A material tray loading machine

Abstract

This invention discloses a material tray-stacking machine, comprising: a material feeding mechanism for simultaneously conveying several materials output from the previous process to a material picking station; a tray feeding mechanism for storing empty trays and conveying them to a tray picking station; a turntable mechanism with multiple tray placement stations arranged around its rotating table; a frame loading / unloading mechanism for receiving empty frames and conveying them to a tray receiving station, and outputting full frames from the tray receiving station; a tray transfer mechanism for placing empty trays from the tray picking station to the tray placement station, and stacking full trays from the tray placement station onto the trays located at the tray receiving station; and a material tray-stacking mechanism for placing materials from the material picking station into trays located at the tray placement station. This invention improves the efficiency of material feeding and receiving, and significantly saves labor resources.

Description

Technical Field

[0001] This invention relates to the field of tray-stacking equipment technology, and more specifically to a material tray-stacking machine. Background Technology

[0002] When processing PCB products, electronics factories need to place the pre-processed circuit boards in trays for further processing.

[0003] In the existing technology, tray-stacking machines are usually used to arrange circuit boards to improve work efficiency. However, when the trays containing circuit boards are collected by the output production line, the existing tray-stacking machines cannot automatically collect them into the material frame. The trays containing circuit boards need to be manually placed into the material frame for centralized storage, which affects the efficiency of circuit board collection and wastes human resources. Summary of the Invention

[0004] In order to overcome the problem that existing tray-loading machines cannot automatically collect the trays containing circuit boards into the material frame during material collection, this invention provides a material tray-loading machine.

[0005] The technical solution of this invention is as follows:

[0006] A material tray-loading machine, comprising:

[0007] The material feeding mechanism is used to simultaneously transport several materials output from the previous process to the material picking station;

[0008] A material tray feeding mechanism is used to store empty material trays and transport the material trays to the material tray unloading station;

[0009] A turntable mechanism, wherein multiple material tray placement stations are arranged around the rotating table of the turntable mechanism;

[0010] The material frame loading and unloading mechanism is used to receive empty material frames and transport the empty material frames to the material tray receiving station, and to output the material frames that are full of material at the material tray receiving station.

[0011] A material tray transfer mechanism is used to place the material tray that is empty above the material tray picking station to the material tray placement station, and to stack the material tray that is full of material at the material tray placement station onto the material frame located at the material tray receiving station.

[0012] A material tray placement mechanism is used to place the material on the material picking station into the tray located at the material tray placement station.

[0013] According to the above-described material tray machine, the material feeding mechanism includes a flipping plate, several first suction cup modules arranged side by side at the bottom of the flipping plate for absorbing the material, a flipping module for driving the flipping plate to flip 180°, and a first lifting module for driving the flipping plate to move up and down. The lifting end of the first lifting module is connected to the flipping module, and the flipping end of the flipping module is connected to one end of the flipping plate.

[0014] According to the above-described material tray loading machine, the tray feeding mechanism includes a feeding turntable module and a tray lifting module disposed on the discharge side of the feeding turntable module. Multiple racks for stacking empty trays are arranged around the rotating table of the feeding turntable module, and a clearance notch is provided on the rotating table of the feeding turntable module corresponding to each rack for the lifting frame of the tray lifting module to pass through.

[0015] Furthermore, the material rack includes an upper fixed plate and a plurality of surrounding rods disposed between the upper fixed plate and the rotating table of the feeding turntable module. The upper fixed plate is provided with a feeding port and a positioning sensor for sensing whether the material tray has reached the material picking height.

[0016] According to the material tray placement machine of the above scheme, a tray positioning mechanism is provided on both sides of the rotating table of the turntable mechanism corresponding to each tray placement station. When the tray is placed in the tray placement station, the corresponding tray positioning mechanism positions the tray in the tray placement station. The tray positioning mechanism includes a positioning cylinder and a positioning plate provided at the telescopic end of the positioning cylinder. Positioning grooves that cooperate with the positioning plate are provided on both sides of the tray.

