Feeding and discharging device and processing equipment

Abstract

The application discloses a feeding and discharging device and a processing equipment. The feeding and discharging device comprises a clamping mechanism and two material carrying mechanisms. The clamping mechanism comprises a manipulator, a mounting piece, a first clamping jaw and a second clamping jaw. The first clamping jaw and the second clamping jaw are distributed on the mounting piece at intervals. The two material carrying mechanisms are used for providing materials to the first clamping jaw and carrying the materials released by the second clamping jaw. The first clamping jaw and the second clamping jaw are arranged on the mounting piece at intervals, so that the positions of the first clamping jaw and the second clamping jaw can be switched when the mounting piece is driven to move by the manipulator, and the functions of simultaneously clamping the processed materials and the materials to be processed are achieved. The two material carrying mechanisms respectively provide the materials to be processed and carry the processed materials to the clamping mechanism at specified heights, which helps to improve the accuracy of the clamping mechanism in obtaining or releasing the materials.

Description

Technical Field

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

[0002] Robotic arms are often used for loading and unloading materials during product processing. However, typical robotic arms can only hold the material to be processed and the processed material separately, resulting in low efficiency in loading and unloading. Utility Model Content

[0003] In view of this, this application provides a loading and unloading device to solve the problem that a robotic arm can only hold the material to be processed and the processed material separately.

[0004] One embodiment of this application provides a loading and unloading device, including a clamping mechanism and two loading mechanisms. The clamping mechanism includes a robotic arm, a mounting component, a first gripper, and a second gripper. The first and second grippers are spaced apart on the mounting component. The first gripper is used to clamp material to be processed, and the second gripper is used to clamp processed material. The mounting component is connected to the robotic arm, which drives the mounting component to move, switching the positions of the first and second grippers. The robotic arm also drives the mounting component to move the first and second grippers, so that the first gripper clamps or releases material to be processed, or the second gripper clamps or releases processed material. The two loading mechanisms include one mechanism for supplying material to be processed to the first gripper at a specified height, and the other mechanism for carrying processed material released by the second gripper at a specified height.

[0005] In the above embodiments, the first and second grippers are spaced apart on the mounting component so that when the robot drives the mounting component to move, the positions of the first and second grippers can be switched, achieving the function of simultaneously gripping the processed material and the material to be processed. By having two material-carrying mechanisms respectively provide the material to be processed and the processed material to the gripping mechanism at a specified height, it helps to improve the accuracy of the gripping mechanism in acquiring or releasing materials.

[0006] In some embodiments, the mounting member includes two opposing ends, which are rotatably connected to a robotic arm. A first gripper and a second gripper are respectively connected to the two ends of the mounting member. The gripping mechanism also includes two first detectors, each located at one end of the mounting member. One first detector detects the working state of the first gripper and sends a first feedback signal to the robotic arm, indicating that the first gripper is holding material. The other first detector detects the working state of the second gripper and sends a second feedback signal to the robotic arm, indicating that the second gripper is holding material. The mounting member is rotatably connected to the robotic arm, allowing the positions of the first and second grippers to be switched by rotation. Furthermore, the first detectors detect the working state of the corresponding grippers to improve the stability of material gripping by the first and second grippers.

[0007] In some embodiments, each material loading mechanism includes a lifting drive assembly, a platform, and a material loading detector. The lifting drive assembly has a material handling area on one side, used for the first gripper to pick up material or the second gripper to release material. The platform is used to carry material and is connected to the lifting drive assembly, which drives the platform to move up and down relative to the material handling area. The material loading detector detects the material handling area and sends a feedback signal to the lifting drive assembly. By driving the platform up and down through the lifting drive assembly, the platform can be used to feed or carry material in the material handling area. Simultaneously, the material loading detector detects the material handling area and sends a feedback signal to the lifting drive assembly to improve the accuracy of the lifting drive assembly in driving the platform up and down.

[0008] In some embodiments, each loading mechanism further includes a limiting component for limiting the material on the platform. Limiting the material by the limiting component improves the stability of the platform in carrying the material.

