Automatic material feeding and collecting device

Abstract

The utility model discloses an automatic material throwing and collecting equipment. The first material disc is moved between the loading position and the unloading position. The second material disc is moved between the material throwing position and the material collecting position. The material grabbing module grabs the raw materials from the first material disc and adjusts the arrangement of the raw materials. The second material disc is moved to the material throwing line. The second material disc is moved to the material collecting position. The material grabbing module grabs the cooked materials from the second material disc and adjusts the arrangement of the cooked materials. The first material disc is placed in the unloading position. The automatic material throwing and collecting equipment can reduce manual intervention and improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of production and processing, and in particular to an automatic feeding and receiving device. Background Technology

[0002] In related technologies, the production process heavily relies on manual loading and unloading operations. For example, operators need to continuously pick up and place trays and materials alongside the assembly line. Due to the recirculation design of the assembly line, the tray turnover frequency is high, resulting in high labor intensity for operators and potentially affecting production efficiency due to delays in manual operations. Utility Model Content

[0003] This utility model provides an automatic feeding and receiving device to solve at least one of the above-mentioned technical problems.

[0004] This utility model provides an automatic feeding and collecting device, which includes: The machine has a loading position and a unloading position spaced apart on one side, and a feeding position and a receiving position spaced apart on the other side. The loading position corresponds to the feeding position, and the unloading position corresponds to the receiving position. A feeding line and a receiving line are provided below the machine. The first transfer module is disposed on the machine platform and located between the loading position and the unloading position, and is used to carry the first material tray located at the loading position and drive the first material tray to move between the loading position and the unloading position along the length direction of the machine platform; The second transfer module is disposed on the machine platform and located between the feeding position and the receiving position, and is used to grab the second material tray located at the feeding position and drive the second material tray to move between the feeding position and the receiving position along the length direction of the machine platform; The material grabbing module is located above the machine and is used to grab two horizontally arranged raw materials from the first material tray located at the feeding position and containing a number of raw materials, adjust the two horizontally arranged raw materials to be vertically arranged, and place the two vertically arranged raw materials on the empty second material tray located at the feeding position. A feeding lifting module is located on one side of the feeding assembly line and below the feeding position, and is used to drive the second material tray, which is located at the feeding position and contains the plurality of raw materials, to move along the height direction of the machine to the feeding assembly line. The receiving lifting module is located on one side of the receiving production line and below the receiving position, and is spaced apart from the feeding lifting module. It is used to drive the second material tray, which is loaded with several pieces of cooked material on the receiving production line, to move along the height direction of the machine to the receiving position. The material gripping module is also used to sequentially grip two vertically arranged clinker from the second material tray located at the receiving position, adjust the two vertically arranged clinker to be arranged horizontally, and place the two horizontally arranged clinker on the empty first material tray located at the unloading position.

[0005] The aforementioned automatic feeding and receiving equipment, through the cooperation of the first transfer module, the material grabbing module, the second transfer module, the feeding lifting module, and the receiving lifting module, can automatically realize the transfer of raw materials and cooked materials between the first and second material trays, as well as between the feeding production line and the receiving production line, thereby reducing manual intervention and improving production efficiency.

[0006] In some embodiments, the material gripping module includes two first gripping mechanisms spaced apart along the length of the machine platform. Each of the two first gripping mechanisms includes a three-dimensional drive mechanism, a first gripper, a second gripper, and an adjustment mechanism. The three-dimensional drive mechanism is located above the machine platform. The first gripper and the second gripper are connected to the three-dimensional drive mechanism to grip two raw materials or two cooked materials. The three-dimensional drive mechanism drives the first gripper and the second gripper to move along the length, width, and height of the machine platform. The adjustment mechanism is connected to the second gripper and drives the second gripper to move relative to the first gripper, thereby adjusting the two horizontally arranged raw materials gripped by the first and second grippers to a vertical arrangement, or adjusting the two vertically arranged clinker gripped by the first and second grippers to a horizontal arrangement.

[0007] The aforementioned automatic feeding and receiving equipment can change the arrangement of raw or cooked materials to adapt to the placement of the first and second material trays.

[0008] In some embodiments, the adjustment mechanism includes an adjustment drive, an adjustment slide rail, and an adjustment slider. The adjustment slide rail is inclined relative to the first gripper and connected to the three-dimensional drive mechanism. The adjustment drive is disposed on the adjustment slide rail. The adjustment slider is slidably connected to the adjustment slide rail and connected to the adjustment drive. The second gripper is connected to the adjustment slider and disposed on the adjustment slider. The adjustment slide rail is slidably connected to the adjustment slider. The extension direction of the adjustment slide rail is inclined relative to the X and Y directions. The adjustment drive is used to drive the adjustment slider and the second gripper to move along the adjustment slide rail, thereby adjusting the two horizontally arranged raw materials grasped by the first gripper and the second gripper to be vertically arranged, or adjusting the two vertically arranged clinker grasped by the first gripper and the second gripper to be horizontally arranged.

[0009] The above-mentioned automatic feeding and collecting equipment can adjust the arrangement of raw or cooked materials. It has a simple structure and is easy to implement.

[0010] In some embodiments, the first gripping mechanism includes a first lifting mechanism connected to the first gripper. Before the second gripper moves relative to the first gripper, the first lifting mechanism drives the first gripper to move away from the three-dimensional drive mechanism along the height direction of the machine platform, so that the first gripper and the second gripper have a height difference in the height direction of the machine platform. After the second gripper moves relative to the first gripper, the first lifting mechanism drives the first gripper to move closer to the three-dimensional drive mechanism along the height direction of the machine platform, so that the first gripper resets.

[0011] In the aforementioned automatic feeding and receiving equipment, interference between the second gripper and the first gripper can be avoided when the second gripper moves.

[0012] In some embodiments, the first transfer module includes a translation module, a loading lifting module, and a unloading lifting module; The translation module is mounted on the machine base. The translation module includes a translation drive mechanism, a clamping mechanism, and a support plate. The support plate is slidably mounted on the machine base and has a through hole for the first material tray to pass through. The clamping mechanism is mounted on the support plate and clamps and fixes the first material tray or releases the first material tray. The translation drive mechanism is connected to the support plate and drives the support plate to move the clamping mechanism and the first material tray from the loading position to the unloading position; The feeding lifting module is located below the feeding position. The feeding lifting module includes a feeding drive mechanism and a feeding tray. The feeding tray carries the first material tray containing the plurality of raw materials. The feeding drive mechanism is connected to the feeding tray. When the support plate is located at the feeding position, the feeding drive mechanism drives the feeding tray to move the first material tray containing the plurality of raw materials closer to the support plate along the height direction of the machine platform, so that the first material tray passes through the machine platform and the through hole and moves onto the support plate. The material feeding and lifting module is located below the material feeding position. The material feeding and lifting module includes a material feeding drive mechanism and a material feeding tray. The material feeding tray is used to carry the empty first material tray located at the material feeding position. The material feeding drive mechanism is connected to the material feeding tray. When the support plate is located at the material feeding position, the material feeding drive mechanism drives the material feeding tray to move closer to the support plate along the height direction of the machine platform to receive the empty first material tray released by the clamping mechanism, and drives the material feeding tray to move the first material tray containing the plurality of clinker materials away from the machine platform along the height direction of the machine platform.

[0013] The aforementioned automatic feeding and receiving equipment has improved the internal space utilization rate to a certain extent.

[0014] In some embodiments, the feeding lifting module includes a feeding lifting mechanism and a feeding carrier. The feeding carrier is located above the feeding production line and carries the second material tray. The feeding lifting mechanism is connected to the feeding carrier. The feeding lifting mechanism is located on one side of the feeding production line and drives the feeding carrier to lower the second material tray containing the plurality of raw materials from the feeding position to the feeding production line.

[0015] The aforementioned automatic feeding and receiving equipment can, to a certain extent, ensure that the initial position of the second material tray on the feeding production line is relatively accurate.

[0016] In some embodiments, the receiving lifting module includes a receiving lifting mechanism and a receiving carrier. The receiving carrier is located above the receiving production line and is used to carry the second material tray. The receiving lifting mechanism is connected to the receiving carrier. The receiving lifting mechanism is located on one side of the receiving production line and is used to drive the receiving carrier to lift the second material tray containing the plurality of clinker materials from the receiving production line to the receiving position.

