A flexible positioning device for a tray

Abstract

The present application relates to the technical field of electronic packaging and detection automation, and specifically discloses a flexible positioning device for a material tray, which includes: a positioning frame provided with a bearing step for carrying the material tray; an adjustment mechanism provided on the outer surface of the positioning frame, the adjustment mechanism including an adjustment cylinder, a short side adjustment component, a linkage component, a long side adjustment component and an elastic pusher, all of which are provided on the positioning frame and connected in sequence, the elastic pusher being used to push the material tray. The material tray is translated on the extended plane of the carrying platform; a single adjustment cylinder is used to achieve synchronous linkage of the short side adjustment component and the long side adjustment component through the linkage component to position the material tray on both sides; the elastic pusher is provided on the long side adjustment component to elastically contact and position the long side frame of the material tray. Due to its elasticity, the material tray still has freedom in the other direction, and can continue to push the material tray for positioning without the material tray shaking, thereby achieving stable and accurate positioning of the material tray.

Description

Technical Field

[0001] The present application relates to the technical field of electronic packaging and automated detection, and in particular to a flexible positioning device for a tray. Background Art

[0002] Currently, when testing integrated circuit (IC) electronic materials, they are often placed in dedicated trays (also known as trays) of standard specifications and sizes. These trays are used to support and position the electronic materials within automated testing equipment. During the testing process, suction cups and other techniques are used to pull the IC electronic materials from the tray's recesses to the designated location. Therefore, the trays need to be positioned, typically in both horizontal and vertical directions.

[0003] As for the positioning of the tray, existing industry applications generally use positioning blocks installed at the four corners of the positioning frame, and use cylinders to push the long and short sides of the tray to position the tray in a corner. These methods mainly include: Option 1, using a single cylinder to push the tray corner to achieve two-degree-of-freedom positioning within a plane; Option 2, using two cylinders to push the tray's sides. However, in Option 1, since the tray will have a certain amount of deflection in the horizontal plane when placed on the positioning frame, coupled with the tray's errors and deformation, pushing the tray corner will increase the deflection, and the positioning process will inevitably cause deflection collisions, which is not conducive to tray positioning. In Option 2, when two cylinders are used to push the tray's sides, one side of the tray will first contact the positioning block. Positioning the other side will need to overcome the friction caused by the cylinder squeezing the side that first contacted. When dust appears on the tray, it is prone to creeping or blocking, causing vibration of the IC electronic materials in the tray, and even causing the electronic materials to tilt in the material pit, affecting the grasping success rate and stability.

[0004] Therefore, how to provide a tray positioning device that can achieve stable and accurate tray positioning has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose of the present application is to provide a flexible positioning device for a material tray, aiming to solve the problems of instability and low precision of the material tray during positioning in the prior art.

[0006] A technical solution adopted by the present application to solve the technical problem is as follows: a flexible positioning device for a material tray, used for performing bidirectional linkage flexible positioning of the material tray, comprising:

[0007] A positioning frame, wherein the positioning frame is provided with a bearing step for bearing the material tray;

[0008] The adjusting mechanism is arranged on the outer side surface of the positioning frame. The adjusting mechanism includes an adjusting cylinder, a short side adjusting component, a linkage component, a long side adjusting component and an elastic push piece, all of which are arranged on the positioning frame and connected in sequence, wherein the elastic push piece is used to push the material tray.

[0009] In the above embodiment, a bearing step is provided on the positioning frame, so that the material tray can be stably supported, so that the material tray can be translated on the extended plane of the bearing platform; the adjustment mechanism realizes the synchronous linkage of the short side adjustment component and the long side adjustment component through the linkage component, and then realizes the synchronous linkage of the short side adjustment component and the long side adjustment component driven by a single adjustment cylinder to position the material tray on both sides; at the same time, by arranging the elastic push piece on the long side adjustment component, the long side frame of the material tray can be elastically contacted and positioned through the long side adjustment component and the elastic push piece. Since the elastic push piece is elastic, the other direction of the material tray still has a certain degree of freedom at this time, so that the short side adjustment component can continue to push the short side frame of the material tray for positioning, and the material tray will not shake due to excessive resistance, and finally the material tray can be positioned smoothly and accurately.

[0010] Optionally, the positioning frame includes: a frame body, the frame body including a first short frame, a first long frame, a second short frame and a second long frame connected end to end in sequence, the connection between the first short frame and the first long frame is a first positioning angle, the connection between the first long frame and the second short frame is a second positioning angle, the connection between the second short frame and the second long frame is a third positioning angle, and the connection between the second long frame and the first short frame is a fourth positioning angle; the bearing step is arranged at the bottom edge of the inner side surfaces of the first short frame, the first long frame, the second short frame and the second long frame;

[0011] Positioning blocks, the positioning blocks are arranged at the first positioning angle, the second positioning angle, the third positioning angle and the fourth positioning angle;

[0012] In the above embodiment, the positioning frame provides a positioning reference for the precise positioning of the tray by respectively arranging positioning blocks at the four positioning corners of the frame body.