[0009] In some embodiments, the limiting assembly includes multiple limiting rods arranged in a ring. These limiting rods and the platform together enclose a receiving space for accommodating materials. The limiting rods are capable of horizontal movement relative to the platform to adjust the size of the receiving space. By moving the limiting rods to adjust the size of the receiving space, the platform can accommodate materials of different sizes.

[0010] In some embodiments, when the platform of the loading mechanism is used to carry the material to be processed, the loading detector is also used to send a material shortage feedback signal to the robot. By sending a material shortage feedback signal to the robot when the loading detector detects that there is no material on the platform, the robot can automatically stop, which helps to improve the automation function of the loading and unloading device.

[0011] One embodiment of this application also provides a processing device, including a processing unit, a fixing device, and a loading / unloading device as described above. The loading / unloading device is used to release or pick up materials from the fixing device, and the fixing device is used to fix the materials for processing by the processing unit. During operation, the loading / unloading device loads the materials, the fixing device fixes the materials, and the processing unit processes the materials, thereby achieving fully automatic processing of the materials.

[0012] In some embodiments, the fixing device includes a first limiting block, a second limiting block, a first pressing member, and a second pressing member. The first limiting block, the second limiting block, the first pressing member, and the second pressing member enclose a fixing area for accommodating material. The first pressing member and the first limiting block are disposed opposite to each other, with the first pressing member pressing the material against the first limiting block. The second pressing member and the second limiting block are disposed opposite to each other, with the second pressing member pressing the material against the second limiting block. The direction in which the first pressing member and the first limiting block are disposed opposite to each other is perpendicular to the direction in which the second pressing member and the second limiting block are disposed opposite to each other. By acting on the material in different directions, the stability of the fixing device in fixing the material is improved.

[0013] In some embodiments, the second pressing member has an inclined surface. The fixing device further includes a fixed driver and a roller. The roller is rotatably connected to the first pressing member and extends towards the second pressing member on the inclined surface relative to the first pressing member. The fixed driver is connected to the first pressing member and is used to drive the first pressing member to move closer to the first limiting block, and simultaneously drive the roller to move. The roller acts on the inclined surface towards the second limiting member, and the second pressing member moves closer to the second limiting block under the action of the roller. By using a roller and an inclined surface in combination, the effect of a fixed driver driving the movement of the first and second pressing members is achieved.

[0014] In some embodiments, the processing equipment includes a second detector for detecting material on the fixture and sending a third feedback signal to the fixture. And / or the second detector for detecting material on the fixture and sending a fourth feedback signal to the processing equipment. Detecting material using the second detector enables the fixture and processing equipment to operate automatically, thereby improving the accuracy of material processing by the processing equipment. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a loading and unloading device according to an embodiment of this application.

[0016] Figure 2 for Figure 1 A schematic diagram of the working state of the fixed device in the diagram.

[0017] Figure 3 This is a side view of the loading and unloading device in operation according to an embodiment of this application.

[0018] Figure 4 for Figure 3 A schematic diagram of the working state of part of the loading and unloading device.

[0019] Figure 5 for Figure 3 A schematic diagram of the working state of one of the material loading mechanisms.

[0020] Explanation of main component symbols 100. Processing equipment; 10. Loading and unloading device; 11. Clamping mechanism; 111. Robotic arm; 112. Mounting component; 113. First gripper; 114. Second gripper; 115. First detector; 12. Loading mechanism; 120. Material handling area; 121. Lifting drive assembly; 122. Platform; 1221. Through hole; 123. Loading detector; 124. Limiting assembly; 1241. Limiting rod; 125. Accommodation space; 126. Mounting platform; 20. Processing device; 21. Processing area; 30. Frame; 31. Window; 40. Fixing device; 41. Fixing area; 42. First limiting block; 43. Second limiting block; 44. First pressing component; 45. Second pressing component; 451. Inclined surface; 46. Fixed driver; 47. Roller; 48. Support part; 50. Second detector; 60. Material. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0022] The terms “first”, “second”, etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implying the quantity, specific order, or primary and secondary relationship of the indicated technical features.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0024] One embodiment of this application provides a loading and unloading device, including a clamping mechanism and two loading mechanisms. The clamping mechanism includes a robotic arm, a mounting component, a first gripper, and a second gripper. The first and second grippers are spaced apart on the mounting component. The first gripper is used to clamp the material to be processed, and the second gripper is used to clamp the processed material. The mounting component is connected to the robotic arm, which drives the mounting component to move, switching the positions of the first and second grippers. The robotic arm also drives the mounting component to move the first and second grippers, so that the first gripper clamps or releases the corresponding material, or the second gripper clamps or releases the corresponding material. The two loading mechanisms include one loading mechanism for supplying the material to be processed to the first gripper at a specified height, and the other loading mechanism for carrying the processed material released by the second gripper at a specified height.

