A flexible swing tray machine

Abstract

The application provides a flexible tray arranging machine, which comprises a vibrating disc, a transfer manipulator, a tray supply module, a tray stacking module and a tray transfer module. The tray transfer module cooperates with the tray supply module to supply the stacked empty trays to the feeding position one by one, so that the tray is automatically supplied, and the manual supply of the tray is avoided, which saves labor and improves efficiency. The transfer manipulator places the material with a set orientation in the vibrating disc into the tray, so that the material is automatically arranged. The tray stacking module cooperates with the tray transfer module to stack the trays with the material, so as to reduce the occupied space of the trays, facilitate the batch taking of the trays with the material by the operator or the manipulator, and improve the production efficiency of the tray arranging machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of product automatic tray arranging equipment, and particularly relates to a flexible tray arranging machine for chip automatic tray arranging. BACKGROUND

[0002] Chips are a general term for semiconductor elements, and are one of the most important components for controlling various electronic devices. Due to the huge demand, a large number of chips need to be transferred in the production process so as to supply the chips in a unified placement mode. Since the production efficiency of manual operation is low, an automatic tray arranging machine has been developed to automatically arrange the chips. In the prior art, the automatic tray arranging machine arranges products by manually supplying empty trays one by one to tray arranging positions, and then automatically placing the products in the empty trays in a set direction by the tray arranging machine. The trays filled with products are then conveyed to a storage rack at an interval by a conveying mechanism. Such a tray arranging machine needs a dedicated person to supply empty trays, and the placement of the trays filled with products is also not very efficient. The workers are not convenient to transfer a plurality of trays filled with products at a time, resulting in low work efficiency. SUMMARY

[0003] Therefore, it is necessary to provide a flexible tray arranging machine capable of automatically taking empty trays and stacking trays filled with materials, so as to improve the material tray arranging efficiency.

[0004] The present application provides a flexible tray arranging machine, which comprises:

[0005] A vibrating disc is arranged on a workbench and used for vibrating materials to a set direction.

[0006] A transfer manipulator is arranged behind the vibrating disc and used for transferring the materials in the set direction in the vibrating disc to a tray located at a feeding position.

[0007] A tray supplying module is arranged on a first mounting seat and comprises two first supporting plates arranged oppositely. The two first supporting plates are driven to move oppositely by a first driving device, and are used for supporting or releasing the stacked empty trays.

[0008] A tray stacking module is arranged on the first mounting seat and arranged side by side with the tray supplying module, and is used for stacking the trays filled with materials. The tray stacking module comprises two second supporting plates arranged oppositely. The two second supporting plates are driven to move oppositely by a second driving device, and are used for supporting or releasing the trays filled with materials.

[0009] A tray transferring module is arranged on the workbench and used for transferring a tray on the tray supplying module to the feeding position, and then transferring the tray filled with materials to the tray stacking module for stacking.

[0010] Further, the tray transfer module comprises a lifting mechanism and a third support plate, the lifting mechanism comprises a third driving device, a first sliding table and a guide plate, the guide plate is arranged between the first sliding table and the third support plate, the third support plate is movably connected with the guide plate, the third driving device is arranged on the first sliding table, and the output end of the third driving device is connected with the bottom of the third support plate.

[0011] Further, the output end of the third driving device is connected with a rotating wheel, the rotating wheel is eccentrically connected with a rotating shaft, the axial direction of the rotating shaft is horizontal, a push rod is hingedly connected between the rotating shaft and the third support plate, the third driving device drives the rotating wheel to rotate, so that the rotating shaft moves to drive the push rod to move, thereby lifting the third support plate.

[0012] Further, the first sliding table is further provided with an inductor, the push rod is provided with an inductive element, the inductive element has an initial position, when the third driving device drives the rotating wheel to rotate one circle, the inductive element moves from the initial position along with the push rod and returns to the initial position again.

[0013] Further, the adjacent two sides of the third support plate are further provided with a plurality of limiting blocks, the other two sides of the third support plate are respectively provided with at least one movable limiting element, the back surface of the third support plate is provided with a push block corresponding to the limiting element, the push block slides to make the limiting element move towards the limiting block on the opposite side.

