Stock bin switching device, automatic feeding and discharging equipment and working method

Abstract

The invention discloses a stock bin switching device, automatic feeding and discharging equipment and a working method.The stock bin switching device comprises a first material frame, a second material frame, a first material disc, a second material disc, a first linear module and a second linear module, the first material frame is arranged on the first linear module, the first material disc is arranged on the first material frame, and the second material disc is arranged on the second material frame; the first material frame is arranged on the first linear module, the second material frame is arranged on the second linear module, the second material disc is arranged on the second material frame, the first linear module and the second linear module drive the first material disc and the second material disc to move in the first direction respectively, the first material disc and the second material disc have height difference, and the first material disc and the second material disc are arranged in a staggered mode in the height direction. The occupied space of the device in the transverse space is greatly reduced, and the overall structure is more compact. Meanwhile, even if two trays with the same size are adopted, space avoidance can be formed in the switching process, and the problem of movement interference is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a silo switching device, automatic loading and unloading equipment and a working method. Background Art

[0002] In the mass production of centerless external cylindrical grinding machines for shaft hardware, a silo system is required to facilitate loading and unloading of materials, enabling robotic gripping of materials. This efficiency directly impacts the overall production line's operational efficiency. To achieve a continuous supply of materials, existing technology often requires multiple silos to alternate between material handling and replenishment, leading to the development of various silo switching devices.

[0003] Existing silo switching devices often utilize a parallel, parallel layout, with different drive mechanisms driving the different silos to move within the same plane to achieve switching. However, this arrangement has significant drawbacks: Firstly, the planar layout requires a large horizontal space, making it less suitable for production sites with limited space. Secondly, because the silos are located at the same height, mutual interference is likely to occur during switching, increasing control complexity and potentially causing material damage or equipment failure due to collisions, impacting production continuity.

[0004] In addition, although some improved switching devices attempt to reduce the horizontal space occupancy by stacking, due to the lack of a reasonable staggered avoidance structure, the movement paths of the upper and lower hoppers restrict each other, making it difficult to achieve fast and smooth switching without movement interference under the same material tray size. In order to avoid movement interference, the upper and lower overlapping material trays need to be designed into different sizes. However, in the batch processing production of centerless external cylindrical grinding for shaft hardware, a large number of shaft materials are placed in one material tray. Such inconsistency in the size of the material tray will increase the difficulty of designing the gripping algorithm of the gripping structure. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a silo switching device, automatic loading and unloading equipment and a working method.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In the first aspect, the present invention provides a material bin switching device, comprising a first material rack, a second material rack, a first material tray, a second material tray, a first linear module and a second linear module, the first material rack is arranged on the first linear module, the first material tray is arranged on the first material rack, the second material rack is arranged on the second linear module, the second material tray is arranged on the second material rack, the first linear module and the second linear module respectively drive the first material tray and the second material tray to move along the first direction, the first material tray and the second material tray have a height difference, and the first material tray and the second material tray are staggered in the height direction.

[0008] Furthermore, the first linear module and the second linear module both include a linear cylinder, a left guide rail and a right guide rail. The linear cylinder is arranged along a first direction, and the left guide rail and the right guide rail are arranged side by side on the left and right sides of the linear cylinder. At least one left slider is slidably provided on the left guide rail, and at least one right slider is slidably provided on the right guide rail.

[0009] Furthermore, the linear cylinder includes a cylinder barrel, an inner piston and a magnetic coupling seat. The cylinder barrel is arranged along a first direction, the inner piston is movably arranged in the cylinder barrel, and the magnetic coupling seat is sleeved on the outer periphery of the cylinder barrel. The magnetic coupling seat forms a magnetic coupling with the inner piston through magnetic force, so that the magnetic coupling seat moves along the arrangement direction of the cylinder barrel.

[0010] Furthermore, the first material rack includes a first left connecting plate, a first right connecting plate and a cross connecting frame, an extension plate is extended from the left side of the first right connecting plate, the first left connecting plate is fixedly connected to the left slider of the first linear module, the first right connecting plate is fixedly connected to the right slider of the first linear module, the extension plate is fixedly connected to the magnetic coupling seat of the first linear module, the cross connecting frame is connected to the first left connecting plate and the first right connecting plate, the first material tray is installed on the cross connecting frame, and an avoidance channel is formed between the cross connecting frame and the first left connecting plate and the first right connecting plate, which allows the second material tray to pass through when moving along the first direction.

[0011] Furthermore, the cross-connecting frame includes a left vertical plate, a right vertical plate and a transverse connecting plate, the left vertical plate is vertically arranged on the first left connecting plate, the right vertical plate is vertically arranged on the first right connecting plate, and the transverse connecting plate is fixedly connected to the top of the left vertical plate and the right vertical plate.

[0012] Furthermore, the second material rack includes a second left connecting plate, a second right connecting plate, a bottom connecting plate and a top connecting plate, the bottom connecting plate is fixedly connected to the left slider, the right slider and the magnetic coupling seat of the second linear module, the second left connecting plate and the second right connecting plate are arranged side by side above the bottom connecting plate along the first direction, the top connecting plate is fixedly connected above the second left connecting plate and the second right connecting plate, and the second material tray is installed above the top connecting plate.

[0013] Furthermore, the second material tray and the first material tray have the same size, the distance between the left vertical plate and the right vertical plate is greater than the width of the second material tray, and the distance between the transverse connecting plate and the first left connecting plate and the distance between the transverse connecting plate and the first right connecting plate are both greater than the thickness of the second material tray.

[0014] Furthermore, the tops of the transverse connecting plate and the top connecting plate are both provided with positioning posts, the tops of the first material tray and the second material tray are both provided with positioning holes matching the positioning posts, and the upper ends of the positioning posts are inserted into the positioning holes.

