Tray feeding and discharging mechanism

Abstract

The invention belongs to the technical field of production equipment, and particularly discloses a tray feeding and discharging mechanism which comprises a main control computer, a machine body, a feeding mechanism, a lifting mechanism and a discharging mechanism. The main control computer is used for controlling the feeding mechanism, the lifting mechanism and the discharging mechanism. The feeding mechanism is used for placing a plurality of vertically stacked material trays, and a plurality of materials are contained in the material trays; the lifting mechanism is used for sequentially lifting the material trays stacked in the feeding structure to a material grabbing position and can drive the material trays to vertically move; the discharging mechanism comprises a bearing structure, a pull-back structure and a storage structure, the bearing structure is used for bearing the empty trays, and the pull-back structure is used for transferring the empty trays borne by the bearing structure into the storage structure to be stored. And a downward pressing structure is arranged at the top of the machine body, the downward pressing structure is used for downward pressing the empty tray, the situation that the empty tray is not lowered in place can be avoided, and the situation that the tray is damaged by a downward pressing block when a downward pressing piece overshoots can be avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of production equipment, and in particular relates to a tray loading and unloading mechanism. Background Art

[0002] Tray is a load-bearing workpiece running on the production line, also called tray. When using tray to load materials, it can hold multiple small parts at one time, and the shape and position of each placement slot on the tray are fixed, which is also convenient for industrial robots to pick up materials.

[0003] The patent previously applied by this enterprise discloses a loading and unloading system for mining instruments (202211416559.3), including a main control machine, a machine body, and a loading mechanism, a lifting mechanism and a unloading mechanism located in the machine body. The loading mechanism is used to place a number of vertically stacked trays, and the lifting mechanism is used to lift the trays stacked in the loading structure to the material grabbing position one by one and can drive the trays to move vertically. The unloading mechanism unloads the empty trays. A pressing member is provided on the top of the machine body, and a pressing plate is provided at the driving end of the pressing member. The pressing plate is used to press down the empty tray, and the pressing member is used to drive the pressing plate to move vertically. When the receiving plate does not receive the tray, the empty tray will fall on the support plate under the action of its own gravity. In order to ensure that the support falls in place, a pressing plate is provided to assist in pressing down, and the pressing member drives the pressing plate to move downward, and the pressing plate presses down the empty tray until the empty tray is located on the support plate.

[0004] When our company used this equipment, it was found that the pressing part was likely to overshoot when pressing down, causing damage to the material tray. Summary of the invention

[0005] The purpose of the present invention is to provide a tray loading and unloading mechanism to solve the problem that when a pressing member is pressed down, overshoot is likely to occur, causing damage to the tray.

[0006] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a tray loading and unloading mechanism comprises a main control machine, a machine body, and a loading mechanism, a lifting mechanism and a unloading mechanism located in the machine body; the main control machine is used to control the loading mechanism, the lifting mechanism and the unloading mechanism; the loading mechanism is used to place a plurality of vertically stacked trays, and a plurality of materials are placed in the trays; the lifting mechanism is used to lift the trays stacked in the loading mechanism to the material grabbing position one by one and can drive the trays to move vertically; the unloading mechanism comprises a receiving structure, a pull-back structure and a storage structure, and tray dividing grooves are provided on both sides of the tray, and the receiving structure comprises The receiving parts are located on both sides of the tray, and each group of receiving parts includes a receiving plate and a first driving member. The first driving member is arranged on the body, and the first driving member is used to drive the receiving plate laterally. The receiving plate is opposite to the tray dividing slot of the topmost tray and can be inserted into the tray dividing slot; the pull-back structure is used to pull the empty tray on the receiving plate to the storage structure for storage, and the pull-back structure includes a second driving member, a support plate and a pull-back assembly. The second driving member is used to drive the support plate to move between the storage structure and the receiving structure, and the support plate is located below the empty tray and is used to support it; the top of the body is provided with a lower A pressing structure, wherein the pressing structure is used to press down an empty tray, the pressing structure comprises a pressing member, a pressing plate and a pressing seat located above the empty tray, the pressing member being installed on the machine body, the pressing member being used to drive the pressing seat to move vertically, a rotating seat being provided on the side of the pressing seat close to the tray, and a limiting seat being provided on the other side, the pressing plate being rotatably connected to the rotating seat; a pressing block for pressing down the empty tray is provided on the lower side of one side of the pressing plate, and a limiting plate is provided on the upper side of the other side, the limiting plate being higher than the pressing block; a sensing member connected to the main control machine is provided in the limiting seat, and the sensing member is located at the limit of the limiting plate. The pull-back assembly is arranged on the side of the support plate away from the second driving member; the pull-back assembly comprises a pull-back block, an elastic member and a first mounting block, the first mounting block is fixed on the support plate, the side of the pull-back block away from the support plate is rotatably connected to the first mounting block, and the elastic member is used to reset the pull-back block; the surface of the first mounting block is not higher than the surface of the support plate, and the surface of the pull-back block can be higher than the surface of the support plate and higher than the bottom of the tray on the receiving plate under the action of the elastic member, and the pull-back block can be located below the tray on the receiving plate under the action of external force.

[0007] Further, the feeding mechanism includes a third driving member, a first material rack, a first industrial guide rail, a second industrial guide rail, a fixed plate, a handle and a first positioning assembly, the first material rack includes a connecting bottom plate and limit blocks located at the four corner positions of the connecting bottom plate, and the limit blocks are used to limit the four corners of the tray; the third driving member and the first industrial guide rail are both installed on the inner bottom of the machine body, and the lower side of the fixed plate is slidably connected to the first industrial guide rail; a door body is provided on one side of the machine body, and the third driving member is used to drive the fixed plate to move between the door body and the feeding station position; The second industrial guide rail is installed on the upper side of the fixed plate, and the connecting base plate is slidably connected to the second industrial guide rail; the handle is fixed on the side of the connecting base plate close to the door body, and the first material rack can be moved to the outside of the machine body through the door body; the first positioning assembly includes a first positioning member and a second positioning member, and the connecting base plate and the fixed plate are correspondingly provided with positioning holes, and the first positioning member positions the connecting base plate and the fixed plate through the positioning holes; the second positioning member is used to sense whether the first material rack has reached the loading station position and send the sensed signal to the main control machine.

[0008] Furthermore, the lifting mechanism includes a lifting component, a limiting component and a second positioning component, the lifting component includes a fourth driving member, a vertical moving structure and two groups of receiving frames, the fourth driving member is used to drive the vertical moving structure, the vertical moving structure is used to drive the receiving frame to move vertically, the initial position of the receiving frame is located below the connecting base plate, and the two groups of receiving frames are respectively located on both sides of the connecting base plate; both sides of the connecting base plate are provided with through grooves that can pass through the receiving frames; the receiving frames are used to lift the trays stacked on the first material rack; the limiting component is located above the machine body and is used to limit the topmost tray; the second positioning component is located below the limiting component, the second positioning component is used to sense and locate the position of the tray, and send the sensing signal to the main control machine, and the distance between the second positioning component and the limiting component is greater than the sum of the thickness of a group of trays and the thickness of the support plate.