[0014] Further, the side of the push block away from the third support plate is further connected with a push plate, the push plate is provided with a guide groove, the guide groove comprises a first part and a second part, wherein the first part is vertically arranged, the second part is connected with the upper end of the first part at an obtuse angle, the guide plate is provided with a guide column corresponding to the guide groove, when the third driving device drives the third support plate to rise, the push block drives the push plate to move under the action of the guide column and the guide groove, the push plate drives the limiting element to move away from the limiting block on the opposite side.

[0015] Further, the third support plate is provided with a sliding groove, the limiting element is arranged in the sliding groove, the limiting element comprises a limiting part, a sliding part and a connecting part, the sliding part is arranged between the limiting part and the connecting part, the limiting part at least partially protrudes from the surface of the third support plate, the connecting part is at least partially connected with the push plate, the sliding part is elastically connected in the sliding groove through a spring, the push block is provided with a groove, when the connecting part is located in the groove, the spring is in a compressed state, when the connecting part is away from the groove, the spring in the compressed state is further compressed.

[0016] Further, opposite sides of the third support plate are respectively provided with a notch corresponding to two first support plates or two second support plates, when the third support plate moves to below the tray supply module or the tray stacking module, and is driven by the third driving device to move upward and contact the lowermost tray of the two first support plates or the two second support plates, the two first support plates or the two second support plates are respectively located at the notch.

[0017] Further, the transfer robot comprises a second sliding table, at least one suction assembly is arranged on one side of the second sliding table, the suction assembly comprises a reversible motor, a conveying belt, two conveying wheels and two suction nozzles, one conveying wheel is arranged below the other conveying wheel at a certain distance, the conveying belt is rotatably arranged on the two conveying wheels, and the part of the conveying belt between the two conveying wheels is connected with the two suction nozzles respectively, and the reversible motor drives one conveying wheel to rotate so that the two suction nozzles move synchronously and in opposite directions.

[0018] Further, the flexible tray placing machine further comprises a camera arranged above the vibration disc, for identifying whether the material in the vibration disc is in a set orientation.

[0019] Compared with the prior art, the beneficial effects of the present application are as follows: the tray transfer module is arranged to cooperate with the tray supply module to supply the stacked empty trays to the feeding position one by one, so that the tray is automatically supplied, avoiding the occupation of manpower and low efficiency caused by manual supply of the tray, the transfer robot is arranged to place the material in the vibration disc in the tray, so that the automatic placing of the material is realized, and the tray stacking module is arranged to cooperate with the tray transfer module to stack the trays containing the material, so as to reduce the occupied space of the tray, and facilitate the operator or the robot to take the trays containing the material at one time, so as to improve the production efficiency of the placing machine. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a whole schematic view of the embodiment of the present application.

[0021] Figure 2 It is a schematic view of the first support seat and the tray supply module and the tray stacking module of the embodiment of the present application.

[0022] Figure 3 It is a schematic view of the tray transfer module of the embodiment of the present application.

[0023] Figure 4 It is a schematic view of the lifting mechanism and the third support plate of the embodiment of the present application.

[0024] Figure 5 Figure 3 is a schematic view of the third support plate, the limiting member and the limiting block according to the present application.

[0025] Figure 6 Figure 4 is a schematic view of the pushing block and the limiting member according to the present application.

[0026] Figure 7 Figure 5 is a schematic view of the transfer robot according to the present application.

[0027] Figure 8 Figure 6 is a schematic view of the second sliding table and the suction assembly according to the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. It can be understood that the drawings are only provided for reference and illustration, and are not used to limit the present application. The connection relationship shown in the drawings is only for clear description, and does not limit the connection mode.

[0029] It should be noted that when one component is considered to be "connected" to another component, it can be directly connected to the other component, or a middle component can exist at the same time. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs. It should also be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection, or internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments, and are not intended to limit the present application.

[0030] It should also be noted that in the description of this invention, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] Please see Figure 1 The present invention provides a flexible tray loading machine, which includes a worktable 10, a vibratory plate 20, a camera 30, a transfer robot 40, a tray supply module 50, a tray stacking module 60, and a tray transfer module 70.

[0032] The vibratory plate 20 is mounted on the worktable 10 and is used to vibrate the material to be placed on the plate to a set orientation.

[0033] The camera 30 is positioned directly above the vibratory feeder 20 and is used to identify whether the material inside the vibratory feeder 20 is in the set orientation.

[0034] The transfer robot 40 is mounted on the worktable 10 and located behind the vibratory feeder 20, and is used to transfer the material in the vibratory feeder 20 that is identified by the camera 30 as having the set orientation to the tray 100 located at the loading position.

