Automatic loading and unloading device for optical element and loading and unloading control method

Abstract

The present invention discloses an automatic loading and unloading device for optical elements and a loading and unloading control method. The automatic loading and unloading device comprises a base, a conveying track arranged on the base, a loading device and a unloading device arranged on the base and respectively located at two ends of the conveying track, and an optical element detection station is arranged above the conveying track. The present invention is provided with a loading device and an unloading device, and both the loading device and the unloading device are mechanized, which greatly improves the efficiency of optical element detection, reduces labor, and avoids damage to the optical element caused by manual loading.

Description

Technical Field

[0001] The invention relates to the field of optical element detection equipment, and in particular to an automatic loading and unloading device for optical elements and a loading and unloading control method. Background Art

[0002] With the development of science and technology and the continuous increase in labor costs, enterprises engaged in mass production are considering reducing labor costs and improving production efficiency. Industrial control technology has emerged and continues to grow. With the fierce competition in the domestic market, the rising prices of raw materials and the continuous increase in labor costs, many companies are seeking to develop automatic feeding equipment.

[0003] At present, the loading and unloading methods for optical component inspection in the market are basically labor-intensive, that is, manual single-process methods, which are low in efficiency, labor-intensive, and high in labor costs. It is difficult to meet the current development needs of enterprises. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an automatic loading and unloading device and a loading and unloading control method for optical components, which automatically loads, detects and unloads, greatly improving the detection efficiency of optical components.

[0005] The technical solution of the present invention is:

[0006] An automatic loading and unloading device for optical elements, comprising a base, a conveying track arranged on the base, a loading device and a unloading device arranged on the base and respectively located at two ends of the conveying track, wherein an optical element detection station is arranged above the conveying track;

[0007] The loading device comprises a loading bin and two material distribution support seats fixed on the base at the bottom end, a loading support plate located in the loading bin, a loading lifting mechanism connected to the loading support plate at the top end, and a material distribution mechanism arranged on each material distribution support seat, the two material distribution support seats are respectively located on the outer sides of the opposite side walls of the loading bin, and the opposite side walls of the loading bin are provided with guide channels that pass through up and down, each material distribution mechanism comprises a fourth driving cylinder and a linear guide rail fixed on the material distribution support seat, a cam follower fixing seat fixedly connected to the fourth driving cylinder horizontal piston rod at the top end, a cam follower fixed on the cam follower fixing seat, a follower plate, a slider fixed on the upper end surface of the follower plate, and a loading support pad fixed on the follower plate, the inner end of the linear guide rail faces the loading bin, the axes of the fourth driving cylinder horizontal piston rod and the linear guide rail are perpendicular to each other, the slider is embedded in the linear guide rail, and the A waist-shaped hole is provided which passes through the upper and lower parts, the inner end of the waist-shaped hole faces the loading bin, and an angle is formed between the axis of the waist-shaped hole and the axis of the linear guide rail, the cam of the cam follower is located in the waist-shaped hole, and when the cam is located at the outer end in the waist-shaped hole, the loading support pad passes through the guide channel corresponding to the loading bin and extends into the loading bin, and when the cam is located at the inner end in the waist-shaped hole, the loading support pad passes through the guide channel corresponding to the loading bin and moves out of the loading bin. The loading lifting mechanism includes a loading linear bearing fixed on the base, a loading guide rod which vertically passes through the base through the loading linear bearing and is fixedly connected to the loading support plate at the top, a loading lifting plate fixedly connected to the bottom end of the loading guide rod, a first driving cylinder fixed on the lower end surface of the base, and a second driving cylinder fixed on the upper end surface of the loading lifting plate, and the piston ends of the vertically downward piston rod of the first driving cylinder and the vertically upward piston rod of the second driving cylinder are fixedly connected;

