Feeding and discharging device and equipment

Abstract

The application provides a feeding and discharging device and equipment for feeding and discharging materials on a tray. The feeding and discharging device comprises a machine body, a discharge port and a feeding port are arranged on the side of the machine body; a first material carrying mechanism is arranged in the machine body and corresponds to the discharge port, the first material carrying mechanism is used for receiving a plurality of stacked trays and moving the trays out of the machine body through the discharge port; a first lifting mechanism is arranged in the machine body and connected with the first material carrying mechanism, and is used for driving the first material carrying mechanism to move in the vertical direction; a second material carrying mechanism is arranged in the machine body and corresponds to the discharge port, the second material carrying mechanism is used for receiving the trays and receiving the trays from the discharge port; a material transferring mechanism is arranged in the machine body and is used for transferring the trays from the second material carrying mechanism to the first material carrying mechanism. Through the feeding and discharging device and equipment provided by the application, the number of trays that can be accommodated in the feeding and discharging device can be increased, a plurality of trays can be moved out of the machine body through the discharge port synchronously, and the frequency of discharging the trays can be reduced.

Description

Technical Field

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

[0002] In automated production processes, loading and unloading devices can be used to carry trays containing multiple materials. The loading and unloading device can move multiple materials in the tray to the processing equipment for processing in sequence, and then move the processed materials back to the tray. Then, workers or handling equipment can move the tray, thereby removing the tray containing the processed materials from the loading and unloading device, and moving the tray containing the unprocessed materials to the loading and unloading device.

[0003] Currently, loading and unloading devices typically use available space on the machine to hold material trays. However, because the loading and unloading devices need to be equipped with robotic arms, positioning fixtures, and other mechanisms, the actual number of material trays that the machine can hold is limited. Once all the material in all the trays has been processed, the loading and unloading device needs to wait for the trays on the machine to be moved and replenished before it can continue to load and unload materials, which affects product production efficiency. Utility Model Content

[0004] In view of the above, it is necessary to provide a loading and unloading device and equipment that can simultaneously accommodate multiple trays, thereby reducing the occurrence of loading and unloading device downtime and solving the above-mentioned defects.

[0005] In a first aspect, embodiments of this application provide a loading and unloading device for loading and unloading materials on a tray. The loading and unloading device includes: a machine body with a discharge port and a feed port on its side; a first loading mechanism disposed within the machine body and corresponding to the discharge port, the first loading mechanism being used to receive multiple stacked trays and to move the trays out of the machine body through the discharge port; a first lifting mechanism disposed within the machine body and connected to the first loading mechanism, and used to drive the first loading mechanism to move vertically; a second loading mechanism disposed within the machine body and corresponding to the discharge port, the second loading mechanism being used to receive trays and to receive trays from the discharge port; and a transfer mechanism disposed within the machine body, and used to transfer trays from the second loading mechanism to the first loading mechanism.

[0006] Optionally, the loading and unloading device further includes a partition plate disposed inside the machine body. The first lifting mechanism includes: a first movable seat connected to the first loading mechanism and movably connected to the partition plate in the vertical direction; a first lead screw passing through the first movable seat in the vertical direction and threadedly connected to the first lead screw; and a first drive assembly disposed on the partition plate and connected to the first lead screw, the first drive assembly being used to drive the first lead screw to rotate.

[0007] Optionally, the first material loading mechanism includes: a first receiving frame connected to a first lifting mechanism; and a plurality of first rollers, each rotatably connected to the first receiving frame, wherein the axial direction of each first roller is a first direction, the plurality of first rollers are spaced apart along a second direction, the plurality of first rollers are used to receive material trays and are used to rotate to drive the material trays to move out of the loading and unloading device through the discharge port along the second direction; wherein the first direction, the second direction and the vertical direction are perpendicular to each other.

[0008] Optionally, the loading and unloading device further includes: a partition plate disposed inside the machine body; a second lifting mechanism disposed inside the machine body, the second lifting mechanism including a second movable seat, a second lead screw and a second drive assembly, the second movable seat being connected to the second loading mechanism and movably connected to the partition plate in the vertical direction, the second lead screw passing through the second movable seat in the vertical direction, the second movable seat being threadedly connected to the second lead screw, the second drive assembly being disposed on the partition plate and connected to the second lead screw, the second drive assembly being used to drive the second lead screw to rotate.

[0009] Optionally, the second material loading mechanism includes: a second receiving frame; and a plurality of second rollers, all rotatably connected to the second receiving frame, wherein the axial direction of each second roller is a first direction, the plurality of second rollers are spaced apart along a second direction, the plurality of second rollers are used to receive the material tray and are used to rotate to drive the material tray to enter the loading and unloading device through the feed port along the second direction; wherein the first direction, the second direction and the vertical direction are perpendicular to each other.

[0010] Optionally, the first and second material loading mechanisms are spaced apart in the first direction. The transfer mechanism includes: a positioning frame, movably connected to the machine body in the first direction and used to fit over the material tray; the positioning frame has a positioning seat with a positioning groove for receiving a positioning block on the material tray to achieve positioning between the material tray and the positioning frame; two fixing components, symmetrically arranged in the second direction; each fixing component includes a transfer component and a fixing drive component; the fixing drive component is disposed on the positioning frame and connected to the transfer component; the fixing drive component is used to drive the transfer component to move in the second direction, so that the transfer component approaches the material tray to abut or support the material tray; and a transfer drive component connected to the positioning frame and used to drive the positioning frame to move in the first direction; wherein the first direction, the second direction, and the vertical direction are perpendicular to each other.