[0035] The workbench 10 is also provided with a first mounting base 11, and the pallet supply module 50 is provided on the first mounting base 11 for supporting or releasing the stacked pallets 100.

[0036] The pallet stacking module 60 is disposed on the first mounting base 11 and arranged in parallel with the pallet supply module 50, and is used to stack the pallets 100 containing the materials.

[0037] The pallet transfer module 70 is located on the workbench 10 and is used to transfer a pallet 100 from the pallet supply module 50 to the loading position, and after the pallet 100 is loaded with the material, it is transferred to the pallet stacking module 60 for stacking.

[0038] Please see Figures 2-3 The pallet supply module 50 includes a first limiting frame and a first support mechanism. The first support mechanism includes two first support plates 521 arranged opposite to each other. The two first support plates 521 move relative to each other under the drive of a first driving device 522, for supporting or releasing the stacked pallets 100.

[0039] The first limiting frame is provided corresponding to the first support mechanism and is used to limit the stacked trays 100.

[0040] Specifically, the pallet transfer module 70 includes a third support plate 71. When the third support plate 71 moves to the first support mechanism and contacts the bottom of the pallet 100 located at the bottom of the first support mechanism, the two first drive devices 522 simultaneously drive the corresponding first support plate 521 to move in a direction away from each other, so as to release the stacked pallets 100 and support them by the third support plate 71.

[0041] After the third support plate 71 supports the stacked trays 100, the third support plate 71 moves downward by at least the height of the trays 100, so that at least the tray 100 at the bottom layer is not higher than the two first support plates 521. Then, the two first drive devices 522 drive the two first support plates 521 to move closer to each other, so that the two first support plates 521 respectively extend at least partially into the gap of the corresponding trays 100.

[0042] At this time, the third support plate 71 continues to move downward so that the tray 100 located below the two first support plates 521 is separated, and the tray 100 that is not separated is supported again by the first support mechanism to realize the separation of the stacked trays 100.

[0043] The movement of the third support plate 71 delivers the pallet 100 to the loading position, so that the transfer robot 40 can place the material in the pallet 100 according to the set orientation.

[0044] The first limiting frame includes at least a first limiting plate 51 that is positioned at at least three corners of the stacked pallets 100 and is arranged vertically to prevent the stacked pallets 100 from deviating.

[0045] Preferably, the first limiting frame includes four first limiting plates 51, which respectively limit the four corners of the stacked trays 100.

[0046] The pallet stacking module 60 includes a second limiting frame and a second support mechanism. The second support mechanism includes two second support plates 621 arranged opposite to each other. The two second support plates 621 move relative to each other under the drive of a second driving device 622, which is used to support or release the pallet 100 containing materials.

[0047] The second limiting frame is provided corresponding to the second support mechanism and is used to limit the stacked pallets 100 containing the materials.

[0048] Specifically, after the pallet 100 on the third support plate 71 at the loading position is loaded with the material, the third support plate 71 continues to move to the second support mechanism and makes the upper surface of the pallet 100 contact the bottom of the pallet 100 at the bottom layer of the second support mechanism. Then, the two second drive devices 622 simultaneously drive the corresponding second support plates 621 to move in a direction away from each other to release the stacked pallets 100 and support them with the third support plate 71 so that the pallets 100 are stacked together with the already stacked pallets 100.

[0049] The third support plate 71 continues to move upward by at least the height of the tray 100, so that the bottom of the tray 100 is higher than the two second support plates 621. Then the two second drive devices 622 simultaneously drive the two second support plates 621 to move closer to each other, so that the two second support plates 621 are at least partially located at the bottom of the tray 100.

[0050] At this time, the third support plate 71 continues to move downward so that the pallet 100 is supported by the two second support plates 621, thereby realizing the stacking of the pallet 100 containing the material.

[0051] The second limiting frame includes at least three vertically arranged second limiting plates 61 that limit the stacked pallets 100 at at least three corners to prevent the stacked pallets 100 from deviating.

[0052] Preferably, the second limiting frame includes four second limiting plates 61, which respectively limit the four corners of the stacked trays 100.

[0053] It should be noted that the plane on which the two first support plates 521 are located and the plane on which the two second support plates 621 are located may or may not be the same plane.

[0054] Preferably, the plane containing the two first support plates 521 is on the same plane as the plane containing the two second support plates 621.

