Material tray turnover device, automated production line and material tray turnover method

Abstract

The present application relates to a tray turnover device, an automated production line and a tray turnover method. The tray turnover device includes: a storage mechanism having a first loading position and a first unloading position; a carrying mechanism having a second loading position and a second unloading position; a material taking mechanism slidably disposed between the storage mechanism and the carrying mechanism. The material taking mechanism is used to transfer the green material tray at the first loading position to the second loading position so that the carrying mechanism can receive the material to be processed, making the green material tray into an empty tray. At the same time, the material taking mechanism transfers the finished material tray at the second unloading position to the first unloading position; a transfer mechanism slidably disposed between the second loading position and the second unloading position. The transfer mechanism is used to transfer and invert the empty tray at the second loading position to the second unloading position so that the carrying mechanism can be turned over to form a finished material tray, realizing the automatic turnover and stacking of the trays, and improving the turnover efficiency and processing efficiency of the trays.

Description

Technical Field

[0001] The present invention relates to the technical field of conveying equipment, and in particular to a tray turnover device, an automated production line, and a tray turnover method.

Background Art

[0002] During the manufacturing process of products, the loading and unloading equipment can convey the materials to be processed to the processing equipment for processing, and can output the materials that have been processed by the processing equipment.

[0003] The existing loading and unloading equipment generally includes a manipulator and a plurality of trays. First, the raw material trays are manually carried into the loading and unloading equipment, and then the manipulator grabs the materials to be processed in the raw material trays and transfers them to the processing equipment for processing. Then, the manipulator grabs the processed materials in the processing equipment and transfers them to the empty trays to form trays filled with finished products. Finally, the operator manually stacks the trays filled with finished products at a specific position. However, during the entire processing process, manual handling is troublesome and labor-intensive, the working efficiency of the manipulator is low, and it takes time to handle the trays, resulting in a low turnover efficiency of the trays.

Summary of the Invention

[0004] In order to overcome the above defects, the present application provides a tray turnover device, an automated production line, and a tray turnover method, which are beneficial to improving the turnover efficiency of trays.

[0005] In a first aspect, an embodiment of the present application provides a tray turnover device, including:

[0006] A storage mechanism having a first loading position and a first unloading position;

[0007] A carrying mechanism having a second loading position and a second unloading position;

[0008] A material taking mechanism slidably disposed between the storage mechanism and the carrying mechanism. The material taking mechanism transfers the raw material tray at the first loading position to the second loading position so that the carrying mechanism can receive the materials to be processed, making the raw material tray an empty tray. At the same time, the material taking mechanism transfers the finished product tray at the second unloading position to the first unloading position;

[0009] A transfer mechanism slidably disposed between the second loading position and the second unloading position. The transfer mechanism is used to transfer and invert the empty tray at the second loading position to the second unloading position so that the carrying mechanism can form a finished product tray after flipping.

[0010] In combination with the first aspect, in some embodiments, the material taking mechanism includes: a loading component for transferring the green material tray at the first loading position to the second loading position; a discharging component for transferring the clinker material tray at the second discharging position to the first discharging position; a connecting plate, with the loading component and the discharging component spaced apart on the connecting plate; a lifting component for driving the loading component and the discharging component to slide up and down; and a translation component for driving the loading component and the discharging component to slide between the storage mechanism and the carrying mechanism.

[0011] In combination with the first aspect, in some embodiments, the storage mechanism includes a first tray dividing component and a second tray dividing component. Among them, the first tray dividing component is used to transfer the green material tray at the first loading position to the loading component, and the second tray dividing component is used to transfer the clinker material tray in the discharging component to the first discharging position.

[0012] In combination with the first aspect, in some embodiments, the translation component includes a translation cylinder and a mounting block. The translation cylinder is used to drive the mounting block to slide between the storage mechanism and the carrying mechanism; the lifting component includes a lifting cylinder and a support plate supporting the connecting plate. One end of the lifting cylinder is arranged on the mounting block, and the other end is connected to the support plate. The lifting cylinder is used to drive the connecting plate to slide up and down.

[0013] In combination with the first aspect, in some embodiments, the loading component includes a first carrier table and a first steering cylinder. The first steering cylinder is arranged on the connecting plate, and the first steering cylinder is used to drive the first carrier table to rotate; the discharging component includes a second carrier table and a second steering cylinder. The second steering cylinder is arranged on the connecting plate, and the second steering cylinder is used to drive the second carrier table to rotate.

[0014] In combination with the first aspect, in some embodiments, the carrying mechanism includes a base and a first carrying component and a second carrying component spaced apart on the base. The base is spaced apart from the storage mechanism; the first carrying component includes a first flipping cylinder and a first turnover fixture. The first turnover fixture is located at the second loading position. The first flipping cylinder is arranged on the base, and the first flipping cylinder is used to drive the first turnover fixture to flip to receive the material to be processed in the green material tray transferred from the first loading position; the second carrying component includes a second flipping cylinder and a second turnover fixture. The second turnover fixture is located at the second discharging position. The second flipping cylinder and the first flipping cylinder are spaced apart at both ends of the base, and the second flipping cylinder is used to drive the second turnover fixture to flip to transfer the processed material in the second turnover fixture to the empty material tray to form a clinker material tray.

[0015] In combination with the first aspect, in some embodiments, the first carrying component further includes a first positioning plate and at least one first clamping member. The first positioning plate supports the first turnover jig, and the first clamping member is disposed on one side of the first positioning plate. The first clamping member is used to clamp the raw material tray to the first turnover jig so that the raw material tray forms the empty tray, and is used to release the empty tray covered on the first turnover jig. The second carrying component further includes a second positioning plate and at least one second clamping member. The second positioning plate supports the second turnover jig, and the second clamping member is disposed on one side of the second positioning plate. The second clamping member is used to clamp the empty tray to the second turnover jig containing the processed material so that the empty tray forms the clinker tray, and is used to release the clinker tray on the second turnover jig.

[0016] In combination with the first aspect, in some embodiments, the transfer mechanism includes: a material grabbing component for grabbing the empty tray in the second loading position; a rotating component for driving the material grabbing component to flip so as to cover the empty tray on the second turnover jig; a transverse movement component for driving the material grabbing component and the rotating component to slide between the second loading position and the second unloading position.

[0017] In combination with the first aspect, in some embodiments, the material grabbing component includes: at least one adsorbing member for adsorbing the empty tray in the second loading position, and a fixing plate, wherein the adsorbing member is rotatably connected to the sliding seat. The rotating component drives the fixing plate to rotate on the sliding seat so that the empty tray is inverted to the second unloading position to form a clinker tray.

[0018] In a second aspect, an embodiment of the present application further provides an automated production line, including processing equipment and the tray turnover device as described in the first aspect. Among them, the processing equipment includes: a processing device for processing the material to be processed; a manipulator for grabbing the material to be processed in the second loading position and placing it on the processing device, and for grabbing the processed material processed by the processing device and placing it in the second unloading position.

[0019] Thirdly, an embodiment of the present application further provides a method for turnover of trays, including the following steps: The carrying mechanism grabs the raw material tray from the storage mechanism, simultaneously releases the clinker tray placed at the second discharging position, and flips the raw material tray so that the raw material tray is above the second feeding position and the material to be processed is poured onto the second feeding position to form an empty tray; The second discharging position of the carrying mechanism receives the processed material formed after the material to be processed is processed; The transfer mechanism grabs the empty tray from the carrying mechanism and inverts it above the second discharging position; The carrying mechanism clamps and flips the empty tray so that the processed material is poured onto the empty tray to form a clinker tray; The material taking mechanism aligns the raw material tray taken out from the storage mechanism with the second feeding position of the carrying mechanism for the carrying mechanism to grab, and receives the clinker tray of the carrying mechanism and transfers it to the first discharging position of the storage mechanism.

