Loading system

Abstract

The present invention discloses a disk loading system, including an electromagnetic clutch, a disk loading drive device, a tracking encoder and a mounting frame, wherein the disk loading drive device includes a rotary drive unit; the electromagnetic clutch includes a first clutch plate fixedly connected to the rotary drive unit and a second clutch plate fixedly connected to the tracking encoder, the second clutch plate is connected to the mounting frame through a one-way transmission mechanism to limit the one-way rotation of the tracking encoder; the tracking encoder is fixed to the rotary drive unit by the attraction of the first clutch plate and the second clutch plate. By constraining the second clutch plate by the one-way transmission mechanism, it can be achieved that the second clutch plate can only rotate in one direction along with the first clutch plate, so that the tracking encoder only records the one-way movement of the output shaft of the rotary drive unit, and the tracking encoder can provide accurate detection values ​​for the disk loading robot, which can improve the accuracy of the material discharge of the disk loading robot.

Description

Technical Field

[0001] The present invention relates to the technical field of tray loading, and in particular to a tray loading system. Background Art

[0002] In the automatic tray loading system applied to the sterilization tray, a tray loading drive device is used as a driver, and the tray loading drive device includes a rotary drive unit, and the rotary drive unit is connected to a tracking encoder through an electromagnetic clutch, and the tray loading drive device is connected to a tray pushing device. The tray loading drive device outputs linear motion. Since the rotary drive unit is arranged in the tray loading drive device and has a connection relationship with the tray loading drive device, the movement distance of the output end of the tray loading drive device can be determined accordingly by detecting the rotation angle of the rotary drive.

[0003] When the rotary drive unit rotates forward, it can drive the tray pushing device and the sterilization tray on it to move from the initial position toward the tray loading area. During this process, the tray loading operation is performed. During this process, the two clutch plates in the electromagnetic clutch are controlled to engage, and the tracking encoder records the rotation angle of the rotary drive unit, thereby determining the actual position of the sterilization tray in real time. In addition, the tray loading robot locates the sterilization tray according to the detection results of the tracking encoder, grabs the soft bag and places it into the sterilization tray. During the tray loading operation and the reverse rotation of the rotary drive unit to drive the tray pushing device to reset, according to the positioning requirements of the tray loading robot, during the reverse reset of the rotary drive unit, it is necessary to control the two clutch plates in the electromagnetic clutch to separate, so that the tracking encoder is stationary without detecting the reversed rotary drive unit, to ensure that the tracking encoder value is always in the state of accumulating the forward rotation value of the rotary drive unit.

[0004] However, the spring plates in the electromagnetic clutch usually have a recovery delay problem. After the electromagnetic clutch engagement signal is disconnected, the two clutch plates may not separate immediately, causing the tracking encoder to reverse during the resetting process of the rotary drive unit, affecting the loading robot's judgment of the position of the sterilization tray to be loaded, resulting in inaccurate placement of the soft bag.

[0005] Therefore, how to improve the accuracy of the material discharging of the tray loading robot is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a tray loading system capable of improving the accuracy of material discharging by a tray loading robot.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A disk loading system includes an electromagnetic clutch, a disk loading drive device, a tracking encoder and a mounting frame, wherein the disk loading drive device includes a rotation drive portion; the electromagnetic clutch includes a first clutch plate fixedly connected to the rotation drive portion and a second clutch plate fixedly connected to the tracking encoder, the second clutch plate is connected to the mounting frame via a one-way transmission mechanism to limit the one-way rotation of the tracking encoder; the tracking encoder is fixed to the rotation drive portion by the attraction of the first clutch plate and the second clutch plate.

[0009] Preferably, the one-way transmission mechanism is a ratchet mechanism, which includes a ratchet fixed to the second clutch plate and a pawl rotatably connected to the mounting frame; when the second clutch plate is driven forward, the ratchet can move the pawl and rotate forward synchronously with the second clutch plate; and when the tracking encoder is driven in reverse, the pawl can be stuck between the teeth of the ratchet to limit rotation.