[0055] Please see Figures 3-6 The pallet transfer module 70 further includes a lifting mechanism 72, a lateral movement mechanism 73, and a longitudinal movement mechanism 74. The lifting mechanism 72 is mounted on the lateral movement mechanism 73 and moves laterally through the lateral movement mechanism 73. The lateral movement mechanism 73 is mounted on the longitudinal movement mechanism 74 and moves longitudinally through the longitudinal movement mechanism 74.

[0056] The lifting mechanism 72 includes a third driving device 721, a first slide 722, and a guide plate 723. The guide plate 723 is disposed between the first slide 722 and the third support plate 71. The third support plate 71 is movably connected to the guide plate 723. The third driving device 721 is disposed on the first slide 722, and the output end of the third driving device 721 is connected to the bottom of the third support plate 71.

[0057] Specifically, the guide plate 723 is provided with a plurality of guide sleeves 724, and a vertically arranged guide rod 725 is inserted through one of the guide sleeves 724. The top of the guide rod 725 is connected to the bottom of the third support plate 71. The guide plate 723 is provided with a through hole (not shown) corresponding to the output end of the third driving device 721, and the output end of the third driving device 721 passes through the through hole.

[0058] In one embodiment, the third driving device 721 is an electric push rod or a cylinder, and the electric push rod or cylinder is vertically arranged and drives the third support plate 71 to rise and fall.

[0059] In another embodiment, the third driving device 721 is a motor, the output end of which is connected to a wheel 726. The wheel 726 is eccentrically connected to a shaft 727, the shaft 727 being horizontal in direction. A push rod 728 is hinged between the shaft 727 and the third support plate 71. The third driving device 721 drives the wheel 726 to rotate, so that the shaft 727 moves and drives the push rod 728 to move, thereby causing the third support plate 71 to rise and fall.

[0060] Specifically, when the rotating shaft 727 is at its lowest point, the third support plate 71 is spaced a certain distance from the first support mechanism or the second support mechanism.

[0061] When the pivot 727 is at its highest point, the surface of the third support plate 71 is higher than the plane where the two first support plates 521 or the two second support plates 621 are located, so that the third support plate 71 can support the stacked pallets 100 and cooperate with the pallet supply module 50 to separate the pallets 100 or cooperate with the pallet stacking module 60 to stack the pallets 100.

[0062] Furthermore, the first slide table 722 is also provided with a sensor 75, and the push rod 728 is provided with a sensor 76. The sensor 76 has an initial position. When the third driving device 721 drives the rotating wheel 726 to rotate one revolution, the sensor 76 moves from the initial position with the push rod 728 and returns to the initial position again.

[0063] The initial position is the position of the sensing element 76 when the rotating shaft 727 is at its lowest point.

[0064] The height of the third support plate 71 can be monitored by setting the sensor 75 and the sensing element 76. When the sensing element 76 is in the initial position, the tray 100 on the third support plate 71 is at the height corresponding to the loading position. That is, when the third support plate 71 is in the loading position, the rotating shaft 727 is at the lowest point and the sensing element 76 is in the initial position.

[0065] The third support plate 71 is provided with a plurality of limiting blocks 711 on its adjacent sides, and at least one movable limiting member 712 is provided on each of the other two sides of the third support plate 71. The back of the third support plate 71 is provided with a push block 713 corresponding to the limiting member 712. The push block 713 slides so that the limiting member 712 moves toward or away from the limiting block 711 on the opposite side.

[0066] The tray 100 is aligned and restricted by setting the plurality of limiting blocks 711 and the limiting member 712 so that the tray 100 will not shift when placed on the third support plate 71.

[0067] In one embodiment, the third support plate 71 is provided with three limiting members 712, wherein two of the limiting members 712 are spaced apart by a certain distance and are located on the same side of the long side of the third support plate 71, and the other limiting member 712 is located on the other side of the third support plate 71 and is located on the short side of the third support plate 71. When the push block 713 moves, it simultaneously drives the three limiting members 712 to move closer to or further away from the limiting block 711 on the opposite side.

[0068] Specifically, under the action of the push block 713, the limiting member 712 moves toward the limiting block 711 on the opposite side and cooperates with the limiting block 711 to push the tray 100, so that the periphery of the tray 100 abuts against the plurality of limiting blocks 711 and the limiting member 712 respectively, which can both ensure that the tray 100 is in the designated position and restrict the tray 100, thereby preventing the tray 100 from shifting on the third support plate 71.

