A high speed sterilization tray loading system and method of controlling the same

Abstract

The application discloses a high-speed sterilization tray loading system and a control method thereof, and relates to the field of sterilization tray loading. The high-speed sterilization tray loading system comprises a front conveying station, a rear conveying station, a first tray lifting mechanism, a second tray lifting mechanism and a tray loading robot. The second tray lifting mechanism is arranged between the front conveying station and the rear conveying station and is used for conveying sterilization trays to the rear conveying station. The first tray lifting mechanism is arranged between the front conveying station and the rear conveying station and is located below the second tray lifting mechanism. The first tray lifting mechanism is used for conveying sterilization trays to the rear conveying station or the second tray lifting mechanism. The tray loading robot is used for loading sterilization trays on the first tray lifting mechanism or loading sterilization trays on the second tray lifting mechanism. The application solves the problem that the speed of a tray gap cannot keep up when the tray is replaced. Meanwhile, when specific trays are not loaded, a seamless tray replacement scheme is provided, and the problem of material blockage and shutdown when empty trays are placed is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sterilization tray loading, and more particularly to a high-speed sterilization tray loading system. BACKGROUND

[0002] During the loading and conveying of the sterilization tray, for special infusion sterilization trays, the sterilization tray located at the uppermost layer of the stack is required not to load products during loading, which leads to the direct release of one empty sterilization tray during conveying, thereby possibly causing the shutdown of the previous station or the stacking of the subsequent station. Since every certain number of layers requires one layer not to be loaded, the overall loading speed of the system is seriously affected.

[0003] In summary, how to improve the overall loading progress of the system in the case of empty tray release is a problem that needs to be solved by the technical personnel in the field. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a high-speed sterilization tray loading system, which solves the problem of speed lagging behind due to the existence of tray replacement gap during tray replacement, and provides a seamless tray replacement solution for specific trays not to be loaded, thereby solving the problems of incoming material and material blocking during empty tray release.

[0005] Another purpose of the present application is to provide a control method of a high-speed sterilization tray loading system, which is applied to the high-speed sterilization tray loading system.

[0006] In order to achieve the above purpose, the present application provides the following technical scheme:

[0007] A high-speed sterilization tray loading system comprises:

[0008] A front conveying station is used for conveying empty sterilization trays towards a loading station;

[0009] A rear conveying station is used for conveying the loaded sterilization trays to a subsequent station;

[0010] A second tray lifting mechanism is arranged between the front conveying station and the rear conveying station, and is used for conveying sterilization trays to the rear conveying station.

[0011] A first tray lifting mechanism is arranged between the front conveying station and the rear conveying station, and is located below the second tray lifting mechanism, and is used for conveying sterilization trays to the rear conveying station or the second tray lifting mechanism.

[0012] A tray loading robot for loading the sterilization trays on the first tray lifting mechanism or the second tray lifting mechanism.

[0013] Preferably, the front conveying station, the second tray lifting mechanism and the rear conveying station are clamped on the same set of two opposite sides of the sterilization tray.

[0014] The first tray lifting mechanism is clamped on another set of two opposite sides of the sterilization tray.

[0015] Preferably, the second tray lifting mechanism comprises:

[0016] A frame is arranged between the front conveying station and the rear conveying station.

[0017] A second tray lifting assembly is slidingly arranged on the frame for conveying the sterilization tray from the front conveying station to the rear conveying station.

[0018] A second driving assembly is arranged for driving the second tray lifting assembly to move along the frame.

[0019] Preferably, the second driving assembly comprises:

[0020] A second electric cylinder is arranged on the frame and connected with the second tray lifting assembly.

[0021] A second motor is arranged on the frame and used for driving the second electric cylinder to drive the second tray lifting assembly to move along the frame.

[0022] Preferably, the first tray lifting mechanism comprises:

[0023] A slide rail is arranged below the frame.

[0024] A first tray lifting assembly is slidingly arranged on the slide rail for conveying the sterilization tray from the front conveying station to the rear conveying station or the second tray lifting assembly.

[0025] A lifting assembly is arranged between the first tray lifting assembly and the slide rail for driving the first tray lifting assembly to lift.

[0026] A first driving assembly is arranged for driving the first tray lifting assembly to move along the slide rail.