[0010] Preferably, the deadweight of the pawl causes it to have a tendency to perform a reset movement toward between the teeth of the ratchet wheel, and the reset movement direction of the pawl is opposite to the force direction of the pawl when it is moved by the ratchet wheel.

[0011] Preferably, a reset elastic member is provided between the pawl and the mounting frame, and the elastic force of the reset elastic member causes the pawl to have a tendency to perform a reset movement toward between the teeth of the ratchet wheel, and the reset movement direction of the pawl is opposite to the force direction of the pawl when it is moved by the ratchet wheel.

[0012] Preferably, a pawl limiting column is fixedly provided on the pawl and a pawl mounting hole is opened, the pawl mounting hole is rotatably connected to the mounting frame, and a second limiting column is fixedly provided on the mounting frame. When the pawl is turned by the ratchet wheel, the pawl can be rotated to the maximum position where the pawl limiting column and the second limiting column are abutted.

[0013] Preferably, the mounting frame includes a support column arranged parallel to the axial direction of the rotating drive part, the pawl mounting hole is rotatably sleeved on the support column, the pawl limiting column is parallel to the axial direction of the rotating drive part, and a first limiting sleeve is screwed fixed on the support column, the first limiting sleeve and the pawl limiting column are located on the same side of the pawl, and the second limiting column is fixed to the outer peripheral surface of the first limiting sleeve.

[0014] Preferably, a second limiting sleeve is fixedly mounted on the support column, and the pawl is disposed between the first limiting sleeve and the second limiting sleeve.

[0015] Preferably, a positioning screw is fixedly provided on the support column, and the positioning screw is perpendicular to the axial direction of the rotary drive part to support and fix the clutch body of the electromagnetic clutch, and the first clutch plate is rotatably connected to the clutch body.

[0016] Preferably, it also includes a tray loading robot and a tray pushing device; the tray loading drive device includes a servo motor and an electric cylinder connected to the output end of the servo motor, the rotation drive part is arranged in the electric cylinder, and the tray pushing device is connected to the output end of the electric cylinder; the tracking encoder and the tray loading robot are both electrically connected to the robot control cabinet.

[0017] Preferably, the one-way transmission mechanism is a one-way bearing.

[0018] The disk loading system provided by the present invention includes an electromagnetic clutch, a disk loading drive device, a tracking encoder and a mounting frame, the disk loading drive device includes a rotation drive part; the electromagnetic clutch includes a first clutch plate fixedly connected to the rotation drive part and a second clutch plate fixedly connected to the tracking encoder, the second clutch plate is connected to the mounting frame through a one-way transmission mechanism to limit the one-way rotation of the tracking encoder; the tracking encoder is fixed to the rotation drive part by the attraction of the first clutch plate and the second clutch plate.

[0019] In actual use, the direction of rotation of the rotating drive unit and the tracking encoder when driving forward is used as the feeding direction, and the other direction is used as the reset direction of the rotating drive unit. During the feeding process, the control device controls the first clutch plate and the second clutch plate in the electromagnetic clutch to attract each other, and the rotating drive unit rotates along the feeding direction, the tracking encoder records the rotation angle of the rotating drive unit, and the rotating drive unit drives the disk pushing device to transport the sterilization disk; after the sterilization disk is in place, the control device controls the first clutch plate and the second clutch plate in the electromagnetic clutch to disengage, and the rotating drive unit reverses along the reset direction to drive the connected disk pushing device to reset. Even if the first clutch plate and the second clutch plate are not separated in time during the initial period of reversal of the rotating drive unit, due to the setting of the one-way transmission mechanism, it can be ensured that the second clutch plate will not rotate in the opposite direction, avoiding the tracking encoder from recording the reset movement of the rotating drive unit.