[0020] Compared with the prior art, the technical solution of the present application has at least the following technical effects:

[0021] In a tray turnover device, an automated production line and a tray turnover method provided by an embodiment of the present application, first, the material taking mechanism can transfer the raw material tray in the first feeding position of the carrying mechanism to the second feeding position of the carrying mechanism. Then, the material transferred to the second feeding position can be continuously transferred to a processing device for processing, so that an empty tray is generated at the second feeding position. Then, the transfer mechanism can transfer the empty tray at the second feeding position to the second discharging position. The material processed by the processing device can be transferred to the empty tray at the second discharging position to form a tray containing clinker. Finally, the material taking mechanism can transfer the tray containing the processed material to the first discharging position, and cycle in turn; During the entire processing process, the automated turnover and stacking of trays are realized. The turnover and stacking of trays do not require a manipulator and / or manual handling, improving the turnover efficiency and processing efficiency of the trays.

[0022] It should be understood that the above general description and the following detailed description are only exemplary and cannot limit the present application.

Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a schematic structural diagram of a processing device provided by an embodiment of the present application.

[0025] Figure 2 For Figure 1Schematic structural diagram of the processing device in the shown processing equipment.

[0026] Figure 3 For Figure 2 Schematic structural diagram of the marking fixture in the shown processing device.

[0027] Figure 4 For Figure 1 Schematic structural diagram of the material picking and placing mechanism of the manipulator in the shown processing equipment.

[0028] Figure 5 For Figure 4 Schematic structural diagram of the material picking and placing mechanism from another angle.

[0029] Figure 6 For Figure 1 Partial enlarged schematic diagram of the shown processing equipment at A.

[0030] Figure 7 For Figure 1 Schematic structural diagram of the storage mechanism of the tray turnover device in the shown processing equipment.

[0031] Figure 8 For Figure 1 Schematic structural diagram of the bearing mechanism of the tray turnover device in the shown processing equipment.

[0032] Figure 9 For Figure 8 Schematic structural diagram of the bearing mechanism in another state.

[0033] Figure 10 For Figure 1 Schematic structural diagram of the material picking mechanism of the tray turnover device in the shown processing equipment.

[0034] Figure 11 For Figure 1 Schematic structural diagram of the transfer mechanism of the tray turnover device in the shown processing equipment.

[0035] Figure 12 For Figure 11 Partial enlarged schematic diagram of the transfer mechanism at B.

[0036] Reference numerals:

[0037] 1000 - Automated production line;

[0038] 100 - Tray turnover device;

[0039] 1 - Storage mechanism;

[0040] 10a - First loading position; 10b - First unloading position; 11 - Bottom plate; 12 - First disk - dividing assembly; 121 - First storage bin; 122 - First support cylinder; 13 - Second disk - dividing assembly; 131 - Second storage bin; 132 - Second support cylinder; 14 - Mounting frame; 141 - First bracket; 142 - Second bracket; 143 - Third bracket;

[0041] 2 - Loading mechanism;

[0042] 20a - Second loading position; 20b - Second unloading position; 21 - Base; 22 - First loading component; 221 - First flipping cylinder; 222 - First turnover jig; 223 - First adapter plate; 224 - First positioning plate; 225 - First clamping component; 2251 - First clamping cylinder; 2252 - First clamping block; 23 - Second loading component; 231 - Second flipping cylinder; 232 - Second turnover jig; 233 - Second adapter plate; 234 - Second positioning plate; 235 - Second clamping component; 2351 - Second clamping cylinder; 2352 - Second clamping block;

[0043] 3 - Material - taking mechanism;

[0044] 30a - First material - taking position; 30b - Second material - taking position; 31 - Connecting plate; 32 - Loading component; 321 - First carrier platform; 322 - First steering cylinder; 323 - First positioning block; 33 - Unloading component; 331 - Second carrier platform; 332 - Second steering cylinder; 333 - Second positioning block; 34 - Lifting component; 341 - Lifting cylinder; 342 - Support plate; 35 - Translation component; 351 - Translation cylinder; 352 - Mounting block;

[0045] 4 - Transfer mechanism;

[0046] 41 - Material - grasping component; 411 - Fixed plate; 412 - Suction accessory; 413 - Adjusting plate; 4131 - Mounting groove; 42 - Rotating component; 421 - Telescopic cylinder; 422 - Limiting plate; 423 - Limiting seat; 424 - Limiting block; 43 - Transverse - movement component; 431 - Transverse - movement cylinder; 432 - Sliding seat; 4321 - First sliding plate; 4322 - Second sliding plate;

[0047] 200 - Processing equipment;

[0048] 210 - Processing device;

[0049] 2110 - Marking mechanism; 2120 - Water - cooling mechanism; 2130 - Marking jig; 2131 - Jig body; 2132 - Positioning hole;

[0050] 220 - Manipulator;

[0051] 2210 - Robot arm; 2220 - Pick - and - place mechanism; 5 - Connecting component; 51 - Bridging plate; 52 - Connecting rod; 53 - Mounting plate; 6 - First material - picking component; 61 - First gripper; 62 - First connecting block; 63 - First lifting cylinder; 7 - Second material - picking component; 71 - Second gripper; 72 - Second connecting block; 73 - Second lifting cylinder; 8 - Air - blowing pipe

[0052] 301 - Raw material tray; 302 - Empty tray; 303 - Clinker tray

Detailed implementation manners

[0053] For a better understanding of the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0054] It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0055] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of "a", "the" and "said" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0056] It should be understood that the term " / and" used herein is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0057] It should be noted that the orientation terms such as "upper", "lower", "left", and "right" described in the embodiments of the present invention are described from the angles shown in the drawings, and should not be construed as limiting the embodiments of the present application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element.

[0058] It should be noted that the steps shown in the process flow diagram of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flow chart, the order of the steps of each embodiment is not limited to being executed sequentially in the order arranged in this specification. In some cases, the implementation steps can also be adjusted according to specific needs to execute the steps shown or described in a different order from here.

[0059] The tray turnover device disclosed in the embodiments of the present application can be but is not limited to being applied to automated production lines with milling, cleaning, assembly, marking, packaging, etc.

[0060] Please refer to Figure 1 , the embodiments of the present application provide an automated production line 1000, including a processing device 200 and a tray turnover device 100. Among them, the processing device 200 includes a processing unit 210 and a manipulator 220. The processing device 200 can be a milling device, a cleaning device, an assembly device, a marking device, a packaging device, etc.

[0061] The tray turnover device 100 is used to transport the raw material tray 301 to a position close to the manipulator 220. The manipulator 220 is used to directly or indirectly pick up one by one the workpieces to be processed in the raw material tray 301 and place them in the processing unit 210. The processing unit 210 is used to process the workpieces to be processed to form processed workpieces. The manipulator 220 is also used to pick up the processed workpieces in the processing unit 210 and directly or indirectly place them in the empty tray 302 to form a finished product tray 303. The tray turnover device 100 is also used to transport the finished product tray 303 to a corresponding position for storage, and cycle in turn. During the process of processing the workpieces, it realizes that the workpieces can be automatically turned over with the tray, improving the turnover efficiency of the tray and the processing efficiency of the workpieces. The trays can be divided into raw material trays 301, empty trays 302, and finished product trays 303 according to whether the materials they contain have been processed and whether they contain materials. The raw material tray 301 is a tray containing workpieces to be processed, and the finished product tray 303 is a tray containing processed workpieces.

