CN117262725B

CN117262725B - Loading and unloading system, loading and unloading method and workstation for loading and unloading workpieces

Info

Publication number: CN117262725B
Application number: CN202311547663.0A
Authority: CN
Inventors: 刘家云; 安辉
Original assignee: Guangdong Muqing Laser Intelligent Equipment Co ltd
Current assignee: Guangdong Muqing Laser Intelligent Equipment Co ltd
Priority date: 2023-11-20
Filing date: 2023-11-20
Publication date: 2024-06-04
Anticipated expiration: 2043-11-20
Also published as: CN117262725A

Abstract

The invention belongs to the technical field of die conveying equipment, and particularly relates to a loading and unloading system, a loading and unloading method and a workstation for workpiece loading and unloading, wherein the system comprises a loading module, a unloading module, a first carrying module and a second carrying module: the feeding module consists of a feeding bin position and a feeding bin position; the feeding bin position is also provided with a first pre-bin position, and an outlet of the first pre-bin position corresponds to an inlet of the feeding bin position; the first carrying module is arranged between the feeding module and the processing station; the second carrying module is arranged between the blanking module and the processing station; the discharging module consists of a discharging bin and a discharging bin; the discharging bin is also provided with a second pre-bin, and the inlet of the second pre-bin corresponds to the outlet of the discharging bin.

Description

Loading and unloading system, loading and unloading method and workstation for loading and unloading workpieces

Technical Field

The invention belongs to the technical field of die conveying equipment, and particularly relates to a loading and unloading system, a loading and unloading method and a workstation for workpiece loading and unloading.

Background

At present, when a workpiece is processed in industrial processing, the workpiece to be processed needs to be transported to a processing position to be processed by processing equipment, the processed workpiece is taken out from the processing position after the processing is finished, and the workpiece is loaded and unloaded and transferred, and the traditional loading and unloading equipment usually needs manual operation, so that the efficiency is low and the possibility of human errors exists.

The existing automatic loading and unloading equipment has a certain degree of automation, but has limited accurate positioning and guiding capability in complex environments. In addition, the automatic loading and unloading equipment adopts the conveyer belt to convey the stacked workpieces, adopts the conveyer belt to convey the workpieces in a mode of transferring the workpieces from the current position to another position, has insufficient flexibility, easily inclines or even collapses the stacked workpieces when the workpieces are taken down from the conveyer belt, and leads to the fact that the workpieces cannot be accurately pushed to the preset position.

And the existing automatic loading and unloading system lacks temporary storage positions of the workpiece to be processed and the processed workpiece, and stacking is easy to occur in the process of transporting the workpiece to be processed or the processed workpiece, so that the loading and unloading speed of the whole loading and unloading system is reduced, and the production efficiency is reduced.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a loading and unloading system for loading and unloading workpieces, so as to solve the problems that the prior art lacks temporary storage positions of workpieces to be processed and processed workpieces, and stacking is easy to occur in the process of transporting the workpieces to be processed or the processed workpieces, so that the loading and unloading speed of the whole loading and unloading system is reduced, and the production efficiency is reduced.

The invention provides a loading and unloading system for loading and unloading workpieces, which comprises a loading module, an unloading module, a first carrying module and a second carrying module, wherein the loading module is used for loading and unloading workpieces, and the unloading module is used for loading and unloading workpieces:

the feeding module consists of a feeding bin position and a feeding bin position; the feeding bin position is also provided with a first pre-storage bin position, and an outlet of the first pre-storage bin position corresponds to an inlet of the feeding bin position and is used for pre-storing a tray filled with workpieces to be processed;

The first carrying module is arranged between the feeding module and the processing station and is used for carrying the tray filled with the workpieces to be processed from the feeding module to the processing station;

the second carrying module is arranged between the blanking module and the processing station and is used for carrying the tray filled with the processed workpieces from the processing station to the blanking module;

The discharging module consists of a discharging bin and a discharging bin; the discharging bin position is also provided with a second pre-storage bin position, and an inlet of the second pre-storage bin position corresponds to an outlet of the discharging bin position and is used for pre-storing a tray to be output and provided with processed workpieces.

In the scheme, the first pre-storage position is arranged, in the feeding process, the tray filled with the workpiece to be processed is transported to the first pre-storage position and then is transported to the feeding storage position, the first pre-storage position is used for pre-storing the tray filled with the workpiece to be processed, and after the tray filled with the workpiece to be processed in the feeding storage position is transported, the tray filled with the workpiece to be processed in the first pre-storage position can be timely transported to the feeding storage position, so that the tray filled with the workpiece to be processed in the feeding storage position is sufficient in feeding, and the slowing of processing beats caused by untimely feeding in the workpiece feeding stage is avoided;

and the second pre-storage position is arranged, in the blanking process, the trays filled with the processed workpieces are firstly conveyed to the second pre-storage position and then sent out of the blanking module, when the trays filled with the processed workpieces in the discharging storage position are stacked to a preset height, the trays filled with the processed workpieces in the discharging storage position are timely sent out to the second pre-storage position, so that the discharging storage position is left for placing the next tray filled with the processed workpieces, and the blanking rhythm that the discharging storage position is influenced by the fact that the trays filled with the processed workpieces cannot be timely taken out is avoided by arranging the second pre-storage position between the discharging storage position and the discharging storage position, and the slowing of the processing rhythm caused by untimely discharging in the workpiece blanking stage is avoided.