[0015] In the second aspect, the present invention also provides an automatic loading and unloading device, including a multi-axis robotic arm, a material grabbing mechanism and the above-mentioned hopper switching device, wherein the material grabbing mechanism is connected to the multi-axis robotic arm, and the multi-axis robotic arm is used to drive the material grabbing mechanism to grab materials from the first material tray or the second material tray of the hopper switching device.

[0016] In a third aspect, the present invention further provides a material grabbing method for automatic loading and unloading equipment, comprising:

[0017] Monitoring the positions of the first tray and the second tray;

[0018] If the first tray is at the material grabbing station and the second tray is at the material placing station, the material grabbing mechanism grabs the materials from the first tray one by one to the predetermined position according to the set rhythm and sequence;

[0019] When all the materials in the first tray are grabbed, the second tray filled with materials is switched to the material grabbing station, and the first tray is switched to the material placing station. The material grabbing mechanism grabs the materials from the second tray one by one to the predetermined position according to the set rhythm and sequence.

[0020] The present invention has the following advantages over the prior art: a silo switching device comprising a first silo rack, a second silo rack, a first silo tray, a second silo tray, a first linear module, and a second linear module; the first silo rack is mounted on the first linear module, the first silo tray is mounted on the first silo rack, the second silo rack is mounted on the second linear module, and the second silo tray is mounted on the second silo rack; the first linear module and the second linear module respectively drive the first silo tray and the second silo tray to move in a first direction; the first silo tray and the second silo tray have a height difference, and the first silo tray and the second silo tray are staggered in height. By setting a height difference between the first silo tray and the second silo tray and staggering them in height, the conventional silo plane side-by-side arrangement is changed, the lateral space occupied by the device is significantly reduced, and the overall structure is more compact. At the same time, because the first silo tray and the second silo tray are staggered in height, and the first linear module and the second linear module respectively drive them to move in the first direction, even if two silo trays of the same size are used, spatial avoidance can be formed during the switching process, effectively avoiding the problem of movement interference.

[0021] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 A schematic structural diagram of an automatic loading and unloading device provided in a specific embodiment of the present invention;

[0024] Figure 2 A schematic structural diagram of a silo switching device provided in a specific embodiment of the present invention;

[0025] Figure 3 A schematic diagram of a partial structure of a silo switching device provided in a specific embodiment of the present invention Figure 1 ;

[0026] Figure 4 A schematic diagram of a partial structure of a silo switching device provided in a specific embodiment of the present invention Figure 2 ;

[0027] Figure 5 A schematic structural diagram of a first material rack in a silo switching device provided in a specific embodiment of the present invention;

[0028] Figure 6 A schematic structural diagram of a second material rack in a silo switching device provided in a specific embodiment of the present invention;

[0029] Figure 7 A schematic structural diagram of a multi-axis robotic arm in an automatic loading and unloading device provided by a specific embodiment of the present invention;

[0030] Figure 8 The present invention provides a structural diagram of a material grabbing mechanism in an automatic loading and unloading device according to a specific embodiment of the present invention.

[0031] Reference numerals

[0032] 1. Bin switching device; 11. First material rack; 111. First left connecting plate; 112. First right connecting plate; 113. Extension plate; 114. Left vertical plate; 115. Right vertical plate; 116. Horizontal connecting plate; 12. Second material rack; 121. Second left connecting plate; 122. Second right connecting plate; 123. Bottom connecting plate; 124. Top connecting plate; 13. First material tray; 14. Second material tray; 15. First linear module; 151. Linear cylinder; 1511. Cylinder barrel; 1512. Magnetic coupling seat; 152. Left guide Guide rail; 1521, left slider; 153, right guide rail; 1531, right slider; 16, second linear module; 17, positioning column; 18, first in-position sensor; 19, second in-position sensor; 2, multi-axis robotic arm; 21, robotic arm base; 22, first horizontal rotating arm; 23, second horizontal rotating arm; 24, telescopic rotating arm; 3, material grabbing mechanism; 31, material grabbing seat; 32, slide cylinder; 34, gripper cylinder; 35, material grabbing; 4, chassis; 5, baffle; 51, loading and unloading windows; 100, material. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions of the present invention in conjunction with specific embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0036] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0039] An embodiment of the present invention provides an automatic loading and unloading device, which is mainly used in the batch processing and production of centerless external cylindrical grinding of shaft hardware, that is, it is mainly an automatic loading and unloading device for shaft processing.

[0040] like Figures 1 to 8 As shown, the automatic loading and unloading equipment includes a chassis 4, and a multi-axis robot arm 2, a material grabbing mechanism 3, a silo switching device 1, and a shielding plate 5 provided on the chassis 4. The material grabbing mechanism 3 is connected to the multi-axis robot arm 2, and the multi-axis robot arm 2 is used to drive the material grabbing mechanism 3 to grab the material 100 from the first material tray 13 or the second material tray 14 of the silo switching device 1. The multi-axis robot arm 2 includes a robot arm base 21, a first horizontal rotating arm 22, a second horizontal rotating arm 23, and a telescopic rotating arm 24. The material grabbing mechanism 3 includes a material grabbing seat 31, a slide cylinder 32, a clamping claw cylinder 34, and a material grab 35. The shielding plate 5 is provided on the loading and unloading side of the chassis 4. A loading and unloading window 51 is provided on the shielding plate 5 to facilitate the staff to place the material 100 in the first material tray 13 and the second material tray 14.

[0041] Chassis 4 serves as the mounting base and supporting framework for the entire automatic loading and unloading system. It can be constructed from high-strength aluminum alloy profiles or stainless steel sheets, bolted or welded together to ensure sufficient structural strength and stability to withstand the weight of components such as the multi-axis robotic arm 2, material gripper 3, and silo switching device 1, as well as the forces generated during operation. The various profiles are securely connected by suitable connectors to form the main chassis 4, which meets the required mounting space for each component. Chassis 4 houses a control system or is connected to an external industrial computer to provide overall control of the automatic loading and unloading system.