[0017] According to the material tray loading machine of the above scheme, the material frame loading and unloading mechanism includes an empty material frame loading conveyor line located at the lower layer, a full material frame unloading conveyor line located at the upper layer, and a material frame lifting module disposed on the rear side of both the empty material frame loading conveyor line and the full material frame unloading conveyor line. The lifting end of the material frame lifting module is provided with a material frame conveyor line. When the material frame conveyor line descends to the lower layer, the material frame conveyor line docks with the empty material frame loading conveyor line; when the material frame conveyor line rises to the upper layer, the material frame conveyor line is located at the material tray receiving station and docks with the full material frame unloading conveyor line.

[0018] Furthermore, the material frame loading and unloading mechanism also includes a material guiding mechanism disposed above the material frame lifting module to assist the material tray transfer mechanism in placing the material tray into the material frame. The material guiding mechanism includes a material guiding frame and a second lifting module for driving the material guiding frame to move up and down. The lifting end of the second lifting module is connected to the material guiding frame, and the upper opening of the material guiding frame is provided with material guiding inclined plates around its perimeter.

[0019] Furthermore, the output end of the empty material frame feeding conveyor line is provided with first material frame limiting guide strips on both the left and right sides, the material frame conveyor line is provided with second material frame limiting guide strips on both the left and right sides, the material frame conveyor line is provided with a rear positioning baffle, the material frame conveyor line is provided with a rotary telescopic cylinder on the front side, and the rotary telescopic cylinder is provided with a positioning plate at its rotary telescopic end.

[0020] Furthermore, at least one side of the output end of the empty material frame feeding conveyor is provided with a first blocking cylinder, and the telescopic end of the first blocking cylinder is provided with a first blocking plate. Below the output end of the full material frame unloading conveyor, a second blocking cylinder is provided, and the telescopic end of the blocking cylinder is provided with a second blocking plate.

[0021] According to the above-described material tray loading machine, the tray transfer mechanism includes a second suction cup module for picking up the tray and a first four-axis robot for moving the second suction cup module. The second suction cup module is connected to the end of the first four-axis robot.

[0022] According to the above-described material tray machine, the material tray mechanism includes a third suction cup module for picking up a plurality of materials, a second four-axis robot for moving the third suction cup module, and a distance sensor for detecting whether the materials are placed in the tray. The third suction cup module and the distance sensor are both connected to the end of the second four-axis robot.

[0023] Furthermore, the third suction cup module includes a connecting frame and several suction cup assemblies arranged side by side on the connecting frame and capable of independent operation. Each suction cup assembly includes a suction cup, a lifting cylinder for moving the suction cup up and down, a width adjusting cylinder for moving the suction cup closer to or away from adjacent suction cups, and a barcode scanner for scanning the quality inspection code on the material downwards. The barcode scanner and the width adjusting cylinder are both connected to the connecting frame. The telescopic end of the width adjusting cylinder is connected to the lifting cylinder, and the telescopic end of the lifting cylinder is connected to the suction cup assembly.

[0024] The material handling machine according to the above scheme also includes:

[0025] An NG conveyor line is used to receive and output non-conforming materials identified by the material tray mechanism.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] This invention provides a material tray loading machine, which, by setting up a material feeding mechanism, a tray feeding mechanism, a turntable mechanism, a frame loading and unloading mechanism, a tray transfer mechanism, a material tray loading mechanism, and an NG conveyor line, realizes automatic feeding of materials, trays, and frames; automatically places materials into trays for loading; automatically places unqualified materials onto the NG conveyor line for output; and automatically places full trays into frames for centralized storage and outputs full frames. This effectively improves the efficiency of material feeding and receiving, and greatly saves labor resources. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of the present invention;

[0030] Figure 2 This is a top view of the present invention;

[0031] Figure 3 This is a schematic diagram of the material feeding mechanism in this invention;

[0032] Figure 4 This is a schematic diagram of the material feeding mechanism in this invention from another perspective;

[0033] Figure 5 This is a schematic diagram of the material tray feeding mechanism in this invention;

[0034] Figure 6 This is a schematic diagram of the turntable mechanism in this invention;

[0035] Figure 7 This is a schematic diagram of the material frame loading and unloading mechanism in this invention;

[0036] Figure 8 This is a schematic diagram of the material frame conveying mechanism in the material frame loading and unloading mechanism of the present invention;

[0037] Figure 9 This is a schematic diagram of the material tray transfer mechanism in this invention;

[0038] Figure 10 This is a schematic diagram of the material tray arrangement mechanism in this invention;

[0039] Figure 11 This is a schematic diagram of the structure of the third suction cup module in this invention;

[0040] Figure 12 This is a structural schematic diagram of the third suction cup module in this invention from another perspective.