In one preferable scheme of the invention, the feeding bin comprises a first lifting conveying chain assembly, and the first lifting conveying chain assembly is used for taking out a tray filled with workpieces to be processed from a trolley and pushing the tray to a first pre-bin;

The first lifting conveying chain assembly comprises a first conveying chain, a first conveying chain lifting table and a first lifting bracket; the first conveying chain is arranged in a lifting manner in a preset height range through the first conveying chain lifting table;

A first lifting cylinder is arranged between the first conveying chain lifting table and the first lifting support, the base of the first lifting cylinder is fixedly connected with the first lifting support, and the lifting end of the first lifting cylinder is abutted to the first conveying chain lifting table;

The first conveying chain lifting platform comprises a first lifting supporting plate assembly and a first conveying chain connecting plate, wherein the first conveying chain connecting plate is arranged on two sides of the first lifting supporting plate assembly, and the first conveying chain connecting plate is fixedly connected with the first conveying chain.

In the scheme, the first conveying chain is lifted to a preset height through the first conveying chain lifting table, so that the first conveying chain is in contact with the bottom of a tray provided with a workpiece to be processed on the transport cart and applies acting force, the tray provided with the workpiece to be processed is removed from the transport cart, and the tray provided with the workpiece to be processed is conveyed into a first pre-warehouse position along the first conveying chain; after the tray with the workpieces to be processed reaches a position lower than a pre-stored position, the signal sensor is triggered, the first conveying chain descends through the first conveying chain lifting table to restore to the initial height, and the first conveying chain is converted into a universal conveying ball column to support the tray with the workpieces to be processed, so that the tray with the workpieces to be processed is separated from the first conveying chain.

In one preferable scheme of the invention, the feeding warehouse further comprises a plurality of universal conveying ball columns, wherein the universal conveying ball columns are arranged on the first lifting support, the universal conveying ball columns penetrate through the first conveying chain lifting table, and the upper contact end surfaces of the universal conveying ball columns are higher than the minimum preset height of the first conveying chain;

and the device also comprises a first transverse baffle plate which is arranged above the first conveying chain and used for positioning the position of the tray provided with the workpiece to be processed.

In this solution, the universal feed ball is a mechanical transmission, also called spin feed ball, spin transfer ball, etc. The device consists of a spherical shell and an internal ball, and can realize stable rotation in all directions to transfer power or materials. The method has the following characteristics and applications:

multidirectional transmission: the universal conveying ball can flexibly transmit power or materials in all directions, and can realize omnibearing conveying.

Smooth operation: through high-quality ball and lubricating system, the universal conveying ball can realize steady, noiseless operation.

Space is saved: due to its compact design and flexible rotation, the universal ball can save space and simplify the structure of the transmission system.

The application is wide: the universal conveying ball is widely applied to the fields of logistics, automatic production lines, assembly lines, conveying belt systems and the like, and can realize various conveying requirements such as material transfer, angle conveying, annular conveying and the like.

In one preferable scheme of the invention, the feeding warehouse position further comprises guide rollers, and a plurality of the guide rollers are arranged on two sides of the feeding lifting conveying chain assembly through guide roller mounting plates; the interval of the guide wheel mounting plates that sets up relatively is followed the direction of feed of feeding lift conveying chain subassembly is inwards dwindles the trend gradually.

In this scheme, the guide roller is used for guiding the shallow into the snatch transportation scope of feeding lift conveyer chain subassembly.

In one preferable scheme of the invention, the feeding module further comprises a transverse shifting mechanism and a longitudinal shifting mechanism, and the transverse shifting mechanism and the longitudinal shifting mechanism are used for moving the tray filled with the workpieces to be processed from the first pre-storing position to the feeding module;

The horizontal shifting mechanism is arranged in the first pre-storage position along the horizontal direction of the horizontal plane, the longitudinal shifting mechanism is arranged in the feeding storage position along the longitudinal direction of the horizontal plane, the displacement direction of the horizontal shifting mechanism and the displacement direction of the longitudinal shifting mechanism intersect at a point in the feeding module, and the horizontal shifting mechanism is used for enabling the tray, which is provided with the workpiece to be processed, in the feeding module to be aligned accurately;

and the feeding module further comprises a second transverse baffle plate which is arranged on the side face of the feeding module.