[0042] The multi-axis manipulator 2 is used to drive the material grasping mechanism 3 to achieve multi-degree-of-freedom movement, so as to accurately grasp the material 100 from the first material tray 13 or the second material tray 14 of the silo switching device 1. Among them, the manipulator base 21 is fixedly installed on the top table of the chassis 4 and is firmly connected to the table of the chassis 4 through fastening connectors to ensure that the multi-axis manipulator 2 does not shake during operation. One end of the first horizontal rotating arm 22 is connected to the manipulator base 21 through a first rotating joint. The first rotating joint can adopt a servo motor combined with a harmonic reducer structure. The servo motor can drive the first horizontal rotating arm 22 to rotate around the manipulator base 21 on the horizontal plane, and has a high rotation angle accuracy. One end of the second horizontal rotating arm 23 is connected to the other end of the first horizontal rotating arm 22 through a second rotating joint. The structure of the second rotating joint is the same as that of the first rotating joint, and can also realize the rotational movement of the second horizontal rotating arm 23 on the horizontal plane. Its rotation range can be set according to actual work requirements. The telescopic rotating arm 24 is connected to the other end of the second horizontal rotating arm 23 through a third rotating joint. A telescopic driving mechanism, such as a ball screw nut pair, is provided inside the telescopic rotating arm 24. The ball screw is driven to rotate by a servo motor, thereby driving the telescopic rotating arm 24 to perform telescopic movement along its axial direction; at the same time, the third rotating joint can also drive the telescopic rotating arm 24 to rotate to adjust the gripping angle of the material grabbing mechanism 3.

[0043] The material gripping mechanism 3 is connected to the end of the telescopic rotating arm 24 of the multi-axis manipulator 2, distal from the second horizontal rotating arm 23, and is used to grasp the material 100. A material gripping base 31 is bolted to the end of the telescopic rotating arm 24. A slide cylinder 32 is fixedly mounted on the material gripping base 31. Its slider can reciprocate linearly in a direction perpendicular to the gripping base 31, driving the gripping jaw cylinder 34 and the material gripping jaw 35 for vertical adjustment. The gripping jaw 34 is mounted on the slider of the slide cylinder 32. Its two jaws can open and close under the influence of an air supply. The gripping force of the jaws can be controlled by adjusting the air supply pressure to ensure stable grasping of materials 100 of varying weights. The material gripping jaw 35 is fixedly mounted on the two jaws of the gripping jaw cylinder 34. The gripping jaw 35 can be made of wear-resistant rubber or engineering plastic. The surface that contacts the material 100 can be provided with anti-slip ridges to increase friction with the material 100 and prevent it from slipping during the grasping process.

[0044] The baffle plate 5 is set on the loading and unloading side of the chassis 4. It can be fixed to the side frame of the chassis 4 by bolts. The material of the baffle plate 5 can be selected from a transparent acrylic plate or a tempered glass plate. It can not only play the role of isolation and protection to prevent the material 100 from splashing and causing harm to the staff during the grabbing process, but also facilitate the staff to observe the working conditions inside the equipment. A loading and unloading window 51 is provided on the baffle plate 5. The edges of the loading and unloading window 51 are rounded to prevent the staff from being scratched during operation. The staff can place the material 100 in the first material tray 13 and the second material tray 14 through the loading and unloading window 51. The setting of the loading and unloading window 51 matches the comfortable height of human operation. The setting of the baffle plate 5 can, on the one hand, isolate the working area inside the equipment and ensure the personal safety of the staff; on the other hand, the setting of the loading and unloading window 51 facilitates the staff to place the material 100 in the first material tray 13 and the second material tray 14, thereby improving the convenience of loading and unloading operations.

[0045] In one embodiment, if Figure 2 As shown, the silo switching device 1 includes a first material rack 11, a second material rack 12, a first material tray 13, a second material tray 14, a first linear module 15 and a second linear module 16. The first material rack 11 is arranged on the first linear module 15, the first material tray 13 is arranged on the first material rack 11, the second material rack 12 is arranged on the second linear module 16, and the second material tray 14 is arranged on the second material rack 12. The first linear module 15 and the second linear module 16 respectively drive the first material tray 13 and the second material tray 14 to move along the first direction. The first material tray 13 and the second material tray 14 have a height difference, and the first material tray 13 and the second material tray 14 are staggered in the height direction.

[0046] The first linear module 15 and the second linear module 16 are installed on the table of the chassis 4 in parallel and at intervals. The arrangement direction of both is the first direction, which can be set to the horizontal direction according to the overall layout of the equipment, for example, extending along the length direction or width direction of the chassis 4.

[0047] The first linear module 15 serves as the drive and support structure for the first material rack 11. The first material rack 11 is fixedly mounted to the movable end of the first linear module 15 via a detachable connection method such as bolts or clips, allowing the first linear module 15 to drive the first material rack 11 to move stably in a first direction. The first material tray 13, used to carry the material 100 to be grasped, is mounted on the top of the first material rack 11 via a positioning structure or fasteners. Similarly, the second material rack 12 is mounted on the second linear module 16 via the same connection method, and the second material tray 14 is correspondingly mounted on the top of the second material rack 12. The second linear module 16 can independently drive the second material rack 12 and the second material tray 14 to move in the first direction. The movements of the first linear module 15 and the second linear module 16 do not interfere with each other, and asynchronous operation can be achieved through independent control systems.

[0048] To achieve efficient space utilization and avoid motion interference, a predetermined height difference is established between the first tray 13 and the second tray 14. This height difference is achieved by the structural size difference between the first rack 11 and the second rack 12. Furthermore, the first tray 13 and the second tray 14 are staggered in height. That is, when the first tray 13 and the second tray 14 are moved along the first direction to a partially overlapping area, the vertical projection of the first tray 13 and the second tray 14 do not overlap, forming a vertically layered spatial layout.

[0049] Specifically, when the first material tray 13 is located at the material grabbing station, the second material tray 14 can move along the first direction to the material placement station under the drive of the first linear module 15. At this time, due to the height difference between the two and the staggered arrangement, the movement path of the second material tray 14 will not collide with the first material tray 13.