[0020] By constraining the second clutch plate through the one-way transmission mechanism, the second clutch plate can only rotate in one direction along with the first clutch plate, so that the tracking encoder only records the one-way movement of the output shaft of the rotating drive unit. The tracking encoder can provide accurate detection values ​​for the loading robot, which can improve the accuracy of the loading robot's material discharge. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0022] Figure 1 is a cross-sectional view of a tray loading system in Embodiment 1 of the present invention;

[0023] Figure 2 It is a partial cross-sectional view of the first limiting sleeve or the second limiting sleeve of the tray loading system in the first embodiment of the present invention;

[0024] Figure 3 A top view of a first limiting sleeve or a second limiting sleeve of a tray loading system in Embodiment 1 of the present invention;

[0025] Figure 4 It is a front view of the pawl of the tray loading system in the first embodiment of the present invention;

[0026] Figure 5 It is a front view of the ratchet wheel of the tray loading system in the first embodiment of the present invention;

[0027] Figure 6 A top view of a ratchet wheel of a tray loading system in Embodiment 1 of the present invention;

[0028] Figure 7 Schematic diagram of the cooperation between the ratchet wheel and the pawl when the ratchet wheel of the tray loading system in the first embodiment of the present invention rotates forward, and the arrow indicates the force direction of the ratchet wheel;

[0029] Figure 8 It is a schematic diagram of the cooperation between the ratchet wheel and the pawl when the ratchet wheel of the tray loading system in the first embodiment of the present invention stops rotating;

[0030] Fig. 9 Schematic diagram of the cooperation between the ratchet wheel and the pawl when the ratchet wheel of the tray loading system in the first embodiment of the present invention is subjected to a reverse driving force, and the arrow indicates the force direction of the ratchet wheel;

[0031] Fig.10 This is a structural diagram of the connection between the electric cylinder and the plate pushing device of the plate loading system in the first embodiment of the present invention;

[0032] Fig.11 A top view of the pawl limiting column and the second limiting column in the second embodiment of the present invention;

[0033] Fig.12 It is a front view of the pawl limiting column and the second limiting column in the second embodiment of the present invention;

[0034] Fig.13 This is a schematic diagram showing the connection of components of the disk loading drive device in the third embodiment of the present invention.

[0035] Reference numerals:

[0036] Rotation drive unit 1, transmission shaft 11, coupling 12, servo motor 13, electric cylinder 14, driving shaft 15, conveyor belt 16;

[0037] Mounting frame 2, support column 21;

[0038] Ratchet 31, pawl 32, limiting hole 321, pawl mounting hole 322, pawl limiting column 323;

[0039] A first limiting sleeve 41, a first limiting column 411, a second limiting column 412, a second limiting sleeve 42, and a positioning screw 43;

[0040] Electromagnetic clutch 5, first clutch plate 51, second clutch plate 52, clutch body 53;

[0041] Tracking encoder 6;

[0042] Push plate device 7. DETAILED DESCRIPTION

[0043] 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.

[0044] The core of the present invention is to provide a tray loading system, which can improve the accuracy of material discharging by a tray loading robot.

[0045] It should be noted that when an element is referred to as "fixing" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. The orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0047] In a specific embodiment of the tray loading system provided by the present invention, please refer to Figure 1 , including an electromagnetic clutch 5, a disk loading drive device, a tracking encoder 6 and a mounting frame 2.

[0048] The housing of the disk loading drive device is fixed to the mounting frame 2, and the output end of the disk loading drive device is used to provide driving force for the disk pushing device 7. The disk loading drive device includes a rotary drive part 1 that performs a rotary motion.

[0049] The electromagnetic clutch 5 includes a first clutch plate 51 fixedly connected to the rotary drive unit 1 and a second clutch plate 52 fixedly connected to the tracking encoder 6. Optionally, the rotary drive unit 1 is connected to the first clutch plate 51 through a coupling 12 and a transmission shaft 11. The tracking encoder 6 is fixed to the rotary drive unit 1 by the attraction of the first clutch plate 51 and the second clutch plate 52. Among them, one of the first clutch plate 51 and the second clutch plate 52 is a coil, and the other is an armature connected to a clutch elastic member. The electromagnetic clutch 5 is electrically connected to the control device. According to the electrical signal of the control device received by the electromagnetic clutch 5, the coil is energized and the armature is attracted, so that the first clutch plate 51 and the second clutch plate 52 are attracted, and the tracking encoder 6 records the movement of the output shaft of the rotary drive unit 1, or the coil is de-energized to make the armature separate from the coil under the resetting action of the clutch elastic member, so that the first clutch plate 51 and the second clutch plate 52 are disconnected, and the tracking encoder 6 is separated from the rotary drive unit 1. Optionally, the spacing between the first clutch plate 51 and the second clutch plate 52 is about 0.02mm.

