Material receiving and dispensing apparatus

Abstract

The application relates to the technical field of machining, and particularly discloses a material taking and placing equipment. The material taking and placing equipment is used for taking and placing workpieces into carriers and comprises a first conveying mechanism, a second conveying mechanism, a stock bin mechanism, a feeding and discharging mechanism and a recycling mechanism. The first conveying mechanism is used for conveying the carriers; the second conveying mechanism is arranged at one end of the first conveying mechanism; the stock bin mechanism is used for supplying or receiving the workpieces; the feeding and discharging mechanism comprises a feeding and discharging driving element and a feeding and discharging gripper, the feeding and discharging driving element is arranged above the first conveying mechanism and the stock bin mechanism, the feeding and discharging gripper is connected to the feeding and discharging driving element, and the feeding and discharging driving element is used for driving the feeding and discharging gripper to move so as to transfer the workpieces to the carriers or transfer the workpieces in the carriers to the stock bin mechanism; and the recycling mechanism comprises a recycling driving element and a recycling gripper, and the recycling driving element is used for driving the recycling gripper to transfer the carriers on the first conveying mechanism to the second conveying mechanism. The material taking and placing equipment can take and place the workpieces, has high universality, wide application range and can effectively reduce production cost.

Description

Technical Field

[0001] This application relates to the field of machining technology, specifically to a material receiving and unloading device. Background Technology

[0002] To facilitate product storage and transfer, existing processes typically involve first collecting multiple products together. Then, in subsequent assembly stations, the products are placed one by one into carriers, which transport them to the processing area for assembly. After processing, the products must be removed from the carriers one by one and collected again for subsequent storage or transfer. Existing loading and unloading devices are generally designed for single products, requiring dedicated mechanisms for each product, resulting in insufficient equipment versatility. When the production line switches products, matching loading and unloading devices must be redeployed, significantly increasing equipment investment and line changeover costs. Utility Model Content

[0003] In view of the above, it is necessary to propose a material handling equipment that can pick up and place workpieces, is highly versatile, has a wide range of applications, and can effectively reduce production costs.

[0004] This application provides a material handling device for loading and unloading workpieces into a carrier, comprising: a first transmission mechanism extending along a first direction for transporting the carrier along the first direction; a second transmission mechanism extending along a second direction, with one end of the second transmission mechanism disposed near the first transmission mechanism, for transporting the carrier along the second direction; a hopper mechanism disposed near the other end of the first transmission mechanism, for supplying or receiving the workpieces; and a loading / unloading mechanism including a loading / unloading drive and a loading / unloading gripper, the loading / unloading drive being mounted above the first transmission mechanism and the hopper mechanism along a third direction, and the loading / unloading gripper being connected to the loading / unloading drive. The device includes a moving component, wherein the loading / unloading drive component is used to drive the loading / unloading gripper to move, so as to transfer the workpiece of the hopper mechanism to the carrier located in the first transmission mechanism or to transfer the workpiece located in the carrier of the first transmission mechanism to the hopper mechanism; and a recycling mechanism, including a recycling drive component and a recycling gripper, wherein the recycling drive component is mounted above the first transmission mechanism and the second transmission mechanism along the third direction, the recycling gripper is connected to the recycling drive component, and the recycling drive component is used to drive the recycling gripper to transfer the carrier located on the first transmission mechanism to the second transmission mechanism; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0005] The aforementioned material handling equipment includes a first conveyor mechanism that can connect to an external production line to transport carriers. A hopper mechanism is located near the first conveyor mechanism and can supply or receive workpieces. An unloading mechanism is mounted above the first conveyor mechanism and the hopper mechanism, allowing workpieces from the hopper mechanism to be placed one by one onto the carriers on the first conveyor mechanism, or vice versa. A second conveyor mechanism is located near the first conveyor mechanism, and a recycling mechanism is located above both mechanisms. This mechanism allows defective carriers from the first conveyor mechanism, or carriers carrying defective workpieces, to be placed into the second conveyor mechanism for recycling. The second conveyor mechanism is located to one side of the first conveyor mechanism and does not interfere with its connection to the external production line. This material handling equipment can be used for both receiving and unloading materials. Its modular design improves versatility. For different workpieces and carriers, only different hopper mechanisms need to be replaced, resulting in a wide range of applications and effectively reducing production costs.