[0027] Preferably, the first driving assembly comprises:

[0028] A first electric cylinder is arranged on the slide rail and connected with the first tray lifting assembly.

[0029] A first motor is arranged on the slide rail, and the first motor is used to drive the first cylinder to drive the first tray lifting assembly to move along the slide rail.

[0030] A control method of a high-speed sterilization tray loading system is applied to the high-speed sterilization tray loading system, and the control method comprises:

[0031] The control method controls the front conveying station to convey the empty sterilization tray to the first tray lifting mechanism and the second tray lifting mechanism.

[0032] The control method judges whether the empty sterilization tray conveyed to the end of the front conveying station needs to be loaded.

[0033] If the empty sterilization tray conveyed to the end of the front conveying station needs to be loaded, the control method judges whether the second tray lifting mechanism is in the loading station. If the second tray lifting mechanism is in the loading station, the control method controls the second tray lifting mechanism to convey the empty sterilization tray to below the tray loading robot, controls the tray loading robot to load the sterilization tray in the second tray lifting mechanism, and controls the second tray lifting mechanism to convey the sterilization tray to the rear conveying station after loading. If the second tray lifting mechanism is not in the loading station, the control method controls the first tray lifting mechanism to convey the empty sterilization tray to below the tray loading robot, and controls the tray loading robot to load the sterilization tray in the first tray lifting mechanism.

[0034] If the empty sterilization tray conveyed to the end of the front conveying station does not need to be loaded, the control method controls the first tray lifting mechanism to convey the empty sterilization tray to the rear conveying station.

[0035] The control method judges whether the first tray lifting mechanism is loading during the return of the second tray lifting mechanism from the rear conveying station. If the first tray lifting mechanism is loading, the control method controls the second tray lifting mechanism to track and change the tray with the first tray lifting mechanism. If the first tray lifting mechanism is not loading, the control method controls the second tray lifting mechanism to wait for the conveying of a new empty sterilization tray.

[0036] Preferably, the specific steps of the second tray lifting mechanism tracking and changing the tray comprise:

[0037] The control method controls the second tray lifting mechanism to move above the first tray lifting mechanism and synchronizes, and controls the tray loading robot to stop loading.

[0038] The control method controls the first tray lifting mechanism to drive the sterilization tray to rise to the second tray lifting mechanism, and realizes the changing of the tray with the second tray lifting mechanism.

[0039] Preferably, the control method further comprises:

[0040] After the second tray-lifting mechanism and the first tray-lifting mechanism complete the tray exchange, the first tray-lifting mechanism is controlled to move to the front conveying station, and it is determined again whether the empty sterilization tray conveyed to the end of the front conveying station needs to be loaded.

[0041] Preferred options also include:

[0042] When either the first or second lifting mechanism malfunctions, the loading system is controlled to reduce its overall speed, and the loading and transport of sterilization trays is achieved by controlling the malfunctioning lifting mechanism.

[0043] The high-speed sterilization tray loading system provided by this invention includes a front conveying station, a rear conveying station, a first tray lifting mechanism, a second tray lifting mechanism, and a tray loading robot. The front conveying station is used to convey empty sterilization trays toward the loading station, and the rear conveying station is used to continue conveying loaded sterilization trays to subsequent stations. The second tray lifting mechanism is disposed between the front conveying station and the rear conveying station and is used to convey sterilization trays to the rear conveying station. The first tray lifting mechanism is disposed between the front conveying station and the rear conveying station and is located below the second tray lifting mechanism. The first tray lifting mechanism is used to convey sterilization trays to the rear conveying station or the second tray lifting mechanism, and the tray loading robot is used to load sterilization trays onto the first tray lifting mechanism or onto the second tray lifting mechanism.