[0050] The second clutch plate 52 is connected to the mounting frame 2 via a one-way transmission mechanism to limit the one-way rotation of the tracking encoder 6. Specifically, the second clutch plate 52 can only rotate in the forward direction on the mounting frame 2 but cannot rotate in the reverse direction.

[0051] In actual use, the direction of rotation when the rotary drive unit 1 drives the tracking encoder 6 to rotate forward is used as the feeding direction, and the other direction is used as the reset direction of the rotary drive unit 1. During the feeding process, the control device controls the first clutch plate 51 and the second clutch plate 52 in the electromagnetic clutch 5 to engage, and the rotary drive unit 1 rotates along the feeding direction, the tracking encoder 6 records the rotation angle of the rotary drive unit 1, and the tray loading drive device drives the tray pushing device 7 to transport the sterilization tray; after the sterilization tray is in place, the control device controls the first clutch plate 51 and the second clutch plate 52 in the electromagnetic clutch 5 to disengage, the rotary drive unit 1 reverses along the reset direction, and the tray loading drive device drives the connected tray pushing device 7 to reset. Even if the first clutch plate 51 and the second clutch plate 52 are not separated in time during the initial period of reversal of the rotary drive unit 1, due to the setting of the one-way transmission mechanism, it can be ensured that the second clutch plate 52 will not rotate in the opposite direction, avoiding the tracking encoder 6 from recording the reset movement of the rotary drive unit 1.

[0052] By constraining the second clutch plate 52 through the one-way transmission mechanism, the second clutch plate 52 can only rotate in one direction along with the first clutch plate 51, so that the tracking encoder 6 only records the one-way movement of the rotating drive unit 1. The tracking encoder 6 can provide accurate detection values ​​for the loading robot, which can improve the accuracy of the loading robot's material discharge.

[0053] Furthermore, if Figures 4 to 6 As shown, the one-way transmission mechanism is a ratchet mechanism, which includes a ratchet 31 fixed to the second clutch plate 52 and a pawl 32 rotatably connected to the mounting frame 2. Using the ratchet mechanism as the one-way transmission mechanism can ensure the effect of one-way limiting.

[0054] When the second clutch plate 52 is driven forward, the ratchet wheel 31 can move the pawl 32 and rotate forward synchronously with the second clutch plate 52. When the tracking encoder 6 is driven reversely, that is, when the tracking encoder 6 is subjected to a reverse driving force, the pawl 32 can be stuck between the teeth of the ratchet wheel 31 to limit rotation.

[0055] The deadweight of the pawl 32 makes it tend to move between the teeth of the ratchet 31, and the reset movement direction of the pawl 32 is opposite to the force direction of the pawl 32 when it is moved by the ratchet 31. That is to say, when the pawl 32 is not moved by the ratchet 31, the pawl 32 can enter between the teeth of the ratchet 31 under the action of its own weight without the aid of other structures, so as to prepare for limiting the reversal of the ratchet 31. Specifically, a pawl mounting hole 322 is provided on the pawl 32, and the pawl mounting hole 322 is rotatably connected to the mounting frame 2. The center line of the pawl mounting hole 322 is the rotation center of the pawl 32. When the center line of the pawl mounting hole 322 is horizontally or nearly horizontally set, and the center of gravity of the pawl 32 deviates from the center line of the pawl mounting hole 322, the pawl 32 can use its own weight to perform reset movement between the teeth of the ratchet 31, such as Figure 4 As shown, the center of gravity of the pawl 32 is located on the left side of the pawl mounting hole 322, and the weight of the pawl 32 makes it tend to rotate counterclockwise.