[0008] The loading device comprises a loading bin and two loading support seats fixed on the base at the bottom end, a loading support plate located in the loading bin, a loading lifting mechanism connected to the loading support plate at the top end, and a loading mechanism arranged on each loading support seat, the loading support seats are respectively located on the outer sides of the opposite side walls of the loading bin, the opposite side walls of the loading bin are provided with guide channels which pass through up and down, and the two loading support seats are symmetrical along the extension line of the axis of the conveying track, and the two loading support seats are provided with mounting grooves with notches facing the loading bin, and each loading mechanism comprises a loading support pad and a spring, the loading support pad is arranged in the corresponding mounting groove, and the bottom end of the loading support pad is hinged to the corresponding loading support On the support seat, the top of the unloading support pad is connected to the vertical bottom of the mounting groove by a spring. When the spring is not under force, the top of the unloading support pad extends out of the mounting groove and passes through the guide channel corresponding to the unloading bin and extends into the unloading bin. When the spring is subjected to compression, the top of the unloading support pad passes through the guide channel corresponding to the unloading bin and moves out of the unloading bin and extends into the mounting groove. The unloading lifting mechanism includes an unloading linear bearing fixed on the base, an unloading guide rod that vertically passes through the base through the unloading linear bearing and the top end is fixedly connected to the unloading support plate, an unloading lifting plate fixedly connected to the bottom end of the unloading guide rod, and a third driving cylinder with a piston end vertically facing downward and fixed to the upper end surface of the unloading lifting plate.

[0009] The automatic loading and unloading device comprises a controller, and the driving mechanism of the conveying track, the first driving cylinder, the second driving cylinder, the third driving cylinder, and the fourth driving cylinders of the two material dividing mechanisms are all connected to the controller.

[0010] The loading device also includes a first photoelectric sensor and a second photoelectric sensor fixed on the inner wall of the loading bin and connected to the controller. When the loading support plate drives the material tray to move to the loading height of the conveying track, the first photoelectric sensor collects the material tray information. When the loading support plate drives the material tray to move to the bottom of the loading support pad, the second photoelectric sensor collects the material tray information.

[0011] The unloading device includes a third photoelectric sensor and a fourth photoelectric sensor fixed on the inner wall of the unloading bin and connected to the controller. When the material tray moves from the conveying track to the unloading support plate, the third photoelectric sensor collects the material tray information. The fourth photoelectric sensor is located at the top of the unloading bin and is used to detect the full status of the unloading bin.

[0012] Two linear guide rails are fixed on the material distribution support seat, and the cam follower is located between the two linear guide rails. Two sliding blocks are fixed on the upper end surface of the follower plate, and the two sliding blocks are respectively connected to the corresponding linear guide rails and slide along the linear guide rails.

[0013] A method for controlling loading and unloading of optical components comprises the following steps:

[0014] (1) When the feeding device is in the material storage state, the fourth driving cylinder is in the initial retracted state, that is, when the cam of the cam follower is located at the outer end of the waist-shaped hole, the feeding support pad passes through the guide channel corresponding to the feeding bin and extends into the feeding bin to support the bottom end of the material tray;

[0015] (2) When loading, first drive the fourth driving cylinder of the two material distribution mechanisms to push out, and the fourth driving cylinder drives the cam of the cam follower to move in the waist-shaped hole toward the upper material bin, thereby pushing the follower plate to move back toward the upper material bin, and the follower plate drives the slider to move along the linear guide rail back toward the upper material bin to achieve guidance. At this time, the loading support pad passes through the guide channel corresponding to the loading bin and moves out of the loading bin. At the same time, the material tray is supported on the loading support plate, and then the second driving cylinder is pushed out, and the loading support plate moves down by the height of a material tray under the drive of the loading lifting mechanism, and then the fourth driving cylinder is reset, and the loading support pad passes through the guide channel corresponding to the loading bin and extends into the loading bin to support the bottom end of the second to last material tray, and finally the first driving cylinder is pushed out, and the loading support plate continues to move down to the loading height of the conveying track under the drive of the loading lifting mechanism. At this time, the conveying track conveys the material tray to the unloading device;

[0016] (3) When the material unloading device is in the material storage state, the third driving cylinder is in the initial ejection state. At this time, the material unloading support plate is in the lowest position, that is, the material unloading support plate is at the unloading height of the conveying track. When the material tray is transported from the conveying track to the material unloading support plate of the material unloading device, the third driving cylinder retracts, and the material unloading support plate moves up under the drive of the material unloading lifting mechanism and is higher than the top height of the material unloading support pad, thereby lifting the material tray on the clamping mechanism. Then the third driving cylinder pushes out, and the material unloading support plate moves down under the drive of the material unloading lifting mechanism. When the material unloading support plate moves down to the clamping mechanism, the material unloading support plate squeezes the material unloading support pad to make it retract into the installation groove of the clamping support seat. The material unloading support plate continues to move downward, and the material unloading support pad is reset under the action of the spring and extends into the material unloading bin to support the moving material tray to complete the unloading.