[0009] Furthermore, the storage structure includes a second material rack, a mounting frame, a fifth drive member, a sixth drive member, a lifting pallet and a support assembly, the second material rack is fixed on the top of the machine body, the second material rack is used to collect empty trays, the mounting frame is fixed on the top of the machine body and is located below the second material rack, the fifth drive member and the sixth drive member are fixed on the mounting frame, the fifth drive member is used to drive the lifting pallet to move vertically, and the lifting pallet is used to support the empty tray; an opening is provided on the lifting pallet, the driving end of the sixth drive member is connected to the second drive member, and the sixth drive member drives the support plate to move into the opening through the second drive member; the width of the support plate is smaller than the width of the tray and the width of the lifting pallet; the support assembly is used to receive the empty tray lifted by the lifting pallet.

[0010] Further, the support assembly is provided with two groups, each group of the support assembly includes two groups of support structures respectively located on both sides of the body, each group of the support structure includes a second mounting block, a receiving block, a rotating shaft and a spring pin, the second mounting block is fixed to the top of the body, a groove is provided on the second mounting block, the groove faces the tray, the rotating shaft and the receiving block are located in the groove, the rotating shaft is rotatably connected in the groove, the lower side of the receiving block is fixed on the rotating shaft, the bottom of the receiving block is against the groove, the back of the groove is provided with a mounting hole, and the spring pin is fixed in the mounting hole; A slide groove is provided on the back of the receiving block, and the end of the spring pin is located in the slide groove and is used to reset the receiving block; the top of the receiving block can support the tray, and the side of the receiving block close to the tray is set as an inclined surface, and there is an acute angle between the top surface of the receiving block and the inclined surface; after the receiving block rotates, the tray can pass between the receiving blocks on both sides; in the absence of external force, the distance between the tops of the receiving blocks on both sides is smaller than the length distance on the corresponding two sides of the tray; the width of the two sides of the lifting support plate facing the receiving block is smaller than the width of the tray.

[0011] Furthermore, guide structures are provided on both sides of the interior of the machine body, and each group of the guide structures includes a connecting limit plate and two groups of positioning plates with L-shaped horizontal cross-sections, the upper sides of the two groups of positioning plates are fixed to the machine body, and the two sides of the connecting limit plate are connected to the outside of the lower sides of the two groups of positioning plates, and the lower sides of the connecting limit plates are lower than the lower sides of the positioning plates; the L-shaped inner sides of the four groups of positioning plates respectively guide the four corners of the tray; the four groups of positioning plates can respectively face the four groups of limit blocks at the loading station position; the height distance between the limit block and the positioning plate is less than the thickness of a tray; the lower side of the connecting limit plate is located on the outer side of the limit block.

[0012] Furthermore, the limit assembly includes two groups of limit structures respectively located on both sides of the machine body, each group of the limit structures includes an in-place limit plate and a first limit sensor and a second limit sensor connected to the main control machine, the in-place limit plate is located above the machine body and is used to limit the topmost tray; the in-place limit plate is provided with a through hole, the detection end of the first limit sensor is located in the through hole, the first limit sensor is used to detect the position of the topmost tray and send the position information to the main control machine; the second limit sensor is installed on the in-place limit plate, and the two groups of the second limit sensors respectively form a signal transmitting end and a signal receiving end, the second limit sensor is used to detect the part of the tray extending out of the in-place limit plate and send the detection signal to the main control machine, and the main control machine changes the lifting speed of the lifting mechanism according to the sensing signal sent by the second limit sensor.

[0013] Furthermore, the elastic member adopts a torsion spring, and a mounting groove and a rotation groove are provided on the side of the pull-back block away from the support plate, and a first fixing member and a second fixing member are fixed on the side of the first mounting block away from the support plate, and the first fixing member and the torsion spring are both located in the mounting groove; the second fixing member is located below the first fixing member, and the second fixing member is located at the lower side of the rotation groove and is used to rotationally limit the end of the pull-back block away from the support plate; a rotation hole is provided on the side of the pull-back block away from the support plate, and the first fixing member is rotatably connected in the rotation hole; the torsion spring is sleeved on the outside of the first fixing member; one free end of the torsion spring is against the top of the mounting groove, and the other free end is located above the second fixing member and can be against the second fixing member under the action of external force.

[0014] Furthermore, a notch is provided on one side of the lifting plate away from the pullback assembly, and a first in-place sensor connected to the main control machine is provided at a position of the mounting frame opposite to the notch, and the first in-place sensor is used to detect whether the tray is pulled back in place.

[0015] Further, the vertical moving structure includes a first synchronous wheel, a second synchronous wheel, a synchronous belt, a tensioning wheel, a threaded rod, a nut seat, a vertical plate, a vertical block and two groups of industrial guide rails; the fourth driving member and the vertical plate are respectively fixed in the machine body, and the two groups of industrial guide rails are respectively fixed on both sides of the vertical plate; the upper and lower sides of the vertical plate are respectively provided with mounting seats, and the two sides of the threaded rod are respectively rotatably connected with the two groups of mounting seats; the fourth driving member drives the first synchronous wheel to rotate, the bottom of the threaded rod is connected with the second synchronous wheel, the first synchronous wheel and the second synchronous wheel are connected by a synchronous belt, the tensioning wheel is used to tension the synchronous belt, and the center axis of the tensioning wheel is fixed in the machine body; the second synchronous wheel is used to drive the threaded rod to rotate; a nut seat is threadedly connected on the threaded rod, the vertical block is fixed on the nut seat, and the two sides of the vertical block are slidably connected with the two groups of industrial guide rails; two groups of receiving frames are fixed on the vertical plate.

[0016] The beneficial effects of this technical solution are:

[0017] ① This technical solution can transfer the empty tray to the second rack for storage by setting up a material unloading mechanism. Workers can directly move the tray in the second rack and then load the materials into it. This improves efficiency and reduces the labor intensity of workers.

[0018] ② In this technical solution, by setting up a loading mechanism, workers only need to pull the first material rack out of the machine body, and then stack the trays containing materials in the first material rack in sequence. There is no need to lift the basket containing the trays into the grabbing position, thereby reducing the labor intensity of workers.

[0019] ③ Setting the lower pressure plate can prevent the empty tray from not falling into place. And by setting the limit block, limit seat and sensor, and rotating the lower pressure plate to the rotating seat, it can prevent the lower pressure block from damaging the tray when the lower pressure piece overshoots. The main control machine can close the lower pressure piece according to the sensing signal of the sensor.

[0020] ④ A second positioning component is provided to position the lowering position of the tray and leave a channel for the support plate.

[0021] ⑤ In the unloading mechanism of the present technical solution, the empty trays are stacked layer by layer from below, thus saving space.