[0017] The aforementioned automatic feeding and receiving equipment can provide a stable and accurate gripping position for the material gripping module.

[0018] In some embodiments, the automatic feeding and receiving equipment further includes a blocking module, which is disposed on the receiving conveyor line and spaced apart from the receiving lifting module. The blocking module includes a first blocking drive mechanism, a second blocking drive mechanism, a first blocking member, and a second blocking member. The first blocking member and the second blocking member are spaced apart along the transmission direction of the receiving conveyor line. A plurality of second trays are conveyed on the receiving conveyor line. The first blocking drive mechanism is connected to the first blocking member to drive the first blocking member to move toward the corresponding second tray. The second blocking drive mechanism is connected to the second blocking member to drive the second blocking member to move toward the corresponding second tray. The first blocking member and the second blocking member cooperate to separate two adjacent second trays on the receiving conveyor line.

[0019] The aforementioned automatic feeding and receiving equipment can further prevent multiple second material trays from getting stuck on the receiving line.

[0020] In some embodiments, the second transfer module includes a two-dimensional drive mechanism, a rotating mechanism, and a second gripping mechanism. The two-dimensional drive mechanism is disposed on the machine platform, the rotating mechanism is connected to the two-dimensional drive mechanism, and the second gripping mechanism is connected to the rotating mechanism and grips the empty second material tray located at the receiving position. The two-dimensional drive mechanism is used to drive the rotating mechanism and the second gripping mechanism to move along the length direction and the height direction of the machine platform, so that the empty second material tray moves from the receiving position to the feeding position. The rotating mechanism is used to drive the second gripping mechanism to rotate the empty second tray.

[0021] In the aforementioned automatic feeding and receiving equipment, the placement direction of the second material tray located at the feeding position is suitable for the material gripping module to grip several raw materials.

[0022] In some embodiments, the automatic feeding and receiving equipment further includes a positioning module disposed on the machine platform and located between the feeding position and the dispensing position; The positioning module includes a tray, a first side-pushing mechanism, and a second side-pushing mechanism. The tray supports the raw materials after their arrangement has been adjusted by the material gripping module. The first side-pushing mechanism and the second side-pushing mechanism are located on adjacent sides of the pallet. The first side-pushing mechanism and the second side-pushing mechanism respectively push the several raw materials to move along the length direction and the width direction of the machine platform to position the several raw materials.

[0023] The aforementioned automatic feeding and receiving equipment allows for further precise adjustment of the distance between several raw materials.

[0024] Additional aspects and advantages of the embodiments of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram illustrating the usage scenario of the automatic feeding and receiving equipment according to an embodiment of this utility model; Figure 2 and Figure 3 This is a schematic diagram of the structure of the automatic feeding and receiving equipment according to an embodiment of this utility model; Figure 4 and Figure 5 This is a partial structural schematic diagram of the automatic feeding and receiving equipment according to an embodiment of the present utility model; Figure 6This is a partially exploded schematic diagram of the automatic feeding and receiving equipment according to an embodiment of this utility model; Figure 7 This is a schematic diagram of the translation module according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the material gripping module according to an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the second transfer module according to an embodiment of the present invention; Figure 10 This is a schematic diagram of the positioning module according to an embodiment of the present invention; Figure 11 This is a partial structural schematic diagram of the receiving assembly line according to an embodiment of this utility model.

[0026] Explanation of key component symbols: Material - 1000, processing equipment - 600, first material tray - 500, second material tray - 400, positioning block - 401, positioning groove - 401a, receiving line - 300, downstream line end - 301, feeding line - 200, automatic feeding and receiving equipment - 100; Loading position -1, feeding port -3, unloading position -5; Machine base -10, window -12, protection module -14; First transfer module-20, translation module-21, translation drive mechanism-212, clamping mechanism-214, clamping drive mechanism-214a, clamping component-214b, bearing plate-216, through hole-216a, detector-218, unloading lifting module-23, unloading drive mechanism-232, unloading tray-234; Material lifting module-30, material driving mechanism-32, material pallet-34; Material gripping module-40, first gripping mechanism-41, three-dimensional driving mechanism-412, first gripper-413, second gripper-415, adjustment mechanism-416, adjustment drive component-416a, adjustment slide rail-416b, first lifting mechanism-418. Second transfer module-50, two-dimensional drive mechanism-52, rotation mechanism-54, second gripping mechanism-56, card block-561; Feeding lifting module-60, feeding lifting mechanism-61, feeding bearing component-63; Material receiving lifting module-70, material receiving lifting mechanism-72, material receiving bearing component-74; Blocking module-80, first blocking drive mechanism-81, second blocking drive mechanism-83, first blocking component-85, second blocking component-87; Positioning module-90, pallet-92, abutment block-94, first side push mechanism-96, first side push drive mechanism-961, first side push component-963, second side push mechanism-98, second side push drive mechanism-981, second side push component-983. Detailed Implementation

[0027] The embodiments of this utility model 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 utility model, and should not be construed as limiting this utility model.

[0028] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] 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. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] This disclosure provides many different embodiments or examples for implementing various structures of the present invention. To simplify the disclosure, specific examples of components and arrangements are described herein. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0032] Please see Figures 1 to 11 This utility model provides an automatic feeding and receiving device 100, which includes a machine base 10, a first transfer module 20, a material gripping module 40, a second transfer module 50, a feeding lifting module 60, and a receiving lifting module 70. One side of the machine base 10 is provided with a feeding position 1 and a discharging position 5 spaced apart along the length of the machine base 10, and the other side of the machine base 10 is provided with a feeding position and a receiving position spaced apart along the length of the machine base 10. The feeding position 1 corresponds to the feeding position, and the discharging position 5 corresponds to the receiving position. A feeding assembly line 200 and a receiving assembly line 300 are provided below the machine base 10.

[0033] The first transfer module 20 is mounted on the machine base 10 and located between the loading position 1 and the unloading position 5. It is used to carry the first material tray 500 located at the loading position 1 and drive the first material tray 500 to move along the length direction of the machine base 10, so that the first material tray 500 moves between the loading position 1 and the unloading position 5, realizing the rapid loading and unloading of multiple trays of materials. Multiple raw materials are placed on the first material tray 500 at the loading position 1, and the first material tray 500 at the unloading position 5 is an empty tray. The second transfer module 50 is mounted on the machine base 10 and located between the feeding position and the receiving position. It is used to grab the second material tray 400 located at the feeding position and drive the second material tray 400 to move along the length direction of the machine base 10, so that the second material tray 400 moves between the receiving position and the feeding position. The material gripping module 40 is located above the machine base 10. It is used to grip a quantity of raw material from the first material tray 500 at the feeding position 1, adjust the arrangement of the raw material to suit the placement of the second material tray 400, and place the adjusted raw material onto the second material tray 400 at the feeding position. Specifically, it grips two horizontally arranged raw materials sequentially from the first material tray 500 at the feeding position 1, adjusts the two horizontally arranged raw materials to a vertical arrangement, and then places the two vertically arranged raw materials onto the empty second material tray 400 at the feeding position. The feeding lifting module 60 is located on one side of the feeding line 200 and below the feeding position. It is used to drive the second material tray 400 at the feeding position to descend and move the second material tray 400 onto the feeding line 200. The receiving lifting module 70 is located on one side of the receiving line 300 and below the receiving position. It is used to drive the second material tray 400, which is loaded with several pieces of clinker on the receiving line 300, to rise to the receiving position. The material gripping module 40 is also used to grip several pieces of clinker from the second material tray 400 at the receiving position, adjust the arrangement of the clinker to suit the placement of the first material tray 500, and place the adjusted clinker onto the first material tray 500 at the unloading position 5. Specifically, it grips two vertically arranged pieces of clinker from the second material tray 400 at the receiving position, adjusts the two vertically arranged pieces of clinker to a horizontal arrangement, and then places the two horizontally arranged pieces of clinker onto the empty first material tray 500 at the unloading position. The length direction of the machine platform 10 is the X-axis, the height direction is the Z-axis, and the width direction is the Y-axis.

[0034] The aforementioned automatic feeding and receiving equipment 100, through the cooperation of the first transfer module 20, the material grabbing module 40, the second transfer module 50, the feeding lifting module 60, and the receiving lifting module 70, can automatically realize the transfer of raw materials and cooked materials between the first material tray 500 and the second material tray 400, as well as between the feeding production line 200 and the receiving production line 300, thereby reducing manual intervention and improving production efficiency.

