Feeding system

Abstract

The present invention discloses a material unloading system, comprising: a machine body, on which a material swing position and a material tray placement position are arranged; a first material tray bearing device, which is arranged at the material tray placement position and can be lifted; a second material tray bearing device, which is arranged at the material swing position and can be lifted; a crystal conveying device, on which a crystal conveying track for conveying crystal materials is formed; a crystal taking and placing device, which is arranged on the machine body; a crystal conveying mechanism, which is connected to the crystal taking and placing device; a material tray conveying device, which is assembled on the machine body and is used to convey an empty material tray at the material tray placement position to the material swing position; a detection element, which is arranged at the crystal conveying device and is used to detect the number of times the crystal taking and placing device takes materials; a control module, which communicates with the first material tray bearing device, the second material tray supporting device, the crystal taking and feeding device, the crystal conveying mechanism and the detection element. The present invention proposes a novel material unloading system, which prolongs the time for replacing the material tray and improves the overall production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of crystal material transportation, and in particular relates to an improvement of a material unloading system structure. Background Art

[0002] The existing transistor material unloading structure mainly includes a crystal material transport device for transporting the crystal material.

[0003] A tray for placing crystal materials is set at the position area of ​​the unloading system. The crystal transportation device transports the crystal material from the crystal conveying track to the tray. The existing trays are generally arranged in one layer. After the crystal material is fully loaded, the staff will move the fully loaded tray to the designated area, and then move the empty tray to the tray placement position of the unloading system.

[0004] When unloading this type of crystal material, the tray needs to be replaced after it is fully loaded. The entire unloading system has a fast unloading speed, which will cause the staff to frequently replace and transport the tray. The tray replacement time is short, which not only wastes a lot of manpower and material resources, but also greatly affects the production efficiency of the whole day.

[0005] The above information disclosed in the background technology is only used to increase the understanding of the background technology of the present application, and therefore, it may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] In view of the above technical problems existing in the material unloading system in the prior art, the present invention proposes a novel material unloading system, which prolongs the material tray replacement time and improves the overall production efficiency.

[0007] In order to achieve the above invention / design purpose, the present invention adopts the following technical solutions:

[0008] A material unloading system, comprising:

[0009] A machine body, on which a material swing position and a material tray placement position for placing a material tray are arranged side by side;

[0010] A first tray bearing device is arranged at the tray placement position and is used to support the tray at the tray placement position, and is liftable;

[0011] A second material tray bearing device is arranged at the material swing position and is used to support the material tray at the material swing position and is liftable;

[0012] A crystal conveying device, on which a crystal conveying track for conveying crystal materials is formed;

[0013] The crystal material handling device comprises:

[0014] A crystal loading and unloading device is arranged on the machine body and is used to suck the crystal material from the crystal conveying track;

[0015] A crystal transport mechanism is connected to the crystal loading and unloading device, and can drive the crystal loading and unloading device to move to the crystal conveying track to absorb crystal materials and fill the material tray at the material placement position with the absorbed crystal materials;

[0016] A tray transport device is mounted on the machine body and is used to transport an empty tray at the tray placement position to the swing position;

[0017] A detection element is arranged at the crystal conveying device to detect the number of times the crystal taking and placing device takes materials;

[0018] A control module communicates with the first tray bearing device, the second tray supporting device, the crystal taking and feeding device, the crystal transport mechanism and the detection element;

[0019] Used to receive the detection element signal, and obtain the amount of crystal material in the material tray at the swing position according to the detection element signal;

[0020] When the material tray is fully filled with crystal materials, the first material tray supporting device is controlled to move so as to drive the material tray at the material placement position to move downward by a material tray height;

[0021] Control the movement of the tray transport device to transport the empty tray at the tray placement position to above the fully loaded tray at the swing position, and control the second tray carrying device to drive the tray at the tray placement position to move upward a tray height distance.

[0022] Compared with the prior art, the advantages and positive effects of the present invention are:

[0023] The present invention provides a crystal handling device, a tray handling device, a first tray supporting positioning device, and a second tray supporting positioning device to cooperate with each other, so that multiple layers of tray crystal materials can be placed at one time, which greatly improves production efficiency compared with a method of carrying out handling when one layer is full.

[0024] When a tray is full, it can be lowered and replaced with an empty tray. The trays are placed from top to bottom in order. When the tray reaches the upper height of the tray, it can be taken out. This shortens the time for transporting trays and allows the removal of multiple layers of stacked trays at one time, improving production efficiency.

[0025] After the upper tray is full, the first tray supporting device descends by one tray height, and the second tray supporting device rises by one tray height, so that the tray grabbing device and the tray transporting device only need to descend to the set depth each time to suck materials and grab the tray, which makes the material and tray grabbing operations simpler, more convenient and accurate, and improves the material retrieval efficiency.

[0026] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a three-dimensional structural diagram of an embodiment of the material unloading system proposed by the present invention;

[0029] Figure 2 It is a structural diagram of the cooperation between the crystal transport mechanism and the crystal loading and unloading device of the unloading system proposed by the present invention;

[0030] Figure 3 The structure diagram of the crystal loading and unloading device of the unloading system proposed by the present invention is shown in FIG. Figure 1 ;

[0031] Figure 4 The structure diagram of the crystal loading and unloading device of the unloading system proposed by the present invention is shown in FIG. Figure 2 ;

[0032] Figure 5 It is a structural schematic diagram of a spacing adjustment mechanism of a crystal taking and placing device of a material unloading system proposed by the present invention;

[0033] Figure 6 It is a structural exploded diagram of the crystal loading and unloading device of the unloading system proposed by the present invention;

[0034] Figure 7 It is a structural schematic diagram of the cooperation between the pulley transmission device and the power component of the crystal transport mechanism of the unloading system proposed by the present invention;

[0035] Figure 8 It is a structural diagram of the connection and matching of the nut component and the moving component of the crystal transport mechanism of the unloading system proposed by the present invention;

[0036] Fig. 9 It is a structural schematic diagram of the tray handling device of the unloading system proposed by the present invention;

[0037] Fig.10 It is a top view of the tray handling device of the unloading system proposed by the present invention;

[0038] Fig.11 It is a left side view of the tray handling device of the unloading system proposed by the present invention;

[0039] Fig.12 It is a structural schematic diagram of a tray transport body of a material unloading system proposed in the present invention;

[0040] Fig.13 It is a structural exploded view of the tray transport body of the unloading system proposed by the present invention;

[0041] Fig.14 The schematic diagram of the structure of the limit structure of the unloading system and the first tray supporting device proposed by the present invention cooperates Figure 1 ;

[0042] Fig.15 The schematic diagram of the structure of the limit structure of the unloading system and the first tray supporting device proposed by the present invention cooperates Figure 2 ;

[0043] Fig.16 The schematic diagram of the structure of the limiting structure of the feeding system proposed in the present invention for limiting the feeding tray Figure 1 ;

[0044] Fig.17 The schematic diagram of the structure of the limiting structure of the feeding system proposed in the present invention for limiting the feeding tray Figure 2 ;

[0045] Fig.18 It is a structural schematic diagram of the limiting structure of the material feeding system proposed by the present invention.

