Charging tray feeding and discharging system and method

Abstract

The invention provides a charging tray feeding and discharging system and method. The charging tray feeding and discharging system comprises a feeding mechanism, a charging tray clamping mechanism, a taking mechanism and a tray receiving mechanism. The feeding mechanism is used for conveying material trays, and the material tray clamping mechanism is arranged on the feeding mechanism and used for clamping the material trays and conveying the material trays upwards. The material taking mechanism is located above the material disc clamping mechanism and used for clamping materials in the material disc. The tray receiving mechanism is located on one side of the tray clamping mechanism and used for holding the tray after the material taking mechanism clamps part of materials in the tray. According to the automatic disc replacing device, automatic disc disassembling and automatic feeding can be achieved, a disc cutting connection mode is adopted, and the disc replacing efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of tray feeding and discharging, and in particular to a tray feeding and discharging system and method. Background Art

[0002] The cartridge injection pen is used for the treatment of diabetes, and is composed of a pen cap, a pen meter, a cartridge, etc. The pen cap and the pen meter are loaded manually one tray at a time, which is inefficient and difficult to meet the needs of modern automated production. It is also labor-intensive and not conducive to process control. In this context, there is a need for a device that can realize automatic tray disassembly and automatic loading to greatly improve production efficiency.

[0003] The utility model with publication number CN220200662U discloses a high-efficiency tray automatic loading and unloading equipment, which solves the problem that the existing equipment requires a standby station, the waiting time is long, the production rhythm is slowed down, and the work efficiency is low by arranging a working platform assembly, a tray loading and lifting module, a tray unloading and lifting module, a tray handling assembly and a manipulator on the frame. Summary of the invention

[0004] The purpose of the present invention is to solve the defects in the prior art and provide a tray feeding and discharging system and method, which can realize automatic tray removal and automatic loading, and adopt a tray cutting connection method to improve the tray changing efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a tray feeding and discharging system, comprising a feeding mechanism, a tray clamping mechanism, a material taking mechanism and a tray receiving mechanism;

[0006] The feeding mechanism is used to convey the tray, and the tray clamping mechanism is arranged on the feeding mechanism, which is used to clamp the tray and convey it upward; the material picking mechanism is located above the tray clamping mechanism, and is used to clamp the material in the tray; the tray receiving mechanism is located on one side of the tray clamping mechanism, and is used to hold the tray after the material picking mechanism clamps part of the material in the tray.

[0007] The feeding mechanism carries the whole stack of trays and transports them toward the tray clamping mechanism; when it reaches the bottom of the tray clamping mechanism, the tray clamping mechanism clamps the tray and moves it upward to the material grabbing height, the picking mechanism moves to the top of the tray to grab the material in the tray and put it into the material conveying mechanism. After grabbing several rows of material, the receiving tray mechanism moves to the bottom of the tray and replaces the tray clamping mechanism to hold the tray position, and the picking mechanism continues to grab the remaining material. At this time, the tray clamping mechanism grabs the next tray and rises, stops below the tray and waits. When the material in the tray on the tray is grabbed, the tray is driven by the receiving tray mechanism to move out to the tray unloading mechanism for output, and the tray grabbed by the tray clamping mechanism enters the material grabbing height to work, and the cycle is repeated in sequence to complete the loading of the entire stack of products.

[0008] The present invention adopts a method of loading whole stacked trays, which reduces the loading cycle. The stacked trays can be disassembled through the tray clamping mechanism, and the materials in the trays are then loaded onto the automatic assembly equipment, which improves production efficiency and reduces manual labor intensity, meets the needs of modern automated production, reduces manual intervention, and reduces pollution risks; it realizes production process control; and the present invention sets a tray receiving mechanism, and after the material picking mechanism clamps part of the material in the tray, the tray receiving mechanism replaces the tray clamping mechanism to hold the tray, and adopts a tray cutting connection method, which improves the tray changing efficiency.

