Full-automatic tray placing system and tray placing method

Abstract

The full-automatic tray placing system comprises a rack, a first gantry assembly, a second gantry assembly, a tray placing feeding device, a tray placing discharging device, a first material suction assembly, a second material suction assembly, an incoming material transfer assembly and a discharging transfer assembly, wherein the first gantry assembly and the second gantry assembly are parallel and symmetrical, and the incoming material transfer assembly and the discharging transfer assembly are located below the first gantry assembly and the second gantry assembly. The electric control device is connected with the first gantry assembly and the second gantry assembly, the first material image system is located below the first material suction assembly, and the second material image system is located below the second material suction assembly. By designing the wobble plate feeding device, the wobble plate discharging device, the supplied material transfer assembly, the discharged material transfer assembly, the first material suction assembly and the second material suction assembly which are reasonable in layout and compact in structure, the intelligent wobble plate device can be compatible with supplied material plates and discharged material plates of different types and specifications, and intelligent and automatic wobble plates of materials of different types and specifications are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of material placing for electronic circuit boards, and particularly to a fully automatic placing system and a placing method. Background Art

[0002] With the continuous improvement and progress of the FPC (Flexible Printed Circuit) process, the materials in the FPC field are becoming more and more diverse. For the traditional mechanical positioning with insufficient accuracy, it is easy to cause damage to the surface of the FPC. In addition, there are components on the FPC itself. Due to the thin material and easy deformation of the flexible circuit board, the existing clamping mechanisms have poor adaptability. When switching between multi-specification FPCs, manual parameter adjustment is required, resulting in low efficiency, which is not satisfactory. The placing path planning is not intelligent, leading to too long cycle time. Moreover, with the continuous improvement of the domestic automation level, new requirements are also put forward for the machine size and placement accuracy.

[0003] Therefore, it is necessary to design a fully automatic placing system with high precision and speed, which can meet the more intelligent automatic placing requirements of different types and specifications of materials on the same device. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a fully automatic placing system and a placing method, which can automatically and intelligently place different types and specifications of materials.

[0005] To solve the technical problems of the present invention, the present invention discloses a fully automatic placing system, including a frame, a first gantry assembly and a second gantry assembly fixedly arranged in parallel and symmetrically above the frame, a placing loading device fixedly arranged on the frame and the first gantry assembly, a placing unloading device fixedly arranged on the frame and the second gantry assembly, a material incoming transfer assembly and a material discharging transfer assembly fixedly arranged on the frame and located below the first gantry assembly and the second gantry assembly, a first material suction assembly fixedly arranged on the first gantry assembly, a second material suction assembly fixedly arranged on the second gantry assembly, an electric control device fixedly arranged on the frame and connecting the first gantry assembly and the second gantry assembly, and a first material imaging system fixedly arranged on the frame and located below the first material suction assembly and a second material imaging system located below the second material suction assembly;

[0006] The tray loading device includes a feeding loading component and a discharging loading component that are fixed on the frame and are respectively located at both ends below the first gantry component, and a feeding loading manipulator component and a discharging loading manipulator component that are fixed on the first side wall of the first gantry component and are respectively located above the feeding loading component and the discharging loading component; the feeding loading component and the discharging loading component can perform linear reciprocating movement in the vertical direction below the first gantry component, the feeding loading component is used to carry a feeding tray with materials, and the discharging loading component is used to carry an empty discharging tray; the feeding loading manipulator component can perform linear reciprocating movement in the vertical direction below the first gantry component and above the feeding loading component, and is used to pick up the feeding tray with materials on the feeding loading component and place it on the feeding transfer component; the discharging loading manipulator component can perform linear reciprocating movement in the vertical direction below the first gantry component and above the discharging loading component, and is used to pick up the empty discharging tray on the discharging loading component and place it on the discharging transfer component;

[0007] The tray unloading device includes a feeding unloading component and a discharging unloading component that are fixed on the frame and are respectively arranged at both ends below the second gantry component, and a feeding unloading manipulator component and a discharging unloading manipulator component that are fixed on the first side wall of the second gantry component and are respectively located above the feeding unloading component and the discharging unloading component; the feeding unloading component and the discharging unloading component can perform linear reciprocating movement in the vertical direction below the second gantry component, the feeding unloading component is used to carry an empty feeding tray, and the discharging unloading component is used to carry a discharging tray with materials; the feeding unloading manipulator component can perform linear reciprocating movement in the vertical direction below the second gantry component and above the feeding unloading component, and is used to pick up the empty feeding tray on the feeding transfer component and place it on the feeding unloading component; the discharging unloading manipulator component can perform linear reciprocating movement in the vertical direction below the second gantry component and above the discharging loading component, and is used to pick up the discharging tray with materials on the discharging transfer component and place it on the discharging unloading component;

[0008] The feeding transfer component can perform linear reciprocating movement below the feeding loading manipulator component and the feeding unloading manipulator component and above the feeding loading component and the feeding unloading component, and is used to transport the feeding tray with materials on the feeding loading component to below the first material suction component and the second material suction component. After the materials on the feeding tray with materials are sucked up, it transports the empty feeding tray to below the feeding unloading manipulator component. After the feeding unloading manipulator component sucks up the feeding tray, it returns to below the feeding loading manipulator component;

[0009] The feeding transfer component can perform linear reciprocating motion below the feeding loading manipulator component and the feeding unloading manipulator component and above the feeding loading component and the feeding unloading component, and is used to transport the empty feeding tray on the feeding loading component to below the first material suction component and the second material suction component. After the empty feeding tray is filled with materials, the feeding tray is transported to below the feeding unloading manipulator component. After the feeding unloading manipulator component sucks the feeding tray, it returns to below the feeding loading manipulator component;

[0010] The first material suction component and the second material suction component are respectively fixed on the second side wall of the first gantry component and the second side wall of the second gantry component in parallel and symmetrically, and can perform linear reciprocating movement along the axial directions of the first gantry component and the second gantry component respectively. They are used to suck the materials on the incoming material tray with materials on the incoming material transfer component, then move above the feeding transfer component, place the materials on the feeding tray of the feeding transfer component, and automatically adjust the distance between multiple suction nozzles on it according to the shape and size of the materials;

[0011] The first material imaging system and the second material imaging system are respectively fixed on the frame in parallel and symmetrically and are located in the middle of the incoming material transfer component and the feeding transfer component, and are used to detect the materials sucked by the first material suction component and the second material suction component, and judge the angle direction and quality of the materials.

[0012] Furthermore, the first gantry component and the second gantry component include a first column and a second column vertically fixed on the frame, and a cross beam horizontally installed on the first column and the second column. The cross beam includes the first side wall facing the outside of the frame and the second side wall facing the inside of the frame.

[0013] Furthermore, the incoming material loading component and the incoming material unloading component are of a symmetric structure, and include an incoming material bottom plate fixed on the frame, an incoming material motor fixed below the incoming material bottom plate, an incoming material adjusting component connected to the incoming material motor and fixed above the incoming material bottom plate, incoming material vertical plates vertically fixed on the incoming material adjusting component and separated at four corners, incoming material optical fibers and incoming material cylinders fixed at the top of the incoming material vertical plates, and an incoming material carrying driving component vertically fixed on the incoming material bottom plate;

[0014] The incoming material adjusting component includes an incoming material linear guide fixed on the incoming material bottom plate, an incoming material sliding plate movably connected to the incoming material linear guide and movable along the incoming material linear guide, an incoming material fixing plate fixed on the incoming material linear guide, an incoming material adjusting belt fixed on the incoming material bottom plate and connected to the incoming material sliding plate, and an incoming material adjusting synchronous pulley fixed on the incoming material bottom plate and connected to the incoming material adjusting belt and the incoming material motor; the incoming material adjusting component is used to correspondingly adjust the distance between the incoming material vertical plates according to the size of the incoming material tray; the incoming material vertical plates include two first incoming material vertical plates 491 fixed at both ends of the incoming material sliding plate, and two second incoming material vertical plates fixed at both ends of the incoming material fixing plate;

[0015] The incoming material carrying and driving component includes an incoming material driving module vertically fixed on the incoming material bottom plate, and an incoming material movable plate vertically fixed on the incoming material driving module and parallel to the incoming material bottom plate; the incoming material movable plate is used to carry the incoming material tray and can move linearly back and forth in the vertical direction driven by the incoming material driving module.

[0016] Furthermore, the material discharging and loading component and the material discharging and unloading component are symmetric structures, including a material discharging bottom plate fixed on the machine frame, a material discharging motor fixed below the material discharging bottom plate, a material discharging adjusting component fixed above the material discharging bottom plate and connected to the material discharging motor, material discharging vertical plates vertically fixed on the material discharging adjusting component and separated at four corners, a material discharging optical fiber and a material discharging air cylinder fixed at the top of the material discharging vertical plates, and a material discharging carrying and driving module vertically fixed on the material discharging bottom plate;

[0017] The material discharging adjusting component includes a material discharging linear guide fixed on the material discharging bottom plate, a material discharging sliding plate movably connected to the material discharging linear guide and movable along the material discharging linear guide, a material discharging fixing plate fixed on the material discharging linear guide, a material discharging adjusting belt fixed on the material discharging bottom plate and connected to the material discharging sliding plate, and a material discharging adjusting synchronous pulley fixed on the material discharging bottom plate and connected to the material discharging adjusting belt and the material discharging motor; the material discharging adjusting component is used to correspondingly adjust the distance between the material discharging vertical plates according to the size of the material discharging tray; the material discharging vertical plates include two first material discharging vertical plates fixed at both ends of the material discharging sliding plate, and two second material discharging vertical plates fixed at both ends of the material discharging fixing plate;

[0018] The material discharging carrying and driving component includes a material discharging driving module vertically fixed on the material discharging bottom plate, and a material discharging movable plate vertically fixed on the material discharging driving module and parallel to the material discharging bottom plate; the material discharging movable plate is used to carry the material discharging tray and can move linearly back and forth in the vertical direction driven by the material discharging driving module.