[0025] In the above embodiments, the first and second grippers are spaced apart on the mounting component so that when the robot drives the mounting component to move, the positions of the first and second grippers can be switched, achieving the function of simultaneously gripping the processed material and the material to be processed. By having two material-carrying mechanisms respectively provide the material to be processed and the processed material to the gripping mechanism at a specified height, it helps to improve the accuracy of the gripping mechanism in acquiring or releasing materials.

[0026] Some embodiments of this application will now be described with reference to the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0027] Please see Figure 1 The processing equipment 100 includes a loading / unloading device 10 and a processing device 20. A processing area 21 is provided on one side of the processing device 20. During operation, the loading / unloading device 10 loads and unloads materials towards the processing area 21 of the processing device 20, so that the processing device 20 can handle the material 60 (see [reference]). Figure 2 The equipment is used to process materials, enabling automatic processing of 60 parts of the material from 100 parts of the processing equipment.

[0028] In some embodiments, the processing equipment 100 is a CNC machine tool, and the processing device 20 is a spindle system corresponding to different CNC machining types.

[0029] In some embodiments, please refer to Figure 1 The processing equipment 100 also includes a frame 30, a processing device 20 is located inside the frame 30, and a loading and unloading device 10 is located outside the frame 30. A window 31 is provided on the side of the frame 30 facing the loading and unloading device 10 so that the loading and unloading device 10 can load and unload the processing device 20.

[0030] In some embodiments, please refer to Figure 1 and Figure 2The loading / unloading device 10 also includes a fixing device 40. The loading / unloading device 10 is used to release or retrieve material 60 from the fixing device 40, which fixes the material 60 for processing by the processing device 20. For example, the fixing device 40 is located in the processing area 21 and has a fixing area 41 for accommodating the material 60. During operation, the loading / unloading device 10 loads the material 60 into the fixing area 41 to fix it, thereby improving the accuracy of processing by the processing device 20. After processing, the fixing device 40 releases the material 60, the loading / unloading device 10 retrieves the processed material 60 from the fixing area 41, and then releases the material 60 to be processed into the fixing area 41 of the fixing device 40.

[0031] In some embodiments, please refer to Figure 2 The processing equipment 100 also includes a second detector 50, which detects the material 60 on the fixing device 40 and sends a third feedback signal to the fixing device 40, wherein the third feedback signal indicates that there is material 60 in the fixing area 41. For example, when the loading and unloading device 10 releases the material 60 to the fixing device 40, the second detector 50 detects the material 60 and sends a third feedback signal to the fixing device 40 so that the fixing device 40 fixes the material 60, thereby improving the automation function of the processing equipment 100.

[0032] And / or, the second detector 50 is used to detect the material 60 on the fixing device 40 and send a fourth feedback signal to the processing device 20, wherein the fourth feedback signal indicates that there is material 60 in the fixing area 41. For example, when the loading / unloading device 10 releases the material 60 to the fixing device 40, the second detector 50 detects the material 60 and sends a fourth feedback signal to the processing device 20, so that the processing device 20 processes the material 60 fixed on the fixing device 40, thereby improving the automation function of the processing equipment 100.

[0033] In some embodiments, please refer to Figure 2 The fixing device 40 includes a first limiting block 42, a second limiting block 43, a first pressing member 44, and a second pressing member 45. The first limiting block 42, the second limiting block 43, the first pressing member 44, and the second pressing member 45 enclose a fixing area 41. The first pressing member 44 and the first limiting block 42 are arranged opposite to each other, and the second pressing member 45 and the second limiting block 43 are arranged opposite to each other. The direction in which the first pressing member 44 and the first limiting block 42 are arranged opposite to each other is perpendicular to the direction in which the second pressing member 45 and the second limiting block 43 are arranged opposite to each other.