[0044] The high-speed sterilization tray loading system provided in this application features a first and second tray-lifting mechanism installed in a staggered manner. The loading robot can perform loading at both the upper and lower levels. While loading sterilization trays from the second tray-lifting mechanism, the first tray-lifting mechanism prepares empty trays in advance. After the second tray-lifting mechanism is fully loaded and transported to the rear conveyor station, the first tray-lifting mechanism moves to the loading station and cooperates with the loading robot for loading. After the second tray-lifting mechanism returns, the first tray-lifting mechanism transfers the loaded sterilization trays to the second tray-lifting mechanism for loading. After the transfer is completed, the first tray-lifting mechanism begins its high-speed return to the empty tray area to receive empty trays. This application solves the problem of insufficient speed due to tray-changing gaps during tray changes. Furthermore, it provides a seamless tray-changing solution when specific trays are not loaded, resolving the problem of material blockage and machine stoppage when empty trays are being released. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0046] Figure 1 This is a first-view schematic diagram of the high-speed sterilization tray loading system in this embodiment;

[0047] Figure 2 This is a second-view schematic diagram of the high-speed sterilization tray loading system in this embodiment;

[0048] Figure 3 This is a flowchart of the sterilization tray loading process in this embodiment.

[0049] Figures 1-3 In the accompanying drawings, the reference numerals include:

[0050] 1. Front conveyor station; 2. Rear conveyor station;

[0051] 3. First lifting mechanism; 31. Slide rail; 32. First lifting assembly; 33. First electric cylinder; 34. Lifting assembly; 35. First motor;

[0052] 4. Second lifting mechanism; 41. Frame; 42. Second lifting assembly; 43. Second electric cylinder; 44. Second motor;

[0053] 5. Plating robot. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly. This application discloses a high-speed sterilization tray loading system and its control method.

[0056] The core of this invention is to provide a high-speed sterilization tray loading system.

[0057] Another core aspect of this invention is to provide a control method for a high-speed sterilization tray loading system, which is applied to the aforementioned high-speed sterilization tray loading system.

[0058] Please refer to Figures 1 to 3 . Figure 3 The lifting mechanism A is the first lifting mechanism 3, and the lifting mechanism B is the second lifting mechanism 4.

[0059] The high-speed sterilization tray loading system provided by the present invention includes a front conveying station 1, a rear conveying station 2, a first tray lifting mechanism 3, a second tray lifting mechanism 4, and a tray loading robot 5. The front conveying station 1 is used to convey empty sterilization trays toward the loading station. The rear conveying station 2 is used to continue conveying the loaded sterilization trays to the subsequent station. The second tray lifting mechanism 4 is located between the front conveying station 1 and the rear conveying station 2 and is used to convey sterilization trays to the rear conveying station 2. The first tray lifting mechanism 3 is located between the front conveying station 1 and the rear conveying station 2, and is located below the second tray lifting mechanism 4. The first tray lifting mechanism 3 is used to convey sterilization trays to the rear conveying station 2 or the second tray lifting mechanism 4. The tray loading robot 5 is used to load sterilization trays onto the first tray lifting mechanism 3 or onto the second tray lifting mechanism 4.

[0060] Specifically, the front output station 1 and the rear conveying station 2 are respectively set at both ends of the system and connected to the external conveying station. The first tray lifting mechanism 3 and the second tray lifting mechanism 4 are arranged in a staggered manner. The second tray lifting mechanism 4 is set between the front conveying station 1 and the rear conveying station 2. It is used to transport the sterilization trays of the front conveying station 1 to the rear conveying station 2. When passing the loading station, the tray loading robot 5 loads the sterilization trays in the second tray lifting mechanism 4. During the loading and conveying process of the second tray lifting mechanism 4, the first tray lifting mechanism 3 moves to the front conveying station 1 to wait for new empty sterilization trays to be transported. When a new sterilization tray needs to be loaded, the first tray lifting mechanism 3 moves the new sterilization tray to the loading station to wait for the second tray lifting mechanism 4 to finish loading before loading it. When a new sterilization tray does not need to be loaded, the first tray lifting mechanism 3 directly moves the new sterilization tray to the rear conveying station 2. When the second tray lifting mechanism 4 returns after conveying and the first tray lifting mechanism 3 is loading, the second tray lifting mechanism 4 tracks and synchronizes with the first tray lifting mechanism 3, stops the loading robot 5, and controls the first tray lifting mechanism 3 to move the loading sterilization tray to the second tray lifting mechanism 4 to continue loading. Then the first tray lifting mechanism 3 will continue to return to the front conveying station 1 to wait for the delivery of new sterilization trays.