[0011] Optionally, the loading and unloading device further includes: a robotic arm mounted on the machine body and connected to grippers, the grippers being used to grab materials from the material tray, and the robotic arm being used to move and / or rotate the grippers and the materials they grab.

[0012] Optionally, the machine body includes: a frame, with the first material loading mechanism and the second material loading mechanism both connected to the frame; a housing, connected to the frame, and having an outlet and an inlet, wherein the first material loading mechanism, the first lifting mechanism, the second material loading mechanism, and the transfer mechanism are all located inside the housing; and a support plate, located at the top of the housing, and having a first opening and a second opening, wherein the first opening corresponds to the first material loading mechanism, the second opening corresponds to the second material loading mechanism, and the transfer mechanism is located at the bottom of the support plate.

[0013] Optionally, the loading and unloading device further includes: a partition plate connected to the frame and located inside the housing, the partition plate dividing the space inside the housing into a first space and a second space, the first space communicating with the discharge port and a first opening, and the second space communicating with the inlet port and a second opening; a first loading mechanism and a first lifting mechanism located in the first space, the first lifting mechanism being disposed on the partition plate; a second loading mechanism located in the second space; a transfer channel is formed between the partition plate and the bearing plate, the first space and the second space communicating through the transfer channel, the transfer mechanism being located within the transfer channel, and used to transfer the material tray from the second loading mechanism to the first loading mechanism through the transfer channel.

[0014] Secondly, embodiments of this application provide a loading and unloading device, including: a conveying device; the loading and unloading device as described above is attached to the conveying device, and the conveying device is used to move so that the loading and unloading devices move synchronously.

[0015] The loading and unloading device and equipment provided in this application allow the first lifting mechanism to drive the first loading mechanism to descend, thereby increasing the number of trays that the first loading mechanism 30 can hold. When multiple trays are held on the first loading mechanism, workers or automated equipment can simultaneously remove the multiple trays from the machine body through the discharge port, thus achieving simultaneous unloading of multiple trays. In this way, by increasing the number of trays that the loading and unloading device can hold and enabling multiple trays to be simultaneously removed from the machine body through the discharge port, the frequency of removing trays from the loading and unloading device is reduced, thereby reducing the number of times the loading and unloading device is stopped and improving product production efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the loading and unloading equipment in an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the material tray structure in an embodiment of this application.

[0018] Figure 3 This is a partial structural schematic diagram of the loading and unloading device in an embodiment of this application.

[0019] Figure 4 yes Figure 3 The front view.

[0020] Figure 5This is a partial structural disassembly diagram of the loading and unloading device in the embodiments of this application.

[0021] Figure 6 This is a partial structural disassembly diagram of the loading and unloading device in the embodiments of this application.

[0022] Figure 7 This is a partial structural disassembly diagram of the loading and unloading device in the embodiments of this application.

[0023] Figure 8 This is a partial structural disassembly diagram of the loading and unloading device in the embodiments of this application.

[0024] Figure 9 This is a schematic diagram of the transfer mechanism in the embodiments of this application.

[0025] Figure 10 This is a schematic diagram of the transfer mechanism and tray in the embodiments of this application.

[0026] Explanation of key component symbols:

[0027] 100. Loading and unloading equipment; 101. Handling device; 1011. Support plate; 102. Loading and unloading device; 10. Machine body; 11. Frame; 12. Shell; 121. Discharge port; 122. Inlet port; 13. Bearing plate; 131. First opening; 132. Second opening; 14. First space; 15. Second space; 16. Transfer channel; 20. Partition; 30. First loading mechanism; 31. First bearing frame; 311. First collection box; 32. First roller; 40. Second loading mechanism; 41. Second bearing frame; 411. Second collection box; 42. Second roller; 50. Machinery 51. Arm; 60. Gripper; 61. Transfer mechanism; 61. Positioning frame; 611. Positioning space; 612. Positioning seat; 613. Positioning groove; 62. Moving drive component; 63. Fixing component; 631. Transfer component; 6311. Receiving part; 632. Fixing drive component; 70. First lifting mechanism; 71. First moving seat; 72. First lead screw; 73. First drive component; 80. Second lifting mechanism; 81. Second moving seat; 82. Second lead screw; 83. Second drive component; 90. Obstacle avoidance radar; 200. Tray; 201. Storage slot; 202. Clearance opening; 203. Positioning block. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments.

[0029] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.

[0030] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0031] Please see Figure 1 , Figure 1 An embodiment of the present application illustrates a loading and unloading device 100.

[0032] In embodiments of this application, the loading / unloading equipment 100 may include a conveying device 101 and a loading / unloading device 102. The conveying device 101 may be installed on the ground and may travel on the ground. The loading / unloading device 102 may be fixedly installed on the top of the conveying device 101. The travel of the conveying device 101 may drive the loading / unloading device 102 to move synchronously.

[0033] The loading and unloading device 102 can hold multiple material trays 200 ( Figure 2 As shown in the figure, each tray 200 can hold one or more materials. The loading / unloading device 102 can move the materials in the tray 200 to a processing device (not shown) for processing, and then move the processed materials back into the tray 200. The loading / unloading device 102 can also receive trays 200 containing unprocessed materials from the outside, and remove trays 200 containing processed materials from the loading / unloading device 102. Materials removed from the loading / unloading device 102 can be collected and / or transported manually or by automated equipment for further processing and / or inspection.