[0046] In the figure, 100, machine body; 110, material swing position; 120, material tray placement position; 130, material tray; 140, material discharge chute; 150, partition component; 161, panel component; 162, enclosure component; 163, bottom plate component;

[0047] 200, crystal conveying device; 310, first tray bearing device; 311, tray supporting base; 312, lifting mechanism; 3121, lifting base; 3122, lifting power part; 3123, lifting transmission device; 3124, guide device;

[0048] 400, crystal transport mechanism; 410, crystal transport frame; 420, three-axis motion mechanism; 421, X-axis motion mechanism; 422, Z-axis motion mechanism; 423, Y-axis motion mechanism; 4231, Y-axis base; 4232, power component; 4233, pulley transmission device; 4234, nut component; 4235, moving component;

[0049] 500, crystal pick-up and discharge device; 510, pick-up component; 511, pick-up part; 512, nozzle fixing seat; 513, nozzle connecting piece; 514, nozzle control valve; 516, pressure detection component; 520, pick-up base; 521, first end; 522, second end; 530, pick-up assembly seat; 531, first seat body component; 532, second seat body component; 5321, insertion limiter; 534, support seat;

[0050] 540, spacing adjustment mechanism; 541, telescopic frame; 5411, first telescopic rod; 5412, second telescopic rod; 542, spacing adjustment driving device; 5421, driving device body; 5422, telescopic rod body; 5423, connecting part; 543, connecting component; 544, buffer device; 550, sliding component; 551, clamping limit groove;

[0051] 600, tray transport device; 610, transport base; 620, connecting base; 630, transport mechanism; 640, supporting base; 641, bearing part; 642, mounting position; 643, sliding part; 644, raised part; 650, height driving device; 651, height adjustment cylinder; 652, height adjustment rod; 660, sliding assembly;

[0052] 700, tray carrier; 710, transport member; 711, transport support; 712, transport connector; 720, tray adsorption member; 721, tray adsorption rod; 714, adjustment slot; 715, locking hole; 716, locking member; 717, mounting hole; 718, locking limit bolt; 730, tray vacuum adsorption device; 740, tray suction nozzle pressure detection member; 750, buffer;

[0053] 810, first end limiting structure; 811, first end limiting component; 812, guide part; 820, side limiting structure; 821, side limiting component; 830, second end limiting component; 831, first limiting base; 832, second limiting base; 8321, limiting connecting part; 8322, resisting limiting part; 840, laser detection component; 851, first magnetic part; 910, clamping limiting component; 911, clamping limiting base; 912, folding part; 920, tray clamping member; 921, clamping body; 922, clamping rod; 923, elastic buffer. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The present invention provides an embodiment of a material unloading system, comprising:

[0056] A machine body 100, on which a material swing position 110 and a material tray placement position 120 for placing a material tray 130 are arranged side by side;

[0057] The machine body 100 mainly includes:

[0058] A panel component 161 is located at the top, a surrounding panel component 126 is arranged around the panel, and a bottom panel component 163 is arranged at the bottom.

[0059] An accommodation space for accommodating relevant equipment is formed inside the body 100 .

[0060] In order to achieve overall support for the machine body 100 , supporting feet are correspondingly provided below the bottom plate component 163 .

[0061] The material swing position 110 and the material tray placement position 120 are arranged in parallel on the panel component 161 .

[0062] A first tray bearing device 310 is arranged at the tray placement position 120 and is used to support the tray 130 at the tray placement position 120 and is liftable;

[0063] In some embodiments of the present application, the first tray carrying device 310 includes:

[0064] The material tray supporting base 311 is arranged at the material swing position 110 and is located above the panel component 161 to support the material tray 130 at the material swing position 110 and is liftable;

[0065] The lifting mechanism 312 is arranged inside the machine body 100 and connected to the tray supporting base 311, and is used to drive the tray supporting base 311 to move up and down for lifting.

[0066] The material tray supporting base 311 is a material tray supporting substrate, which is used to support and place the material tray 130 .

[0067] The lifting mechanism 312 includes:

[0068] Lifting base 3121;

[0069] A lifting power member 3122 is assembled on the lifting base 3121;

[0070] The lifting transmission device 3123 is connected to the lifting power member 3122 and can convert the rotation of the lifting power member 3122 into linear movement. It includes a lifting output component, and the lifting output component is fixedly connected to the tray supporting base 311.

[0071] The lifting power component 3122 is a lifting motor or a lifting motor.

[0072] When the lifting power member 3122 rotates, it can drive the lifting output member to move linearly, so as to drive the material tray supporting base 311 to move up and down through the lifting output member, and then drive the upper material tray 130 to move up and down.

[0073] The lifting transmission device 3123 is a screw nut transmission device or a gear rack transmission device.

[0074] When the lifting transmission device 3123 is a screw nut transmission device, the lifting power member 3122 is connected to the screw to drive the lifting nut to move linearly.

[0075] In order to guide its movement, a guide assembly 3124 is provided on the tray supporting base 311 and the lifting base 3121 .

[0076] The guide assembly 3124 includes a guide sleeve arranged on the tray supporting base 311 and a guide column arranged on the lifting base 3121, and the guide column is inserted into the guide sleeve.

[0077] The second material tray supporting device is arranged at the material swing position 110 and is used to support the material tray 130 at the material swing position 110 and is liftable;

[0078] The structure of the second tray support device is the same as that of the first tray support device 310 , and is mainly used to support the tray 130 at the swing position 110 , and to drive the tray 130 at the swing position 110 to rise and fall.

[0079] The crystal handling device comprises:

[0080] The crystal loading and unloading device 500 is arranged on the machine body 100 and is used to suck the crystal material conveyed by the crystal conveying device 200;

[0081] The crystal conveying device 200 has a crystal conveying track formed on the top thereof for conveying crystal materials;

[0082] In some embodiments of the present application, the crystal conveying device 200 is a straight vibration feeder, and a crystal conveying track is formed on the top of the feeder, and the crystal material is automatically conveyed forward under the action of the vibration.

[0083] The crystal loading and unloading device 500 is mainly used to load crystals from the crystal conveying track.

[0084] The crystal transport mechanism 400 is connected to the crystal loading and unloading device 500, and can drive the crystal loading and unloading device 500 to move to the crystal conveying track to absorb crystal materials and fill the material tray 130 at the material placement position 110 with the absorbed crystal materials;

[0085] The crystal transport mechanism 400 is mainly used to drive the crystal loading and unloading device 500 to move and change its position so that it can adaptably move to the crystal conveying track to pick up materials, and drive the crystal loading and unloading device 500 to move and change its position after picking up materials, so that the crystal materials are completely placed on the entire material tray 130, thereby realizing the loading of the material tray 130.

[0086] The tray transport device 600 is mounted on the machine body 100 and is used to transport the empty tray 130 at the tray placement position 120 to the material swing position;

[0087] The tray transport device 600 is mainly used for transporting trays. It is arranged at the tray placement position 120 and is used for transporting the tray 130 at the tray placement position 120 to the material swing position 110 .

[0088] During arrangement, the tray placement position 120 is mainly used to place empty trays 130, and the trays 130 at the swing position 110 are used for the crystal taking and placing device 500 to swing materials. The trays 130 at the swing position 110 are trays 130 with crystal materials.

[0089] After the material tray 130 at the material swing position 110 is filled with crystal materials, the material tray transporting device 600 will transport the empty material tray 130 from the material tray placement position 120 to the material swing position 110 and place the empty material tray 130 above the full material tray 130 .

[0090] The detection element is used to detect the number of times the crystal feeding device takes materials. In some embodiments of the present application, the detection element is a contact detection sensor.

[0091] Each time the crystal loading and unloading device 500 loads a material, it will not contact the detection element on one side of the crystal conveying track. The detection element is contacted and transmits a signal to the control module.

[0092] The control module communicates with the first tray supporting device 310 , the second tray supporting device, the crystal loading and unloading device 500 and the tray transporting device 600 .

[0093] The number of materials taken by the crystal loading and unloading device 500 each time can be obtained, and the number can be pre-stored in the control module so that the crystal loading and unloading device 500 can load and unload materials according to the set number. The detection element detects the number of times the crystal loading and unloading device 500 loads materials.

[0094] The control module obtains the amount of crystal materials in the material tray 130 placed at the material swing position 110 according to the number of times of taking materials and the amount of materials taken each time.

[0095] The number of crystal materials that can be placed in the material tray 130 is also preset.

[0096] When the amount of crystal materials obtained is equal to the preset amount of the material tray 130, it means that the material tray 130 is in a full material state.

[0097] At this time, the control module can control the first tray carrying device 310 to move so as to drive the tray 130 at the swing position 110 to move downward by a height of the tray 130;

[0098] Control the tray transport device 600 to move, transport the empty tray 130 at the tray placement position 120 to above the fully loaded tray 130 at the swing position 110, and control the second tray supporting device to drive the tray 130 at the tray placement position 120 to move upward a distance of the height of the tray 130.

[0099] The unloading system in this embodiment drives the crystal loading and unloading device 500 to operate through the crystal transport mechanism 400, so that it can directly suck the crystal material on the crystal conveying track and fill the material tray 130 with the crystal material;

[0100] After the material tray 130 is fully loaded with crystal material, the empty material tray 130 at the material tray placement position 120 can be transported to above the fully loaded material tray 130 at the swing material position 110 by the material tray transporting device 600, and the material tray 130 at the material tray placement position 120 can be driven to rise by one material tray 130 height by the first material tray supporting device 310, and the material tray 130 at the swing material position 110 can be lowered by one material tray 130 height, and the material swinging of the empty material tray 130 can be continued. After the empty material tray 130 at the swing material position 110 is fully loaded with crystal material, the material tray 130 at the swing material position 110 can continue to be lowered by one material tray 130 height, and the material tray transporting device 600 continues to transport the empty material tray 130 to the swing material position 110, and the material tray 130 at the swing material position 110 can be raised by one material tray 130 height.