[0022] ⑥ The lifting mechanism and the unloading mechanism cooperate to ensure that the empty tray after grabbing the material is transferred in time, thereby improving production efficiency.

[0023] ⑦ This technical solution supports both sides of the tray by setting up four sets of receiving blocks to prevent the tray from tilting.

[0024] ⑧This technical solution can detect whether the tray is pulled back in place by setting a first in-place sensor, thereby preventing the tray from being stuck due to the jacking up due to failure to pull back in place.

[0025] ⑨Using a torsion spring in the pullback structure can improve stability.

[0026] ⑩ By setting the first limit sensor and the second limit sensor in the limit assembly, it is possible to avoid the situation where the tray plate collides with the in-place limit plate when the fourth driving member overshoots, causing damage to the tray plate.

[0027] The guide mechanism can guide the tray that is separated from the first material rack to ensure the stability of the tray's up and down movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the external structure of the tray loading and unloading mechanism of the present invention;

[0029] Figure 2 It is a first axonometric view of the internal structure of the tray loading and unloading mechanism of the present invention;

[0030] Figure 3 It is a second axonometric view of the internal structure of the tray loading and unloading mechanism of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the tray;

[0032] Figure 5 It is the first axonometric view of the feeding mechanism;

[0033] Figure 6 It is the second axonometric view of the feeding mechanism;

[0034] Figure 7 It is a structural diagram of the lifting mechanism;

[0035] Figure 8 It is a structural schematic diagram of the guide structure, the downward pressing structure and the limit assembly;

[0036] Fig. 9 for Figure 8 Schematic diagram of cooperation with tray;

[0037] Fig.10 It is a structural schematic diagram of the downward pressure structure;

[0038] Fig.11 It is a structural diagram of the receiving structure;

[0039] Fig.12 It is a structural schematic diagram of the pullback structure;

[0040] Fig.13 for Fig.12 A schematic diagram of the structure of the middle pullback assembly;

[0041] Fig.14 It is a schematic diagram of the storage structure;

[0042] Fig.15 for Fig.14 Schematic diagram of the structure of the middle support assembly. DETAILED DESCRIPTION

[0043] The following is further described in detail through specific implementation methods:

[0044] The reference numerals in the drawings of the specification include: main control machine 1, machine body 2, tray plate 3, first material rack 4, third driving member 5, first industrial guide rail 6, second industrial guide rail 7, fixing plate 8, handle 9, connecting bottom plate 10, limit block 11, door body 12, first positioning member 13, second positioning member 14, second in-position sensor 15, chamfer 16, placement groove 17, upper body 18, lower body 19, plate dividing groove 20, fourth driving member 21, receiving frame 22, through groove 23, coupling 24, second synchronous wheel 25, synchronous belt 26, threaded rod 27, nut seat 28, vertical plate 29, vertical block 30, industrial guide rail 31, mounting seat 32, in-position limit plate 33, first limit sensor 34, second limit sensor 35, through hole 36, connecting limit plate 37, positioning plate 38, receiving plate 39, first driving member 40, second driving member 41 , support plate 42, pressing member 43, pressing plate 44, pressing seat 45, rotating seat 46, limiting seat 47, pressing block 48, limiting plate 49, pulling back block 50, elastic member 51, first mounting block 52, mounting groove 53, rotating groove 54, first fixing member 55, second fixing member 56, second material rack 57, mounting rack 58, fifth driving member 59, sixth driving member 60, lifting support plate 61, full material sensing switch 62, switch Mouth 63, second mounting block 64, receiving block 65, rotating shaft 66, spring pin 67, groove 68, slide groove 69, inclined surface 70, notch 71, notch 72, first in-position sensor 73, opposing switch 74, opposing limit seat 75, opposing limit block 76, pullback assembly 77, supporting assembly 78, receiving structure 79, feeding mechanism 80, lifting mechanism 81, unloading mechanism 82, pressing structure 83, and limiting structure 84.

[0045] 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.

[0046] The embodiment is basically as shown in the attached Figure 1-15 As shown: tray loading and unloading mechanism, such as Figure 1-3 As shown, it includes a main control machine 1, a machine body 2, and a loading mechanism 80, a lifting mechanism 81 and a unloading mechanism 82 located in the machine body 2; the main control machine 1 is used to control the loading mechanism 80, the lifting mechanism 81 and the unloading mechanism 82.

[0047] like Figure 5 , 6 As shown, the loading mechanism 80 is used to place a number of vertically stacked trays 3. The loading mechanism 80 includes a third drive member 5, a first material rack 4, a first industrial guide rail 6, a second industrial guide rail 7, a fixed plate 8, a handle 9 and a first positioning assembly. The first material rack 4 includes a connecting bottom plate 10 and limit blocks 11 located at the four corners of the connecting bottom plate 10. The limit blocks 11 are used to limit the four corners of the tray 3. The third drive member 5 and the first industrial guide rail 6 are both installed on the inner bottom of the machine body 2, and the lower side of the fixed plate 8 is slidably connected to the first industrial guide rail 6; a door body 12 is provided on one side of the machine body 2, and the third drive member 5 is used to drive the fixed plate 8 to move between the door body 12 and the loading station position. The driving end of the third drive member 5 is connected to the fixed plate 8, and the third drive member 5 adopts a cylinder. The second industrial guide rail 7 is installed on the upper side of the fixed plate 8, and the connecting bottom plate 10 is slidably connected to the second industrial guide rail 7. The handle 9 is fixed on the side of the connecting bottom plate 10 close to the door body 12, and the first material rack 4 can be moved to the outside of the machine body 2 through the door body 12. The first positioning assembly includes a first positioning member 13 and a second positioning member 14. Positioning holes are correspondingly provided on the connecting bottom plate 10 and the fixed plate 8. The first positioning member 13 positions the connecting bottom plate 10 and the fixed plate 8 through the positioning holes. The first positioning member 13 adopts a spring pin. The second positioning member 14 is used to sense whether the first material rack 4 has reached the loading station position and send the sensed signal to the main control machine 1. In this embodiment, the second positioning member 14 determines whether the first material rack 4 has reached the loading station position by sensing the distance between it and the fixed plate 8. The machine body 2 is provided with a second in-position sensor 15 connected to the main control machine 1. The second in-position sensor 15 is located on the side close to the door body 12. The width of the connecting bottom plate 10 is greater than the fixed plate 8. The second in-position sensor 15 is located below the connecting bottom plate 10 and is used to detect whether the connecting bottom plate 10 has moved into position.