[0061] It should be noted that when determining whether a new sterilization tray from the front conveyor station 1 needs to be loaded, it is necessary to consider how many fully loaded sterilization trays have been transported from the previous unloaded tray to the rear conveyor station 2, and whether the specified requirements have been met. At the same time, it is necessary to determine whether there is a sterilization tray being loaded on the second lifting mechanism 4, and whether the sterilization tray can be loaded and transported to the rear conveyor station 2 before being transported by the first lifting mechanism 3.

[0062] In the aforementioned high-speed sterilization tray loading system, the first tray lifting mechanism 3 and the second tray lifting mechanism 4 are installed in a staggered manner. The loading robot 5 can perform loading at both the upper and lower levels. While loading the sterilization trays of the second tray lifting mechanism 4, the first tray lifting mechanism 3 prepares empty trays in advance. After the sterilization trays of the second tray lifting mechanism 4 are fully loaded and transported to the rear conveying station 2, the first tray lifting mechanism 3 can move to the loading station and cooperate with the loading robot 5 to load the trays. After the second tray lifting mechanism 4 returns, the first tray lifting mechanism 3 transfers the loaded sterilization trays to the second tray lifting mechanism 4 for loading. After the transfer is completed, the first tray lifting mechanism 3 begins its high-speed return to the empty tray area to receive empty trays. This application solves the problem of insufficient speed during tray changing due to gaps in the changing process. It also provides a seamless tray changing solution when specific trays are not loaded, solving the problem of material blockage and machine stoppage when empty trays are being released.

[0063] The high-speed sterilization tray loading system provided by the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments.

[0064] In one specific implementation, reference is made to... Figure 1 and Figure 2 The front conveying station 1, the second lifting mechanism 4, and the rear conveying station 2 are all clamped on two opposite sides of the same group of sterilization trays, while the first lifting mechanism 3 is clamped on two opposite sides of another group of sterilization trays.

[0065] Specifically, taking the planar schematic diagram of the sterilization tray as an example, its upper and lower surfaces are the first set of clamping surfaces, and its left and right surfaces are the second set of clamping surfaces. During the conveying process, the front conveying station 1, the second tray lifting mechanism 4, and the rear conveying station 2 are all clamped on the first set of clamping surfaces of the sterilization tray, while the first tray lifting mechanism 3 is clamped on the second set of clamping surfaces of the sterilization tray. Then, during the tray exchange process between the first tray lifting mechanism 3 and the second tray lifting mechanism 4, after the second tray lifting mechanism 4 clamps on the first set of clamping surfaces, the first tray lifting mechanism 3 is controlled to release its clamping on the second set of clamping surfaces, thereby realizing the tray exchange operation between the two tray lifting mechanisms.

[0066] Based on any of the above embodiments, refer to Figure 1 and Figure 2 The second tray lifting mechanism 4 includes a frame 41, a second tray lifting assembly 42, and a second drive assembly. The frame 41 is disposed between the front conveying station 1 and the rear conveying station 2. The second tray lifting assembly 42 is slidably disposed on the frame 41 and is used to convey the sterilization tray from the front conveying station 1 to the rear conveying station 2. The second drive assembly is used to drive the second tray lifting assembly 42 to move along the frame 41.

[0067] Specifically, frame 41 is fixedly positioned between the front conveying station 1 and the rear conveying station 2. The second pallet-lifting assembly 42 is mounted on frame 41, and its conveying plane is flush with the conveying planes of both the front and rear conveying stations 1 and 2. A second drive assembly drives the second pallet-lifting assembly 42 to move along frame 41, traversing between the front conveying station 1, the loading station, and the rear conveying station 2. The loading station is located below the palletizing robot 5, facilitating loading by the robot. It should be noted that the specific structure of the second pallet-lifting assembly 42 is prior art, including how loading is performed, how the pallet is conveyed from the front conveying station 1 to the second pallet-lifting assembly 42, and how the pallet is conveyed from the second pallet-lifting assembly 42 to the rear conveying station 2. These details will not be elaborated further.

[0068] Furthermore, the second drive assembly includes a second electric cylinder 43 and a second motor 44. The second electric cylinder 43 is mounted on the frame 41 and is connected to the second lifting plate assembly 42. The second motor 44 is mounted on the frame 41 and is used to drive the second electric cylinder 43 to move the second lifting plate assembly 42 along the frame 41.