[0101] Through the cooperation of the crystal loading and unloading device 500 and the tray conveying device 600 as well as the first tray supporting device 310 and the second tray supporting device, multi-layer placement of the trays 130 at the material placement position 110 can be achieved at one time.

[0102] After a material tray 130 at the material placement position 110 is full, it can be lowered and transported from the material tray placement position 120 to the placement position to re-place the empty material tray 130. At the material placement position 110, the trays can be placed from top to bottom in sequence. When the material tray 130 at the material placement position 110 reaches the upper limit of the placement height, it can be taken out. Compared with the method of transporting when one layer is full, the time for transporting the material tray 130 is extended, and the material trays 130 stacked in multiple layers can be taken out at once after they are all full, which also improves production efficiency.

[0103] After the upper tray 130 is full, the first tray supporting device 310 descends by the height of the tray 130, and the second tray supporting device rises by the height of the tray 130, so that the tray 130 at the tray placement position 120 and the tray 130 at the swing position 110 are always at a fixed height position on the top layer. In this way, the crystal loading and unloading device 500 and the tray conveying device 600 only need to descend to a fixed preset depth value to absorb the material and grab the tray 130 each time they take material or take the tray 130, thereby realizing accurate material picking, making the material and tray 130 grabbing operations simpler, more convenient and more accurate, and improving the material picking efficiency.

[0104] In some embodiments of the present application,

[0105] The crystal transport mechanism 400 includes: a crystal transport frame 410;

[0106] A three-way motion mechanism, mounted on the crystal transport frame 410;

[0107] The crystal loading and unloading device 500 is connected to the three-way motion mechanism and can perform XYZ three-way motion under the drive of the three-way motion mechanism.

[0108] The crystal transport frame 410 is a gantry frame or a door-type frame, which is mainly used to assemble the crystal transport mechanism 400 .

[0109] In some embodiments of the present application, the three-way motion mechanism includes:

[0110] An X-axis motion mechanism 421 disposed on the crystal transport frame 410;

[0111] The X-direction motion mechanism 421 includes an X-direction motor, an X-direction lead screw nut component 4234 , an X-direction slide rail, and an X-direction slide block.

[0112] The X-direction motor drives the X-direction lead screw to rotate, so as to drive the X-direction nut to move linearly. The X-direction nut is connected to the X-direction slide rail, and the X-direction slide rail is fixed on the crystal transport frame 410 .

[0113] The X-direction motor can drive the X-direction nut and the X-direction slide block to move linearly in the X-direction relative to the X-direction slide rail.

[0114] The Z-direction motion mechanism 422 is connected to the X-direction motion mechanism 421 and can move in the X direction under the drive of the X-direction motion mechanism 421;

[0115] The Z-direction motion mechanism 422 is connected to the X-direction slider, and its structure includes:

[0116] The Z-direction motion mechanism 422 includes a Z-direction base, a Z-direction motor, a Z-direction lead screw nut component 4234 , a Z-direction guide rail, and a Z-direction slide block.

[0117] The Z-direction motor drives the Z-direction lead screw to rotate, so as to drive the Z-direction nut to move linearly. The Z-direction nut is connected to the Z-direction slider, and the Z-direction slider is fixed on the Z-direction base.

[0118] The Y-direction motion mechanism 423 is connected to the Z-direction slider and can move in the Z-direction driven by the Z-direction slider;

[0119] The crystal loading and unloading device 500 is connected to the Y-direction motion mechanism 423 and can move in the Y-direction driven by the Y-direction motion mechanism 423 .

[0120] In some embodiments of the present application, the Y-axis motion mechanism 423 includes:

[0121] Y-direction base 4231;

[0122] The Y-direction power component 4232 is assembled on the Y-direction base 4231;

[0123] The pulley transmission device 4233 is in transmission connection with the Y-direction power component 4232 and has an output screw connected to the output pulley;

[0124] A nut component 4234 is threadedly connected to the output lead screw;

[0125] The moving component 4235 is fixed to the nut component 4234 , slidably connected to the Y-direction base 4231 , and connected to the crystal loading and unloading device 500 .

[0126] The Y-direction power component is a Y-direction motor, and the output shaft of the Y-direction motor is connected to the pulley transmission device 4233.

[0127] The pulley transmission device 4233 includes an input pulley and an output pulley.

[0128] The input pulley and the output pulley are connected through a conveyor belt, and the input pulley is connected to the output shaft of the Y-axis motor;

[0129] The output pulley is connected to the output lead screw, and the output lead screw and the nut component 4234 are threadedly matched.

[0130] The moving component 4235 is a moving seat body, which is fixedly connected to the nut component 4234 .

[0131] A Y-direction sliding structure is provided between the moving component 4235 and the Y-direction base 4231 , and the Y-direction sliding structure includes a Y-direction slider fixedly connected to the moving component 4235 , and a Y-direction slide rail fixedly connected to the Y-direction base 4231 and extended along the Y direction.

[0132] The X-direction motion mechanism 421 can drive the Z-direction motion mechanism 422, the Y-direction motion mechanism 423 and the crystal taking and feeding device to move in the X direction, the Z-direction motion mechanism 422 can drive the Y-direction motion mechanism 423 and the crystal taking and feeding device to move in the Z direction, and the Y-direction motion mechanism 423 can drive the crystal taking and feeding device to move in the Y direction, so as to realize the three-direction motion of the crystal taking and feeding device.

[0133] In some embodiments of the present application, the crystal loading and unloading device 500 includes a plurality of loading components 510, and the plurality of loading components 510 are arranged side by side along the Y direction. Each loading component 510 includes a plurality of loading parts 511 arranged in parallel along the X direction; the loading parts 511 of the plurality of loading components 510 form a plurality of rows and are arranged along the Y direction.

[0134] By arranging a plurality of material taking components 510 and arranging a plurality of material taking portions 511 on each material taking component 510 , it is possible to simultaneously take a plurality of crystal materials at one time, thereby improving the material taking efficiency.

[0135] A plurality of rows of slots 140 arranged along the X direction are formed inside the material tray 130 , and each row of slots 140 is extended along the Y direction;

[0136] Specifically, the material tray 130 includes a material tray body and a partition component 150 arranged in the material tray body to divide the material tray 130 into a plurality of rows of material troughs 140 .

[0137] When taking materials, the crystal transport mechanism 400 drives the taking material component 510 to move along the X direction so that at least one taking material portion 511 on the taking material component 510 passes through the crystal conveying track and takes materials;

[0138] That is, when taking materials, the taking parts 511 on the same row can be used to take materials first, and the taking parts 511 on the same row can take multiple crystal materials at a time, and then the taking component 510 can be controlled to move the distance between the two taking parts 511 along the X direction to allow the taking parts 511 in another row to take materials.

[0139] When taking materials, materials can also be taken according to actual needs. If there are multiple rows of remaining slots in the material tray 130, the material taking component 510 can complete multiple rows of material taking at one time;

[0140] If the material tray 130 has a single row of material slots, then the material taking component 510 can be controlled to take material from only one row.

[0141] When unloading, the crystal transport mechanism 400 drives the material taking component 510 to move along the X direction and switch between the multiple material discharge slots 140;

[0142] The material taking component 510 is driven to move along the Y direction so as to sequentially place the crystal material of the material taking component 510 into the material slot along the length of the material slot.

[0143] After the material is taken out, the material taking component 510 is controlled to move through the crystal transport mechanism 400. If the number of rows of material slots to be placed needs to be selected, the driving component is controlled to move along the X direction to move the material taking part 511 to the position of the corresponding row number;

[0144] If it is necessary to place the crystal material along the length of the material trough, the material taking component 510 is driven to move in the Y direction to place the crystal material in the material trough in sequence, so that the material trough is finally filled with the crystal material.