[0013] Optionally, the positioning frame further includes: a first sensor, the first sensor being arranged on the first long frame at the second positioning corner;

[0014] a second sensor, the second sensor being disposed on the second long frame at the third positioning angle;

[0015] A first sensing hole is provided at a position of the first long frame corresponding to the first sensor, and a second sensing hole is provided at a position of the second long frame corresponding to the second sensor; and a connecting line between the first sensor, the first sensing hole, the second sensing hole, and the second sensor is arranged parallel to an extension direction of the second short frame.

[0016] In the above embodiment, the positioning frame is configured with a first sensor, a first sensing hole, a second sensing hole and a second sensor, thereby being able to accurately determine whether the material tray has completed positioning.

[0017] Optionally, the regulating cylinder is connected to one end of the first short frame close to the second long frame through a cylinder base;

[0018] The short side adjustment component is hinged to the first short frame;

[0019] The linkage assembly is hinged at the first positioning angle;

[0020] The long side adjustment component is hinged on the first long side frame.

[0021] In the above embodiment, by controlling the adjusting cylinder, the short side adjusting assembly, the linkage assembly and the long side adjusting assembly, a single cylinder is used to push the short side adjusting assembly and the long side adjusting assembly along the frame in the width direction and the frame in the length direction respectively, providing a power basis for the short side adjusting assembly and the long side adjusting assembly to push the adjusting material tray.

[0022] Optionally, the positioning block includes a first positioning block, a second positioning block, a third positioning block and a fourth positioning block; the first positioning block is set at the first positioning angle, the second positioning block is set at the second positioning angle, the third positioning block is set at the third positioning angle, and the fourth positioning block is set at the fourth positioning angle.

[0023] In the above embodiment, the positioning frame provides an effective positioning reference for the precise positioning of the material tray by respectively arranging positioning blocks at the four positioning corners of the frame body.

[0024] Optionally, the regulating cylinder includes:

[0025] a cylinder base, the cylinder base being arranged at one end of the first short frame close to the second long frame;

[0026] The cylinder body is rotatably connected to the cylinder base, and one end of the cylinder body facing away from the cylinder base is connected to the short side adjustment assembly.

[0027] In the above embodiment, by setting up a cylinder base, a stable connection between the cylinder body and the frame body is achieved; by controlling the rotational connection between the cylinder body and the cylinder base, the cylinder body and the short side adjustment assembly maintain the same movement posture, thereby ensuring a stable connection between the cylinder body and the short side adjustment assembly.

[0028] Optionally, the short side adjustment component includes:

[0029] a connecting rod, one end of which is connected to the regulating cylinder;

[0030] a short-side swing rod, one end of which is hinged to the connecting rod;

[0031] The short side rocker hinge is provided with a short side hinge slot along the extension direction of the first long side frame. The middle part of the short side rocker is connected to the short side hinge slot through the short side rocker hinge. The other end of the short side rocker is provided as a short side pushing end for pushing the material tray.

[0032] In the above embodiment, the short side adjustment assembly is connected to the adjustment cylinder through a connecting rod, and controls the short side rocker arm to rotate relative to the first short frame, thereby adjusting the position of the short side pushing end, and then pushing the material tray to position the short side of the material tray.

[0033] Optionally, the linkage component includes:

[0034] Linkage rocker;

[0035] A linkage hinge, wherein a linkage hinge slot is provided at the first positioning angle, and the middle portion of the linkage rocker is connected to the linkage hinge slot via the linkage hinge;

[0036] A linkage hinge slot is provided at the first positioning angle, and the middle portion of the linkage rocker is connected to the linkage hinge slot via a linkage hinge;

[0037] An adjusting rod, one end of which is hinged to the linkage rocker arm;

[0038] An adjusting short rod, both ends of which are connected to the short side rocker and the linkage rocker through joint bearings;

[0039] Wherein, the adjusting short rod and the connecting rod are both located on the short side rocker rod on the same side of the short side rocker rod hinge, and the adjusting short rod and the adjusting long rod are both located on the linkage rocker rods on both sides of the linkage hinge.

[0040] In the above embodiment, by setting the linkage rocker arm to swing at a positioning angle relative to the frame body, the power of the adjustment cylinder is transmitted to the long side adjustment assembly, thereby realizing a single cylinder driving the short side adjustment assembly and the long side adjustment assembly.

[0041] Optionally, the long side adjustment component includes:

[0042] Long side swing rod;

[0043] The long side rocker hinge is provided with a long side hinge slot at the first long side frame, the long side rocker is connected to the long side hinge slot through the long side rocker hinge, the adjustment long rod and the elastic push piece are respectively located on the long side rocker on both sides of the long side rocker hinge, and the elastic push piece is set to be a spring, a torsion spring or a spring.

[0044] In the above embodiment, by setting a long side rocker and controlling the long side rocker to rotate relative to the first long frame, the elastic pusher moves relative to the first long frame, thereby pushing the material tray to move, thereby achieving unilateral positioning of the material tray.

