Feeding and discharging device and locking forming machine

Abstract

The utility model discloses a kind of feeding and discharging devices and lock forming machine, comprising: material clamp pedestal;Feeding and discharging unit is assembled to the material clamp pedestal, at least 1 is set;Feeding and discharging manipulator is connected with the material clamp pedestal, for driving feeding and discharging unit to do X, Y, Z direction movement and R direction rotation;The feeding and discharging unit includes: feeding and discharging clamp, assembled to material clamp pedestal, 2 groups are set;Spacing adjustment mechanism is connected on 2 groups feeding and discharging clamp, for adjusting the spacing of 2 groups feeding and discharging clamp;Controller is electrically connected with the feeding and discharging manipulator, feeding and discharging clamp and spacing adjustment mechanism.The feeding and discharging device proposed in the utility model can clamp at least 2 groups of materials at a time, realizes multi-material transfer, and improves feeding and discharging efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of loading and unloading equipment, specifically, it relates to an improvement in the structure of a loading and unloading device. Background Technology

[0002] The existing feeding device structure, disclosed in CN 220011308 U, is an automatic feeding device, whose main structure includes: a suction cup; a suction cup mounting module connected to the rotating shaft, the suction cup mounting module having a key shaft through hole; a vacuum generator; an air pipe connector connected to the vacuum generator; a key shaft with an air passage connected to the air pipe connector, the key shaft being provided with a key cap, the key cap being mounted on the suction cup mounting module, the key shaft passing through the key shaft through hole; a connecting shaft with an air passage, the connecting shaft being connected to the key shaft via a coupling, the coupling being in contact with the suction cup mounting module, and the connecting shaft being detachably connected to the suction cup.

[0003] The feeding process mainly relies on a vacuum generator to drive a suction cup to pick up materials. However, this type of feeding device can only pick up one material at a time, resulting in low material picking efficiency.

[0004] To enable the picking up of multiple materials, existing technologies have adopted a method of setting up two suction cups and suction cup mounting modules side by side, with a pitch adjustment mechanism between the two suction cups to adjust the pitch. However, this pitch adjustment mechanism is merely a mechanical structure, and its accuracy is difficult to guarantee due to factors such as errors and machined parts. This results in large pitch errors, leading to large loading and unloading errors and reduced loading and unloading efficiency.

[0005] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0006] This invention addresses the problems of low feeding efficiency and low pitch accuracy in existing feeding devices by proposing a new feeding device that can meet different pitch requirements and has high accuracy in pitch distance.

[0007] To achieve the above-mentioned utility model / design objectives, the present utility model adopts the following technical solution:

[0008] A loading and unloading device, characterized in that it comprises:

[0009] Material clamp base;

[0010] At least one loading and unloading unit is assembled onto the material clamp base.

[0011] The loading and unloading robot is connected to the material clamp base and is used to drive the loading and unloading unit to move in the X, Y, and Z directions and rotate in the Z direction;

[0012] The loading and unloading unit includes:

[0013] Two sets of upper and lower material clamps are assembled onto the material clamp base.

[0014] The spacing adjustment mechanism is connected to two sets of loading and unloading clamps and is used to drive one set of loading and unloading clamps to move to change the spacing between the two sets of loading and unloading clamps.

[0015] The mounting component is assembled onto the material clamp base;

[0016] The adapter is locked into the mounting slot by a locking member, and its position relative to the mounting slot is adjustable;

[0017] Limit sensing components include:

[0018] Limiting elements are mounted on movable loading and unloading clamps;

[0019] A limit sensor assembly, connected to the adapter, is used to limit the movement position of the moving loading and unloading clamps;

[0020] The controller is used to control the action of the spacing adjustment mechanism to change the spacing between the two sets of loading and unloading clamps.

[0021] In some embodiments of this application, the spacing adjustment mechanism includes:

[0022] A spacing adjustment power component is assembled onto the material clamp base;

[0023] The spacing transmission device is connected to the spacing adjustment power component via a transmission connection.