[0035] Specifically, the automatic feeding and receiving equipment 100 is a device used for centralized feeding at the end of an automated production line. Optionally, the automated production line includes, but is not limited to, CNC (Computer Numerical Control) production lines, marking production lines, and dispensing production lines. In one example, please refer to... Figure 1 At least one processing device 600 is provided on each side of the feeding line 200 and the receiving line 300. The processing device 600 can be a CNC line device.

[0036] In this technology, the production process heavily relies on manual handling of loading and unloading operations. For example, one operator needs to remove a tray from the receiving line, take two pieces of refurbished material from the tray and place them in a cleaning box. Another operator takes two pieces of raw material from the storage bin, places them in a carrier tray, reverses the tray, and returns it to the feeding line. A third operator needs to replenish the cleaning box and raw material periodically. During this feeding process, operators need to continuously pick up and place trays and materials alongside the production line. Due to the circulating design of the production line, the turnover frequency of the trays is high, and the return speed is fast (generally 10 seconds per tray). This requires a large workforce and results in high labor intensity for operators. It may also affect production efficiency due to delays caused by manual operation.

[0037] In this embodiment of the utility model, please refer to Figures 3 to 6 The first transfer module 20, the material gripping module 40, the second transfer module 50, the feeding lifting module 60, and the receiving lifting module 70 are all mounted on the machine base 10 of the automatic feeding and receiving equipment 100. Specifically, the first transfer module 20 moves an empty first material tray 500 from the feeding position 1 to the unloading position 5; the second transfer module 50 moves an empty second material tray 400 from the receiving position to the feeding position; the feeding lifting module 60 enables the second material tray 400 to contact and separate from the feeding line 200; and the receiving lifting module 70 enables the second material tray 400 to contact and separate from the receiving line 300. Since the placement method of material 1000 in the first material tray 500 is different from that in the second material tray 400, a material gripping module 40 is set up to adjust the arrangement of material 1000 during the transfer of material 1000 between the first material tray 500 and the second material tray 400, so that material 1000 can adapt to the placement method of the first material tray 500 and the second material tray 400.

[0038] Optionally, the material 1000 is arranged in 2 rows × 5 columns in the first tray 500, and the length direction of the material 1000 is parallel to the Y-direction. (Row refers to the X-direction, and column refers to the Y-direction). The material 1000 is arranged in 1 row × 2 columns in the second tray 400, and the length direction of the material 1000 is parallel to the Y-direction. The number of material 1000s grasped by the material grasping module 40 can be specifically limited according to actual conditions; this utility model does not impose a specific limitation in this regard. In one example, the material grasping module 40 can grasp two material 1000s in 2 rows × 1 column at a time.

[0039] In one embodiment, when a first tray 500 containing multiple raw materials is placed at the feeding position 1, the material gripping module 40 can grip two raw materials in a 2x1 row from the first tray 500 at the feeding position 1, and adjust the relative position of the two raw materials to a 1x2 row arrangement so that the arrangement of the two raw materials is suitable for the placement of the second tray 400. Then, the two raw materials arranged along the X-direction are placed in the second tray 400 at the feeding position. Afterwards, the feeding lifting module 60 can drive the second tray 400 at the feeding position to descend, moving it onto the feeding line 200. The feeding line 200 then drives the second tray 400 containing two raw materials to the processing equipment 600 for processing. After all the raw materials in the first tray 500 at the feeding position 1 have been gripped by the material gripping module 40, the first transfer module 20 drives the empty first tray 500 from the feeding position 1 to the unloading position 5.

[0040] The receiving assembly line 300 drives the second material tray 400, which contains two processed clinker pieces, to move to the receiving lifting module 70. The receiving lifting module 70 drives the second material tray 400 to rise to the receiving position to detach from the receiving assembly line 300. The material gripping module 40 can grip the two clinker pieces in 1 row × 2 columns from the second material tray 400 at the receiving position, and adjust the relative position of the two clinker pieces to 2 rows × 1 column so that the arrangement of the two clinker pieces is suitable for the placement of the first material tray 500. Then, the two adjusted clinker pieces are placed in the first material tray 500 at the unloading position 5.

[0041] Therefore, through the coordinated work of the above modules, the transfer of raw materials and cooked materials between the first material tray 500 and the second material tray 400, as well as between the feeding line 200 and the receiving line 300, can be automatically realized. The machine has high working efficiency, which can reduce manual intervention, save manpower, and improve production efficiency to a certain extent.

[0042] Optionally, please combine Figure 1 and Figure 2The machine 10 is equipped with a window 12, through which operators can place a first tray 500 containing multiple raw materials into the automatic feeding and receiving equipment 100, and also remove a first tray 500 containing multiple clinker materials from the automatic feeding and receiving equipment 100 through the window 12. In some embodiments, the automatic feeding and receiving equipment 100 further includes a control module (not shown) and a protection module 14, which are electrically connected. The protection module 14 includes multiple light emitters and multiple light receivers, located on both sides of the window 12. The multiple light emitters continuously emit infrared light, and the multiple light receivers synchronously receive the corresponding infrared light, thereby forming a protective light curtain at the window 12 to cover the window 12.

[0043] In one example, when the operator needs to place or retrieve the first material tray 500, the operator can issue a shutdown command to the control module, which will then shut down the protection module 14. After the first material tray 500, containing multiple raw materials, is placed into the automatic feeding and receiving device 100, the operator can issue a work command to the control module, which will then activate the protection module 14 to emit infrared light. The protection module 14 is used to control the automatic feeding and receiving device 100 to issue an alarm and / or stop operating if the infrared light is blocked, thereby promptly reminding the operator to perform safe operations and ensuring the safety of both the operator and the automatic feeding and receiving device 100 to a certain extent. Optionally, the alarm may include, but is not limited to, audible and visual alarm signals, or the alarm signal may be sent to the display screen of the automatic feeding and receiving device 100 or the operator's terminal for display.

[0044] In some embodiments, the material gripping module 40 includes two first gripping mechanisms 41. One first gripping mechanism 41 is used to grip a quantity of raw material from the first material tray 500 at the feeding position 1, adjust the arrangement of the raw material to suit the placement of the second material tray 400, and place the adjusted raw material into the second material tray 400 at the feeding position. The other first gripping mechanism 41 is used to grip a quantity of cooked material from the second material tray 400 at the receiving position, adjust the arrangement of the cooked material to suit the placement of the first material tray 500, and place the adjusted cooked material into the first material tray 500 at the unloading position 5.

[0045] In this way, raw materials and cooked materials can be transferred between the first material tray 500 and the second material tray 400 through the two first gripping mechanisms 41, thereby improving efficiency.

[0046] Specifically, two first gripping mechanisms 41 are arranged along the length of the machine platform 10, one of which is used to grip and release a quantity of raw material, and the other is used to grip and release a quantity of clinker. Figure 4 In one embodiment, one of the first gripping mechanisms 41 is located above the feeding position 1 and the feeding position, and the other first gripping mechanism 41 is located above the unloading position 5 and the receiving position.

[0047] When a first material tray 500 containing multiple raw materials is placed at the feeding position 1, one of the first gripping mechanisms 41 can grip two raw materials in 2 rows × 1 column from the first material tray 500 at the feeding position 1, and adjust the relative position of the two raw materials to 1 row × 2 columns so that the arrangement of the two raw materials after adjustment is suitable for the placement of the second material tray 400. Then, the first gripping mechanism 41 places the two raw materials after adjustment into the second material tray 400 at the feeding position.

[0048] When a second tray 400 containing several clinker pieces is placed at the receiving position, another first gripping mechanism 41 can grip two clinker pieces in 1 row × 2 columns from the second tray 400 at the receiving position, and adjust the relative position of the two clinker pieces to 2 rows × 1 column so that the arrangement of the two clinker pieces after adjustment is suitable for the placement of the first tray 500. Then, the first gripping mechanism 41 places the two clinker pieces after adjustment into the first tray 500 at the unloading position 5.