[0069] Specifically, the second motor 44 and the second electric cylinder 43 are equipped with a transmission assembly, which can be any transmission method such as gear transmission. By controlling the second motor 44 to work, the second electric cylinder 43 is driven to move along the conveying direction of the frame 41. There are two second electric cylinders 43, located on both sides of the frame 41. The second motor 44 is located on one side of one of the second electric cylinders 43, and the second motor 44 and the other second electric cylinder 43 are rotatably connected by a connecting shaft device to realize the synchronous movement of the two second electric cylinders 43 and increase the stability of the second lifting plate assembly 42 during movement.

[0070] Based on any of the above embodiments, refer to Figure 1 and Figure 2 The first tray lifting mechanism 3 includes a slide rail 31, a first tray lifting assembly 32, a lifting assembly 34, and a first drive assembly. The slide rail 31 is located below the frame 41. The first tray lifting assembly 32 is slidably mounted on the slide rail 31 and is used to transport the sterilization tray from the front conveying station 1 to the rear conveying station 2 or the second tray lifting assembly 42. The lifting assembly 34 is located between the first tray lifting assembly 32 and the slide rail 31 and is used to drive the first tray lifting assembly 32 to rise and fall. The first drive assembly is used to drive the first tray lifting assembly 32 to move along the slide rail 31.

[0071] Specifically, the slide rail 31 is located in the middle of the lower part of the frame 41. Compared to the frame 41 being located between the end of the front conveying station 1 and the front of the rear conveying station 2, the slide rail 31 is located between the front of the sterilization tray at the end of the front conveying station 1 and the front of the rear conveying station 2. This ensures that the first tray lifting assembly 32 operates from bottom to top during tray retrieval and delivery, regardless of its relationship with the front conveying station 1, the second tray lifting assembly 42, or the rear conveying station 2. The lifting assembly 34 elevates the first tray lifting assembly 32 to complete the receiving, changing, and delivery of the sterilization tray. The difference between the first tray lifting assembly 32 and the second tray lifting assembly 42 lies in their different clamping positions on the sterilization tray, thus ensuring smooth operation during tray receiving and changing. Unlike the second lifting mechanism 4, the first lifting mechanism 3 is equipped with a lifting component, which is used to raise or lower the first lifting component 32 to ensure that the operation of receiving, changing and sending the tray can be completed better. The lifting component can be a lifting cylinder or other structures with lifting function.

[0072] Furthermore, the first drive assembly includes a first electric cylinder 33 and a first motor 35. The first electric cylinder 33 is mounted on the slide rail 31 and is connected to the first lifting plate assembly 32. The first motor 35 is mounted on the slide rail 31 and is used to drive the first electric cylinder 33 to move the first lifting plate assembly 32 along the slide rail 31.

[0073] Specifically, the first electric cylinder 33 is located in the middle of the slide rail 31, and the output end of the first electric cylinder 33 is connected to the first lifting plate assembly 32. The first motor 35 is located on one side of the first electric cylinder 33 and is used to drive the first electric cylinder 33 to reciprocate. The first motor 35 and the first electric cylinder 33 can be driven by a transmission method such as gear transmission.

[0074] refer to Figures 1 to 3 .

[0075] The control method for the high-speed sterilization tray loading system provided by this invention is applied to the aforementioned high-speed sterilization tray loading system, wherein the control method includes:

[0076] The control unit 1 transports the empty sterilization tray toward the first tray lifting mechanism 3 and the second tray lifting mechanism 3;

[0077] Determine whether the empty sterilization trays transported to the end of the front conveying station 1 need to be loaded;

[0078] If an empty sterilization tray delivered to the end of the front conveying station 1 needs to be loaded, determine whether the second tray lifting mechanism 4 is in the loading station. If the second tray lifting mechanism 4 is in the loading station, control the second tray lifting mechanism 4 to deliver the empty sterilization tray to the bottom of the loading robot 5, and control the loading robot 5 to load the sterilization tray in the second tray lifting mechanism 4. After loading is completed, control the second tray lifting mechanism 4 to deliver the sterilization tray to the rear conveying station 2. If the second tray lifting mechanism 4 is not in the loading station, control the first tray lifting mechanism 3 to deliver the empty sterilization tray to the bottom of the loading robot 5, and control the loading robot 5 to load the sterilization tray in the first tray lifting mechanism 3.