[0045] Optionally, the positioning framework further includes:

[0046] A tray taking and placing slot, the tray taking and placing slot being provided at both ends of the first long frame and the second long frame;

[0047] a first positioning pin, the first positioning pin being arranged at the first positioning angle or the fourth positioning angle;

[0048] a second positioning pin, the second positioning pin being arranged diagonally to the first positioning pin;

[0049] The mounting hole is provided on the frame body.

[0050] In the above embodiment, by setting the material tray taking and placing groove, the material tray can be conveniently taken out and placed from the material tray receiving groove; by setting the first positioning pin and the second positioning pin, the positioning frame can be conveniently installed on the workbench; by setting the mounting hole, the connection stability between the positioning frame and the workbench is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the three-dimensional structure of the flexible positioning device for the tray provided in this application;

[0052] Figure 2 It is a three-dimensional structural diagram of the cooperation relationship between the flexible positioning device for the material tray provided in this application and the material tray;

[0053] Figure 3 It is a three-dimensional exploded schematic diagram of the flexible positioning device for the tray provided in this application;

[0054] Figure 4 This is a three-dimensional exploded schematic diagram of another perspective of the flexible positioning device for the tray provided in this application;

[0055] Figure 5It is a schematic diagram of the three-dimensional structure of the positioning frame of the flexible positioning device for the tray provided in this application;

[0056] Figure 6 This is a schematic diagram of the three-dimensional structure of the positioning frame of the flexible positioning device for the tray provided in the present application from another perspective;

[0057] Figure 7 It is a schematic diagram of the three-dimensional structure of the adjustment mechanism of the flexible positioning device for the tray provided in this application;

[0058] Figure 8 This is a schematic diagram of the three-dimensional structure of the adjustment mechanism of the flexible positioning device for the tray provided in this application from another perspective;

[0059] Description of reference numerals:

[0060] 10. Flexible positioning device for the tray; 20. The tray; 12. Positioning frame; 13. Adjustment mechanism; 15. Elastic pusher; 16. Load-bearing step; 121. Frame body; 122. Positioning block; 123. First sensor; 124. Second sensor; 125. First sensing hole; 126. Second sensing hole; 127. Tray access slot; 128. First positioning pin; 129. Second positioning pin; 120. Mounting hole; 1211. First short side frame; 1212. First long side frame; 1213. Second short side frame; 1214. Second long side frame; 1215. First positioning angle; 1216. Second positioning angle; 1217. Third positioning angle; 1218. Fourth positioning angle; 121a. Short side hinge slot; 121b. Linking hinge slot; 121c. Long side hinge slot; 1221. First positioning block; 1222. Second positioning block; 1223. Third positioning block; 1224. Fourth positioning block; 1271. First tray pick-up and placement slot; 1272. Second tray pick-up and placement slot; 1273. Third tray pick-up and placement slot; 1274. Fourth tray pick-up and placement slot; 131. Adjusting cylinder; 132. Short side adjustment assembly; 133. Linkage assembly; 134. Long side adjustment assembly; 1311. Cylinder base; 1312. Cylinder body; 1321. Connecting rod; 1322. Short side rocker; 1323. Short side rocker hinge; 1324. Short side push end; 1331. Linkage rocker; 1332. Adjusting long rod; 1333. Adjusting short rod; 1334. Linkage hinge; 1335. Joint bearing; 1341. Long side rocker; 1342. Long side rocker hinge. DETAILED DESCRIPTION

[0061] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0062] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" and "several" mean two or more.

[0063] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0064] Please refer to Figures 1 to 4In the first embodiment of the present application, a flexible positioning device 10 for a material tray is provided for performing bidirectional linkage flexible positioning of a material tray 20; the flexible positioning device 10 for the material tray comprises: a positioning frame 12 and an adjusting mechanism 13; a bearing step 16 for bearing the material tray 20 is provided on the positioning frame 12, that is, when the material tray 20 is placed in the positioning frame 12, it is supported by the bearing step 16, and when the material tray 20 is positioned, it is translated along the plane where the bearing step 16 is located; the adjusting mechanism 13 is provided on the outer surface of the positioning frame 12; the adjusting mechanism 13 comprises an adjusting cylinder 131, a short side adjusting component 132, a linkage component 133, a long side adjusting component 134 and an elastic pusher 15; the adjusting cylinder 131, the short side adjusting component 132, the linkage component 133 and the long side adjusting component 134 are all provided on the positioning frame 12; it can be seen that the adjusting mechanism 13 is driven by an adjusting cylinder 131 at the same time as the short side adjusting component 132 and the long side adjusting component 134. Specifically, the linkage component 133 realizes a single adjusting cylinder 131, and drives the short side adjusting component 132 and the long side adjusting component 134 to operate, so as to smoothly and accurately position the material tray 20; the elastic pusher 15 is used to abut and push the material tray 20, which is arranged on the end of the long side adjusting component 134 away from the linkage component 133, thereby ensuring the elastic contact between the long side adjusting component 134 and the material tray 20, while achieving the elastic positioning of the long frame of the material tray 20, ensuring that the material tray 20 has a certain degree of freedom along the length direction of the positioning frame 12, until the short side adjusting component 132 completes the positioning of the material tray 20 through linkage, and the long side adjusting component 134 reaches the maximum extrusion force, thereby achieving accurate and stable positioning of the material tray 20 in two directions.