[0049] In some embodiments, the first gripping mechanism 41 includes a three-dimensional driving mechanism 412, a first gripper 413, a second gripper 415, and an adjustment mechanism 416. Both the first gripper 413 and the second gripper 415 are used to grip one material 1000. The first gripper 413, the second gripper 415, and the adjustment mechanism 416 are mounted on the three-dimensional driving mechanism 412, which drives the first gripper 413, the second gripper 415, and the adjustment mechanism 416 to move along the X, Y, and Z directions. The adjustment mechanism 416 is connected to the second gripper 415 and drives the second gripper 415 to move relative to the first gripper 413, thereby adjusting the arrangement of the two materials 1000 gripped by the first gripper 413 and the second gripper 415.

[0050] In this way, different arrangements of materials 1000 can be changed to adapt to the placement of the first material tray 500 and the second material tray 400.

[0051] Specifically, in Figure 4 and Figure 5In this embodiment, when a first material tray 500 containing multiple raw materials is placed at the feeding position 1, the three-dimensional drive mechanism 412 can drive the first gripper 413, the second gripper 415, and the adjustment mechanism 416 to move along the X, Y, and Z directions to the feeding position 1, so that the first gripper 413 and the second gripper 415 grip two raw materials in 2 rows × 1 column in the first material tray 500, and the adjustment mechanism 416 drives the second gripper 415 to move relative to the first gripper 413, that is, adjust the second gripper. The position of the raw material gripped by the first gripper 415 compared to the position of the raw material gripped by the first gripper 413 changes the horizontal arrangement of the two raw materials to a vertical arrangement of 1 row × 2 columns to suit the placement of the second material tray 400. Then, the three-dimensional drive mechanism 412 drives the first gripper 413, the second gripper 415 and the adjustment mechanism 416 to move along the X, Y and Z directions to the feeding position, so that the first gripper 413 and the second gripper 415 release the two raw materials of 1 row × 2 columns to the second material tray 400 at the feeding position.

[0052] With a second tray 400 containing two clinker pieces in a row x two columns placed at the receiving position, the three-dimensional drive mechanism 412 can drive the first gripper 413, the second gripper 415, and the adjustment mechanism 416 to move along the X, Y, and Z directions to the receiving position. This allows the first gripper 413 and the second gripper 415 to grip the two clinker pieces in the second tray 400 in a row x two columns. The adjustment mechanism 416 drives the second gripper 415 to move relative to the first gripper 413, i.e., adjusts the second gripper 415. The position of the clinker gripped by the first gripper 413 changes the vertical arrangement of the two clinkers to a 2-row × 1-column horizontal arrangement to suit the placement of the first material tray 500. Then, the three-dimensional drive mechanism 412 drives the first gripper 413, the second gripper 415, and the adjustment mechanism 416 to move along the X, Y, and Z directions to the unloading position 5, causing the first gripper 413 and the second gripper 415 to release the two clinkers (2 rows × 1 column) into the first material tray 500 at the unloading position 5. Optionally, both the first gripper 413 and the second gripper 415 include suction cups, which can contact and separate from the material 1000 to absorb and release the material 1000.

[0053] In some implementations, please refer to Figure 8The adjustment mechanism 416 includes an adjustment drive 416a, an adjustment slide rail 416b, and an adjustment slider (not shown). The adjustment slide rail 416b is inclined relative to the first gripper 413 and connected to the three-dimensional drive mechanism 412. The adjustment drive 416a is mounted on the adjustment slide rail 416b, and the second gripper 415 is mounted on the adjustment slider. The adjustment slide rail 416b and the adjustment slider are slidably connected. The extension direction of the adjustment slide rail 416b is inclined relative to the X and Y directions. The adjustment drive 416a is used to drive the adjustment slider and the second gripper 415 to move along the extension direction of the adjustment slide rail 416b, thereby adjusting the arrangement of the two materials 1000 gripped by the first gripper 413 and the second gripper 415.

[0054] In this way, the arrangement of materials 1000 can be adjusted, and the structure is simple and easy to implement.

[0055] Specifically, please combine Figure 8 The adjusting slider has a groove on the side facing the adjusting slide rail 416b that matches the shape of the adjusting slide rail 416b. Through the cooperation between the groove and the adjusting slide rail 416b, the adjusting drive 416a can drive the adjusting slider to move, thereby causing the second gripper 415 to move linearly along the extension direction of the adjusting slide rail 416b. Since the extension direction of the adjusting slide rail 416b is inclined relative to the X and Y directions, the movement of the second gripper 415 can be decomposed into movement along the X and Y directions. That is, while the second gripper 415 moves along the extension direction of the adjusting slide rail 416b, it will also have corresponding displacements in the X and Y directions, thereby changing the relative position between the second gripper 415 and the first gripper 413 from one arrangement to another. In one embodiment, when the adjusting drive 416a drives the adjusting slider to one end of the slide rail, the second gripper 415 and the first gripper 413 are arranged along the X-direction, such that the two materials 1000 gripped by the second gripper 415 and the first gripper 413 are arranged along the X-direction in the length direction; when the adjusting drive 416a drives the adjusting slider to the other end of the adjusting slide rail 416b, the second gripper 415 and the first gripper 413 are arranged along the Y-direction, such that the two materials 1000 gripped by the second gripper 415 and the first gripper 413 are arranged along the Y-direction in the length direction. Therefore, through the cooperation between the adjusting drive 416a, the adjusting slider, and the adjusting slide rail 416b, the arrangement of the materials 1000 can be switched between being arranged along the X-direction in the length direction and being arranged along the Y-direction. Optionally, the adjusting drive 416a can be a rodless cylinder.

[0056] Optionally, the angle at which the extension direction of the slide rail 416b is tilted relative to the X and Y directions can be specifically limited according to the actual situation, and this utility model does not make a specific limitation in this regard.

[0057] In some embodiments, the first gripping mechanism 41 further includes a first lifting mechanism 418, which is connected to the first gripper 413. The first lifting mechanism 418 is used to drive the first gripper 413 to rise and fall before the second gripper 415 moves relative to the first gripper 413 so that there is a height difference between the first gripper 413 and the second gripper 415 in the Z direction, and to drive the first gripper 413 to reset after the second gripper 415 moves relative to the first gripper 413.

[0058] In this way, interference with the first gripper 413 can be avoided when the second gripper 415 moves.

[0059] Specifically, please combine Figure 8 When the adjusting mechanism 416 drives the second gripper 415 to move relative to the first gripper 413, if the second gripper 415 and the first gripper 413 are on the same horizontal plane, the movement trajectory of the second gripper 415 may interfere with the first gripper 413, causing the movement of the second gripper 415 to be stuck or stop. Therefore, the first lifting mechanism 418 is connected to the first gripper 413. Before the adjusting mechanism 416 drives the second gripper 415 to move relative to the first gripper 413, the first gripper 413 is driven to move up and down in the Z direction so that there is a height difference between the first gripper 413 and the second gripper 415 in the Z direction. This ensures that the first gripper 413 and the second gripper 415 are not on the same horizontal plane, and the movement path of the second gripper 415 is offset from the position of the first gripper 413 in the Z direction. This avoids interference between the second gripper 415 and the first gripper 413 during movement, and to a certain extent ensures the stability and smoothness of the process by which the adjusting mechanism 416 adjusts the arrangement of the two materials 1000 grasped by the first gripper 413 and the second gripper 415.

[0060] After the adjusting mechanism 416 drives the second gripper 415 to move relative to the first gripper 413, the first lifting mechanism 418 connects to the first gripper 413 and drives the first gripper 413 to reset, so that the first gripper 413 and the second gripper 415 are once again on the same horizontal plane, which facilitates the subsequent release and gripping of the two materials 1000 by the first gripper 413 and the second gripper 415. Optionally, the first lifting mechanism 418 may include a cylinder.

[0061] In some implementations, please refer to Figure 4 and Figure 6The first transfer module 20 includes a translation module 21, a feeding lifting module 23, and a feeding lifting module 30. The translation module 21 is movably mounted on the machine base 10. Feeding position 1 and feeding position 5 are respectively provided with a feed port 3. The feed port 3 is used for the first material tray 500 to pass through. The feeding lifting module 30 is provided below the feed port 3 of feeding position 1, and the feeding lifting module 23 is provided below the feed port 3 of feeding position 5. Both the feeding lifting module 30 and the feeding lifting module 23 are used to carry the first material tray 500 and drive the first material tray 500 to move along the height direction of the machine base 10 to realize feeding and feeding. The translation module 21 is used to drive the first material tray 500 to move between the feeding position 1 and the feeding position 5. The feeding lifting module 30 drives the first material tray 500 containing multiple raw materials to move along the height direction of the machine platform 10 to the material passage 3 of the feeding position 1 to realize feeding. After the material grabbing module 40 has finished grabbing the raw materials on the first material tray 500 of the feeding position 1, the translation module 21 drives the empty first material tray 500 at the feeding position 1 to move along the length direction of the machine platform 10 to the material passage 3 of the unloading position 5. After the material grabbing module 40 places the cooked material at the receiving position onto the empty first material tray 500 at the unloading position 5, the unloading lifting module 23 drives the first material tray 500 containing cooked material to descend to realize unloading.

