integrated module (100) is disposed on the lifting block (420); A lifting drive (430) is used to drive the lifting screw (410) to rotate.

4. The loading and unloading device according to claim 3, characterized in that, The integrated module (100) includes two integrated mounting plates (110) arranged in parallel and spaced apart. The positioning module (200) and the execution module (300) are both arranged between the two integrated mounting plates (110). There are two lifting screws (410) and two lifting blocks (420). The lifting blocks (420) are arranged one-to-one on opposite sides of the integrated mounting plates (110). The lifting module (400) is also provided with a transmission assembly (440). The lifting drive component (430) is connected to the two lifting screws (410) through the transmission assembly (440).

5. The loading and unloading device according to claim 4, characterized in that, The transmission assembly (440) includes a reduction gearbox (441) and two transmission rods (442). The input end of the reduction gearbox (441) is connected to the output end of the lifting drive component (430). The reduction gearbox (441) has two output ends, which are connected one-to-one with one end of the transmission rod (442). The other end of the transmission rod (442) is connected to the lifting drive screw.

6. The loading and unloading device according to claim 4, characterized in that, The loading and unloading device is also provided with a frame structure (600), and the lifting module (400) is also provided with a lifting guide rail (450). The lifting guide rail (450) is arranged vertically on the frame structure (600), and the integrated mounting plate (110) is slidably connected to the lifting guide rail (450).

7. The loading and unloading device according to any one of claims 1-6, characterized in that, The positioning sub-platform (211) includes a support platform and a positioning block disposed on the support platform. The support platform is used to support the workpiece (1), and the positioning block is used to abut against the workpiece (1) to position the workpiece (1).

8. The loading and unloading device according to any one of claims 1-6, characterized in that, The execution submechanism (311) includes a material picking component (3111) and a lifting component (3112). The lifting component (3112) can drive the material picking component (3111) to move up and down in the vertical direction. The material picking component (3111) can be connected to the workpiece (1).

9. The loading and unloading device according to claim 8, characterized in that, The material handling assembly (3111) further includes multiple grippers (3113) and a clamping drive. The clamping drive is disposed at the drive end of the lifting assembly (3112) and can drive the multiple grippers (3113) to move closer or further away from each other to clamp or release the workpiece (1).

10. The loading and unloading device according to any one of claims 1-6, characterized in that, The loading and unloading device is further provided with a frame structure (600) and a functional table (700) disposed on the frame structure (600). The integrated module (100) and the lifting module (400) are both disposed on the frame structure (600), and the lifting module (400) can drive the integrated module (100) to rise and fall so that the positioning module (200) and the execution module (300) are not higher than the upper surface of the functional table (700).

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