[0017] After all the material trays in the lower material bin are stored, the conveying track, the loading device and the lower material device stop loading and unloading.

[0018] Advantages of the present invention:

[0019] The present invention is provided with a loading device and a unloading device, both of which are mechanized, which greatly improves the efficiency of optical element detection, reduces labor, and avoids damage to the optical element caused by manual loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the automatic loading and unloading device of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the feeding device of the present invention.

[0022] Figure 3 It is a structural schematic diagram of the material distribution mechanism of the present invention.

[0023] Figure 4 It is a structural schematic diagram of the cam follower of the material distribution mechanism extending into the waist-shaped hole.

[0024] Figure 5 It is a structural schematic diagram of the blanking device of the present invention.

[0025] Figure 6 It is a structural schematic diagram of the clamping mechanism of the present invention.

[0026] Figure 7 It is a schematic diagram of the mechanism of the lower silo of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See Figure 1 , an automatic loading and unloading device for optical components, comprising a base 1, a conveying track 2 arranged on the base 1, a loading device 3 and a unloading device 4 arranged on the base 1 and respectively located at two ends of the conveying track 2, and a controller, an optical component detection station 5 is arranged above the conveying track 2;

[0029] See Figure 2-Figure 4The feeding device 3 includes a feeding bin 31 and two material distribution support seats 32 fixed on the base 1 at the bottom end, a feeding support plate 33 located in the feeding bin 31, a feeding lifting mechanism connected to the feeding support plate 33 at the top end, a material distribution mechanism arranged on each material distribution support seat, and a first photoelectric sensor 34 and a second photoelectric sensor 35 fixed on the inner wall of the feeding bin. The two material distribution support seats 32 are respectively located on the outer sides of the opposite side walls of the feeding bin 31. The opposite side walls of the feeding bin 31 are provided with guide channels that pass through from top to bottom. Each material distribution mechanism includes a fourth driving cylinder 36 and two linear guide rails 37 fixed on the material distribution support seat 32, and a fourth driving cylinder 36 and a second linear guide rail 37 connected to the top end of the fourth driving cylinder 36. The cam follower fixing seat 38 connected to the horizontal piston rod of the driving cylinder 36, the cam follower 39 fixed on the cam follower fixing seat 38, the follower plate 310, the two sliders 311 fixed on the upper end surface of the follower plate 310, and the loading support pad 312 fixed on the follower plate 310, the inner ends of the two linear guides 37 are both facing the loading bin 31, the axes of the horizontal piston rod of the fourth driving cylinder 36 and the linear guide 37 are perpendicular to each other, the two sliders 311 are respectively connected to the corresponding linear guides 37 and slide along the linear guides, the follower plate 310 is provided with a waist-shaped hole that passes through from top to bottom, the inner end of the waist-shaped hole 313 faces the loading bin 31, and the waist-shaped hole 313 is provided on the follower plate 310. The axis of 13 forms an angle with the axis of the linear guide 37, the cam of the cam follower 39 is located in the waist-shaped hole 313, and the cam follower 39 is located between the two linear guides 37. When the cam is located at the outer end of the waist-shaped hole 313, the loading support pad 312 passes through the guide channel corresponding to the loading bin 31 and extends into the loading bin 31. When the cam is located at the inner end of the waist-shaped hole 313, the loading support pad 312 passes through the guide channel corresponding to the loading bin 31 and moves out of the loading bin 31. The loading lifting mechanism includes a loading linear bearing 314 fixed on the base 1, a loading linear bearing 314 vertically passes through the base 1 and the top end is fixed to the loading support plate 33 A loading guide rod 315 fixedly connected, a loading lifting plate 316 fixedly connected to the bottom end of the loading guide rod 315, a first driving cylinder 317 fixed on the lower end surface of the base 1, and a second driving cylinder 318 fixed on the upper end surface of the loading lifting plate 316, the piston ends of the vertically downward piston rod of the first driving cylinder 317 and the vertically upward piston rod of the second driving cylinder 318 are fixedly connected; when the loading support plate 33 drives the material tray to move to the loading height of the conveying track 2, the first photoelectric sensor 34 collects the material tray information, and when the loading support plate 33 drives the material tray to move to the bottom of the loading support pad 312, the second photoelectric sensor 35 collects the material tray information;