[0034] In the embodiments of this application, the type of the handling device 101 is not specifically limited. For example, the handling device 101 may be, but is not limited to, an automated guided vehicle (AGV).

[0035] In the embodiments of this application, the type of material is not specifically limited. For example, the material may be a semi-finished product generated during the production process of electronic products.

[0036] Please refer to the following: Figure 2It is understood that multiple storage slots 201 can be provided on the material tray 200, and each storage slot 201 can hold and receive one material. In some cases, the material can be directly received and received in the corresponding storage slot 201. In other cases, each material can be fixedly mounted on a corresponding fixture, and each fixture loaded with material can be received and received in the corresponding storage slot 201, so that the material tray 200 can receive the material.

[0037] In the embodiments of this application, materials that have not been processed by processing equipment can be defined as raw materials, and materials that have been processed by processing equipment can be defined as cooked materials.

[0038] In the embodiments of this application, the fixing method for fixed installation and fixed connection is not specifically limited. For example, the fixing method may include, but is not limited to, welding fixing, bolt fixing, screw fixing, integral molding fixing, interference fixing, etc.

[0039] In embodiments of this application, the length direction, width direction, and height direction of the loading / unloading device 100 can be defined as a first direction, a second direction, and a vertical direction, respectively. For example, the first direction can be... Figure 1 The X direction and its opposite direction are shown. The second direction can be... Figure 1 The Y-direction and its opposite direction are shown; the vertical direction can be... Figure 1 The Z direction and its opposite direction are shown.

[0040] It is understood that the conveying device 101 may include a support plate 1011, which is located at the top of the conveying device 101 in the vertical direction. The loading and unloading device 102 may be fixedly installed on the top of the support plate 1011.

[0041] Please refer to the following: Figure 3 and Figure 4 In some embodiments, the loading and unloading device 102 may include a machine body 10, a partition 20, a first loading mechanism 30, a second loading mechanism 40, a robotic arm 50, and a transfer mechanism 60.

[0042] The machine body 10 may include a frame 11, a housing 12, and a support plate 13. The frame 11 may be fixedly mounted on the top of the support plate 1011, and the frame 11 may include multiple sub-frames spaced apart in a first direction and / or a second direction. The frame 11 may form the frame structure of the machine body 10 and may bear the load of the components mounted on the machine body 10. The housing 12 may be fitted onto the outside of the frame 11 and fixedly connected to the frame 11. The housing 12 has a discharge port 121 and a feed port 122 on both sides in the second direction. On the same side of the housing 12, the discharge port 121 and the feed port 122 are spaced apart in the first direction. The feed port 122 allows the feed tray 200 to enter the machine body 10 in the second direction; the discharge port 121 allows the feed tray 200 to move out of the machine body 10 in the second direction. The support plate 13 may be fixedly mounted on the top of the frame 11 and close the top of the housing 12. The support plate 13 has a first opening 131 and a second opening 132. The first opening 131 and the second opening 132 are spaced apart in a first direction.

[0043] The partition 20 can be located inside the housing 12 and can be fixedly connected to the frame 11. The partition 20 can extend vertically and can be set perpendicular to the first direction. The height of the partition 20 can be less than the height of the machine body 10. The partition 20 can divide the space inside the housing 12 into a first space 14 and a second space 15, which are arranged in the first direction. A transfer channel 16 is formed between the top of the partition 20 and the bottom of the support plate 13. The transfer channel 16 can extend along the first direction and communicate with both the first space 14 and the second space 15. The discharge port 121 and the first opening 131 can be correspondingly set with the first space 14. The discharge port 121 can communicate with the first space 14, and the first opening 131 can communicate with the first space 14 through the transfer channel 16. The feed inlet 122 and the second opening 132 can be set to correspond to the second space 15. The feed inlet 122 is connected to the second space 15, and the second opening 132 can be connected to the second space 15 through the transfer channel 16.

[0044] Please refer to the following: Figure 5 and Figure 6The first loading mechanism 30 and the second loading mechanism 40 can be located in the first space 14 and the second space 15, respectively, and are respectively connected to the two sides of the partition 20 in the first direction. The first loading mechanism 30 is correspondingly arranged with the discharge port 121 and the first opening 131. The first loading mechanism 30 can receive the tray 200, and the tray 200 on the first loading mechanism 30 can receive clinker; the first loading mechanism 30 can remove the tray 200 containing clinker from the loading / unloading device 102 through the discharge port 121. The second loading mechanism 40 is correspondingly arranged with the inlet 122 and the second opening 132. The second loading mechanism 40 can receive the tray 200, and the second loading mechanism 40 can move the tray 200 containing raw material into the loading / unloading device 102 through the inlet 122.

[0045] The robotic arm 50 can be fixedly mounted on the top of the support plate 13. A gripper 51 can be fixedly connected to the robotic arm 50. The gripper 51 can grasp materials, and the robotic arm 50 can drive the gripper 51 to move and / or rotate to synchronize the material movement. When the material tray 200 is exposed through the second opening 132, the robotic arm 50 can drive the gripper 51 to move and / or rotate, bringing the gripper 51 closer to the material tray 200. The gripper 51 can then grasp materials from the material tray 200. The robotic arm 50 can then drive the gripper 51 closer to the processing equipment, where the gripper 51 can release the materials for processing. After the processing equipment finishes processing the materials, the gripper 51 can grasp the materials again, and the robotic arm 50 can then drive the gripper 51 to move the materials to the corresponding receiving slot 201 on the material tray 200. In this way, the robotic arm 50 and the gripper 51 can work together to move raw materials to the processing equipment and then move cooked materials back to their original material tray 200.