[0062] The above raw material tray 301, empty tray 302, and finished product tray 303 are different in the state of the materials contained in the tray. Actually, it is the same tray that realizes the turnover of the materials through the tray turnover device 100.

[0063] Please refer to Figure 2 and Figure 3For ease of understanding, the processing device 210 of the present application is explained by taking a marking device as an example. The marking device includes a marking mechanism 2110, a water cooling mechanism 2120 and a marking fixture 2130. The water cooling mechanism 2120 is used to cool the marking mechanism 2110 so that the working temperature of the marking mechanism 2110 is within a suitable range. The marking fixture 2130 is used to position the material to be processed grasped by the manipulator 220, and the marking mechanism 2110 is used to mark the material to be processed.

[0064] Specifically, the marking mechanism 2110 can be any one of a carbon dioxide laser marking machine, a fiber laser marking machine, a YAG laser marking machine, and a semiconductor laser marking machine. In the embodiment of the present application, the marking mechanism 2110 can be selected according to specific needs.

[0065] See also Figure 1 and 6 The material tray turnover device 100 includes a material storage mechanism 1, a supporting mechanism 2, a material picking mechanism 3 and a transfer mechanism 4, wherein the material storage mechanism 1 has a first loading position 10a and a first unloading position 10b, and the first loading position 10a is stacked with multiple raw material trays 301; the supporting mechanism 2 has a second loading position 20a and a second unloading position 20b, and the transfer mechanism 4 is slidably arranged between the second loading position 20a and the second unloading position 20b; the material picking mechanism 3 is slidably arranged between the material storage mechanism 1 and the supporting mechanism 2, and the material picking mechanism 3 has a first picking position 30a and a second picking position 30b.

[0066] Specifically, the material taking mechanism 3 is used to transfer the raw material tray 301 in the first loading position 10a to the second loading position 20a so that the supporting mechanism can receive the material to be processed, so that the raw material tray forms an empty tray 302, and at the same time transfers the clinker tray 303 in the second unloading position 20b to the first unloading position 10b. More specifically, when the material taking mechanism 3 reaches the storage mechanism 1, the first material taking position 30a and the second material taking position 30b are respectively located below the first loading position 10a and the first unloading position 10b, and the material taking mechanism 3 is lifted upward so that the raw material tray 301 in the first loading position 10a falls to the first material taking position 30a, and the clinker tray 303 on the second material taking position 30b is lifted and stuck to the first unloading position 10b.

[0067] See also Figure 1 and Figure 7, the storage mechanism 1 includes a bottom plate 11, a first tray component 12 and a second tray component 13. The first tray component 12 and the second tray component 13 are arranged on the bottom plate 11 at intervals. Among them, the first tray component 12 is used to make the green material tray 301 in the first loading position 10a fall to the first picking position 30a, and the second tray component 13 is used to lift the clinker tray 303 placed in the second picking position 30b to the first unloading position 10b. The storage mechanism 1 further includes a mounting frame 14, and the bottom plate 11, the first tray component 12 and the second tray component 13 are arranged on the mounting frame 14.

[0068] Specifically, the first tray component 12 includes a first storage bin 121 and at least one first support cylinder 122. The first storage bin 121 is located at the first loading position 10a, and the first storage bin 121 is used to store the first pallet formed by stacking a plurality of trays 301. The piston rod of the first support cylinder 122 can extend and abut against the bottom surface of the tray 301 at the bottom layer of the first pallet to support the entire first pallet. When the picking mechanism 3 moves to the bottom of the storage mechanism 1, the piston rod of the first support cylinder 122 can retract so that the green material tray 301 at the bottom layer of the first pallet falls into the first picking position 30a, and the piston rod of the first support cylinder 122 extends again to support the entire first pallet.

[0069] The second tray component 13 includes a second storage bin 131 and at least one second support cylinder 132. The second storage bin 131 is located at the first unloading position 10b, and the second storage bin 131 is used to store the second pallet formed by stacking a plurality of clinker trays 303. The piston rod of the second support cylinder 132 can extend and abut against the bottom surface of the clinker tray 303 at the bottom layer of the second pallet to support the entire second pallet. When the picking mechanism 3 moves to the bottom of the storage mechanism 1, the piston rod of the second support cylinder 132 can retract, and the picking mechanism 3 can place the clinker tray 303 in the second picking position 30b at the bottom layer of the second pallet. The piston rod of the second support cylinder 132 extends again to support the entire second pallet, so that the clinker tray 303 in the second picking position 30b is stuck in the second storage bin 131. In the embodiment of the present application, the action of the first tray component 12 making the green material tray 301 in the first loading position 10a fall to the first picking position 30a and the second tray component 13 lifting the clinker tray 303 in the second picking position 30b to the first unloading position 10b are carried out synchronously, thereby improving the turnover efficiency of the trays.

[0070] It should be noted that the number of the first support cylinder 122 and / or the second support cylinder 132 can be 1, 2, 3 or any other number, which is not limited herein. A support block (not shown in the figure) can also be provided on the piston rod of the first support cylinder 122 and / or the second support cylinder 132 to increase the contact area with the bottom surface of the tray at the bottom layer of the pallet and ensure the stability of the support.

[0071] Please refer to Figure 10 The material taking mechanism 3 includes a connecting plate 31, a feeding assembly 32, a discharging assembly 33, a lifting assembly 34 and a translation assembly 35. The feeding assembly 32 and the discharging assembly 33 are arranged on the connecting plate 31 at intervals. The first material taking position 30a is located at the feeding assembly 32, and the second material taking position 30b is located at the discharging assembly 33. The feeding assembly 32 is used to transfer the green material tray 301 at the first feeding position 10a to the second feeding position 20a, and the discharging assembly 33 is used to transfer the clinker material tray 303 at the second discharging position 20b to the first discharging position 10b. The lifting assembly 34 is used to drive the feeding assembly 32 and the discharging assembly 33 to slide up and down, and the translation assembly 35 is used to drive the feeding assembly 32 and the discharging assembly 33 to slide between the material storage mechanism 1 and the bearing mechanism 2.

[0072] Specifically, first, the translation assembly 35 drives the feeding assembly 32 and the discharging assembly 33 to move respectively to the positions below the first feeding position 10a and the second discharging position 10b. The lifting assembly 34 simultaneously drives the feeding assembly 32 and the discharging assembly 33 to move upward. Under the action of the first tray separating assembly 12, the green material tray 301 at the first feeding position 10a drops onto the feeding assembly 32, and under the action of the second tray separating assembly 13, the clinker material tray 303 on the discharging assembly 33 is lifted to the first discharging position 10b. At this time, the first discharging position 10b becomes without a material tray. Then, the translation assembly 35 drives the feeding assembly 32 to move to the position below the second feeding position 20a, and at the same time, the translation assembly 35 drives the discharging assembly 33 to move to the position below the second discharging position 20b, so as to transfer the green material tray 301 on the feeding assembly 32 to the second feeding position 20a and at the same time the clinker material tray 303 on the second discharging position 20b drops onto the discharging assembly 33. The translation assembly 35 drives the feeding assembly 32 and the discharging assembly 33 to slide repeatedly between the material storage mechanism 1 and the bearing mechanism 2 until all the green material trays 301 at the first feeding position 10a are taken out or the machine stops.

[0073] The translation assembly 35 includes a translation cylinder 351 and a mounting block 352. The piston rod of the translation cylinder 351 is connected to the mounting block 352. The translation cylinder 351 is used to drive the mounting block 352 to slide between the material storage mechanism 1 and the bearing mechanism 2. The housing of the translation cylinder 351 is fixedly connected to the first bracket 141 close to the material storage mechanism 1.