[0006] In some embodiments, the feeding and unloading device further includes a detection mechanism, which is disposed between the first transmission mechanism and the hopper mechanism, and is used to acquire the position and orientation of the workpiece grasped by the loading and unloading gripper.

[0007] In some embodiments, the first transmission mechanism includes a first production line and a stop assembly. The first production line extends along a first direction for transmitting the vehicle along the first direction. The stop assembly includes a stop drive and a stop member. The stop drive is disposed at the middle of the first production line along a second direction. The stop member is connected to the stop drive. The stop drive is used to drive the stop member to move along the third direction to stop or release the vehicle located on the first production line.

[0008] In some embodiments, the first transmission mechanism further includes a lifting assembly disposed on the side of the stop assembly near the second transmission mechanism. The lifting assembly includes a lifting drive and a lifting plate connected to the lifting drive. The lifting drive is used to drive the lifting plate to move along the third direction to lift the vehicle.

[0009] In some embodiments, the carrier has a plurality of through holes extending along the third direction, and each of the plurality of through holes corresponds to the workpiece; the lifting assembly further includes a plurality of push rods, each of the plurality of push rods being disposed on the side of the lifting plate away from the lifting drive member, each of the plurality of push rods extending along the third direction and corresponding one-to-one with the plurality of through holes, and each of the plurality of push rods being used to pass through the corresponding through hole to lift the workpiece.

[0010] In some embodiments, the hopper mechanism includes a hopper positioning seat and a hopper. The hopper positioning seat is disposed near the first transmission mechanism. The hopper includes a bottom plate and a plurality of side plates. The bottom plate is detachably connected to the hopper positioning seat. The plurality of side plates are all connected to the side of the bottom plate opposite to the hopper positioning seat and extend along the third direction. The connection position of the plurality of side plates to the bottom plate is adjustable. The plurality of side plates enclose an accommodating space to accommodate the workpiece.

[0011] In some embodiments, the hopper positioning seat includes a fixed support frame, a movable support frame, and an adjustment drive component. The fixed support frame and the movable support frame are spaced apart and are used to cooperate in supporting the base plate. The adjustment drive component is connected to the movable support frame and is used to drive the movable support frame closer to or further away from the fixed support frame to adjust the distance between the movable support frame and the fixed support frame.

[0012] In some embodiments, the hopper positioning seat further includes a push-drive component and a push component. The push-drive component is connected to the movable support frame, and the push component is connected to the push-drive component and disposed opposite to the base plate. The push-drive component is used to drive the push component to push the base plate closer to the fixed support frame, so as to cooperate with the fixed support frame to position the base plate.

[0013] In some embodiments, the loading / unloading gripper includes a first support bar, a plurality of second support bars, and a plurality of suction nozzles. The first support bar is connected to the loading / unloading drive and extends along the second direction. The plurality of second support bars are all adjustablely connected to the first support bar along the second direction, and each of the second support bars extends along the first direction. The plurality of suction nozzles are adjustablely connected to the plurality of second support bars along the first direction.

[0014] In some embodiments, the recycling mechanism further includes a camera assembly connected to the recycling drive, the camera assembly being used to acquire image information of the carrier and / or the workpiece located on the first transmission mechanism. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the material receiving and unloading equipment provided in an embodiment of this application.

[0016] Figure 2 for Figure 1 The diagram shows the structure of the first transmission mechanism, the second transmission mechanism, the hopper mechanism, and the detection mechanism of the feeding and receiving equipment.

[0017] Figure 3 for Figure 2Another angle structural diagram of the first transmission mechanism, second transmission mechanism, hopper mechanism and detection mechanism of the feeding and receiving equipment shown.

[0018] Figure 4 for Figure 1 The diagram shows the structure of the loading and unloading mechanism of the feeding and unloading equipment.

[0019] Figure 5 for Figure 1 The diagram shows the structure of the recycling mechanism of the material receiving and discharging equipment.