[0041] In the diagram,

[0042] 1. Material feeding mechanism; 11. Tilting plate; 12. First suction cup module; 13. Tilting module; 14. First lifting module;

[0043] 2. Material tray feeding mechanism; 21. Feeding turntable module; 211. Clearance notch; 22. Material tray lifting module; 23. Material rack; 231. Upper fixing plate; 232. Enclosure rod; 24. Position sensor;

[0044] 3. Turntable mechanism; 31. Tray placement station; 32. Tray positioning mechanism; 321. Positioning cylinder; 322. Positioning plate;

[0045] 4. Material frame loading and unloading mechanism; 41. Empty material frame loading conveyor line; 411. First material frame limiting guide bar; 412. First blocking cylinder; 413. First blocking plate; 42. Full material frame unloading conveyor line; 421. Second blocking cylinder; 422. Second blocking plate; 43. Material frame lifting module; 44. Material frame conveyor line; 441. Second material frame limiting guide bar; 442. Positioning baffle; 443. Rotary telescopic cylinder; 444. Positioning plate; 45. Material guiding mechanism; 451. Material guiding frame; 4511. Material guiding inclined plate; 452. Second lifting module;

[0046] 5. Material tray transfer mechanism; 51. Second suction cup module; 52. First four-axis robot;

[0047] 6. Material tray placement mechanism; 61. Third suction cup module; 611. Connecting frame; 612. Suction cup assembly; 6121. Suction cup; 6122. Lifting cylinder; 6123. Width adjustment cylinder; 6124. Barcode scanner; 62. Second four-axis robot; 63. Distance sensor;

[0048] 7. NG conveyor line;

[0049] 8. Materials;

[0050] 9. Material frame. Detailed Implementation

[0051] To make the technical problems, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. It is also stated that the embodiments described below are for illustrative purposes only and are not intended to limit the invention.

[0052] It should be noted that the terms "installation," "setting," "connection," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. Indications of orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used in the application's product, or the orientation or positional relationship commonly understood by those skilled in the art, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "first," "second," and "third" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implying a number of technical features. "A plurality" means two or more, unless otherwise explicitly defined. "Several" means one or more, unless otherwise explicitly specified.

[0053] Please see Figures 1 to 10This embodiment provides a material tray loading machine, including a material feeding mechanism 1, a tray feeding mechanism 2, a turntable mechanism 3, a frame loading and unloading mechanism 4, a tray transfer mechanism 5, a material tray loading mechanism 6, and an NG conveyor line 7. The material feeding mechanism 1, the tray feeding mechanism 2, the frame loading and unloading mechanism 4, the tray transfer mechanism 5, and the material tray loading mechanism 6 are arranged around the turntable mechanism 3, and the NG conveyor line 7 is arranged between the material feeding mechanism 1 and the material tray loading mechanism 6. Material feeding mechanism 1 connects to the output end of the previous process and is used to simultaneously transport several materials 8 output from the previous process to the material picking station; tray feeding mechanism 2 is used to store empty trays and transport them to the tray picking station; multiple tray placement stations 31 for placing trays are arranged around the rotating table of turntable mechanism 3 to achieve uninterrupted tray placement; frame loading and unloading mechanism 4 is used to receive empty frames 9 and transport them to the tray receiving station, as well as output full frames 9 from the tray receiving station, thereby achieving automatic supply of empty frames 9 and recovery of full frames 9; tray transfer mechanism 5 is used to place empty trays from the tray picking station to the tray placement station 31, and to stack full trays from the tray placement station 31 into the trays 9 located at the tray receiving station, thereby achieving automatic placement of full trays into the trays 9 for centralized storage. The material traying mechanism 6 is used to place the material 8 from the material picking station into the tray located at the tray placement station 31 to complete the traying operation. During the material picking process, it automatically scans the quality inspection code on the material 8 to identify whether the material 8 is of acceptable quality. If the material 8 is found to be unacceptable, it is placed onto the NG conveyor line 7. The NG conveyor line 7 is used to receive and output the unacceptable material 8 identified by the material traying mechanism 6.