In the scheme, the transverse shifting mechanism comprises a transverse shifting cylinder mounting plate, a transverse rodless cylinder, a sliding guide rail, a transverse guide rail heightening plate, a transverse shifting slide plate, a transverse shifting plate and a transverse shifting plate reinforcing rib; the cylinder mounting panel sets up along the vertical direction is stirred transversely, transversely stir the cylinder set up in along the horizontal direction on the cylinder mounting panel is stirred transversely, two slide rail pass through horizontal guide rail elevating board set up in transversely stir the cylinder both sides, transversely stir the slide with the motion end transmission of cylinder is stirred transversely is connected, just transversely stir the slide pass through the slider respectively with two slide rail sliding connection, transversely stir the slide and be in the pneumatic lower edge of transversely stirring the cylinder slide rail can carry out reciprocating movement, transversely dial the flitch pass through horizontal strengthening rib fixed mounting in transversely stir on the slide, transversely stir the slide mutually perpendicular.

And the transverse stirring cylinder can adopt a rodless cylinder, the transverse stirring sliding plate is arranged on one side surface of the first transverse baffle plate away from the tray filled with the workpiece to be processed, and is used for avoiding the collision of the transverse stirring sliding plate and the tray filled with the workpiece to be processed in the moving process, and the initial position of the transverse stirring plate is positioned on one side of the first lifting conveying chain assembly and is used for stirring the tray filled with the workpiece to be processed from the first pre-storage position to the feeding storage position.

In the scheme, vertical toggle mechanism set up in the last frame bottom plate in the material loading storehouse position, vertical toggle mechanism includes vertical toggle cylinder, sliding guide, vertical toggle slide, vertical toggle plate, vertical toggle slide connecting plate, vertical toggle cylinder set up in the material loading frame bottom plate, two the slip set up respectively in vertical toggle cylinder both sides, vertical toggle slide with the motion end transmission of vertical toggle cylinder is connected, just vertical toggle slide pass through the slider respectively with two sliding guide sliding connection, vertical toggle plate pass through vertical toggle slide connecting plate with vertical toggle slide fixed connection, vertical toggle cylinder pass through the connecting plate with vertical toggle plate transmission is connected, vertical toggle plate is in under the transmission of vertical toggle cylinder follow sliding guide can carry out reciprocating movement, vertical toggle plate with vertical toggle slide mutually perpendicular.

And the longitudinal shifting cylinder can adopt a three-rod cylinder, and the longitudinal shifting mechanism is linked with the transverse shifting mechanism and is used for positioning a tray filled with a workpiece to be processed at a preset position in a loading bin position, so that accurate alignment is ensured, and the grabbing accuracy is improved.

In one preferable scheme of the invention, the feeding module further comprises a lifting mechanism for lifting the tray filled with the workpiece to be processed to the grabbing range of the first carrying module; the lifting mechanism comprises a lifting mechanism mounting plate, a lifting bracket and a screw rod transmission assembly, wherein the lifting bracket is respectively arranged at two sides of the mounting plate, and the lifting bracket is in lifting transmission connection with the screw rod transmission assembly.

In the scheme, the lifting mechanism mounting plate is vertically arranged on the feeding frame bottom plate, and the lifting bracket is a frame structure surrounded by a plurality of lifting brackets; the screw rod transmission assembly is characterized in that sliding guide rails are arranged on two sides of the screw rod transmission assembly, the motion end of the screw rod transmission assembly is in transmission connection with the lifting bracket through a lifting carriage, the lifting bracket is respectively in sliding connection with the two sliding guide rails through a sliding block base plate, and the sliding guide rails are used for limiting the moving path of the lifting bracket.

The screw rod transmission assembly can adopt a servo motor as a power source; the lifting mechanism is used for lifting the remaining trays filled with the workpieces to be processed to the height position according to the grabbing condition of the trays filled with the workpieces to be processed in real time, so that the first carrying module can accurately grab the trays, and the first carrying module does not need to additionally identify the number of the remaining trays filled with the workpieces to be processed, thereby reducing equipment cost.

In one preferable scheme of the invention, the first conveying module comprises a reciprocating conveying cylinder and a pneumatic clamping jaw, wherein the reciprocating conveying cylinder is arranged above the feeding module and the processing station in a suspending way, the pneumatic clamping jaw is in transmission connection with the reciprocating conveying cylinder, and the pneumatic clamping jaw moves back and forth along the stroke of the reciprocating conveying cylinder and is used for conveying a tray filled with workpieces to be processed.

In the scheme, the reciprocating carrying cylinder is suspended at the top end of the lifting mechanism mounting plate through a reciprocating cylinder mounting plate; the reciprocating carrying cylinder drives the starting clamping jaw to reciprocate along the extending direction of the reciprocating cylinder mounting plate through the carrying cylinder sliding plate, so that the tray which is lifted to a preset height by the lifting mechanism and is filled with the workpiece to be processed is grabbed and moved to the processing station.

And, the said round trip transport cylinder can adopt the rodless cylinder; and a telescopic cylinder is arranged between the pneumatic clamping jaw and the carrying cylinder sliding plate and used for adjusting the grabbing height of the pneumatic clamping jaw.