[0062] In this way, the first material tray 500 can be recycled, which simplifies the loading and unloading process to a certain extent.

[0063] Specifically, please combine Figure 4 and Figure 6 After the raw material in the first material tray 500 at the loading position 1 is picked up by the material grabbing module 40, the translation module 21 drives the empty first material tray 500 to move along the length of the machine table 10 to the material outlet 3 at the unloading position 5. The unloading lifting module 23 contacts the first material tray 500 containing the cooked material to drive the first material tray 500 containing the cooked material to descend along the height of the machine table 10. Therefore, the first material tray 500 can be recycled, which simplifies the loading and unloading process to a certain extent and can improve the overall processing efficiency to a certain extent.

[0064] In some implementations, please refer to Figure 6 and Figure 7The translation module 21 includes a translation drive mechanism 212, a clamping mechanism 214, and a support plate 216. The support plate 216 is slidably mounted on the machine base 10, and the clamping mechanism 214 is mounted on the support plate 216. The clamping mechanism 214 is used to clamp and fix the first material tray 500 and to release the first material tray 500. The translation drive mechanism 212 is mounted on the machine base 10 and connected to the support plate 216. It is used to drive the support plate 216 to move the clamping mechanism 214 and the first material tray 500 from the loading position 1 to the unloading position 5, and to move the clamping mechanism 214 and the first material tray 500 from the unloading position 5 to the loading position 1.

[0065] Thus, through the cooperation between the translation drive mechanism 212, the clamping mechanism 214, the unloading lifting module 23 and the loading lifting module 30, the first material tray 500 can be moved from the loading position 1 to the unloading position 5.

[0066] Optionally, in one embodiment, the clamping mechanism 214 includes two clamping drive mechanisms 214a and two clamping members 214b. The support plate 216 has a through hole 216a communicating with the feed port 3. The two clamping drive mechanisms 214a are arranged on opposite sides of the through hole 216a along the length or width direction of the machine base 10. One clamping drive mechanism 214a is connected to one clamping member 214b. When the first material tray 500 is located at the feed port 3 of the loading position 1, the two clamping drive mechanisms 214a drive the two clamping members 214b to clamp and fix the first material tray 500. Optionally, the clamping drive mechanism 214a may include a cylinder, with one cylinder connected to one clamping member 214b. The number of clamping mechanisms 214 can be specifically limited according to actual conditions; this embodiment of the utility model does not specifically limit this. In one example, please refer to... Figure 7 There are two clamping mechanisms 214. One clamping mechanism 214 has two clamping drive mechanisms 214a respectively located on both sides of the support plate 216 near the through hole 216a along the X direction, and two clamping members 214b respectively located on both sides of the support plate 216 near the through hole 216a along the X direction. The other clamping mechanism 214 has two clamping drive mechanisms 214a respectively located on both sides of the support plate 216 near the through hole 216a along the Y direction, and two clamping members 214b respectively located on both sides of the support plate 216 near the through hole 216a along the Y direction.

[0067] After the raw materials in the first tray 500 are all picked up by the material gripping module 40, the translation drive mechanism 212 drives the support plate 216 to move, thereby moving the empty first tray 500 along the X+ direction to the material outlet 3 of the unloading position 5. The material gripping module 40 picks up the cooked materials, moves them to the unloading position 5, and places them in the first tray 500 located at the unloading position 5. Then, the clamping mechanism 214 releases the first tray 500 containing the cooked materials so that the first tray 500 containing the cooked materials is positioned on the unloading lifting module 23. The unloading lifting module 23 contacts the first tray 500 to drive the first tray 500 to descend along the Z- direction. Afterward, the translation drive mechanism 212 drives the support plate 216 and the clamping mechanism 214 to move from the unloading position 5 along the X- direction to the loading position 1 so that the clamping mechanism 214 can clamp and fix another first tray 500 containing multiple raw materials. Optionally, the translation drive mechanism 212 may include a servo motor.

[0068] In some embodiments, the support plate 216 is provided with a through hole 216a, and the unloading lifting module 23 includes an unloading drive mechanism 232 and an unloading tray 234. The unloading tray 234 is used to receive the first material tray 500 at the material passage 3. The unloading drive mechanism 232 is connected to the unloading tray 234 and is used to drive the unloading tray 234 to lower the empty first material tray 500 after the first material tray 500 is located at the material passage 3 and the clamping mechanism 214 releases the first material tray 500, so that the first material tray 500 passes through the through hole 216a and falls to the unloading position 5.

[0069] This improves the space utilization rate inside the automatic feeding and receiving equipment 100 to a certain extent.

[0070] Specifically, please combine Figure 4 and Figure 6 After the translation drive mechanism 212 drives the support plate 216 to move, thereby moving the empty first material tray 500 along the X+ direction to the material passage 3, the clamping mechanism 214 releases the first material tray 500 so that the first material tray 500 is located on the material unloading tray 234 of the unloading lifting module 23. Due to the design of the through hole 216a on the support plate 216, the unloading drive mechanism 232 can directly drive the material unloading tray 234 to move, thereby moving the first material tray 500 along the Z- direction, so that the first material tray 500 passes through the through hole 216a of the support plate 216 and descends to the unloading position 5. This avoids additional conveying space, making the various mechanisms more compact and improving the internal space utilization of the automatic feeding and receiving equipment 100 to a certain extent. Optionally, the unloading drive mechanism 232 may include an electric cylinder.

[0071] In some implementations, please refer to Figure 6The feeding lifting module 30 includes a feeding drive mechanism 32 and a feeding tray 34. The feeding tray 34 is used to carry the first material tray 500. The feeding drive mechanism 32 is connected to the feeding tray 34 and is used to drive the feeding tray 34 to lift the first material tray 500 containing multiple raw materials when the support plate 216 is in the feeding position 1, so that the first material tray 500 passes through the through hole 216a and rises to the feeding position 1.

[0072] In this way, multiple first material trays of 500 can be loaded quickly.

[0073] Alternatively, in one implementation, please combine Figure 4 and Figure 6 The loading tray 34 can hold multiple layers of first trays 500 containing various raw materials. The loading drive mechanism 32 can drive the loading tray 34 to move, causing the first trays 500 to move along the Z+ direction, so that the top layer of the first tray 500 passes through the through hole 216a of the support plate 216 and rises to the loading position 1. The clamping mechanism 214 can clamp and fix the top layer of the first tray 500. After all the raw materials in the first trays 500 are picked up by the material grabbing module 40, the translation module 21 and the unloading lifting module 23 work together to move the empty first trays 500 to the unloading position 5. Then, the translation drive mechanism 212 drives the support plate 216 and the clamping mechanism 214 back to the loading position 1. At this time, the loading drive mechanism 32 repeats the above process until all the first trays 500 on the loading tray 34 have moved to the unloading position 5, thereby realizing the rapid loading of the first trays 500. In one example, the loading tray 34 can hold 10 to 15 first trays 500. Optionally, the feeding drive mechanism 32 may include an electric cylinder.

[0074] Please combine Figure 7 The automatic feeding and receiving equipment 100 also includes a control module, and a detector 218 is provided on the support plate 216, such as... Figure 7 As shown, the control module is electrically connected to the detector 218 and the clamping mechanism 214. The detector 218 includes a light emitter and a light receiver. When the first tray 500 is not placed at the loading position 1, the light emitter continuously emits detection light, and the light receiver continuously receives the detection light. When the loading drive mechanism 32 drives the loading tray 34 to move, thereby moving the first tray 500 along the Z+ direction, when the first tray 500 passes through the through hole 216a and is located at the loading position 1, the detection light is blocked by the first tray 500. This prevents the light receiver from receiving the detection light and transmitting the light signal change to the control module. The control module determines that the first tray 500 is located at the loading position 1 based on the light signal change and controls the clamping mechanism 214 to clamp and fix the first tray 500.