[0030] See Figure 5-Figure 7The unloading device 4 includes a unloading bin 41 and two clamping support seats 42 fixed on the base 1 at the bottom end, a unloading support plate 43 located in the unloading bin 41, a unloading lifting mechanism connected to the unloading support plate 43 at the top, a clamping mechanism arranged on each clamping support seat 42, and a third photoelectric sensor 44 and a fourth photoelectric sensor 45 fixed on the inner wall of the unloading bin 41. The clamping support seats 42 are respectively located on the outer sides of the opposite side walls of the unloading bin 41, and the opposite side walls of the unloading bin 41 are provided with guide channels that pass through from top to bottom, and the two clamping support seats 42 are symmetrical along the extension line of the axis of the conveying track 2. The two clamping support seats 42 are provided with mounting grooves with notches facing the unloading bin, and each clamping mechanism includes a unloading support pad 46 and a spring 47. The unloading support pad 46 is arranged in the corresponding mounting groove, and the bottom end of the unloading support pad 46 is hinged on the corresponding clamping support seat 42, and the top of the unloading support pad 46 is connected to the vertical bottom of the mounting groove. The two parts are connected by a spring 47. When the spring 47 is not stressed, the top of the unloading support pad 46 extends out of the installation groove and passes through the guide channel corresponding to the unloading bin 41 and extends into the unloading bin 41. When the spring 47 is subjected to compression, the top of the unloading support pad 46 passes through the guide channel corresponding to the unloading bin 41 and moves out of the unloading bin 41 and extends into the installation groove. The unloading lifting mechanism includes an unloading linear bearing 48 fixed on the base 1, an unloading guide rod 49 that vertically passes through the base 1 through the unloading linear bearing 48 and is fixedly connected to the unloading support plate 43 at the top, an unloading lifting plate 410 fixedly connected to the bottom end of the unloading guide rod 49, and a third driving cylinder 411 with a piston end vertically facing downward and fixed to the upper end surface of the unloading lifting plate 410; when the material tray moves from the conveying track 2 to the unloading support plate 43, the third photoelectric sensor 44 collects the material tray information, and the fourth photoelectric sensor 45 is located at the top of the unloading bin 41 to detect the full state of the unloading bin;

[0031] The driving mechanism of the conveying track 2, the first driving cylinder 317, the second driving cylinder 318, the third driving cylinder 411, the fourth driving cylinder 36 of the two material distribution mechanisms, the first photoelectric sensor 34, the second photoelectric sensor 35, the third photoelectric sensor 44, and the fourth photoelectric sensor 45 are all connected to the controller.

[0032] A method for controlling loading and unloading of optical components comprises the following steps:

[0033] (1) When the feeding device is in the material storage state, the fourth driving cylinder 36 is in the initial retracted state, that is, when the cam of the cam follower 39 is located at the outer end of the waist-shaped hole 313, the feeding support pad 312 passes through the guide channel corresponding to the feeding bin 31 and extends into the feeding bin 31 to support the bottom end of the material tray;

[0034] (2) When loading, first drive the fourth driving cylinder 36 of the two material distribution mechanisms to push out, and the fourth driving cylinder 36 drives the cam of the cam follower 39 to move in the waist hole 313 toward the upper material bin 31, thereby pushing the follower plate 310 to move in the back direction of the upper material bin 31, and the follower plate 310 drives the slider 311 to move along the linear guide rail 37 in the back direction of the upper material bin 31 to achieve guidance. At this time, the loading support pad 312 passes through the guide channel corresponding to the loading bin 31 and moves out of the loading bin 31. At the same time, the material tray is supported on the loading support plate 33, and then the second driving cylinder 318 pushes The loading support plate 33 moves down to the height of a material tray under the drive of the loading lifting mechanism. At this time, the second photoelectric sensor 35 collects the material tray information, and then the fourth driving cylinder 36 is reset. The loading support pad 312 passes through the guide channel corresponding to the loading bin 31 and extends into the loading bin 31 to support the bottom end of the second to last material tray. Finally, the first driving cylinder 317 is pushed out, and the loading support plate 33 continues to move down to the loading height of the conveying track 2 under the drive of the loading lifting mechanism. At this time, the first sensor 34 collects the material tray information, and the conveying track 2 then conveys the material tray to the unloading device;