[0024] The lead screw and nut assembly includes an adjusting lead screw that is rotatably connected to the material clamp base;

[0025] The adjusting nut is threadedly connected to the adjusting screw and fixedly connected to one of the loading and unloading clamps.

[0026] In some embodiments of this application, the spacing transmission device includes:

[0027] The first transmission pulley is connected to the pitch adjustment power component;

[0028] The second transmission pulley is connected to one end of the adjusting screw and is used to drive the adjusting screw to rotate.

[0029] A drive belt is wound around the first drive pulley and the second drive pulley.

[0030] In some embodiments of this application, the loading and unloading clamps include:

[0031] Loading and unloading clamps; and

[0032] The loading and unloading clamping power component is assembled onto the loading and unloading clamping base;

[0033] The loading and unloading clamp body is connected to the loading and unloading clamp power component and can perform opening and closing movements under the drive of the loading and unloading clamp power component.

[0034] In some embodiments of this application, the loading and unloading clamps of one of the two clamps are fixedly assembled to the clamp base, and a through part passing through the adjusting screw and a rotating bearing assembly rotatably connected to the adjusting screw are provided above it. The loading and unloading clamps of the other clamp are fixedly connected to the adjusting screw nut.

[0035] In some embodiments of this application, the loading and unloading clamping power component includes: a power body;

[0036] And two power actuators connected to the power body;

[0037] The loading and unloading clamp includes two clamping parts, each connected to two power actuators, which perform opening and closing movements driven by the two power actuators. Each clamping part includes:

[0038] The clamping body is arranged vertically, with a recessed part formed on its clamping surface and a guide part formed on its bottom side;

[0039] A flexible component is embedded in the recess and fixed to the clamp body.

[0040] In some embodiments of this application, a mounting portion is formed on the clamp base;

[0041] The loading and unloading robot includes an output shaft;

[0042] The connector is assembled into the mounting part and fixedly connected to the output shaft.

[0043] In some embodiments of this application, the mounting member extends along the direction of movement of the adjusting nut;

[0044] Limit sensing components include:

[0045] The limiting element is set on the loading and unloading clamps connected to the adjusting screw nut;

[0046] The limit sensor assembly includes:

[0047] The first limit sensor is mounted on the mounting component and is used to cooperate with the limit element to limit the position of the loading and unloading clamps moving along the first direction.

[0048] The second limit sensor is disposed on the mounting component and is used to cooperate with the limit element to limit the position of the loading and unloading clamps moving along the second direction.

[0049] A locking forming machine includes the loading and unloading device described in the above technical solution.

[0050] Compared with the prior art, the advantages and positive effects of this utility model are:

[0051] The loading and unloading device proposed in this utility model has a material clamp base connected to the loading and unloading robot arm, and at least one set of loading and unloading clamp units is set on the material rack base. Each loading and unloading clamp unit includes two sets of loading and unloading clamps. By setting at least one loading and unloading unit and setting two sets of loading and unloading clamps in each loading and unloading unit, multiple materials can be clamped or released at one time when the loading and unloading robot arm is in motion, which improves the efficiency of loading and unloading.

[0052] By setting sensing elements on the moving loading and unloading clamps, and setting limit sensing components and sensing elements on the clamp base, the moving loading and unloading clamps can be precisely limited, ensuring that they can accurately adjust from the first gap to the second gap.

[0053] Meanwhile, by setting an installation component on the material clamp base and setting an adapter on the installation component, and setting the adapter to be position-adjustable, the limit position of the moving upper and lower material clamps can be changed by adjusting the position of the adapter during use, so that it can adapt to the limit of different pitch ranges and ensure the pitch accuracy when performing different pitch changes.

[0054] Other features and advantages of this utility model will become clearer after reading the detailed embodiments of this utility model in conjunction with the accompanying drawings. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1 This is a three-dimensional structure of one embodiment of the loading and unloading device proposed in this utility model. Figure 1 ;

[0057] Figure 2 for Figure 1 Enlarged view of a portion at point A;

[0058] Figure 3The three-dimensional structure of an embodiment of the loading and unloading device proposed in this utility model Figure 2 ;

[0059] Figure 4 The three-dimensional structure of the loading and unloading unit of the feeding device proposed in this utility model. Figure 1 ;

[0060] Figure 5 The three-dimensional structure of the loading and unloading unit of the feeding device proposed in this utility model. Figure 2 .