[0054] The aforementioned material tray loading machine, by setting up a material feeding mechanism 1, a tray feeding mechanism 2, a turntable mechanism 3, a frame loading and unloading mechanism 4, a tray transfer mechanism 5, a material tray loading mechanism 6, and an NG conveyor line 7, realizes the automatic feeding of materials 8, trays, and frames 9, the automatic placement of materials 8 into trays, the automatic placement of unqualified materials 8 onto the NG conveyor line 7 for output, and the automatic placement of full trays into frames 9 for centralized storage and output of full frames 9. This effectively improves the feeding and receiving efficiency of materials 8 and greatly saves labor resources.

[0055] Please see Figure 3 , Figure 4In one embodiment, the material feeding mechanism 1 includes a tilting plate 11, several first suction cup modules 12 arranged side-by-side at the bottom of the tilting plate 11 for absorbing materials 8, a tilting module 13 for rotating the tilting plate 11 by 180°, and a first lifting module 14 for moving the tilting plate 11 up and down. The lifting end of the first lifting module 14 is connected to the tilting module 13, and the tilting end of the tilting module 13 is connected to one end of the tilting plate 11. Preferably, there are two first suction cup modules 12, so that two materials 8 can be absorbed simultaneously. When material 8 is delivered from the output end of the previous process, the first lifting module 14 drives the flip plate 11 to move down, and then the first suction cup module 12 picks up the delivered material 8. After picking up the material 8, the first lifting module 14 drives the flip plate 11 to move up to the initial position, and then the flip module 13 drives the flip plate 11 to rotate 180°, and delivers the material 8 to the material picking station. At this time, the material 8 is above the flip plate 11, so that the material tray mechanism 6 can smoothly pick up the material 8 at the material picking station.

[0056] The material feeding mechanism 1 described above, by comprising a flipping plate 11, a flipping module 13, a first lifting module 14, and several first suction cup modules 12 at the bottom of the flipping plate 11, can simultaneously transport several materials 8 output from the previous process to the material picking station for the material tray mechanism 6 to pick up. This ingenious structure improves the material feeding speed. The number of first suction cup modules 12 can be set according to actual production needs; one, two, or more are all acceptable, and this invention does not impose any limitation on this.

[0057] Please see Figure 5In one embodiment, the tray feeding mechanism 2 includes a feeding turntable module 21 and a tray lifting module 22 disposed on the discharge side of the feeding turntable module 21. Multiple racks 23 for stacking empty trays are arranged around the rotating table of the feeding turntable module 21, so as to realize the storage of a large number of trays at one time without frequent feeding. Furthermore, each rack 23 on the rotating table of the feeding turntable module 21 is provided with an avoidance notch 211 for the lifting frame of the tray lifting module 22 to pass through, so that the lifting frame of the tray lifting module 22 can smoothly drive the trays stacked in the rack 23 to move upward. When loading material onto the trays, empty trays are first stacked on all the tray racks 23 by manual labor or external tray handling equipment. Then, the loading turntable module 21 rotates one of the tray racks 23 to the discharge side via the rotating table. At this time, the lifting frame of the tray lifting module 22 aligns with the corresponding clearance notch 211 of the tray 23. Then, the lifting frame of the tray lifting module 22 moves the stacked trays in the tray 23 upward, transporting the top tray to the tray picking station. After the top tray is removed, the tray lifting module 22 transports the next tray to the tray picking station via the lifting frame until all the trays in the tray 23 are removed. Then, the rotating table of the loading turntable module 21 rotates the next tray 23 with stacked trays to the discharge side. The above steps are repeated until all the trays in the trays 23 are removed.

[0058] Please see Figure 5 Furthermore, the material rack 23 includes an upper fixed plate 231 and multiple surrounding rods 232 disposed between the upper fixed plate 231 and the rotating table of the feeding turntable module 21. The upper fixed plate 231 is provided with a feeding port, and the multiple surrounding rods 232 are arranged circumferentially along the outer edge of the feeding port of the upper fixed plate 231, so that the material trays can be neatly stacked in the multiple surrounding rods 232 in the same direction. In addition, the upper fixed plate 231 is provided with a positioning sensor 24 for sensing whether the material tray has reached the picking height. By setting the positioning sensor 24, the material tray lifting module 22 can accurately transport the uppermost material tray to the material tray picking station through the lifting frame.

