Automatic feeding machine and working method thereof

Abstract

The automatic feeding machine comprises an upper-layer rack, a middle-layer rack and a lower-layer rack, the feeding mechanism is arranged on a frame at the bottom of the middle-layer rack, and the terminal of the feeding mechanism is a tray feeding station; materials to be taken and used are placed on the trays; the tray jacking mechanism is arranged below the tray feeding station and jacks the trays in the tray box, so that the tray on the uppermost layer is located at the preset position all the time. Tray lifting mechanisms are arranged on the two sides, above the tray feeding station, of the upper-layer rack, and an empty tray descending mechanism is arranged on one side of each tray lifting mechanism. A tray transfer mechanism is arranged between the upper-layer rack and the middle-layer rack and below the tray ascending mechanism and the empty tray descending mechanism; the tray lifting mechanism lifts the tray to an upper-layer rack and places the tray on the tray transfer mechanism; a material taking mechanism is arranged on the upper-layer rack and located above the side of the tray feeding station; then, the tray transferring mechanism conveys the empty trays with the materials taken away to the position below the empty tray descending mechanism; and the empty tray descending mechanism puts the empty tray into a tray box below the empty tray descending mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of feeding machines, in particular to an automatic feeding machine and a working method thereof. BACKGROUND

[0002] The applicant discloses an automatic feeding device in Chinese patent application No. CN118561012A, which comprises a rack, a first lifting mechanism, a second lifting mechanism, a tray transfer mechanism, and a feeding mechanism. The first lifting mechanism receives a first material box and drives the trays stacked in the first material box to be sequentially conveyed upward or downward, so that the top tray in the first material box is located at a first tray position. The second lifting mechanism receives a second material box and drives the trays stacked in the second material box to be sequentially conveyed upward or downward, so that the top tray in the second material box is located at a second tray position. The tray transfer mechanism transfers the tray at the first tray position and stacks it on the second lifting mechanism, or transfers the tray at the second tray position and stacks it on the first lifting mechanism. The feeding mechanism feeds the product in the tray at the first tray position to a workbench or feeds the product on the workbench to the tray at the first tray position, achieving automatic feeding of the product without manual feeding, reducing labor costs, and improving work efficiency.

[0003] The automatic feeding device sets the rack as upper and lower layers, sets the first and second conveying mechanisms, the first and second lifting mechanisms side by side on the lower layer, and sets the tray transfer mechanism and the feeding mechanism on the upper layer. The device occupies a large space, the structure is not reasonable, and the time-consuming of mutual cooperation and connection of each process is long, which reduces the work efficiency. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the present application provides an automatic feeding machine and a working method thereof, which overcomes the technical problems of the prior art, such as the large space occupied by the automatic feeding machine, the unreasonable structure, the long time-consuming of mutual cooperation and connection of each process, and the reduced work efficiency.

[0005] The technical scheme of the present application is as follows: an automatic feeding machine comprises upper, middle and lower layers of machine frames; a feeding mechanism is arranged on the frame at the bottom of the middle layer machine frame, and the terminal of the feeding mechanism is a tray feeding station; the feeding mechanism carries a tray box loaded with a tray to the tray feeding station; a tray lifting mechanism is arranged below the tray feeding station to lift the tray in the tray box so that the uppermost tray is always located at a predetermined position; tray lifting mechanisms are arranged on both sides of the upper layer machine frame above the tray feeding station, and an empty tray lowering mechanism is arranged on one side of the tray lifting mechanisms; a tray transfer mechanism is arranged below the tray lifting mechanisms and the empty tray lowering mechanism between the upper layer machine frame and the middle layer machine frame; the tray lifting mechanism lifts the tray from the predetermined position to an upper layer machine frame and places the tray on the tray transfer mechanism; a material taking mechanism is arranged above the tray feeding station on one side of the upper layer machine frame, the material taking mechanism takes the material on the tray and automatically feeds the material; then the tray transfer mechanism carries the empty tray with the taken material to below the empty tray lowering mechanism; and the empty tray lowering mechanism places the empty tray into a tray box below the empty tray lowering mechanism.

[0006] Optionally, a tray box lowering mechanism is arranged on one side of the empty tray lowering mechanism to carry the tray box loaded with the empty tray from the middle layer machine frame to the lower layer machine frame.

[0007] Optionally, a discharging mechanism is arranged below the feeding mechanism of the lower layer machine frame, and a tray box conveying mechanism is arranged at the tray box lowering mechanism to carry the tray box to the discharging mechanism, and the discharging mechanism discharges the automatic feeding machine.