[0048] like Figure 4As shown, a plurality of materials are placed in the tray 3; a plurality of placement slots 17 for placing materials are provided on the top of the tray 3; the tray 3 comprises an upper body 18 and a lower body 19, the upper body 18 and the lower body 19 are bonded, the upper body 18 is made of EVA foam, the lower body 19 is an antistatic bakelite board, the lengths of the upper body 18 and the lower body 19 are the same, the width of the upper body 18 is smaller than the width of the lower body 19, and the upper body 18 is located at the center of the lower body 19. Tray dividing slots 20 are provided on both sides of the length direction of the lower body 19. A chamfer 16 for error prevention is provided at one corner of the tray 3, and the other three corners of the tray 3 are right angles; a limit slot matching the chamfer 16 is provided on the inner side of one set of limit blocks 11, and the inner sides of the other three sets of limit blocks 11 are right angles.

[0049] like Figure 7 As shown, the lifting mechanism 81 is used to gradually lift the trays 3 stacked in the loading mechanism 80 to the material grabbing position and can drive the trays 3 to move vertically; the lifting mechanism 81 includes a lifting assembly, a limit assembly and a second positioning assembly, and the lifting assembly includes a fourth driving member 21, a vertical moving structure and two groups of receiving frames 22, the fourth driving member 21 is used to drive the vertical moving structure, and the vertical moving structure is used to drive the receiving frames 22 to move vertically. The initial position of the receiving frames 22 is located below the connecting base plate 10, and the two groups of receiving frames 22 are respectively located on both sides of the connecting base plate 10; both sides of the connecting base plate 10 are provided with through slots 23 that can pass through the receiving frames 22, as shown in FIG. Figure 5 , 6 As shown. The receiving frame 22 is used to lift the trays 3 stacked on the first material rack 4. The limit assembly is located above the machine body 2 and is used to limit the topmost tray 3; the second positioning assembly is located below the limit assembly, and the second positioning assembly is used to sense and locate the position of the tray 3, and send the sensing signal to the main control machine 1. The distance between the second positioning assembly and the limit assembly is greater than the sum of the thickness of a group of trays 3 and the thickness of the support plate 42. The second positioning assembly uses an infrared transmitter and an infrared receiver respectively arranged on both sides of the machine body.

[0050] The vertical moving structure includes a first synchronous wheel, a second synchronous wheel 25, a synchronous belt 26, a tension wheel, a threaded rod 27, a nut seat 28, a vertical plate 29, a vertical block 30 and two sets of industrial guide rails 31; the fourth driving member 21 and the vertical plate 29 are respectively fixed in the machine body 2, and the two sets of industrial guide rails 31 are respectively fixed on both sides of the vertical plate 29. The upper and lower sides of the vertical plate 29 are respectively provided with mounting seats 32, and the two sides of the threaded rod 27 are respectively rotatably connected to the two sets of mounting seats 32. The fourth driving member 21 drives the first synchronous wheel to rotate, and the fourth driving member 21 adopts a motor. A second synchronous wheel 25 is connected to the bottom of the threaded rod 27, and the first synchronous wheel and the second synchronous wheel 25 are connected by a synchronous belt 26. The tensioning wheel is used to tension the synchronous belt 26, and the central axis of the tensioning wheel is fixed in the machine body 2; the second synchronous wheel 25 is used to drive the threaded rod 27 to rotate, and specifically, the threaded rod 27 and the central axis of the second synchronous wheel 25 are connected by a coupling 24; a nut seat 28 is threadedly connected to the threaded rod 27, and a vertical block 30 is fixed on the nut seat 28, and both sides of the vertical block 30 are slidably connected to two groups of industrial guide rails 31; two groups of receiving frames 22 are fixed on the vertical plate 29.

[0051] like Figure 8 , 9 As shown, the limit assembly includes two groups of limit structures 84 respectively located on both sides of the body 2, each group of limit structures 84 includes an in-place limit plate 33 and a first limit sensor 34 and a second limit sensor 35 connected to the main control machine 1. The in-place limit plate 33 is located above the body 2 and is used to limit the lower body 19 of the uppermost tray 3; the in-place limit plate 33 is provided with a through hole 36, and the detection end of the first limit sensor 34 is located in the through hole 36. The first limit sensor 34 is used to detect the position of the uppermost tray 3 and send the position information to the main control machine 1. When the tray 3 is just in contact with the in-place limit plate 33, the distance between the tray 3 and the first limit sensor 34 is the in-place distance. The second limit sensor 35 is installed on the in-place limit plate 33. The two groups of second limit sensors 35 respectively form a signal transmitting end and a signal receiving end. The second limit sensor 35 is used to detect the upper body 18 of the tray 3 extending out of the in-place limit plate 33 and send the detection signal to the main control machine 1. The main control machine 1 changes the lifting speed of the lifting mechanism 81 according to the sensing signal sent by the second limit sensor 35. The second limit sensor 35 adopts a through-beam sensor, and the light of the through-beam sensor is higher than that of the first limit sensor 34.

[0052] Both sides of the interior of the machine body 2 are provided with guide structures, and each group of guide structures includes a connecting limit plate 37 and two groups of positioning plates 38 with L-shaped horizontal cross-sections. The upper sides of the two groups of positioning plates 38 are fixed to the machine body 2, and the two sides of the connecting limit plate 37 are connected to the outside of the lower sides of the two groups of positioning plates 38, and the lower side of the connecting limit plate 37 is lower than the lower side of the positioning plate 38. The L-shaped inner sides of the four groups of positioning plates 38 guide the four corners of the tray 3 respectively; the four groups of positioning plates 38 can be respectively opposite to the four groups of limit blocks 11 at the loading station position. The height distance between the limit block 11 and the positioning plate 38 is less than the thickness of a tray 3; the lower side of the connecting limit plate 37 is located on the outer side of the limit block 11.

[0053] like Figure 6 , 8 As shown, two groups of limit blocks 11 close to one side of the lifting mechanism 81 are respectively provided with a cross-interference limit block 76, the front end of the cross-interference limit block 76 is conical, and the lower side of the two groups of positioning plates 38 corresponding to the two groups of limit blocks 11 is provided with a cross-interference limit seat 75, and the cross-interference limit seat 75 is provided with a cross-interference limit groove matching the cross-interference limit block 76.

[0054] The unloading mechanism 82 includes a receiving structure 79, a pull-back structure and a storage structure. The receiving structure 79 includes receiving parts located on both sides of the tray 3, such as Fig.11 As shown, each set of receiving parts includes a receiving plate 39 and a first driving member 40, the first driving member 40 is arranged on the machine body 2, and the first driving member 40 is used to drive the receiving plate 39 horizontally, and the first driving member 40 adopts a cylinder. The receiving plate 39 is opposite to the tray slot 20 of the top tray 3 and can be inserted into the tray slot 20.

[0055] like Fig.12 As shown, the pull-back structure is used to pull the empty tray 3 on the receiving plate 39 to the storage structure for storage, and the pull-back structure includes a second driving member 41, a support plate 42 and a pull-back assembly 77. The second driving member 41 is used to drive the support plate 42 to move between the storage structure and the receiving structure 79. The first driving member 41 adopts a cylinder, and the driving end of the first driving member 41 is connected to the support plate 42. The support plate 42 is located below the empty tray 3 and is used to support it.