[0009] Optionally, the tray clamping mechanism includes a lifting device, a first driving member and a clamping assembly, the lifting device is located at the discharge end of the feeding mechanism, the clamping assembly can be lifted and lowered on the lifting frame, and the first driving member is used to drive the clamping assembly to clamp or release.

[0010] Optionally, the lifting device includes a first lifting component and a lifting beam, the first lifting component is used to drive the lifting beam to move, and the clamping component is arranged on the lifting beam.

[0011] Optionally, the clamping assembly includes a clamping plate that is relatively slidably arranged on the lifting device, a second driving member and a first clamping claw that are arranged on the clamping plate, the clamping plate is connected to the first driving member, and the second driving member is used to drive the first clamping claw to slide on the clamping plate.

[0012] Optionally, a limit block is provided on one side of the lifting beam adjacent to the material tray.

[0013] When the lifting device drives the material tray to rise until it hits the limit block, the secondary positioning of the material tray is completed. At this time, the material tray reaches the material grabbing height, realizing the precise positioning of the material tray, which is convenient for grabbing the material.

[0014] Optionally, the first lifting member is an electric lifting cylinder.

[0015] Optionally, the material picking mechanism includes a first translation device, a second lifting member and a second clamping claw, the second lifting member is arranged on the first translation device, and the second clamping claw is arranged on the second lifting member.

[0016] Optionally, the tray receiving mechanism includes a second translation device and a tray arranged on the second translation device.

[0017] Optionally, a discharging end of the feeding mechanism is provided with a limiting plate for positioning the feeding tray. When the entire stack of trays touches the limiting plate, the feeding of the trays stops, and one positioning is completed.

[0018] The present invention also provides a tray loading and unloading method based on the tray loading and unloading system, comprising the following steps:

[0019] S1, feeding mechanism conveys the material tray;

[0020] S2, the tray clamping mechanism clamps one of the trays;

[0021] S3, after the material taking mechanism clamps part of the material in the material tray, the tray receiving mechanism replaces the material tray clamping mechanism to hold the material tray;

[0022] S4, the material taking mechanism continues to clamp the remaining material in the material tray, and at the same time the material tray clamping mechanism grabs the next material tray and rises.

[0023] Beneficial effects:

[0024] 1. The present invention provides a feeding mechanism, a tray clamping mechanism, a picking mechanism and a receiving tray mechanism. The feeding mechanism carries the whole stack of trays and transports them in the direction of the tray clamping mechanism. When the material reaches the bottom of the tray clamping mechanism, the tray clamping mechanism clamps the tray and moves upward to the material grabbing height. The picking mechanism moves to the top of the tray to grab the material in the tray and put it into the material conveying mechanism. After grabbing several rows of material, the receiving tray mechanism moves to the bottom of the tray and replaces the tray clamping mechanism to keep the tray in position. The picking mechanism continues to grab the remaining material. At this time, the tray clamping mechanism grabs the next tray and rises, stops below the tray and waits. When the material in the tray on the tray is grabbed, the tray is driven by the receiving tray mechanism to move out to the tray unloading mechanism for output, and the tray grabbed by the tray clamping mechanism enters the material grabbing height to work, and the cycle is repeated in sequence to complete the loading of the entire stack of products.

[0025] The present invention adopts a method of loading whole stacked trays, which reduces the loading cycle. The stacked trays can be disassembled through the tray clamping mechanism, and the materials in the trays are then loaded onto the automatic assembly equipment, which improves production efficiency and reduces manual labor intensity, meets the needs of modern automated production, reduces manual intervention, and reduces pollution risks; it realizes production process control; and the present invention sets a tray receiving mechanism, and after the material picking mechanism clamps part of the material in the tray, the tray receiving mechanism replaces the tray clamping mechanism to hold the tray, and adopts a tray cutting connection method, which improves the tray changing efficiency.

[0026] 2. The discharging end of the feeding mechanism described in the present invention is provided with a limit plate for positioning the feeding tray. When the whole stack of trays touches the limit plate, the trays stop conveying and one positioning is completed. At this time, the tray clamping mechanism clamps the tray and moves it upward to the material grabbing height.