[0019] Furthermore, the incoming material loading manipulator assembly and the incoming material unloading manipulator assembly are symmetric structures, including an incoming material manipulator fixing plate fixed on the first side wall, an incoming material manipulator adjusting assembly fixed on the incoming material manipulator fixing plate, an incoming material manipulator motor fixed on the incoming material manipulator fixing plate and connected to the incoming material manipulator adjusting assembly, an incoming material manipulator rolling lead screw connected to the incoming material manipulator adjusting assembly and penetrating the incoming material manipulator fixing plate from top to bottom, an incoming material manipulator lifting plate fixed at the bottom of the incoming material manipulator rolling lead screw, and an incoming material manipulator suction nozzle fixed on the incoming material manipulator lifting plate and protruding outward;

[0020] The incoming material manipulator rolling lead screw can perform a linear reciprocating movement in the vertical direction under the drive of the incoming material manipulator adjusting assembly, and at the same time drive the incoming material manipulator lifting plate and the incoming material manipulator suction nozzle to move together;

[0021] The incoming material manipulator adjusting assembly includes an incoming material manipulator synchronous pulley fixed on the incoming material manipulator fixing plate and connected to the incoming material manipulator motor, and an incoming material manipulator synchronous belt connected to the incoming material manipulator synchronous pulley;

[0022] The incoming material manipulator rolling lead screw includes a first lead screw located at the middle position of the incoming material manipulator fixing plate and connected to the incoming material manipulator synchronous pulley, second and third lead screws located at both ends of the incoming material manipulator fixing plate, and a first cross bar connecting the tops of the first, second, and third lead screws.

[0023] Furthermore, the discharging material loading manipulator assembly and the discharging material unloading manipulator assembly are symmetric structures, including a discharging material manipulator fixing plate fixed on the first side wall, a discharging material manipulator adjusting assembly fixed on the discharging material manipulator fixing plate, a discharging material manipulator motor fixed on the discharging material manipulator fixing plate and connected to the discharging material manipulator adjusting assembly, a discharging material manipulator rolling lead screw connected to the discharging material manipulator adjusting assembly and penetrating the discharging material manipulator fixing plate from top to bottom, a discharging material manipulator lifting plate fixed at the bottom of the discharging material manipulator rolling lead screw, and a discharging material manipulator suction nozzle fixed on the discharging material manipulator lifting plate;

[0024] The discharging material manipulator rolling lead screw can perform a linear reciprocating movement in the vertical direction under the drive of the discharging material manipulator adjusting assembly, and at the same time drive the discharging material manipulator lifting plate and the discharging material manipulator suction nozzle to move together;

[0025] The discharging material manipulator adjusting assembly includes a discharging material manipulator synchronous pulley fixed on the discharging material manipulator fixing plate and connected to the discharging material manipulator motor, and a discharging material manipulator synchronous belt connected to the discharging material manipulator synchronous pulley;

[0026] The feeding manipulator rolling screw rod includes a fourth screw rod located at the middle position of the feeding manipulator fixing plate and connecting the feeding manipulator synchronous pulley, a fifth screw rod and a sixth screw rod located at both ends of the feeding manipulator fixing plate, and a second cross bar connecting the tops of the fourth screw rod, the fifth screw rod and the sixth screw rod.

[0027] Furthermore, the incoming material transfer component includes an incoming material transfer guide rail fixed on the frame, an incoming material carrying module movably connected to the incoming material transfer guide rail, and an incoming material transfer motor connected to the incoming material transfer guide rail; the incoming material transfer guide rail drives the incoming material carrying module to perform a linear reciprocating movement along the incoming material transfer guide rail under the drive of the incoming material transfer motor.

[0028] Furthermore, the discharging transfer component includes a discharging transfer guide rail fixed on the frame, a discharging carrying module movably connected to the discharging transfer guide rail, and a discharging transfer motor connected to the discharging transfer guide rail; the discharging transfer guide rail drives the discharging carrying module to perform a linear reciprocating movement along the discharging transfer guide rail under the drive of the discharging transfer motor.

[0029] Furthermore, the first material suction component and the second material suction component are of a symmetric structure, including a material suction guide rail axially fixed along the second side wall, a material suction fixing plate movably connected to the material suction guide rail, a material suction motor connected to the material suction guide rail, a blade motor module and a Mark camera module fixed on the front surface of the material suction fixing plate, and a material suction adjustment module fixed on the back surface of the material suction fixing plate and passing through the material suction fixing plate to be connected to the blade motor module;

[0030] The material suction adjustment module includes a material suction adjustment motor fixed on the material suction fixing plate, a material suction adjustment synchronous pulley connected to the material suction adjustment motor, and a material suction adjustment synchronous belt connected to the material suction adjustment synchronous pulley;

[0031] The blade motor module includes a blade motor slide rail fixed on the material suction fixing plate and axially fixed along the material suction guide rail, a blade motor slide plate movably connected to the blade motor slide rail and passing through the material suction fixing plate to be connected to the material suction adjustment synchronous pulley, a first blade motor fixed on the blade motor slide plate and fixed in the vertical direction, a second blade motor fixed on the blade motor slide rail and fixed in the vertical direction, and a first suction nozzle and a second suction nozzle respectively fixed at the bottoms of the first blade motor and the second blade motor.

[0032] To solve the technical problems of the present invention, the present invention also discloses a method for arranging plates of a full-automatic plate arranging system, including the following steps:

[0033] S1. The incoming material loading component raises the incoming material tray with materials placed thereon to a preset tray taking position. The incoming material loading manipulator component sucks the topmost incoming material tray with materials placed thereon. The incoming material transfer component moves below the incoming material loading manipulator component. The incoming material loading manipulator component places the topmost incoming material tray with materials placed thereon on the incoming material transfer component. At this time, the discharging material loading component raises the empty discharging material tray to a preset tray taking position. The discharging material loading manipulator component sucks the topmost empty discharging material tray. The discharging material transfer component moves below the discharging material loading manipulator component. The discharging material loading manipulator component places the topmost empty discharging material tray on the discharging material transfer component.

[0034] S2. The incoming material transfer component carries the incoming material tray to a preset first material sucking position. The discharging material transfer component carries the discharging material tray to a preset second material sucking position. The first material sucking component and the second material sucking component move above the incoming material transfer component and the discharging material transfer component in sequence. The Mark camera module is used to detect and confirm the marked points on the incoming material tray and the discharging material tray.

[0035] S3. The first material sucking component moves above the incoming material transfer component. If there is no material at the position on the incoming material tray directly opposite to the first material sucking component, the incoming material transfer component moves a certain distance towards the first material sucking component so that the first material sucking component can suck the material. The first material sucking component adjusts the distance between its multiple suction nozzles accordingly according to the marked points on the incoming material tray, and then sucks the material on the incoming material tray and moves towards the discharging material transfer component. When passing above the first material imaging system during this period, the first material imaging system judges the current angular direction and quality of the material. The first material sucking component adjusts to a preset angular direction accordingly according to the current angular direction of the material. If the quality of the material is unqualified, the material is placed in the waste box. If the quality is qualified, it continues to move until above the discharging material transfer component. The second material sucking component moves above the incoming material transfer component. If there is no material at the position on the incoming material tray directly opposite to the second material sucking component, the incoming material transfer component moves a certain distance towards the second material sucking component so that the second material sucking component can suck the material. The second material sucking component adjusts the distance between its multiple suction nozzles accordingly according to the marked points on the incoming material tray, and then sucks the material on the incoming material tray.

[0036] S4. If there is already a material placed at the position on the material placing tray opposite to the first material suction component, the material placing and transferring component moves a certain distance towards the first material suction component to enable the first material suction component to place the material. The first material suction component adjusts the distance between its multiple suction nozzles accordingly according to the marked positions on the material placing tray, places the material on the material placing tray, and then returns above the material incoming and transferring component. The second material suction component moves towards the material placing and transferring component. When passing above the second material imaging system during the movement, the second material imaging system determines the current angular direction and quality of the material. The second material suction component adjusts to the preset angular direction accordingly according to the current angular direction of the material. If the quality of the material is unqualified, the material is placed into the waste box. If the quality is qualified, it continues to move until it is above the material placing and transferring component. If there is already a material placed at the position on the material placing tray opposite to the second material suction component, the material placing and transferring component moves a certain distance towards the second material suction component to enable the second material suction component to place the material. The second material suction component adjusts the distance between its multiple suction nozzles accordingly according to the marked positions on the material placing tray, and places the material on the material placing tray;

[0037] S5. If the materials on the material incoming tray are taken out and the material placing tray is also full of materials, the material incoming and transferring component moves below the material incoming and discharging manipulator component. The material incoming and discharging manipulator component sucks the empty material incoming tray and places it on the material incoming and discharging component. The material incoming and discharging component carries the material incoming tray and moves down a certain distance, and then waits for the next material incoming tray. The material placing and transferring component moves below the material placing and discharging manipulator component. The material placing and discharging manipulator component sucks the material placing tray full of materials and places it on the material placing and discharging component. The material placing and discharging component carries the material placing tray and moves down a certain distance, and then waits for the next material placing tray, and returns to execute step S1;

[0038] If the materials on the material incoming tray are taken out and the material placing tray is not yet full, the material incoming and transferring component moves below the material incoming and discharging manipulator component. The material incoming and discharging manipulator component sucks the empty material incoming tray and places it on the material incoming and discharging component. The material incoming and discharging component carries the material incoming tray and moves down a certain distance, and then waits for the next material incoming tray. The material incoming and loading manipulator component sucks the next material incoming tray with materials from the material incoming and loading component. The material incoming and transferring component moves below the material incoming and loading manipulator component. The material incoming and loading manipulator component places the material incoming tray with materials on the material incoming and transferring component. The material incoming and transferring component carries the material incoming tray and moves to the preset first material suction position. The first material suction component detects and confirms the marked positions on the material incoming tray through the Mark camera module, and then returns to execute steps S3 and S4;

[0039] If the materials on the incoming material tray are not completely taken, and the discharging tray is full of materials, then the discharging transfer component moves below the discharging and unloading manipulator component. The discharging and unloading manipulator component sucks the discharging tray full of materials and places it on the discharging and unloading component. The discharging and unloading component carries the discharging tray and moves downward by a certain distance, and then waits for the next discharging tray. The discharging and loading manipulator component sucks the next empty discharging tray from the discharging and loading component. The discharging transfer component moves below the discharging and loading manipulator component. The discharging and loading manipulator component places the empty discharging tray on the discharging transfer component. The discharging transfer component carries the discharging tray and moves to the preset second material sucking position. The second material sucking component detects and confirms the marked points on the discharging tray through the Mark camera module, and then returns to execute steps S3 and S4.