[0034] For example, the first pressing member 44 and the first limiting block 42 are positioned relative to each other along the X-axis, and the second pressing member 45 and the second limiting block 43 are positioned relative to each other along the Y-axis, with the X-axis perpendicular to the Y-axis. When the loading / unloading device 10 loads the material 60 into the fixed area 41, the first pressing member 44 presses the material 60 against the first limiting block 42, so that the first pressing member 44 and the first limiting block 42 together fix the material 60 along the X-axis. The second pressing member 45 presses the material 60 against the second limiting block 43, so that the second pressing member 45 and the second limiting block 43 together fix the material 60 along the Y-axis, thereby achieving the effect of fixing the material 60 in multiple directions, which helps to improve the accuracy of fixing the material 60 by the fixing device 40.

[0035] In some embodiments, the X-axis and Y-axis are parallel to the horizontal plane, and the Z-axis is parallel to the direction of gravity.

[0036] In some embodiments, please refer to Figure 2 The second pressing member 45 is provided with an inclined surface 451. The fixing device 40 also includes a fixing driver 46 and a roller 47, the roller 47 being rotatably connected to the first pressing member 44 and extending relative to the first pressing member 44 toward the inclined surface 451 of the second pressing member 45, and the fixing driver 46 being connected to the first pressing member 44.

[0037] Specifically, the inclined surface 451 is positioned towards the first pressing member 44 along the X-axis and away from the second limiting block 43 along the Y-axis. When it is necessary to fix the material 60, the fixed driver 46 drives the first pressing member 44 to move closer to the first limiting block 42, and simultaneously drives the roller 47 to move. The roller 47 acts on the inclined surface 451 towards the second limiting block 43, and applies a force along the Y-axis to the inclined surface 451. The second pressing member 45 moves closer to the second limiting block 43 under the action of the roller 47. By adopting a linkage method in which the roller 47 is driven by the first pressing member 44 and cooperates with the inclined surface 451, the effect of one fixed driver 46 driving the first pressing member 44 and the second pressing member 45 to move is achieved, which helps to reduce the number of driving components.

[0038] Furthermore, the fixing device 40 also includes a reset member (not shown). When it is necessary to release the material 60, the fixing driver 46 drives the first pressing member 44 to reset and moves, and the roller 47 removes the force applied to the inclined surface 451. The second pressing member 45 moves and resets under the elastic reset action of the reset member, thereby improving the automation function of the fixing device 40.

[0039] In other embodiments, there are two fixed drivers 46. One fixed driver 46 is connected to the first pressing member 44 and drives the first pressing member 44 to move along the X-axis direction. The other fixed driver 46 is connected to the second pressing member 45 and drives the second pressing member 45 to move along the Y-axis direction, so that the first pressing member 44 and the second pressing member 45 act on the material 60 in different directions respectively.

[0040] In some embodiments, please refer to Figure 2 At least one of the first pressing member 44 and the first limiting block 42 is provided with a support portion 48. The support portion 48 of the first pressing member 44 is located on the side of the first pressing member 44 facing the first limiting block 42, and the support portion 48 of the first limiting block 42 is located on the side of the first limiting block 42 facing the first pressing member 44. The fixing area 41 is located above the support portion 48. During operation, the loading and unloading device 10 releases the material 60 onto the support portion 48 so that the support portion 48 carries the material 60.

[0041] In some embodiments, when the second pressing member 45 is provided with an inclined surface 451, the second limiting block 43 is provided on the support portion 48, and the second pressing member 45 is slidably connected to the support portion 48.

[0042] In other embodiments, the fixing device 40 further includes a support block (not shown), with a first limiting block 42, a second limiting block 43, a first pressing member 44, and a second pressing member 45 surrounding the support block. The first pressing member 44 and the second pressing member 45 are respectively movable relative to the support block, and the fixing area 41 is located above the support block. During operation, the loading and unloading device 10 releases the material 60 onto the support block so that the support block carries the material 60.