[0079] If the empty sterilization trays conveyed to the end of the front conveying station 1 do not need to be loaded, control the first tray lifting mechanism 3 to convey the empty sterilization trays to the rear conveying station 2.

[0080] During the return process of the second tray lifting mechanism 4 from the rear conveying station 2, it is determined whether the first tray lifting mechanism 3 is loading. If the first tray lifting mechanism 3 is loading, the second tray lifting mechanism 4 is controlled to track and exchange trays with the first tray lifting mechanism 3. If the first tray lifting mechanism 3 is not loading, the second tray lifting mechanism 4 is controlled to wait for a new empty sterilization tray to be conveyed.

[0081] Specifically, by using the process Figure 3 The system first performs a zero-finding operation. After this operation, each station is in standby mode. Empty sterilization trays are conveyed to the end of the front conveyor station 1. The first tray-lifting mechanism 3 clamps the empty tray and conveys it to the loading station (if it is the first empty tray after the system has started, the second tray-lifting mechanism 4 can directly convey it to the loading station for loading by the tray-loading robot 5). The system then determines whether the empty tray needs to be loaded with products. If it does not, the first tray-lifting mechanism 3 directly conveys it to the rear conveyor station 2. If it does, the system continues to determine whether the second tray-lifting mechanism 4 is currently loading. If it is, the first tray-lifting mechanism 3 then... Mechanism 3 enters a waiting state until the second tray-lifting mechanism 4 finishes loading. If the second tray-lifting mechanism 4 is not loading, the loading robot 5 is controlled to load the sterilization trays on the first tray-lifting mechanism 3. While loading the first tray-lifting mechanism 3, the second tray-lifting mechanism 4 is transported to the rear conveying station 2 and returns. The second tray-lifting mechanism 4 is controlled to track and synchronize with the first tray-lifting mechanism 3. At this time, the loading robot 5 is stopped, and the first tray-lifting mechanism 3 is controlled to transport the sterilization trays being loaded to the second tray-lifting mechanism 4. Then, the loading robot 5 is controlled to continue loading the sterilization trays on the second tray-lifting mechanism 4. At this time, the first tray-lifting mechanism 3 returns to the front conveying station 1 to retrieve the new sterilization trays and determine whether products need to be loaded. This process is repeated.

[0082] The control method of the high-speed sterilization tray loading system described above achieves seamless handover between the two tray lifting mechanisms and enables the direct transport of empty trays that do not need to be loaded to the rear end without affecting the loading process, thus solving the problem of insufficient speed due to tray changing gaps.

[0083] Based on any of the above embodiments, the specific steps of the second lifting mechanism 4 in tracking and changing the reel include:

[0084] Control the second lifting mechanism 4 to move above the first lifting mechanism 3 and synchronize, control the loading robot 5 to stop loading;

[0085] The first lifting mechanism 3 is controlled to raise the sterilization tray to the second lifting mechanism 4, and the tray is exchanged with the second lifting mechanism 4.

[0086] Specifically, the second tray-lifting mechanism 4 is controlled to track and synchronize with the first tray-lifting mechanism 3 until the second tray-lifting mechanism 4 moves above the first tray-lifting mechanism 3. At the same time, the loading robot 5 is controlled to temporarily stop loading. The lifting components in the first tray-lifting mechanism 3 are used to realize the tray exchange between the first tray-lifting mechanism 3 and the second tray-lifting mechanism 4, and the second tray-lifting mechanism 4 continues to load the unloaded sterilization trays.

[0087] It should be noted that if the sterilization tray on the first lifting mechanism 3 is loaded during the tracking process of the second lifting mechanism 4, it is necessary to determine whether the subsequent sterilization trays at the front conveying station 1 need to be loaded. If loading is required, the first lifting mechanism 3 can directly transport the fully loaded sterilization tray from the lower conveying channel to the rear conveying station 2, and control the second lifting mechanism 4 to pick up the new empty tray at the front conveying station 1 and move it to the loading station for loading. If loading is not required, the tray exchange between the first lifting mechanism 3 and the second lifting mechanism 4 is still performed, and the first lifting mechanism 3 moves the sterilization trays that do not need to be loaded at the front conveying station 1 to the rear conveying station 2.