[0056] Specifically Figures 7 to 9 Taking the position shown in FIG. 1 as an example, the counterclockwise driving force received by the ratchet 31 is the positive driving force, while the clockwise driving force received by the ratchet 31 is the reverse driving force. Figure 8 As shown, the pawl 32 falls between the teeth of the ratchet wheel 31 under its own weight; when the ratchet wheel 31 is driven forward, the ratchet wheel 31 pushes away the pawl 32 and rotates forward, Figure 8 The status becomes Figure 7 when the ratchet 31 stops rotating, the pawl 32 falls back between the teeth of the ratchet 31 under its own weight; at this time, if the ratchet 31 is subjected to a reverse driving force, such as Fig. 9 As shown, the ratchet teeth of the ratchet wheel 31 are clamped with the pawl 32, so that the ratchet wheel 31 is limited and cannot be reversed.

[0057] Furthermore, the pawl 32 is provided with a limiting hole 321 and a pawl mounting hole 322 whose center lines are parallel to each other, the pawl mounting hole 322 is rotatably connected to the mounting frame 2, and a first limiting column 411 is fixedly provided on the mounting frame 2. The first limiting column 411 is movably inserted into the limiting hole 321 to limit the rotatable angle of the pawl 32, so as to prevent the pawl 32 from flying to a position where it cannot cooperate with the ratchet wheel 31 due to inertia. Figures 7 to 9 As shown, if the pawl 32 is moved by the ratchet wheel 31 to a part of the limiting hole 321 abuts against the first limiting column 411 and cannot be moved further, the pawl 32 is reset under the action of gravity to another part of the limiting hole 321 abuts against the first limiting column 411 and cannot be reset.

[0058] Furthermore, if Figure 1 As shown, the mounting frame 2 includes a support column 21 arranged parallel to the axial direction of the rotary drive unit 1, and the pawl mounting hole 322 is sleeved on the support column 21. At the same time, a first limiting sleeve 41 is screwed fixed to one side of the pawl 32 on the support column 21, and the first limiting column 411 is fixed to the first limiting sleeve 41. During the assembly process, after adjusting the plugging position of the first limiting column 411 and the limiting hole 321, the first limiting sleeve 41 can be screwed to the support column 21 to facilitate assembly.

[0059] Furthermore, a second limiting sleeve 42 is fixedly provided on the support column 21, which can be fixed by screws. The pawl 32 is arranged between the first limiting sleeve 41 and the second limiting sleeve 42, so that the pawl 32 can be axially limited by the first limiting sleeve 41 and the second limiting sleeve 42. Among them, the axial spacing between the first limiting sleeve 41 and the second limiting sleeve 42 can be greater than the axial thickness of the pawl 32, so that the pawl 32 has a certain activity space under the first limiting sleeve 41 and the second limiting sleeve 42, so as to ensure that the pawl 32 can rotate smoothly on the support column 21 under the premise of being able to engage with the ratchet 31. In addition, the material of the first limiting sleeve 41, the pawl 32, and the second limiting sleeve 42 can be metal such as aluminum and stainless steel, and can also be non-metal such as nylon, as long as the strength requirements are met.

[0060] Furthermore, a positioning screw is fixedly provided on the support column 21, and the positioning screw is perpendicular to the axial direction of the rotary drive unit 1 to support and fix the clutch body 53 of the electromagnetic clutch 5 to prevent the clutch body 53 from moving axially. The first clutch plate 51 is rotatably connected to the clutch body 53, wherein the control part of the electromagnetic clutch 5 and other structures can be arranged in the clutch body 53, which can improve the stability of the installation of the clutch body 53 and reduce the overall vibration during the operation of the disk loading system.

[0061] Furthermore, the tray loading system also includes a tray loading robot and a tray pushing device 7. The tray loading drive device includes a servo motor 13 and an electric cylinder 14 connected to the output end of the servo motor 13, the rotation drive unit 1 is arranged in the electric cylinder 14, and the tray pushing device 7 is connected to the output end of the electric cylinder 14, that is, the rotation drive unit 1 is a part of the structure of the electric cylinder 14, and the tray pushing device 7 reciprocates linearly under the drive of the electric cylinder 14. Since the rotation drive unit 1 is connected to the output end of the electric cylinder 14, the movement distance of the output end of the electric cylinder 14 can be determined accordingly by detecting the rotation drive unit 1. Optionally, as Fig.13 As shown, the electric cylinder 14 includes a driving shaft 15, a driven shaft and a conveyor belt 16 sleeved outside the driving shaft 15 and the driven shaft, the tray pushing device 7 is fixed on the conveyor belt 16, the driving shaft 15 is connected to the output end of the servo motor 13, the driven shaft is the rotation drive part 1, and the driven shaft is connected to the electromagnetic clutch 5. Of course, in other implementations, the electric cylinder 14 can also be a screw-type electric cylinder. The tracking encoder 6 and the tray loading robot are both electrically connected to the robot control cabinet. After the tray pushing device 7 conveys the sterilization tray to the position, the tray loading robot conveys the soft bag to the sterilization tray for loading according to the detection value of the tracking encoder 6.