[0065] That is to say, by arranging the bearing steps 16 on the positioning frame 12, the material tray 20 can be stably supported, so that the material tray 20 can be translated on the extension plane of the bearing platform 16; the adjustment mechanism 13 realizes the synchronous linkage of the short side adjustment component 132 and the long side adjustment component 134 through the linkage component 133, and then realizes the synchronous linkage of the short side adjustment component 132 and the long side adjustment component 134 driven by a single adjustment cylinder 131 to position the material tray 20 on both sides; at the same time, by arranging the elastic push piece 15 on the long side adjustment component 134, the long side adjustment component 134 and the elastic push piece 15 can be elastically contacted and positioned on the long side frame of the material tray 20. Since the elastic push piece 15 is elastic, the other direction of the material tray 20 still has a certain degree of freedom at this time, so that the short side adjustment component 132 can continue to push the short side frame of the material tray 20 for positioning, and the material tray 20 will not shake due to excessive resistance, and finally the material tray 20 is smoothly and accurately positioned in two directions.

[0066] Please refer to further Figure 5 and Figure 6In some embodiments, the positioning frame 12 includes a frame body 121 and a positioning block 122. In this embodiment, the positioning frame 12 may also include a first sensor 123 and a second sensor 124. Specifically, the positioning frame 12 includes the frame body 121 and the positioning block 122. Alternatively, the positioning frame 12 includes the frame body 121, the positioning block 122, the first sensor 123, and the second sensor 124. The frame body 121 is used to fix the adjustment mechanism 13 and to support the material tray 20. The positioning block 122 provides a reference for accurately positioning the material tray 20. The first sensor 123 and the second sensor 124 are used to determine whether the material tray 20 has been accurately positioned.

[0067] Specifically, the frame body 121 includes a first short frame 1211, a first long frame 1212, a second short frame 1213, a second long frame 1214, a first positioning angle 1215, a second positioning angle 1216, a third positioning angle 1217 and a fourth positioning angle 1218; the first short frame 1211, the first long frame 1212, the second short frame 1213 and the second long frame 1214 are connected end to end in sequence; the first positioning angle 1215 is set at the connection between the first short frame 1211 and the first long frame 1212; the second positioning angle 1216 is set at the connection between the first long frame 1212 and the second short frame 1213, the third positioning angle 1217 is set at the connection between the second short frame 1213 and the second long frame 1214, and the fourth positioning angle 1218 is set at the connection between the first short frame 1211 and the first long frame 1212. The positioning angle 1218 is at the connection between the second long frame 1214 and the first short frame 1211; the supporting step 16 is arranged at the bottom edge of the inner side surface of the first short frame 1211, the first long frame 1212, the second short frame 1213 and the second long frame 1214, that is, the supporting step 16 is arranged at the bottom of the inner side surface of the first short frame 1211, the first long frame 1212, the second short frame 1213 and the second long frame 1214, and is specifically located on the side of the first short frame 1211 facing the second short frame 1213, the side of the second short frame 1213 facing the first short frame 1211, the side of the first long frame 1212 facing the second long frame 1214, and the side of the second long frame 1214 facing the first long frame 1212. The adjusting cylinder 131 is connected to one end of the first short frame 1211 close to the second long frame 1214; the short side adjusting component 132 is hinged on the first short frame 1211; the linkage component 133 is hinged at the first positioning angle 1215; and the long side adjusting component 134 is hinged on the first long frame 1212.

[0068] It can be seen that the adjustment mechanism 13 is arranged on the frame body 121, the material tray 20 is accommodated in the frame body 121, and is located on the supporting step 16, which provides a guarantee for the adjustment mechanism 13 to accurately position the material tray 20, and then realizes a single cylinder to push the short side adjustment component 132 and the long side adjustment component 134 along the borders in the width direction (i.e. the first short border 1211 and the second short border 1213) and the borders in the length direction (i.e. the first long border 1212 and the second long border 1214), respectively, providing a power basis for the short side adjustment component 132 and the long side adjustment component 134 to push the adjustment material tray 20.

[0069] At the same time, the first sensor 123 is arranged on the first long frame 1212 at the second positioning corner 1216, that is, the first sensor 123 is arranged at one end of the first long frame 1212 close to the second positioning corner 1216; the second sensor 124 is arranged on the second long frame 1214 at the third positioning corner 1217, that is, the second sensor 124 is arranged at one end of the second long frame 1214 close to the third positioning corner 1217; wherein, a first sensing hole 125 is provided at the position of the first long frame 1212 corresponding to the first sensor 123, and a second sensing hole 126 is provided at the position of the second long frame 1214 corresponding to the second sensor 124; the connecting line of the first sensor 123, the first sensing hole 125, the second sensing hole 126 and the second sensor 124 is arranged parallel to the extension direction of the second short frame 1213, so that the first sensor 123 and the second sensor 124 can sense whether the material tray 20 is accurately positioned, thereby providing a guarantee for subsequent automatic loading operations. The first sensor 123 includes but is not limited to a photoelectric sensor or a position sensor. That is to say, in the above embodiment, the positioning frame 12 provides a positioning reference for the precise positioning of the material tray 20 by respectively setting positioning blocks 122 at the four positioning corners of the frame body 121; by setting the first sensor 123 and the second sensor 124, it is possible to accurately know whether the material tray 20 has completed positioning.