[0061] In the diagram, 100 is the material clamp base; 110 is the mounting part; 200 is the loading / unloading unit; 210 is the loading / unloading clamp; 211 is the loading / unloading clamp seat; 212 is the loading / unloading clamp power component; 213 is the loading / unloading clamp body; 214 is the clamp body part; 2141 is the clamp body; 2142 is the guide part; 215 is the flexible component; 220 is the spacing adjustment mechanism; 221 is the spacing adjustment power component; 222 is the spacing transmission device; 2221 is the first transmission pulley; 2222 is the second transmission pulley; 223 is the adjusting screw; 224 is the adjusting nut; and 225 is the rotating bearing.

[0062] 310. Loading / unloading robot; 311. Output shaft; 320. Connecting parts; 321. Cylinder body; 322. Flange;

[0063] 400, Mounting component; 410, Mounting slot; 500, Adapter; 610, Limiting element; 620, First limit sensor; 630, Second limit sensor. Detailed Implementation

[0064] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0065] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing 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. Therefore, they should not be construed as limitations on this utility model.

[0066] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. In the description of the embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0067] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0068] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0069] In some embodiments of this application, a loading and unloading device is proposed, which can be used for loading materials or for unloading materials.

[0070] The loading and unloading device structure includes a loading and unloading robot 310, a clamping base 100 connected to the loading and unloading robot 310, and a loading and unloading unit 200 assembled on the clamping base 100. The loading and unloading robot 310 can drive the loading and unloading unit 200 assembled on the clamping base 100 to perform loading or unloading.

[0071] Specifically, the loading / unloading robot 310 is a four-axis motion robot, which can drive the loading / unloading unit 200 to move and rotate in the X, Y, and Z directions. This ensures that the loading / unloading unit 200 can move and rotate in three directions, making it easy to move to the position of the material to be grabbed or placed for corresponding operations.

[0072] In some embodiments of this application, the loading / unloading unit 200 is connected to the material clamp base 100, and at least one loading / unloading unit 200 is provided.

[0073] During setup, multiple loading / unloading clamp units 210 can be configured, and these units are arranged side-by-side on the clamp base 100. This allows the loading / unloading robot 310 to simultaneously drive multiple loading / unloading units 200 assembled on the clamp base 100 to operate at the same time. The loading / unloading clamps 210 on each loading / unloading unit 200 perform material handling operations, enabling the loading or unloading of multiple materials at once, thus greatly improving the production efficiency of loading / unloading.

[0074] In some embodiments of this application, each of the loading and unloading units 200 includes:

[0075] The loading and unloading clamps 210 are assembled onto the clamp base 100. Two sets are provided. Each set of loading and unloading clamps 210 has an opening and closing clamping space inside for material clamping operations.

[0076] The spacing adjustment mechanism 220 is connected to the two sets of loading and unloading clamps 210 and is used to adjust the spacing between the two sets of loading and unloading clamps 210.

[0077] By setting the spacing adjustment mechanism 220, the spacing between the two sets of loading and unloading clamps 210 can be adjusted, thus changing the spacing between the two sets of loading and unloading clamps 210.

[0078] When in use, the loading and unloading device can be used for loading. During loading, it mainly picks up the material from the gripping position and then moves it to the unloading position for unloading.

[0079] When placing materials at the material grabbing position, a certain distance is set between two adjacent materials in the material placement tray. For example, the distance between two materials in the material placement tray is the first distance. To facilitate placement, the first distance between two materials in the material placement tray is relatively large.

[0080] When feeding materials, two materials need to be placed at the feeding position, and the corresponding components are locked on top of them. The distance between the two materials at the feeding position needs to be maintained at the second distance to meet the product production requirements. The second distance is smaller than the first distance.