[0043] Furthermore, when the second pressing member 45 is provided with an inclined surface 451, the second limiting block 43 is provided on the support block, and the second pressing member 45 is slidably connected to the support block.

[0044] In some embodiments, please refer to Figure 3 and Figure 4The loading and unloading device 10 includes a clamping mechanism 11 and two loading mechanisms 12. The clamping mechanism 11 includes a robotic arm 111, a mounting member 112, a first gripper 113, and a second gripper 114. The first gripper 113 and the second gripper 114 are spaced apart from each other on the mounting member 112, which is connected to the robotic arm 111. For example, one loading mechanism 12 (hereinafter referred to as the first loading mechanism 12 for ease of distinction) carries the material 60 to be processed, and the other loading mechanism 12 (hereinafter referred to as the second loading mechanism 12 for ease of distinction) carries the processed material 60. During the loading and unloading process of the fixed device 40, the robot arm 111 drives the mounting part 112 to move to switch the positions of the first gripper 113 and the second gripper 114. This allows the first gripper 113 to align with the fixed area 41 and release the material 60 without changing the position of the robot arm 111. Thus, during the loading and unloading process, the loading and unloading device 10 can simultaneously hold the processed material 60 and the material 60 to be processed. Compared with the general method of the robot arm 111 first removing the processed material 60 and then picking up the material 60 to be processed for loading and unloading, this method helps to reduce the number of steps that the robot arm 111 moves.

[0045] During operation, the robotic arm 111 moves the mounting component 112 closer to the first loading mechanism 12, causing the first gripper 113 to hold the material 60 to be processed. The robotic arm 111 then moves the mounting component 112 closer to the fixed area 41. Once the mounting component 112 is close to the fixed area 41, the second gripper 114 holds the processed material 60. After the second gripper 114 holds the material 60, the robotic arm 111 drives the mounting component 112 to switch the positions of the first gripper 113 and the second gripper 114, causing the first gripper 113 to release the material 60 into the fixed area 41, thus completing the loading and unloading operation of the fixed device 40. After the first gripper 113 releases the material 60 into the fixed area 41, the robotic arm 111 moves the mounting component 112 closer to the second loading mechanism 12, causing the second gripper 114 to release the processed material 60. Finally, the robotic arm 111 moves the mounting component 112 closer to the first material loading mechanism 12 so that the first gripper 113 clamps the material 60 to be processed, and this cycle continues.

[0046] In some embodiments, please refer to Figure 4 The mounting component 112 includes two opposing ends, which are rotatably connected to the robotic arm 111. The first gripper 113 and the second gripper 114 are respectively connected to the two ends of the mounting component 112. By driving the mounting component 112 to rotate 180° through the robotic arm 111, the position of the first gripper 113 and the second gripper 114 can be switched.

[0047] In other embodiments, the mounting member 112 is slidably connected to the robotic arm 111, and the first gripper 113 and the second gripper 114 are respectively connected to both ends of the mounting member 112. During operation, the robotic arm 111 drives the mounting member 112 to move, and simultaneously drives the first gripper 113 and the second gripper 114 to move, so as to switch the positions of the first gripper 113 and the second gripper 114 and align the first gripper 113 or the second gripper 114 with the fixed area 41, so that the first gripper 113 releases the material 60 into the fixed area 41 or the second gripper 114 picks up the material 60 in the fixed area 41 without moving the position of the robotic arm 111.

[0048] In some embodiments, please refer to Figure 4 The clamping mechanism 11 also includes two first detectors 115, which are respectively disposed at both ends of the mounting member 112. For example, one of the first detectors 115 (hereinafter referred to as A for ease of explanation) sends a detection signal toward the first gripper 113 to detect the working state of the first gripper 113 and send a first feedback signal to the robot arm 111, and the other first detector 115 (hereinafter referred to as B for ease of explanation) sends a detection signal toward the second gripper 114 to detect the working state of the second gripper 114 and send a second feedback signal to the robot arm 111. The first feedback signal indicates that the first gripper 113 is clamping the material 60, and the second feedback signal indicates that the second gripper 114 is clamping the material 60.