[0070] Please refer to Figure 4 and Figure 5 In some embodiments, the positioning block 122 includes a first positioning block 1221, a second positioning block 1222, a third positioning block 1223 and a fourth positioning block 1224; the first positioning block 1221 is set at the first positioning angle 1215, the second positioning block 1222 is set at the second positioning angle 1216, the third positioning block 1223 is set at the third positioning angle 1217, and the fourth positioning block 1224 is set at the fourth positioning angle 1218.

[0071] It can be seen that by setting the positioning block 12 to the first positioning block 1221, the second positioning block 1222, the third positioning block 1223 and the fourth positioning block 1224; the positioning block 122 where the current positioning is located can be accurately known, which provides a structural basis for accurate grasping and feeding after smooth and accurate positioning, and also makes it more convenient for the control operation of automatic positioning. It should be noted that during and after positioning, under the action of the long-side adjustment assembly 134 and the short-side adjustment assembly 132, the corners of the tray 20 only contact the positioning block 122 and do not contact the frame body 121 (including the first short side frame 1211, the first long side frame 1212, the second short side frame 1213, the second long side frame 1214, the first positioning corner 1215, the second positioning corner 1216, the third positioning corner 1217, and the fourth positioning corner 1218). In other words, when the positioning block 122 is installed on the frame body 121, it protrudes relative to the first short side frame 1211, the first long side frame 1212, the second short side frame 1213, and the second long side frame 1214.

[0072] In some embodiments, the adjusting cylinder 131 includes: a cylinder base 1311 and a cylinder body 1312, the cylinder base 1311 is arranged at one end of the first short side frame 1211 close to the second long side frame 1214; the cylinder body 1312 is rotatably connected to the cylinder base 1311, and the end of the cylinder body 1312 facing away from the cylinder base 1311 is connected to the short side adjustment assembly 132.

[0073] It can be understood that by setting up the cylinder base 1311, a stable connection between the cylinder body 1312 and the frame body 121 is achieved; by controlling the rotational connection between the cylinder body 1312 and the cylinder base 1311, the cylinder body 1312 and the short side adjustment assembly 132 maintain the same movement posture, thereby ensuring a stable connection between the cylinder body 1312 and the short side adjustment assembly 132.

[0074] Please refer to Figure 7 and Figure 8In some embodiments, the short side adjustment assembly 132 includes: a connecting rod 1321, a short side swing rod 1322 and a short side swing rod hinge 1323; one end of the connecting rod 1321 is connected to the adjustment cylinder 131, and the adjustment cylinder 131 transmits power to the short side swing rod 1322 through the connecting rod 1321; the first short side frame 1211 is provided with a short side hinge slot 121a along the extension direction of the first long side frame 1212, and one end of the short side swing rod 1322 is hinged to the connecting rod 1321, so that the connecting rod 1321 and the short side swing rod 1322 can be moved in a certain direction. The middle portion of the short side swing arm 1322 is connected to the short side hinge slot 121a via the short side swing arm hinge 1323 for rotation at a certain angle. That is, the middle portion of the short side swing arm 1322 is rotatably connected or hinged to the short side hinge slot 121a via the short side swing arm hinge 1323, thereby allowing the middle portion of the short side swing arm 1322 to rotate relative to the first short side frame 1211. The other end of the short side swing arm 1322 is configured as a short side pushing end 1324, which is used to push the material tray 20, thereby achieving positioning of the material tray 20 along the direction of the first long side frame 1212. In other words, the short side adjustment assembly 132 is connected to the adjustment cylinder 131 via the connecting rod 1321, and controls the rotation of the short side swing arm 1322 relative to the first short side frame 1211, thereby adjusting the position of the short side pushing end 1324, thereby pushing the material tray 20 and positioning the short side of the material tray 20.

[0075] Please refer to Figure 5 、 Figure 7 and Figure 8In some embodiments, the linkage assembly 133 includes: a linkage rocker 1331, an adjustment long rod 1332, an adjustment short rod 1333 and a linkage hinge 1334. A linkage hinge slot 121b is provided at the first positioning angle 1215. The middle portion of the linkage rocker 1331 is connected to the linkage hinge slot 121b via the linkage hinge 1334, that is, the middle portion of the linkage rocker 1331 is rotatably connected or hinged to the linkage hinge slot 121b via the linkage hinge 1334, thereby allowing the linkage rocker 1331 to rotate at a certain angle relative to the first positioning angle 1215; one end of the adjustment long rod 1332 is connected to the linkage rocker 1331. 31 is hinged; both ends of the adjusting short rod 1333 are respectively connected to the short side rocker 1322 and the linkage rocker 1331 through the joint bearing 1335; that is, the middle part of the linkage rocker 1331 is hinged to the first positioning angle 1215, and the two ends of the linkage rocker 1331 are respectively connected to the adjusting long rod 1332 and the adjusting short rod 1333, and then can be transmitted to the long side adjusting component 134 in sequence through the connecting rod 1321, the short side rocker 1322, the adjusting short rod 1333, the linkage rocker 1331 and the adjusting long rod 1332, thereby realizing the synchronous transmission of the short side adjusting component 132 and the long side adjusting component 134 by a single adjusting cylinder 131. It should be noted that the adjusting short rod 1333 and the connecting rod 1321 are both located on the short side rocker rod 1322 on the same side of the short side rocker rod hinge 1323, thereby ensuring the same-direction transmission of the adjusting short rod 1333 and the connecting rod 1321; the adjusting short rod 1333 and the adjusting long rod 1332 are located on the linkage rocker rod 1331 that rotates around the linkage hinge 1334, thereby realizing the transmission of power of the adjusting cylinder 131.