[0040] If the materials on the incoming material tray are not completely taken and the discharging tray is not full of materials, then return to execute steps S3 and S4.

[0041] Compared with the prior art, the present invention has the following beneficial effects: By designing a rationally laid out and compactly structured material placing and loading device, material placing and unloading device, incoming material transfer component, discharging transfer component, first material sucking component and second material sucking component, the present invention can be compatible with different types and specifications of incoming material trays and discharging trays at the same time, and realizes the intelligent automatic material placing of different types and specifications of materials. Description of the Drawings

[0042] Figure 1 It is the structure diagram of the outer shell of the full-automatic material placing system according to the embodiment of the present invention;

[0043] Figure 2 It is the three-dimensional structure diagram of the full-automatic material placing system according to the embodiment of the present invention;

[0044] Figure 3 It is the structure diagram of the incoming material loading component according to the embodiment of the present invention;

[0045] Figure 4 It is the structure diagram of the incoming material transfer component according to the embodiment of the present invention;

[0046] Figure 5 It is the structure diagram of the first material sucking component and the first gantry component according to the embodiment of the present invention;

[0047] Figure 6 It is the structure diagram of the incoming material loading manipulator component and the discharging and loading manipulator component according to the embodiment of the present invention;

[0048] Figure 7 It is the structure diagram of the discharging transfer component according to the embodiment of the present invention;

[0049] Figure 8 It is a structural diagram of the feeding and loading component of the embodiment of the present invention.

[0050] Label description: 1. Outer shell; 2. Frame; 3. Incoming material feeding and discharging component; 4. Incoming material loading component; 5. Incoming material transfer component; 6. First gantry component; 7. Incoming material loading manipulator component; 8. Feeding and loading component; 9. Feeding transfer component; 10. Feeding and loading manipulator component; 11. Electric control device; 12. Second gantry component; 13. Feeding and discharging manipulator component; 14. Feeding and discharging component; 15. Incoming material discharging manipulator component; 16. Second material imaging system; 17. First material imaging system; 21. Mark camera module; 22. Second blade motor; 23. First blade motor; 221. Second suction nozzle; 231. First suction nozzle; 232. Blade motor slide plate; 24. Suction material fixing plate; 25. Suction material adjusting motor; 26. Suction material adjusting module; 27. Suction material guide rail; 28. Suction material motor; 29. Blade motor slide rail; 41. Incoming material motor; 42. Incoming material bottom plate; 43. Incoming material adjusting component; 431. Incoming material linear guide rail; 432. Incoming material adjusting belt; 433. Incoming material adjusting synchronous pulley; 434. Incoming material fixing plate; 435. Incoming material slide plate; 44. Incoming material adjusting screw; 45. Incoming material cylinder; 46. Incoming material tray; 471. Incoming material driving module; 472. Incoming material movable plate; 48. Incoming material optical fiber; 491. First incoming material vertical plate; 492. Second incoming material vertical plate; 51. Incoming material transfer motor; 52. Incoming material carrying module; 53. Incoming material transfer guide rail; 61. Second column; 62. First column; 63. Cross beam; 631. First side wall; 632. Second side wall; 71. Incoming material manipulator lifting plate; 72. Second lead screw; 73. Incoming material manipulator suction nozzle; 74. First lead screw; 75. Incoming material manipulator fixing plate; 76. Third lead screw; 77. Incoming material manipulator motor; 78. Incoming material manipulator adjusting component; 79. First cross bar; 81. Feeding motor; 82. Feeding bottom plate; 831. Feeding linear guide rail; 832. Feeding adjusting belt; 833. Feeding adjusting synchronous pulley; 834. Feeding fixing plate; 835. Feeding slide plate; 84. Feeding adjusting screw; 85. Feeding cylinder; 86. Feeding tray; 871. Feeding driving module; 872. Feeding movable plate; 88. Feeding optical fiber; 891. First feeding vertical plate; 892. Second feeding vertical plate; 91. Feeding transfer motor; 92. Feeding carrying module; 93. Feeding transfer guide rail; 101. Feeding manipulator lifting plate; 102. Feeding manipulator fixing plate; 103. Feeding manipulator suction nozzle; 104. Feeding manipulator motor; 105. Feeding manipulator adjusting component; 106. Sixth lead screw; 107. Second cross bar; 108. Fourth lead screw; 109. Fifth lead screw. Detailed implementation manners

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining and understanding the present invention, and are not used to limit the present invention.

[0052] In the present invention, unless otherwise specified, the orientation terms such as "upper, lower, left, right, front, and back" generally refer to the upper, lower, left, right, front, and back in the accompanying drawings, and "inner and outer" refer to the inner and outer relative to the contour of the component.

[0053] It should be noted that the terms "first", "second", etc. in the claims, the description, and the accompanying drawings of the present application are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to be implemented in an order other than the embodiments described in the invention.

[0054] As Figure 1 , Figure 2 shown, the full-automatic tray loading system of the embodiment of the present invention includes a housing 1, a frame 2, a first gantry assembly 6 and a second gantry assembly 12 that are fixed above the frame 2 in parallel and symmetrically, a tray loading device fixed on the frame 2 and the first gantry assembly 6, a tray unloading device fixed on the frame 2 and the second gantry assembly 12, a material incoming transfer assembly 5 and a material discharging transfer assembly fixed on the frame 2 and located below the first gantry assembly 6 and the second gantry assembly 12, a first material suction assembly fixed on the first gantry assembly 6, a second material suction assembly fixed on the second gantry assembly 12, an electric control device 11 fixed on the frame 2 and connecting the first gantry assembly 6 and the second gantry assembly 12, and a first material imaging system 17 fixed on the frame 2 and located below the first material suction assembly and a second material imaging system 16 located below the second material suction assembly.

[0055] Specifically, the dish arranging and loading device includes a feeding and loading component 4 and a discharging and loading component 8 that are fixed on the frame 2 and are respectively located at both ends below the first gantry component 6, and a feeding and loading manipulator component 7 and a discharging and loading manipulator component 10 that are fixed on the first side wall 631 of the first gantry component 6 and are respectively located above the feeding and loading component 4 and the discharging and loading component 8. The feeding and loading component 4 and the discharging and loading component 8 can perform linear reciprocating movements in the vertical direction below the first gantry component 6. The feeding and loading component 4 is used to carry a feeding tray 46 with materials, and the discharging and loading component 8 is used to carry an empty discharging tray 86. The feeding and loading manipulator component 7 can perform linear reciprocating movements in the vertical direction below the first gantry component 6 and above the feeding and loading component 4, and is used to pick up the feeding tray 46 with materials on the feeding and loading component 4 and place it on the feeding transfer component 5. The discharging and loading manipulator component 10 can perform linear reciprocating movements in the vertical direction below the first gantry component 6 and above the discharging and loading component 8, and is used to pick up the empty discharging tray 86 on the discharging and loading component 8 and place it on the discharging transfer component 9.

[0056] The dish arranging and unloading device includes a feeding and unloading component 3 and a discharging and unloading component 14 that are fixed on the frame 2 and are respectively arranged at both ends below the second gantry component 12, and a feeding and unloading manipulator component 15 and a discharging and unloading manipulator component 13 that are fixed on the first side wall 631 of the second gantry component 12 and are respectively located above the feeding and unloading component 3 and the discharging and unloading component 14. The feeding and unloading component 3 and the discharging and unloading component 14 can perform linear reciprocating movements in the vertical direction below the second gantry component 12. The feeding and unloading component 3 is used to carry an empty feeding tray 46, and the discharging and unloading component 14 is used to carry a discharging tray 86 with materials. The feeding and unloading manipulator component 15 can perform linear reciprocating movements in the vertical direction below the second gantry component 12 and above the feeding and unloading component 3, and is used to pick up the empty feeding tray 46 on the feeding transfer component 5 and place it on the feeding and unloading component 3. The discharging and unloading manipulator component 13 can perform linear reciprocating movements in the vertical direction below the second gantry component 12 and above the discharging and loading component 8, and is used to pick up the discharging tray 86 with materials on the discharging transfer component 9 and place it on the discharging and unloading component 14.

[0057] In this embodiment, the feeding transfer component 5 can perform linear reciprocating movements below the feeding and loading manipulator component 7 and the feeding and unloading manipulator component 15 and above the feeding and loading component 4 and the feeding and unloading component 3, and is used to transport the feeding tray 46 with materials on the feeding and loading component 4 below the first material suction component and the second material suction component. After the materials on the feeding tray 46 with materials are sucked up, the empty feeding tray 46 is transported below the feeding and unloading manipulator component 15. After the feeding and unloading manipulator component 15 sucks up the feeding tray 46, it returns below the feeding and loading manipulator component 7.