[0049] During operation, the first detector 115A, corresponding to the first gripper 113, detects the working status of the first gripper 113. When the first detector 115A detects that the first gripper 113 is holding material 60 in the first loading mechanism 12, the first detector 115A sends a first feedback signal to the robot arm 111, causing the robot arm 111 to drive the mounting member 112 and move the first gripper 113 and the second gripper 114 toward the fixed area 41. The first detector 115B, corresponding to the second gripper 114, detects the working status of the second gripper 114. When the first detector 115B detects that the second gripper 114 has acquired material 60 in the fixed area 41, the first detector 115B sends a second feedback signal to the robot arm 111, causing the robot arm 111 to drive the mounting member 112 to rotate and switch the positions of the first gripper 113 and the second gripper 114. The two first detectors 115 detect the working status of the corresponding grippers and send feedback signals to the robot arm 111 respectively, so as to improve the automation function of the robot arm 111. At the same time, it can also reduce the risk of the robot arm 111 driving the mounting part 112 to move when the first gripper 113 or the second gripper 114 is holding the material 60, which helps to improve the stability of the first gripper 113 and the second gripper 114 holding the material 60.

[0050] In some embodiments, one of the two loading mechanisms 12 provides the material 60 to be processed to the second gripper 114 at a specified height, and the other loading mechanism 12 carries the processed material 60 released by the second gripper 114 at a specified height. For example, the first loading mechanism 12 carries the material 60 to a specified height. Each time the first gripper 113 needs to retrieve the material 60, the robot arm 111 drives the mounting member 112 and the first gripper 113 to move to a specified position, so that the first gripper 113 retrieves the material 60 from the first loading mechanism 12 at the same position. Similarly, the second loading mechanism 12 carries the material 60 at a specified height. Each time the second gripper 114 needs to release the material 60, the robot arm 111 drives the mounting member 112 and the second gripper 114 to move to a specified position, so that the second gripper 114 releases the material 60 onto the second loading mechanism 12 at the same position. By using two material-carrying mechanisms 12 to provide the material 60 to be processed and the material 60 that has been processed to the clamping mechanism 11 at a specified height, the robot arm 111 can drive the second gripper 114 to move to the same position to release the material 60 or drive the first gripper 113 to move to the same position to acquire the material 60, which helps to improve the accuracy of the clamping mechanism 11 in acquiring or releasing the material 60.

[0051] In some embodiments, please refer to Figure 5Each loading mechanism 12 includes a lifting drive assembly 121, a platform 122, and a loading detector 123. A picking and placing area 120 is provided on one side of the lifting drive assembly 121, and the loading detector 123 is positioned facing the picking and placing area 120. During operation, the platform 122 can hold stacked materials 60. When the first gripper 113 needs to hold material 60, the lifting drive assembly 121 of the first loading mechanism 12 drives the platform 122 to rise and move synchronously, moving the stacked materials 60 until the loading detector 123 detects that the top layer of material 60 on the platform 122 is located in the picking and placing area 120 (i.e., the loading detector 123 detects an obstacle in the picking and placing area 120 of the first loading mechanism 12). The loading detector 123 then sends a feedback signal to stop the lifting drive assembly 121, thus achieving the effect of the robotic arm 111 moving the first gripper 113 to the picking and placing area 120 to obtain a piece of material 60. Similarly, when the second gripper 114 needs to release material 60, the lifting drive component 121 of the second loading mechanism 12 drives the platform 122 to move downward until the loading detector 123 detects that the platform 122 or the top layer of material 60 on the platform 122 has moved out of the picking and placing area 120 (that is, the loading detector 123 detects that there are no obstacles in the picking and placing area 120 of the second loading mechanism 12). The loading detector 123 sends a feedback signal to stop the lifting drive component 121, so as to achieve the effect of the robot arm 111 driving the second gripper 114 to move to the picking and placing area 120 to release a material 60. Thus, the robot arm 111 can drive the first gripper 113 to the same position to pick up material 60 or drive the second gripper 114 to the same position to release material 60.