[0020] Key component symbols: Material receiving / unloading device 100, first transmission mechanism 10, first production line 11, stop assembly 12, stop drive 121, stop 122, lifting assembly 13, lifting drive 131, lifting plate 132, push rod 133, second transmission mechanism 20, hopper mechanism 30, hopper positioning seat 31, fixed support frame 311, movable support frame 312, adjusting drive 313, pushing drive 314, and pushing... Pusher 315, hopper 32, base plate 321, side plate 322, loading / unloading mechanism 40, loading / unloading drive 41, loading / unloading gripper 42, first support bar 421, second support bar 422, suction nozzle 423, recycling mechanism 50, recycling drive 51, recycling gripper 52, camera assembly 53, detection mechanism 60, frame 70, carrier 200, through hole 201, workpiece 300, first direction X, second direction Y, third direction Z. Detailed Implementation

[0021] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0022] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, 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. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0024] The embodiments of this application will be further described below with reference to the accompanying drawings. To facilitate understanding and explanation of the embodiments of this application, a three-dimensional coordinate system is established in some of the drawings, with the X-axis direction as the first direction, the Y-axis direction as the second direction, and the Z-axis direction as the third direction. The X-axis direction, Y-axis direction, and Z-axis direction are perpendicular to each other.

[0025] Please see Figure 1 , Figure 2 and Figure 3 This application provides a material handling device 100 for picking up and placing workpieces 300 into a carrier 200. The material handling device 100 includes a first transmission mechanism 10, a second transmission mechanism 20, a hopper mechanism 30, a loading and unloading mechanism 40, and a recycling mechanism 50.

[0026] Specifically, the first transmission mechanism 10 extends along the X-axis direction for transmitting the carrier 200 along the X-axis direction. It can be understood that the first transmission mechanism 10 can transmit an empty carrier 200 or a carrier 200 loaded with a workpiece 300. The first transmission mechanism 10 can be connected to an external production line (not shown) to receive and transmit the carrier 200.

[0027] The second transmission mechanism 20 extends along the Y-axis and is located at one end closer to the first transmission mechanism 10. The second transmission mechanism 20 is used to transmit the carrier 200 along the Y-axis. At the end of the second transmission mechanism 20 furthest from the first transmission mechanism 10, an external assembly line or waste bin can be installed to transmit or receive defective carriers 200 or carriers 200 carrying defective workpieces 300. The second transmission mechanism 20 has a substantially similar structure to the first transmission mechanism 10.

[0028] The hopper mechanism 30 is located at the other end near the first transmission mechanism 10, and is used to supply or receive workpieces 300. In this embodiment, the hopper mechanism 30 can be replaced according to different types of workpieces 300, so that the receiving and unloading device 100 is suitable for receiving and unloading different workpieces 300.

[0029] Please see also Figure 4The loading / unloading mechanism 40 includes a loading / unloading drive 41 and a loading / unloading gripper 42. The loading / unloading drive 41 is mounted above the first transmission mechanism 10 and the hopper mechanism 30 along the Z-axis. The loading / unloading gripper 42 is connected to the loading / unloading drive 41. The loading / unloading drive 41 drives the loading / unloading gripper 42 to move, so as to transfer the workpiece 300 in the hopper mechanism 300 to the carrier 200 located in the first transmission mechanism 10, or to transfer the workpiece 300 located in the carrier 200 of the first transmission mechanism 10 to the hopper mechanism 300. The loading / unloading drive 41 can be a robotic arm, a three-axis drive module, or other drive device that can drive the loading / unloading gripper 42 to move freely in three-dimensional space. No limitation is made here.

[0030] Please see also Figure 5 The retrieval mechanism 50 includes a retrieval drive component 51 and a retrieval gripper 52. The retrieval drive component 51 is mounted above the first transmission mechanism 10 and the second transmission mechanism 20 along the Z-axis. The retrieval gripper 52 is connected to the retrieval drive component 51. The retrieval drive component 51 is used to drive the retrieval gripper 52 to transfer the carrier 200 located on the first transmission mechanism 10 to the second transmission mechanism 20. The retrieval drive component 51 can be a robotic arm, a three-axis drive module, or other drive device that can drive the retrieval gripper 52 to move freely in three-dimensional space; no limitation is made here.

[0031] It is understood that the material receiving and unloading equipment 100 may also include a frame 70, and the first transmission mechanism 10, the second transmission mechanism 20, the hopper mechanism 30, the loading and unloading mechanism 40 and the recycling mechanism 50 are all located within the frame 70.