[0145] The crystal handling mechanism 400 drives the crystal taking and placing device 500 to move in three directions of X, Y and Z, so that the crystal taking and placing device 500 can take multiple groups of crystal materials at one time, increase the number of materials taken, and improve the efficiency of taking materials;

[0146] After the material is taken, the crystal material taking and placing device 500 is driven by the crystal transport mechanism 400 to switch and move between the X and Y directions, so that multiple groups of crystal materials obtained can be placed in the material tray at the same time, realizing rapid material placement, improving the material placement rate, and thus improving the overall crystal material taking and placing efficiency.

[0147] Automatic material taking and automatic material swinging of the material tray 130 are realized, thereby improving the automation level.

[0148] In some embodiments of the present application, the crystal loading and unloading device 500 includes:

[0149] Material taking base 520;

[0150] A plurality of material taking assembly seats 530 are provided and arranged side by side on the material taking base 520;

[0151] A plurality of material taking components 510 are provided and are respectively assembled on the material taking assembly seat 530;

[0152] The spacing adjustment mechanism 540 is connected to the plurality of material taking assembly seats 530 and is used to adjust the spacing between adjacent material taking assembly seats 530 .

[0153] The material taking base 520 is a material taking base plate, which is used to assemble the material taking assembly seat 530 and the material taking component 510 , and can support the entire crystal taking and placing device 500 .

[0154] When connected, the material taking base 520 and the moving component 4235 are connected, and can move in the Y direction driven by the moving component 4235.

[0155] The material picking assembly seat 530 is connected to the material picking base 520 , and a plurality of material picking components 510 are assembled on the material picking assembly seat 530 in a one-to-one correspondence.

[0156] By connecting the spacing adjustment mechanism 540 to the material picking assembly seat 530 , the spacing between the material picking assembly seats 530 is adjusted, thereby adjusting the spacing between the material picking components 510 assembled on the material picking assembly seat 530 .

[0157] By adjusting the spacing between the material taking components 510 , it can adapt to the material taking requirements of crystal materials of different lengths corresponding to different models.

[0158] In some embodiments of the present application, the material taking base 520 includes:

[0159] A first end 521 disposed close to the crystal transport frame 410;

[0160] a second end 522 disposed opposite to the first end 521;

[0161] The material picking assembly seat 530 near the first end 521 is fixedly connected to the material picking base 520. To achieve the connection and fixation between the material picking assembly seat 530 and the material picking base 520, the material picking assembly seat 530 is fastened to the material picking base 520 by screws.

[0162] The remaining material taking assembly seats 530 are slidably connected to the material taking base 520;

[0163] The spacing adjustment mechanism 540 includes:

[0164] A telescopic frame 541 is connected to the plurality of material taking assembly seats 530 and is telescopic;

[0165] The spacing adjustment driving device 542 is connected to the material picking assembly seat 530 near the second end 522 to drive the material picking assembly seat 530 to slide, drive the telescopic frame 541 to extend and retract so that the remaining material picking assembly seats 530 connected to the telescopic frame 541 move to change the spacing between adjacent material picking components 510.

[0166] In some embodiments of the present application, the spacing adjustment driving device 542 includes:

[0167] A driving device body 5421 is assembled on the material taking base 520. The driving device body 5421 includes a telescopic rod body 5422. A connecting portion 5423 is provided at the end of the telescopic rod body 5422.

[0168] The connecting component 543 has one end that is engaged with the connecting portion 5423 and one end that is fixedly connected to the material taking assembly seat 530 close to the second end 522 .

[0169] In some embodiments of the present application, the driving device body 5421 is a spacing driving cylinder, which is fixed on the material taking base 520 through a cylinder assembly.

[0170] The spacing driving cylinder includes a telescopic rod, a threaded end is arranged at the end of the telescopic rod, a cylinder rod connecting piece is arranged on the threaded section, and the cylinder rod connecting piece includes a main body and a threaded matching part arranged at one end of the main body, and a raised part 644 arranged at the other end of the main body along the circumference of the main body.

[0171] The cylinder rod connecting piece is screwed onto the threaded section through the threaded matching portion to be connected with the telescopic rod.

[0172] The connecting component 543 is a connecting plate, which is arranged vertically. A bayonet penetrating one side of the connecting component 543 is provided on the connecting component 543 . The cylinder rod connecting piece is clamped in the bayonet through the main body, and the end is limited by the protrusion 644 .

[0173] The other end of the connecting component 543 is fixed to the material taking assembly seat 530 near the second end 522 by screw locking.

[0174] When the driving device body 5421 moves, it can drive the telescopic rod and the cylinder rod connecting piece to move, thereby driving the connecting component 543 and the material taking assembly seat 530 connected to the connecting component 543 to move.

[0175] Since the material picking assembly seat 530 at the first end 521 is fixed, the material picking assembly seat 530 located at the second end 522 is connected to the spacing adjustment driving device 542, and each material picking assembly seat 530 is connected by a retractable telescopic frame 541. In this way, when the spacing adjustment driving device 542 is activated, the material picking assembly seat 530 located at the second end 522 is driven to move, and the material picking assembly seat 530 is connected to the telescopic frame 541 to stretch or compress the telescopic frame 541. After the telescopic frame 541 is stretched or compressed, it drives the remaining material picking assembly seats 530 except the material picking assembly seat 530 at the first end 521 to move, so as to change the spacing between adjacent material picking assembly seats 530.

[0176] In some embodiments of the present application, the telescopic frame 541 includes a plurality of first telescopic rods 5411 arranged in parallel and a plurality of second telescopic rods 5412 arranged in parallel. The intersection of the first telescopic rods 5411 and the second telescopic rods 5412 is hinged to each other.

[0177] The first telescopic rod 5411 and the second telescopic rod 5412 are connected to the material taking assembly seat 530 at the middle hinge position.

[0178] For the convenience of description, this embodiment is described by taking three first telescopic rods 5411 and three second telescopic rods 5412 as an example. The three first telescopic rods 5411 are arranged parallel to each other, and the three second telescopic rods 5412 are also arranged parallel to each other and are hinged to the three first telescopic rods 5411 at the intersection.

[0179] The intersection points formed by the two sets of telescopic rods include an intersection point located in the middle and an intersection point located at the ends.

[0180] The end intersection is in a free state, and a plug is provided at the middle intersection. The plug passes through the through hole at the intersection of the two telescopic rods and is locked and fixed on the material removal assembly seat 530 through the threaded section at the end.

[0181] In some embodiments of the present application, a buffer device 544 is further included, which is assembled on the material taking base 520 and is located on the moving path of the connecting component 543.

[0182] The buffer device 544 is a buffer, which is fixed on the material picking base 520 through a mounting seat and is arranged opposite to the connecting component 543. The connecting component 543 can move quickly under the drive of the spacing driving cylinder. Through the setting of the buffer device 544, a certain buffering effect can be played on the connecting component 543 to prevent the connecting component 543 from driving the material picking assembly seat 530 to move too fast and damage the telescopic frame 541 structure.

[0183] In some embodiments of the present application, the material taking assembly seat 530 includes:

[0184] The first seat body part 531 is arranged vertically;

[0185] and a second seat body component 532 on which an insertion limiting portion 5321 is provided;

[0186] The first seat body component 531 is inserted into the insertion limiting portion 5321 and is locked and fixed with the second seat body component 532 through a locking member;

[0187] The supporting seat 534 is arranged above the second seat component 532 .

[0188] The insertion limit portion 5321 is an insertion limit slot formed on the second seat body component 532, and the insertion limit slot is arranged through both sides of the second seat body component 532. During assembly, the first seat body component 531 is slidably inserted into the insertion limit slot from one side and the locking piece passes through the side wall of the insertion limit slot and the first seat body component 531 in sequence to lock and fix the two.

[0189] In some embodiments of the present application, in order to achieve the sliding connection of the material picking assembly seat 530 relative to the material picking base 520, a sliding component 550 is provided, which is slidably arranged on the material picking base 520.

[0190] A sliding track is correspondingly arranged on the material taking base 520 , and the sliding component 550 is slidably arranged on the sliding track.

[0191] The sliding component 550 is provided with a clamping limit groove, and the material taking assembly seat 530 is clamped in the clamping limit groove and is locked and fixed by a locking member and the sliding component 550 .

[0192] In some embodiments of the present application, the material taking component 510 includes:

[0193] A nozzle fixing seat 512, fixedly connected below the second seat body part 532;

[0194] The suction seat fixing seat can adopt a suction seat fixing flange structure.