[0008] Optionally, a CCD camera is arranged on the top of the upper layer machine frame, and the camera of the CCD camera captures the material placement position on the tray; the CCD camera is signal connected with the material taking mechanism, and transmits the captured material placement position signal to the material taking mechanism in real time.

[0009] Optionally, a deviation rectifying mechanism is arranged on one side of the material taking mechanism close to the tray, and the deviation rectifying mechanism is signal connected with the CCD camera and the material taking mechanism.

[0010] Optionally, a tray box holding assembly is arranged on both sides of the middle layer machine frame in the tray box conveying direction, and the tray box holding assembly comprises a second cylinder and a push plate arranged on the piston rod of the second cylinder.

[0011] Optionally, a tray box blocking assembly is arranged on the middle layer machine frame in the tray box conveying direction, and the tray box blocking assembly comprises a blocking cylinder, a blocking piece arranged on the piston rod of the blocking cylinder, and a sensing element.

[0012] Further, the descending box mechanism comprises a descending box cylinder, which is installed on the lower layer frame, and the top of the piston rod of the descending box cylinder is fixed on the fourth mounting plate; two guide columns are arranged in parallel on the two sides of the descending box cylinder, and the bottom and top ends of the guide columns are fixedly installed on the lower layer frame and the middle layer frame respectively; a pair of fixing members are fixed on the two guide columns, and two pairs of sliding members are slidingly arranged on the guide columns; the fixing members are fixedly connected with the fourth mounting plate, and the two pairs of sliding members are fixedly connected with the connecting columns respectively; the connecting columns and the fourth mounting plate are arranged perpendicularly to the guide columns and are parallel to each other; the two connecting columns are arranged in parallel on the top and bottom of the fourth mounting plate; the two ends of the connecting columns are fixedly installed with two side plates respectively, the two side plates are arranged in parallel relative to each other and face the direction of the discharging mechanism; two descending box mounting seats are arranged on the opposite sides of the two side plates respectively; and the tray box conveying mechanism is arranged between the two descending box mounting seats.

[0013] Further, the tray ascending mechanism comprises a first ball screw transmission assembly and a first suction disc assembly; the first suction disc assembly is used for adsorbing and releasing the tray, and the first ball screw transmission assembly is used for lifting the tray.

[0014] The working method of the automatic feeding machine comprises the following steps performed in sequence:

[0015] 1) a tray box loaded with a tray is placed on the feeding mechanism on the middle layer frame, and is sent to the tray feeding station by the feeding mechanism; at the same time, an empty tray box is placed on the discharging mechanism on the lower layer frame, and is sent to the tray box conveying mechanism in the descending box mechanism by the discharging mechanism, and then the empty tray box is lifted to the middle layer mechanism by the descending box mechanism and is located below the material taking mechanism;

[0016] 2) the tray transfer mechanism is started to transport the tray seat to above the empty tray box and below the material taking mechanism;

[0017] 3) the tray ascending mechanism is started to lift the tray from the pre-ordered position to an upper layer frame; at the same time, the tray jacking mechanism is started to push up the uppermost tray in the tray box;

[0018] 4) the tray transfer mechanism is started to transport the tray seat to below the tray ascending mechanism; the tray ascending mechanism places the tray on the tray seat;

[0019] 5) the material taking mechanism is started to grab the material on the tray, leave the tray, and place the material on the workbench beside the material taking mechanism; the above steps are repeated until all the materials on the tray are taken out;

[0020] 6) the tray transfer mechanism is started again to transport the empty tray to below the material taking mechanism and above the empty tray box; at the same time, the tray ascending mechanism is started to repeat step 3;

[0021] 7) the empty tray lowering mechanism detects that there is a tray under the material taking mechanism, and then starts to suck the tray under it; then, the tray transferring mechanism drives the tray seat to move away from under the material taking mechanism, and transports the tray seat under the tray lifting mechanism, and repeats steps 4-6;

[0022] 8) the empty tray lowering mechanism puts the empty tray into the tray box under the material taking station.

[0023] The automatic feeding machine has the advantages that: in the automatic feeding machine, the mechanisms are sequentially installed on the side frames or the bottoms of the upper, middle and lower racks, the tray and the tray box move in the working spaces of the racks, the layout is reasonable, space is saved, the setting of the structure also makes the cooperation of the processes be short in time consumption and high in work efficiency.

[0024] In the automatic feeding machine, the mechanisms are arranged on the side frames or the bottoms of the upper, middle and lower racks, so that the mechanisms are convenient to maintain and repair.