[0075] The number of logs in detector 218 can be specifically limited according to actual conditions, and this utility model does not impose a specific limitation in this regard. In one example, please refer to... Figure 7 The carrier plate 216 is provided with four pairs of detectors 218. The light emitters and light receivers of two pairs of detectors 218 are respectively located on both sides of the carrier plate 216 near the through hole 216a along the X direction, and the emitters and light receivers of the other two pairs of detectors 218 are respectively located on both sides of the carrier plate 216 near the through hole 216a along the Y direction.

[0076] In some implementations, please refer to Figure 6 The feeding lifting module 60 includes a feeding lifting mechanism 61 and a feeding support 63. The feeding support 63 is located above the feeding line 200 and is used to support the second material tray 400. The feeding lifting mechanism 61 is located on one side of the feeding line 200 and is connected to the feeding support 63. The feeding lifting mechanism 61 is used to drive the feeding support 63 to drive the second material tray 400 down from the feeding position to the feeding line 200.

[0077] In this way, the initial position of the second material tray 400 on the feeding line 200 can be guaranteed to be relatively accurate to a certain extent.

[0078] Specifically, please combine Figure 5 and Figure 6 After the material gripping module 40 grips several raw materials and places them into the second material tray 400 located at the feeding position, the feeding lifting mechanism 61 drives the feeding carrier 63 to move, thereby moving the second material tray 400 containing the raw materials along the Z-direction. This causes the second material tray 400 to descend from the feeding position and contact the feeding assembly line 200, ensuring that the initial position of the second material tray 400 on the feeding assembly line 200 is relatively accurate for subsequent movement and preventing the second material tray 400 from shifting off the feeding assembly line 200 to a certain extent. The feeding assembly line 200 can then drive the second material tray 400 to the processing equipment 600 for processing. Optionally, the feeding lifting mechanism 61 may include a cylinder.

[0079] In some implementations, please refer to Figure 5 and Figure 11 The receiving lifting module 70 includes a receiving lifting mechanism 72 and a receiving support member 74. The receiving support member 74 is located above the receiving assembly line 300 and is used to support the second material tray 400. The receiving lifting mechanism 72 is located on one side of the receiving assembly line 300 and is connected to the receiving support member 74. The receiving lifting mechanism 72 is used to drive the receiving support member 74 to drive the second material tray 400 to rise from the receiving assembly line 300 along Z+ to the receiving position.

[0080] In this way, a stable and accurate gripping position can be provided for the material gripping module 40.

[0081] Specifically, please combine Figure 5 and Figure 11 When the receiving line 300 drives the second tray 400, which contains several pieces of clinker, to move onto the receiving support 74 of the receiving lifting mechanism 72, the receiving lifting mechanism 72 can drive the receiving support 74 to move, thereby moving the second tray 400 along the Z+ direction. This separates the second tray 400 from the receiving line 300 and raises it to the receiving position, providing a stable and accurate gripping position for the material gripping module 40. This ensures that the material gripping module 40 grips several pieces of clinker from the second tray 400 to the unloading position 5. Optionally, the receiving lifting mechanism 72 may include a cylinder.

[0082] In some implementations, please refer to Figure 11 The automatic feeding and receiving equipment 100 includes a blocking module 80, which is located on the receiving line 300. The blocking module 80 is used to separate two adjacent second material trays 400 on the receiving line 300.

[0083] This avoids multiple second material trays 400 from getting stuck on the receiving line 300.

[0084] Specifically, since the processing equipment 600 is typically equipped with an alarm mechanism throughout the processing, when material 1000 is not being processed, the processing equipment 600 may trigger an alarm, prompting the operator to pause the production line to process material 1000. This would interrupt the normal operation of the production line and affect the outflow frequency of the second material tray 400, potentially causing multiple second material trays 400 to flow into the feeding production line 200 at once, resulting in congestion on the feeding production line 200. Therefore, please consider... Figure 11 When multiple second material trays 400 containing several pieces of clinker are driven to the end 301 of the receiving line 300, a blocking module 80 is set to separate two adjacent second material trays 400. This can prevent multiple second material trays 400 from getting stuck on the receiving line 300, so that the second material trays 400 can enter the receiving carrier 74 of the receiving lifting mechanism 72 in sequence to complete the subsequent unloading.

[0085] In some embodiments, the blocking module 80 includes a first blocking drive mechanism 81, a second blocking drive mechanism 83, a first blocking member 85, and a second blocking member 87. The first blocking member 85 is disposed above the receiving assembly line 300, the first blocking drive mechanism 81 is connected to the first blocking member 85, the second blocking member 87 is disposed on one side of the receiving assembly line 300, and the second blocking drive mechanism 83 is connected to the second blocking member 87.

[0086] The first blocking drive mechanism 81 is used to drive the first blocking member 85 to enter into and exit the movement path of the second tray 400 in the receiving conveyor line 300. The second blocking drive mechanism 83 is used to drive the second blocking member 87 to enter into and exit the movement path of the second tray 400 in the receiving conveyor line 300. In the transmission direction of the receiving conveyor line 300, the first blocking member 85 is located downstream of the second blocking member 87, and the distance between the first blocking member 85 and the downstream end 301 of the receiving conveyor line 300 is greater than the distance between the first blocking member 85 and the second blocking member 87.

[0087] Multiple second material trays 400 are conveyed on the receiving line 300, which further avoids the jamming of multiple second material trays 400 on the receiving line 300.

[0088] Specifically, please combine Figure 11 When multiple second trays 400 containing several pieces of clinker are driven to the downstream end 301 by the receiving line 300, when one of the second trays 400 moves onto the receiving support 74 of the receiving lifting module 70, the first blocking drive mechanism 81 drives the first blocking member 85 to invade the movement path of another second tray 400 in the receiving line 300, and the second blocking drive mechanism 83 drives the second blocking member 87 to invade the movement path of a third second tray 400 in the receiving line 300. In the transmission direction of the receiving line 300, the first blocking member 85 is located downstream of the second blocking member 87, thereby separating two adjacent second trays 400 among the three second trays 400 near the downstream end 301, preventing multiple second trays 400 from getting stuck on the receiving line 300, so that the second trays 400 can enter the receiving support 74 in sequence to complete the subsequent unloading.

[0089] Since the distance between the first blocking member 85 and the downstream end 301 of the receiving line 300 is greater than the distance between the first blocking member 85 and the second blocking member 87, the spacing between two adjacent second trays 400 can be limited to a certain extent. This allows the first blocking member 85 to make the gap between the upstream second tray 400 and the second tray 400 larger when one of the second trays 400 moves onto the receiving carrier 74, so as to avoid interfering with the subsequent operation of the second tray 400 on the receiving carrier 74. The second blocking member 87 initially separates the two adjacent second trays 400 so that the second trays 400 can subsequently enter the receiving carrier 74 in sequence.

[0090] In some implementations, please refer to Figure 5 and Figure 9The second transfer module 50 includes a two-dimensional drive mechanism 52, a rotating mechanism 54, and a second gripping mechanism 56. The rotating mechanism 54 is mounted on the two-dimensional drive mechanism 52, and the second gripping mechanism 56 is mounted on the rotating mechanism 54. The second gripping mechanism 56 is used to grip the second material tray 400 at the receiving position. The two-dimensional drive mechanism 52 is used to drive the rotating mechanism 54 and the second gripping mechanism 56 to move along the X and Z directions, moving the second material tray 400 from the receiving position to the feeding position. The rotating mechanism 54 is used to drive the second gripping mechanism 56 to rotate the second material tray 400 gripped from the receiving position by 180 degrees, and the second gripping mechanism 56 is used to release the rotated second material tray 400 at the feeding position.

[0091] In this way, the placement direction of the second material tray 400 located at the feeding position can be adapted to the material gripping module 40 to grip several raw materials.