[0032] The material handling equipment 100 provided in this embodiment includes a first transmission mechanism 10, which can be connected to an external production line to transport carriers 200. A hopper mechanism 30 is located near the first transmission mechanism 10 and can supply or receive workpieces 300. A loading / unloading mechanism 40 is mounted above the first transmission mechanism 10 and the hopper mechanism 30, which can place workpieces 300 from the hopper mechanism 30 one by one onto the carriers 200 on the first transmission mechanism 10, or place workpieces 300 from the carriers 200 one by one onto the hopper mechanism 300. A second transmission mechanism 20 is located near the first transmission mechanism 10, and a recycling mechanism 50 is located above the first transmission mechanism 10 and the second transmission mechanism 20, which can place defective carriers 200 from the first transmission mechanism 10 or carriers 200 carrying defective workpieces 300 onto the second transmission mechanism 20 for recycling. The second transmission mechanism 20 is located on one side of the first transmission mechanism 10 and does not affect the connection between the first transmission mechanism 10 and the external production line. The material receiving and unloading device 100 provided in this embodiment can be used for receiving or unloading materials. Through modular design, its versatility is improved. For different workpieces 300 and carriers 200, only different hopper mechanisms 30 need to be replaced, which has a wide range of applications and can effectively reduce production costs.

[0033] In some embodiments, see Figure 1 and Figure 2 The loading and unloading equipment 100 also includes a detection mechanism 60, which is located between the first transmission mechanism 10 and the hopper mechanism 30. The detection mechanism 60 is used to acquire the position and orientation of the workpiece 300 gripped by the loading / unloading gripper 42. The detection mechanism 60 may include a camera and an aperture, with the camera lens facing upwards and the aperture positioned above the camera to provide illumination. During the unloading process, the loading / unloading drive unit 41 removes the workpiece 300 from the hopper mechanism 300 via the loading / unloading gripper 42 and moves the workpiece 300 above the detection mechanism 60. The detection mechanism 60 acquires image information of the workpiece 300 to obtain its position and orientation, thereby acquiring the position offset and angular deviation of the workpiece 300 and feeding it back to the loading / unloading drive unit 41 for dynamic compensation, improving the accuracy of placing the workpiece 300 in the carrier 200. The detection mechanism 60, located between the first transmission mechanism 10 and the hopper mechanism 30, completes the detection synchronously along the movement path of the loading / unloading gripper 42 without requiring additional dwell time.

[0034] In some embodiments, see Figure 1 and Figure 2 The first transmission mechanism 10 includes a first conveyor line 11 and a stop assembly 12. The first conveyor line 11 extends along the X-axis direction and is used to transmit the carrier 200 along the X-axis direction. The stop assembly 12 includes a stop drive member 121 and a stop member 122. The stop drive member 121 is disposed at the middle of the first conveyor line 11 along the Y-axis direction, and the stop member 122 is connected to the stop drive member 121. The stop drive member 121 is used to drive the stop member 122 to move along the Z-axis direction to stop or release the carrier 200 located on the first conveyor line 11. The first conveyor line 11 can be a belt conveyor line. In this embodiment, the first conveyor line 11 includes two belt conveyor lines, both of which extend along the X-axis direction and are spaced apart along the Y-axis direction. When transmitting the carrier 200, the two belt conveyor lines jointly support the carrier 200. The stop drive component 121 can be a lifting cylinder, etc., and the stop component 122 can be a block or plate structure. The stop drive component 121 drives the stop component 122 to move along the Z-axis direction, and raises to intercept when the carrier 200 reaches the loading / unloading station, forcing the carrier 200 to stop at a preset position. This facilitates the loading / unloading gripper 42 to place the workpiece 300 into the carrier 200 or to remove the workpiece 300 from the carrier 200. Two stop components 12 can be provided, one opposite to the loading / unloading mechanism 40 and the other opposite to the recycling mechanism 50.