[0056] The pull-back assembly 77 is disposed on a side of the support plate 42 away from the second driving member 41. The pull-back assembly 77 includes two groups, such as Fig.13As shown, each set of pullback components 77 includes a pullback block 50, an elastic member 51 and a first mounting block 52. The first mounting block 52 is fixed on the support plate 42. The side of the pullback block 50 away from the support plate 42 is rotatably connected to the first mounting block 52. The elastic member 51 is used to reset the pullback block 50. The surface of the first mounting block 52 is not higher than the surface of the support plate 42. Under the action of the elastic member 51, the surface of the pullback block 50 can be higher than the surface of the support plate 42 and higher than the bottom of the tray 3 on the receiving plate 39. Under the action of external force, the pullback block 50 can be located below the tray 3 on the receiving plate 39. Specifically, the elastic member 51 is a torsion spring, and a mounting groove 53 and a rotation groove 54 are provided on the side of the pull-back block 50 away from the support plate 42. A first fixing member 55 and a second fixing member 56 are fixed on the side of the first mounting block 52 away from the support plate 42. The first fixing member 55 and the torsion spring are both located in the mounting groove 53; the second fixing member 56 is located below the first fixing member 55, and the second fixing member 56 is located at the lower side of the rotation groove 54 and is used to rotationally limit the end of the pull-back block 50 away from the support plate 42. A rotation hole is provided on the side of the pull-back block 50 away from the support plate 42, and the first fixing member 55 is rotationally connected in the rotation hole; the torsion spring is sleeved on the outside of the first fixing member 55; one free end of the torsion spring abuts against the top of the mounting groove 53, and the other free end is located above the second fixing member 56 and can abut against the second fixing member 56 under the action of an external force.

[0057] The top of the machine body 2 is provided with a pressing structure 83, which is used to press down the empty tray 3. Fig.10 As shown, the pressing structure 83 includes a pressing member 43, a pressing plate 44 and a pressing seat 45 located above the empty tray 3. The pressing member 43 is installed on the machine body 2. The pressing member 43 is used to drive the pressing seat 45 to move vertically. The pressing member 43 specifically adopts a linear motor. A rotating seat 46 is provided on the side of the pressing seat 45 close to the tray 3, and a limiting seat 47 is provided on the other side. The pressing plate 44 is rotatably connected to the rotating seat 46. A pressing block 48 for pressing down the empty tray 3 is provided on the lower side of one side of the pressing plate 44, and a limiting plate 49 is provided on the upper side of the other side. The limiting plate 49 is higher than the pressing block 48. A sensing element connected to the main control machine 1 is provided in the limiting seat 47. The sensing element is located below the limiting plate 49 and is used to sense the distance between the limiting plate 49 and the main control machine 1.

[0058] like Fig.12 , 14As shown in Figure 15, the storage structure includes a second material rack 57, a mounting frame 58, a fifth driving member 59, a sixth driving member 60, a lifting support plate 61 and a support assembly 78. The second material rack 57 is fixed to the top of the machine body 2. The second material rack 57 is used to collect the empty tray 3. The top of the second material rack 57 is provided with a full material sensing switch 62 connected to the main control machine 1. The mounting frame 58 is fixed to the top of the machine body 2 and is located below the second material rack 57. The fifth driving member 59 and the sixth driving member 60 are fixed to the mounting frame 58. The fifth driving member 59 is used to drive the lifting support plate 61 to move vertically. The fifth driving member can specifically be a lifting cylinder. The lifting plate 61 is used to support the empty tray 3. An opening 63 is provided on the lifting plate 61. The driving end of the sixth driving member 60 is connected to the second driving member 41. The sixth driving member 60 drives the support plate 42 to move into the opening 63 through the second driving member 41. The sixth driving member 60 can adopt a cylinder; the width of the support plate 42 is smaller than the width of the tray 3 and the width of the lifting plate 61.

[0059] The support assembly 78 is used to receive the empty tray 3 lifted by the lifting plate 61. There are two groups of support assemblies 78, and each group of support assemblies 78 includes two groups of support structures located on both sides of the machine body 2. Fig.15 As shown, each group of supporting structures includes a second mounting block 64, a receiving block 65, a rotating shaft 66 and a spring pin 67. The second mounting block 64 is fixed to the top of the machine body 2. A groove 68 is provided on the second mounting block 64. The groove 68 faces the tray 3. The rotating shaft 66 and the receiving block 65 are located in the groove 68. The rotating shaft 66 is rotatably connected in the groove 68. The lower side of the receiving block 65 is fixed on the rotating shaft 66. The bottom of the receiving block 65 abuts against the groove 68. The back of the groove 68 is provided with a mounting hole, and the spring pin 67 is fixed in the mounting hole. A slide groove 69 is provided on the back of the receiving block 65. The end of the spring pin 67 is located in the slide groove 69 and is used to reset the receiving block 65. The top of the receiving block 65 can support the tray 3. The side of the receiving block 65 close to the tray 3 is set as an inclined surface 70. There is an acute angle between the top surface of the receiving block 65 and the inclined surface 70. After the receiving block 65 rotates, the tray 3 can pass between the receiving blocks 65 on both sides. In the absence of external force, the distance between the tops of the receiving blocks 65 on both sides is smaller than the length distance of the corresponding two sides of the tray 3. The width of the two sides of the lifting plate 61 facing the receiving blocks 65 is smaller than the width of the tray 3. Specifically, the two sides of the lifting plate 61 are provided with notches 71, and the notches 71 can pass through the receiving blocks 65. Fig.12 A notch 72 is provided on one side of the lifting support plate 61 away from the pullback assembly 77, and a first in-position sensor 73 connected to the main control machine 1 is provided at the position of the mounting frame 58 facing the notch 72. The first in-position sensor 73 is used to detect whether the tray 3 is pulled back in place.

[0060] like Fig.14 As shown, a transmitter of a beam switch 74 and a receiver of the beam switch 74 are respectively provided on both sides of the machine body 2. The transmitter of the beam switch 74 and the receiver of the beam switch 74 are respectively located on both sides above the lifting plate 61. The height of the light emitted by the transmitter of the beam switch 74 and the height distance between the lifting plate 61 are less than the thickness of a group of tray plates 3. The beam switch 74 is used to detect whether there are tray plates 3 on the lifting plate 61.