[0058] Such asFigure 4 As shown in the figure, the incoming material transfer assembly 5 includes an incoming material transfer guide rail 53 fixed on the frame 2, an incoming material carrying module 52 movably connected to the incoming material transfer guide rail 53, and an incoming material transfer motor connected to the incoming material transfer guide rail 53; the incoming material transfer guide rail 53 drives the incoming material carrying module 52 to move linearly back and forth along the incoming material transfer guide rail 53 under the drive of the incoming material transfer motor 51.

[0059] In this embodiment, the discharging transfer assembly 9 can perform linear reciprocating motion below the discharging loading manipulator assembly 10 and the discharging unloading manipulator assembly 13 and above the discharging loading assembly 8 and the discharging unloading assembly 14, and is used to transport the empty discharging tray 86 on the discharging loading assembly 8 to below the first material suction assembly and the second material suction assembly. After the empty discharging tray 86 is filled with materials, the discharging tray 86 is transported to below the discharging unloading manipulator assembly 13. After the discharging unloading manipulator assembly 13 sucks the discharging tray 86, it returns to below the discharging loading manipulator assembly 10.

[0060] Specifically, as Figure 7 shown, the discharging transfer assembly 9 includes a discharging transfer guide rail 93 fixed on the frame 2, a discharging carrying module 92 movably connected to the discharging transfer guide rail 93, and a discharging transfer motor 91 connected to the discharging transfer guide rail 93; the discharging transfer guide rail 93 drives the discharging carrying module 92 to move linearly back and forth along the discharging transfer guide rail 93 under the drive of the discharging transfer motor 91.

[0061] The first material imaging system 17 and the second material imaging system 16 are respectively fixed on the frame 2 in parallel and symmetrically and are located in the middle of the incoming material transfer assembly 5 and the discharging transfer assembly 9, and are used to detect the materials sucked by the first material suction assembly and the second material suction assembly, and judge the angular direction and quality of the materials.

[0062] As Figure 5 , Figure 6 shown, it is the structural diagram of the first gantry assembly 6 of this embodiment. Since the first gantry assembly 6 and the second gantry assembly 12 are symmetric structures, the structural diagram of the second gantry assembly 12 is omitted. Specifically, the first gantry assembly 6 and the second gantry assembly 12 include a first column 62 and a second column 61 vertically fixed on the frame 2, and a cross beam 63 horizontally erected on the first column 62 and the second column 61. The cross beam 63 includes a first side wall 631 facing the outside of the frame 2 and a second side wall 632 facing the inside of the frame 2.

[0063] As Figure 3As shown, it is the structural diagram of the incoming material loading component 4 of this embodiment. Since the incoming material loading component 4 and the incoming material unloading component 3 are symmetric structures, the structural diagram of the incoming material unloading component 3 is omitted. The incoming material loading component 4 and the incoming material unloading component 3 include an incoming material bottom plate 42 fixed on the frame 2, an incoming material motor 41 fixed below the incoming material bottom plate 42, an incoming material adjusting component 43 fixed above the incoming material bottom plate 42 and connecting the incoming material motor 41, incoming material vertical plates vertically fixed on the incoming material adjusting component 43 and separated at the four corners, an incoming material optical fiber 48 and an incoming material cylinder 45 fixed at the top of the incoming material vertical plates, and an incoming material carrying driving component vertically fixed on the incoming material bottom plate 42.

[0064] Among them, the incoming material adjusting component 43 includes an incoming material linear guide 431 fixed on the incoming material bottom plate 42, an incoming material sliding plate 435 movably connected to the incoming material linear guide 431 and capable of moving along the incoming material linear guide 431, an incoming material fixing plate 434 fixed on the incoming material linear guide 431, an incoming material adjusting belt 432 fixed on the incoming material bottom plate 42 and connecting the incoming material sliding plate 435, and an incoming material adjusting synchronous pulley 433 fixed on the incoming material bottom plate 42 and connecting the incoming material adjusting belt 432 and the incoming material motor 41; the incoming material adjusting component 43 is used to correspondingly adjust the distance between the incoming material vertical plates according to the size of the incoming material tray 46. The incoming material vertical plates include two first incoming material vertical plates 491 fixed at both ends of the incoming material sliding plate 435, and two second incoming material vertical plates 492 fixed at both ends of the incoming material fixing plate 434.

[0065] The incoming material carrying driving component includes an incoming material driving module 471 vertically fixed on the incoming material bottom plate 42, and an incoming material movable plate 472 vertically fixed on the incoming material driving module 471 and parallel to the incoming material bottom plate 42; the incoming material movable plate 472 is used to carry the incoming material tray 46 and can move linearly back and forth in the vertical direction under the drive of the incoming material driving module 471.

[0066] In this embodiment, the incoming material optical fiber 48 is installed at the top of any one of the incoming material vertical plates and can pass through the incoming material vertical plate to contact the incoming material tray 46, and is used to detect whether the top incoming material tray 46 with materials reaches the preset tray taking position. If so, the incoming material driving module 471 stops driving the incoming material movable plate 472 to move upward; and to detect whether a new empty incoming material tray 46 comes to the top layer. If so, the incoming material driving module 471 drives the incoming material movable plate 472 to move downward a certain distance.

[0067] Specifically, the incoming material optical fiber 48 on the incoming material loading component 4 is used to detect whether the top incoming material tray 46 with materials reaches the preset tray taking position. If so, the incoming material driving module 471 stops driving the incoming material movable plate 472 to move upward.

[0068] The incoming material optical fiber 48 on the incoming material cutting component 3 is used to detect whether a new empty incoming material tray 46 has arrived at the top layer. If so, the incoming material driving module 471 drives the incoming material movable plate 472 to move downward by a certain distance.

[0069] In this embodiment, an incoming material cylinder 45 is installed at the top end of each incoming material vertical plate for clamping the topmost incoming material tray 46. When the incoming material driving module 471 stops driving the incoming material movable plate 472 to move upward, the incoming material cylinder 45 releases the topmost incoming material tray 46 and clamps the incoming material tray 46 on the second layer; and when the incoming material driving module 471 stops driving the incoming material movable plate 472 to move downward, the incoming material cylinder 45 releases the topmost incoming material tray 46.

[0070] Specifically, the incoming material cylinder 45 on the incoming material loading component 4 is used to clamp the topmost incoming material tray 46. When the incoming material driving module 471 stops driving the incoming material movable plate 472 to move upward, the incoming material cylinder 45 releases the topmost incoming material tray 46 and clamps the incoming material tray 46 on the second layer. The incoming material cylinder 45 on the incoming material cutting component 3 is used to clamp the topmost incoming material tray 46. When the incoming material driving module 471 stops driving the incoming material movable plate 472 to move downward, the incoming material cylinder 45 releases the topmost incoming material tray 46.

[0071] In addition, in this embodiment, the incoming material loading component 4 and the incoming material cutting component 3 further include incoming material adjusting screws 44 fixed at the four corners of the incoming material bottom plate 42 for adjusting the parallelism of the incoming material bottom plate 42.

[0072] As Figure 8 shown, it is the structural diagram of the discharging loading component 8 of this embodiment. Since the discharging loading component 8 and the discharging cutting component 14 are symmetric structures, the structural diagram of the discharging cutting component 14 is omitted. Specifically, the discharging loading component 8 and the discharging cutting component 14 include a discharging bottom plate 82 fixed on the frame 2, a discharging motor 81 fixed below the discharging bottom plate 82, a discharging adjusting component connecting the discharging motor 81 fixed above the discharging bottom plate 82, discharging vertical plates vertically fixed on the discharging adjusting component and separated at the four corners, a discharging optical fiber 88 and a discharging cylinder 85 fixed at the top ends of the discharging vertical plates, and a discharging load driving module vertically fixed on the discharging bottom plate 82.

[0073] Among them, the feeding adjustment component includes a feeding linear guide rail 831 fixed on the feeding bottom plate 82, a feeding sliding plate 835 movably connected to the feeding linear guide rail 831 and capable of moving along the feeding linear guide rail 831, a feeding fixed plate 834 fixed on the feeding linear guide rail 831, a feeding adjustment belt 832 fixed on the feeding bottom plate 82 and connected to the feeding sliding plate 835, and a feeding adjustment synchronous pulley 833 fixed on the feeding bottom plate 82 and connected to the feeding adjustment belt 832 and the feeding motor 81; the feeding adjustment component is used to correspondingly adjust the distance between the feeding vertical plates according to the size of the feeding tray 86; the feeding vertical plates include two first feeding vertical plates 891 fixed at both ends of the feeding sliding plate 835, and two second feeding vertical plates 892 fixed at both ends of the feeding fixed plate 834.

[0074] The feeding load-bearing driving component includes a feeding driving module 871 vertically fixed on the feeding bottom plate 82, and a feeding movable plate 872 vertically fixed on the feeding driving module 871 and parallel to the feeding bottom plate 82; the feeding movable plate 872 is used to bear the feeding tray 86 and can move linearly back and forth in the vertical direction under the drive of the feeding driving module 871.

[0075] In this embodiment, the feeding optical fiber 88 is installed at the top of any one of the feeding vertical plates and can pass through the feeding vertical plate to contact the feeding tray 86, and is used to detect whether the topmost feeding tray 86 reaches the preset tray-taking position. If so, the feeding driving module 871 stops driving the feeding movable plate 872 to move upward; and to detect whether a new feeding tray 86 arrives at the top layer. If so, the feeding driving module 871 drives the feeding movable plate 872 to move downward by a certain distance.