[0062] The tray loading system provided in this embodiment can be applied as an automatic tray loading system for soft bags, and can also be used in other occasions. In the case where the original rotation drive unit 1 and the tracking encoder 6 are connected only by the electromagnetic clutch 5, the tray loading system adds a one-way transmission mechanism as an anti-reversal mechanism on the structure directly connecting the tracking encoder 6 to the electromagnetic clutch 5. When the tray pushing device 7 returns, it can effectively prevent the tracking encoder 6 from reversing due to the temporary inseparability of the electromagnetic clutch 5. The position feedback of the tracking encoder 6 is accurate, thereby ensuring the accuracy of the placement of the soft bag in the sterilization tray and reducing the risk of collision of the tray loading robot with other structures due to displacement errors. In addition, the parts in the system are easy to process and the material cost is low.

[0063] Obviously, in another embodiment, a reset elastic member may be provided between the pawl 32 and the mounting frame 2, and the elastic force of the reset elastic member causes the pawl 32 to have a tendency to reset toward the teeth of the ratchet wheel 31, and the reset movement direction of the pawl 32 is opposite to the force direction of the pawl 32 when it is moved by the ratchet wheel 31. At this time, the reset of the pawl 32 is not constrained by the orientation of the rotation center of the pawl 32, and the deadweight of the pawl 32 may not be used. Of course, the elastic reset force of the reset elastic member may not be used alone, but the deadweight of the pawl 32 may be superimposed to perform the reset operation of the pawl 32, so that the pawl 32 is quickly reset.

[0064] Obviously, the one-way transmission mechanism is not limited to being set as a ratchet mechanism. For example, in another embodiment, the one-way transmission mechanism is a one-way bearing.

[0065] Obviously, in another specific embodiment, the pawl 32 can also be limited in rotation by other means. Fig.11 and Fig.12 As shown, a pawl limiting column 323 is fixedly provided on the pawl 32, and a pawl mounting hole 322 is opened on the pawl 32, and the pawl mounting hole 322 is rotatably connected to the mounting frame 2, and a second limiting column 412 is fixedly provided on the mounting frame 2. When the pawl 32 is toggled by the ratchet wheel 31, the pawl 32 can be rotated to the maximum position where the pawl limiting column 323 and the second limiting column 412 abut against each other.

[0066] More specifically, the mounting frame 2 includes a support column 21 arranged parallel to the axial direction of the rotary drive unit 1, the pawl mounting hole 322 is rotatably sleeved on the support column 21, the pawl limiting column 323 is parallel to the axial direction of the rotary drive unit 1, and a first limiting sleeve 41 is screwed to the support column 21, the first limiting sleeve 41 and the pawl limiting column 323 are located on the same side of the pawl 3, and the second limiting column 412 is fixed to the outer circumferential surface of the first limiting sleeve 41. The pawl limiting column 323 and the second limiting column 412 can both be screws.

[0067] like Fig.12As shown, when the pawl 32 is lifted by the ratchet 31, even if the ratchet 31 rotates too fast, the pawl 32 can only rotate to the position where the pawl limit column 323 and the second limit column 412 are against each other, and after the impact, the pawl 32 will usually be bounced downward by the second limit column 412, thereby ensuring the normal operation of the equipment.