[0046] The transfer mechanism 60 is located within the transfer channel 16 and is fixedly installed at the bottom of the support plate 13. The transfer mechanism 60 can grasp the material tray 200 and drive the material tray 200 to move in a first direction; thus, the first transfer mechanism 60 can move the material tray 200 containing clinker on the second material loading mechanism 40 to the first material loading mechanism 30. The material tray 200 on the first material loading mechanism 30 can enter the first space 14 and be removed from the first space 14 through the discharge port 121.

[0047] In the embodiments of this application, the method by which the gripper 51 grasps materials is not specifically limited. For example, the gripper 51 can grasp materials by physical clamping. Or, for example, the gripper 51 can grasp materials by adsorption, and the adsorption principle can include, but is not limited to, negative pressure adsorption, magnetic adsorption, etc.

[0048] It is understood that the gripper 51 can directly grasp materials or indirectly grasp materials by grasping a fixture loaded with materials. The embodiments of this application do not limit this.

[0049] It is understandable that the robotic arm 50 and the gripper 51 work together to feed raw materials one by one to the processing equipment and remove cooked materials one by one from the processing equipment to achieve unloading; thus, the loading and unloading device 102 can realize the loading and unloading of materials to the processing equipment.

[0050] It is understood that the structure and size of each material tray 200 can be the same, the structures of the first material loading mechanism 30 and the second material loading mechanism 40 can be the same or similar, the specifications of the first opening 131 and the second opening 132 can be the same or similar, and the specifications of the inlet 122 and the outlet 121 can be the same or similar. Thus, operators can change the functions of the inlet 122 and the outlet 121 according to factors such as the environment in which the loading and unloading equipment 100 is located, thereby changing the functions of the first material loading mechanism 30 and the second material loading mechanism 40.

[0051] For example, in some cases, the functions of the feed inlet 122 and the discharge outlet 121 are interchanged, so that the raw material tray 200 enters the first space 14 through the discharge outlet 121 and is received on the first loading mechanism 30. The robotic arm 50 can drive the gripper 51 to move so that the gripper 51 can grab the raw material exposed from the first opening 131, move the raw material to the processing equipment for processing, and reset the processed clinker back into the tray 200. Then the transfer mechanism 60 can move the tray 200 receiving the clinker from the first loading mechanism 30 to the second loading mechanism 40. The tray 200 on the second loading mechanism 40 can enter the second space 15 and be removed from the loading and unloading device 102 through the feed inlet 122.

[0052] The following description continues with the following scenario: the feeding tray 200 is removed from the loading / unloading device 102 through the discharge port 121, the feeding tray 200 enters the loading / unloading device 102 through the inlet port 122, the robotic arm 50 drives the gripper 51 to grab the raw material exposed from the second opening 132, and the cooked material obtained from the processing equipment is reset to the tray 200 on the second loading mechanism 40. Then, the transfer mechanism 60 moves the tray 200 receiving the cooked material from the second transfer mechanism 60 to the first transfer mechanism 60.

[0053] Please refer to the following: Figure 7 and Figure 8In some embodiments, the loading / unloading device 102 may further include a first lifting mechanism 70. The first lifting mechanism 70 can drive the first loading mechanism 30 to move vertically. The opening height of the first opening 131 may be greater than the height of the tray 200, and multiple trays 200 may be stacked on the first loading mechanism 30 in the height direction, so that the first space 14 can accommodate the stacked multiple trays 200, and the discharge port 121 can allow multiple trays 200 to pass through.

[0054] The first lifting mechanism 70 is located on one side of the partition 20 in a first direction. The first lifting mechanism 70 may include a first movable seat 71, a first lead screw 72, and a first drive assembly 73. The first movable seat 71 may be fixedly connected to the first loading mechanism 30 and may be movably connected to the partition 20 in a vertical direction. The first lead screw 72 may extend in a vertical direction and is rotatably connected to a support fixedly mounted on the partition 20, thereby achieving relative fixation with the partition 20. The first movable seat 71 may be sleeved on the first lead screw 72 and threadedly connected to it. The first drive assembly 73 may be fixedly mounted on the partition 20 and / or the frame 11, and may be fixedly connected to the first lead screw 72. The first drive assembly 73 may drive the first lead screw 72 to rotate, causing the first movable seat 71 to move in a vertical direction, thereby lifting the first loading mechanism 30.

[0055] It is understandable that the first lifting mechanism 70 drives the first loading mechanism 30 to descend, which can increase the number of trays 200 that can be received on the first loading mechanism 30. When multiple trays 200 are received on the first loading mechanism 30, workers or automated equipment can simultaneously remove multiple trays 200 from the machine body 10 through the discharge port 121 to achieve simultaneous unloading of multiple trays 200. In this way, by increasing the number of trays 200 that can accommodate clinker in the loading and unloading device 102, the frequency of removing trays 200 containing clinker from the loading and unloading device 102 can be reduced.

[0056] It is understood that the first loading mechanism 30 can lift and lower in the vertical direction so that all the trays 200 carried on the first loading mechanism 30 can be aligned with the discharge port 121, so that the stacked trays 200 can be moved out of the loading and unloading device 102 simultaneously through the discharge port 121.

[0057] It is understood that a rotatable connection is achieved through a rotating connector, allowing two components to rotate relative to each other. In the embodiments of this application, the type of rotating connector is not specifically limited. For example, the rotating connector can be, but is not limited to, bearings, hinges, pins, etc.