[0081] The loading and unloading device in this embodiment is equipped with a controller structure, which can be used to control the action of the spacing adjustment mechanism 220 to change the spacing between the two sets of clamps.

[0082] The specific working process is as follows: The controller controls the loading and unloading robot 310 to move the loading and unloading clamp 210. The loading and unloading clamp 210 grabs the material through its movement. Then, the controller controls the spacing adjustment mechanism 220 to adjust and change the spacing between the two loading and unloading clamps 210 that have grabbed the material. This changes the spacing between the two loading and unloading clamps 210 from the first spacing when picking up the material to the second spacing. The loading and unloading robot 310 then moves the two loading and unloading clamps 210 to the discharge position to release the material. This allows the material to be placed at the discharge position in a perfectly matched manner, achieving precise material picking and unloading operations.

[0083] In this embodiment, the loading and unloading device is structurally configured such that a material clamp base 100 is connected to the loading and unloading robot 310, and at least one set of loading and unloading clamp 210 units is provided on the material rack base. Each loading and unloading unit includes two sets of loading and unloading clamps 210. By setting at least one loading and unloading unit 200 and each loading and unloading unit 200 is equipped with two sets of loading and unloading clamps 210, multiple materials can be gripped or released at one time when the loading and unloading robot 310 moves, thus improving the efficiency of loading and unloading.

[0084] The spacing adjustment mechanism 220 can automatically adjust the spacing between the two sets of loading and unloading clamps 210. The spacing adjustment can be adjusted automatically without stopping in the middle, so that the material can be accurately placed from the first spacing position to the second spacing position, realizing fast and accurate material picking and placing, and improving production efficiency.

[0085] In some embodiments of this application, the spacing adjustment mechanism 220 includes:

[0086] The spacing adjustment power component 221 is assembled onto the material clamp base 100;

[0087] The spacing transmission device 222 is connected to the spacing adjustment power component 221 in a transmission connection.

[0088] The lead screw and nut assembly includes an adjusting lead screw 223, which is rotatably connected to the material clamp base 100;

[0089] The adjusting nut 224 is threadedly connected to the adjusting screw 223 and fixedly connected to one of the loading and unloading clamps 210.

[0090] The spacing adjustment power component 221 is a spacing adjustment motor, which is fixed to the material clamp base 100 by a mounting seat.

[0091] The pitch transmission device 222 is used to transmit the power of the pitch adjustment power component 221 to the lead screw and nut assembly.

[0092] In some embodiments of this application, the pitch transmission device 222 includes:

[0093] The first transmission pulley 2221 is connected to the pitch adjustment power component 221. The pitch adjustment power component 221 has an output shaft 311, and the first transmission pulley 2221 is connected to the output shaft 311.

[0094] The second transmission pulley 2222 is connected to one end of the adjusting screw 223 and is used to drive the adjusting screw 223 to rotate.

[0095] The transmission belt is wound around the first transmission pulley 2221 and the second transmission pulley 2222.

[0096] The second transmission pulley 2222 is positioned below the first transmission pulley 2221, and the transmission belt is wound around the first transmission pulley 2221 and the second transmission pulley 2222.

[0097] When the spacing adjustment power component 221 rotates, it drives the first transmission pulley 2221 to rotate, and transmits the power to the second transmission pulley 2222 through the transmission belt, which in turn drives the adjusting screw 223 connected to the second transmission pulley 2222 to rotate.

[0098] When the adjusting screw 223 is connected, it can be interference-fitted into the center hole of the second transmission pulley 2222.

[0099] To support the adjusting screw 223, a rotating bearing 225 is provided at one end of the material clamp base 100 opposite to the second transmission pulley 2222. The other end of the adjusting screw 223 is assembled into the rotating bearing 225 to achieve rotation.

[0100] When the adjusting screw 223 is driven to rotate by the second transmission pulley 2222, it will drive the adjusting screw nut 224, which is threaded with it, to move linearly. When the adjusting screw nut 224 moves linearly, it can drive the upper and lower clamps 210 connected to it to move. One of the upper and lower clamps 210 is not connected to the adjusting screw nut 224 and does not move. The upper and lower clamps 210 connected to the adjusting screw nut 224 move relative to the other upper and lower clamps 210, thereby realizing the adjustment of the distance between the two.