[0076] Please refer to Figure 5 、 Figure 7 and Figure 8 In some embodiments, the long side adjustment component 134 includes: a long side rocker arm 1341 and a long side rocker arm hinge 1342; a long side hinge slot 121c is provided at the first long side frame 1212, and the long side rocker arm 1341 is connected to the long side hinge slot 121c through the long side rocker arm hinge 1342. Specifically, the long side rocker arm 1341 is rotatably connected or hinged to the long side hinge slot 121c through the long side rocker arm hinge 1342; the adjusting long rod 1332 and the elastic push piece 15 are respectively located on the long side rocker arm 1341 that rotates around the long side rocker arm hinge 1342, the adjusting long rod 1332 is hinged to the long side rocker arm 1341, and the elastic push piece 15 is fixedly connected to the long side rocker arm 1341, and the elastic push piece 15 is configured as a spring, a torsion spring or a spring.

[0077] The first and second positioning blocks 122 are located at the bottom of the drawer 130, so that the drawer 20 can be positioned in a desired direction relative to the first positioning block 122.

[0078] Please refer to Figure 5 and Figure 6 In some embodiments, the positioning frame 12 further includes: a tray taking and placing groove 127; the tray taking and placing groove 127 is arranged at both ends of the first long side frame 1212 and the second long side frame 1214; by setting the tray taking and placing groove 127, it is convenient for the automated equipment to take and place the tray 20 from the tray accommodating groove 14.

[0079] The tray access slots 127 include a first tray access slot 1271, a second tray access slot 1272, a third tray access slot 1273, and a fourth tray access slot 1274. The first tray access slot 1271 is located at one end of the first long side frame 1212 near the first short side frame 1211; the second tray access slot 1272 is located at one end of the first long side frame 1212 near the second short side frame 1213; the third tray access slot 1273 is located at one end of the second long side frame 1214 near the second short side frame 1213; and the fourth tray access slot 1274 is located at one end of the second long side frame 1214 near the first short side frame 1211. By providing the tray access slots 127, the trays 20 can be conveniently taken in and out of the tray accommodating slot 14.

[0080] Please refer to Figure 5 and Figure 6In some embodiments, the positioning frame 12 further includes: a first positioning pin 128, a second positioning pin 129, and a mounting hole 120; the first positioning pin 128 is disposed at the first positioning corner 1215 or the fourth positioning corner 1218; the second positioning pin 129 is disposed diagonally opposite the first positioning pin 128; and the mounting hole 120 is disposed on the frame body 121. The provision of the first positioning pin 128 and the second positioning pin 129 facilitates installation of the positioning frame 12 on the workbench and improves the stability of the connection between the frame body 121 and the workbench; the provision of the mounting hole 120 further ensures the stability of the connection between the frame body 121 and the workbench.

[0081] Please refer to Figure 1 and Figure 8 When the material tray 20 is positioned by the material tray flexible positioning device 10, the adjusting cylinder 131 is started, and the initial state of the adjusting cylinder 131 is the cylinder push rod extended state, and the cylinder push rod of the adjusting cylinder 131 retracts, synchronously driving the connecting rod 1321, the short side rocker 1322, the adjusting short rod 1333, the linkage rocker 1331, the adjusting long rod 1332, the long side rocker 1341 and the elastic push piece 15 to move simultaneously; specifically, the short side rocker 1322, the linkage rocker 1331 and the long side rocker 1341 all rotate counterclockwise, and the cylinder body 1312 rotates clockwise relative to the cylinder base 1311, and the short side pushing end 1324 and the elastic push piece 15 approach and abut the material tray 20, and the elastic push piece 15 preferentially contacts the material tray 20 and pushes the material tray 20 to move toward the second long frame 1214 until the material tray 20 abuts against the first On the three positioning blocks 1223, the short side rocker arm 1322 contacts the material tray 20 later than the elastic push piece 15. Since the elastic push piece 15 has a certain elasticity, the material tray 20 still has the freedom to move along the second long frame 1214, so that the short side pushing end 1324 pushes the material tray 20 to move toward the second short frame 1213 until it abuts against the third positioning block 1223. During this process, the elastic push piece 15 is still further squeezing the material tray 20. When the material tray 20 reaches the second short frame 1213, that is, reaches the third positioning block 1223 in this embodiment, the adjustment cylinder 131 keeps the cylinder push rod position unchanged, and no new movement occurs; at this time, the signal transmission path between the first sensor 123 and the second sensor 124 is blocked by the material tray 20, so that the equipment knows that the material tray 20 has completed precise positioning, and can automatically start the subsequent loading operation.