[0058] It is understood that a movable connection is achieved through a movable connector, allowing two components to move linearly relative to each other. In the embodiments of this application, the type of movable connector is not specifically limited. For example, the movable connector can be, but is not limited to, a linear guide pair.

[0059] It is understood that the first drive assembly 73 can be composed of a transmission unit and a drive unit. The drive unit can be a motor, and the transmission unit can be a gear transmission unit or a belt pulley transmission unit. The transmission unit can be connected to the drive unit and the first lead screw 72. The drive unit can drive the transmission unit to move, thereby causing the first lead screw 72 to rotate.

[0060] In some embodiments, the first material loading mechanism 30 may include a first support frame 31 and a plurality of first rollers 32. The first support frame 31 may be fixedly connected to a first movable seat 71. The plurality of first rollers 32 may be spaced apart along a second direction, and the axial direction of each first roller 32 coincides with the first direction. The plurality of first rollers 32 are rotatably connected to the first support frame 31, and the plurality of first rollers 32 may receive the material tray 200, so as to realize the first material loading mechanism 30 receiving the material tray 200.

[0061] It is understood that the rolling of multiple first rollers 32 can drive one or more trays 200 located on the multiple first rollers 32 to move in the second direction, so that the tray 200 aligned with the discharge port 121 can be removed from the machine body 10 from one discharge port 121, that is, removed from the loading and unloading device 102.

[0062] It is understood that multiple first rollers 32 can be driven by a single driving component to rotate synchronously, or they can be connected to multiple driving components and rotate separately. The embodiments of this application do not limit this.

[0063] In the embodiments of this application, the installation position of the drive component that drives the first roller 32 to rotate is not specifically limited. For example, the drive component may be built inside each first roller 32. Alternatively, the drive component corresponding to each first roller 32 may be mounted on the first support frame 31.

[0064] In some embodiments, two first collection boxes 311 are detachably connected to the bottom of the first support frame 31, and the two first collection boxes 311 can be located on opposite sides of the first support frame 31 in a second direction. The rotation of the plurality of first rollers 32 can be lubricated by lubricating oil, which drips onto the first support frame 31 and flows into the two first collection boxes 311. Workers can disassemble the first collection boxes 311 after they are full or periodically through the discharge port 121 to clean the lubricating oil, and then reinstall the first collection boxes 311 onto the first support frame 31.

[0065] It is understandable that the collection of lubricating oil by the first collection box 311 can reduce the occurrence of lubricating oil dripping into other mechanisms inside the machine body 10 and onto the conveying device 101, thereby reducing the failure rate of the loading and unloading equipment 100.

[0066] In some embodiments, the loading / unloading device 102 may further include a second lifting mechanism 80. The second lifting mechanism 80 can drive the second loading mechanism 40 to move in the vertical direction. The opening height of the second opening 132 may be greater than the height of the tray 200, and multiple trays 200 may be stacked on the second loading mechanism 40 in the height direction, so that the second space 15 can accommodate the stacked multiple trays 200, and the feed port 122 can allow the multiple trays 200 to pass through.

[0067] The second lifting mechanism 80 is located on the side of the partition 20 opposite to the first lifting mechanism 70 in a first direction. The second lifting mechanism 80 may include a second movable seat 81, a second lead screw 82, and a second drive assembly 83. The second movable seat 81 may be fixedly connected to the second loading mechanism 40 and may be movably connected to the partition 20 in a vertical direction. The second lead screw 82 may extend in a vertical direction and may be rotatably connected to a support fixedly mounted on the partition 20, thereby achieving relative fixation with the partition 20. The second movable seat 81 may be sleeved on the second lead screw 82 and threadedly connected to the second lead screw 82. The second drive assembly 83 may be fixedly mounted on the partition 20 and / or the frame 11, and may be fixedly connected to the second lead screw 82. The second drive assembly 83 may drive the second lead screw 82 to rotate, causing the second movable seat 81 to move in a vertical direction, thereby achieving lifting and lowering of the second loading mechanism 40.

[0068] It is understandable that when the second lifting mechanism 80 drives the second loading mechanism 40 to descend, it can increase the number of trays 200 that the second loading mechanism 40 can hold. The second loading mechanism 40 can lift and lower itself vertically, allowing all the trays 200 it carries to align with the feed inlet 122. This enables multiple stacked trays 200 to be simultaneously moved out of the loading / unloading device 102 through the feed inlet 122, thus achieving simultaneous loading of multiple trays 200. In this way, by increasing the number of trays 200 capable of holding raw material in the loading / unloading device 102, the frequency of replenishing trays 200 containing raw material to the loading / unloading device 102 can be reduced.

[0069] It is understood that the second drive component 83 and the first drive component 73 may have the same or similar types and structures. For details, please refer to the relevant textual description of the first drive component 73, which will not be repeated here.

[0070] In some embodiments, the second material loading mechanism 40 may include a second support frame 41 and a plurality of second rollers 42. The second support frame 41 may be fixedly connected to the second movable seat 81. The plurality of second rollers 42 may be spaced apart along a second direction, and the axial direction of each second roller 42 coincides with the first direction. The plurality of second rollers 42 are rotatably connected to the second support frame 41, and the plurality of second rollers 42 may support the material tray 200, so as to realize the second material loading mechanism 40 supporting the material tray 200.