[0069] Preferably, a push plate 714 is connected to the side of the push block 713 away from the third support plate 71. The push plate 714 is provided with a guide groove 7141, which includes a first part 7142 and a second part 7143. The first part 7142 is vertically arranged, and the second part 7143 communicates with the upper end of the first part 7142 at an obtuse angle.

[0070] The guide plate 723 is provided with a guide post 7232 corresponding to the guide groove 7141. When the third driving device 721 drives the third support plate 71 to rise, the push block 713 moves under the action of the guide post 7232 and the guide groove 7141 and drives the limiting member 712 to move in the direction away from the limiting block 711 on the opposite side.

[0071] Specifically, the third support plate 71 is provided with a sliding groove 715, and the limiting member 712 is provided in the sliding groove 715. The limiting member 712 includes a limiting part 7121, a sliding part 7122 and a connecting part 7123. The sliding part 7122 is provided between the limiting part 7121 and the connecting part 7123.

[0072] The limiting part 7121 extends at least partially from the surface of the third support plate 71 to limit the tray 100. The connecting part 7123 is at least partially connected to the push block 713 so that the movement of the push block 713 drives the connecting part 7123 to move. The movement of the connecting part 7123 drives the limiting part 7121 to move toward or away from the limiting block 711 on the opposite side, thereby aligning and limiting or removing the restriction on the tray 100.

[0073] The sliding part 7122 is elastically connected to the slide groove 715 by a spring 716. Specifically, the spring 716 abuts against the side of the sliding part 7122 away from the opposite side of the limiting block 711.

[0074] Specifically, the push block 713 is provided with a groove 7131. When the connecting part 7123 is located in the groove 7131, the spring 716 is in a compressed state. When the connecting part 7123 leaves the groove 7131, the spring 716 in the compressed state is further compressed.

[0075] When the third driving device 721 drives the third support plate 71 to move upward, the guide groove 7141 moves along the second part 7143 towards the first part 7142 under the restriction of the guide post 7232, and drives the push block 713 to move, so that the connecting part 7123 located in the groove 7131 separates from the groove 7131, and moves towards the limiting block 711 away from the opposite side under the action of the push block 713, and further compresses the spring 716, so that the limiting part 7121 no longer restricts the tray 100, and the tray 100 is released.

[0076] When the third driving device 721 drives the third support plate 71 to move downward, the guide groove 7141 moves along the first part 7142 to the second part 7143 under the restriction of the guide post 7232, and drives the push block 713 to move in the opposite direction, so that the groove 7131 gradually approaches the connecting part 7123 along the direction of the push block 713, and finally reaches the connecting part 7123, so that the connecting part 7123 is at least partially restricted in the groove 7131 under the action of the spring 716, thereby making the limiting part 7121 cooperate with the plurality of limiting blocks 711 to align and limit the tray 100.

[0077] In one embodiment, the limiting part 7121 and the connecting part 7123 are coaxially arranged.

[0078] In another embodiment, the limiting portion 7121 and the connecting portion 7123 are offset. Specifically, the connecting portion 7123 is closer to the limiting block 711 on the opposite side relative to the limiting portion 7121.

[0079] Preferably, the connecting part 7123 is a roller, so that the relative movement between the connecting part 7123 and the push block 713 is smoother.

[0080] The third support plate 71 has a notch 717 on each of the two first support plates 521 or the two second support plates 621 on opposite sides. When the third support plate 71 moves to the bottom of the pallet supply module 50 or the pallet stacking module 60 and moves upward under the drive of the third drive device 721 and comes into contact with the pallet 100 on the bottom layer of the two first support plates 521 or the two second support plates 621, the two first support plates 521 or the two second support plates 621 are respectively located at one of the notches 717.

[0081] By setting the notch 717, when the third support plate 71 is used to stack the pallet 100 with the pallet stacking module 60 or to separate the pallet 100 with the pallet supply module 50, the third support plate 71 can avoid the two first support plates 521 or the two second support plates 621 and be higher than the plane where the two first support plates 521 or the two second support plates 621 are located.

[0082] The lateral movement mechanism 73 includes a first slide block 731 and a fourth driving device 732. The first slide table 722 is slidably disposed on the first slide block 731. The fourth driving device 732 is disposed at one end of the first slide block 731 and connected to the first slide table 722 to drive the first slide table 722 to move on the first slide block 731.