[0076] Specifically, the feeding optical fiber 88 on the feeding and loading component 8 is used to detect whether the topmost feeding tray 86 reaches the preset tray-taking position. If so, the feeding driving module 871 stops driving the feeding movable plate 872 to move upward.

[0077] The feeding optical fiber 88 on the feeding and unloading component 14 is used to detect whether a new feeding tray 86 arrives at the top layer. If so, the feeding driving module 871 drives the feeding movable plate 872 to move downward by a certain distance.

[0078] In this embodiment, a feeding cylinder 85 is installed at the top of each feeding vertical plate and is used to clamp the topmost feeding tray 86. After the feeding driving module 871 stops driving the feeding movable plate 872 to move upward, the feeding cylinder 85 releases the topmost feeding tray 86 and clamps the second-layer feeding tray 86; and after the feeding driving module 871 stops driving the feeding movable plate 872 to move downward, the feeding cylinder 85 releases the topmost feeding tray 86.

[0079] Specifically, the feeding cylinder 85 on the feeding and loading component 8 is used to clamp the uppermost feeding tray 86. After the feeding driving module 471 stops driving the feeding movable plate 872 to move upward, the feeding cylinder 85 releases the uppermost incoming material tray 86 and clamps the feeding tray 86 on the second layer. The feeding cylinder 85 on the feeding and unloading component 14 is used to clamp the uppermost feeding tray 86. After the feeding driving module 871 stops driving the feeding movable plate 872 to move downward, the feeding cylinder 85 releases the uppermost feeding tray 86.

[0080] In addition, in this embodiment, the feeding and loading component 8 and the feeding and unloading component 14 further include feeding adjusting screws 84 fixed at the four corners of the feeding bottom plate 82 for adjusting the parallelism of the feeding bottom plate 82.

[0081] In this embodiment, as Figure 6 shown, it is the structural diagram of the incoming material loading manipulator component 7 in this embodiment. Since the incoming material loading manipulator component 7 and the incoming material unloading manipulator component 15 are symmetric structures, the structural diagram of the incoming material unloading manipulator component 15 is omitted. Specifically, the incoming material loading manipulator component 7 and the incoming material unloading manipulator component 15 include an incoming material manipulator fixing plate 75 fixed on the first side wall 631, an incoming material manipulator adjusting component 78 fixed on the incoming material manipulator fixing plate 75, an incoming material manipulator motor 77 fixed on the incoming material manipulator fixing plate 75 and connected to the incoming material manipulator adjusting component 78, an incoming material manipulator rolling lead screw that is connected to the incoming material manipulator adjusting component 78 and penetrates the incoming material manipulator fixing plate 75 from top to bottom, an incoming material manipulator lifting plate 71 fixed at the bottom of the incoming material manipulator rolling lead screw, and an incoming material manipulator suction nozzle 73 fixed on the incoming material manipulator lifting plate 71 and protruding outward.

[0082] Among them, the incoming material manipulator adjusting component 78 includes an incoming material manipulator synchronous pulley fixed on the incoming material manipulator fixing plate 75 and connected to the incoming material manipulator motor 77, and an incoming material manipulator synchronous belt connected to the incoming material manipulator synchronous pulley.

[0083] The incoming material manipulator rolling lead screw can perform linear reciprocating movement in the vertical direction under the drive of the incoming material manipulator adjusting component 78, and at the same time drive the incoming material manipulator lifting plate 71 and the incoming material manipulator suction nozzle 73 to move together.

[0084] The incoming material manipulator rolling lead screw includes a first lead screw 74 located at the middle position of the incoming material manipulator fixing plate 75 and connected to the incoming material manipulator synchronous pulley, second lead screws 72 and third lead screws 76 located at both ends of the incoming material manipulator fixing plate 75, and a first cross bar 79 connecting the tops of the first lead screw 74, the second lead screws 72, and the third lead screws 76.

[0085] In this embodiment, as Figure 6As shown in the figure, it is a structural diagram of the feeding and loading manipulator assembly 10 of this embodiment. Since the feeding and loading manipulator assembly 10 and the feeding and unloading manipulator assembly 13 are symmetrical structures, the structural diagram of the feeding and unloading manipulator assembly 13 is omitted. The feeding and loading manipulator assembly 10 and the feeding and unloading manipulator assembly 13 include a feeding manipulator fixing plate 102 fixed on the first side wall 631, a feeding manipulator adjusting assembly 105 fixed on the feeding manipulator fixing plate 102, a feeding manipulator motor 104 fixed on the feeding manipulator fixing plate 102 and connected to the feeding manipulator adjusting assembly 105, a feeding manipulator rolling screw rod that is connected to the feeding manipulator adjusting assembly 105 and penetrates the feeding manipulator fixing plate 102 from top to bottom, a feeding manipulator lifting plate 101 fixed at the bottom of the feeding manipulator rolling screw rod, and a feeding manipulator suction nozzle 103 fixed on the feeding manipulator lifting plate 101.

[0086] Among them, the feeding manipulator adjusting assembly 105 includes a feeding manipulator synchronous pulley fixed on the feeding manipulator fixing plate 102 and connected to the feeding manipulator motor 104, and a feeding manipulator synchronous belt connected to the feeding manipulator synchronous pulley.

[0087] The feeding manipulator rolling screw rod can perform linear reciprocating movement in the vertical direction under the drive of the feeding manipulator adjusting assembly 105, and at the same time drive the feeding manipulator lifting plate 101 and the feeding manipulator suction nozzle 103 to move together.

[0088] Specifically, the feeding manipulator rolling screw rod includes a fourth screw rod 108 located at the middle position of the feeding manipulator fixing plate 102 and connected to the feeding manipulator synchronous pulley, a fifth screw rod 109 and a sixth screw rod 106 located at both ends of the feeding manipulator fixing plate 102, and a second cross bar 107 connecting the tops of the fourth screw rod 108, the fifth screw rod 109 and the sixth screw rod 106.

[0089] In this embodiment, the first suction component and the second suction component are respectively fixed on the second side wall 632 of the first gantry component 6 and the second side wall 632 of the second gantry component 12 in parallel and symmetrically. They can perform linear reciprocating movement along the axial directions of the first gantry component 6 and the second gantry component 12 respectively. They are used to suck the materials on the incoming material tray 46 with materials placed on the incoming material transfer component 5, then move above the feeding transfer component 9, place the materials on the feeding tray 86 of the feeding transfer component 9, and automatically adjust the distance between multiple suction nozzles on it according to the shape and size of the materials.

[0090] As Figure 5As shown, it is the structural diagram of the first material suction component of this embodiment. Since the first material suction component and the second material suction component are symmetrical structures, the structural diagram of the second material suction component is omitted. Specifically, the first material suction component and the second material suction component include a material suction guide rail 27 axially fixed along the second side wall 632, a material suction fixing plate 24 movably connected to the material suction guide rail 27, a material suction motor 28 connected to the material suction guide rail 27, a blade motor module and a Mark camera module 21 fixed on the front of the material suction fixing plate 24, and a material suction adjustment module 26 fixed on the back of the material suction fixing plate 24 and passing through the material suction fixing plate 24 to connect with the blade motor module.

[0091] Among them, the material suction adjustment module 26 includes a material suction adjustment motor 25 fixed on the material suction fixing plate 24, a material suction adjustment synchronous pulley connected to the material suction adjustment motor 25, and a material suction adjustment synchronous belt connected to the material suction adjustment synchronous pulley.

[0092] The blade motor module includes a blade motor slide rail 29 fixed on the material suction fixing plate 24 and axially fixed along the material suction guide rail 27, a blade motor slide plate 232 movably connected to the blade motor slide rail 29 and passing through the material suction fixing plate 24 to connect with the material suction adjustment synchronous pulley, a first blade motor 23 fixed on the blade motor slide plate 232 and fixed in the vertical direction, a second blade motor 22 fixed on the blade motor slide rail 29 and fixed in the vertical direction, and a first suction nozzle 231 and a second suction nozzle 221 respectively fixed at the bottom ends of the first blade motor 23 and the second blade motor 22.

[0093] In this embodiment, both the first suction nozzle 231 and the second suction nozzle 221 are only one, and they can also be set to other numbers, such as two or three, which do not affect the implementation of the present invention.

[0094] The method for arranging plates of the fully automatic plate arranging system according to the embodiment of the present invention includes the following steps:

[0095] S1. The incoming material loading component 4 raises the incoming material tray 46 with materials to a preset tray taking position. The incoming material loading manipulator component 7 sucks the uppermost incoming material tray 46 with materials. The incoming material transfer component 5 moves below the incoming material loading manipulator component 7. The incoming material loading manipulator component 7 places the uppermost incoming material tray 46 with materials on the incoming material transfer component 5; At this time, the discharging loading component 8 raises the empty discharging tray 86 to a preset tray taking position. The discharging loading manipulator component 10 sucks the uppermost empty discharging tray 86. The discharging transfer component 9 moves below the discharging loading manipulator component 10. The discharging loading manipulator component 10 places the uppermost empty discharging tray 86 on the discharging transfer component 9;

[0096] S2. The incoming material transfer component 5 moves the incoming material tray 46 to the preset first material suction position, and the discharging transfer component 9 moves the discharging tray 86 to the preset second material suction position. The first material suction component and the second material suction component move above the incoming material transfer component 5 and the discharging transfer component 9 in sequence, and detect and confirm the marked points on the incoming material tray 46 and the discharging tray 86 through the Mark camera module 21;