[0050] By setting a height difference between the first material tray 13 and the second material tray 14 and arranging them in a staggered manner in the height direction, the traditional side-by-side arrangement of the material bin plane is changed, the lateral space occupied by the device is greatly reduced, and the overall structure is more compact, which is particularly suitable for production scenarios with limited space. At the same time, since the first material tray 13 and the second material tray 14 are staggered in height, they are driven to move in the first direction respectively by the first linear module 15 and the second linear module 16. Even if two material trays of the same size are used, spatial avoidance can be formed during the switching process, effectively avoiding the problem of movement interference.

[0051] In one embodiment, if Figure 4 As shown, the silo switching device 1 also includes a first in-position sensor 18 and a second in-position sensor 19, both of which are electrically connected to the control system of the equipment, and are used to detect the position status of the material tray in real time and feedback signals to achieve automatic control of the material tray switching.

[0052] First in-position sensor 18 detects whether first tray 13 or second tray 14 has reached the material grabbing station. Its installation location can be determined based on the designated location of the material grabbing station. For example, it can be secured to the edge of the chassis 4 near the material grabbing station via a bracket, with the sensor's detection end facing the motion path of first linear module 15 or second linear module 16. First in-position sensor 18 can be a photoelectric sensor, with its transmitter and receiver mounted on either side of the motion path. When a tray (referring to first tray 13 or second tray 14) reaches the material grabbing station, it blocks the light from the photoelectric sensor, preventing the receiver from receiving the light signal. At this point, the sensor sends an in-position signal to the control system.

[0053] Second in-position sensor 19 detects whether first tray 13 or second tray 14 has reached the material placement station. It is mounted similarly to first in-position sensor 18, secured to the top of chassis 4 near the material placement station via a bracket, with its detection end oriented toward the tray's path of motion. Second in-position sensor 19 can utilize the same type of sensor as first in-position sensor 18. When a tray reaches the material placement station, second in-position sensor 19 detects the tray and sends an in-position signal to the control system.

[0054] In one embodiment, if Figure 4 As shown, the first linear module 15 and the second linear module 16 both include a linear cylinder 151, a left guide rail 152 and a right guide rail 153. The linear cylinder 151 is arranged along the first direction, and the left guide rail 152 and the right guide rail 153 are arranged side by side on the left and right sides of the linear cylinder 151. At least one left slider 1521 is slidably provided on the left guide rail 152, and at least one right slider 1531 is slidably provided on the right guide rail 153.

[0055] Linear cylinder 151 is arranged along a first direction, its cylinder body bolted to the top of chassis 4. The cylinder body's axis is parallel to the first direction, ensuring that the direction of the output force aligns with the direction of the tray's motion. Left and right guide rails 152 and 153 also extend along the first direction and are symmetrically positioned side by side on the left and right sides of linear cylinder 151. The bottoms of the rails are fastened to the top of chassis 4 with countersunk bolts to ensure straightness and prevent jamming of the slider due to rail tilt.

[0056] At least one left slider 1521 slides on the left guide rail 152, and at least one right slider 1531 slides on the right guide rail 153. The left and right sliders 1521 and 1531 are fitted with clearances to their respective rails, and internally contain ball or roller structures to reduce friction and enable smooth sliding along the rails. Depending on the rack's length and load requirements, two left and right sliders 1521 and 1531 can be provided, spaced apart along the length of the rails to enhance support stability.

[0057] The moving part of the linear cylinder 151 of the first linear module 15 is fixedly connected to the first material rack 11. At the same time, the tops of the left slider 1521 and the right slider 1531 of the first linear module 15 are also fixedly connected to the bottom of the first material rack 11, so that the first material rack 11, driven by the linear cylinder 151 of the first linear module 15, can drive the left slider 1521 and the right slider 1531 of the first linear module 15 to move synchronously along the left guide rail 152 and the right guide rail 153 of the first linear module 15. Similarly, the moving part of the linear cylinder 151 of the second linear module 16 is fixedly connected to the second material rack 12. At the same time, the top of the left slider 1521 and the right slider 1531 of the second linear module 16 are also fixedly connected to the bottom of the second material rack 12, so that the second material rack 12 can drive the left slider 1521 and the right slider 1531 of the second linear module 16 to move synchronously along the left guide rail 152 and the right guide rail 153 of the second linear module 16 under the drive of the linear cylinder 151 of the second linear module 16.

[0058] In one embodiment, if Figure 4 As shown, the linear cylinder 151 includes a cylinder barrel 1511, an inner piston and a magnetic coupling seat 1512. The cylinder barrel 1511 is arranged along a first direction, the inner piston is movably arranged in the cylinder barrel 1511, and the magnetic coupling seat 1512 is sleeved on the outer periphery of the cylinder barrel 1511. The magnetic coupling seat 1512 forms a magnetic coupling with the inner piston through magnetic force, so that the magnetic coupling seat 1512 moves along the arrangement direction of the cylinder barrel 1511.

[0059] Cylinder 1511 is arranged along a first direction, with both ends sealed by end caps. Sealing rings may be used between the end caps and cylinder 1511 to prevent leakage of compressed air within cylinder 1511. Cylinder 1511 can be constructed of high-strength aluminum alloy or stainless steel to ensure sufficient compressive strength and longevity. The bottom of cylinder 1511 is bolted to a mounting base on the top of chassis 4. A cushion may be provided between the mounting base and cylinder 1511 to reduce the transmission of vibration generated by the cylinder during operation to chassis 4.