[0027] 3. In the present invention, a limit block is provided on the lifting device. When the lifting device drives the material tray to rise until it contacts the limit block, the material tray reaches the material grabbing height, completing the secondary positioning of the material tray, realizing the precise positioning of the material tray, and facilitating the grabbing of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0029] Figure 1 It is a structural diagram of a material tray feeding and discharging system disclosed in the present invention;

[0030] Figure 2 It is a structural diagram of a tray clamping mechanism, a tray clamping mechanism and a material taking mechanism in a tray feeding and discharging system disclosed in the present invention;

[0031] Figure 3 This is a structural diagram from another perspective of a tray clamping mechanism, a tray holding mechanism and a material taking mechanism in a tray feeding and discharging system disclosed in the present invention.

[0032] Reference numerals:

[0033]

[0034]

[0035] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0036] 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.

[0037] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0038] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0039] Embodiment 1:

[0040] See also Figure 1-3 , a tray feeding and discharging system according to the first embodiment of the present invention comprises a feeding mechanism 1, a tray clamping mechanism 2, a material taking mechanism 3 and a tray receiving mechanism 4;

[0041] The feeding mechanism 1 is used to convey the material tray 5, and the material tray clamping mechanism 2 is arranged on the feeding mechanism 1, which is used to clamp the material tray 5 and convey it upward; the material picking mechanism 3 is located above the material tray clamping mechanism 2, and is used to clamp the material 6 in the material tray 5; the receiving tray mechanism 4 is located on one side of the material tray clamping mechanism 2, and is used to hold the material tray 5 after the material picking mechanism 3 clamps part of the material 6 in the material tray 5.

[0042] Specifically, the feeding mechanism 1 carries the whole stack of trays 5 and transports them in the direction of the tray clamping mechanism 2; when it reaches the bottom of the tray clamping mechanism 2, the tray clamping mechanism 2 clamps the tray 5 and moves upward to the material grabbing height, the picking mechanism 3 moves to the top of the tray 5 to grab the material 6 in the tray 5 and put it into the material conveying mechanism 7. After grabbing several rows of material 6, the receiving mechanism 4 moves to the bottom of the tray 5, replacing the tray clamping mechanism 2 to hold the position of the tray 5, and the picking mechanism 3 continues to grab the remaining material 6. At this time, the tray clamping mechanism 2 grabs the next tray 5 and rises, and stops below the tray 42 to wait. When the material 6 in the tray 5 on the tray 42 is grabbed, the tray 42 is moved out to the tray unloading mechanism 8 for output under the drive of the receiving mechanism 4, and the tray 5 grabbed by the tray clamping mechanism 2 enters the material grabbing height to work, and the cycle is repeated in sequence to complete the loading of the entire stack of products.

[0043] The present invention adopts a method of loading materials by stacking material trays, which reduces the loading cycle. The stacked material trays 5 can be disassembled through the material tray clamping mechanism 2, and then the material 6 in the material tray 5 is loaded to the automatic assembly equipment, which improves production efficiency and reduces manual labor intensity. It meets the needs of modern automated production, reduces manual intervention, and reduces pollution risks; it realizes production process control; and the present invention sets a receiving tray mechanism 4, after the material picking mechanism 3 clamps part of the material 6 in the material tray 5, the receiving tray mechanism 4 replaces the material tray clamping mechanism 2 to hold the material tray 5, and adopts a cutting tray connection method to improve the tray changing efficiency.

[0044] See also Figure 2 and 3 In some embodiments of the present invention, the tray clamping mechanism 2 includes a lifting device 21, a first driving member 22 and a clamping assembly 23. The lifting device 21 is located at the discharge end of the feeding mechanism 1. The clamping assembly 23 can be lifted and lowered on the lifting frame. The first driving member 22 is used to drive the clamping assembly 23 to clamp or release.

[0045] See also Figure 2 In some embodiments of the present invention, the lifting device 21 includes a first lifting member 216 and a lifting beam 217 , the first lifting member is used to drive the lifting beam 217 to move, and the clamping member 23 is arranged on the lifting beam 217 .