[0088] Based on any of the above embodiments, the control method further includes, after the second tray lifting mechanism 4 and the first tray lifting mechanism 3 have completed the tray exchange, controlling the first tray lifting mechanism 3 to move to the front conveying station 1, and determining again whether the empty sterilization tray conveyed to the end of the front conveying station 1 needs to be loaded.

[0089] Based on any of the above embodiments, the control method further includes controlling the loading system to reduce its overall speed when one of the first lifting mechanism 3 or the second lifting mechanism 4 fails, and controlling the non-faulty lifting mechanism to realize the loading and transportation of sterilization trays.

[0090] Specifically, this mode is a single-lift mechanism mode. The faulty lifting mechanism is moved to a position other than the loading station. Because the two lifting mechanisms are installed in a staggered manner, they do not interfere with each other during transport. Simultaneously, the single-lift mechanism mode requires speed reduction in coordination with the overall system to facilitate the transfer of the sterilization trays. The advantage of this method is that the normal operation of the lifting mechanism is not affected during the repair of the faulty mechanism, ensuring the loading and transport progress of the sterilization trays.

[0091] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0092] The high-speed sterilization tray loading system and its control method provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A high speed sterilization tray loading system characterized by, The application relates to a sterilization tray conveying device. The device comprises: a front conveying station (1) for conveying empty sterilization trays towards a loading station; a rear conveying station (2) for conveying loaded sterilization trays to a subsequent station; a second tray lifting mechanism (4) arranged between the front conveying station (1) and the rear conveying station (2), the second tray lifting mechanism (4) being used for conveying sterilization trays to the rear conveying station (2); a first tray lifting mechanism (3) arranged between the front conveying station (1) and the rear conveying station (2), the first tray lifting mechanism (3) being arranged below the second tray lifting mechanism (4), the first tray lifting mechanism (3) being used for conveying sterilization trays to the rear conveying station (2) or the second tray lifting mechanism (4); a tray loading robot (5) used for loading sterilization trays on the first tray lifting mechanism (3) or the second tray lifting mechanism (4); the front conveying station (1), the second tray lifting mechanism (4) and the rear conveying station (2) are clamped on the same set of two opposite sides of the sterilization tray; the first tray lifting mechanism (3) is clamped on another set of two opposite sides of the sterilization tray; 2. A high speed sterilization tray loading system as defined in claim 1, wherein, during the loading and conveying of the second tray lifting mechanism (4), the first tray lifting mechanism (3) moves to the front conveying station (1) to wait for the arrival of new empty sterilization trays, when new sterilization trays need to be loaded, the first tray lifting mechanism (3) moves the new sterilization trays to the loading station to wait, after the second tray lifting mechanism (4) is loaded, the first tray lifting mechanism (3) loads the new sterilization trays, when the new sterilization trays do not need to be loaded, the first tray lifting mechanism (3) directly moves the new sterilization trays to the rear conveying station (2), when the second tray lifting mechanism (4) is conveying and the first tray lifting mechanism (3) is loading, the second tray lifting mechanism (4) tracks and synchronizes the first tray lifting mechanism (3), stops the tray loading robot (5) and controls the first tray lifting mechanism (3) to move the loading sterilization trays to the second tray lifting mechanism (4) to continue loading, then the first tray lifting mechanism (3) continues to return to the front conveying station (1) to wait for the arrival of new sterilization trays. The second tray lifting mechanism (4) comprises: a frame (41) arranged between the front conveying station (1) and the rear conveying station (2); a second tray lifting assembly (42) slidingly arranged on the frame (41) and used for conveying the sterilization trays from the front conveying station (1) to the rear conveying station (2); 3. A high speed sterilization tray loading system as defined in claim 2, wherein, a second driving assembly used for driving the second tray lifting assembly (42) to move along the frame (41). The second driving assembly comprises: a second electric cylinder (43) arranged on the frame (41) and connected with the second tray lifting assembly (42); a second motor (44) arranged on the frame (41) and used for driving the second electric cylinder (43) to drive the second tray lifting assembly (42) to move along the frame (41).