[0074] The lifting assembly 34 includes a lifting cylinder 341 and a support plate 342 that supports the connecting plate 31. The lifting cylinder 341 is provided on the mounting block 352 and is supported and connected to the support plate 342. That is, the piston rod of the lifting cylinder 341 is connected to the support plate 342. The lifting cylinder 341 is used to drive the connecting plate 31 to slide up and down, thereby driving the loading assembly 32 and the unloading assembly 33 to slide up and down. When the loading assembly 32 and the unloading assembly 33 are moved to the lower side of the loading mechanism 2 through the translation assembly 35, the lifting assembly 34 can drive the loading assembly 32 and the unloading assembly 33 to slide upward, so that the first tray assembly 12 can transfer the green material tray 301 in the first loading position 10a to the loading assembly 32, and the second tray assembly 13 can transfer the clinker material tray 303 in the unloading assembly 33 to the first unloading position 10b.

[0075] The loading assembly 32 includes a first carrier 321 and a first steering cylinder 322. The first steering cylinder 322 is provided on the connecting plate 31, and the first steering cylinder 322 is used to drive the first carrier 321 to rotate. The first picking position 30a is located on the first carrier 321. The unloading assembly 33 includes a second carrier 331 and a second steering cylinder 332. The second steering cylinder 332 is provided on the connecting plate 31, and the second steering cylinder 332 is used to drive the second carrier 331 to rotate. The second picking position 30b is located on the second carrier 331.

[0076] Specifically, the first carrier 321 is used to support the green material tray 301, and the second carrier 331 is used to support the clinker material tray 303. The material to be processed is usually irregular in shape. The fixing holes of the tray and the positioning holes 2132 of the marking jig 2130 are both profiling structures adapted to the shape of the material to be processed and have a certain directionality. When the direction of the material in the tray on the first carrier 321 or the second carrier 331 is inconsistent with the marking jig 2130, the first steering cylinder 322 can drive the first carrier 321 or the second steering cylinder 332 can drive the second carrier 331 to rotate 90° or 180° in the horizontal direction so that the direction of the material in the tray is consistent with the marking jig 2130, improving the turnover efficiency of the material.

[0077] In some embodiments, at least one first positioning block 323 is provided on the first carrier 321 for positioning the position of the tray on the first carrier 321; and / or, at least one second positioning block 333 is provided on the second carrier 331 for inserting into the corresponding groove of the tray to achieve positioning of the tray.

[0078] Specifically, the number of the first positioning blocks 323 and / or the second positioning blocks 333 can be 1, 2, 3, 4 or any other number, which is not limited herein. In the embodiment of the present application, the number of the first positioning blocks 323 and the second positioning blocks 333 can both be 4, and are respectively located at the four corners of the first carrier 321 or the second carrier 331.

[0079] Please refer to Figure 8 and Figure 9 , the loading mechanism 2 includes a base 21 and a first loading component 22 and a second loading component 23 that are spaced apart on the base 21. The base 21 is spaced apart from the material storage mechanism 1, and the base 21 is fixedly arranged on the second bracket 142 close to the manipulator 310. The second loading position 20a is located on the first loading component 22, and the second unloading position 20b is located on the second loading component 23.

[0080] The first loading component 22 includes a first flipping cylinder 221 and a first turnover jig 222. The second loading position 20a is located on the first turnover jig 222. The first flipping cylinder 221 is arranged on the base 21, and the first flipping cylinder 221 is used to drive the first turnover jig 222 to flip to receive the material to be processed in the tray transferred from the first loading position 10a.

[0081] The second loading component 23 includes a second flipping cylinder 231 and a second turnover jig 232. The second unloading position 20b is located on the second turnover jig 232. The second flipping cylinder 231 and the first flipping cylinder 221 are spaced apart at both ends of the base 21, and the second flipping cylinder 231 is used to drive the second turnover jig 232 to flip so that the processed material in the second turnover jig 232 falls onto the transferred empty tray 302.

[0082] The first turnover jig 222 and the second turnover jig 232 also respectively have receiving holes (not shown in the figure) for positioning and accommodating the material, and the number and position of the receiving holes correspond to the number and position of the fixing holes of the tray one by one.

[0083] Specifically, the loading mechanism 2 has a first working state and a second working state. In the first working state, the first flipping cylinder 221 drives the first turnover jig 222 to flip and the second flipping cylinder 231 drives the second turnover jig 232 to flip, so that the receiving holes of the first turnover jig 222 and the second turnover jig 232 face downward, as Figure 8As shown, the material taking mechanism 3 moves to a position close to the loading mechanism 2, such that the loading component 32 is located below the first turnover fixture 222 and the unloading component 33 is located below the second turnover fixture 232; in the second working state, the first flipping cylinder 221 drives the first turnover fixture 222 to continue flipping 180° and the second flipping cylinder 231 continues to drive the second turnover fixture 232 to flip 180°, so that the receiving holes of the first turnover fixture 222 and the second turnover fixture 232 face upward, as Figure 9 shown. At this time, the material taking mechanism 3 remains stationary at the current position.

[0084] In some embodiments, the first loading component 22 further includes a first positioning plate 224 and at least one first clamping member 225. The first positioning plate 224 supports the first turnover fixture 222. The first clamping member 225 is disposed on the side of the first positioning plate 224 and is used to clamp the raw material tray 301 to the first turnover fixture 222 so that the to-be-processed material in the tray 301 drops into the first turnover fixture 222 to form an empty tray 302, and then the empty tray 302 covered on the first turnover fixture 222 is released, so that the transfer mechanism 4 can grab and invert the empty tray 302 onto the second turnover fixture 232 containing the processed material.

[0085] The second loading component 23 further includes a second positioning plate 234 and at least one second clamping member 235. The second positioning plate 234 supports the second turnover fixture 232. The second clamping member 235 is disposed on one side of the second positioning plate 234. The second clamping member 235 is used to clamp the empty tray 302 covered on the second turnover fixture 232 to the second turnover fixture 232 containing the processed material, and after flipping 180° to make the processed material in the second turnover fixture 232 drop into the empty tray 302 to form a clinker tray 303, the clinker tray 303 on the second turnover fixture 232 is released, so that the second carrier 331 receives the clinker tray 303.

[0086] Specifically, the first loading component 22 further includes a first adapter plate 223, and the second loading component 23 further includes a second adapter plate 233. The first positioning plate 224 is connected to the first flipping cylinder 221 through the first adapter plate 223, and the second positioning plate 234 is connected to the second flipping cylinder 231 through the second adapter plate 233.

[0087] The number of the first clamping member 225 and / or the second clamping member 235 can be 1, 2, 3, 4 or any other number, which is not limited herein. In the embodiments of the present application, the number of both the first clamping member 225 and the second clamping member 235 can be 2, and the first clamping members 225 are spaced apart on opposite sides of the first positioning plate 224, and the second clamping members 235 are spaced apart on opposite sides of the second positioning plate 234.

[0088] In some embodiments, the first clamping member 225 includes a first clamping cylinder 2251 and a first clamping block 2252. The first clamping cylinder 2251 is disposed on the back surface of the first positioning plate 224 away from the first turnover jig 222. The second clamping member 235 includes a second clamping cylinder 2351 and a second clamping block 2352. The second clamping cylinder 2351 is disposed on the back surface of the second positioning plate 234 away from the second turnover jig 232. The first clamping block 2252 includes a vertical portion and a horizontal portion. The horizontal portion is disposed on one side of the first positioning plate 224. One end of the vertical portion is connected to the horizontal portion to form an L shape, and the other end is connected to the first clamping cylinder 2251. The first clamping cylinder 2251 is configured to drive the horizontal portion to move and press against one side surface of the first positioning plate 224 to clamp the green stock tray 301 to the first turnover jig 222, so that the workpiece to be processed in the tray 301 falls onto the first turnover jig 222 to form an empty tray 302. The first clamping cylinder 2251 is further configured to drive the horizontal portion to move away from one side surface of the first positioning plate 224 to release the empty tray 302. Please refer to Figure 11 , the transfer mechanism 4 includes a material grasping assembly 41, a rotating assembly 42, and a transverse movement assembly 43. The material grasping assembly 41 is configured to grasp the empty tray 302 in the second loading position 20a. The rotating assembly 42 is configured to drive the material grasping assembly 41 to flip so as to cover the empty tray 302 on the second turnover jig 232. The transverse movement assembly 43 is configured to drive the material grasping assembly 41 and the rotating assembly 42 to slide between the second loading position 20a and the second unloading position 20b.