[0046] In this embodiment, the lifting device 21 includes a motor 211, a synchronous pulley 212, a synchronous belt 213, a transmission shaft 214, a coupling 215, a first lifting member 216 and a lifting beam 217. The motor 211 is a servo motor. The fixed plate 11 is equipped with the motor 211. The front end of the motor 211 is connected to a synchronous pulley 212. The synchronous pulley 212 drives the synchronous belt 213. The synchronous belt 213 is connected to the synchronous wheel on the transmission shaft 214. The two ends of the transmission shaft 214 are respectively connected to the coupling 215. The coupling 215 is connected to the first lifting member 216. The slider of the lifting electric cylinder 6 is connected to the lifting beam 217.

[0047] The motor 211 drives the synchronous pulley 212 to rotate, and the synchronous pulley 212 drives the transmission shaft 214 to rotate through the synchronous belt 213. The transmission shaft 214 drives the first lifting member 216 to move through the coupling 215. The slider of the first lifting member 216 drives the lifting beam 217 to move, thereby driving the clamping assembly 23 to rise or fall.

[0048] See also Figure 3 In some embodiments of the present invention, the clamping assembly 23 includes a clamping plate 231 that is relatively slidably arranged on the lifting device 21, a second driving member 232 and a first clamping jaw 233 that are arranged on the clamping plate 231, the clamping plate 231 is connected to the first driving member 22, and the second driving member 232 is used to drive the first clamping jaw 233 to slide on the clamping plate 231.

[0049] In this embodiment, the first driving member 22 and the second driving member 232 are both cylinders. The first driving member 22 is fixed on the lifting beam 217. The piston rod of the first driving member 22 is connected to the clamping plate 231. The second driving member 232 is fixed on the clamping plate 231. The piston rod of the second driving member 232 is connected to the first clamping claw 233.

[0050] The first driving member 22 fixed on the lifting beam 217 pushes the clamping plate 231 to open, and the lifting beam 217 moves to the position of the uppermost tray 5 in the stack of trays 5 , and the first driving member 22 pushes the clamping plate 231 to clamp, and at this time, the first clamping claws 233 on the clamping plate 231 buckle the two sides of the tray 5 to grab the tray 5.

[0051] When the tray 5 needs to be released, the second drive member 232 is controlled by the center-discharge solenoid valve, and the air in the rod chamber and the rodless chamber of the second drive member 232 is discharged, and is in a pressure-free natural state (that is, there is no clamping force). The first drive member 22 opens, and the piston rod of the first drive member 22 drives the clamping plate 231 to open, and the first clamping claw 233 installed on the clamping plate 231 disengages from the tray 5, thereby releasing the tray 5. The second drive member 232 is controlled by the center-discharge valve, which reduces the re-positioning of other mechanisms when docking the tray 42 and improves the beat efficiency.

[0052] See also Figure 3 In some embodiments of the present invention, a limiting block 218 is provided on one side of the lifting beam 217 adjacent to the material tray 5 .

[0053] In this embodiment, the second driving member 232 on the clamping plate 231 drives the first clamping claw 233 to move toward the limit block 218 until the material tray 5 is against the limit block 218, completing the secondary positioning of the material tray 5. At this time, the material tray 5 reaches the material grabbing height, realizing the precise positioning of the material tray 5, which is convenient for grabbing the material 6.

[0054] See also Figure 2 and 3 In some embodiments of the present invention, the first lifting member 216 is a lifting electric cylinder.

[0055] See also Figure 1-3 In some embodiments of the present invention, the material picking mechanism 3 includes a first translation device 31, a second lifting member 32 and a second clamp 33, the second lifting member 32 is arranged on the first translation device 31, and the second clamp 33 is arranged on the second lifting member 32.

[0056] In this embodiment, a second lifting member 32 is fixed on the slider of the first translation device 31, a second clamping claw 33 is fixed on the second lifting member 32, and both the first translation device 31 and the second lifting member 32 are electric cylinders;

[0057] The first translation device 31 drives the second lifting member 32 to move above the material grabbing height, and the second lifting member 32 moves downward until the second clamping jaw 33 thereon can grab the material position, and the driving cylinder for driving the second clamping jaw 33 to move drives the second clamping jaw 33 to clamp the material 6, and the second lifting member 32 drives the second clamping jaw 33 upward, and the first translation device 31 moves left to the material release station 71.