[0071] It is understood that the rotation of multiple second rollers 42 can drive one or more trays 200 located on the multiple second rollers 42 to move in the second direction. The tray 200 receiving raw material can enter the second space 15 through the feed port 122 and then abut against the second rollers 42. Then, the rotation of the second rollers 42 can cause the tray 200 to gradually enter the second space 15, that is, enter the loading and unloading device 102. When the tray 200 moves in the second direction to correspond to the second opening 132, the multiple second rollers 42 can stop rotating.

[0072] It is understandable that the rotation principle and structure of the second roller 42 may be the same as or similar to the rotation principle and structure of the first roller 32. For details, please refer to the relevant textual description of the first roller 32, which will not be repeated here.

[0073] In some embodiments, two second collection boxes 411 are detachably connected to the bottom of the second support frame 41, and the two second collection boxes 411 can be located on both sides of the second support frame 41 in the first direction. The function of the second collection box 411 is the same as or similar to that of the first collection box 311, and can be found in the relevant textual description of the first collection box 311, which will not be repeated here.

[0074] Please refer to the following: Figure 9 and Figure 10 In some embodiments, the transfer mechanism 60 may include a positioning frame 61, a moving drive 62, and a fixing component 63.

[0075] The positioning frame 61 is movably connected to the bottom of the support plate 13 along a first direction. The positioning frame 61 can enclose and form a positioning space 611, which can accommodate a tray 200. The moving drive 62 can be fixedly installed on the bottom of the support plate 13 and can be fixedly connected to the positioning frame 61. The moving drive 62 can drive the positioning frame 61 to move in the first direction.

[0076] There can be two fixing components 63, both located on the positioning frame 61 and symmetrically arranged along the second direction. Each fixing component 63 may include a transfer member 631 and two fixing drive members 632. The two fixing drive members 632 may be spaced apart in the first direction and are both fixedly mounted on the positioning frame 61. The transfer member 631 may be fixedly connected to the two fixing drive members 632. The fixing drive members 632 may drive the transfer member 631 to move in the second direction, causing the transfer member 631 to move closer to or further away from the tray 200. When the two fixing components 63 move synchronously, the two transfer members 631 may move closer to or further away from each other.

[0077] Each tray 200 has clearance openings 202 on both sides of its bottom in the second direction. Each transfer member 631 has protrusions 6311 facing the other transfer member 631, and the two clearance openings 202 correspond one-to-one with the two receiving parts 6311. When the transfer mechanism 60 needs to move the tray 200, the second lifting mechanism 80 can drive the second loading mechanism 40 to move, so that the tray 200 on the second loading mechanism 40 moves into the transfer channel 16 and enters the positioning space 611 formed by the positioning frame 61. Then, multiple fixed driving members 632 work to bring the two transfer members 631 closer to each other. At this time, the two receiving parts 6311 can move into the corresponding clearance openings 202, and the tops of the two receiving parts 6311 can abut against the inner wall of the top of the clearance opening 202 to realize the receiving part 6311 receiving the tray 200.

[0078] After both receiving parts 6311 receive the tray 200, the moving drive 62 operates to drive the positioning frame 61 and the tray 200 to move synchronously, removing the tray 200 from the second loading mechanism 40 and moving it to the position corresponding to the first loading mechanism 30. The first loading mechanism 30 can rise to approach the tray 200, and then multiple fixing drive parts 632 can operate to move the two receiving parts 6311 away from each other, so that the tray 200 is received on the first loading mechanism 30. Then the first loading mechanism 30 can descend to remove the tray 200 from the positioning space 611, and then the moving drive 62 can drive the positioning frame 61 to reset to the position corresponding to the second loading mechanism 40, so as to continue moving the tray 200 on the second loading mechanism 40 to the first loading mechanism 30.

[0079] It is understood that the moving drive component 62 can be a drive component with linear motion driving function. In the embodiments of this application, the type of the moving drive component 62 is not specifically limited. For example, the moving drive component 62 can be, but is not limited to, a linear motor, a rodless cylinder, etc.

[0080] For example, the moving drive component 62 can be a linear motor, and the moving drive component 62 can be disposed on one side of the positioning frame 61 in the second direction; the other side of the positioning frame 61 in the second direction can be fixedly connected to a linear guide pair, and the linear guide pair can be fixedly connected to the support plate 13. The linear guide pair can cooperate with the moving drive component 62 to maintain the stability of the movement of the positioning frame 61.

[0081] In the embodiments of this application, the type of the fixed drive member 632 is not specifically limited. For example, the fixed drive member 632 may be, but is not limited to, a cylinder, a linear motor, etc.

[0082] It is understandable that when the receiving part 6311 enters the clearance opening 202 and receives the tray 200, the two transfer members 631 can abut against the two sides of the tray 200 in the second direction to clamp the tray 200, thereby strengthening the fixation between the transfer mechanism 60 and the tray 200 and reducing the probability that the tray 200 will fall off the transfer mechanism 60 during the process of moving from the second loading mechanism 40 to the first loading mechanism 30.

[0083] In some embodiments, a positioning seat 612 may be fixedly connected to the positioning frame 61, and the positioning seat 612 may be located at the top of the positioning frame 61. A positioning groove 613 is formed at the bottom of the positioning seat 612. A positioning block 203 may be protruded on each tray 200. By accommodating the positioning block 203 in the positioning groove 613, the positioning seat 612 can be fitted onto the positioning block 203 to achieve positioning between the tray 200 and the positioning frame 61.