[0060] The inner piston is movably disposed within the cylinder 1511, with a clearance fit between it and the inner wall of the cylinder 1511. A piston ring is embedded in the outer circumference of the inner piston. The piston ring is made of wear-resistant rubber or polytetrafluoroethylene, which can not only ensure the sealing performance between the inner piston and the inner wall of the cylinder 1511, but also reduce the friction resistance between the two. One end of the inner piston is connected to a piston rod, which passes through the end cover at one end of the cylinder 1511 and extends to the outside of the cylinder 1511. A guide sleeve and a sealing ring are provided between the piston rod and the end cover. The guide sleeve guides the movement of the piston rod, and the sealing ring prevents compressed air from leaking from the gap between the piston rod and the end cover. A permanent magnet is embedded in the interior of the inner piston. The permanent magnet can be made of neodymium iron boron strong magnetic material. It is arranged along the axial direction of the inner piston to form a stable magnetic field.

[0061] Magnetic coupling base 1512 is sleeved around the periphery of cylinder 1511 and has a cylindrical structure. A certain gap is left between the inner wall and the outer wall of cylinder 1511 to ensure that magnetic coupling base 1512 can move freely along the axial direction of cylinder 1511. An induction magnet is embedded in the interior of magnetic coupling base 1512 at the position corresponding to the inner piston permanent magnet. The induction magnet has opposite polarity to the inner piston permanent magnet, and magnetic coupling is formed between the two through magnetic force. When the inner piston moves axially within cylinder 1511, under the action of the magnetic force, magnetic coupling base 1512 will move synchronously with the inner piston, thereby achieving movement of magnetic coupling base 1512 along the arrangement direction of cylinder 1511 (i.e., the first direction).

[0062] The outer wall of the magnetic coupling base 1512 of the first linear module 15 is provided with a connecting flange or connecting lug, which is fixedly connected to the first material frame 11 via bolts. This allows the magnetic coupling base 1512 of the first linear module 15 to drive the first material frame 11 to move synchronously during movement. Similarly, the outer wall of the magnetic coupling base 1512 of the second linear module 16 is provided with a connecting flange or connecting lug, which is fixedly connected to the second material frame 12 via bolts. This allows the magnetic coupling base 1512 of the second linear module 16 to drive the second material frame 12 to move synchronously during movement.

[0063] The magnetic coupling transmission mode is adopted, and there is no need to open a through hole for the piston rod to extend on the cylinder 1511, which avoids the reliability of use. At the same time, the magnetic coupling seat 1512 and the inner piston move synchronously through magnetic force, with smooth transmission and fast response speed. It can quickly realize position switching and meet the needs of fast switching of the material tray.

[0064] In one embodiment, if Figure 5 As shown, the first material rack 11 includes a first left connecting plate 111, a first right connecting plate 112 and a cross connecting frame. An extension plate 113 is extended from the left side of the first right connecting plate 112. The first left connecting plate 111 is fixedly connected to the left slider 1521 of the first linear module 15, the first right connecting plate 112 is fixedly connected to the right slider 1531 of the first linear module 15, the extension plate 113 is fixedly connected to the magnetic coupling seat 1512 of the first linear module 15, the cross connecting frame is connected to the first left connecting plate 111 and the first right connecting plate 112, the first material tray 13 is installed on the cross connecting frame, and an avoidance channel is formed between the cross connecting frame and the first left connecting plate 111 and the first right connecting plate 112, so that the second material tray 14 can pass through when moving along the first direction.

[0065] The first left connecting plate 111 and the first right connecting plate 112 are both made of sheet metal through cutting and bending. They are spaced and arranged parallel to each other along the width of the first linear module 15, and both have connection holes on their bottoms that match the corresponding sliders. The first left connecting plate 111 is fixedly connected to the left slider 1521 of the first linear module 15 via bolts. The bolts pass through the connection holes of the first left connecting plate 111 and are fastened to the threaded holes of the left slider 1521, ensuring a secure connection between the two. Similarly, the first right connecting plate 112 is fixedly connected to the right slider 1531 of the first linear module 15 via bolts, allowing the first left connecting plate 111 and the first right connecting plate 112 to move synchronously with the left and right sliders 1531 along the guide rails.

[0066] An extension plate 113 integrally extends from the left side of the first right connecting plate 112. This extension plate 113 is arranged horizontally with the first right connecting plate 112. A through-hole is formed in the extension plate 113, which is fixedly connected to the magnetic coupling base 1512 of the first linear module 15 via bolts. When the magnetic coupling base 1512 moves in the first direction driven by the linear cylinder 151, the extension plate 113 drives the first right connecting plate 112 to move synchronously. Furthermore, through the linkage between the first right connecting plate 112 and the first left connecting plate 111, the entire first material rack 11 can move smoothly in the first direction.

[0067] The cross-connecting frame is connected to the top of the first left connecting plate 111 and the first right connecting plate 112, and can be fixed to the first left connecting plate 111 and the first right connecting plate 112 by welding or bolting. Specifically, the two ends of the cross-connecting frame are respectively fitted with the inner side walls of the first left connecting plate 111 and the inner side walls of the first right connecting plate 112, and an integral structure is formed by welding, or a detachable connection is achieved by angle brackets and bolts to facilitate later maintenance and replacement. The first material tray 13 is installed on the top of the cross-connecting frame by a positioning structure (such as a positioning pin and a positioning hole) or a fastening bolt. The positioning structure ensures the position accuracy of the first material tray 13 on the cross-connecting frame to prevent it from shifting during movement.

[0068] An escape passage is formed between the cross-connecting frame and the first left connecting plate 111 and the first right connecting plate 112. This escape passage is arranged to penetrate along the first direction, and its height and width are determined according to the size of the second material tray 14 to ensure that the second material tray 14 can pass through smoothly when moving in the first direction. For example, the height of the space formed at the connection between the bottom of the cross-connecting frame and the first left connecting plate 111 and the first right connecting plate 112 is greater than the thickness of the second material tray 14, and the horizontal distance between the cross-connecting frame and the first left connecting plate 111 and the first right connecting plate 112 is greater than the width of the second material tray 14. This allows the second material tray 14 to pass through the escape passage without interfering with the first material rack 11 when switching workstations.