[0068] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0069] The above is a detailed introduction to the tray loading system provided by the present invention. The principle and implementation method of the present invention are described in detail using specific examples herein. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, the present invention can also be improved and modified without departing from the principle of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A tray loading system, characterized in that: The invention comprises an electromagnetic clutch (5), a disk loading drive device, a tracking encoder (6) and a mounting frame (2), wherein the disk loading drive device comprises a rotation drive unit (1); the electromagnetic clutch (5) comprises a first clutch plate (51) fixedly connected to the rotation drive unit (1) and a second clutch plate (52) fixedly connected to the tracking encoder (6), wherein the second clutch plate (52) is connected to the mounting frame (2) via a one-way transmission mechanism to limit the one-way rotation of the tracking encoder (6); the tracking encoder (6) is fixedly connected to the rotation drive unit (1) via the attraction of the first clutch plate (51) and the second clutch plate (52).

2. The tray loading system according to claim 1, characterized in that: The one-way transmission mechanism is a ratchet mechanism, which includes a ratchet (31) fixed to the second clutch plate (52) and a pawl (32) rotatably connected to the mounting frame (2); when the second clutch plate (52) is driven in the forward direction, the ratchet (31) can move the pawl (32) and rotate in the forward direction synchronously with the second clutch plate (52); and when the tracking encoder (6) is driven in the reverse direction, the pawl (32) can be stuck between the teeth of the ratchet (31) to limit rotation.

3. The tray loading system according to claim 2, characterized in that: The deadweight of the pawl (32) causes it to have a tendency to perform a reset movement toward the teeth of the ratchet wheel (31), and the reset movement direction of the pawl (32) is opposite to the force direction of the pawl (32) when it is moved by the ratchet wheel (31).

4. The tray loading system according to claim 2, characterized in that: A reset elastic member is provided between the pawl (32) and the mounting frame (2), and the elastic force of the reset elastic member causes the pawl (32) to have a tendency to perform a reset movement toward the teeth of the ratchet wheel (31), and the reset movement direction of the pawl (32) is opposite to the force direction of the pawl (32) when it is moved by the ratchet wheel (31).

5. The tray loading system according to any one of claims 2 to 4, characterized in that: The pawl (32) is fixedly provided with a pawl limiting column (323) and is provided with a pawl mounting hole (322); the pawl mounting hole (322) is rotatably connected to the mounting frame (2); a second limiting column (412) is fixedly provided on the mounting frame (2); when the pawl (32) is moved by the ratchet wheel (31), the pawl (32) can be rotated to a maximum position where the pawl limiting column (323) and the second limiting column (412) abut against each other.

6. The tray loading system according to claim 5, characterized in that: The mounting frame (2) comprises a support column (21) arranged parallel to the axial direction of the rotary drive part (1); the pawl mounting hole (322) is rotatably sleeved on the support column (21); the pawl limiting column (323) is parallel to the axial direction of the rotary drive part (1); and a first limiting sleeve (41) is screwed to the support column (21); the first limiting sleeve (41) and the pawl limiting column (323) are located on the same side of the pawl (32); and the second limiting column (412) is fixed to the outer peripheral surface of the first limiting sleeve (41).

7. The tray loading system according to claim 6, characterized in that: A second limiting sleeve (42) is also fixedly sleeved on the support column (21), and the ratchet (32) is arranged between the first limiting sleeve (41) and the second limiting sleeve (42).

8. The tray loading system according to claim 7, characterized in that: The support column (21) is also fixedly provided with a positioning screw (43), and the positioning screw (43) is perpendicular to the axial direction of the rotary drive part (1) to support and fix the clutch body (53) of the electromagnetic clutch (5), and the first clutch plate (51) is rotatably connected to the clutch body (53).

9. The tray loading system according to claim 7, characterized in that: It also includes a tray loading robot and a tray pushing device (7); the tray loading drive device includes a servo motor (13) and an electric cylinder (14) connected to the output end of the servo motor (13); the rotation drive unit (1) is arranged in the electric cylinder (14); the tray pushing device (7) is connected to the output end of the electric cylinder (14); the tracking encoder (6) and the tray loading robot are both electrically connected to the robot control cabinet.

10. The tray loading system according to claim 1, characterized in that: The one-way transmission mechanism is a one-way bearing.

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