[0058] See also Figure 1 and 2 In some embodiments of the present invention, the tray receiving mechanism 4 includes a second translation device 41 and a tray 42 arranged on the second translation device 41 .

[0059] In this embodiment, the second translation device 41 is a cylinder, and the telescopic end of the second translation device 41 is connected to the tray 42;

[0060] After grabbing several rows of material 6, the tray 42 is driven by the second translation device 41 to move to the bottom of the tray 5, and the first lifting member 216 drives the tray 5 clamped by the first clamp 233 to move downward and fall on the tray 42. At this time, the tray 42 replaces the first clamp 233 to hold the position of the tray 5 to grab the material. When the material 6 in the tray 5 on the tray 42 is grabbed, the tray 42 is driven by the second translation device 41 to move out to the tray unloading mechanism 8 for output.

[0061] See also Figure 2 In some embodiments of the present invention, a discharging end of the feeding mechanism 1 is provided with a limiting plate 12 for positioning the feeding tray 5. When the entire stack of trays 5 touches the limiting plate 12, the trays 5 stop conveying and one positioning is completed.

[0062] Embodiment 2:

[0063] See also Figure 1-3 According to a second embodiment of the present invention, a tray loading and unloading method based on the above tray loading and unloading system comprises the following steps:

[0064] S1, feeding mechanism 1 conveys material tray 5;

[0065] S2, the tray clamping mechanism 2 clamps one of the trays 5;

[0066] S3, after the material taking mechanism 3 clamps part of the material 6 in the material tray 5, the tray receiving mechanism 4 replaces the material tray clamping mechanism 2 to hold the material tray 5;

[0067] S4, the material taking mechanism 3 continues to clamp the remaining material 6 in the material tray 5, and at the same time, the material tray clamping mechanism 2 grabs the next material tray 5 and rises.

[0068] The specific steps are as follows:

[0069] The feeding mechanism 1 carries the stack of trays 5 and transports them toward the limiting plate 12. When the stack of trays 5 touches the limiting plate 12 and stops, one positioning is completed.

[0070] The motor 211 drives the synchronous pulley 212 to rotate, the synchronous pulley 212 drives the transmission shaft 214 to rotate through the synchronous belt 213, the transmission shaft 214 drives the first lifting member 216 to move through the coupling 215, and the slider of the first lifting member 216 drives the lifting beam 217 to move;

[0071] The first driving member 22 fixed on the lifting beam 217 pushes the clamping plate 231 to open, and the lifting beam 217 moves to the position of the uppermost tray 5 of the stacked trays 5. The first driving member 22 pushes the clamping plate 231 to clamp, and at this time, the first clamping claw 233 on the clamping plate 231 buckles the two sides of the tray 5, and the second driving member 232 on the clamping plate 231 drives the first clamping claw 233 to move toward the limit block 218 until the tray 5 abuts against the limit block 218, completing the secondary positioning of the tray 5. At this time, the tray 5 reaches the material grabbing height;

[0072] The first translation device 31 drives the second lifting member 32 to move above the material grabbing height, and the second lifting member 32 moves downward until the second clamping jaw 33 thereon can grab the material position, and the driving cylinder for driving the second clamping jaw 33 to move drives the second clamping jaw 33 to clamp the material 6, and the second lifting member 32 drives the second clamping jaw 33 upward, and the first translation device 31 moves left to the material release station 71;

[0073] After grabbing several rows of material 6, the tray 42 is driven by the second translation device 41 to move below the material tray 5, and the first lifting member 216 drives the material tray 5 clamped by the first clamp 233 to move downward and fall on the tray 42;