[0035] (3) When the material unloading device is in the material storage state, the third driving cylinder 411 is in the initial ejecting state. At this time, the material unloading support plate 43 is in the lowest position, that is, the material unloading support plate 43 is at the unloading height of the conveying track 2. When the material tray is transported from the conveying track 2 to the material unloading support plate 43 of the unloading device, the third driving cylinder 411 retracts, and the material unloading support plate 43 moves up under the drive of the material unloading lifting mechanism and is higher than the top height of the material unloading support pad 46, thereby lifting the material tray on the clamping mechanism, and then the third driving cylinder 411 is ejected, and the material unloading support plate 43 moves down under the drive of the material unloading lifting mechanism. When the material unloading support plate 43 moves down to the clamping mechanism, the material unloading support plate 43 squeezes the material unloading support pad 46 to make it retract into the mounting groove of the clamping support seat 42. When the material unloading support plate 43 continues to move downward, the material unloading support pad 46 is reset under the action of the spring 47 and extends into the unloading bin 41 to support the downward-moving material tray to complete the unloading.

[0036] (4) When all the material trays in the lower material bin 41 are stored, the conveying track 2, the loading device 3 and the unloading device 4 stop loading and unloading.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic loading and unloading device for optical components, characterized in that: It includes a base, a conveying track arranged on the base, a loading device and a unloading device arranged on the base and respectively located at two ends of the conveying track, and a controller, wherein an optical element detection station is arranged above the conveying track; The feeding device includes a feeding bin with a bottom end fixed on the base and two material distribution support seats, a feeding support plate located in the feeding bin, a feeding lifting mechanism connected to the feeding support plate at the top, a material distribution mechanism arranged on each material distribution support seat, and a first photoelectric sensor and a second photoelectric sensor fixed on the inner wall of the feeding bin and connected to the controller. The two material distribution support seats are respectively located on the outer sides of the opposite side walls of the feeding bin, and the opposite side walls of the feeding bin are provided with guide channels that pass through from top to bottom. Each material distribution mechanism includes a material distribution mechanism fixed to the material distribution support seat. The fourth driving cylinder and the linear guide on the top, the cam follower fixing seat fixedly connected with the horizontal piston rod of the fourth driving cylinder at the top, the cam follower fixed on the cam follower fixing seat, the follower plate, the slider fixed on the upper end surface of the follower plate, and the loading support pad fixed on the follower plate, the inner end of the linear guide faces the loading bin, the axes of the horizontal piston rod of the fourth driving cylinder and the linear guide are perpendicular to each other, the slider is embedded in the linear guide, the follower plate is provided with a waist-shaped hole penetrating from top to bottom, and the inner end of the waist-shaped hole faces The material loading mechanism is configured to move upward to the material bin, and an angle is formed between the axis of the waist-shaped hole and the axis of the linear guide rail. The cam of the cam follower is located in the waist-shaped hole. When the cam is located at the outer end of the waist-shaped hole, the loading support pad passes through the guide channel corresponding to the loading bin and extends into the loading bin. When the cam is located at the inner end of the waist-shaped hole, the loading support pad passes through the guide channel corresponding to the loading bin and moves out of the loading bin. The loading lifting mechanism includes a loading linear bearing fixed on the base, a loading linear bearing vertically passing through the base and fixedly connected to the loading support plate at the top A feeding guide rod, a feeding lifting plate fixedly connected to the bottom end of the feeding guide rod, a first driving cylinder fixed to the lower end surface of the base, and a second driving cylinder fixed to the upper end surface of the feeding lifting plate. The piston ends of the vertically downward piston rod of the first driving cylinder and the vertically upward piston rod of the second driving cylinder are fixedly connected; when the feeding support plate drives the material tray to move to the feeding height of the conveying track, the first photoelectric sensor collects the material tray information, and when the feeding support plate drives the material tray to move to the bottom of the feeding support pad, the second photoelectric sensor collects the material tray information; The unloading device includes a unloading bin fixed on the base at the bottom end and two clamping support seats, a unloading support plate located in the unloading bin, a unloading lifting mechanism connected to the unloading support plate at the top, a clamping mechanism arranged on each clamping support seat, and a third photoelectric sensor and a fourth photoelectric sensor fixed on the inner wall of the unloading bin and connected to the controller. The clamping support seats are respectively located on the outer sides of the opposite side walls of the unloading bin, and the opposite side walls of the unloading bin are provided with guide channels that pass through up and down, and the two clamping support seats are symmetrical along the extension line of the axis of the conveying track, and the two clamping support seats are provided with mounting grooves with notches facing the unloading bin, and each clamping mechanism includes a unloading support pad and a spring, and the unloading support pad is arranged in the corresponding mounting groove, the bottom end of the unloading support pad is hinged to the corresponding clamping support seat, and the top of the unloading support pad is hinged to the mounting groove. The vertical bottoms of the grooves are connected by springs. When the springs are not under stress, the top of the unloading support pad extends out of the installation groove and passes through the guide channel corresponding to the unloading bin and extends into the unloading bin. When the springs are under compression, the top of the unloading support pad passes through the guide channel corresponding to the unloading bin and moves out of the unloading bin and extends into the installation groove. The unloading lifting mechanism includes an unloading linear bearing fixed on the base, an unloading guide rod that vertically passes through the base through the unloading linear bearing and is fixedly connected to the unloading support plate at the top, an unloading lifting plate fixedly connected to the bottom end of the unloading guide rod, and a third driving cylinder with a piston end vertically facing downward and fixed on the upper end surface of the unloading lifting plate; when the material tray moves from the conveying track to the unloading support plate, the third photoelectric sensor collects the material tray information, and the fourth photoelectric sensor is located at the top of the unloading bin and is used to detect the full state of the unloading bin; The driving mechanism of the conveying track, the first driving cylinder, the second driving cylinder, the third driving cylinder, and the fourth driving cylinders of the two material dividing mechanisms are all connected to the controller.