[0059] Please see Figure 6In one embodiment, a tray positioning mechanism 32 is provided on both sides of the rotating table of the turntable mechanism 3 corresponding to each tray placement station 31. When a tray is placed in a tray placement station 31, the corresponding tray positioning mechanism 32 positions the tray on the tray placement station 31, thereby ensuring that when the rotating table of the turntable mechanism 3 rotates or when the material tray placement mechanism 6 releases material, the tray on the tray placement station 31 will not shift, affecting subsequent operations. Specifically, the tray positioning mechanism 32 includes a positioning cylinder 321 and a positioning plate 322 provided at the extension end of the positioning cylinder 321. Positioning grooves that cooperate with the positioning plate 322 are provided on both sides of the tray. When the tray is placed in the tray placement station 31, the positioning cylinder 321 is activated, extending the positioning plate 322 into the positioning groove of the tray, positioning the tray on the tray placement station 31.

[0060] Please see Figure 7 , Figure 8 In one embodiment, the material frame loading and unloading mechanism 4 includes an empty material frame loading conveyor line 41 located at the lower layer, a full material frame unloading conveyor line 42 located at the upper layer, and a material frame lifting module 43 disposed behind both the empty material frame loading conveyor line 41 and the full material frame unloading conveyor line 42. The lifting end of the material frame lifting module 43 is provided with a material frame conveyor line 44. When the material frame conveyor line 44 descends to the lower layer, it docks with the empty material frame loading conveyor line 41 so that the material frame conveyor line 44 can smoothly receive the empty material frame 9 conveyed by the empty material frame loading conveyor line 41. When the material frame conveyor line 44 rises to the upper layer, it is located at the material tray receiving station and docks with the full material frame unloading conveyor line 42 so that the empty material frame 9 above the material frame conveyor line 44 can smoothly receive the full material tray conveyed by the material tray transfer mechanism 5, and smoothly convey the full material frame 9 to the full material frame unloading conveyor line 42.

[0061] During operation, the material frame lifting module 43 lowers the material frame conveyor line 44 to the lower level, connecting it with the empty material frame loading conveyor line 41. Then, the empty material frame 9 is manually or through an external material frame handling device placed into the output end of the empty material frame loading conveyor line 41, which then transports the empty material frame 9 to the material frame conveyor line 44. When the material frame conveyor line 44 receives the empty material frame 9, the material frame lifting module 43 raises it to the upper level, positioning it at the material tray receiving station and connecting it with the full material frame unloading conveyor line 42. At this point, the empty material frame 9 on the material frame conveyor line 44 can receive the full material tray conveyed by the material tray transfer mechanism 5. When the material frame 9 on the material frame conveyor line 44 is full, it transports the full material frame 9 to the full material frame unloading conveyor line 42, thus completing the unloading process.

[0062] Please see Figure 7 , Figure 8Furthermore, to enable the material trays to be quickly and accurately stacked in the material frame 9 located at the material tray receiving station, the material frame loading and unloading mechanism 4 also includes a guiding mechanism 45 located above the material frame lifting module 43 to assist the material tray transfer mechanism 5 in placing the material trays into the material frame 9. Specifically, the guiding mechanism 45 includes a guiding frame 451 and a second lifting module 452 for driving the guiding frame 451 to move up and down. The lifting end of the second lifting module 452 is connected to the guiding frame 451. The upper opening of the guiding frame 451 is provided with guiding inclined plates 4511 around its perimeter. The guiding inclined plates 4511, together with the guiding frame 451, can play a good guiding role in the unloading of the material trays. When the material frame 9 above the material frame conveyor line 44 rises to the upper layer (i.e., the material tray receiving station) driven by the material frame lifting module 43, the second lifting module 452 drives the guide frame 451 to descend and insert into the material frame 9. The auxiliary material tray transfer mechanism 5 stacks the material trays in the material frame 9. After the material frame 9 is full, the second lifting module 452 drives the guide frame 451 to rise and detach from the material frame 9.