[0097] S3. The first material suction component moves above the incoming material transfer component 5. If there is no material at the position on the incoming material tray 46 directly opposite the first material suction component, the incoming material transfer component 5 moves a certain distance in the direction of the first material suction component so that the first material suction component can suck the material. The first material suction component adjusts the distance between its multiple suction nozzles according to the marked points on the incoming material tray 46, then sucks the material on the incoming material tray 46, and moves in the direction of the discharging transfer component 9. When passing above the first material imaging system 17, the first material imaging system 17 judges the current angular direction and quality of the material. The first material suction component adjusts to the preset angular direction according to the current angular direction of the material. If the quality of the material is unqualified, the material is placed in the waste box. If the quality is qualified, it continues to move until above the discharging transfer component 9; The second material suction component moves above the incoming material transfer component 5. If there is no material at the position on the incoming material tray 46 directly opposite the second material suction component, the incoming material transfer component 5 moves a certain distance in the direction of the second material suction component so that the second material suction component can suck the material. The second material suction component adjusts the distance between its multiple suction nozzles according to the marked points on the incoming material tray 46, and then sucks the material on the incoming material tray 46;

[0098] S4. If there is already material placed at the position on the discharging tray 86 directly opposite the first material suction component, the discharging transfer component 9 moves a certain distance in the direction of the first material suction component so that the first material suction component can place the material. The first material suction component adjusts the distance between its multiple suction nozzles according to the marked points on the discharging tray 86, places the material on the discharging tray 86, and then returns above the incoming material transfer component 5; The second material suction component moves in the direction of the discharging transfer component 9. When passing above the second material imaging system 16, the second material imaging system 16 judges the current angular direction and quality of the material. The second material suction component adjusts to the preset angular direction according to the current angular direction of the material. If the quality of the material is unqualified, the material is placed in the waste box. If the quality is qualified, it continues to move until above the discharging transfer component 9; If there is already material placed at the position on the discharging tray 86 directly opposite the second material suction component, the discharging transfer component 9 moves a certain distance in the direction of the second material suction component so that the second material suction component can place the material. The second material suction component adjusts the distance between its multiple suction nozzles according to the marked points on the discharging tray 86, and places the material on the discharging tray 86;

[0099] S5. If the materials on the incoming material tray 46 are taken out completely and the discharging tray 86 is also full of materials, the incoming material transfer assembly 5 moves below the incoming material unloading manipulator assembly 15. The incoming material unloading manipulator assembly 15 sucks the empty incoming material tray 46 and places it on the incoming material unloading assembly 3. The incoming material unloading assembly 3 carries the incoming material tray 46 and moves downward a certain distance, and then waits for the next incoming material tray 46. The discharging transfer assembly 9 moves below the discharging unloading manipulator assembly 13. The discharging unloading manipulator assembly 13 sucks the discharging tray 86 full of materials and places it on the discharging unloading assembly 14. The discharging unloading assembly 14 carries the discharging tray 86 and moves downward a certain distance, and then waits for the next discharging tray 86, and returns to execute step S1;

[0100] If the materials on the incoming material tray 46 are taken out completely but the discharging tray 86 is not full of materials yet, then the incoming material transfer assembly 5 moves below the incoming material unloading manipulator assembly 15. The incoming material unloading manipulator assembly 15 sucks the empty incoming material tray 46 and places it on the incoming material unloading assembly 3. The incoming material unloading assembly 3 carries the incoming material tray 46 and moves downward a certain distance, and then waits for the next incoming material tray 46. The incoming material loading manipulator assembly 7 sucks the next incoming material tray 46 with materials from the incoming material loading assembly 4. The incoming material transfer assembly 5 moves below the incoming material loading manipulator assembly 7. The incoming material loading manipulator assembly 7 places the incoming material tray 46 with materials on the incoming material transfer assembly 5. The incoming material transfer assembly 5 carries the incoming material tray 46 and moves to the preset first material sucking position. The first material sucking assembly detects and confirms the marked points on the incoming material tray 46 through the Mark camera module 21, and then returns to execute steps S3 and S4;

[0101] If the materials on the incoming material tray 46 are not taken out completely and the discharging tray 86 is full of materials, then the discharging transfer assembly 9 moves below the discharging unloading manipulator assembly 13. The discharging unloading manipulator assembly 13 sucks the discharging tray 86 full of materials and places it on the discharging unloading assembly 14. The discharging unloading assembly 14 carries the discharging tray 86 and moves downward a certain distance, and then waits for the next discharging tray 86. The discharging loading manipulator assembly 10 sucks the next empty discharging tray 86 from the discharging loading assembly 8. The discharging transfer assembly 9 moves below the discharging loading manipulator assembly 10. The discharging loading manipulator assembly 10 places the empty discharging tray 86 on the discharging transfer assembly 9. The discharging transfer assembly 9 carries the discharging tray 86 and moves to the preset second material sucking position. The second material sucking assembly detects and confirms the marked points on the discharging tray 86 through the Mark camera module 21, and then returns to execute steps S3 and S4;

[0102] If the materials on the incoming material tray 46 are not taken out completely and the discharging tray 86 is not full of materials yet, then return to execute steps S3 and S4.

[0103] The following further describes in detail the tray placing method of the full-automatic tray placing system according to the embodiments of the present invention in combination with examples.

[0104] The operator places the incoming material trays 46 filled with materials on the incoming material loading component 4 respectively, and the empty discharging trays 86 on the discharging material loading component 8 respectively.

[0105] The full-automatic detector of the tray arranging machine is powered on. After the reset operation, the previously set detection program is selected and the full-automatic operation is started.

[0106] At this time, according to the selected program parameters, the incoming material loading manipulator component 7 and the discharging material loading manipulator component 10 turn on the vacuum negative pressure and move to the incoming material loading component 4 and the discharging material loading component 8 respectively, pick up the incoming material tray 46 and the discharging tray 86 and place them on the incoming material transfer component 5 and the discharging material transfer component 9 respectively. The incoming material cylinder 45 and the discharging material cylinder 85 clamp the second-layer incoming material tray 46 and the second-layer discharging tray 86 respectively to prevent the second-layer incoming material tray 46 and the second-layer discharging tray 86 from being lifted. According to the selected program parameters, the incoming material transfer component 5 and the discharging material transfer component 9 turn on the vacuum negative pressure and firmly fix the incoming material tray 46 and the discharging tray 86 on the incoming material carrier module 52 and the discharging material carrier module 92 respectively by means of the vacuum negative pressure to prevent the incoming material tray 46 and the discharging tray 86 from sliding.

[0107] The incoming material transfer component 5 and the discharging material transfer component 9 carry the incoming material tray 46 and the discharging tray 86 respectively and move successively to the preset first material suction position and the second material suction position (both under the first gantry component 6). First, the incoming material tray 46 and the discharging tray 86 come under the first gantry component 6. The first material suction component picks up the materials on the incoming material tray 46 and places them on the discharging tray 86. During the movement of the first material suction component towards the discharging tray 86, the incoming material transfer component 5 will carry the incoming material tray 46 to under the second gantry component 12, and then the second material suction component picks up the materials on the incoming material tray 46. At this time, the first material suction component has already placed the materials on the discharging tray 86 and is on the way back to the preset first material suction position. Then, the discharging material transfer component 9 carries the discharging tray 86 and moves from under the first gantry component 6 to under the second gantry component 12. The second material suction component picks up the materials and places them on the discharging tray 86 and then returns. And so on, the first material suction component and the second material suction component alternate in arranging the trays one after the other.

[0108] After the first material suction component and the second material suction component respectively determine the Mark points of the incoming material tray 46 through their own Mark camera modules 21, they then reach above the discharging tray 86 and determine the Mark points of the discharging tray 86 through the Mark camera module 21. Then, the distance between the first blade motor 23 and the second blade motor 22 is adjusted by the material suction adjustment motor 25. According to different distances, the first suction nozzle 231 and the second suction nozzle 221 can achieve simultaneous suction and simultaneous discharge, or separate suction and simultaneous discharge, or simultaneous suction and separate discharge, or separate suction and separate discharge. Specifically, the first suction nozzle 231 and the second suction nozzle 221, according to the pre-selected program parameters, turn on the vacuum negative pressure to pass the materials on the incoming material tray 46 through the detection of the first material imaging system or the second material imaging system, and then adjust the corresponding angular directions of the materials through simultaneous suction and simultaneous discharge, or separate suction and simultaneous discharge, or simultaneous suction and separate discharge, or separate suction and separate discharge between multiple suction nozzles, and then place the materials on the discharging tray 86. If it is a defective product, it is directly placed in the waste box. The waste box is assembled on the frame 2.

[0109] When the materials on the incoming material tray 46 are taken out or the discharging tray 86 is full of materials, the incoming material transfer component 5 and the discharging material transfer component 9 will respectively move below the incoming material feeding component 3 and the discharging material feeding component 14 and wait for feeding.

[0110] Specifically, when the incoming material transfer component 5 and the discharging material transfer component 9 respectively move below the incoming material feeding manipulator component 15 and the discharging material feeding manipulator component 13, the incoming material feeding manipulator component 15 and the discharging material feeding manipulator component 13, according to the selected program parameters, turn on the vacuum negative pressure to pick up the incoming material tray 46 and the discharging tray 86 respectively, and then the incoming material transfer component 5 and the discharging material transfer component 9 respectively move above the incoming material loading component 4 and the discharging material loading component 8 and wait for loading. At the same time, the discharging material feeding manipulator component 13 and the incoming material feeding manipulator component 15 respectively place the incoming material tray 46 and the discharging tray 86 on the incoming material feeding component 3 and the discharging material feeding component 14. When the incoming material tray 46 touches the incoming material optical fiber 48, the incoming material driving module 471 will drive the incoming material movable plate 472 to move downward until it no longer touches the incoming material optical fiber 48 and then pauses. When the discharging tray 86 touches the discharging optical fiber 88, the discharging driving module 871 will drive the discharging movable plate 872 to move downward until it no longer touches the discharging optical fiber 88 and then pauses.