[0101] In some embodiments of this application, the loading / unloading clamp 210 includes:

[0102] Loading and unloading clamps 211; and

[0103] The loading / unloading clamping power component 212 is assembled onto the loading / unloading clamping seat 211;

[0104] The loading / unloading clamp body 213 is connected to the loading / unloading clamp power component 212 and can perform opening and closing movements under the drive of the loading / unloading clamp power component 212.

[0105] The loading and unloading clamp 211 includes a connecting seat and the clamp base fixedly connected;

[0106] And the connecting plate rib, one end of which is connected to the connecting seat, and the other end is connected and fixed to the loading and unloading clamping power component 212.

[0107] The loading and unloading clamping power component 212 is a gripper cylinder.

[0108] In some embodiments of this application, the upper and lower clamps 210 of one of the upper and lower clamps 210 are fixedly assembled to the clamp base 100, and a through part through which the adjusting screw 223 passes is provided above it. This clamp is not fixed to the clamp base 100 and does not move.

[0109] Another loading / unloading clamp 210 has a loading / unloading clamp seat 211 and an adjusting screw nut 224 fixedly connected. This clamp is connected to the loading / unloading clamp seat 211 and the adjusting screw nut 224, and is moved by the adjusting screw nut 224.

[0110] A sliding guide assembly is provided between the loading / unloading clamp 211 and the clamp base 100, which are connected to the adjusting nut 224.

[0111] The sliding guide assembly is used to limit the loading and unloading clamp 211, so that it can only move the adjusting screw nut 224 in a straight line. At the same time, the sliding guide assembly can also guide the straight line movement of the loading and unloading clamp 211.

[0112] The sliding guide assembly includes a slider / rail disposed on the loading / unloading clamp 211 and a rail / slider disposed on the clamp base 100.

[0113] In some embodiments of this application, the loading and unloading power component includes: a power body unit;

[0114] And two power actuators connected to the power body;

[0115] The loading and unloading clamp 213 includes two clamping parts 214, which are respectively connected to two power actuators and perform opening and closing movements under the drive of the two power actuators.

[0116] The two power actuators can perform relative opening and closing movements. They are connected to the two clamping parts 214, which can drive the two clamping parts 214 to open and close to achieve the effect of clamping or releasing materials.

[0117] In some embodiments of this application, each clamp portion 214 includes:

[0118] The clamping body 2141 is arranged vertically, with a recessed portion formed on its clamping surface side and a guide portion 2142 formed on its bottom side.

[0119] The flexible component 215 is embedded in the recess and fixed to the clamp body 2141.

[0120] The recessed portion is a recessed groove that fits the contour of the flexible part 215. During assembly, the flexible part 215 can be inserted into the recessed portion and fixedly connected to the clamp body 2141 by countersunk screws.

[0121] By arranging the flexible component 215 at the clamping surface, when clamping the material, the flexible component 215 can come into contact with the clamped material. The contact between the flexible component 215 and the material can avoid the material being damaged by a rigid contact between the material and the clamping body 2141.

[0122] Flexible component 215 can be made of brass.

[0123] In some embodiments of this application, a mounting portion 110 is formed on the clamp base 100;

[0124] The loading and unloading robot 310 includes an output shaft 311;

[0125] The connector 320 is assembled into the mounting part 110 and fixedly connected to the output shaft 311.

[0126] The mounting part 110 is a mounting groove formed on the clamp base 100, and a threaded hole is provided on the bottom wall of the mounting groove.

[0127] The connector 320 includes a cylindrical part 321 and a flange part 322 connected to the bottom of the cylindrical part 321, and the flange part 322 is provided with a mounting hole.

[0128] An insertion space is formed inside the cylindrical part 321, and the output shaft 311 is inserted into the insertion space.

[0129] A crack extending to the insertion space is formed on the side wall of the cylindrical portion 321.