[0195] The nozzle connecting member 513 is fixedly connected to the nozzle fixing seat 512;

[0196] The nozzle connecting member 513 is a nozzle connecting block, which is fixedly assembled on the nozzle fixing seat 512 .

[0197] In some embodiments of the present application, the nozzle connecting block is a square connecting block.

[0198] The material taking part 511 is a material taking suction nozzle, which is provided with a plurality of nozzles and is assembled on the suction nozzle connector 513 and connected to the vacuum adsorption device through a vacuum pipeline;

[0199] The material taking suction nozzle can directly adopt the suction nozzle structure of the existing technology. An internal thread is set at the bottom of the suction nozzle connecting piece 513, and the material taking suction seat can be screwed inside the suction seat connecting piece.

[0200] A plurality of material taking suction nozzles may be provided, and they are arranged extending along the length direction of the suction nozzle connector 513 .

[0201] The material taking suction nozzle mainly absorbs the crystal material through vacuum adsorption force, and is correspondingly connected with a vacuum pipeline, and the vacuum pipeline is correspondingly connected with a vacuum adsorption device.

[0202] The vacuum adsorption device transmits the vacuum adsorption force to the material taking suction nozzle through the vacuum pipeline, so that the material taking suction nozzle can adsorb the material.

[0203] A nozzle control valve 514 is arranged on the vacuum pipeline to control the on-off of the vacuum pipeline;

[0204] The nozzle control valve 514 is a solenoid valve, and the on-off of the vacuum pipeline can be controlled accordingly by controlling the solenoid valve.

[0205] The pressure detection component 516 is mounted on the support base 534 and connected to the vacuum pipeline to detect the pressure of the material suction nozzle;

[0206] The pressure detection component 516 is a pressure detection gauge, which is used to detect the adsorption pressure value of the material taking suction nozzle in real time.

[0207] A pipeline insertion channel for the vacuum pipeline to pass through is formed between the second seat body part 532, the nozzle fixing seat 512 and the nozzle connecting piece 513. The vacuum pipeline connected to the vacuum suction device is inserted into the nozzle connecting piece 513 through the pipeline insertion channel on the second seat body part 532, the nozzle fixing seat 512 and the nozzle connecting piece 513. The vacuum pipeline also includes a plurality of branch pipelines, which are respectively connected to the plurality of material taking nozzles to provide vacuum suction force for the plurality of material taking nozzles.

[0208] The crystal handling device of this embodiment is provided with a crystal material handling mechanism 630 which can drive the crystal taking and placing device 500 to move in three directions of XYZ. When there are many remaining slots on the material tray 130, when taking materials, the crystal taking and placing device 500 can be driven to make corresponding position adjustments, so that each row of the taking parts 511 can be moved to the taking position to take materials, thereby realizing a large amount of material taking at one time.

[0209] When unloading, the crystal material handling mechanism 630 can drive the crystal loading and unloading device 500 to move along the X direction, and the crystal materials carried by the multiple rows of the unloading parts 511 can be placed into different rows of the material tray 130 at the same time;

[0210] The crystal material handling mechanism 630 drives the crystal picking and placing device 500 to move along the Y direction, and the crystal materials carried by the multiple columns of the picking parts 511 are placed simultaneously along the direction of the material slots of the material tray 130; the crystal material handling mechanism 630 drives the crystal picking and placing device 500 to move into position along the Z direction to realize the simultaneous placing operation of the crystal materials carried by the multiple columns of the picking parts 511, so that the crystal materials can quickly fill the entire material tray 130, greatly improving the material placing efficiency.

[0211] When the number of remaining slots on the material tray 130 is odd, only one row of material taking parts 511 can be controlled to take materials, and the other material taking parts 511 do not take materials. When discharging materials, the crystal discharging device 500 is driven to move along the X direction to the corresponding row of slots, and then moves along the Y direction and the Z direction to discharge the materials.

[0212] The crystal material handling device can adapt to the material discharge requirements of different numbers of material slots in the material tray 130, that is, it can adapt to both single-row material slots and multi-row material slots, and the material loading and unloading method is more flexible and changeable.

[0213] After the crystal material transport device fills the material tray 130 at the material swing position 110 , the empty material tray 130 needs to be transported to the material swing position 110 by the material tray transport device 600 .

[0214] In some embodiments of the present application, the tray transport device 600 includes:

[0215] A transport base 610 is mounted on the machine body 100;

[0216] The transport base 610 is a transport support body, which is a support frame of a gantry structure and is fixed on the machine body 100 .

[0217] A connecting base 620 is slidably connected to the transport base 610;

[0218] A transport mechanism 630, mounted on the transport base 610, connected to the connection base 620, and used to drive the connection base 620 to move relative to the transport base 610 along the X direction;

[0219] The transport mechanism 630 is a cylinderless cylinder, which is assembled on the transport base 610 .

[0220] The rodless cylinder includes a guide rail formed on the length of the transport base 610 , and a piston component. The piston component is slidably disposed on the guide rail, and the piston component is correspondingly connected to the connection base 620 .

[0221] The connection base 620 is a connection substrate, which is fixed to the piston component by screws.

[0222] When the piston component slides along the guide rail, the connecting base 620 connected thereto can be driven to slide accordingly.

[0223] A supporting base 640 is slidably connected to the connecting base 620;

[0224] A height driving device 650 is arranged on the connecting base 620 to drive the supporting base 640 to slide relative to the connecting base 620;

[0225] The tray transport body 700 is assembled on the supporting base 640;

[0226] The transporting member 710 is included, and at least one group is provided. The transporting member 710 can be provided in one group or multiple groups.

[0227] When multiple groups are provided, the multiple groups of conveying members 710 are arranged in parallel on the supporting base 640 .

[0228] Each set of transport components 710 includes: a transport support member 711 extending along the Y direction;

[0229] The transport support member 711 is a transport support plate, and is extended along the Y direction.

[0230] A transport connection member 712 is extended outward from one side of the transport support member 711. A plurality of transport connection members 712 are provided and arranged at intervals along the length direction of the transport support body. The position of the transport connection member 712 relative to the transport support member 711 in the X direction and the Y direction is adjustable;

[0231] The tray adsorption component 720 is connected to the end of the transport connector 712 .

[0232] A plurality of transport connectors 712 are provided, and a material tray adsorption component 720 is correspondingly provided at the end position of each transport connector 712. In this way, when the material tray 130 is adsorbed, different positions of the material tray 130 can be adsorbed by the material tray adsorption components 720 at the ends of the transport connectors 712 at different positions, so as to ensure uniform and stable adsorption of the material tray 130, and ensure the firmness and stability of the adsorption of the material tray 130.

[0233] At the same time, since the position of the transport connector 712 relative to the transport support 711 in both the X and Y directions is adjustable, the distance between two adjacent transport connectors 712 can be changed by adjusting the position of the transport connector 712 in the Y direction, thereby changing the distance between adjacent material tray adsorption components 720, so that it can adapt to the adsorption of material trays 130 of different sizes or weights, thereby ensuring the stability of the adsorption of the material tray 130.

[0234] If the material tray 130 is large in size and heavy in weight, the distance between the material tray adsorption components 720 can be reduced to ensure that the material tray 130 is firmly and stably adsorbed.

[0235] When the material tray 130 is small in size and light in weight, the distance between the material tray adsorption components 720 can be increased to achieve adsorption of the material tray 130 .

[0236] Since the rodless cylinder has a long stroke, by connecting the supporting base 640 and the conveying member 710 to the connecting base 620, the conveying member 710 assembled on the connecting base 620 can be driven to slide when the connecting base 620 is driven by the conveying structure to drive the sliding synchronously, thereby achieving the effect of transferring the material tray 130 over a long distance.

[0237] By driving the supporting base 640 to move up and down relative to the connecting base 620 through the height driving device 650 , the supporting base 640 can drive the tray transporting body 700 to move up and down so that it can approach the tray 130 and transport the tray 130 .

[0238] In this embodiment, the tray transport device 600 adopts vacuum adsorption of the tray 130. Through adsorption through a vacuum pipeline, the vacuum suction nozzle can be adsorbed at any position of the tray 130 to clamp the tray 130. There is no restriction on the suction position, and precise positioning is not required to ensure the adsorption effect. In addition, compared with the robot structure, the overall cost of setting up the vacuum pipeline and the vacuum suction nozzle is low.