[0083] Preferably, the transverse mechanism 73 further includes a first drag chain 733, one end of which is disposed on the first slide block 731, and the other end of which is connected to the first slide table 722.

[0084] The longitudinal movement mechanism 74 includes a second slide block 741 and a fifth driving device 742. The first slide block 731 is slidably disposed on the second slide block 741. The fifth driving device 742 is disposed at one end of the second slide block 741 and connected to the first slide block 731 to drive the first slide block 731 to move on the second slide block 741.

[0085] Preferably, the longitudinal movement mechanism 74 further includes a second drag chain 743, one end of which is disposed on the second slide 741 or the worktable 10, and the other end of which is connected to the first slide 731.

[0086] The third support plate 71 also includes a tray-retrieving position and a tray-stacking position. When the third support plate 71 is located at the tray-retrieving position, the third support plate 71 is located at the first support mechanism. When the third support plate 71 is located at the feeding position, the third support plate 71 is located at the material placement position of the transfer robot 40. When the third support plate 71 is located at the tray-stacking position, the third support plate 71 is located at the second support mechanism.

[0087] Preferably, the tray-taking position, the tray-stacking position, and the loading position are arranged at right angles. Specifically, the tray-taking position and the tray-stacking position are located on the same straight line and are parallel to the sliding direction of the first slide table 722 on the first slide block 731, and the tray-stacking position and the loading position are on the same straight line and are parallel to the sliding direction of the first slide block 731 on the second slide block 741.

[0088] When the third support plate 71 transfers a pallet 100 containing the material to the pallet stacking position and stacks it with the pallet stacking module 60, the third support plate 71 moves directly to the pallet retrieval position under the action of the transverse mechanism 73, and at least one pallet 100 is separated with the pallet supply module 50. Under the action of the transverse mechanism 73 and the longitudinal mechanism 74, the pallet 100 is transferred to the loading position so that the transfer robot 40 can arrange the material. This process is repeated.

[0089] Please see Figures 7-8 The transfer robot 40 includes a second mounting base 41, a sixth drive device 42, a seventh drive device 43, and a second slide 44. The second slide 44 is slidably mounted on the seventh drive device 43 and moves laterally through the seventh drive device 43. The seventh drive device 43 is slidably mounted on the sixth drive device 42 and moves longitudinally through the sixth drive device 42. The sixth drive device 42 is mounted on the second mounting base 41, and the second mounting base 41 is mounted on the worktable 10.

[0090] At least one suction assembly 441 is provided on one side of the second slide table 44. The suction assembly 441 includes a forward and reverse motor 4411, a conveyor belt 4412, two conveyor wheels 4413, and two suction nozzles 4414. One of the conveyor wheels 4413 is located at a certain distance below the other conveyor wheel 4413. The conveyor belt 4412 is rotatably mounted on the two conveyor wheels 4413, and each of the portions of the conveyor belt 4412 located between the two conveyor wheels 4413 is connected to a suction nozzle 4414. The forward and reverse motor 4411 drives one of the conveyor wheels 4413 to rotate, causing the two suction nozzles 4414 to move synchronously in opposite directions.

[0091] Specifically, the second slide table 44 has two slide rails 4415 arranged vertically on its side. The conveyor belt 4412 has a slider 4416 corresponding to one of the slide rails 4415, and the slider 4416 is slidably connected to the slide rail 4415. The suction nozzle 4414 is arranged on the slider 4416. When the forward and reverse motor 4411 rotates forward or reverse, the two sliders 4416 move synchronously in opposite directions under the action of the conveyor belt 4412, driving the two corresponding suction nozzles 4414 to move synchronously, so that the two suction nozzles 4414 work alternately to suck up the material.

[0092] Preferably, three sets of the suction components 441 are provided on one side of the second slide 44, so that the transfer robot 40 can simultaneously transfer and arrange three of the materials.

[0093] In the specification and claims of this application, the terms "comprising / including" and "having / including" and variations thereof are used to specify the presence of the stated features, values, steps or components, but do not exclude the presence or addition of one or more other features, values, steps, components or combinations thereof.

[0094] Some features of the present invention are described in different embodiments for clarity; however, these features may also be described in combination in a single embodiment. Conversely, some features of the present invention are described only in a single embodiment for brevity; however, these features may also be described individually or in any suitable combination in different embodiments.