In one preferable scheme of the invention, the device further comprises a trolley for conveying the tray filled with the workpieces to the feeding module or away from the discharging module, wherein a plurality of supporting tables are arranged at the bottom of the trolley, and are used for lifting the tray filled with the workpieces to form a gap with the bottom of the trolley so as to reduce the contact area between the bottom of the trolley and the tray filled with the workpieces;

The bottom of the cart is provided with an avoidance concave position, and the avoidance concave position corresponds to the conveying assembly and is used for avoiding collision between the cart and the conveying assembly; and

The periphery of shallow is provided with half surrounding side shield, the side shield is located the both sides face of shallow and the one side towards the handrail.

In one preferable scheme of the invention, the structure of the blanking module is the same as that of the feeding module, and the blanking module and the feeding module are arranged in a mirror image mode; the first carrying module and the second carrying module have the same structure.

In one preferred aspect of the present invention, there is also provided a loading and unloading method, which can be used in the loading and unloading system for loading and unloading a workpiece according to any one of the above aspects, comprising:

Conveying the tray filled with the workpieces to be processed to a feeding warehouse position through a trolley, and conveying the tray filled with the workpieces to be processed to a first pre-warehouse position through a conveying assembly;

Moving a tray filled with workpieces to be processed from a first pre-stored bin to a feeding module through a first stirring assembly;

Carrying the tray filled with the workpieces to be processed from the feeding module to the processing station by the first carrying module;

carrying the tray filled with the processed workpieces from the processing station to the blanking module by the second carrying module;

moving the tray filled with the processed workpieces from the blanking module to a second pre-storing position through a second stirring assembly;

the pallet containing the processed workpieces is transported to the cart by the transport assembly, and the pallet containing the processed workpieces is taken out of the discharge bin by the cart.

In one of its preferred aspects, the invention also provides a workstation comprising the handling system for loading and unloading workpieces according to any of the above embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a handling system according to one embodiment of the present invention;

FIG. 2 is a schematic top view of a handling system according to one embodiment of the present invention;

FIG. 3 is a schematic perspective view of a loading module according to an embodiment of the invention;

FIG. 4 is a schematic view of a first elevating conveyor assembly according to one embodiment of the present invention;

FIG. 5 is a schematic view showing a part of the construction of a first elevating conveyor assembly according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a transverse toggle mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram showing a configuration of a loading library according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a top library according to another embodiment of the present invention;

FIG. 9 is a schematic view showing a lifting mechanism according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a first handling module according to an embodiment of the invention;

FIG. 11 is a schematic view showing a structure of a cart according to an embodiment of the present invention;

fig. 12 is a schematic view showing the construction of a workstation according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture, and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, if "and/or" and/or "are used throughout, the meaning includes three parallel schemes, for example," a and/or B "including a scheme, or B scheme, or a scheme where a and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

In an embodiment of the invention, the to-be-machined workpiece and the machined workpiece are loaded through trays, and a plurality of machined workpieces or machined workpieces are stacked and stored through stacking among the trays.

Referring to fig. 1 and 2, an embodiment of the invention provides a loading and unloading system 10 for loading and unloading workpieces, which includes a loading module 100, a unloading module 200, a first carrying module 300 and a second carrying module 400:

The feeding module 100 is composed of a feeding bin position and a feeding bin position; the feeding bin position is also provided with a first pre-bin position, the outlet of the first pre-bin position corresponds to the inlet of the feeding bin position, and the tray filled with the workpieces to be processed is pre-stored

The first carrying module 300 is disposed between the feeding module 100 and a processing station, and is configured to carry a tray containing a workpiece to be processed from the feeding module 100 to the processing station;

The second carrying module 400 is disposed between the blanking module 200 and the processing station, and is configured to carry the tray containing the processed workpiece from the processing station to the blanking module 200;

The blanking module 200 is composed of a discharging bin and a blanking bin; the discharging bin position is also provided with a second pre-storage bin position, and an inlet of the second pre-storage bin position corresponds to an outlet of the discharging bin position and is used for pre-storing a tray to be output and provided with processed workpieces.

In the embodiment, through setting the first pre-warehouse position, in the feeding process, the tray filled with the workpiece to be processed is transported to the first pre-warehouse position and then is transported to the feeding warehouse position, the first pre-warehouse position is used for pre-storing the tray filled with the workpiece to be processed, and after the tray filled with the workpiece to be processed in the feeding warehouse position is transported, the tray filled with the workpiece to be processed in the first pre-warehouse position can be timely transported to the feeding warehouse position, so that the feeding of the tray filled with the workpiece to be processed in the feeding warehouse position is sufficient, and the slowing of processing beats caused by untimely supply in the workpiece feeding stage is avoided;

And the second pre-warehouse position is used for storing the processed trays with processed workpieces when the trays with processed workpieces in the discharge warehouse position are not conveyed to completion, and the trays with processed workpieces in the second pre-warehouse position are conveyed to the discharge warehouse position to be sent out after the trays with processed workpieces in the discharge warehouse position are conveyed to completion.