[0082] When the loading is completed and the material tray 20 needs to be replaced, the adjusting cylinder is reset to the initial state, and the cylinder push rod of the adjusting cylinder 131 is extended, synchronously driving the connecting rod 1321, the short side rocker 1322, the adjusting short rod 1333, the linkage rocker 1331, the adjusting long rod 1332, the long side rocker 1341 and the elastic push piece 15 to move at the same time; the short side rocker 1322, the linkage rocker 1331 and the long side rocker 1341 all rotate clockwise, and the cylinder body 1312 rotates counterclockwise relative to the cylinder base 1311, and the short side pushing end 1324 and the elastic push piece 15 move away from and out of contact with the material tray 20, and no force is applied to the material tray 20, so the operation of the adjusting cylinder 131 can be stopped, and then the material tray 20 can be replaced through the material tray picking slot 127; then the above positioning action is repeated to position the material tray 20 again.

[0083] Please refer to Figures 1 to 8 When the material tray 20 is positioned by the material tray flexible positioning device 10, the adjusting cylinder 131 is started, and the initial state of the adjusting cylinder 131 is the cylinder push rod retracted state, and the cylinder push rod of the adjusting cylinder 131 extends, synchronously driving the connecting rod 1321, the short side rocker 1322, the adjusting short rod 1333, the linkage rocker 1331, the adjusting long rod 1332, the long side rocker 1341 and the elastic push piece 15 to move simultaneously; specifically, the short side rocker 1322, the linkage rocker 1331 and the long side rocker 1341 all rotate clockwise, and the cylinder body 1312 rotates counterclockwise relative to the cylinder base 1311, and the short side pushing end 1324 and the elastic push piece 15 approach and abut the material tray 20, and the elastic push piece 15 preferentially contacts the material tray 20 and pushes the material tray 20 to move toward the second long frame 1214 until the material tray 20 abuts the third positioning On the block 1223, the short side rocker arm 1322 contacts the material tray 20 later than the elastic push piece 15. Since the elastic push piece 15 has a certain elasticity, the material tray 20 still has the freedom to move along the second long frame 1214, so that the short side pushing end 1324 pushes the material tray 20 to move toward the second short frame 1213 until it abuts against the third positioning block 1223. During this process, the elastic push piece 15 is still further squeezing the material tray 20. When the material tray 20 reaches the second short frame 1213, that is, reaches the positioning block 122 of the third positioning angle 1217 in this embodiment, the adjusting cylinder 131 keeps the cylinder push rod position unchanged and no new movement is made; at this time, the signal transmission path between the first sensor 123 and the second sensor 124 is blocked by the material tray 20, so that the equipment knows that the material tray 20 has completed precise positioning, and can automatically start the subsequent loading operation.

[0084] When the loading is completed and the material tray 20 needs to be replaced, the adjusting cylinder is reset to the initial state, and the cylinder push rod of the adjusting cylinder 131 is retracted, synchronously driving the connecting rod 1321, the short side rocker 1322, the adjusting short rod 1333, the linkage rocker 1331, the adjusting long rod 1332, the long side rocker 1341 and the elastic push piece 15 to move at the same time; the short side rocker 1322, the linkage rocker 1331 and the long side rocker 1341 all rotate counterclockwise, and the cylinder body 1312 rotates clockwise relative to the cylinder base 1311, and the short side pushing end 1324 and the elastic push piece 15 move away from and out of contact with the material tray 20, and no force is applied to the material tray 20, so the operation of the adjusting cylinder 131 can be stopped, and then the material tray 20 can be replaced through the material tray picking slot 127; then the above positioning action is repeated to position the material tray 20 again.

[0085] To sum up, the present application provides a flexible positioning device for a material tray, which is used to perform bidirectional linkage flexible positioning of the material tray, and includes: a positioning frame, which is provided with a bearing step for supporting the material tray; an adjustment mechanism, which is arranged on the outer surface of the positioning frame, and the adjustment mechanism includes an adjustment cylinder, a short side adjustment assembly, a linkage assembly, a long side adjustment assembly and an elastic push piece, all of which are arranged on the positioning frame and connected in sequence, wherein the elastic push piece is used to push the material tray. By arranging a bearing step on the positioning frame, the material tray can be stably supported, so that the material tray can be translated on the extended plane of the bearing platform; the adjustment mechanism realizes the synchronous linkage of the short side adjustment component and the long side adjustment component through the linkage component, and then realizes the synchronous linkage of the short side adjustment component and the long side adjustment component driven by a single adjustment cylinder to position the material tray on both sides; at the same time, by arranging the elastic push piece on the long side adjustment component, the long side frame of the material tray can be elastically contacted and positioned by the long side adjustment component and the elastic push piece. Since the elastic push piece is elastic, the other direction of the material tray still has a certain degree of freedom at this time, so that the short side adjustment component can continue to push the short side frame of the material tray for positioning, and the material tray will not shake due to excessive resistance, and finally the material tray can be positioned smoothly and accurately.