2. The automatic loading and unloading device for optical elements according to claim 1, characterized in that: Two linear guide rails are fixed on the material distribution support seat, and the cam follower is located between the two linear guide rails. Two sliding blocks are fixed on the upper end surface of the follower plate, and the two sliding blocks are respectively connected to the corresponding linear guide rails and slide along the linear guide rails.

3. The material loading and unloading control method of the automatic material loading and unloading device according to claim 1, characterized in that: The specific steps include: (1) When the feeding device is in the material storage state, the fourth driving cylinder is in the initial retracted state, that is, when the cam of the cam follower is located at the outer end of the waist-shaped hole, the feeding support pad passes through the guide channel corresponding to the feeding bin and extends into the feeding bin to support the bottom end of the material tray; (2) When loading, first drive the fourth driving cylinder of the two material distribution mechanisms to push out, and the fourth driving cylinder drives the cam of the cam follower to move in the waist-shaped hole toward the upper material bin, thereby pushing the follower plate to move back toward the upper material bin, and the follower plate drives the slider to move along the linear guide rail back toward the upper material bin to achieve guidance. At this time, the loading support pad passes through the guide channel corresponding to the loading bin and moves out of the loading bin. At the same time, the material tray is supported on the loading support plate, and then the second driving cylinder is pushed out, and the loading support plate moves down by the height of a material tray under the drive of the loading lifting mechanism, and then the fourth driving cylinder is reset, and the loading support pad passes through the guide channel corresponding to the loading bin and extends into the loading bin to support the bottom end of the second to last material tray, and finally the first driving cylinder is pushed out, and the loading support plate continues to move down to the loading height of the conveying track under the drive of the loading lifting mechanism. At this time, the conveying track conveys the material tray to the unloading device; (3) When the material unloading device is in the material storage state, the third driving cylinder is in the initial ejection state. At this time, the material unloading support plate is in the lowest position, that is, the material unloading support plate is at the unloading height of the conveying track. When the material tray is transported from the conveying track to the material unloading support plate of the material unloading device, the third driving cylinder retracts, and the material unloading support plate moves up under the drive of the material unloading lifting mechanism and is higher than the top height of the material unloading support pad, thereby lifting the material tray on the clamping mechanism. Then the third driving cylinder pushes out, and the material unloading support plate moves down under the drive of the material unloading lifting mechanism. When the material unloading support plate moves down to the clamping mechanism, the material unloading support plate squeezes the material unloading support pad to make it retract into the installation groove of the clamping support seat. The material unloading support plate continues to move downward, and the material unloading support pad is reset under the action of the spring and extends into the material unloading bin to support the moving material tray to complete the unloading.

4. The material loading and unloading control method according to claim 3 is characterized in that: After all the material trays in the lower material bin are stored, the conveying track, the loading device and the lower material device stop loading and unloading.

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