[0089] The transverse movement assembly 43 includes a transverse movement cylinder 431 and a sliding seat 432. The telescopic rod of the transverse movement cylinder 431 is connected to the sliding seat 432. The transverse movement cylinder 431 is configured to drive the sliding seat 432 to slide between the second loading position 20a and the second unloading position 20b. The transverse movement cylinder 431 is further fixedly disposed on the third bracket 143 between the storage mechanism 1 and the carrying mechanism 2.

[0090] Specifically, the sliding seat 432 includes a first sliding plate 4321, a second sliding plate 4322, and a limiting plate 422. The first sliding plate 4321 is vertically disposed, the second sliding plate 4322 is horizontally disposed, the first sliding plate 4321 is perpendicularly connected to the second sliding plate 4322, and the second sliding plate 4322 is connected to the piston rod of the transverse movement cylinder 431.

[0091] The material grasping assembly 41 includes a fixing plate 411 and at least one adsorbing member 412. The adsorbing member 412 is configured to adsorb the empty tray 302 in the second loading position 20a. The adsorbing member 412 is connected to the fixing plate 411, and the fixing plate 411 is rotatably connected to the sliding seat 432.

[0092] Specifically, one end of the second sliding plate 4322 has a hinge groove, and the other end is vertically connected to the first sliding plate 4321. One end of the fixed plate 411 is rotatably hinged to the side wall of the hinge groove. The rotating assembly can telescopically tilt and retract the fixed plate to drive the fixed plate (411) to rotate around the rotating hinge groove, so that the suction member 412 can pick up the empty tray 302 and invert the empty tray 302 to the second blanking position 20b. The number of the suction members 412 can be 1, 2, 3, 4 or any other number, and the suction member 412 can be a component that uses negative pressure adsorption such as a suction nozzle or a suction cup, which is not limited herein. In the embodiment of the present application, the number of the suction members 412 can be 4, and the suction member 412 can be a suction nozzle.

[0093] Please continue to refer to Figure 11 and Figure 12 In some embodiments, the material grasping assembly 41 further includes two adjusting plates 413 spaced apart on the fixed plate 411. The middle position of the adjusting plate 413 is connected to the fixed plate 411. Installation slots 4131 are provided at both ends of the adjusting plate 413. The suction members 412 are detachably installed in the installation slots 4131, so that the suction members 412 can slide along the installation slots 4131, thereby the distance between any two adjacent suction members 412 can be adjusted, so that the material grasping assembly 41 can grasp trays of different sizes, improving the versatility of the material grasping assembly 41.

[0094] The rotating assembly 42 includes a telescopic cylinder 421 and a limiting plate 422. One end of the telescopic cylinder 421 is connected to the sliding seat 432, and the other end of the telescopic cylinder 421 is connected to the fixed plate 411. The telescopic cylinder 421 is used to drive the fixed plate 411 to rotate.

[0095] One end of the limiting plate 422 is connected between the two ends of the first sliding plate 4321, and the other end extends from the first sliding plate 4321 towards the direction close to the fixed plate 411; one end of the limiting plate 422 has a limiting seat 423 and a limiting block 424 hinged in the limiting seat 423. Optionally, when the fixed plate 411 rotates to be parallel to the first sliding plate 4321, the limiting plate 422 can abut against the fixed plate 411 to limit the rotation position of the fixed plate 411, thereby realizing the rotation of the fixed plate 411 within a range of 90°.

[0096] One end of the telescopic cylinder 421 is obliquely connected to one end of the first sliding plate 4321, and the other end passes through the limiting block and is connected to the fixed plate 411; specifically, the piston rod of the telescopic cylinder 421 passes through the limiting block and is connected to the fixed plate 411. The telescopic movement of the piston rod of the telescopic cylinder 421 can drive the fixed plate 411 to rotate around the second sliding plate 4322.

[0097] The movement process of the empty tray 302 is generally as follows: The inclined extension of the piston rod of the telescopic cylinder 421 causes the fixed plate 411 to drive the suction attachment 412 to rotate and descend around the second sliding plate 4322 to the empty tray 302 at the first turnover fixture 222 to adsorb the empty tray 302. At this time, the inclined retraction of the piston rod of the telescopic cylinder 421 causes the suction attachment 412 to drive the empty tray 302 to rise to a position parallel to the first sliding plate 4321; then, the transverse movement cylinder 431 drives the sliding seat 432 to move the empty tray 302 to the second discharging position 20b. The inclined extension of the piston rod of the telescopic cylinder 421 causes the fixed plate 411 to drive the suction attachment 412 to rotate and descend around the second sliding plate 4322 to the second discharging position 20b, and the suction attachment 412 deflates, causing the empty tray 302 to be inverted to the second discharging position 20b.

[0098] Please also refer to Figure 1 、 4 and Figure 5 Figure, the manipulator 220 includes a robotic arm 2210 and a pick-and-place mechanism 2220. Among them, the pick-and-place mechanism 2220 is used to directly or indirectly grab the material to be processed from the raw material tray 301 and place the material to be processed into the marking fixture 2130. After the marking mechanism 2110 performs marking processing on the material to be processed, the pick-and-place mechanism 2220 is also used to grab the processed material in the marking fixture 2130 and directly or indirectly place it into the empty tray 302 to form a clinker tray 303. The robotic arm 2210 is used to drive the pick-and-place mechanism 2220 to move and / or rotate within a certain range.

[0099] In some embodiments, the pick-and-place mechanism 2220 includes a connection component 5, a first material picking component 6, and a second material picking component 7. Among them, the first material picking component 6 is used to grab the material to be processed from the second loading position 20a of the loading mechanism 2 and place the material to be processed into the marking fixture 2130. The marking mechanism 2110 performs marking processing on the material to be processed in the marking fixture 2130 to form a processed material. The second material picking component 7 is used to grab the processed material in the marking fixture 2130 and place it into the second discharging position 20b of the loading mechanism 2. While the second material picking component 7 places the processed material into the second discharging position 20b, the first material picking component 6 grabs the material to be processed in the second loading position 20a. The first material picking component 6 and the second material picking component 7 are connected to the robotic arm 2210 through the connection component 5. This enables the pick-and-place mechanism 2220 to grab the material to be processed at the second loading position 20a of the loading mechanism 2 and at the same time place the processed material into the second discharging position 20b of the loading mechanism 2, improving the turnover efficiency and processing efficiency of the material.

[0100] Please continue to refer to Figure 4 and Figure 5, the connecting component 5 includes a bridging plate 51, a connecting rod 52, and a mounting plate 53. Among them, the connecting rod 52 is connected vertically between the mounting plate 53 and the robotic arm 2210, and the mounting plate 53 is connected horizontally between one end of the connecting rod 52 away from the robotic arm 2210 and the bridging plate 51. The first material taking component 6 and the second material taking component 7 are arranged at intervals at both ends of the bridging plate 51.