[0086] It should be understood that the application of this application is not limited to the above examples. For ordinary technicians in this field, they can make improvements or changes based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to this application.

Claims

1. A flexible positioning device for a tray, used for performing two-way linkage flexible positioning of a tray, characterized in that: include: A positioning frame, wherein the positioning frame is provided with a bearing step for bearing the material tray; An adjustment mechanism, the adjustment mechanism being arranged on the outer surface of the positioning frame, the adjustment mechanism comprising an adjustment cylinder, a short side adjustment assembly, a linkage assembly, a long side adjustment assembly and an elastic pusher, all of which are arranged on the positioning frame and connected in sequence, wherein the elastic pusher is used to push the material tray; The positioning frame further includes a frame body, the frame body including a first short frame, a first long frame, a second short frame and a second long frame connected end to end in sequence, and the connection between the first short frame and the first long frame is a first positioning angle; The short side adjustment component includes: a connecting rod, one end of which is connected to the regulating cylinder; a short-side swing rod, one end of which is hinged to the connecting rod; The short side rocker hinge is provided with a short side hinge slot along the extension direction of the first long side frame. The middle part of the short side rocker is connected to the short side hinge slot through the short side rocker hinge. The other end of the short side rocker is provided as a short side pushing end for pushing the material tray.

2. The flexible tray positioning device according to claim 1, characterized in that: The positioning frame also includes a positioning block; The connection between the second short frame and the second long frame is a third positioning angle, and the connection between the second long frame and the first short frame is a fourth positioning angle; the supporting step is provided at the bottom edge of the inner side surface of the first short frame, the first long frame, the second short frame and the second long frame; The positioning blocks are arranged at the first positioning angle, the second positioning angle, the third positioning angle and the fourth positioning angle.

3. The flexible positioning device for a tray according to claim 2, characterized in that: The positioning framework also includes: a first sensor, the first sensor being arranged on the first long frame at the second positioning angle; a second sensor, the second sensor being disposed on the second long frame at the third positioning angle; A first sensing hole is provided at a position of the first long frame corresponding to the first sensor, and a second sensing hole is provided at a position of the second long frame corresponding to the second sensor; and a connecting line between the first sensor, the first sensing hole, the second sensing hole, and the second sensor is arranged parallel to an extension direction of the second short frame.

4. The flexible positioning device for a tray according to claim 2, characterized in that: The adjusting cylinder is connected to one end of the first short frame close to the second long frame, the short side adjusting assembly is hinged on the first short frame, the linkage assembly is hinged at the first positioning angle, and the long side adjusting assembly is hinged on the first long frame.

5. The flexible positioning device for a tray according to claim 2, characterized in that: The positioning block includes a first positioning block, a second positioning block, a third positioning block and a fourth positioning block; the first positioning block is set at the first positioning angle, the second positioning block is set at the second positioning angle, the third positioning block is set at the third positioning angle, and the fourth positioning block is set at the fourth positioning angle.

6. The flexible tray positioning device according to claim 2, characterized in that: The regulating cylinder comprises: a cylinder base, the cylinder base being arranged at one end of the first short frame close to the second long frame; The cylinder body is rotatably connected to the cylinder base, and one end of the cylinder body facing away from the cylinder base is connected to the short side adjustment assembly.

7. The flexible tray positioning device according to claim 1, characterized in that: The linkage component includes: Linkage rocker; A linkage hinge, wherein a linkage hinge slot is provided at the first positioning angle, and the middle portion of the linkage rocker is connected to the linkage hinge slot via the linkage hinge; An adjusting rod, one end of which is hinged to the linkage rocker arm; An adjusting short rod, both ends of which are connected to the short side rocker and the linkage rocker through joint bearings; Wherein, the adjusting short rod and the connecting rod are both located on the short side rocker rod on the same side of the short side rocker rod hinge, and the adjusting short rod and the adjusting long rod are both located on the linkage rocker rods on both sides of the linkage hinge.

8. The flexible tray positioning device according to claim 7, characterized in that: The long side adjustment component includes: Long side swing rod; The long side rocker hinge is provided with a long side hinge slot at the first long side frame, the long side rocker is rotatably connected to the long side hinge slot through the long side rocker hinge, the adjustment long rod and the elastic push piece are respectively located on the long side rocker on both sides of the long side rocker hinge, and the elastic push piece is configured as a spring, a torsion spring or a spring.

9. The flexible tray positioning device according to any one of claims 2 to 8, characterized in that: The positioning framework also includes: A tray taking and placing slot, the tray taking and placing slot being provided at both ends of the first long frame and the second long frame; a first positioning pin, the first positioning pin being arranged at the first positioning angle or the fourth positioning angle; a second positioning pin, the second positioning pin being arranged diagonally to the first positioning pin; The mounting hole is provided on the frame body.

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