[0239] The transport connector 712 constituting the tray transport body 700 is connected to a transport support 711 on top thereof, and the position of the transport connector 712 relative to the transport support 711 is adjustable. Therefore, the position of the tray adsorption component 720 fixed on the transport connector 712 in the X and Y directions is also adjustable, so that it can be adapted to adsorb trays 130 of different sizes and types, and has good versatility.

[0240] In order to ensure the adsorption effect of the conveying member 710 on the material tray 130 , in some embodiments of the present application, the length of the conveying support 711 is 2 / 3-1 of the length of the material tray 130 .

[0241] The length of the transport support 711 is at least 2 / 3 of the length of the material tray 130 to ensure that it has sufficient length to stably adsorb the material tray 130 .

[0242] In some embodiments of the present application, the height driving device 650 includes:

[0243] A height adjustment cylinder 651 and a telescopic height adjustment rod 652 , wherein the height adjustment rod 652 is connected to the connecting base 620 , and the height adjustment cylinder 651 is fixedly connected to the supporting base 640 .

[0244] When the material tray 130 needs to be adsorbed, the height adjustment cylinder 651 drives the height adjustment rod 652 to extend and retract. Since the height adjustment rod 652 and the connecting base 620 are fixedly connected and immovable, the height adjustment cylinder moves up and down relative to the height adjustment rod 652, driving the supporting base 640 connected to it to move up and down, and then driving the conveying component 710 assembled on the supporting base 640 to move up and down to adsorb the material tray 130 and take materials.

[0245] In order to achieve fixed connection between the height adjustment rod 652 and the connecting base 620, a protruding ear plate is provided on the connecting base 620, and a threaded locking section is provided on the height adjustment rod 652. The height adjustment rod 652 is locked and fixed in the protruding ear plate through the threaded locking section.

[0246] In some embodiments of the present application, the supporting base 640 includes:

[0247] The bearing portion 641 is arranged perpendicular to the sliding direction of the supporting base 640, and a mounting position 642 for mounting the transport member 710 is provided on the bearing portion 641;

[0248] And a sliding portion 643 connected to the bearing portion 641 , wherein the sliding portion 643 is arranged parallel to the base body 620 .

[0249] The bearing portion 641 is a bearing plate, and the sliding portion 643 is a sliding plate. The bearing plate and the sliding plate are connected and are perpendicular to each other.

[0250] The mounting position 642 is a mounting hole position provided on the carrier plate, and the transport support member 711 is fastened and fixed at the mounting hole position by a locking screw.

[0251] In order to achieve the sliding connection between the sliding portion 643 and the connecting base 620 , a sliding assembly 660 that cooperates with each other is provided between the sliding portion 643 and the connecting base 620 .

[0252] The sliding assembly 660 includes a sliding block and a sliding rail, which are respectively arranged on the supporting base 640 and the connecting base 620 to achieve relative sliding therebetween and guide the up and down movement of the supporting base 640 .

[0253] In some embodiments of the present application, two groups of conveying components 710 are provided, and the two groups are arranged in parallel. The conveying support members 711 of the two groups of conveying components 710 are parallel to each other and have a distance therebetween, and the extending directions of the conveying connectors 712 of the two groups of conveying components 710 are opposite.

[0254] By arranging the transport supports 711 at intervals and extending the transport connectors 712 in opposite directions, it can be ensured that the material tray adsorption component 720 arranged on the transport connector 712 adsorbs the material tray 130 from the side of the material tray 130, thereby ensuring the adsorption effect on the material tray 130.

[0255] In some embodiments of the present application, a position adjustment structure for adjusting the position of the transport connector 712 relative to the transport support 711 in the X and Y directions is provided between the transport connector 712 and the transport support 711, and the position adjustment structure includes:

[0256] An adjusting slot 714 is provided on the transport connecting member 712, and the adjusting slot 714 is opened along the X direction of the transport connecting member 712;

[0257] And a locking hole 715 is arranged on the transport support 711, and a plurality of the locking holes 715 are provided and arranged at intervals along the Y direction, and the locking holes 715 are screw holes.

[0258] A locking member 716 passes through the adjusting slot 714 and is screwed into one of the locking holes 715 to compress the transport connector 712;

[0259] The locking component 716 is a locking screw.

[0260] During connection, the locking screw can pass through the adjusting long hole 714 and be screwed into the locking hole 715 to be fixed, and at the same time, be pressed around the adjusting long hole 714 of the transport connector 712 to tighten and fix the transport connector 712.

[0261] When adjusting the Y direction position, the transport connector 712 can be moved along the Y direction and cooperate with one of the locking holes 715 to change its Y direction position relative to the transport support 711. After adjustment, the locking component 716 passes through the adjustment long hole 714 and is screwed and fixed in the locking hole 715 to press the transport connector 712.

[0262] When adjusting the position in the X direction, loosen the locking component 716, move the transport connector 712 along the X direction through the adjusting long hole 714 relative to the locking component 716, change the position of the locking component 716 at the adjusting long hole 714 to change its position in the X direction relative to the transport support 711, and tighten the locking component 716 after adjusting to the right position.

[0263] In some embodiments of the present application, the tray adsorption component 720 includes a tray adsorption rod 721, and an adsorption channel is formed inside the rod;

[0264] A mounting hole 717 is provided at the end of the transport connector 712, and the tray adsorption rod 721 passes through the mounting hole 717;

[0265] Locking limit bolts 718 are provided on the tray adsorption rod 721 at positions above and below the mounting hole 717 .

[0266] A threaded section is provided on the tray suction rod 721. After the tray suction rod 721 passes through the mounting hole 717, locking limit bolts are screwed on the upper and lower ends of the threaded section to limit the tray suction rod 721 and prevent it from falling from the transport connector 712.

[0267] In some embodiments of the present application, the tray carrier 700 also includes a tray adsorption pipeline and a tray vacuum adsorption device 730 connected to the tray adsorption component 720, and a tray suction nozzle pressure detection component 740 and a tray pipeline control valve are arranged on the tray adsorption pipeline.

[0268] The tray vacuum adsorption device 730 is connected to the tray adsorption pipeline, and an interface part is provided above the tray adsorption component 720, which is connected to the tray adsorption pipeline.

[0269] The tray pipeline control valve is a solenoid valve, which can be used to control the on-off of the tray adsorption pipeline.

[0270] In some embodiments of the present application, it also includes:

[0271] Buffers, two of which are provided, assembled at both ends of the connection base 620 and arranged opposite to each other;

[0272] A protrusion 644 is provided on the supporting base 640 , and the protrusion 644 is located between the two buffers.

[0273] The supporting base 640 is connected to the height adjustment cylinder 651. When the height adjustment cylinder 651 moves up and down, it will drive the supporting base 640 to move up and down. In order to prevent the height adjustment cylinder 651 from moving up and down too fast and colliding with other parts, a protrusion 644 is provided on the supporting base 640. When the supporting base 640 moves to the upper end position, the protrusion 644 will touch the buffer located at the upper end position of the connecting base 620, playing a buffering and deceleration role;

[0274] When the supporting base 640 moves to the lower end position, the protrusion 644 will touch the buffer located at the lower end position of the connecting base 620 to play a buffering role thereon.

[0275] The buffer can directly adopt the buffer structure in the prior art, and no specific limitation is made here.

[0276] In order to limit the position of the material tray 130 at the material swing position 110 and the material tray placement position 120 , material tray supporting and positioning devices are arranged at the material swing position 110 and the material tray placement position 120 accordingly.

[0277] The tray 130 at the material swing position 110 and the tray placement position 120 is positioned by the tray supporting and positioning device.

[0278] For the convenience of description, this embodiment is described by taking the material tray 130 being placed at the material swing position 110 as an example.

[0279] The tray supporting and positioning device comprises: a body 100, on which a material swing position 110 is formed;

[0280] The limiting structure is arranged around the swinging position 110 and includes:

[0281] The first end limiting structure 810 is arranged at the end of the material tray 130 to limit one end of the material tray 130;

[0282] The side limiting structures 820 are arranged at the two sides of the material tray 130 to limit the two sides of the material tray 130;

[0283] The second end stopper 830 is arranged at a corner position of the other end of the tray 130;

[0284] There are two second end limiting components 830 , which are respectively arranged at two corner positions at the other end of the material tray 130 .