[0130] During setup, the inner diameter of the insertion space is set to be smaller than that of the output shaft 311. When the output shaft 311 is inserted into the insertion space, the cylindrical part 321 deforms through the crack to be interference-fitted with the output shaft 311.

[0131] To further ensure the secure connection between the output shaft 311 and the cylindrical body 321, a threaded hole is provided on the output shaft 311 and a through hole is provided on the wall of the cylindrical body 321. The output shaft 311 and the cylindrical body 321 can be locked and fixed by passing a locking screw through the through hole and locking it in the threaded hole.

[0132] Flange 322 is used to be embedded in the mounting groove, and the shape of flange 322 is adapted to the mounting groove.

[0133] When fixing, screws are passed through the mounting holes on the flange 322 and then locked and fixed to the material clamp base 100.

[0134] In some embodiments of this application, the material clamp base 100 is provided with an installation member 400, which extends along the moving direction of the adjusting nut 224. A limit sensor assembly is provided on the installation member 400 for sensing and limiting the position of the moving upper and lower material clamps 210.

[0135] The limit sensing component includes:

[0136] The limiting element 610 is set on the loading and unloading clamp 210 connected to the adjusting screw nut 224.

[0137] The limiting element 610 is a limiting piece, which is fixed on the loading and unloading clamp 210.

[0138] The limit sensor assembly includes: a first limit sensing element 620, which is disposed on the mounting part 400 and is used to cooperate with the limit element 610 to limit the position of the loading and unloading clamp 210 moving along the first direction;

[0139] The second limiting sensor 630 is disposed on the mounting member 400 and is used to cooperate with the limiting element 610 to limit the position of the loading and unloading clamp 210 moving along the second direction.

[0140] The first limit sensor 620 is a first limit sensor, and the second limit sensor 630 is a second limit sensor.

[0141] The first limit sensor 620 is farther away from the limit element 610 than the second limit sensor 630.

[0142] When the loading / unloading clamp 210 moves the limiting element 610 along the first direction, it will touch the first limiting sensor 620. The first limiting sensor 620 limits the position of the loading / unloading clamp 210 along the first direction. The position corresponding to the first limiting sensor 620 is the second spacing position of the two sets of loading / unloading clamps.

[0143] When the loading / unloading clamp 210 moves the limiting element 610 along the second direction, it will touch the second limiting sensor 630. The second limiting sensor 630 limits the position of the loading / unloading clamp 210 along the second direction, which is opposite to the first direction.

[0144] The position corresponding to the second limit sensor 630 is the position where the distance between the two sets of loading and unloading clamps is the first distance.

[0145] By cooperating with the first limit sensor 620 and the second limit sensor 630 and the limit element 610, the two sets of loading and unloading clamps 210 can achieve rapid and precise variable distance adjustment.

[0146] In some embodiments of this application, the mounting member 400 is provided with a mounting slot 410 extending along its length.

[0147] The adapter 500 is locked into the mounting slot 410 by a locking member, and its position relative to the mounting slot 410 is adjustable. The first limit sensor 620 and the second limit sensor 630 are assembled on the adapter 500.

[0148] The first limit sensor 620 and the second limit sensor 630 are both installed on the adapter 500. The adapter 500 is configured to be adjustable relative to the mounting slot 410. According to actual usage requirements, the position of the adapter 500 can be adjusted to adjust the position of the first limit sensor 620 and the second limit sensor 630, thereby adjusting the range of the spacing between the loading and unloading clamps 210 to meet the usage requirements of material limit at different spacings.

[0149] Specifically, the adapter 500 can be locked into the mounting slot 410 by passing a screw through the through hole above it.

[0150] When the position of the adapter 500 needs to be adjusted, loosen the locking screw, move the adapter 500 to change the position of the first limit sensor 620 and the second limit sensor 630, and tighten the locking screw to fix it after adjustment.

[0151] In some embodiments of this application, a locking forming machine is proposed, including the loading and unloading device described in the above embodiments. The loading and unloading device is used to load materials onto the feeding position on the turntable of the locking forming machine or to transfer materials from the feeding position to the feeding position in the material placement tray.