[0092] Specifically, please combine Figure 5 and Figure 9 When several pieces of clinker in the second tray 400 at the receiving position have been removed by one of the first gripping mechanisms 41, the two-dimensional drive mechanism 52 drives the second gripping mechanism 56 to move along the X and Z directions, so that the second gripping mechanism 56 grips the empty second tray 400. The rotating mechanism 54 is connected to the second gripping mechanism 56 to drive the second gripping mechanism 56 to rotate, thereby causing the gripped empty second tray 400 to rotate 180 degrees so that the placement direction of the second tray 400 is suitable for several pieces of raw material gripped by the other first gripping mechanism 41. Then, the two-dimensional drive mechanism 52 drives the rotating mechanism 54 and the second gripping mechanism 56 to move along the X and Z directions to the feeding position. The second gripping mechanism 56 releases the empty second tray 400 to the feeding position to load the several pieces of raw material gripped by the first gripping mechanism 41. Optionally, the two-dimensional drive mechanism 52 may include a servo slide and a lifting cylinder.

[0093] In some embodiments, the second gripping mechanism 56 includes a locking block 561, and a positioning block 401 is provided on the second tray 400. The positioning block 401 is provided with a positioning groove 401a. The second gripping mechanism 56 is used to drive the locking block 561 to engage in the positioning groove 401a so that the top surface of the locking block 561 abuts against the groove wall of the positioning groove 401a. In the direction in which the locking block 561 engages in the positioning groove 401a, the top surface of the locking block 561 is a downwardly inclined slope.

[0094] This makes the process of the second gripping mechanism 56 gripping and releasing the second material tray 400 relatively smooth to a certain extent.

[0095] Specifically, please combine Figure 9The second gripping mechanism 56 includes a second gripping drive and a locking block 561. The second gripping drive is connected to the locking block 561. The positioning block 401 of the second material tray 400 is provided with a positioning groove 401a that matches the shape of the locking block 561. The second gripping drive can drive the locking block 561 to move to engage with the positioning groove 401a and disengage from the positioning groove 401a, thereby realizing the gripping and release of the second material tray 400.

[0096] In one embodiment, the top surface of the locking block 561 is a downwardly inclined slope, and the groove wall of the positioning groove 401a is an inclined contact surface adapted to the slope of the locking block 561. When the second gripping drive drives the locking block 561 to engage and disengage from the positioning groove 401a, the locking block 561 is allowed to have a certain degree of deviation along the Z direction during oblique movement. After the slope of the locking block 561 contacts the groove wall of the positioning groove 401a, it will not be directly jammed. Instead, the lateral force will be decomposed into a component force along the slope through the slope, causing the locking block 561 to slide along the slope. This makes the process of the second gripping mechanism 56 gripping and releasing the second material tray 400 smoother to a certain extent.

[0097] The number of locking blocks 561 and positioning blocks 401 can be specifically limited according to the actual situation, and the embodiments of this utility model can be specifically limited according to the actual situation. In one example, there are two locking blocks 561 and two positioning blocks 401, and one locking block 561 is inserted into the positioning groove 401a opened in one positioning block 401.

[0098] In some implementations, please refer to Figure 4 and Figure 10 The automatic feeding and receiving equipment 100 includes a positioning module 90 located between the feeding position 1 and the feeding position. A material gripping module 40 is used to grip a quantity of raw material from the first tray 500 at the feeding position 1, adjust the arrangement of the raw material to suit the placement of the second tray 400, and place the adjusted raw material onto the positioning module 90. The positioning module 90 is used to adjust the distance between the raw materials. The material gripping module 40 is also used to grip the adjusted raw material and place it onto the second tray 400 at the feeding position.

[0099] In this way, precise positioning of several raw materials in the second material tray 400 can be achieved.

[0100] Specifically, after a certain amount of raw material is loaded into the second material tray 400 located at the feeding position, it will be driven by the feeding assembly line 200 to the processing equipment 600 for processing. To ensure processing accuracy, the position of the raw material in the second material tray 400 needs to be relatively precise. Therefore, please refer to... Figure 4 and Figure 11A positioning module 90 is set between the feeding position 1 and the feeding position. The positioning module 90 is used to adjust the distance between several raw materials picked up by the material grabbing module 40, so that the placement position of the several raw materials in the second material tray 400 located at the feeding position is more accurate after the distance is adjusted.

[0101] In some embodiments, the positioning module 90 includes a tray 92, a first side-pushing mechanism 96, and a second side-pushing mechanism 98. The tray 92 is mounted on the machine base 10 and supports a plurality of raw materials. The first side-pushing mechanism 96 and the second side-pushing mechanism 98 are located on adjacent sides of the tray 92. The first side-pushing mechanism 96 is used to push the plurality of raw materials in the X direction to align them in the Y direction. The second side-pushing mechanism 98 is used to push at least one raw material in the Y direction to adjust the distance between the plurality of raw materials, thereby achieving secondary positioning of the plurality of raw materials.

[0102] In this way, the distance between several raw materials can be adjusted more precisely.

[0103] Alternatively, in one implementation, please combine Figure 10 The first side-pushing mechanism 96 includes a first side-pushing drive mechanism 961 and a first side-pushing member 963. The first side-pushing drive mechanism 961 is disposed on the pallet 92 and connected to the first side-pushing member 963 to drive the first side-pushing member 963 to move along the X direction. The second side-pushing mechanism 98 includes a second side-pushing drive mechanism 981 and a second side-pushing member 983. The second side-pushing drive mechanism 981 is connected to the second side-pushing member 983 to drive the second side-pushing member 983 to move along the Y direction. After the material gripping module 40 changes the arrangement of two raw materials to be arranged along the X direction, and places them on the pallet 92, the first side-pushing drive mechanism 961 drives the first side-pushing member 963 to move along the X+ direction to push several raw materials against the abutment block 94 disposed on the pallet 92 opposite to the first side-pushing member 963, so that the several raw materials are aligned in the Y direction. Then, the second side push drive mechanism 981 drives the second side push member 983 to move to push at least one raw material along the Y direction to approach an adjacent raw material, thereby adjusting the distance between several raw materials to a certain extent and realizing the secondary positioning of several raw materials.

[0104] In summary, the loading and unloading process of the automatic feeding and receiving equipment 100 according to this utility model embodiment is as follows: (1) The operator places 10 to 15 first material trays 500 containing 2×5 raw materials on the feeding tray 34 of the feeding lifting module 30 through the window 12 of the automatic feeding and receiving equipment 100; (2) The loading and lifting module 30 drives multiple first material trays 500 to move along the Z+ direction and makes the topmost first material tray 500 pass through the through hole 216a of the bearing plate 216 to move to the loading position 1. The clamping mechanism 214 of the first transfer module 20 clamps and fixes the first material tray 500. (3) One of the first gripping mechanisms 41 of the material gripping module 40 grips two raw materials from the first material tray 500 located in the feeding position 1 and adjusts the arrangement of the two raw materials. Then, it releases the adjusted two raw materials onto the positioning module 90, and the positioning module 90 further adjusts the distance between the two raw materials. (4) The receiving lifting module 70 drives the second material tray 400, which is loaded with two clinker on the receiving assembly line 300, to move to the receiving position. Another first gripping mechanism 41 grips the two clinker in the second material tray 400 and adjusts the arrangement of the two clinker. Then, the adjusted two clinker are released to the first material tray 500 located at the unloading position 5. (5) The second transfer module 50 grabs the empty second tray from the receiving position and drives the second tray to rotate 180 degrees, and drives the empty second tray 400 to move from the receiving position to the feeding position; (6) One of the first gripping mechanisms 41 grips two raw materials after the distance is adjusted and moves them to the feeding position, releases the two raw materials to the second material tray 400 at the feeding position, and the feeding lifting module 60 drives the second material tray 400 containing the two raw materials to move to the feeding production line 200. (7) After one of the first gripping mechanisms 41 grips the raw material 500 from the first material tray 500 located at the loading position 1 5 times, the first transfer module 20 drives the empty first material tray 500 to the unloading position 5, the clamping mechanism 214 releases the empty first material tray 500 onto the unloading tray 234 of the unloading lifting module 23, and the first transfer module 20 drives the clamping mechanism 214 to move back to the loading position 1 to clamp the next first material tray 500 containing 2×5 raw materials; (8) Repeat the above operation until all the raw materials in the first material trays 500 placed on the loading tray 34 are converted into cooked materials in the first material trays 500 of the unloading position 5. The unloading lifting module 23 drives the first material trays 500 containing cooked materials to descend to the window 12. The operator can take out all the first material trays 500 containing 2×5 pieces of cooked materials placed on the unloading tray 234 through the window 12.