[0111] In summary, the present invention realizes the intelligent automatic tray loading of different types and specifications of materials by designing a rationally laid out and compactly structured tray loading device and tray unloading device, and simultaneously being compatible with incoming material trays and discharging trays of different types and specifications.

[0112] The above-mentioned preferred embodiments are given to further elaborate in detail the purpose, technical solution and advantages of the present invention. It should be understood that the above description is only the preferred embodiments of the present invention, and is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention. The scope of the rights claimed by the present invention shall be subject to the scope described in the invention application, rather than being limited to the above embodiments.

Claims

1. An automatic tray loading system, characterized in that, It includes a frame, a first gantry assembly and a second gantry assembly that are fixed above the frame in parallel and symmetrically, a tray loading device fixed to the frame and the first gantry assembly, a tray unloading device fixed to the frame and the second gantry assembly, a material incoming transfer assembly and a material discharging transfer assembly fixed to the frame and located below the first gantry assembly and the second gantry assembly, a first material suction assembly fixed to the first gantry assembly, a second material suction assembly fixed to the second gantry assembly, an electric control device fixed to the frame and connecting the first gantry assembly and the second gantry assembly, and a first material imaging system fixed to the frame and located below the first material suction assembly and a second material imaging system located below the second material suction assembly; The tray loading device includes a material incoming loading component and a material discharging loading component that are fixed to the frame and are respectively located at both ends below the first gantry assembly, and a material incoming loading manipulator component and a material discharging loading manipulator component that are fixed to the first side wall of the first gantry assembly and are respectively located above the material incoming loading component and the material discharging loading component; the material incoming loading component and the material discharging loading component can perform linear reciprocating movement in the vertical direction below the first gantry assembly, the material incoming loading component is used to carry a material incoming tray with materials, and the material discharging loading component is used to carry an empty material discharging tray; the material incoming loading manipulator component can perform linear reciprocating movement in the vertical direction below the first gantry assembly and above the material incoming loading component, and is used to suck the material incoming tray with materials on the material incoming loading component and place it on the material incoming transfer assembly; the material discharging loading manipulator component can perform linear reciprocating movement in the vertical direction below the first gantry assembly and above the material discharging loading component, and is used to suck the empty material discharging tray on the material discharging loading component and place it on the material discharging transfer assembly; The tray unloading device includes a material incoming unloading component and a material discharging unloading component that are fixed to the frame and are respectively arranged at both ends below the second gantry assembly, and a material incoming unloading manipulator component and a material discharging unloading manipulator component that are fixed to the first side wall of the second gantry assembly and are respectively located above the material incoming unloading component and the material discharging unloading component; the material incoming unloading component and the material discharging unloading component can perform linear reciprocating movement in the vertical direction below the second gantry assembly, the material incoming unloading component is used to carry an empty material incoming tray, and the material discharging unloading component is used to carry a material discharging tray with materials; the material incoming unloading manipulator component can perform linear reciprocating movement in the vertical direction below the second gantry assembly and above the material incoming unloading component, and is used to suck the empty material incoming tray on the material incoming transfer assembly and place it on the material incoming unloading component; the material discharging unloading manipulator component can perform linear reciprocating movement in the vertical direction below the second gantry assembly and above the material discharging loading component, and is used to suck the material discharging tray with materials on the material discharging transfer assembly and place it on the material discharging unloading component; The incoming material transfer assembly can perform linear reciprocating movement below the incoming material loading manipulator assembly and the incoming material unloading manipulator assembly, and above the incoming material loading assembly and the incoming material unloading assembly, for transporting the incoming material tray with materials placed thereon by the incoming material loading assembly to below the first material suction assembly and the second material suction assembly. After the materials on the incoming material tray with materials placed thereon are completely sucked, the empty incoming material tray is then transported to below the incoming material unloading manipulator assembly. After the incoming material unloading manipulator assembly sucks the incoming material tray, it returns to below the incoming material loading manipulator assembly; The discharging transfer assembly can perform linear reciprocating movement below the discharging loading manipulator assembly and the discharging unloading manipulator assembly, and above the discharging loading assembly and the discharging unloading assembly, for transporting the empty discharging tray by the discharging loading assembly to below the first material suction assembly and the second material suction assembly. After the empty discharging tray is filled with materials, the discharging tray is then transported to below the discharging unloading manipulator assembly. After the discharging unloading manipulator assembly sucks the discharging tray, it returns to below the discharging loading manipulator assembly; The first material suction assembly and the second material suction assembly are respectively fixed on the second side wall of the first gantry assembly and the second side wall of the second gantry assembly in parallel and symmetrically, and can perform linear reciprocating movement along the axial directions of the first gantry assembly and the second gantry assembly respectively, for sucking the materials on the incoming material tray with materials placed thereon by the incoming material transfer assembly, then moving above the discharging transfer assembly, placing the materials on the discharging tray of the discharging transfer assembly, and automatically adjusting the distance between multiple suction nozzles thereon according to the shape and size of the materials; The first material imaging system and the second material imaging system are respectively fixed on the frame in parallel and symmetrically and are located in the middle of the incoming material transfer assembly and the discharging transfer assembly, for detecting the materials sucked by the first material suction assembly and the second material suction assembly, and judging the angular direction and quality of the materials.

2. The fully automatic plate arranging system according to claim 1, characterized in that, The first gantry assembly and the second gantry assembly include a first column and a second column vertically fixed on the frame, and a cross beam horizontally erected on the first column and the second column. The cross beam includes the first side wall facing the outside of the frame and the second side wall facing the inside of the frame.

3. The fully automatic dish arranging system according to claim 2, characterized in that, The incoming material loading assembly and the incoming material unloading assembly are of symmetric structure, including an incoming material bottom plate fixed on the frame, an incoming material motor fixed below the incoming material bottom plate, an incoming material adjusting assembly connecting the incoming material motor and fixed above the incoming material bottom plate, incoming material vertical plates vertically fixed on the incoming material adjusting assembly and separated at four corners, an incoming material optical fiber and an incoming material air cylinder fixed at the top ends of the incoming material vertical plates, and an incoming material carrying driving assembly vertically fixed on the incoming material bottom plate; The incoming material adjusting component includes an incoming material linear guide fixed on the incoming material bottom plate, an incoming material sliding plate movably connected to the incoming material linear guide and capable of moving along the incoming material linear guide, an incoming material fixing plate fixed on the incoming material linear guide, an incoming material adjusting belt fixed on the incoming material bottom plate and connected to the incoming material sliding plate, and an incoming material adjusting synchronous pulley fixed on the incoming material bottom plate and connected to the incoming material adjusting belt and the incoming material motor; the incoming material adjusting component is used to correspondingly adjust the distance between the incoming material vertical plates according to the size of the incoming material tray; the incoming material vertical plates include two first incoming material vertical plates fixed at both ends of the incoming material sliding plate, and two second incoming material vertical plates fixed at both ends of the incoming material fixing plate; The incoming material carrying and driving component includes an incoming material driving module vertically fixed on the incoming material bottom plate, and an incoming material movable plate vertically fixed on the incoming material driving module and parallel to the incoming material bottom plate; the incoming material movable plate is used to carry the incoming material tray and can perform linear reciprocating movement in the vertical direction under the drive of the incoming material driving module.

4. The fully automatic dish arranging system according to claim 1, characterized in that The material discharging and feeding component and the material discharging and unloading component are of symmetrical structure, and include a material discharging bottom plate fixed on the machine frame, a material discharging motor fixed under the material discharging bottom plate, a material discharging adjusting component fixed above the material discharging bottom plate and connected to the material discharging motor, material discharging vertical plates vertically fixed on the material discharging adjusting component and distributed at four corners, a material discharging optical fiber and a material discharging cylinder fixed at the top of the material discharging vertical plates, and a material discharging carrying and driving module vertically fixed on the material discharging bottom plate; The material discharging adjusting component includes a material discharging linear guide fixed on the material discharging bottom plate, a material discharging sliding plate movably connected to the material discharging linear guide and capable of moving along the material discharging linear guide, a material discharging fixing plate fixed on the material discharging linear guide, a material discharging adjusting belt fixed on the material discharging bottom plate and connected to the material discharging sliding plate, and a material discharging adjusting synchronous pulley fixed on the material discharging bottom plate and connected to the material discharging adjusting belt and the material discharging motor; the material discharging adjusting component is used to correspondingly adjust the distance between the material discharging vertical plates according to the size of the material discharging tray; the material discharging vertical plates include two first material discharging vertical plates fixed at both ends of the material discharging sliding plate, and two second material discharging vertical plates fixed at both ends of the material discharging fixing plate; The material discharging carrying and driving component includes a material discharging driving module vertically fixed on the material discharging bottom plate, and a material discharging movable plate vertically fixed on the material discharging driving module and parallel to the material discharging bottom plate; the material discharging movable plate is used to carry the material discharging tray and can perform linear reciprocating movement in the vertical direction under the drive of the material discharging driving module.