[0101] The first material taking component 6 includes at least one first grasping member 61 and a first connecting block 62. The first grasping member 61 is directly or indirectly connected to the bridging plate 51 through the first connecting block 62.

[0102] Specifically, the first grasping member 61 can be a component that uses negative pressure adsorption such as a suction nozzle, a suction cup, a clamping jaw, or any other component that can grasp materials. The number of the first grasping members 61 can be 1 or N, where N is a positive integer greater than or equal to 2; the number of the first grasping members 61 used to grasp any one material can be 1 or M, where M is a positive integer greater than or equal to 2 and less than N.

[0103] Please continue to refer to Figure 3 , the marking fixture 2130 includes a fixture body 2131 and at least one positioning hole 2132. Among them, the positioning hole 2132 is opened on the surface of the fixture body 2131 for positioning materials. The number of the positioning holes 2132 is the same as the number of the materials to be processed grasped by the first material taking component 6 at one time, and the distance between any two adjacent positioning holes 2132 is the same as that on the tray, so that the first material taking component 6 and the second material taking component 7 can directly grasp the materials to carry out turnover between the marking fixture 2130 and the tray without adjusting the position, improving the turnover efficiency of the materials.

[0104] In the embodiment of the present application, in order to increase the number of materials to be processed grasped by the first material taking component 6 at one time and the stability of grasping the materials, the number of the first grasping members 61 can be 16, and every two first grasping members 61 are used to grasp one material. Correspondingly, the number of the positioning holes 2132 can be 8, and the first grasping member 61 can be a flexible suction nozzle. In this way, when the first grasping member 61 contacts the surface of the material, the flexible suction nozzle can undergo a certain deformation so that the flexible suction nozzle can completely fit the surface of the material, improving the adsorption stability and success rate.

[0105] In some embodiments, the first material taking component 6 further includes a first lifting cylinder 63. The first lifting cylinder 63 is connected to the bridging plate 51, and the piston rod of the first lifting cylinder 63 is connected to the first connecting block 62. The first lifting cylinder 63 is used to drive the first connecting block 62 to move up and down in the vertical direction.

[0106] Specifically, when the first gripper 61 grabs the material to be processed from the second loading position 20a of the loading mechanism 2, the first lifting cylinder 63 can drive the first connecting block 62 to move downward, so that the flexible suction nozzle closely adheres to the surface of the material; and / or, when the first gripper 61 places the material to be processed into the marking jig 2130, the first lifting cylinder 63 can drive the first connecting block 62 to move downward, thereby applying a certain force to the material to ensure that the material falls into the positioning hole 2132 of the marking jig 2130.

[0107] The second material taking assembly 7 includes at least one second gripper 71 and a second connecting block 72. The second gripper 71 is directly or indirectly connected to the bridging plate 51 through the second connecting block 72.

[0108] Specifically, the second gripper 71 can be a component that uses negative pressure adsorption such as a suction nozzle or a suction cup, a clamping jaw, or any other component that can grab the material. The number of the second grippers 71 can be 1 or N, where N is a positive integer greater than or equal to 2; the number of the second grippers 71 used to grab any one material can be 1 or M, where M is a positive integer greater than or equal to 2 and less than N.

[0109] In the embodiment of the present application, the number and position of the second grippers 71 correspond to the number and position of the first grippers 61 one by one. The number of the second grippers 71 can be 16. Every two second grippers 71 are used to grab one material. The second gripper 71 can be a flexible suction nozzle. In this way, when the second gripper 71 contacts the surface of the material, the flexible suction nozzle can deform to a certain extent so that the flexible suction nozzle can completely adhere to the surface of the material, improving the adsorption stability and success rate.

[0110] In some embodiments, the second material taking assembly 7 further includes a second lifting cylinder 73. The second lifting cylinder 73 is connected to the bridging plate 51. The piston rod of the second lifting cylinder 73 is connected to the second connecting block 72. The second lifting cylinder 73 is used to drive the second connecting block 72 to move up and down in the vertical direction.

[0111] Specifically, when the second gripper 71 grabs the processed material from the marking jig 2130, the second lifting cylinder 73 can drive the second connecting block 72 to move downward, so that the flexible suction nozzle closely adheres to the surface of the material; and / or, when the second gripper 7 places the processed material into the second unloading position 20b of the loading mechanism 2, the second lifting cylinder 73 can drive the second connecting block 72 to move downward, thereby applying a certain force to the material to ensure that the material falls into the fixing hole of the tray or the positioning hole 2132 of the marking jig 2130. While the second gripper 71 places the processed material into the second unloading position 20b, the first gripper 61 grabs the material to be processed from the second loading position 20a.

[0112] In some embodiments, at least one air blowing pipe 8 is further provided on the bridge plate 51, and the air blowing pipe 8 can spray a certain amount of airflow to clean the material tray and / or the marking fixture 2130, to prevent external impurities from contaminating the material or causing the material to be unable to be put in normally. The number of air blowing pipes 8 can be 1, 2, 3, 4 or any other number, which is not limited here. In the embodiment of the present application, the number of air blowing pipes 8 can be 2.

[0113] The present application also provides a tray turnover method, which is applied to the above-mentioned automated production line 1000. The tray turnover method includes the following steps:

[0114] S1. The material taking mechanism 3 transfers the raw material tray 301 in the first loading position 10a of the material storage mechanism 1 to below the second loading position 20a of the supporting mechanism 2.

[0115] Specifically, first, the material taking mechanism 3 reaches the bottom of the storage mechanism 1 and then rises upward, so that the first material taking position 30a moves to the bottom of the first loading position 10a, and the raw material tray 301 in the first loading position 10a falls to the first material taking position 30a. If the clinker tray 303 on the second material taking position 30b is lifted to the first lowering position 10b, if there is no clinker tray 303 on the second material taking position 30b, it is lifted unloaded; then, the material taking mechanism 3 moves in the direction close to the supporting mechanism 2, so that the first material taking position 30a moves to the bottom of the second loading position 20a. At the same time, the first flip cylinder 221 in the first supporting assembly 22 of the supporting mechanism 2 drives the first turnover fixture 222 to flip in the vertical direction, so that the accommodating hole of the first turnover fixture 222 faces downward to align with the first material taking position 30a. The materials to be processed in the receiving holes of the material tray 301 correspond one to one, and at the same time, the second turning cylinder 231 also drives the second turnover fixture 232 to turn over in the vertical direction, so that the receiving holes of the second turnover fixture 232 face downward to correspond to the second material picking position 30b. If there is processed material in the second turnover fixture 232 and it is inverted on the empty material tray 302 of the second turnover fixture 232, then after the second turning cylinder 231 turns over, the processed material in the second turnover fixture 232 falls to the empty material tray 302 to form a clinker tray 303, and the second clamping piece 235 releases the clinker tray 303 clamped on the second turnover fixture 232, so that the clinker tray 303 falls to the second material picking position 30b, so that the material picking mechanism 3 can be carried to the second material picking position 30b, and the second turnover fixture 232 becomes free of processed materials.

[0116] S2. The supporting mechanism 2 grabs the raw material tray 301, and at the same time releases the cooked material tray 303 at the second lower material position 20b, and turns over the raw material tray 301 so that the raw material tray 301 is above the second upper material position 20a and pours the material to be processed to the second upper material position 20a to form an empty tray 302.

[0117] Specifically, first, the first clamping member 225 in the first carrier assembly 22 clamps the green material tray 301 to the first turnover fixture 222. Then, the first turnover cylinder 221 in the first carrier assembly 22 drives the first turnover fixture 222 to turn over in the vertical direction, so that the green material tray 301 is inverted onto the first turnover fixture 222. At this time, the receiving hole of the first turnover fixture 222 faces upward, and the receiving hole of the green material tray 301 faces downward, so that the material to be processed in the tray 301 of the material to be processed falls into the first turnover fixture 222, and the tray 301 of the material to be processed thus forms an empty tray 302.