[0063] Please see Figure 7 , Figure 8 Furthermore, the output end of the empty material frame feeding conveyor line 41 is provided with first material frame limiting guide strips 411 on both the left and right sides, and the material frame conveyor line 44 is provided with second material frame limiting guide strips 441 on both the left and right sides. The first material frame limiting guide strips 411 and the second material frame limiting guide strips 441 can limit the left and right position of the material frame 9, preventing the left and right position of the material frame 9 from shifting, which would prevent the material tray transfer mechanism 5 from successfully placing the material tray into the material frame 9. At the same time, the rear positioning baffle 442 of the material frame conveyor line 44 and the front side of the material frame conveyor line 44 are provided with a rotary telescopic cylinder 443. The rotary telescopic end of the rotary telescopic cylinder 443 is provided with a positioning plate 444. When the material frame conveyor line 44 receives the material frame 9, the positioning baffle 442, together with the rotary telescopic cylinder 443 and the positioning plate 444, can limit the front and rear position of the material frame 9, preventing the front and rear position of the material frame 9 from shifting, which would prevent the material tray transfer mechanism 5 from successfully placing the material tray into the material frame 9.

[0064] Please see Figure 7 , Figure 8 Furthermore, at least one side of the output end of the empty material frame feeding conveyor line 41 is provided with a first blocking cylinder 412. The telescopic end of the first blocking cylinder is provided with a first blocking plate 413. When the material frame conveyor line 44 is not connected to the empty material frame feeding conveyor line 41 or when there is a material frame 9 on the material frame conveyor line 44, the first blocking cylinder 412 extends the first blocking plate 413 to block the empty material frame feeding conveyor line 41 from outputting the material frame 9. A second blocking cylinder 421 is provided below the output end of the full material frame unloading conveyor line 42. The telescopic end of the blocking cylinder is provided with a second blocking plate 422. When the external equipment fails to connect to the full material frame unloading conveyor line 42 in time to receive the full material frame 9, the second blocking cylinder 421 extends the second blocking plate 422 to block the full material frame unloading conveyor line 42 from outputting the material frame 9.

[0065] Please see Figure 9 In one embodiment, the tray transfer mechanism 5 includes a second suction cup module 51 for picking up trays and a first four-axis robot 52 for moving the second suction cup module 51. The second suction cup module 51 is connected to the end of the first four-axis robot 52. Through the aforementioned second suction cup module 51 and first four-axis robot 52, the tray transfer mechanism 5 automates the placement of trays empty above the tray picking station to the tray placement station 31, and the stacking of trays full at the tray placement station 31 into the material frame 9 located at the tray receiving station.

[0066] Please see Figure 10 In one embodiment, the material tray placement mechanism 6 includes a third suction cup module 61 for picking up a plurality of materials 8, a second four-axis robot 62 for moving the third suction cup module 61, and a distance sensor 63 for detecting whether the materials 8 are placed in the tray. Both the third suction cup module 61 and the distance sensor 63 are connected to the end of the second four-axis robot 62. The distance sensor 63 determines whether the materials 8 are placed in the tray by detecting the distance between itself and the materials 8 in real time; when the materials 8 are not placed in the tray, the distance sensor 63 detects that the distance between itself and the materials 8 has shortened. Through the aforementioned third suction cup module 61, second four-axis robot 62, and distance sensor 63, the material tray placement mechanism 6 automates the placement of materials 8 from the material picking station into the tray located at the tray placement station 31, and determines whether the materials 8 are correctly placed in the tray.

[0067] Please see Figure 11 , Figure 12Furthermore, the third suction cup module 61 includes a connecting frame 611 and several suction cup assemblies 612 arranged side-by-side on the connecting frame 611 and capable of independent operation. By setting several independently operating suction cup assemblies 612, several materials 8 can be picked up at once and placed one by one into the material tray. Specifically, the suction cup assembly 612 includes a suction cup 6121, a lifting cylinder 6122 for moving the suction cup 6121 up and down, a width adjusting cylinder 6123 for moving the suction cup 6121 closer to or away from adjacent suction cups 6121, and a barcode scanner 6124 for scanning the quality inspection code on the material 8 downwards. The barcode scanner 6124 and the width adjusting cylinder 6123 are both connected to the connecting frame 611. The extension end of the width adjusting cylinder 6123 is connected to the lifting cylinder 6122. The extension and retraction of the lifting cylinder 6122... The end is connected to the suction cup assembly 612. The lifting cylinder 6122 enables each suction cup 6121 to individually place the material 8 into the tray. The width adjustment cylinder 6123 can adjust the spacing between the suction cups 6121 according to the spacing between the materials 8 at the material picking station, so that the third suction cup module 61 can pick up several materials 8 at one time. The barcode scanner 6124 can scan the quality inspection code on the material 8 while picking up the material 8 to identify whether the quality of the material 8 is qualified.