Referring to fig. 3-5, in one preferred embodiment of the present invention, the feeding bin includes a first elevating conveyor chain assembly 110 for taking out the pallet with the workpieces from the cart 600 and pushing the pallet to a first pre-bin;

The first elevating conveyor chain assembly 110 includes a first conveyor chain 111, a first conveyor chain elevating platform 112, and a first elevating bracket 113; the first conveying chain 111 is arranged in a liftable manner within a preset height range through the first conveying chain lifting table 112;

A first lifting cylinder is arranged between the first conveying chain lifting table 112 and the first lifting bracket 113, a base of the first lifting cylinder is fixedly connected with the first lifting bracket 113, and a lifting end of the first lifting cylinder is abutted against the first conveying chain lifting table 112;

The first conveyor chain lifting platform 112 comprises a first lifting supporting plate assembly 112-1 and a first conveyor chain connecting plate 112-2, the first conveyor chain connecting plate 112-2 is arranged on two sides of the first lifting supporting plate assembly 112-1, and the first conveyor chain connecting plate 112-2 is fixedly connected with the first conveyor chain 111.

The first lifting bracket 113 comprises a first lifting platform bottom plate 113-1 and a first linear bearing 113-2, the first linear bearing 113-2 is arranged on the upper surface of the first lifting platform bottom plate 113-1, a guide pillar 112-3 is arranged at the bottom of the first lifting supporting plate assembly 112-1, and the first linear bearing 113-2 is movably sleeved with the guide pillar 112-3 and is used for preventing the first conveying chain lifting platform 112 from tilting in the lifting process;

The first lifting bracket 113 further comprises a lifting bracket plate a, a lifting bracket plate B and a lifting bracket plate C, wherein the lifting bracket plate a is arranged on two opposite sides of the first lifting table bottom plate 113-1, and the lifting bracket plate a is fixedly connected with the feeding cabinet through the lifting bracket plate B and the lifting bracket plate C respectively;

In this embodiment, the first conveyor chain 111 is lifted to a predetermined height by the first conveyor chain lifting table 112, so that the first conveyor chain 111 contacts with the bottom of the pallet on the transport cart 600 and applies a force, thereby removing the pallet from the transport cart 600 and transferring the pallet along the first conveyor chain 111 into the first pre-warehouse; after the pallet reaches the first pre-warehouse position, the signal sensor is triggered, the first conveying chain 111 descends through the first conveying chain lifting platform 112 to restore to the original height, and the pallet is converted into the universal conveying ball column 500 to support the pallet, so that the pallet is separated from the first conveying chain 111.

In one preferred embodiment of the present invention, the feeding bin further includes a plurality of universal conveying ball columns 500, the universal conveying ball columns 500 are disposed on the first lifting support 113, the universal conveying ball columns 500 penetrate through the first conveying chain lifting platform 112, and an upper contact end surface of the universal conveying ball columns 500 is higher than a minimum preset height of the first conveying chain 111;

And, a first transverse baffle 120 disposed above the first conveying chain 111 for positioning a tray containing the workpiece to be processed.

In this embodiment, the universal feed ball in the universal feed ball post 500 is a mechanical transmission, also referred to as a spin feed ball, spin transfer ball, or the like. The device consists of a spherical shell and an internal ball, and can realize stable rotation in all directions to transfer power or materials. The method has the following characteristics and applications:

In one preferred embodiment of the present invention, the feeding bin further includes guide rollers 130, and a plurality of guide rollers 130 are disposed on two sides of the feeding lifting conveyor chain assembly through guide roller mounting plates 131; the distance between the guide wheel mounting plates 131, which are oppositely arranged, is gradually reduced inwards along the feeding direction of the feeding lifting conveying chain assembly.

In this embodiment, the guide rollers 130 are used to guide the cart 600 into the gripping and transporting range of the infeed lifting conveyor chain assembly.

Referring to fig. 6-9, in one preferred embodiment of the present invention, the loading module further includes a transverse shifting mechanism 140 and a longitudinal shifting mechanism 150, for moving the tray containing the workpieces to be processed from the first pre-storing position to the loading module 100;

The transverse shifting mechanism 140 is disposed in the first pre-storage position along the transverse direction of the horizontal plane, the longitudinal shifting mechanism 150 is disposed in the loading storage position along the longitudinal direction of the horizontal plane, and the displacement direction of the transverse shifting mechanism 140 and the displacement direction of the longitudinal shifting mechanism 150 intersect at a point in the loading module 100, so as to enable the precise alignment of the tray containing the workpiece to be processed in the loading module 100;

And, the feeding module further comprises a second transverse baffle 160 disposed on the side surface of the feeding module 100.