[0069] By connecting the first left connecting plate 111 and the first right connecting plate 112 to the left slider 1521 and the right slider 1531 respectively, and coordinating the connection between the extension plate 113 and the magnetic coupling seat 1512, a stable connection is achieved between the first material rack 11 and the first linear module 15, ensuring that the first material rack 11 can accurately move along the first direction under the drive of the linear module. Moreover, the setting of the cross-connecting frame provides a stable installation foundation for the first material tray 13, ensuring the stability of the first material tray 13 during movement and the grabbing of the material 100. In addition, the design of the avoidance channel allows the second material tray 14 to pass smoothly under the first material rack 11, realizing the staggered movement of the first material tray 13 and the second material tray 14 in space, avoiding interference between the two during the switching process, and further improving the space utilization and work efficiency of the silo switching device 1.

[0070] In one embodiment, if Figure 5 As shown, the cross-connecting frame includes a left vertical plate 114, a right vertical plate 115 and a transverse connecting plate 116. The left vertical plate 114 is vertically arranged on the first left connecting plate 111, the right vertical plate 115 is vertically arranged on the first right connecting plate 112, and the transverse connecting plate 116 is fixedly connected to the top of the left vertical plate 114 and the right vertical plate 115.

[0071] The left vertical plate 114 and the right vertical plate 115 are both made of sheet metal. They have the same structure and are symmetrically arranged. Their height is determined according to the required height difference between the first material tray 13 and the second material tray 14. The left vertical plate 114 is vertically arranged on the first left connecting plate 111. It can be fixed by welding or bolting. For example, the bottom of the left vertical plate 114 fits the top edge of the first left connecting plate 111, and the contact surface of the two is fully welded to form a vertical right-angle structure to ensure the connection strength. If bolt connection is adopted, the bottom of the left vertical plate 114 can be preset with a flange edge, and bolt holes are provided on the flange edge. It is fastened to the top of the first left connecting plate 111 by bolts, which facilitates subsequent disassembly and maintenance. Similarly, the right vertical plate 115 is vertically arranged on the first right connecting plate 112. Its installation method is the same as that of the left vertical plate 114, ensuring that the left vertical plate 114 and the right vertical plate 115 are at the same height and parallel to each other, providing a horizontal installation reference for the horizontal connecting plate 116.

[0072] The transverse connecting plate 116 is a metal flat plate or frame structure, and its length matches the spacing between the first left connecting plate 111 and the first right connecting plate 112, and can span the top of the left vertical plate 114 and the right vertical plate 115. The transverse connecting plate 116 is fixedly connected to the top of the left vertical plate 114 and the right vertical plate 115, and the connection method can be welding or bolt connection: if welding is used, the bottom of the transverse connecting plate 116 is fully welded to the top edge of the left vertical plate 114 and the right vertical plate 115 to form an overall rigid structure, thereby improving the load-bearing capacity of the cross-connecting frame; if bolt connection is used, the bottom of the transverse connecting plate 116 has preset threaded holes corresponding to the positions of the left vertical plate 114 and the right vertical plate 115, and the three are fastened by bolts, making it easy to replace transverse connecting plates 116 of different specifications according to the size of the first material tray 13.

[0073] The left vertical plate 114 and the right vertical plate 115 are vertically arranged on the first left and right connecting plates, providing stable support for the horizontal connecting plate 116. At the same time, by setting the height of the vertical plates, the height difference between the first material tray 13 and the second material tray 14 is accurately controlled to meet the requirement of staggered arrangement of the two in the height direction. Moreover, the combined structure of the left vertical plate 114, the right vertical plate 115 and the horizontal connecting plate 116 naturally forms an avoidance channel between the cross-connecting frame and the first left and right connecting plates. The height of the channel is determined by the height of the left vertical plate 114 and the right vertical plate 115, and the width is determined by the distance between the first left and right connecting plates, ensuring that the second material tray 14 can pass through smoothly, effectively avoiding interference problems when switching between trays.

[0074] In one embodiment, if Figure 6 As shown, the second material rack 12 includes a second left connecting plate 121, a second right connecting plate 122, a bottom connecting plate 123 and a top connecting plate 124. The bottom connecting plate 123 is fixedly connected to the left slider 1521, the right slider 1531 and the magnetic coupling seat 1512 of the second linear module 16. The second left connecting plate 121 and the second right connecting plate 122 are arranged side by side above the bottom connecting plate 123 along the first direction. The top connecting plate 124 is fixedly connected above the second left connecting plate 121 and the second right connecting plate 122. The second material tray 14 is installed above the top connecting plate 124.

[0075] The bottom connecting plate 123 is made of sheet metal. Its shape matches the distribution of the left slider 1521, the right slider 1531, and the magnetic coupling base 1512 of the second linear module 16, and can simultaneously form a stable connection with all three. The bottom connecting plate 123 is fixedly connected to the left slider 1521, the right slider 1531, and the magnetic coupling base 1512 of the second linear module 16 via bolts. Specifically, bolt holes are provided at the bottom of the bottom connecting plate 123 at positions corresponding to the left slider 1521, the right slider 1531, and the magnetic coupling base 1512. Bolts pass through these bolt holes and are tightened to threaded holes on the left slider 1521, the right slider 1531, and the magnetic coupling base 1512, respectively. This ensures that the bottom connecting plate 123 can move synchronously with the left slider 1521, the right slider 1531, and the magnetic coupling base 1512 in the first direction when driven by the second linear module 16.

[0076] The second left connecting plate 121 and the second right connecting plate 122 are both made of metal plates or profiles and are arranged side by side and parallel to each other along the first direction above the bottom connecting plate 123. The spacing between them is determined based on the size of the second tray 14 to ensure stable support for the top connecting plate 124. The bottoms of the second left connecting plate 121 and the second right connecting plate 122 are fixedly connected to the top of the bottom connecting plate 123, and the connection method can be selected from welding or bolting.

[0077] The top connecting plate 124 is made of a metal plate. Its length matches the spacing between the second left connecting plate 121 and the second right connecting plate 122, and it can span above them. The top connecting plate 124 is fixedly connected to the top of the second left connecting plate 121 and the second right connecting plate 122, and the connection method can be selected from welding or bolting.