[0068] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

[0069] The present invention has been described above with reference to the accompanying drawings. Obviously, the implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A material tray-loading machine, characterized in that, include: The material feeding mechanism is used to simultaneously transport several materials output from the previous process to the material picking station; A material tray feeding mechanism is used to store empty material trays and transport the material trays to the material tray unloading station; A turntable mechanism, wherein multiple material tray placement stations are arranged around the rotating table of the turntable mechanism; The material frame loading and unloading mechanism is used to receive empty material frames and transport the empty material frames to the material tray receiving station, and to output the material frames that are full of material at the material tray receiving station. A material tray transfer mechanism is used to place the material tray that is empty above the material tray picking station to the material tray placement station, and to stack the material tray that is full of material at the material tray placement station onto the material frame located at the material tray receiving station. A material tray placement mechanism is used to place the material on the material picking station into the tray located at the material tray placement station; The material feeding mechanism includes a flipping plate, several first suction cup modules arranged side by side at the bottom of the flipping plate for picking up the material, a flipping module for driving the flipping plate to flip 180°, and a first lifting module for driving the flipping plate to move up and down. The lifting end of the first lifting module is connected to the flipping module, and the flipping end of the flipping module is connected to one end of the flipping plate. The material tray feeding mechanism includes a feeding turntable module and a material tray lifting module disposed on the discharge side of the feeding turntable module. Multiple material racks for stacking empty material trays are arranged around the rotating table of the feeding turntable module, and a clearance notch is provided on the rotating table of the feeding turntable module corresponding to each material rack for the lifting frame of the material tray lifting module to pass through. The material frame loading and unloading mechanism includes an empty material frame loading conveyor line located at the lower level, a full material frame unloading conveyor line located at the upper level, and a material frame lifting module disposed behind both the empty material frame loading conveyor line and the full material frame unloading conveyor line. The lifting end of the material frame lifting module is provided with a material frame conveyor line. When the material frame conveyor line descends to the lower level, it connects with the empty material frame loading conveyor line; when the material frame conveyor line rises to the upper level, it is located at the material tray receiving station and connects with the full material frame unloading conveyor line.

2. The material tray-loading machine according to claim 1, characterized in that, The material rack includes an upper fixed plate and multiple surrounding rods disposed between the upper fixed plate and the rotating table of the feeding turntable module. The upper fixed plate is provided with a feeding port and a positioning sensor for sensing whether the material tray has reached the material picking height.

3. The material tray-loading machine according to claim 1, characterized in that, On the rotating table of the turntable mechanism, there are material tray positioning mechanisms on both sides corresponding to each material tray placement station. When the material tray is placed in the material tray placement station, the corresponding material tray positioning mechanism positions the material tray in the material tray placement station.

4. The material tray-loading machine according to claim 1, characterized in that, The material tray transfer mechanism includes a second suction cup module for picking up the material tray and a first four-axis robot for moving the second suction cup module. The second suction cup module is connected to the end of the first four-axis robot.

5. The material tray-loading machine according to claim 1, characterized in that, The material tray mechanism includes a third suction cup module for picking up a plurality of materials, a second four-axis robot for moving the third suction cup module, and a distance sensor for detecting whether the materials are placed in the tray. The third suction cup module and the distance sensor are both connected to the end of the second four-axis robot.

6. The material tray-loading machine according to claim 5, characterized in that, The third suction cup module includes a connecting frame and several suction cup assemblies arranged side by side on the connecting frame and capable of independent operation. Each suction cup assembly includes a suction cup, a lifting cylinder for moving the suction cup up and down, a width adjusting cylinder for moving the suction cup closer to or away from adjacent suction cups, and a barcode scanner for scanning the quality inspection code on the material downwards. The barcode scanner and the width adjusting cylinder are both connected to the connecting frame. The telescopic end of the width adjusting cylinder is connected to the lifting cylinder, and the telescopic end of the lifting cylinder is connected to the suction cup assembly.

7. The material tray-loading machine according to claim 1, characterized in that, Also includes: An NG conveyor line is used to receive and output non-conforming materials identified by the material tray mechanism.

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