[0084] In the embodiments of this application, the number of positioning seats 612 is not specifically limited. For example, there can be two positioning seats 612, which can be spaced apart in the first direction and located on both sides of the positioning space 611 respectively; a plurality of positioning blocks 203 are protruding on the material tray 200, at least some of which are spaced apart in the first direction, and the two positioning seats 612 are respectively sleeved on the two positioning blocks 203 to realize the positioning of the positioning frame 61 and the material tray 200.

[0085] It is understood that when there are multiple positioning blocks 203, the shapes of the multiple positioning blocks 203 may be the same or different, and the embodiments of this application do not limit this.

[0086] In some embodiments, the loading / unloading device 102 may further include a plurality of obstacle avoidance radars 90. The plurality of obstacle avoidance radars 90 may be fixedly connected to the frame 11 and extend out of the body 10 through openings in the housing 12. The plurality of obstacle avoidance radars 90 may be arranged around the housing 12. The plurality of obstacle avoidance radars 90 can detect whether there are obstacles around the loading / unloading device 100. The plurality of obstacle avoidance radars 90 can be communicatively connected to the conveying device 101. When the obstacle avoidance radar 90 detects an obstacle on the trajectory of the loading / unloading device 100, the obstacle avoidance radar 90 can trigger the conveying device 101 to stop moving, thereby reducing the probability of the loading / unloading device 100 colliding with the obstacle and improving the service life of the loading / unloading device 100.

[0087] The following is the workflow of the loading and unloading equipment 100 provided in the embodiments of this application:

[0088] The conveying device 101 can move to approach the processing equipment, so that the loading and unloading device 102 can move synchronously to a preset position close to the processing equipment.

[0089] Workers or automated equipment can extend one or more trays 200 into the second space 15 through the feed inlet 122, causing the trays 200 to abut against at least one second roller 42 on the second medical device. The multiple second rollers 42 can rotate to drive the trays 200 further into the second space 15, stopping rotation when the trays 200 are aligned with the second opening 132. A second lifting mechanism 80 can drive the trays 200 to rise near the second opening 132. Then, a robotic arm 50 can drive the gripper 51 to move, gripping raw material from the trays 200 through the second opening 132. The robotic arm 50 can drive the gripper 51 and the raw material to move into the processing equipment, where the gripper 51 can release the raw material to enter the processing equipment for processing, and then grip the processed cooked material. The robotic arm 50 can then drive the gripper 51 and the cooked material to move into the original receiving tank 201. Then, the robotic arm 50 and gripper 51 work together to move other raw materials from the tray 200 into the processing equipment and reset the processed material into the corresponding storage tank 201.

[0090] When all the material in the tray 200 closest to the second opening 132 among the trays 200 carried by the second loading mechanism 40 is clinker, the transfer mechanism 60 can move the tray 200 from the second loading mechanism 40 to the first loading mechanism 30 through the transfer channel 16. After the first loading mechanism 30 carries the tray 200, it can be lowered to avoid the trays 200 on the first loading mechanism 30 from obstructing the transfer channel 16. The transfer mechanism 60 can move the tray 200 from the second loading mechanism 40 to the first loading mechanism 30 after the material in each tray 200 has been converted from raw material to clinker, so that multiple trays 200 can be stacked on the first loading mechanism 30.

[0091] When the number of trays 200 on the first feeding mechanism 30 reaches a preset number, multiple first rollers 32 rotate in the same direction to drive multiple trays 200 to move synchronously. Multiple trays 200 can be removed from the machine body 10 through a discharge port 121. Workers or automated equipment can receive the multiple trays 200 removed from the discharge port 121 and collect and / or transport them so that the clinker in the trays 200 can continue to be processed. The height of the preset number of trays 200 can be less than the opening height of the discharge port 121.

[0092] The loading / unloading device 102 and loading / unloading equipment 100 provided in the embodiments of this application allow the first loading mechanism 30 to receive multiple trays 200, and the first lifting mechanism 70 can drive the first loading mechanism 30 to move, causing the multiple trays 200 to rise and fall within the machine body 10. When the first loading mechanism 30 descends, the number of trays 200 that can be stacked on the first loading mechanism 30 can be increased. The trays 200 on the second loading mechanism 40 can be transferred one by one to the first loading mechanism 30 by the transfer mechanism 60, so that the first loading mechanism 30 can receive multiple trays 200 containing raw material, while the raw material carried on the second loading mechanism 40 can continue to enter the processing equipment for processing.

[0093] Thus, after each processing of material in the tray 200 on the second loading mechanism 40, there is no need for personnel to handle and replenish the tray 200 containing raw material. Instead, the tray 200 containing cooked material can be transferred to the first loading mechanism 30 via the transfer mechanism 60, allowing multiple trays 200 to be stacked on the first loading mechanism 30. This increases the maximum number of trays 200 that the loading / unloading device 102 can carry, avoiding frequent handling of the trays 200 by personnel or automated equipment.

[0094] Simultaneously, multiple material trays 200 can be stacked and moved to the second loading mechanism 40 through the feed port 122, achieving synchronous feeding of materials received on multiple material trays 200; multiple material trays 200 can also be stacked on the first loading mechanism 30 and then synchronously moved out of the machine body 10 through the discharge port 121, achieving synchronous unloading of clinker received on multiple material trays 200. Thus, by synchronously loading and unloading multiple material trays 200 each time, the number of times the material trays 200 are loaded and unloaded and the time consumed in loading and unloading multiple material trays 200 can be reduced, improving the efficiency of loading and unloading and the efficiency of product production.