[0078] The bottom connecting plate 123 is fixedly connected to the left and right sliders 1521, 1531, and magnetic coupling base 1512 of the second linear module 16, ensuring a stable connection between the second material rack 12 and the second linear module 16. This ensures that the second material rack 12 can move precisely in the first direction when driven by the linear module. Furthermore, the combined structure of the second left connecting plate 121, the second right connecting plate 122, and the top connecting plate 124 provides a stable mounting base for the second material tray 14, ensuring its stability during movement and placement of the material 100.

[0079] In one embodiment, the second tray 14 and the first tray 13 have the same size, the distance between the left upright plate 114 and the right upright plate 115 is greater than the width of the second tray 14, and the distance between the transverse connecting plate 116 and the first left connecting plate 111 and the distance between the transverse connecting plate 116 and the first right connecting plate 112 are both greater than the thickness of the second tray 14. The advantage of this design is that

[0080] In one embodiment, if Figure 3As shown, the tops of the transverse connecting plate 116 and the top connecting plate 124 are both provided with positioning posts 17, and the tops of the first material tray 13 and the second material tray 14 are both provided with positioning holes matching the positioning posts 17, and the upper ends of the positioning posts 17 are inserted into the positioning holes.

[0081] The bottom of the positioning column 17 is fixed to the transverse connecting plate 116 or the top connecting plate 124 by welding or threading.

[0082] A plurality of positioning posts 17 are spaced along the length and width of the top of the transverse connecting plate 116. The placement of these posts 17 corresponds one-to-one with the positioning holes at the bottom of the first tray 13. Similarly, the top of the top connecting plate 124 is also equipped with positioning posts 17 in the same pattern, matching the positioning holes of the second tray 14. The height of the positioning posts 17 is slightly less than the depth of the positioning holes, ensuring stable positioning while preventing excessive length from interfering with tray placement.

[0083] The bottoms of the first material tray 13 and the second material tray 14 are both provided with positioning holes that match the positioning posts 17 . The shapes of the positioning holes are consistent with those of the positioning posts 17 , and are preferably conical in design, which ensures stability during use while facilitating placement and removal.

[0084] When the first material tray 13 is placed on the horizontal connecting plate 116, the upper end of the positioning column 17 on the horizontal connecting plate 116 is inserted into the positioning hole of the first material tray 13. The cooperation between the positioning column 17 and the positioning hole limits the horizontal displacement of the first material tray 13 on the horizontal connecting plate 116; similarly, when the second material tray 14 is placed on the top connecting plate 124, the positioning column 17 on the top connecting plate 124 is inserted into the positioning hole of the second material tray 14 to achieve precise positioning of the second material tray 14.

[0085] Through the precise cooperation between the positioning column 17 and the positioning hole, the first material tray 13 and the second material tray 14 are stably installed on the horizontal connecting plate 116 and the top connecting plate 124 respectively, effectively preventing the material tray from shifting or shaking in the horizontal direction when moving with the material rack or grabbing the material 100, ensuring the consistency of the grabbing position of the material 100, and improving the success rate of the multi-axis robot arm 2 in grabbing the material 100; at the same time, the positioning structure is simple and reliable, without the need for complex locking devices, which is convenient for staff to quickly place or replace the material tray, thereby improving the efficiency of loading and unloading operations.

[0086] An embodiment of the present invention further provides a material grabbing method for automatic loading and unloading equipment, comprising the following steps: S10-S30.

[0087] S10, monitoring the positions of the first material tray 13 and the second material tray 14.

[0088] S10, monitoring the positions of the first material tray 13 and the second material tray 14.

[0089] The control system of the equipment obtains the position information of the first material tray 13 and the second material tray 14 in real time by being electrically connected to the first in-position sensor 18 and the second in-position sensor 19. The first in-position sensor 18 and the second in-position sensor 19 transmit the detected signals (such as level signals) to the control system, which determines whether the material tray is in the material grabbing station or the material placement station based on the signals. For example, when the first in-position sensor 18 detects the first material tray 13, it sends a high-level signal to the control system, which determines that the first material tray 13 is in the material grabbing station. When the second in-position sensor 19 does not detect the second material tray 14, it sends a low-level signal, and the control system determines that the second material tray 14 is not in the material placement station.

[0090] S20. If the first material tray 13 is at the material grabbing station and the second material tray 14 is at the material placing station, the material grabbing mechanism 3 grabs the materials 100 one by one from the first material tray 13 to the predetermined position according to the set rhythm and sequence.

[0091] When the control system determines that the first material tray 13 is at the material grabbing station and the second material tray 14 is at the material placement station, it sends a grab command to the multi-axis robot arm 2 and the material grabbing mechanism 3. A preset rhythm can be set in the control system based on production requirements, for example, to grab one material 100 every two seconds. This rhythm matches the processing speed of subsequent processes and prevents material 100 accumulation or insufficient supply. The set order can be determined based on the placement of the materials 100 in the first material tray 13, such as grabbing them in rows and columns from left to right and from top to bottom. The multi-axis robot arm 2 drives the material grasping mechanism 3 to move to the position corresponding to the material 100 above the first material tray 13 according to the preset motion trajectory. The slide cylinder 32 drives the clamping cylinder 34 to descend, so that the material grasping 35 is close to the material 100. The clamping cylinder 34 drives the material grasping 35 to close to clamp the material 100. Then the slide cylinder 32 rises, and the multi-axis robot arm 2 drives the material grasping mechanism 3 to move to the predetermined position (such as the grinding station). The clamping cylinder 34 is released, and the material 100 is placed at the predetermined position to complete a grasping action.

[0092] S30. After all the materials 100 in the first tray 13 are grabbed, the second tray 14 filled with materials 100 is switched to the material grabbing station, and the first tray 13 is switched to the material placing station. The material grabbing mechanism 3 grabs the materials 100 one by one from the second tray 14 to the predetermined position according to the set rhythm and sequence.