In this embodiment, the lateral shifting mechanism 140 includes a lateral shifting cylinder mounting plate 141, a lateral shifting cylinder 142, a sliding rail, a lateral rail elevating plate 143, a lateral shifting slide plate 144, a lateral shifting plate 145, and a lateral shifting plate reinforcing rib 146; the horizontal cylinder mounting panel 141 of stirring sets up along the vertical direction, horizontal cylinder 142 of stirring set up in on the horizontal cylinder mounting panel 141 of stirring, two slide rail pass through horizontal guide rail elevating plate 143 set up in horizontal cylinder 142 both sides of stirring, horizontal stirring slide 144 with the motion end transmission of horizontal cylinder 142 of stirring is connected, just horizontal stirring slide 144 pass through the slider respectively with two slide rail sliding connection, horizontal stirring slide 144 is in the pneumatic lower edge of horizontal stirring cylinder 142 slide rail can carry out reciprocating movement, horizontal stirring plate 145 pass through horizontal stirring plate strengthening rib 146 fixed mounting in on horizontal stirring slide 144, horizontal stirring plate with horizontal stirring slide 144 mutually perpendicular.

And, the horizontal toggle cylinder 142 may be a rodless cylinder, and the horizontal toggle slide 144 is disposed on a side surface of the first horizontal striker plate 120 away from a tray containing the workpiece to be processed, so as to avoid the collision between the horizontal toggle slide 144 and the tray containing the workpiece to be processed in the moving process, and the initial position of the horizontal toggle plate is located on one side of the first lifting conveying chain assembly 110, so that the tray containing the workpiece to be processed is toggled from the first pre-warehouse position to the loading warehouse position.

In an embodiment, the longitudinal shifting mechanism 150 is disposed on a bottom plate of the feeding rack in the feeding bin, the longitudinal shifting mechanism 150 includes a longitudinal shifting cylinder 151, a sliding rail, a longitudinal shifting slide plate 152, a longitudinal shifting plate 153, and a longitudinal shifting slide plate 154, the longitudinal shifting cylinder 151 is disposed on the bottom plate of the feeding rack, two slides are respectively disposed on two sides of the longitudinal shifting cylinder 151, the longitudinal shifting slide plate 152 is in driving connection with a moving end of the longitudinal shifting cylinder 151, the longitudinal shifting slide plate 152 is respectively in sliding connection with two sliding rails through a sliding block, the longitudinal shifting plate 153 is fixedly connected with the longitudinal shifting slide plate 152 through the longitudinal shifting slide plate 154, the longitudinal shifting cylinder 151 is in driving connection with the longitudinal shifting plate 153 through a connecting plate, the longitudinal shifting plate 153 can reciprocate along the sliding rail under the driving of the longitudinal shifting cylinder 151, and the longitudinal shifting plate 153 is mutually perpendicular to the longitudinal shifting slide plate 152.

And, the vertical pulling cylinder 151 may be a three-rod cylinder, and the vertical pulling mechanism 150 is linked with the horizontal pulling mechanism 140 to position the tray with the workpiece to be processed at a predetermined position in the loading bin, so as to ensure accurate alignment and improve the grabbing accuracy.

In one preferred embodiment of the present invention, the loading module 100 further includes a lifting mechanism 170 for lifting the tray containing the workpiece to be processed to the grabbing range of the first handling module 300; the lifting mechanism 170 comprises a lifting mechanism mounting plate 171, a lifting bracket 172 and a screw transmission assembly 173, wherein the lifting bracket 172 and the screw transmission assembly 173 are respectively arranged on two sides of the mounting plate, and the lifting bracket 172 is in lifting transmission connection with the screw transmission assembly 173.

In this embodiment, the lifting mechanism mounting plate 171 is vertically disposed on the bottom plate of the feeding frame, and the lifting bracket 172 is a frame structure surrounded by a plurality of lifting brackets; the two sides of the screw rod transmission assembly 173 are provided with sliding guide rails, the motion end of the screw rod transmission assembly is in transmission connection with the lifting bracket 172 through a lifting carriage, the lifting bracket 172 is in sliding connection with sliding blocks arranged on the two sliding guide rails through sliding block base plates, and the sliding guide rails are used for limiting the moving path of the lifting bracket 172.

The screw rod transmission assembly can adopt a servo motor as a power source; the loading frame bottom plate is provided with a holding groove corresponding to the lifting bracket 172, the lifting mechanism 170 is used for lifting the remaining trays filled with the workpieces to be processed to a height position according to the grabbing condition of the trays filled with the workpieces to be processed in real time, so that the first carrying module 300 can accurately grab, the first carrying module 300 does not need to additionally identify the number of the remaining trays filled with the workpieces to be processed, and accordingly the equipment cost is reduced.

Referring to fig. 10, in one preferred embodiment of the present invention, the first carrying module 300 includes a reciprocating carrying cylinder 310 and a pneumatic clamping jaw 320, the reciprocating carrying cylinder 310 is suspended above the feeding module 100 and the processing station, the pneumatic clamping jaw 320 is in transmission connection with the reciprocating carrying cylinder 310, and the pneumatic clamping jaw 320 moves back and forth along the stroke of the reciprocating carrying cylinder 310 for carrying a tray containing a workpiece to be processed.