[0035] In some embodiments, see Figure 1 and Figure 2The first transmission mechanism 10 further includes a lifting assembly 13, which is disposed on the side of the stop assembly 12 near the second transmission mechanism 20. The lifting assembly 13 includes a lifting drive 131 and a lifting plate 132 connected to the lifting drive 131. The lifting drive 131 drives the lifting plate 132 to move along the Z-axis to lift the carrier 200. The lifting drive 131 can be a lifting cylinder, etc., and the lifting plate 132 can be a plate-like structure. In this embodiment, the area of ​​the lifting plate 132 can be smaller than the area of ​​the carrier 200, as long as it can stably lift the carrier 200. The lifting plate 132 can be provided with a positioning structure adapted to the carrier 200, such as a positioning pin or a positioning block, to improve the stability of the positioning carrier 200. The lifting drive 131 drives the lifting plate 132 to rise along the Z-axis, raising the carrier 200 as a whole to a preset height, so that the workpiece 300 is in the optimal operating plane. In this way, the carrier 200 can be separated from the first production line 11 during the material loading and unloading process, reducing friction between the carrier 200 and the first production line 11 when the carrier 200 is stationary. Two lifting components 13 can be provided, one opposite to the loading / unloading mechanism 40 and the other opposite to the recycling mechanism 50. It can be understood that the recycling mechanism 50 is used to recycle the carrier 200, lifting it from the first production line 11 via the lifting component 13, making it easier for the recycling mechanism 50 to grasp the carrier 200.

[0036] In some embodiments, see Figure 1 and Figure 2 The carrier 200 has multiple through holes 201 extending along the Z-axis, and each through hole 201 corresponds to the workpiece 300. The number of through holes 201 can be four, six, or more, and their number and position can be set according to actual needs, which is not limited here.

[0037] The lifting assembly 13 also includes multiple push rods 133, each disposed on the side of the lifting plate 132 opposite to the lifting drive component 131. Each push rod 133 extends along the Z-axis and corresponds one-to-one with multiple through holes 201. Each push rod 133 passes through the corresponding through hole 201 to lift the workpiece 300. The number of push rods 133 can be four, six, etc., and the number and position of the push rods 133 correspond one-to-one with the number and position of the through holes 201 on the carrier 200. It is understood that to improve the stability of the workpiece 300 in the carrier 200, the carrier 200 is typically provided with positioning structures such as grooves. When the lifting assembly 13 lifts the fixture, the push rods 133 pass through the through holes 201 on the carrier 200, directly contacting and lifting the workpiece 300. This prevents the workpiece 300 from being unable to detach due to gaps in the inner cavity of the carrier 200 or residual suction force, and also prevents the fixture frame from interfering with the loading / unloading gripper 42's grasping of the workpiece 300.

[0038] The top rod 133 is set to be connected to the top plate in an adjustable manner. A connecting piece can be set between the top rod 133 and the top plate. The connecting piece has a strip hole. The connecting piece and the top plate can be rotatably connected around the Z-axis. The top rod 133 can be installed at any position of the strip hole. In this way, the position of the top rod 133 can be adjusted according to different fixtures, thereby improving the applicability of the lifting assembly 13.

[0039] In some embodiments, see Figure 1 , Figure 2 and Figure 3 The hopper mechanism 30 includes a hopper positioning seat 31 and a hopper 32. The hopper positioning seat 31 is located near the first transmission mechanism 10. The hopper 32 includes a base plate 321 and multiple side plates 322. The base plate 321 is detachably connected to the hopper positioning seat 31. The multiple side plates 322 are all connected to the side of the base plate 321 opposite to the hopper positioning seat 31 and extend along the Z-axis. The connection position between the multiple side plates 322 and the base plate 321 is adjustable. The multiple side plates 322 enclose a receiving space to receive the workpiece 300. The hopper 32 can be fixed by the hopper positioning seat 31, improving the stability of the hopper 32. The hopper 32 and the hopper positioning seat 31 are detachably connected, so different hoppers 32 can be replaced according to different types of workpieces 300, improving applicability. During the feeding process, after the workpieces 300 in the hopper 32 are removed, the hopper 32 filled with workpieces 300 can be quickly replaced, improving work efficiency. The hopper 32 can be provided with four, six, or other equal number of side plates 322. These side plates 322 correspond to multiple sides of the workpiece 300, and together they form a receiving space, restricting the workpiece 300's degrees of freedom in the X and Y axes, improving the stability of the workpiece 300's position, facilitating material handling, and enhancing stability when transferring the workpiece 300 through the hopper 32. The side plates 322 are adjustablely connected to the base plate 321. In this embodiment, the side plate 322 opposite to the workpiece 300's X-axis side is adjustable along the X-axis, and the side plate 322 opposite to the workpiece 300's Y-axis side is also adjustable along the Y-axis. This allows the hopper 32 to accommodate workpieces 300 of different sizes, improving its applicability.