[0285] The second end stop member 830 has an open state and a closed state;

[0286] When in the closed state, it limits the other end and the side of the tray 130;

[0287] When in the open state, it only limits the side of the material tray 130 so that the material tray 130 can be removed from the material tray supporting base 311 .

[0288] When the two second end limiting components 830 are closed, they respectively limit the other end and both sides of the material tray 130;

[0289] When it is opened, the limitation on the end of the material tray 130 is completely eliminated, and at this time, the material tray 130 can be taken out from the end position.

[0290] The tray supporting and positioning device of the present embodiment is provided with a first end limiting structure 810, a side limiting structure 820 and a second end limiting component 830 respectively around the swinging material position 110 where the tray 130 is placed, and limiting structures are correspondingly provided at positions around the tray 130 to ensure that the tray 130 arranged at the swinging material position 110 is completely limited. In this way, even if the tray 130 is stacked up and down in multiple layers, it will be well limited by the limiting structures around it, and the problem of the tray 130 tipping over due to insufficient positioning of the tray 130 will not occur.

[0291] In addition, the second end limiting component 830 of the tray supporting and positioning device in this embodiment has an open state and a closed state. In the closed state, it can cooperate with the first end limiting structure 810 and the side limiting structure 820 to completely limit the tray 130;

[0292] When it is in the open state, an output port of the material tray 130 can be formed between the two second end limiting components 830, and the ends of the material tray 130 are no longer limited, so that the material tray 130 can be easily taken out from the swing position 110, thereby realizing the quick removal and placement of the material tray 130.

[0293] When the material tray 130 is filled with the crystal loading and unloading device 500 at the placement position, presenting a multi-layer arrangement arranged up and down and has reached the upper limit placement height of the material tray 130, the second end limiting component 830 can be opened to take out the stacked material tray 130.

[0294] In some embodiments of the present application, the tray supporting and positioning device further includes a clamping and limiting structure, including:

[0295] The clamping and limiting components are provided in two groups, which are arranged on both sides of the material tray 130 respectively. Each group of clamping and limiting components includes a plurality of clamping and limiting components 910, and the plurality of clamping and limiting components 910 are arranged at intervals.

[0296] Each clamping and limiting component 910 includes:

[0297] The clamping and limiting base 911 is extended along the height direction of the material tray 130 to limit the side of the stacked material trays 130;

[0298] The tray clamping member 920 is arranged on the top of the clamping and limiting base 911, and is retractable and can clamp and fix the tray 130 at the top layer.

[0299] Specifically, the clamping and limiting base 911 is a clamping and limiting plate, which is arranged at both sides of the material tray 130 and extends upward along the height direction of the material tray 130 to limit the side portions of the stacked multi-layer material trays 130 .

[0300] The tray clamping member 920 is located at the top of the clamping and limiting base 911, and is mainly used to clamp and position the tray 130 at the top layer. The tray 130 at the top layer is clamped by the extension and retraction of the tray clamping member 920, so that the tray 130 can be firmly positioned to ensure that when the crystal taking and placing device 500 takes and places materials, the tray 130 is firmly positioned and fixed without shaking, thereby ensuring that the materials can be placed at the corresponding position of the tray 130, thereby ensuring the accuracy of the placement position.

[0301] In some embodiments of the present application, a folded portion 912 is formed by folding the top of the clamping and limiting base 911, and the tray clamping member 920 is assembled on the folded portion 912;

[0302] The folding portion 912 is a folding plate formed on the clamping and limiting base 911, and the tray clamping member 920 is fixed on the folding plate by screws.

[0303] The tray clamping member 920 includes a clamping body 921;

[0304] And a retractable clamping rod 922 , a clamping block is connected to the end of the clamping rod 922 , and an elastic buffer 923 is provided on the contact surface between the clamping block and the material tray 130 .

[0305] The clamping body 921 is a clamping cylinder, and the clamping rod 922 is connected to the clamping cylinder. The clamping rod 922 can drive the clamping block at its end to perform a telescopic action, thereby achieving the clamping or loosening of the material tray 130.

[0306] The elastic buffer is an elastic buffer foam, which is arranged on the side of the clamping block to ensure that the clamping block and the material tray 130 are not in rigid contact when in contact. The buffer foam plays a certain buffering role, thereby preventing the clamping block from causing damage to the material tray 130.

[0307] In some embodiments of the present application, the first end limiting structure 810 includes:

[0308] A plurality of first end stop members 811 are provided, arranged at intervals, and extending along the height direction of the material tray 130;

[0309] Its position relative to the end of the material tray 130 is adjustable, and a guide portion 812 is formed on the top of the first end limiting component 811.

[0310] The first end limiting component 811 is a first end limiting plate, which extends upward along the height direction of the material tray 130 , and the guide portion 812 is a guide surface formed on the first end limiting component 811 .

[0311] The guide surface is a guide inclined surface or a guide arc surface.

[0312] The guide surface can facilitate the placement of the material tray 130 from top to bottom at the material swing position 110.

[0313] A connecting seat is provided at the bottom of the first end limiting component 811 , a long hole is provided on the connecting seat, and the connecting seat is fixedly connected to the body 100 by bolts or screws.

[0314] The connection seat can slide relative to the bolt or screw through the long hole to change its position accordingly, so that it can adapt to trays 130 of different sizes.

[0315] In some embodiments of the present application, the side limiting structure 820 includes: side limiting components, which are provided in two groups and are symmetrically arranged on both sides of the material tray 130;

[0316] Each set of side limiting components includes a plurality of side limiting members 821 arranged at intervals, and the plurality of side limiting members 821 and the plurality of clamping limiting components are arranged alternately.

[0317] The side limiting component is a side limiting plate, which is extended upward along the height direction of the material tray 130 to limit the side of the material tray 130.

[0318] In some embodiments of the present application, the height of the side limit members 821 is greater than the height of the clamping limit member, and mutually cooperating laser detection components 840 are arranged on the tops of the two side limit members 821 that are located opposite to each other.

[0319] The laser detection component 840 includes a laser transmitter and a laser receiving board, and the two cooperate to mainly detect whether the stacked trays 130 have reached the maximum height position of the trays 130 at the swing level 110 .

[0320] When the stacked trays 130 reach the maximum height of the trays 130 , the signal between the laser transmitter and the laser receiving board will be blocked, and at this time, it means that the trays 130 have reached the maximum height.

[0321] Of course, the laser detection component 840 may also adopt a photoelectric corresponding sensor structure.

[0322] In some embodiments of the present application, the second end stop component 830 includes:

[0323] The first limiting base 831 is arranged on one side of the material tray 130 and close to the end thereof;

[0324] The second limiting base 832 is rotatably connected to the first limiting base 831;

[0325] When the second limiting base 832 rotates relative to the first limiting base 831 to a position perpendicular to the first limiting base 831, the second end limiting component 830 is in a closed state;

[0326] When the second limiting base 832 rotates relative to the first limiting base 831 to a position parallel to the first limiting base 831 , the second end limiting component 830 is in an open state.

[0327] The first limiting base 831 is a first limiting plate, which is arranged at the side of the material tray 130, and a reinforcing rib is provided on the first limiting plate.

[0328] The second limiting base 832 is a second limiting plate, which is arranged at the end of the material tray 130 and close to the corner of the material plate.

[0329] The first limiting base 831 and the second limiting base 832 are connected via a rotating connecting piece.

[0330] The second limiting base 832 is formed with two holes on both sides of the rotating connecting member for connecting with the rotating connecting member.

[0331] A limiting connection portion 8321 and a resisting limiting portion 8322 for resisting limiting.

[0332] The rotating connecting member is a rotating hinge, which is connected at a middle position between one side of the first limiting base 831 and the side of the second limiting base 832 .

[0333] Specifically, the limiting connection portion 8321 is connected to the rotating hinge, and the resisting limiting portion 8322 is used to limit the end of the material tray 130.

[0334] When in the closed state, the blocking and limiting portion 8322 blocks the end of the material tray 130 , and the limiting connecting portion 8321 is located on the extension line of the blocking and limiting portion 8322 .

[0335] When opening, the resisting and limiting part 8322 is rotated to drive the limiting connecting part 8321 to rotate synchronously. When opening 90 degrees, the resisting and limiting part 8322 is parallel to the first limiting base 831, and the limiting connecting part 8321 is in contact with the first limiting base 831.