[0061] The specific implementation process is as follows:

[0062] The first step is to load the first rack 4. The specific steps are as follows: open the door 12, start the third drive 5, and the third drive 5 drives the connecting bottom plate 10 and the limit block 11 to move toward the door 12 through the fixed plate 8 until the second in-place sensor 15 senses the connecting bottom plate 10. The second in-place sensor 15 sends the sensing signal to the main control machine 1, and the main control machine 1 closes the third drive 5. Then the staff presses down the first positioning member 13 to separate the connecting bottom plate 10 and the fixed plate 8, and then pulls the connecting bottom plate 10 through the handle 9, and the connecting bottom plate 10 slides on the second industrial guide rail 7 until the first rack 4 passes through the door 12 and is completely located outside the door 12. Then the staff adds the tray 3 containing the material into the first rack 4 in turn, and the limit block 11 limits the four corners of the tray 3. After filling, the staff pushes the connecting bottom plate 10 through the handle 9 to restore it to its original position, and then uses the first positioning member 13 to position the connecting bottom plate 10 and the fixed plate 8. Finally, start the third driving member 5, which drives the first material rack 4 and the tray 3 to move toward the loading station through the fixed plate 8. When the second positioning member 14 senses that the first material rack 4 has arrived at the loading station, it sends a signal to the main control machine 1, and the main control machine 1 turns off the third driving member 5 and starts the lifting mechanism 81.

[0063] The second step is to lift the tray 3 to the material grabbing position so that the material grabbing system can grab the material in the upper tray 3. The specific steps are as follows: the main control machine 1 starts the fourth driving member 21, and the fourth driving member 21 drives the vertical block 30 and the receiving frame 22 to move upward through the first synchronous wheel, the second synchronous wheel 25, the threaded rod 27 and the nut seat 28. During the upward movement of the receiving frame 22, the tray 3 in the first material frame 4 will be lifted upward through the through slot 23 connected to the bottom plate 10. During the lifting process, the upper body 18 of the tray 3 will first pass between the two sets of in-place limit plates 33, and the second limit sensor 35 will sense the tray 3 and send the sensing signal to the main control machine 1. The main control machine 1 will then reduce the rotation speed of the fourth driving member 21, so that the rising speed of the tray 3 will slow down. At the same time, the first limit sensor 34 will sense the distance between it and the lower body 19, and send the sensing signal to the main control machine 1. When the set distance is reached, the main control machine 1 will close the fourth driving member 21. Then the main control machine 1 starts the material taking system (such as a robot or other grabbing mechanism) to grab the material in the uppermost tray 3. After the grabbing is completed, the main control machine 1 starts the material unloading mechanism 82.

[0064] In the third step, the unloading mechanism 82 unloads the empty tray 3 and stores it in the second material rack 57. The specific steps are as follows: the main control machine 1 starts the first driving member 40, and the first driving member 40 drives the receiving plate 39 to extend into the tray slots 20 on both sides of the tray 3 to receive the tray 3. Then the main control machine 1 starts the fourth driving member 21, and the fourth driving member 21 drives the vertical block 30, the receiving rack 22 and other trays 3 to move downward through the first synchronous wheel, the second synchronous wheel 25, the threaded rod 27 and the nut seat 28, until the uppermost tray 3 with materials no longer blocks the infrared rays emitted by the second positioning component, so that the infrared receiver can smoothly receive the infrared rays, and the second positioning component sends the sensing signal to the main control machine 1, and the main control machine 1 closes the fourth driving member 21. At this time, a channel is left between the empty tray 3 and the uppermost tray 3 with materials. The main control machine 1 starts the sixth driving member 60 and the second driving member 41, and the second driving member 41 drives the support plate 42 through the channel. The initial height of the pull-back block 50 is higher than the support plate 42 and higher than the bottom of the empty tray 3 at this time. Therefore, in the process of the support plate 42 driving the pull-back block 50 to move, the empty tray 3 will apply pressure to one side of the pull-back block 50, and the pull-back block 50 rotates to compress the elastic member 51. When the pull-back block 50 moves to the outside of the empty tray 3, the empty tray 3 no longer applies force to the pull-back block 50, so the pull-back block 50 returns to its original position upward under the elastic force of the elastic member 51. At this time, the surface of the pull-back block 50 is higher than the bottom of the tray 3 on the receiving plate 39. Then the main control machine 1 starts the first driving member 40, and the first driving member 40 drives the receiving plate 39 to return to its original position and no longer receives the tray 3. The empty tray 3 will fall onto the support plate 42 under the action of its own gravity. In order to ensure that the support plate 42 falls into place, a lower pressing plate 44 is provided to assist in pressing down, and the main control machine 1 starts the lower pressing member 43, and the lower pressing member 43 drives the lower pressing plate 44 to move downward, and the lower pressing plate 44 presses down the empty tray 3 until the empty tray 3 is located on the support plate 42. In this process, if the lower pressing member 43 is overshot, the lower pressing plate 44 will rotate, causing the distance between the limit plate 49 and the sensing member to change. After the sensing member senses the distance change, it sends a signal to the main control machine 1, and the main control machine 1 immediately closes the lower pressing member 43. Afterwards, the main control machine 1 starts the second driving member 41 and the sixth driving member 60, and the second driving member 41 and the sixth driving member 60 drive the support plate 42 and the pull-back block 50 to move backward, and the pull-back block 50 drives the tray 3 above it to move along with the support plate 42, and the support plate 42 will move into the opening 63 until the first in-position sensor 73 senses the position of the upper tray 3 through the notch 72 on the lifting support plate 61, and the first in-position sensor 73 sends a sensing signal to the main control machine 1, and the main control machine 1 turns off the second driving member 41 and the sixth driving member 60.Then, the fifth driving member 59 is started to drive the lifting plate 61 to move upward, and the initial height of the lifting plate 61 does not exceed the height of the support plate 42. During the upward movement of the lifting plate 61, the empty tray 3 on the support plate 42 will be lifted up. During the upward movement of the empty tray 3, both sides of the empty tray 3 will apply an upward force to the inclined surface 70 of the receiving block 65, so that the receiving block 65 rotates, and the back of the receiving block 65 applies pressure to the spring pin 67 to compress it. After the receiving block 65 rotates, the empty tray 3 can pass smoothly. At this time, the empty tray 3 will no longer generate an upward force on the receiving block 65. The receiving block 65 returns to its original position under the elastic force of the spring pin 67, and the top of the receiving block 65 supports the empty tray 3. The four corners of the empty tray 3 are limited by the second material rack 57. Then the main control machine 1 controls the fifth driving member 59 to move in the reverse direction, and the fifth driving member 59 drives the lifting plate 61 to move downward to the original position. At this time, the beam switch 74 can successfully receive the light, indicating that the empty tray 3 has been successfully transferred to the second material rack 57.

[0065] In the above process, after the lifting plate 61 lifts up the empty tray 3, the second driving member 41 and the sixth driving member 60 drive the support plate 42 to return to the original position. After the empty tray 3 is transferred by the support plate 42, the fourth driving member 21 is started, and the fourth driving member 21 drives the vertical block 30 and the receiving frame 22 to move upward through the first synchronous wheel, the second synchronous wheel 25, the threaded rod 27 and the nut seat 28 until the uppermost tray 3 contacts the in-place limit plate 33, and then the next batch of materials is grabbed.

[0066] When the full material sensing switch 62 on the second material rack 57 senses the empty tray 3 on the top layer, a signal is sent to the main control computer 1 , and the main control computer 1 issues an alarm to remind the worker to take away the empty tray 3 .