[0093] The control system determines whether all the materials 100 in the first material tray 13 have been grabbed based on the number of grabs performed by the material grabbing mechanism 3 or a material 100 detection sensor (such as a photoelectric sensor) installed above the first material tray 13. If the first material tray 13 is set to accommodate 12 materials 100, the control system determines that all the materials 100 have been grabbed when it records that the material grabbing mechanism 3 has completed 12 grabbing actions. Alternatively, if the material 100 detection sensor detects that there are no materials 100 on the first material tray 13, it sends a signal to the control system, which determines that all the materials 100 have been grabbed. At this time, the control system sends a switching command to the first linear module 15 and the second linear module 16. The linear cylinder 151 of the first linear module 15 retracts, driving the first material tray 13 to move from the material grabbing station to the material placement station. The linear cylinder 151 of the second linear module 16 extends, driving the second material tray 14 to move from the material placement station to the material grabbing station. During the switching process, the control system monitors the tray positions in real time, ensuring that the first tray 13 completely leaves the material grabbing station before the second tray 14 enters the station, preventing interference between the first and second trays. Once the second tray 14 reaches the material grabbing station, the material grabbing mechanism 3 grabs the material 100 from the second tray 14 and places it in the predetermined position, following the same set rhythm and sequence used to grab the material 100 from the first tray 13. Simultaneously, after the first tray 13 has been switched to the material placement station, staff can replenish the material 100 into the first tray 13 through the loading and unloading windows 51 on the shielding plate 5, preparing for the next switching operation.

[0094] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A silo switching device, characterized in that: It includes a first material rack, a second material rack, a first material tray, a second material tray, a first linear module and a second linear module. The first material rack is arranged on the first linear module, the first material tray is arranged on the first material rack, the second material rack is arranged on the second linear module, and the second material tray is arranged on the second material rack. The first linear module and the second linear module respectively drive the first material tray and the second material tray to move along the first direction. There is a height difference between the first material tray and the second material tray, and the first material tray and the second material tray are staggered in the height direction.

2. A silo switching device according to claim 1, characterized in that: The first linear module and the second linear module both include a linear cylinder, a left guide rail and a right guide rail. The linear cylinder is arranged along a first direction, and the left guide rail and the right guide rail are arranged side by side on the left and right sides of the linear cylinder. At least one left slider is slidably provided on the left guide rail, and at least one right slider is slidably provided on the right guide rail.

3. A silo switching device according to claim 2, characterized in that: The linear cylinder includes a cylinder, an inner piston and a magnetic coupling seat. The cylinder is arranged along a first direction, the inner piston is movably arranged in the cylinder, and the magnetic coupling seat is sleeved on the outer periphery of the cylinder. The magnetic coupling seat forms a magnetic coupling with the inner piston through magnetic force, so that the magnetic coupling seat moves along the arrangement direction of the cylinder.

4. A silo switching device according to claim 3, characterized in that: The first material rack includes a first left connecting plate, a first right connecting plate and a cross connecting frame. An extension plate is extended to the left side of the first right connecting plate. The first left connecting plate is fixedly connected to the left slider of the first linear module, the first right connecting plate is fixedly connected to the right slider of the first linear module, the extension plate is fixedly connected to the magnetic coupling seat of the first linear module, the cross connecting frame is connected to the first left connecting plate and the first right connecting plate, the first material tray is installed on the cross connecting frame, and an avoidance channel is formed between the cross connecting frame and the first left connecting plate and the first right connecting plate, which allows the second material tray to pass through when moving along the first direction.

5. A silo switching device according to claim 4, characterized in that: The cross-connecting frame includes a left vertical plate, a right vertical plate and a horizontal connecting plate. The left vertical plate is vertically arranged on the first left connecting plate, the right vertical plate is vertically arranged on the first right connecting plate, and the horizontal connecting plate is fixedly connected to the top of the left vertical plate and the right vertical plate.

6. A silo switching device according to claim 5, characterized in that: The second material rack includes a second left connecting plate, a second right connecting plate, a bottom connecting plate and a top connecting plate. The bottom connecting plate is fixedly connected to the left slider, the right slider and the magnetic coupling seat of the second linear module. The second left connecting plate and the second right connecting plate are arranged side by side above the bottom connecting plate along the first direction. The top connecting plate is fixedly connected above the second left connecting plate and the second right connecting plate. The second material tray is installed above the top connecting plate.

7. A silo switching device according to claim 6, characterized in that: The second material tray and the first material tray have the same size, the distance between the left vertical plate and the right vertical plate is greater than the width of the second material tray, and the distance between the transverse connecting plate and the first left connecting plate and the distance between the transverse connecting plate and the first right connecting plate are both greater than the thickness of the second material tray.

8. The silo switching device according to claim 6, characterized in that: The tops of the transverse connecting plate and the top connecting plate are both provided with positioning posts, and the tops of the first material tray and the second material tray are both provided with positioning holes matching the positioning posts, and the upper ends of the positioning posts are inserted into the positioning holes.

9. An automatic loading and unloading device, characterized in that: It comprises a multi-axis robotic arm, a material grabbing mechanism and the silo switching device according to any one of claims 1 to 8, wherein the material grabbing mechanism is connected to the multi-axis robotic arm, and the multi-axis robotic arm is used to drive the material grabbing mechanism to grab materials from the first material tray or the second material tray of the silo switching device.

10. A material grabbing method for automatic loading and unloading equipment, characterized in that: include: Monitoring the positions of the first tray and the second tray; If the first tray is at the material grabbing station and the second tray is at the material placing station, the material grabbing mechanism grabs the materials from the first tray one by one to the predetermined position according to the set rhythm and sequence; When all the materials in the first tray are grabbed, the second tray filled with materials is switched to the material grabbing station, and the first tray is switched to the material placing station. The material grabbing mechanism grabs the materials from the second tray one by one to the predetermined position according to the set rhythm and sequence.

Images