[0040] In some embodiments, see Figure 1 , Figure 2 and Figure 3The hopper positioning seat 31 includes a fixed support frame 311, a movable support frame 312, and an adjusting drive component 313. The fixed support frame 311 and the movable support frame 312 are spaced apart and are used to support the base plate 321. The adjusting drive component 313 is connected to the movable support frame 312 and is used to drive the movable support frame 312 closer to or further away from the fixed support frame 311 to adjust the distance between the movable support frame 312 and the fixed support frame 311. The adjusting drive component 313 can be a cylinder, a servo screw, etc. The fixed support frame 311 and the movable support frame 312 may have a groove on their opposite sides for positioning the base plate 321 to improve the stability of the fixed support frame 311 and the movable support frame 312 supporting the base plate 321. By adjusting the drive component 313 to move the movable support frame 312 closer to or further away from the fixed support frame 311, the distance between the movable support frame 312 and the fixed support frame 311 can be adjusted to suit base plates 321 of different sizes.

[0041] In some embodiments, see Figure 1 , Figure 2 and Figure 3 The hopper positioning seat 31 also includes a pushing drive component 314 and a pushing component 315. The pushing drive component 314 is connected to the movable support frame 312, and the pushing component 315 is connected to the pushing drive component 314 and is disposed opposite to the base plate 321. The pushing drive component 314 is used to drive the pushing component 315 to push the base plate 321 closer to the fixed support frame 311, so as to cooperate with the fixed support frame 311 to position the base plate 321. The pushing drive component 314 can be a cylinder, etc., and the pushing component 315 can be a block structure. It can be understood that if the distance between the fixed support frame 311 and the movable support frame 312 is consistent with the size of the base plate 321, the fixed support frame 311 and the movable support frame 312 will lock the base plate 321. Although this can improve the stability of the base plate 321, it increases the difficulty of removing and installing the hopper 32. By setting the pushing drive 314 and the pushing member 315, the distance between the fixed support frame 311 and the movable support frame 312 can be slightly larger than the size of the base plate 321. After the base plate 321 is placed on the fixed support frame 311 and the movable support frame 312, the pushing drive 314 drives the pushing member 315 to push the base plate 321, thereby cooperating with the fixed support frame 311 to clamp the base plate 321. In addition to positioning the base plate 321, this also improves the stability of the base plate 321 and facilitates the placement of the hopper 32 on the hopper positioning seat 31. When removing the hopper 32, the pushing drive 314 drives the pushing member 315 to move away from the base plate 321, thereby releasing the base plate 321 and facilitating the removal of the hopper 32.

[0042] In some embodiments, see Figure 1 and Figure 4The loading / unloading gripper 42 includes a first support bar 421, multiple second support bars 422, and multiple suction nozzles 423. The first support bar 421 is connected to the loading / unloading drive component 41 and extends along the Y-axis. Each of the multiple second support bars 422 is adjustablely connected to the first support bar 421 along the Y-axis, and each second support bar 422 extends along the X-axis. The multiple suction nozzles 423 are adjustablely connected to the multiple second support bars 422 along the X-axis. There can be two, three, or four second support bars 422, and four, six, or eight suction nozzles 423. The position of the second support bars 422 on the first support bar 421 is adjustable along the Y-axis, and the position of the suction nozzles 423 on the second support bars 422 is adjustable along the X-axis, thus enabling free adjustment of the position of the suction nozzles 423 in the XY plane. This allows for adjustment of the position of the suction nozzles 423 according to workpieces 300 of different sizes, improving the applicability of the loading / unloading gripper 42.

[0043] In other embodiments, the first support strip 421 can extend along the X-axis direction, and the second support strip 422 can extend along the Y-axis direction, ensuring that the extension direction of the first support strip 421 is perpendicular to the extension direction of the second support strip 422. It can be understood that the position of the nozzle 423 on the second support strip 422 is adjustable along the extension direction of the second support strip 422.