[0118] S3. The processing device 200 receives the material to be processed in the second loading position 20a and processes it into the processed material.

[0119] Specifically, the manipulator 220 grabs the material to be processed in the first turnover fixture 222 and transfers it into the marking fixture 2130, and the marking mechanism 2110 can perform marking processing on the material to be processed in the marking fixture 2130 to form the processed material.

[0120] S4. The second unloading position 20b of the carrier mechanism 2 receives the processed material.

[0121] Specifically, the manipulator 220 grabs the processed material in the marking fixture 2130 and transfers it into the second turnover fixture 232 in the second carrier assembly 23.

[0122] S5. The transfer mechanism 4 grabs the empty tray 302 from the second unloading position 20b and inverts it above the second unloading position 20b.

[0123] Specifically, first, when the green material tray 301 is inverted above the first turnover fixture 222, so that the tray 301 of the material to be processed falls into the first turnover fixture 222 and the green material tray 301 becomes an empty tray 302, the transfer mechanism 4 moves in the direction close to the second loading position 20a, and the first clamping member 225 in the first carrier assembly 22 releases the empty tray 302 inverted above the first turnover fixture 222, and the transfer mechanism 4 sucks the empty tray 302 inverted above the first turnover fixture 222. Then, the transfer mechanism 4 moves in the direction close to the second unloading station 20b and inverts the empty tray 302 above the second turnover fixture 232.

[0124] S6. The carrier mechanism 2 clamps and turns over the empty tray 302 so that the empty tray 302 is below the second unloading position 20b and pours the processed material into the empty tray 302 to form a clinker tray 303.

[0125] Specifically, first, the second clamping member 235 in the second carrying assembly 23 clamps the empty tray 302 that is buckled above the second turnover fixture 232; then, the second turnover cylinder 231 in the second carrying assembly 23 drives the second turnover fixture 232 to turn in the vertical direction, so that the second turnover fixture 232 is buckled above the empty tray 302. At this time, the receiving hole of the second turnover fixture 232 faces downward, and the receiving hole of the empty tray 302 faces upward, so that the processed materials in the second turnover fixture 232 fall into the empty tray 302, thereby forming a cooked material tray 303.

[0126] S7. The material taking mechanism 3 aligns the raw material tray 301 taken out from the material storage mechanism 1 with the second loading position 20a of the carrying mechanism 2 for the carrying mechanism 2 to grab, and receives the cooked material tray 303 of the carrying mechanism 2 and transfers it to the first unloading position 10b of the material storage mechanism 1.

[0127] Specifically, first, after the second turnover fixture 232 is buckled above the empty tray 302, the second clamping member 235 in the second carrying assembly 23 releases the cooked material tray 303, so that the cooked material tray 303 falls to the second material taking position 30b. At the same time, the material taking mechanism 3 aligns the raw material tray 301 taken out from the material storage mechanism 1 with the second loading position 20a of the carrying mechanism 2 for the first clamping member 225 of the carrying mechanism 2 to grab; then, the material taking mechanism 3 moves in the direction close to the material storage mechanism 1, so that the second material taking position 30b moves below the first unloading position 10b, and the cooked material tray 303 on the second material taking position 30b is lifted to the first unloading position 10b.

[0128] It should be noted that the orientation of the receiving hole of the first turnover fixture 222 always remains the same as that of the second turnover fixture 232, that is, when the receiving hole of the first turnover fixture 222 faces upward, the receiving hole of the second turnover fixture 232 also faces upward, and when the receiving hole of the first turnover fixture 222 faces downward, the receiving hole of the second turnover fixture 232 also faces downward. While the first turnover cylinder 221 drives the first turnover fixture 222 to turn in the vertical direction, the second turnover cylinder 231 also drives the second turnover fixture 232 to turn in the vertical direction, and the turning angles of both are the same. While the first clamping member 225 clamps the raw material tray 301 in the first material taking position 30a to the first turnover fixture 222, the second clamping member 235 releases the cooked material tray 303 clamped to the second turnover fixture 232, so that the cooked material tray 303 falls to the second material taking position 30b, and while the cooked material tray 303 on the second material taking position 30b is lifted to the first unloading position 10b, the raw material tray 301 in the first loading position 10a falls to the first material taking position 30a.

[0129] When it is necessary to use the automated production line 100 to process the material to be processed, the working process of the automated production line 100 is roughly as follows:

[0130] Step 1: Place a plurality of green material trays 301 in the first loading position 10a of the storage mechanism 1. At this time, there is no clinker tray 303 in the second unloading position 20b of the storage mechanism 1.

[0131] Step 2: The material taking mechanism 3 moves towards the storage mechanism 1, so that the first material taking position 30a of the material taking mechanism 3 moves below the first loading position 10a, and at the same time, the second material taking position 30b of the material taking mechanism 3 moves below the first unloading position 10b.

[0132] Step 3: The green material tray 301 at the bottom layer in the first loading position 10 falls into the first material taking position 30a.

[0133] Step 4: The material taking mechanism 3 moves towards the loading mechanism 2, so that the first material taking position 30a moves below the second loading position 20a, and at the same time, the second material taking position 30b moves below the second unloading position 20b.

[0134] Step 5: The first flipping cylinder 221 in the first loading component 22 drives the first turnover jig 222 to flip vertically, so that the receiving hole of the first turnover jig 222 faces downward. At the same time, the second flipping cylinder 231 in the second loading component 23 also drives the second turnover jig 232 to flip vertically, so that the receiving hole of the second turnover jig 232 also faces downward.

[0135] Step 6: The first clamping member 225 in the first loading component 22 clamps the green material tray 301 below the first turnover jig 222.

[0136] Step 7: The first flipping cylinder 221 in the first loading component 22 drives the first turnover jig 222 to continue flipping vertically, so that the green material tray 301 is inverted above the first turnover jig 222. At the same time, the second flipping cylinder 231 in the second loading component 23 also drives the second turnover jig 232 to continue flipping vertically.

[0137] Step 8: After all the materials to be processed in the green material tray 301 fall into the first turnover jig 222, thus forming an empty tray 302, the first clamping member 225 in the first loading component 22 releases the empty tray 302 inverted above the first turnover jig 222.

[0138] Step 9: The transfer mechanism 4 moves towards the second loading position 20a, and the transfer mechanism 4 sucks the empty tray 302 inverted above the first turnover jig 222.

[0139] Step 10: First, the robot 220 grabs the material to be processed in the first turnover fixture 222 and places it in the processing device 210, so that the processing device 210 processes the material to be processed to form a processed material; then, the robot 220 grabs the processed material in the processing device 210 and places it in the second turnover fixture 232, and the cycle continues until all the materials in the first turnover fixture 222 are transferred to the second turnover fixture 232.

[0140] Step 11: The transfer mechanism 4 moves toward the second unloading position 20 b again, and the transfer mechanism 4 turns the sucked empty tray 302 upside down above the second turnover fixture 232 .

[0141] Step 12: The second clamping member 235 in the second supporting assembly 23 clamps the empty material tray 302 which is buckled onto the second turnover fixture 232 .

[0142] Step 13: The second flipping cylinder 231 in the second supporting assembly 23 drives the second turnover fixture 232 to continue flipping in the vertical direction, so that the second turnover fixture 232 is inverted above the empty tray 302. At the same time, the first flipping cylinder 221 in the first supporting assembly 22 also drives the first turnover fixture 222 to continue flipping in the vertical direction.