[0067] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0068] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Tray loading and unloading mechanism, characterized by: The invention comprises a main control machine (1), a machine body (2), and a loading mechanism (80), a lifting mechanism (81) and a unloading mechanism (82) located in the machine body (2); the main control machine (1) is used to control the loading mechanism (80), the lifting mechanism (81) and the unloading mechanism (82); the loading mechanism (80) is used to place a plurality of vertically stacked trays (3), wherein the trays (3) contain a plurality of materials; the lifting mechanism (81) is used to successively lift the trays (3) stacked in the loading mechanism (80) to a material grabbing position and can drive the trays (3) to move vertically; the unloading mechanism (82) comprises a receiving structure (79), a pull-back structure and a storage structure, and ...) and the lifting mechanism (81) is used to successively lift the trays (3) stacked in the loading mechanism (80) to a material grabbing position and can drive the trays (3) to move vertically; the unloading mechanism (82) comprises a receiving structure (79), a pull-back structure and a storage structure, and the loading mechanism (80) is used to place a plurality of vertically stacked trays (3) and the lifting mechanism (81) is used to successively lift the trays (3) stacked in the loading mechanism (80) to a material grabbing position and can drive the trays (3) to move vertically. Tray trays (3) are provided with tray separation grooves (20) on both sides, the receiving structure (79) comprises receiving parts located on both sides of the tray tray (3), each group of receiving parts comprises a receiving plate (39) and a first driving member (40), the first driving member (40) is arranged on the machine body (2), the first driving member (40) is used to drive the receiving plate (39) transversely, the receiving plate (39) is directly opposite to the tray separation groove (20) of the topmost tray tray (3) and can be inserted into the tray separation groove (20); the pull-back structure is used to pull the empty tray tray (3) above the receiving plate (39) to the storage structure for storage, the pull-back structure comprises a second driving member (41), a support plate (42) and a pull-back assembly (77), the second driving member (41) is used to drive the support plate (42) to move between the storage structure and the receiving structure (79), the support plate (42) is located below the empty tray (3) and is used to support it; the top of the machine body (2) is provided with a downward pressing structure (83), the downward pressing structure (83) is used to press down the empty tray (3), the downward pressing structure (83) includes a downward pressing member (43) and a downward pressing plate (44) and a downward pressing seat (45) located above the empty tray (3), the downward pressing member (43) is installed on the machine body (2), the downward pressing member (43) is used to drive the downward pressing seat (45) to move vertically, and the downward pressing seat (45) A rotating seat (46) is provided on one side close to the tray (3), and a limiting seat (47) is provided on the other side, and the lower pressure plate (44) is rotatably connected to the rotating seat (46); a lower pressure block (48) for pressing down the empty tray (3) is provided on the lower side of one side of the lower pressure plate (44), and a limiting plate (49) is provided on the upper side of the other side, and the limiting plate (49) is higher than the lower pressure block (48); a sensing element connected to the main control machine (1) is provided in the limiting seat (47), and the sensing element is located below the limiting plate (49) and is used to sense the distance between the limiting plate (49) and the main control machine (1); the pullback assembly (77) is provided on the side of the support plate (42) away from the second driving member (41);The pull-back assembly (77) comprises a pull-back block (50), an elastic member (51) and a first mounting block (52); the first mounting block (52) is fixed on the support plate (42); the side of the pull-back block (50) away from the support plate (42) is rotatably connected to the first mounting block (52); the elastic member (51) is used to reset the pull-back block (50); the surface of the first mounting block (52) is not higher than the surface of the support plate (42); under the action of the elastic member (51), the surface of the pull-back block (50) can be higher than the surface of the support plate (42) and higher than the bottom of the tray plate (3) on the receiving plate (39); and the pull-back block (50) can be located below the tray plate (3) on the receiving plate (39) under the action of an external force. ; 2. The tray loading and unloading mechanism according to claim 1 is characterized in that: The feeding mechanism (80) includes a third driving member (5), a first material rack (4), a first industrial guide rail (6), a second industrial guide rail (7), a fixed plate (8), a handle (9) and a first positioning assembly, wherein the first material rack (4) includes a connecting bottom plate (10) and limit blocks (11) located at four corner positions of the connecting bottom plate (10), and the limit blocks (11) are used to limit the four corners of the tray (3); the third driving member (5) and the first industrial guide rail (6) are both installed on the inner bottom of the machine body (2), and the lower side of the fixed plate (8) is slidably connected to the first industrial guide rail (6); a door body (12) is provided on one side of the machine body (2), and the third driving member (5) is used to drive the fixed plate (8) to move between the door body (12) and the feeding station position. ; The second industrial guide rail (7) is installed on the upper side of the fixed plate (8), and the connecting base plate (10) is slidably connected to the second industrial guide rail (7); the handle (9) is fixed on the side of the connecting base plate (10) close to the door body (12), and the first material rack (4) can be moved to the outside of the machine body (2) through the door body (12); the first positioning component includes a first positioning member (13) and a second positioning member (14), and the connecting base plate (10) and the fixed plate (8) are respectively provided with positioning holes, and the first positioning member (13) positions the connecting base plate (10) and the fixed plate (8) through the positioning holes; the second positioning member (14) is used to sense whether the first material rack (4) has reached the loading station position and send the sensed signal to the main control machine (1).

3. The tray loading and unloading mechanism according to claim 2 is characterized in that: The lifting mechanism (81) comprises a lifting component, a limiting component and a second positioning component, the lifting component comprises a fourth driving member (21), a vertical moving structure and two groups of receiving frames (22), the fourth driving member (21) is used to drive the vertical moving structure, the vertical moving structure is used to drive the receiving frames (22) to move vertically, the initial position of the receiving frames (22) is located below the connecting base plate (10), and the two groups of receiving frames (22) are respectively located on both sides of the connecting base plate (10); the two sides of the connecting base plate (10) are provided with a plurality of holes that can be moved by the receiving frames (22); ) through slot (23); the receiving frame (22) is used to lift the trays (3) stacked on the first material rack (4); the limiting assembly is located above the machine body (2) and is used to limit the topmost tray (3); the second positioning assembly is located below the limiting assembly, the second positioning assembly is used to sense and locate the position of the tray (3) and send the sensing signal to the main control machine (1), and the distance between the second positioning assembly and the limiting assembly is greater than the sum of the thickness of a group of trays (3) and the thickness of the support plate (42).