[0074] Under the control of the middle-leakage solenoid valve, the air in the rod chamber and the rodless chamber of the cylinder are exhausted by the second driving member 232, and the cylinder is in a natural state without pressure (i.e., no clamping force exists). The first driving member 22 is opened, and the piston rod of the first driving member 22 drives the clamping plate 231 to open, and the first clamping claw 233 installed on the clamping plate 231 is separated from the material tray 5. At this time, the tray 42 replaces the first clamping claw 233 to hold the material grabbing position of the material tray 5;

[0075] The first clamp 233 is driven by the first lifting member 216 to prepare for grabbing the next tray of materials and stops below the tray 42 to wait. When the material 6 in the tray 5 on the tray 42 is grabbed, the tray 42 is driven by the second translation device 41 to be moved out to other conveying mechanisms for output, and the tray 5 grabbed by the first clamp 233 is driven by the first lifting member 216 to enter the material grabbing height to work, and the cycle is repeated in sequence to complete the loading of the entire stack of materials.

[0076] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A tray feeding and discharging system, characterized in that: It comprises a feeding mechanism (1), a material tray clamping mechanism (2), a material taking mechanism (3) and a tray receiving mechanism (4); The feeding mechanism (1) is used to convey a material tray; the material tray clamping mechanism (2) is arranged on the feeding mechanism (1) and is used to clamp the material tray and convey it upwards; the material taking mechanism (3) is located above the material tray clamping mechanism (2) and is used to clamp the material in the material tray; the tray receiving mechanism (4) is located on one side of the material tray clamping mechanism (2) and is used to hold the material tray after the material taking mechanism clamps part of the material in the material tray.

2. The tray feeding and discharging system according to claim 1, characterized in that: The tray clamping mechanism (2) comprises a lifting device (21), a first driving member (22) and a clamping assembly (23); the lifting device (21) is located at the discharge end of the feeding mechanism (1); the clamping assembly (23) is movably mounted on a lifting frame; and the first driving member (22) is used to drive the clamping assembly (23) to clamp or release.

3. The tray feeding and discharging system according to claim 2, characterized in that: The clamping assembly (23) comprises a clamping plate (231) which is relatively slidably arranged on the lifting device (21), a second driving member (232) and a first clamping claw (233) which are arranged on the clamping plate (231); the clamping plate (231) is connected to the first driving member (22); and the second driving member (232) is used to drive the first clamping claw (233) to slide on the clamping plate (231).

4. The tray feeding and discharging system according to claim 2, characterized in that: The lifting device (21) comprises a first lifting component (216) and a lifting beam (217); the first lifting component is used to drive the lifting beam (217) to move; and the clamping component (23) is arranged on the lifting beam (217).

5. The tray loading and unloading system according to claim 4, characterized in that: A limiting block (218) is provided on one side of the lifting beam (217) adjacent to the material tray.

6. The tray loading and unloading system according to claim 4, characterized in that: The first lifting member (216) is a lifting electric cylinder.

7. The tray loading and unloading system according to any one of claims 1 to 6, characterized in that: The material taking mechanism (3) comprises a first translation device (31), a second lifting member (32) and a second clamping claw (33), wherein the second lifting member (32) is arranged on the first translation device (31), and the second clamping claw (33) is arranged on the second lifting member (32).

8. The tray loading and unloading system according to any one of claims 1 to 6, characterized in that: The tray receiving mechanism (4) comprises a second translation device (41) and a tray (42) arranged on the second translation device (41).

9. The tray feeding and discharging system according to any one of claims 1 to 6, characterized in that: The discharging end of the feeding mechanism (1) is provided with a limiting plate (12) for positioning the feeding tray.

10. A tray loading and unloading method based on the tray loading and unloading system according to any one of claims 1 to 9, characterized in that: The steps include: S1, feeding mechanism (1) conveying material tray; S2, the tray clamping mechanism (2) clamps one of the trays; S3, after the material taking mechanism (3) clamps part of the material in the material tray, the tray receiving mechanism (4) replaces the material tray clamping mechanism (2) to hold the material tray; S4, the material taking mechanism (3) continues to clamp the remaining material in the material tray, while the material tray clamping mechanism (2) grabs the next material tray and rises.

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