[0152] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by this utility model.

Claims

1. A loading and unloading device, characterized in that, Including: Material clamp base; At least one loading and unloading unit is assembled onto the material clamp base. The loading and unloading robot is connected to the material clamp base and is used to drive the loading and unloading unit to move in the X, Y, and Z directions and rotate in the Z direction; The loading and unloading unit includes: Two sets of upper and lower material clamps are assembled onto the material clamp base. The spacing adjustment mechanism is connected to two sets of loading and unloading clamps and is used to drive one set of loading and unloading clamps to move to change the spacing between the two sets of loading and unloading clamps. The mounting component is assembled onto the clamp base, and a mounting slot is provided on the mounting component along its length. The adapter is locked into the mounting slot by a locking member, and its position relative to the mounting slot is adjustable; Limit sensing components include: Limiting elements are mounted on movable loading and unloading clamps; A limit sensor assembly, connected to the adapter, is used to limit the movement position of the moving loading and unloading clamps; The controller is used to control the action of the spacing adjustment mechanism to change the spacing between the two sets of loading and unloading clamps.

2. The loading and unloading device according to claim 1, characterized in that, The spacing adjustment mechanism includes: A spacing adjustment power component is assembled onto the material clamp base; The spacing transmission device is connected to the spacing adjustment power component via a transmission connection. The lead screw and nut assembly includes an adjusting lead screw that is rotatably connected to the material clamp base; The adjusting nut is threadedly connected to the adjusting screw and fixedly connected to one of the loading and unloading clamps.

3. The loading and unloading device according to claim 2, characterized in that, The spacing transmission device includes: The first transmission pulley is connected to the pitch adjustment power component; The second transmission pulley is connected to one end of the adjusting screw and is used to drive the adjusting screw to rotate. A drive belt is wound around the first drive pulley and the second drive pulley.

4. The loading and unloading device according to claim 1, characterized in that, The loading and unloading clamps include: Loading and unloading clamp seat; as well as The loading and unloading clamping power component is assembled onto the loading and unloading clamping base; The loading and unloading clamp body is connected to the loading and unloading clamp power component and can perform opening and closing movements under the drive of the loading and unloading clamp power component.

5. The loading and unloading device according to claim 4, characterized in that, The loading and unloading clamps of one of the two clamps are fixedly assembled to the clamp base, and a through part that passes through the adjusting screw and a rotating bearing that is rotatably connected to the adjusting screw are provided above it. The loading and unloading clamp of the other clamp is fixedly connected to the adjusting screw nut.

6. The loading and unloading device according to claim 4, characterized in that, The loading and unloading clamping power unit includes: a power body; And two power actuators connected to the power body; The loading and unloading clamp includes two clamping parts, each connected to two power actuators, which perform opening and closing movements driven by the two power actuators. Each clamping part includes: The clamping body is arranged vertically, with a recessed part formed on its clamping surface and a guide part formed on its bottom side; A flexible component is embedded in the recess and fixed to the clamp body.

7. The loading and unloading device according to claim 1, characterized in that, A mounting portion is formed on the material clamp base; The loading and unloading robot includes an output shaft; The connector is assembled into the mounting part and fixedly connected to the output shaft.

8. The loading and unloading device according to claim 1, characterized in that, The mounting component extends along the direction of movement of the adjusting nut; The limiting element is set on the loading and unloading clamps connected to the adjusting screw nut; The limit sensor assembly includes: The first limit sensor is mounted on the adapter and is used to cooperate with the limit element to limit the position of the loading and unloading clamps moving along the first direction. The second limit sensor is disposed on the adapter and is used to cooperate with the limit element to limit the position of the loading and unloading clamps moving along the second direction.

9. The loading and unloading device according to claim 8, characterized in that, The first limit sensor and the second limit sensor are respectively the first limit sensor and the second limit sensor.

10. A locking forming machine, characterized in that, It includes the loading and unloading device as described in any one of claims 1-9.

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