4. The tray loading and unloading mechanism according to claim 1 is characterized in that: The storage structure comprises a second material rack (57), a mounting frame (58), a fifth driving member (59), a sixth driving member (60), a lifting support plate (61) and a supporting assembly (78), wherein the second material rack (57) is fixed on the top of the machine body (2), and the second material rack (57) is used to collect empty trays (3), the mounting frame (58) is fixed on the top of the machine body (2) and is located below the second material rack (57), the fifth driving member (59) and the sixth driving member (60) are fixed on the mounting frame (58), and the fifth driving member (59) is used to drive the lifting support plate (61) to move the lifting support plate (61) and the supporting assembly (78). The support plate (61) moves vertically, and the lifting support plate (61) is used to support the empty tray (3); an opening (63) is provided on the lifting support plate (61), and the driving end of the sixth driving member (60) is connected to the second driving member (41), and the sixth driving member (60) drives the support plate (42) to move into the opening (63) through the second driving member (41); the width of the support plate (42) is smaller than the width of the tray (3) and the width of the lifting support plate (61); the support assembly (78) is used to receive the empty tray (3) lifted by the lifting support plate (61).

5. The tray loading and unloading mechanism according to claim 4 is characterized in that: The support assembly (78) is provided with two groups, each group of the support assembly (78) includes two groups of support structures respectively located on both sides of the machine body (2), each group of the support structure includes a second mounting block (64), a receiving block (65), a rotating shaft (66) and a spring pin (67), the second mounting block (64) is fixed to the top of the machine body (2), a groove (68) is provided on the second mounting block (64), the groove (68) faces the tray (3), the rotating shaft (66) and the receiving block (65) are located in the groove (68), the rotating shaft (66) is rotatably connected in the groove (68), the lower side of the receiving block (65) is fixed on the rotating shaft (66), the bottom of the receiving block (65) is against the groove (68), the back of the groove (68) is provided with a mounting hole, and the spring pin (67) is fixed in the receiving block (65). The receiving block (65) is provided with a slide groove (69) on the back, and the end of the spring pin (67) is located in the slide groove (69) and is used to reset the receiving block (65); the top of the receiving block (65) can support the tray (3), and the side of the receiving block (65) close to the tray (3) is set as an inclined surface (70), and an acute angle is formed between the top surface of the receiving block (65) and the inclined surface (70); after the receiving block (65) rotates, the tray (3) can pass between the receiving blocks (65) on both sides; when no external force is applied, the distance between the tops of the receiving blocks (65) on both sides is less than the length distance of the corresponding two sides of the tray (3); the width of the two sides of the lifting support plate (61) facing the receiving block (65) is less than the width of the tray (3).

6. The tray loading and unloading mechanism according to claim 2 is characterized in that: Guide structures are provided on both sides of the interior of the machine body (2), and each group of the guide structures includes a connecting limit plate (37) and two groups of positioning plates (38) with L-shaped horizontal cross-sections. The upper sides of the two groups of positioning plates (38) are fixed to the machine body (2), and the two sides of the connecting limit plate (37) are connected to the outside of the lower sides of the two groups of positioning plates (38), and the lower sides of the connecting limit plates (37) are lower than the lower sides of the positioning plates (38); the L-shaped inner sides of the four groups of positioning plates (38) respectively guide the four corners of the tray (3); the four groups of positioning plates (38) can respectively face the four groups of limit blocks (11) at the loading station position; the height distance between the limit block (11) and the positioning plate (38) is less than the thickness of a tray (3); the lower side of the connecting limit plate (37) is located on the outer side of the limit block (11).

7. The tray loading and unloading mechanism according to claim 3 is characterized in that: The limit assembly comprises two groups of limit structures (84) respectively located on both sides of the machine body (2), each group of the limit structures (84) comprises an in-place limit plate (33) and a first limit sensor (34) and a second limit sensor (35) connected to the main control machine (1), the in-place limit plate (33) is located above the machine body (2) and is used to limit the uppermost tray (3); the in-place limit plate (33) is provided with a through hole (36), the detection end of the first limit sensor (34) is located in the through hole (36), and the first limit sensor (34) is used to detect The position of the topmost tray (3) is detected and the position information is sent to the main control machine (1); the second limit sensor (35) is installed on the in-place limit plate (33), and two groups of the second limit sensors (35) respectively form a signal transmitting end and a signal receiving end, and the second limit sensor (35) is used to detect the part of the tray (3) extending out of the in-place limit plate (33) and send the detection signal to the main control machine (1), and the main control machine (1) changes the lifting speed of the lifting mechanism (81) according to the sensing signal sent by the second limit sensor (35).

8. The tray loading and unloading mechanism according to claim 1 is characterized in that: The elastic member (51) is a torsion spring. A mounting groove (53) and a rotation groove (54) are provided on a side of the pull-back block (50) away from the support plate (42). A first fixing member (55) and a second fixing member (56) are fixed on a side of the first mounting block (52) away from the support plate (42). The first fixing member (55) and the torsion spring are both located in the mounting groove (53). The second fixing member (56) is located below the first fixing member (55). The second fixing member (56) is located between the first fixing member (55) and the rotation groove (54). ) and is used to rotationally limit the end of the pull-back block (50) away from the support plate (42); a rotation hole is provided on the side of the pull-back block (50) away from the support plate (42), and the first fixing member (55) is rotatably connected in the rotation hole; the torsion spring is sleeved on the outside of the first fixing member (55); one free end of the torsion spring is against the top of the installation groove (53), and the other free end is located above the second fixing member (56) and can be against the second fixing member (56) under the action of external force.

9. The tray loading and unloading mechanism according to claim 4 is characterized in that: A notch (72) is provided on one side of the lifting support plate (61) away from the pull-back assembly (77), and a first in-position sensor (73) connected to the main control machine (1) is provided on the mounting frame (58) at a position opposite to the notch (72). The first in-position sensor (73) is used to detect whether the pull-back of the tray (3) is in place.

10. The tray loading and unloading mechanism according to claim 3 is characterized in that: The vertical moving structure comprises a first synchronous wheel, a second synchronous wheel (25), a synchronous belt (26), a tension wheel, a threaded rod (27), a nut seat (28), a vertical plate (29), a vertical block (30) and two groups of industrial guide rails (31); the fourth driving member (21) and the vertical plate (29) are respectively fixed in the machine body (2), and the two groups of industrial guide rails (31) are respectively fixed on both sides of the vertical plate (29); the upper and lower sides of the vertical plate (29) are respectively provided with mounting seats (32), and the two sides of the threaded rod (27) are respectively rotatably connected to the two groups of mounting seats (32); the fourth driving member (21) drives the first synchronous wheel to rotate, and the A second synchronous wheel (25) is connected to the bottom of the threaded rod (27); the first synchronous wheel and the second synchronous wheel (25) are connected by a synchronous belt (26); the tensioning wheel is used to tension the synchronous belt (26); the central axis of the tensioning wheel is fixed in the machine body (2); the second synchronous wheel (25) is used to drive the threaded rod (27) to rotate; a nut seat (28) is threadedly connected to the threaded rod (27); the vertical block (30) is fixed on the nut seat (28); the two sides of the vertical block (30) are slidably connected to two groups of industrial guide rails (31); the two groups of the receiving frames (22) are fixed on the vertical plates (29).

Images