[0044] In some embodiments, see Figure 1 , Figure 4 and Figure 5 The structure of the recovery gripper 52 is the same as that of the loading and unloading gripper 42.

[0045] In some embodiments, see Figure 1 and Figure 5 The recycling mechanism 50 also includes a camera component 53 connected to the recycling drive component 51. The camera component 53 is used to acquire image information of the carrier 200 and / or workpiece 300 located on the first transmission mechanism 10. The camera component 53 can be a camera, a barcode scanner, etc. When the camera component 53 is a camera, it can be used to acquire images of the carrier 200, the workpiece 300, or both the workpiece 300 and the carrier 200 for detection. The detection content can include whether the carrier 200 is damaged, whether the workpiece 300 is damaged, and whether there is a workpiece 300 on the carrier 200. When an abnormal result is detected, the recycling drive component 51 drives the recycling gripper 52 to transfer the carrier 200 to the second transmission mechanism 20 (if there is a workpiece 300 in the carrier 200, it is transferred together with the workpiece 300) for recycling processing of the carrier 200.

[0046] The working process of the material receiving and unloading device 100 provided in this embodiment is roughly as follows: During material receiving, the carrier 200 carrying workpiece 300 is placed on the first production line 11. The retrieval drive 51 drives the camera assembly 53 to move above the first production line 11 to inspect the carrier 200. If damage to the carrier 200, workpiece 300, or a carrier 200 or workpiece 300 not being received this time is detected, the retrieval drive 51 drives the retrieval gripper 52 to transfer the carrier 200 to the second transmission mechanism 20 for retrieval processing. The stop drive 121 drives the stop 122 to rise to stop the carrier 200 being transmitted on the first production line 11. Then, the lifting drive 131 drives the lifting plate 132 to rise, and the lifting plate 132 lifts the carrier 200 so that the carrier 200 is removed from the first production line 11. Multiple push rods 133 are inserted into corresponding through holes 201 to lift the workpiece 300 in the carrier 200, thereby separating the workpiece 300 from the carrier 200. The loading / unloading drive unit 41 drives the loading / unloading gripper 42 to grab the workpiece 300 and place it into the hopper 32 of the hopper mechanism 30, completing the material receiving. After the material receiving is completed, all components are reset, ready for the next material receiving.

[0047] During unloading, an empty carrier 200 is placed on the first production line 11. The recovery drive 51 drives the camera assembly 53 to move above the first production line 11 to inspect the carrier 200. If the carrier 200 is detected as damaged or not intended for this shipment, the recovery drive 51 drives the recovery gripper 52 to transfer the carrier 200 to the second transmission mechanism 20 for recycling. The stop drive 121 drives the stop 122 to rise, stopping the carrier 200 being transported on the first production line 11. Then, the lifting drive 131 drives the lifting plate 132 to rise, lifting the carrier 200 to detach it from the first production line 11. It is understood that, to facilitate placing the workpiece 300 into the carrier 200, the push rod 133 on the lifting plate 132 can be removed when the unloading / receiving device 100 is used for unloading. The loading / unloading drive unit 41 drives the loading / unloading gripper 42 to remove the workpiece 300 from the hopper 32. As the workpiece passes through the detection mechanism 60, the detection mechanism 60 acquires the position and orientation of the workpiece 300 on the loading / unloading gripper 42. The loading / unloading drive unit 41 adjusts the position and orientation of the workpiece 300 according to the detection mechanism to improve the accuracy of placement on the carrier 200. Then, the loading / unloading gripper 42 places the workpiece 300 on the carrier 200, completing the unloading process.