[0095] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.

Claims

1. A loading and unloading device for loading and unloading materials from a tray, characterized in that, The loading and unloading device includes: The machine body has a discharge port and a feed port on the side; A first material loading mechanism is disposed inside the machine body and is correspondingly arranged to the discharge port. The first material loading mechanism is used to receive a plurality of stacked material trays and to remove the material trays out of the machine body through the discharge port. A first lifting mechanism is located inside the machine body and connected to the first material loading mechanism, and is used to drive the first material loading mechanism to move in the vertical direction; The second material loading mechanism is located inside the machine body and corresponds to the discharge port. The second material loading mechanism is used to receive the material tray and to receive the material tray from the discharge port. A transfer mechanism is provided inside the machine body and is used to transfer the material tray from the second loading mechanism to the first loading mechanism.

2. The loading and unloading device as described in claim 1, characterized in that, The loading and unloading device further includes a partition plate, which is disposed inside the machine body. The first lifting mechanism includes: The first movable seat is connected to the first material loading mechanism and is movably connected to the partition along the vertical direction; A first lead screw is threaded through the first movable seat along the vertical direction, and the first movable seat is threadedly connected to the first lead screw. A first drive assembly is disposed on the partition and connected to the first lead screw, and the first drive assembly is used to drive the first lead screw to rotate.

3. The loading and unloading device as described in claim 1, characterized in that, The first material loading mechanism includes: The first receiving frame is connected to the first lifting mechanism; Multiple first rollers are rotatably connected to the first receiving frame. The axial direction of each first roller is a first direction. The multiple first rollers are spaced apart along a second direction. The multiple first rollers are used to receive the material tray and are used to rotate to drive the material tray to move out of the loading and unloading device through the discharge port along the second direction. Wherein, the first direction, the second direction, and the vertical direction are perpendicular to each other.

4. The loading and unloading device as described in claim 1, characterized in that, The loading and unloading device also includes: A partition is provided inside the fuselage; The second lifting mechanism is located inside the machine body. The second lifting mechanism includes a second movable seat, a second lead screw, and a second drive assembly. The second movable seat is connected to the second material loading mechanism and is movably connected to the partition along the vertical direction. The second lead screw passes through the second movable seat along the vertical direction, and the second movable seat is threadedly connected to the second lead screw. The second drive assembly is located on the partition and connected to the second lead screw. The second drive assembly is used to drive the second lead screw to rotate.

5. The loading and unloading device as described in claim 1, characterized in that, The second material loading mechanism includes: Second support frame; Multiple second rollers are rotatably connected to the second receiving frame. The axial direction of each second roller is a first direction. The multiple second rollers are spaced apart along a second direction. The multiple second rollers are used to receive the material tray and are used to rotate to drive the material tray to enter the loading and unloading device through the feed port along the second direction. Wherein, the first direction, the second direction, and the vertical direction are perpendicular to each other.

6. The loading and unloading device as described in claim 1, characterized in that, The first loading mechanism and the second loading mechanism are spaced apart in a first direction, and the transfer mechanism includes: A positioning frame is movably connected to the machine body along the first direction and is used to be fitted onto the material tray. The positioning frame is provided with a positioning seat, and a positioning groove is formed in the positioning seat. The positioning groove is used to receive a positioning block on the material tray so as to realize the positioning of the material tray and the positioning frame. Two fixing components are symmetrically arranged along the second direction. Each fixing component includes a transfer component and a fixing drive component. The fixing drive component is disposed on the positioning frame and connected to the transfer component. The fixing drive component is used to drive the transfer component to move in the second direction, so that the transfer component moves close to the tray to abut or support the tray. A transfer drive unit is connected to the positioning frame and is used to drive the positioning frame to move in the first direction; Wherein, the first direction, the second direction, and the vertical direction are perpendicular to each other.

7. The loading and unloading device as described in claim 1, characterized in that, The loading and unloading device also includes: A robotic arm is mounted on the machine body and connected to grippers. The grippers are used to grab materials from the material tray, and the robotic arm is used to move and / or rotate the grippers and the materials they grab.

8. The loading and unloading device as described in claim 1, characterized in that, The fuselage includes: The frame, the first material loading mechanism and the second material loading mechanism are both connected to the frame; The housing is connected to the frame and has the discharge port and the inlet port. The first loading mechanism, the first lifting mechanism, the second loading mechanism and the transfer mechanism are all located inside the housing. A support plate is disposed on the top of the housing and has a first opening and a second opening. The first opening is corresponding to the first material loading mechanism and the second opening is corresponding to the second material loading mechanism. The transfer mechanism is disposed at the bottom of the support plate.

9. The loading and unloading device as described in claim 8, characterized in that, The loading and unloading device also includes: A partition, connected to the frame and located within the housing, divides the space within the housing into a first space and a second space. The first space communicates with the discharge port and the first opening, and the second space communicates with the inlet and the second opening. The first material-carrying mechanism and the first lifting mechanism are located in the first space, with the first lifting mechanism disposed on the partition. The second material-carrying mechanism is located in the second space. A transfer channel is formed between the partition and the support plate. The first space and the second space are connected through the transfer channel. The transfer mechanism is located in the transfer channel and is used to transfer the material tray from the second material loading mechanism to the first material loading mechanism through the transfer channel.

10. A loading and unloading device, characterized in that, include: Transport equipment; The loading / unloading device as described in any one of claims 1 to 9 is attached to the conveying device, the conveying device being moved to make the loading / unloading device move synchronously.

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