[0143] Step 14: After all processed materials in the second turnover fixture 232 fall into the empty material tray 302, a clinker material tray 303 is formed, and the second clamping member 235 in the second supporting assembly 23 releases the clinker material tray 303 clamped under the second turnover fixture 232, and the clinker material tray 303 falls to the second material extraction position 30b.

[0144] Step 15: Repeat step 2.

[0145] Step 16: The clinker tray 303 on the second material taking position 30b is lifted to the first lower material position 10b of the storage mechanism 1. At the same time, the raw material tray 301 at the bottom layer in the first upper material position 10 falls to the first material taking position 30a.

[0146] Step 17: Steps 5 to 16 are repeated in sequence until the last raw material tray 301 stored in the first loading position 10a in the storage mechanism 1 falls to the first removing position 30a.

[0147] Step 18: Repeat steps 4 to 15 in sequence.

[0148] Step 19: The clinker tray 303 on the second material taking position 30b is lifted to the first material discharging position 10b of the storage mechanism 1.

[0149] Compared with the prior art, in a tray turnover device 100, an automated production line 1000, and a tray turnover method provided in an embodiment of the present application, first, the material taking mechanism 3 can transfer the green material tray 301 in the first loading position 10a of the carrying mechanism 2 to the second loading position 20a of the carrying mechanism 2. Then, the material to be processed in the second loading position 20a can be continuously transferred to the processing equipment 200 for processing, so that an empty tray 302 is generated in the second loading position 20a. Then, the transfer mechanism 4 can transfer the empty tray 302 in the second loading position 20a to the second unloading position 20b. The processed material after being processed by the processing equipment 200 can be transferred to the empty tray 302 in the second unloading position 20b. Finally, the material taking mechanism 3 can transfer the clinker tray 303 to the first unloading position 10b, and the cycle continues; during the whole processing process, the automated turnover and stacking of the trays are realized. The turnover and stacking of the trays do not require a manipulator and / or manual handling, improving the turnover efficiency of the trays and the processing efficiency.

[0150] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A tray turnover device, characterized in that Comprising: A material storage mechanism having a first loading position and a first unloading position; A loading mechanism having a second loading position and a second unloading position; A material taking mechanism slidably disposed between the material storage mechanism and the loading mechanism. The material taking mechanism transfers the green material tray at the first loading position to the second loading position so that the loading mechanism can receive the material to be processed, making the green material tray an empty tray. Meanwhile, the material taking mechanism transfers the clinker material tray at the second unloading position to the first unloading position; A transfer mechanism slidably disposed between the second loading position and the second unloading position. The transfer mechanism is used to transfer and invert the empty tray at the second loading position to the second unloading position so that the loading mechanism can form a clinker material tray after flipping; The loading mechanism includes a base and a first loading component and a second loading component spaced apart on the base. The base is spaced apart from the material storage mechanism; The first loading component includes a first flipping cylinder and a first turnover fixture. The first turnover fixture is located at the second loading position. The first flipping cylinder is disposed on the base, and the first flipping cylinder is used to drive the first turnover fixture to flip to receive the material to be processed in the green material tray transferred from the first loading position; The second loading component includes a second flipping cylinder and a second turnover fixture. The second turnover fixture is located at the second unloading position. The second flipping cylinder and the first flipping cylinder are spaced apart at both ends of the base, and the second flipping cylinder is used to drive the second turnover fixture to flip to transfer the processed material in the second turnover fixture to the empty tray to form a clinker material tray.

2. The tray turnover device according to claim 1, wherein The material taking mechanism includes: A loading component for transferring the green material tray at the first loading position to the second loading position; An unloading component for transferring the clinker material tray at the second unloading position to the first unloading position; A connecting plate, with the loading component and the unloading component spaced apart on the connecting plate; A lifting component for driving the loading component and the unloading component to slide up and down; A translation component for driving the loading component and the unloading component to slide between the material storage mechanism and the loading mechanism.

3. The tray turnover device according to claim 2, wherein, The material storage mechanism includes a first tray dividing component and a second tray dividing component. Among them, the first tray dividing component is used to transfer the green material tray at the first loading position to the loading component, and the second tray dividing component is used to transfer the clinker material tray in the unloading component to the first unloading position.

4. The tray turnover device according to claim 2, characterized in that, The translation component includes a translation cylinder and a mounting block. The translation cylinder is used to drive the mounting block to slide between the material storage mechanism and the loading mechanism; The lifting component includes a lifting cylinder and a support plate supporting the connecting plate. One end of the lifting cylinder is disposed on the mounting block, and the other end is connected to the support plate. The lifting cylinder is used to drive the connecting plate to slide up and down.

5. The tray turnover device according to claim 4, characterized in that, The loading component includes a first loading platform and a first steering cylinder. The first steering cylinder is disposed on the connecting plate, and the first steering cylinder is used to drive the first loading platform to rotate; The blanking component includes a second carrier table and a second steering cylinder. The second steering cylinder is arranged on the connecting plate, and the second steering cylinder is used to drive the second carrier table to rotate.

6. The turnover device for the material tray according to claim 1, wherein, The first loading and unloading assembly further includes a first positioning plate and at least one first clamping member. The first positioning plate supports the first turnover fixture, and the first clamping member is arranged on one side of the first positioning plate. The first clamping member is used to clamp the green material tray to the first turnover fixture so that the green material tray forms the empty tray, and is used to loosen the empty tray covered on the first turnover fixture. The second loading and unloading assembly further includes a second positioning plate and at least one second clamping member. The second positioning plate supports the second turnover fixture, and the second clamping member is arranged on one side of the second positioning plate. The second clamping member is used to clamp the empty tray to the second turnover fixture containing the processed material so that the empty tray forms the clinker tray, and is used to loosen the clinker tray on the second turnover fixture.

7. The tray turnover device according to claim 1, characterized in that, The transfer mechanism includes: A material grasping component for grasping the empty tray at the second loading position. A rotating component for driving the material grasping component to turn over so as to cover the empty tray on the second turnover fixture. A transverse movement component for driving the material grasping component and the rotating component to slide between the second loading position and the second blanking position.

8. The tray turnover device according to claim 7, wherein The material grasping component includes: At least one adsorbing member for adsorbing the empty tray at the second loading position. A fixing plate, and the adsorbing member is rotatably connected to the sliding seat. Wherein, The rotating component drives the fixing plate to rotate on the sliding seat so that the empty tray is inverted to the second blanking position to form a clinker tray.

9. An automated production line, characterized in that, It includes a processing device and the tray turnover device according to any one of claims 1 to 8. Among them, the processing device includes: A processing device for processing the material to be processed. A manipulator for grasping the material to be processed at the second loading position and placing it on the processing device, and for grasping the processed material after being processed by the processing device and placing it at the second blanking position.

10. A method for tray turnover, characterized in that, The tray turnover method is applied to the tray turnover device according to any one of claims 1 to 8, and the tray turnover method includes the following steps: The loading and unloading mechanism grasps the green material tray from the storage mechanism, and at the same time loosens the clinker tray placed at the second blanking position, and turns over the green material tray so that the green material tray is above the second loading position and the material to be processed is poured to the second loading position to form an empty tray. The second blanking position of the loading and unloading mechanism receives the processed material formed after the material to be processed is processed. The transfer mechanism grasps the empty tray from the loading and unloading mechanism and inverts it above the second blanking position. The loading and unloading mechanism clamps and turns over the empty tray so that the processed material is poured into the empty tray to form a clinker tray. The blanking mechanism aligns the green material tray taken out from the storage mechanism with the second loading position of the loading mechanism for the loading mechanism to grab, and receives the clinker tray of the loading mechanism and transfers it to the first unloading position of the storage mechanism.

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