[0105] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0106] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automatic feeding and collecting device, characterized in that, include: The machine has a loading position and a unloading position spaced apart on one side, and a feeding position and a receiving position spaced apart on the other side. The loading position corresponds to the feeding position, and the unloading position corresponds to the receiving position. A feeding line and a receiving line are provided below the machine. The first transfer module is disposed on the machine platform and located between the loading position and the unloading position, and is used to carry the first material tray located at the loading position and drive the first material tray to move between the loading position and the unloading position along the length direction of the machine platform; The second transfer module is disposed on the machine platform and located between the feeding position and the receiving position, and is used to grab the second material tray located at the feeding position and drive the second material tray to move between the feeding position and the receiving position along the length direction of the machine platform; The material grabbing module is located above the machine and is used to grab two horizontally arranged raw materials from the first material tray located at the feeding position and containing a number of raw materials, adjust the two horizontally arranged raw materials to be vertically arranged, and place the two vertically arranged raw materials on the empty second material tray located at the feeding position. A feeding lifting module is located on one side of the feeding assembly line and below the feeding position, and is used to drive the second material tray, which is located at the feeding position and contains the plurality of raw materials, to move along the height direction of the machine to the feeding assembly line. The receiving lifting module is located on one side of the receiving production line and below the receiving position, and is spaced apart from the feeding lifting module. It is used to drive the second material tray, which is loaded with several pieces of cooked material on the receiving production line, to move along the height direction of the machine to the receiving position. The material grabbing module is also used to sequentially grab two vertically arranged clinker from the second material tray located at the receiving position, adjust the two vertically arranged clinker to be arranged horizontally, and place the two horizontally arranged clinker on the empty first material tray located at the unloading position.

2. The automatic feeding and receiving equipment according to claim 1, characterized in that, The material gripping module includes two first gripping mechanisms that are spaced apart along the length of the machine. Both of the first gripping mechanisms include a three-dimensional drive mechanism, a first gripper, a second gripper, and an adjustment mechanism. The three-dimensional drive mechanism is located above the machine platform. The first gripper and the second gripper are connected to the three-dimensional drive mechanism to grip two raw materials or two cooked materials. The three-dimensional drive mechanism drives the first gripper and the second gripper to move along the length, width, and height directions of the machine platform. The adjustment mechanism is connected to the second gripper and drives the second gripper to move relative to the first gripper, thereby adjusting the two horizontally arranged raw materials gripped by the first gripper and the second gripper to be vertically arranged, or adjusting the two vertically arranged clinker gripped by the first gripper and the second gripper to be horizontally arranged.

3. The automatic feeding and collecting equipment according to claim 2, characterized in that, The adjustment mechanism includes an adjustment drive, an adjustment slide rail, and an adjustment slider. The adjustment slide rail is inclined relative to the first gripper and connected to the three-dimensional drive mechanism. The adjustment drive is mounted on the adjustment slide rail. The adjustment slider is slidably connected to the adjustment slide rail and connected to the adjustment drive. The second gripper is connected to the adjustment slider. The adjustment drive drives the adjustment slider and the second gripper to move along the adjustment slide rail, thereby adjusting the two horizontally arranged raw materials gripped by the first gripper and the second gripper to a vertical arrangement, or adjusting the two vertically arranged clinker materials gripped by the first gripper and the second gripper to a horizontal arrangement.

4. The automatic feeding and collecting equipment according to claim 2, characterized in that, The first gripping mechanism includes a first lifting mechanism connected to the first gripper. Before the second gripper moves relative to the first gripper, the first lifting mechanism drives the first gripper to move away from the three-dimensional drive mechanism along the height direction of the machine platform, so that the first gripper and the second gripper have a height difference in the height direction of the machine platform. After the second gripper moves relative to the first gripper, the first lifting mechanism drives the first gripper to move closer to the three-dimensional drive mechanism along the height direction of the machine platform, so that the first gripper resets.

5. The automatic feeding and collecting equipment according to claim 1, characterized in that, The first transfer module includes a translation module, a loading and unloading lifting module, and an unloading lifting module; The translation module is mounted on the machine base. The translation module includes a translation drive mechanism, a clamping mechanism, and a support plate. The support plate is slidably mounted on the machine base and has a through hole for the first material tray to pass through. The clamping mechanism is mounted on the support plate and clamps and fixes the first material tray or releases the first material tray. The translation drive mechanism is connected to the support plate and drives the support plate to move the clamping mechanism and the first material tray from the loading position to the unloading position; The feeding lifting module is located below the feeding position and includes a feeding drive mechanism and a feeding tray. The feeding tray carries the first material tray containing the plurality of raw materials. The feeding drive mechanism is connected to the feeding tray. When the support plate is located at the feeding position, the feeding drive mechanism drives the feeding tray to move the first material tray containing the plurality of raw materials closer to the support plate along the height direction of the machine platform, so that the first material tray moves through the machine platform and the through hole to the support plate. The material feeding and lifting module is located below the material feeding position and includes a material feeding drive mechanism and a material feeding tray. The material feeding tray carries the empty first material tray located at the material feeding position. The material feeding drive mechanism is connected to the material feeding tray. When the support plate is located at the material feeding position, the material feeding drive mechanism drives the material feeding tray to move closer to the support plate along the height direction of the machine platform to receive the empty first material tray released by the clamping mechanism, and drives the material feeding tray to move the first material tray containing the plurality of clinker materials away from the machine platform along the height direction of the machine platform.

6. The automatic feeding and receiving equipment according to claim 1, characterized in that, The feeding lifting module includes a feeding lifting mechanism and a feeding carrier. The feeding carrier is located above the feeding production line and carries the second material tray. The feeding lifting mechanism is located on one side of the feeding production line and is connected to the feeding carrier. The feeding lifting mechanism drives the feeding carrier to lower the second material tray containing the plurality of raw materials from the feeding position onto the feeding production line.

7. The automatic feeding and collecting equipment according to claim 1, characterized in that, The receiving lifting module includes a receiving lifting mechanism and a receiving carrier. The receiving carrier is located above the receiving production line and is used to carry the second material tray. The receiving lifting mechanism is located on one side of the receiving production line and is connected to the receiving carrier. The receiving lifting mechanism is used to drive the receiving carrier to lift the second material tray containing the plurality of clinker from the receiving production line to the receiving position.

8. The automatic feeding and receiving equipment according to claim 1, characterized in that, The automatic feeding and receiving equipment also includes a blocking module, which is disposed on the receiving conveyor line and spaced apart from the receiving lifting module. The blocking module includes a first blocking drive mechanism, a second blocking drive mechanism, a first blocking member, and a second blocking member. The first blocking member and the second blocking member are spaced apart along the transmission direction of the receiving conveyor line. A plurality of second trays are conveyed on the receiving conveyor line. The first blocking drive mechanism is connected to the first blocking member to drive the first blocking member to move toward the corresponding second tray. The second blocking drive mechanism is connected to the second blocking member to drive the second blocking member to move toward the corresponding second tray. The first blocking member and the second blocking member cooperate to separate two adjacent second trays on the receiving conveyor line.

9. The automatic feeding and collecting equipment according to claim 1, characterized in that, The second transfer module includes a two-dimensional drive mechanism, a rotation mechanism, and a second gripping mechanism. The two-dimensional drive mechanism is mounted on the machine platform. The rotation mechanism is connected to the two-dimensional drive mechanism. The second gripping mechanism is connected to the rotation mechanism and grips the empty second material tray located at the receiving position. The two-dimensional drive mechanism is used to drive the rotation mechanism and the second gripping mechanism to move along the length direction and the height direction of the machine platform, so that the empty second material tray moves from the receiving position to the feeding position. The rotation mechanism is used to drive the second gripping mechanism to rotate the empty second material tray.

10. The automatic feeding and receiving equipment according to claim 1, characterized in that, The automatic feeding and receiving equipment also includes a positioning module disposed on the machine platform and located between the feeding position and the dispensing position; The positioning module includes a tray, a first side-pushing mechanism, and a second side-pushing mechanism. The tray supports the raw materials after their arrangement has been adjusted by the material gripping module. The first side-pushing mechanism and the second side-pushing mechanism are located on adjacent sides of the pallet. The first side-pushing mechanism and the second side-pushing mechanism respectively push the several raw materials to move along the length direction and the width direction of the machine platform to position the several raw materials.

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