[0052] In some embodiments, the material detection 123 of the first material loading mechanism 12 can also send a material shortage feedback signal to the robot arm 111. For example, when the lifting drive assembly 121 drives the platform 122 to the highest position, and the material detection 123 still does not detect any material 60 in the picking and placing area 120, it indicates that there is no material 60 on the first material loading mechanism 12. The material detection 123 sends a material shortage feedback signal to the robot arm 111 so that the robot arm 111 stops driving the first gripper 113 to pick up the material 60, thereby reducing the risk of the robot arm 111 spinning idly and the first gripper 113 missing its grip, and helping to improve the stability of the robot arm 111 driving the first gripper 113 to pick up the material 60.

[0053] Furthermore, the material detector 123 can also send a material shortage feedback signal to the processing device 20 and the fixing device 40 to stop the operation of the processing device 20 and the fixing device 40, so as to save energy.

[0054] In some embodiments, the material carrier detector 123, the first detector 115 and / or the second detector 50 are laser sensors, which can emit laser signals toward a designated area for detection to detect whether there is material 60 in the corresponding area.

[0055] In some embodiments, please refer to Figure 5 Each material loading mechanism 12 also includes a limiting component 124. When the platform 122 carries the material 60, the limiting component 124 limits the material 60 on the platform 122 to improve the stability of the platform 122 carrying the material 60.

[0056] In some embodiments, please refer to Figure 5 The limiting component 124 includes a plurality of limiting rods 1241 arranged in a ring. The plurality of limiting rods 1241 and the platform 122 together enclose a receiving space 125 for receiving material 60. The limiting rods 1241 are capable of horizontal movement relative to the platform 122. For example, the plurality of limiting rods 1241 are fixedly disposed relative to the lifting drive component 121. One end of the plurality of limiting rods 1241 passes through the platform 122 and is disposed around the edge of the platform 122. When material 60 is stacked in the receiving space 125 so that the platform 122 carries multiple materials 60, the plurality of limiting rods 1241 limit the stacked material 60 in multiple directions to reduce the risk of material 60 shifting. Meanwhile, by moving the limiting rod 1241 horizontally relative to the platform 122, the size of the accommodating space 125 is changed, so that when the platform 122 carries materials 60 of different sizes, the limiting component 124 can limit the materials 60 of different sizes.

[0057] It is understandable that by passing the limiting rod 1241 through the platform 122, the height of the limiting rod 1241 remains unchanged, thereby reducing the risk of the limiting rod 1241 obstructing the upper part of the material picking and placing area 120 during the lifting and moving of the platform 122.

[0058] In some embodiments, please refer to Figure 5 The loading mechanism 12 also includes a mounting platform 126, which is fixedly connected to the lifting drive assembly 121. The other ends of multiple limit rods 1241 are slidably connected to the mounting platform 126. During operation, the multiple limit rods 1241 are slidably operated relative to the mounting platform 126 in a horizontal direction to adjust the relative positions between the multiple limit rods 1241, thereby changing the size of the accommodating space 125.

[0059] Understandably, the platform 122 is provided with a plurality of through holes 1221 for the limit rod 1241 to pass through. Each through hole 1221 extends in the direction in which the corresponding limit rod 1241 slides relative to the mounting platform 126, so as to reduce the risk of interference between the platform 122 and the limit rod 1241 when adjusting the position of the limit rod 1241.

[0060] In some embodiments, the mounting platform 126 is also provided with a locking structure (not shown) for fixing the limiting rods 1241 to fix the relative positions between the plurality of limiting rods 1241.

[0061] In other embodiments, the limiting component 124 includes a plurality of material limiting blocks (not shown) arranged in a ring. These blocks are slidably connected to the platform 122, and together they enclose a receiving space 125 for accommodating the material 60, thereby limiting the material 60 on the platform 122 in a horizontal direction. When the platform 122 moves up and down, the material limiting blocks move synchronously with it. When it is necessary to limit materials 60 of different sizes, the blocks are slid horizontally relative to the mounting platform 126 to adjust their relative positions, thereby changing the size of the receiving space 125.

[0062] In some embodiments, the lifting drive assembly 121 and / or the fixed drive 46 respectively include a power device capable of outputting reciprocating force, such as a cylinder, electric actuator, or lead screw module.

[0063] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the substantive scope of this application fall within the scope of this application.