[0048] 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 should be regarded as 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 embraced within this application.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A material handling device for loading and unloading workpieces into a carrier, characterized in that, include: A first transmission mechanism extends along a first direction for transmitting the vehicle along the first direction; A second transmission mechanism extends along a second direction and is disposed at one end close to the first transmission mechanism. The second transmission mechanism is used to transmit the vehicle along the second direction. A hopper mechanism is disposed near the other end of the first transmission mechanism, and the hopper mechanism is used to supply or receive the workpiece; The loading and unloading mechanism includes a loading and unloading drive and a loading and unloading gripper. The loading and unloading drive is mounted above the first transmission mechanism and the hopper mechanism in a third direction. The loading and unloading gripper is connected to the loading and unloading drive. The loading and unloading drive is used to drive the loading and unloading gripper to move so as to transfer the workpiece in the hopper mechanism to the carrier located in the first transmission mechanism or to transfer the workpiece located in the carrier of the first transmission mechanism to the hopper mechanism. and A retrieval mechanism includes a retrieval drive and a retrieval gripper. The retrieval drive is mounted above the first and second transmission mechanisms along a third direction. The retrieval gripper is connected to the retrieval drive, and the retrieval drive is used to drive the retrieval gripper to transfer the carrier located on the first transmission mechanism to the second transmission mechanism. The first direction, the second direction, and the third direction are perpendicular to each other.

2. The material receiving and unloading equipment as described in claim 1, characterized in that, The material handling equipment also includes a detection mechanism, which is located between the first transmission mechanism and the hopper mechanism. The detection mechanism is used to obtain the position and orientation of the workpiece grasped by the loading and unloading gripper.

3. The material receiving and unloading equipment as described in claim 1, characterized in that, The first transmission mechanism includes a first production line and a stop assembly. The first production line extends along a first direction for transmitting the vehicle along the first direction. The stop assembly includes a stop drive and a stop member. The stop drive is disposed at the middle of the first production line along a second direction. The stop member is connected to the stop drive. The stop drive is used to drive the stop member to move along the third direction to stop or release the vehicle located on the first production line.

4. The material receiving and unloading equipment as described in claim 3, characterized in that, The first transmission mechanism further includes a lifting assembly, which is disposed on the side of the stop assembly near the second transmission mechanism. The lifting assembly includes a lifting drive and a lifting plate connected to the lifting drive. The lifting drive is used to drive the lifting plate to move along the third direction to lift the vehicle.

5. The material receiving and unloading equipment as described in claim 4, characterized in that, The carrier has multiple through holes extending along the third direction, and each of the multiple through holes corresponds to the workpiece; The lifting assembly also includes a plurality of push rods, each of which is disposed on the side of the lifting plate away from the lifting drive member. Each of the push rods extends along the third direction and corresponds to a plurality of through holes. Each of the push rods is used to pass through the corresponding through hole to lift the workpiece.

6. The material receiving and unloading equipment as described in claim 1, characterized in that, The hopper mechanism includes a hopper positioning seat and a hopper. The hopper positioning seat is located near the first transmission mechanism. The hopper includes a bottom plate and multiple side plates. The bottom plate is detachably connected to the hopper positioning seat. The multiple side plates are all connected to the side of the bottom plate away from the hopper positioning seat and extend along the third direction. The connection position between the multiple side plates and the bottom plate is adjustable. The multiple side plates enclose an accommodating space to accommodate the workpiece.

7. The material receiving and unloading equipment as described in claim 6, characterized in that, The hopper positioning seat includes a fixed support frame, a movable support frame, and an adjustment drive component. The fixed support frame and the movable support frame are spaced apart and are used to support the base plate. The adjustment drive component is connected to the movable support frame and is used to drive the movable support frame to move closer to or away from the fixed support frame to adjust the distance between the movable support frame and the fixed support frame.

8. The material receiving and unloading equipment as described in claim 7, characterized in that, The hopper positioning seat also includes a push-drive component and a push component. The push-drive component is connected to the movable support frame, and the push component is connected to the push-drive component and is disposed opposite to the bottom plate. The push-drive component is used to drive the push component to push the bottom plate closer to the fixed support frame, so as to cooperate with the fixed support frame to position the bottom plate.

9. The material receiving and unloading equipment as described in claim 1, characterized in that, The loading / unloading gripper includes a first support bar, multiple second support bars, and multiple suction nozzles. The first support bar is connected to the loading / unloading drive component and extends along the second direction. The multiple second support bars are all adjustablely connected to the first support bar along the second direction, and each second support bar extends along the first direction. The multiple suction nozzles are adjustablely connected to the multiple second support bars along the first direction.

10. The material receiving and unloading device as described in claim 1, characterized in that, The recycling mechanism further includes a camera assembly connected to the recycling drive unit, the camera assembly being used to acquire image information of the carrier and / or the workpiece located on the first transmission mechanism.

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