In this embodiment, the reciprocating cylinder 310 is suspended at the top end of the lifting mechanism mounting plate 171 through a reciprocating cylinder mounting plate 311; the reciprocating carrying cylinder 310 drives the starting clamping jaw to reciprocate along the extending direction of the reciprocating cylinder mounting plate through the carrying cylinder sliding plate 312, so that the tray with the workpiece to be processed lifted to a preset height by the lifting mechanism 170 is grabbed and moved to a processing station.

And, the said round trip transport cylinder can adopt the rodless cylinder; a telescopic cylinder is arranged between the pneumatic clamping jaw 320 and the carrying cylinder sliding plate 312, and is used for adjusting the grabbing height of the pneumatic clamping jaw 320.

Referring to fig. 11, in one preferred embodiment of the present invention, a cart 600 is further included for transporting a tray containing a workpiece to be processed to the loading module 100 or away from the unloading module 200, a plurality of support tables 610 are disposed at the bottom of the cart 600, and the support tables 610 are used for lifting the tray containing the workpiece to be processed to form a gap with the bottom of the cart 600, so as to reduce the contact area between the bottom of the cart 600 and the tray;

The bottom of the cart 600 is provided with an avoidance concave 620, and the avoidance concave 620 corresponds to the conveying assembly and is used for avoiding collision between the cart 600 and the conveying assembly; and

The periphery of the cart 600 is provided with semi-enclosed side baffles 630, and the side baffles 630 are positioned on two sides of the cart 600 and on the side facing the armrests.

In one preferred embodiment of the present invention, the structure of the discharging module 200 is the same as that of the feeding module, and the discharging module 200 is arranged in mirror image with the feeding module 100;

The first carrier module 300 has the same structure as the second carrier module 400.

In this embodiment, the second carrying module 400 carries the trays containing the processed workpieces from the processing station to the unloading station, when the trays containing the processed workpieces stored in the unloading station reach a predetermined number or a predetermined height, the trays containing the processed workpieces are shifted to the second pre-storing station by the transverse shifting mechanism (similar to the transverse shifting mechanism 140 of the feeding module 100) correspondingly arranged in the unloading station, so that the excessive trays containing the processed workpieces are prevented from being stacked in the unloading station, and the second carrying module 400 can timely carry the trays containing the processed workpieces away from the processing station, thereby ensuring the processing efficiency. The pallet with the processed workpieces carried to the second pre-warehouse position is transported to the discharge warehouse position by a conveying chain, and the pallet with the processed workpieces is carried away from the blanking module 200 to the next processing station by a trolley which moves to and from the discharge warehouse position.

In one preferred embodiment of the present invention, there is also provided a handling method, a handling system 10 for workpiece loading and unloading, usable in any of the above embodiments, comprising:

s10, conveying a tray filled with workpieces to be processed to a feeding warehouse through a cart 600, and conveying the tray filled with the workpieces to be processed to a first pre-warehouse through a conveying assembly;

s20, moving a tray filled with workpieces to be processed to the feeding module 100 from a first pre-storage position through a first stirring assembly;

s30, carrying the tray filled with the workpiece to be processed from the feeding module 100 to a processing station by the first carrying module 300;

S40, conveying the tray filled with the processed workpieces from the processing station to the blanking module 200 by the second conveying module 400;

S50, moving the tray filled with the processed workpieces from the blanking module 200 to a second pre-warehouse position through a second toggle assembly;

S60, conveying the tray with the processed workpieces to the cart 600 through the conveying assembly, and taking the tray with the processed workpieces out of the discharging warehouse through the cart 600.

And the second pre-storage position is arranged, in the blanking process, the trays filled with the processed workpieces are firstly conveyed to the second pre-storage position and then sent out of the blanking module, when the trays filled with the processed workpieces in the discharging storage position are stacked to a preset height, the trays filled with the processed workpieces in the discharging storage position are timely sent out to the second pre-storage position, so that the discharging storage position is left for placing the next trays filled with the processed workpieces, and the blanking rhythm that the discharging storage position is influenced by the fact that the trays filled with the processed workpieces cannot be timely taken out is avoided by arranging the second pre-storage position between the discharging storage position and the discharging storage position, and the slowing of the processing rhythm caused by untimely discharging in the workpiece blanking stage is avoided.

Referring to FIG. 12, in one of the preferred embodiments of the present invention, a workstation is also indicated, including a handling system 10 for loading and unloading workpieces in accordance with any of the above-described embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.