4. A high speed sterilization tray loading system as defined in claim 2, wherein, The first tray lifting mechanism (3) comprises: a slide rail (31) arranged below the frame (41); a first tray lifting assembly (32) slidingly arranged on the slide rail (31) and used for conveying the sterilization tray from the front conveying station (1) to the rear conveying station (2) or the second tray lifting assembly (42); a lifting assembly (34) arranged between the first tray lifting assembly (32) and the slide rail (31) and used for driving the first tray lifting assembly (32) to lift and lower; a first driving assembly used for driving the first tray lifting assembly (32) to move along the slide rail (31).

5. A high speed sterilization tray loading system as defined in claim 4, wherein, The first driving assembly comprises: a first electric cylinder (33) arranged on the slide rail (31), wherein the first electric cylinder (33) is connected with the first tray lifting assembly (32); a first motor (35) arranged on the slide rail (31), wherein the first motor (35) is used for driving the first electric cylinder (33) to drive the first tray lifting assembly (32) to move along the slide rail (31).

6. A control method of a high-speed sterilization tray loading system, characterized by, The control method applied to the high-speed sterilization tray loading system according to any one of claims 1-5, the control method comprising: controlling the front conveying station (1) to convey the empty sterilization tray towards the first tray lifting mechanism (3) and the second tray lifting mechanism (4); judging whether the empty sterilization tray conveyed to the end of the front conveying station (1) needs to be loaded; if the empty sterilization tray conveyed to the end of the front conveying station (1) needs to be loaded, judging whether the second tray lifting mechanism (4) is at a loading station, if the second tray lifting mechanism (4) is at the loading station, controlling the second tray lifting mechanism (4) to convey the empty sterilization tray to below the tray loading robot (5), controlling the tray loading robot (5) to load the sterilization tray in the second tray lifting mechanism (4), and controlling the second tray lifting mechanism (4) to convey the sterilization tray to the rear conveying station (2) after loading is completed, if the second tray lifting mechanism (4) is not at the loading station, controlling the first tray lifting mechanism (3) to convey the empty sterilization tray to below the tray loading robot (5), and controlling the tray loading robot (5) to load the sterilization tray in the first tray lifting mechanism (3); if the empty sterilization tray conveyed to the end of the front conveying station (1) does not need to be loaded, controlling the first tray lifting mechanism (3) to convey the empty sterilization tray to the rear conveying station (2); judging whether the first tray lifting mechanism (3) is loading during the returning of the second tray lifting mechanism (4) from the rear conveying station (2), if the first tray lifting mechanism (3) is loading, controlling the second tray lifting mechanism (4) to track and exchange the tray with the first tray lifting mechanism (3), if the first tray lifting mechanism (3) is not loading, controlling the second tray lifting mechanism (4) to wait for a new empty sterilization tray to be conveyed.

7. The control method of a high-speed sterilization tray loading system according to claim 6, wherein, The specific steps of the second tray lifting mechanism (4) tracking and exchanging the tray comprise: controlling the second tray lifting mechanism (4) to move to above the first tray lifting mechanism (3) and to be synchronized, and controlling the tray loading robot (5) to stop loading; The first tray lifting mechanism (3) is controlled to drive the sterilization tray to ascend to the second tray lifting mechanism (4) and to realize tray exchange with the second tray lifting mechanism (4).

8. The control method of a high-speed sterilization tray loading system according to claim 7, wherein, Further comprising: After the second tray lifting mechanism (4) and the first tray lifting mechanism (3) complete the tray exchange, the first tray lifting mechanism (3) is controlled to move to the front conveying station (1), and it is judged again whether the empty sterilization tray conveyed to the end of the front conveying station (1) needs to be loaded.

9. A control method for a high speed sterilization tray loading system according to any one of claims 6-8, characterized in that, Further comprising: When one of the first tray lifting mechanism (3) or the second tray lifting mechanism (4) fails, the loading system is controlled to run at a reduced speed, and the loading and conveying of the sterilization tray are realized by controlling the non-failed tray lifting mechanism.

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