[0336] At this time, a material tray channel is formed between the two second limiting bases 832, and the material tray 130 can be taken out from the swinging position 110 through this material tray channel.

[0337] In order to ensure that the second limiting base 832 can stably and reliably limit the end of the material tray 130 when in the closed state, the positioning device of the material tray 130 also includes a fixing structure formed at the contact surface between the first limiting base 831 and the second limiting base 832, so as to fix the first limiting base 831 and the second limiting base 832 when the second limiting base 832 is rotated relative to the first limiting base 831 to a position perpendicular to the first limiting base 831.

[0338] In some embodiments of the present application, the fixing structure includes:

[0339] A first magnetic member 851 embedded in the first limiting base 831;

[0340] And the second magnetic component arranged in the second limiting base 832 can realize the attraction and fixation of the first limiting base 831 and the second limiting base 832 by attracting and fixing the first magnetic component 851 and the second limiting base 832 together.

[0341] Alternatively, in some other embodiments of the present application, the fixing structure includes a first inserting portion provided on the first limiting base 831;

[0342] A second inserting portion arranged on the second limiting base 832;

[0343] And an insertion fixing piece inserted into the first insertion part and the second insertion part.

[0344] The insertion fixing member is an insertion pin, the first insertion part is a first insertion hole, and the second insertion part is a second insertion hole. When the second limiting base 832 is rotated to the closed position, the insertion fixing member can be inserted into the first insertion part and the second insertion part to fix the two together, thereby ensuring the limiting effect of the material tray 130.

[0345] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A material feeding system, characterized in that: Included are: A machine body, on which a material swing position and a material tray placement position for placing a material tray are arranged side by side; A first tray bearing device is arranged at the tray placement position and is used to support the tray at the tray placement position, and is liftable; A second material tray bearing device is arranged at the material swing position and is used to support the material tray at the material swing position and is liftable; A crystal conveying device, on which a crystal conveying track for conveying crystal materials is formed; The crystal material handling device comprises: The crystal loading and unloading device is arranged on the machine body and is used to suck the crystal material from the crystal conveying track. The crystal loading and unloading device comprises a plurality of loading components, each of which comprises a plurality of loading parts arranged in parallel along the X direction; A plurality of rows of slots are formed inside the tray along the X direction, and each row of slots extends along the Y direction; A plurality of material taking components are arranged side by side along the Y direction; When taking materials, the crystal transport mechanism drives the taking material component to move along the X direction so that at least one taking material part on the taking material component passes through the crystal conveying track and takes materials; A crystal transport mechanism is connected to the crystal loading and unloading device, and can drive the crystal loading and unloading device to move to the crystal conveying track to absorb crystal materials and fill the material tray at the material placement position with the absorbed crystal materials; When unloading, the crystal handling mechanism drives the material taking component to move along the X direction and switch between multiple material discharge slots; Driving the material taking component to move along the Y direction to sequentially place the crystal material of the material taking component into the material trough along the length of the material trough; A tray transport device is mounted on the machine body and is used to transport an empty tray at the tray placement position to the swing position; A detection element is arranged at the crystal conveying device to detect the number of times the crystal taking and placing device takes materials; A control module communicates with the first tray bearing device, the second tray supporting device, the crystal taking and placing device, the crystal transport mechanism and the detection element; Used to receive the detection element signal, and obtain the amount of crystal material in the material tray at the swing position according to the detection element signal; When the material tray is fully filled with crystal materials, the first material tray supporting device is controlled to move so as to drive the material tray at the material placement position to move downward by a material tray height; Control the movement of the tray transport device to transport the empty tray at the tray placement position to above the fully loaded tray at the swing position, and control the second tray carrying device to drive the tray at the tray placement position to move upward a tray height distance.

2. The material discharging system according to claim 1, characterized in that: The crystal transport mechanism comprises: a crystal transport frame; A three-way motion mechanism, mounted on the crystal transport frame; The crystal loading and unloading device is connected to the three-way motion mechanism and can perform XYZ three-way motion under the drive of the three-way motion mechanism.

3. The material discharging system according to claim 1, characterized in that: The crystal loading and unloading device includes: Taking material matrix; A plurality of material taking assembly seats are provided and arranged side by side on the material taking base body; A plurality of material taking components are provided and respectively assembled on the material taking assembly seat; The spacing adjustment mechanism is connected to a plurality of material taking assembly seats and is used for adjusting the spacing between adjacent material taking assembly seats.

4. The material discharging system according to claim 3, characterized in that: The material taking assembly seat comprises: A first seat body component, arranged vertically; and a second seat body component, on which an insertion limiting portion is provided; The first seat body component is inserted into the insertion limiting portion and is locked and fixed with the second seat body component through a locking member; A supporting seat, arranged above the second seat component; The material taking component comprises: A nozzle fixing seat, fixedly connected below the second seat body component; A nozzle connector, fixedly connected to a nozzle fixing seat; A plurality of material taking suction nozzles are provided to form a material taking part, which is assembled on the suction nozzle connector and connected to the vacuum adsorption device through a vacuum pipeline; A nozzle control valve is arranged on the vacuum pipeline to control the on and off of the vacuum pipeline; A pressure detection component, mounted on the support seat, connected to the vacuum pipeline, and used to detect the pressure of the material suction nozzle; A pipeline insertion channel for facilitating the passage of the vacuum pipeline is formed between the second seat body component, the nozzle fixing seat and the nozzle connecting piece.

5. The material discharging system according to claim 1, characterized in that: The tray handling device comprises: A handling base body is mounted on the machine body; A connecting base body, which can be slidably connected to the transport base body; A transport mechanism, mounted on the transport base, connected to the connection base, and used to drive the connection base to move relative to the transport base along the X direction; A supporting base body, slidably connected to the connecting base body; A height driving device, arranged on the connecting base, driving the supporting base to slide relative to the connecting base; A tray transport body, mounted on the supporting base; It includes a conveying member, at least one group of which includes: a conveying support member extending along the Y direction; A transport connector is provided, extending outward from one side of the transport support, a plurality of transport connectors are provided, and are arranged at intervals along the length direction of the transport support, and the position of the transport connector relative to the transport support in the X direction and the Y direction is adjustable; The tray adsorption component is connected to the end position of the transport connecting piece.

6. The material discharging system according to claim 5, characterized in that: A mechanism for adjusting the X and Y direction position of the transport connector relative to the transport support is provided between the transport connector and the transport support. A position adjustment structure is provided, wherein the position adjustment structure comprises: An adjusting slot provided on the transport connector, wherein the adjusting slot is opened along the X direction of the transport connector; and a locking hole arranged on the transport support, wherein a plurality of the locking holes are provided and arranged at intervals along the Y direction; A locking component passes through the adjusting slot and is screwed into one of the locking holes to compress the transport connector; Wherein, the transport connection piece can move along the Y direction and cooperate with one of the locking holes to change its position relative to the transport support piece in the Y direction; Move along the X direction, change the position of the locking component passing through the adjusting long hole to change its position relative to the transport support in the X direction.

7. The material discharging system according to claim 1, characterized in that: Also included are: The limiting structure is arranged around the swinging position and includes: The first end limiting structure is arranged at the end of the material tray to limit one end of the material tray; Side limiting structures are arranged at both sides of the tray to limit the positions of both sides of the tray; A second end limiting component is arranged at a corner position of the other end of the tray; The second end stop member has an open state and a closed state; When in the closed state, it limits the other end and the side of the tray; When in the open state, it only limits the side of the material tray so that the material tray can be removed from the material tray supporting base.

8. The material discharging system according to claim 1, characterized in that: Also included are: The clamping and limiting structure includes: The clamping and limiting components are provided in two groups, which are arranged on both sides of the material tray respectively, and each group of the clamping and limiting components includes a plurality of clamping and limiting components, and the plurality of clamping and limiting components are arranged at intervals; Each clamping limiter includes: A clamping and limiting base is extended along the material tray discharging direction to limit the side of the stacked material trays; The tray clamping piece is arranged on the top of the clamping and limiting base, and is retractable and can clamp and fix the tray at the top layer.

9. The material discharging system according to claim 1, characterized in that: The first tray supporting device comprises: The material tray supporting base is arranged at the material swinging position and is used to support the material tray at the material swinging position and is liftable; The lifting mechanism is arranged inside the machine body and connected to the tray supporting base, and is used to drive the tray supporting base to move up and down.

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