Claims

1. A loading and unloading system for unloading on work piece, its characterized in that includes material loading module, unloading module, first transport module and second transport module:

the discharging module consists of a discharging bin and a discharging bin; the discharging bin position is also provided with a second pre-storage bin position, the inlet of the second pre-storage bin position corresponds to the outlet of the discharging bin position, and a tray filled with processed workpieces is pre-stored;

the feeding bin comprises a first lifting conveying chain assembly and is used for taking out a tray filled with workpieces to be processed from the trolley and pushing the tray to the first pre-bin;

the first conveying chain lifting platform comprises a first lifting supporting plate assembly and a first conveying chain connecting plate, wherein the first conveying chain connecting plate is arranged at two sides of the first lifting supporting plate assembly and is fixedly connected with the first conveying chain;

The feeding warehouse position further comprises a plurality of universal conveying ball columns, the universal conveying ball columns are arranged on the first lifting support, the universal conveying ball columns penetrate through the first conveying chain lifting table, and the upper contact end surfaces of the universal conveying ball columns are higher than the minimum preset height of the first conveying chain and are used for receiving trays filled with workpieces to be processed;

The feeding warehouse position also comprises guide rollers, and a plurality of guide rollers are arranged on two sides of the first lifting conveying chain assembly through guide wheel mounting plates; the distance between the guide wheel mounting plates which are oppositely arranged is gradually reduced inwards along the feeding direction of the first lifting conveying chain component;

the first transverse baffle plate is arranged above the first conveying chain and is used for positioning a tray provided with a workpiece to be processed;

The feeding module further comprises a transverse shifting mechanism and a longitudinal shifting mechanism, and the transverse shifting mechanism and the longitudinal shifting mechanism are used for moving a tray filled with workpieces to be processed from the first pre-storing position to the feeding module;

The horizontal shifting mechanism is arranged in the first pre-storage position along the horizontal direction of the horizontal plane, the longitudinal shifting mechanism is arranged in the feeding storage position along the longitudinal direction of the horizontal plane, the displacement direction of the horizontal shifting mechanism and the displacement direction of the longitudinal shifting mechanism intersect at a point in the feeding module, and the horizontal shifting mechanism is used for enabling a tray, which is filled with a workpiece to be processed, in the feeding module to be aligned accurately;

The second transverse baffle plate is arranged on the side surface of the feeding module;

The transverse shifting mechanism comprises a transverse shifting cylinder mounting plate, a transverse shifting cylinder, a sliding guide rail, a transverse guide rail heightening plate, a transverse shifting sliding plate, a transverse shifting plate and a transverse shifting plate reinforcing rib; the cylinder mounting panel sets up along the vertical direction is stirred transversely, transversely stir the cylinder set up in along the horizontal direction on the cylinder mounting panel is stirred transversely, two slide rail pass through horizontal guide rail elevating board set up in transversely stir the cylinder both sides, transversely stir the slide with the motion end transmission of cylinder is stirred transversely is connected, just transversely stir the slide pass through the slider respectively with two slide rail sliding connection, transversely stir the slide and be in the pneumatic lower edge of transversely stirring the cylinder slide rail can carry out reciprocating movement, transversely dial the flitch through horizontal plate strengthening rib fixed mounting in transversely stir on the slide, transversely dial the board with transversely stir the slide mutually perpendicular.

2. The handling system for workpiece loading and unloading of claim 1, wherein the loading module further comprises a lifting mechanism for lifting a tray containing workpieces to be processed to a graspable range of the first handling module; the lifting mechanism comprises a lifting mechanism mounting plate, a lifting bracket and a screw rod transmission assembly, wherein the lifting bracket is respectively arranged at two sides of the mounting plate, and the lifting bracket is in lifting transmission connection with the screw rod transmission assembly.

3. The loading and unloading system for workpiece loading and unloading according to claim 1, wherein the first carrying module comprises a reciprocating carrying cylinder and a pneumatic clamping jaw, the reciprocating carrying cylinder is suspended above the loading module and the processing station, the pneumatic clamping jaw is in transmission connection with the reciprocating carrying cylinder, and the pneumatic clamping jaw moves back and forth along the stroke of the reciprocating carrying cylinder for carrying a tray filled with workpieces to be processed.

4. The handling system for loading and unloading workpieces according to claim 1, further comprising a cart for transporting a pallet containing workpieces to or from the loading module, wherein the bottom of the cart is provided with a plurality of support tables for lifting the workpieces to be processed to form a gap with the bottom of the cart for reducing the contact area between the bottom of the cart and the pallet containing workpieces;

the bottom of the cart is provided with an avoidance concave position, and the avoidance concave position corresponds to the first lifting conveying chain assembly and is used for avoiding collision between the cart and the first lifting conveying chain assembly; and

5. The handling system for workpiece loading and unloading according to any one of claims 1 to 4, wherein the structure of the unloading module is the same as the structure of the loading module, and the unloading module is arranged in mirror image with the loading module;

the first carrying module and the second carrying module have the same structure.

6. A loading and unloading method for a loading and unloading system for loading and unloading a workpiece according to any one of claims 1 to 5, comprising:

7. A workstation comprising a handling system for loading and unloading a workpiece according to any of claims 1-5.