[0095] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible tray-stacking machine, characterized in that, The flexible tray-stacking machine includes: A vibratory feeder, mounted on a worktable, is used to vibrate materials to a set orientation. A transfer robot arm, located behind the vibratory feeder, is used to transfer the material in the vibratory feeder with a set orientation to a tray located at the loading position; The pallet supply module is mounted on a first mounting base and includes two first support plates arranged opposite each other. The two first support plates move relative to each other under the drive of a first driving device to support or release stacked empty pallets. A pallet stacking module is disposed on the first mounting base and arranged in parallel with the pallet supply module. It is used to stack pallets filled with materials. It includes two second support plates arranged opposite each other. The two second support plates move relative to each other under the drive of a second driving device to support or release the pallets filled with materials. A pallet transfer module is provided on the workbench and is used to transfer a pallet from the pallet supply module to the loading position, and after the pallet is full of materials, it is transferred to the pallet stacking module for stacking. The pallet transfer module includes a lifting mechanism and a third support plate. The lifting mechanism includes a third drive device, a first slide, and a guide plate. The guide plate is located between the first slide and the third support plate, and the third support plate is movably connected to the guide plate. The third drive device is located on the first slide, and its output end is connected to the bottom of the third support plate. The output end of the third drive device is connected to a wheel, and the wheel is eccentrically connected to a rotating shaft. The axis of the rotating shaft is horizontal, and a push rod is hinged between the rotating shaft and the third support plate. The third drive device drives the wheel to rotate, so that the rotating shaft moves and drives the push rod to move, thereby raising and lowering the third support plate. The third support plate is provided with multiple limiting blocks on its adjacent sides, and at least one movable limiting member is provided on each of the other two sides of the third support plate. A push block is provided on the back of the third support plate corresponding to the limiting member. The push block slides so that the limiting member moves toward or closer to the limiting block on the opposite side. The push block is connected to a push plate on the side away from the third support plate. The push plate is provided with a guide groove, which includes a first part and a second part. The first part is vertically arranged, and the second part is connected to the upper end of the first part at an obtuse angle. The guide plate is provided with a guide post corresponding to the guide groove. When the third driving device drives the third support plate to rise, the push block pushes the push plate to move under the action of the guide post and the guide groove. The movement of the push plate causes the limiting member to move in the direction away from the limiting block on the opposite side.

2. The flexible tray-stacking machine according to claim 1, characterized in that, The first slide is also equipped with a sensor, and the push rod is equipped with a sensor element. The sensor element has an initial position. When the third driving device drives the wheel to rotate one revolution, the sensor element moves from the initial position with the push rod and returns to the initial position again.

3. The flexible tray-stacking machine according to claim 1, characterized in that, The third support plate is provided with a sliding groove, and the limiting member is provided in the sliding groove. The limiting member includes a limiting part, a sliding part, and a connecting part. The sliding part is provided between the limiting part and the connecting part. The limiting part extends at least partially out of the surface of the third support plate. The connecting part is at least partially connected to the push plate. The sliding part is elastically connected in the sliding groove by a spring. The push block is provided with a groove. When the connecting part is located in the groove, the spring is in a compressed state. When the connecting part leaves the groove, the spring in the compressed state is further compressed.

4. The flexible tray-stacking machine according to claim 1, characterized in that, The third support plate has a notch on each of the two first support plates or the two second support plates on the opposite side. When the third support plate moves to the bottom of the pallet supply module or the pallet stacking module and moves upward under the drive of the third drive device and contacts the pallet on the bottommost layer of the two first support plates or the two second support plates, the two first support plates or the two second support plates are respectively located at one of the notches.

5. A flexible tray-stacking machine according to claim 1, characterized in that, The transfer robot includes a second slide, and at least one suction component is provided on one side of the second slide. The suction component includes a forward and reverse motor, a conveyor belt, two conveyor wheels, and two suction nozzles. One of the conveyor wheels is positioned at a certain distance directly below the other conveyor wheel. The conveyor belt is rotatably mounted on the two conveyor wheels, and each of the portions of the conveyor belt located between the two conveyor wheels is connected to a suction nozzle. The forward and reverse motor drives one of the conveyor wheels to rotate, causing the two suction nozzles to move synchronously in opposite directions.

6. A flexible tray-stacking machine according to claim 1, characterized in that, The flexible plate-swivel machine also includes a camera, which is located directly above the vibratory plate and is used to identify whether the material in the vibratory plate is in the set orientation.

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