Claims

1. A loading and unloading device, characterized in that, include: A clamping mechanism includes a robotic arm, a mounting component, a first gripper, and a second gripper. The first gripper and the second gripper are spaced apart on the mounting component. The first gripper is used to clamp the material to be processed, and the second gripper is used to clamp the processed material. The mounting component is connected to the robotic arm. The robotic arm is used to drive the mounting component to move, thereby switching the positions of the first gripper and the second gripper. The robotic arm is also used to drive the mounting component to move the first gripper and the second gripper, so that the first gripper clamps or releases the material to be processed, or the second gripper clamps or releases the processed material. Two loading mechanisms, one of which is used to provide the material to be processed to the first gripper at a specified height, and the other of which is used to carry the processed material released by the second gripper at a specified height.

2. The loading and unloading device according to claim 1, characterized in that, The mounting component includes two opposing ends, which are rotatably connected to the robotic arm. The first gripper and the second gripper are respectively connected to the two ends of the mounting component. The clamping mechanism further includes two first detectors, which are respectively located at both ends of the mounting member. One of the first detectors is used to detect the working state of the first gripper and send a first feedback signal to the robot arm. The first feedback signal indicates that the first gripper is clamping the material. The other first detector is used to detect the working state of the second gripper and send a second feedback signal to the robot arm. The second feedback signal indicates that the second gripper is clamping the material.

3. The loading and unloading device according to claim 2, characterized in that, Each of the material loading mechanisms includes a lifting drive assembly, a platform, and a material loading detector. The lifting drive assembly has a material picking and placing area on one side, which is used for the first gripper to pick up materials or for the second gripper to release materials. The platform is used to carry materials, and the platform is connected to the lifting drive assembly. The lifting drive assembly is used to drive the platform to move up and down relative to the material picking and placing area. The material loading detector is used to detect the material loading and unloading area and send a feedback signal to the lifting drive assembly.

4. The loading and unloading device according to claim 3, characterized in that, Each of the material loading mechanisms further includes a limiting component for limiting the material on the platform.

5. The loading and unloading device according to claim 4, characterized in that, The limiting component includes multiple limiting rods arranged in a ring. The multiple limiting rods and the platform together enclose a receiving space for accommodating the material. The limiting rods can move horizontally relative to the platform to adjust the size of the receiving space.

6. The loading and unloading device according to claim 3, characterized in that, When the platform of the loading mechanism is used to carry the material to be processed, the loading detector is also used to send a material shortage feedback signal to the robot.

7. A processing equipment, characterized in that, The device includes a processing apparatus, a fixing device, and a loading / unloading device as described in any one of claims 1 to 6, wherein the loading / unloading device is used to release or acquire material from the fixing device, and the fixing device is used to fix the material for processing by the processing apparatus.

8. The processing equipment according to claim 7, characterized in that, The fixing device includes a first limiting block, a second limiting block, a first pressing member, and a second pressing member. The first limiting block, the second limiting block, the first pressing member, and the second pressing member enclose a fixing area for accommodating the material. The first pressing member and the first limiting block are arranged opposite to each other, and the first pressing member is used to press the material against the first limiting block. The second pressing member and the second limiting block are arranged opposite to each other, and the second pressing member is used to press the material against the second limiting block. The direction in which the first pressing member and the first limiting block are arranged opposite to each other is perpendicular to the direction in which the second pressing member and the second limiting block are arranged opposite to each other.

9. The processing equipment according to claim 8, characterized in that, The second pressing member has an inclined surface; The fixing device further includes a fixing driver and a roller. The roller is rotatably connected to the first pressing member and extends toward the inclined surface of the second pressing member relative to the first pressing member. The fixing driver is connected to the first pressing member and is used to drive the first pressing member to move closer to the first limiting block and synchronously drive the roller to move. The roller acts toward the inclined surface of the second limiting block, and the second pressing member moves closer to the second limiting block under the action of the roller.

10. The processing equipment according to claim 7, characterized in that, The processing equipment includes a second detector for detecting material on the fixed device and sending a third feedback signal to the fixed device; and / or The second detector is used to detect the material on the fixed device and send a fourth feedback signal to the processing device.

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