5. The fully automatic dish arranging system according to claim 1, wherein, The incoming material loading manipulator assembly and the incoming material unloading manipulator assembly are symmetric structures, including an incoming material manipulator fixing plate fixed on the first side wall, an incoming material manipulator adjusting assembly fixed on the incoming material manipulator fixing plate, an incoming material manipulator motor fixed on the incoming material manipulator fixing plate and connected to the incoming material manipulator adjusting assembly, an incoming material manipulator rolling lead screw connected to the incoming material manipulator adjusting assembly and penetrating the incoming material manipulator fixing plate from top to bottom, an incoming material manipulator lifting plate fixed at the bottom of the incoming material manipulator rolling lead screw, and an incoming material manipulator suction nozzle fixed on the incoming material manipulator lifting plate and protruding outwards; The incoming material manipulator rolling lead screw can perform linear reciprocating movement in the vertical direction under the drive of the incoming material manipulator adjusting assembly, and at the same time drive the incoming material manipulator lifting plate and the incoming material manipulator suction nozzle to move together; The incoming material manipulator adjusting assembly includes an incoming material manipulator synchronous pulley fixed on the incoming material manipulator fixing plate and connected to the incoming material manipulator motor, and an incoming material manipulator synchronous belt connected to the incoming material manipulator synchronous pulley; The incoming material manipulator rolling lead screw includes a first lead screw located at the middle position of the incoming material manipulator fixing plate and connected to the incoming material manipulator synchronous pulley, second and third lead screws located at both ends of the incoming material manipulator fixing plate, and a first cross bar connecting the tops of the first, second, and third lead screws; 6. The full-automatic dish arranging system according to claim 1, characterized in that, The discharging material loading manipulator assembly and the discharging material unloading manipulator assembly are symmetric structures, including a discharging material manipulator fixing plate fixed on the first side wall, a discharging material manipulator adjusting assembly fixed on the discharging material manipulator fixing plate, a discharging material manipulator motor fixed on the discharging material manipulator fixing plate and connected to the discharging material manipulator adjusting assembly, a discharging material manipulator rolling lead screw connected to the discharging material manipulator adjusting assembly and penetrating the discharging material manipulator fixing plate from top to bottom, a discharging material manipulator lifting plate fixed at the bottom of the discharging material manipulator rolling lead screw, and a discharging material manipulator suction nozzle fixed on the discharging material manipulator lifting plate; The discharging material manipulator rolling lead screw can perform linear reciprocating movement in the vertical direction under the drive of the discharging material manipulator adjusting assembly, and at the same time drive the discharging material manipulator lifting plate and the discharging material manipulator suction nozzle to move together; The discharging material manipulator adjusting assembly includes a discharging material manipulator synchronous pulley fixed on the discharging material manipulator fixing plate and connected to the discharging material manipulator motor, and a discharging material manipulator synchronous belt connected to the discharging material manipulator synchronous pulley; The discharging material manipulator rolling lead screw includes a fourth lead screw located at the middle position of the discharging material manipulator fixing plate and connected to the discharging material manipulator synchronous pulley, fifth and sixth lead screws located at both ends of the discharging material manipulator fixing plate, and a second cross bar connecting the tops of the fourth, fifth, and sixth lead screws.

7. The fully automatic dish arranging system according to claim 1, wherein The incoming material transfer component includes an incoming material transfer guide rail fixed on the frame, an incoming material carrier module movably connected to the incoming material transfer guide rail, and an incoming material transfer motor connected to the incoming material transfer guide rail; the incoming material transfer guide rail drives the incoming material carrier module to move linearly back and forth along the incoming material transfer guide rail under the drive of the incoming material transfer motor.

8. The full-automatic tray loading system according to claim 1, wherein The discharging transfer component includes a discharging transfer guide rail fixed on the frame, a discharging carrier module movably connected to the discharging transfer guide rail, and a discharging transfer motor connected to the discharging transfer guide rail; the discharging transfer guide rail drives the discharging carrier module to move linearly back and forth along the discharging transfer guide rail under the drive of the discharging transfer motor.

9. The full-automatic dish arranging system according to claim 1, characterized in that, The first material suction component and the second material suction component are symmetric structures, including a material suction guide rail axially fixed along the second side wall, a material suction fixing plate movably connected to the material suction guide rail, a material suction motor connected to the material suction guide rail, a blade motor module and a Mark camera module fixed on the front of the material suction fixing plate, and a material suction adjustment module fixed on the back of the material suction fixing plate and connected to the blade motor module through the material suction fixing plate; The material suction adjustment module includes a material suction adjustment motor fixed on the material suction fixing plate, a material suction adjustment synchronous pulley connected to the material suction adjustment motor, and a material suction adjustment synchronous belt connected to the material suction adjustment synchronous pulley; The blade motor module includes a blade motor slide rail fixed on the material suction fixing plate and axially fixed along the material suction guide rail, a blade motor slide plate movably connected to the blade motor slide rail and connected to the material suction adjustment synchronous pulley through the material suction fixing plate, a first blade motor fixed on the blade motor slide plate and fixed in the vertical direction, a second blade motor fixed on the blade motor slide rail and fixed in the vertical direction, and a first suction nozzle and a second suction nozzle are respectively fixed at the bottom ends of the first blade motor and the second blade motor.

10. A method for arranging dishes of the fully automatic dish arranging system according to any one of claims 1 to 9, characterized in that, Including the following steps: S1. The incoming material loading component raises the incoming material tray with materials to a preset tray taking position, the incoming material loading manipulator component sucks the topmost incoming material tray with materials, the incoming material transfer component moves below the incoming material loading manipulator component, and the incoming material loading manipulator component places the topmost incoming material tray with materials on the incoming material transfer component; at this time, the discharging loading component raises the empty discharging tray to a preset tray taking position, the discharging loading manipulator component sucks the topmost empty discharging tray, the discharging transfer component moves below the discharging loading manipulator component, and the discharging loading manipulator component places the topmost empty discharging tray on the discharging transfer component; S2. The incoming material transfer component carries the incoming material tray to move to a preset first material suction position, the discharging transfer component carries the discharging tray to move to a preset second material suction position, the first material suction component and the second material suction component move above the incoming material transfer component and the discharging transfer component in sequence, and the Mark camera module is used to detect and confirm the marked points on the incoming material tray and the discharging tray; S3. The first material suction component moves above the incoming material transfer component. If there is no material at the position on the incoming material tray directly opposite the first material suction component, the incoming material transfer component moves a certain distance in the direction of the first material suction component so that the first material suction component can suck the material. The first material suction component adjusts the distance between its multiple suction nozzles accordingly according to the marked points on the incoming material tray, then sucks the material on the incoming material tray and moves in the direction of the discharging transfer component. When passing above the first material imaging system during this period, the first material imaging system determines the current angular direction and quality of the material. The first material suction component adjusts to a preset angular direction according to the current angular direction of the material. If the quality of the material is unqualified, the material is placed in the waste box. If the quality is qualified, it continues to move until it is above the discharging transfer component. The second material suction component moves above the incoming material transfer component. If there is no material at the position on the incoming material tray directly opposite the second material suction component, the incoming material transfer component moves a certain distance in the direction of the second material suction component so that the second material suction component can suck the material. The second material suction component adjusts the distance between its multiple suction nozzles accordingly according to the marked points on the incoming material tray, and then sucks the material on the incoming material tray. S4. If there is already material placed at the position on the discharging tray directly opposite the first material suction component, the discharging transfer component moves a certain distance in the direction of the first material suction component so that the first material suction component can place the material. The first material suction component adjusts the distance between its multiple suction nozzles accordingly according to the marked points on the discharging tray, places the material on the discharging tray, and then returns above the incoming material transfer component. The second material suction component moves in the direction of the discharging transfer component. When passing above the second material imaging system during this period, the second material imaging system determines the current angular direction and quality of the material. The second material suction component adjusts to a preset angular direction according to the current angular direction of the material. If the quality of the material is unqualified, the material is placed in the waste box. If the quality is qualified, it continues to move until it is above the discharging transfer component. If there is already material placed at the position on the discharging tray directly opposite the second material suction component, the discharging transfer component moves a certain distance in the direction of the second material suction component so that the second material suction component can place the material. The second material suction component adjusts the distance between its multiple suction nozzles accordingly according to the marked points on the discharging tray, and places the material on the discharging tray. S5. If the materials on the incoming material tray are taken out completely and the discharge tray is also full of materials, the incoming material transfer component moves below the incoming material unloading manipulator component. The incoming material unloading manipulator component sucks the empty incoming material tray and places it on the incoming material unloading component. The incoming material unloading component moves the incoming material tray downward by a certain distance and then waits for the next incoming material tray. The discharge transfer component moves below the discharge unloading manipulator component. The discharge unloading manipulator component sucks the discharge tray full of materials and places it on the discharge unloading component. The discharge unloading component moves the discharge tray downward by a certain distance and then waits for the next discharge tray, and then returns to execute step S1; If the materials on the incoming material tray are taken out completely and the discharge tray is not full of materials yet, then the incoming material transfer component moves below the incoming material unloading manipulator component. The incoming material unloading manipulator component sucks the empty incoming material tray and places it on the incoming material unloading component. The incoming material unloading component moves the incoming material tray downward by a certain distance and then waits for the next incoming material tray. The incoming material loading manipulator component sucks the next incoming material tray with materials from the incoming material loading component. The incoming material transfer component moves below the incoming material loading manipulator component. The incoming material loading manipulator component places the incoming material tray with materials on the incoming material transfer component. The incoming material transfer component moves the incoming material tray to the preset first material suction position. The first material suction component detects and confirms the marked points on the incoming material tray through the Mark camera module, and then returns to execute steps S3 and S4; If the materials on the incoming material tray are not taken out completely and the discharge tray is full of materials, then the discharge transfer component moves below the discharge unloading manipulator component. The discharge unloading manipulator component sucks the discharge tray full of materials and places it on the discharge unloading component. The discharge unloading component moves the discharge tray downward by a certain distance and then waits for the next discharge tray. The discharge loading manipulator component sucks the next empty discharge tray from the discharge loading component. The discharge transfer component moves below the discharge loading manipulator component. The discharge loading manipulator component places the empty discharge tray on the discharge transfer component. The discharge transfer component moves the discharge tray to the preset second material suction position. The second material suction component detects and confirms the marked points on the discharge tray through the Mark camera module, and then returns to execute steps S3 and S4; If the materials on the incoming material tray are not taken out completely and the discharge tray is not full of materials yet, then return to execute steps S3 and S4.

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