[0025] In the automatic feeding machine, the material taking mechanism is arranged on the upper rack, so that after the material taking mechanism takes the materials, the workbench for placing the materials can be arranged at any position beside the material taking mechanism, the flexibility of the workbench arrangement is increased, and the automatic feeding machine is suitable for various working environments. In addition, the automatic feeding machine realizes automatic feeding, is high in work efficiency and low in cost. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 Fig. 1 is a structural schematic view of the automatic feeding machine.

[0027] Figure 2 Fig. 2 is a structural schematic view of the rack of the automatic feeding machine.

[0028] Figure 3 Fig. 3 is another structural schematic view of the automatic feeding machine.

[0029] Figure 4 Fig. 4 is a structural schematic view of the side wall of the material taking part of the automatic feeding machine.

[0030] Figure 5 Fig. 5 is a structural schematic view of the feeding mechanism of the automatic feeding machine.

[0031] Figure 6 Fig. 6 is a structural schematic view of the tray box of the automatic feeding machine.

[0032] Figure 7 Fig. 7 is a structural schematic view of the tray lifting mechanism of the automatic feeding machine.

[0033] Figure 8A Fig. 8 is a structural schematic view of the tray lifting mechanism of the automatic feeding machine.

[0034] Figure 8B Another structural schematic view of the tray lifting mechanism of the automatic feeding machine.

[0035] Figure 9 A structural schematic view of the tray transfer mechanism of the automatic feeding machine.

[0036] Figure 10 A structural schematic view of the material taking mechanism of the automatic feeding machine.

[0037] Figure 11 A structural schematic view of the automatic feeding machine after removing the rack.

[0038] Figure 12 A structural schematic view of the deviation rectifying mechanism of the automatic feeding machine.

[0039] Figure 13 A structural schematic view of the tray box holding mechanism of the automatic feeding machine.

[0040] Figure 14 A structural schematic view of the tray box blocking assembly of the automatic feeding machine.

[0041] Figure 15 A structural schematic view of the tray box holding mechanism of the automatic feeding machine.

[0042] Figure 16 A structural schematic view of the material taking mechanism of the automatic feeding machine.

[0043] Explanation of reference signs:

[0044] 1. tray, 2. tray box, 3. through hole, 4. CCD camera.

[0045] 100. rack, 101. wall plate, 102. frame, 110. upper rack, 120. middle rack, 130. lower rack, 140. tray box holding mechanism, 141. second cylinder, 142. push plate, 150. tray box blocking assembly, 151. blocking cylinder, 152. blocking piece, 153. sensing element.

[0046] 200. feeding mechanism, 210. first mounting seat, 211. first cross beam, 212. first driving rod, 213. first driven rod, 220. first motor, 221. first driving wheel, 222. first driven wheel, 223. first belt, 214. first roller, 215. first conveyor belt, 216. carrier plate, 217. first mounting plate.

[0047] 300. Tray lifting mechanism, 301. Top rod, 302. Second mounting plate, 303. First mounting shaft, 310. Second motor, 311. Second driving wheel, 312. Second belt, 314. Second driving wheel, 315. Second transmission belt, 320. Sliding frame, 321. Sliding plate, 322. First sliding seat, 323. First guide rod, 324. Second roller, 325. Second driving shaft, 326. Long hole, 327. Wave plate, 328. Fixed plate.

[0048] 400. Tray lifting mechanism, 410. First ball screw transmission assembly, 420. First suction cup assembly, 411. First screw motor, 412. First ball screw, 413. First nut, 414. First sliding rail, 415. First sliding groove, 416. First suction cup mounting seat, 421. First vacuum generator, 422. First suction cup, 423. First air pipe.

[0049] 500. Empty tray lowering mechanism, 510. Second ball screw transmission assembly, 511. Second screw motor, 512. Second screw rod, 513. Second nut, 514. Second sliding rail, 516. Second suction cup mounting frame, 516a. Horizontal plate, 516b. Connecting rod, 517. Suction cup seat, 521. Second vacuum generator, 522. Second suction cup.

[0050] 600. Tray transfer mechanism, 601. Tray seat, 602. L-shaped tray frame, 602a. Straight plate, 602b. Cross plate, 602c. Matching plate, 603. Sliding seat, 604. Second guide rod, 605. Third roller, 606. Third driving shaft, 607. Third driving wheel, 608. Third motor, 609. Third driving wheel, 610. Third belt, 611. Third transmission belt.

[0051] 700. Material taking mechanism, 701. Material taking mechanism mounting plate, 710. Base, 720. Rotating arm, 730. Material taking gripper, 740. Correction mechanism, 741. Correction mechanism mounting seat, 742. Correction motor, 743. Fourth driving wheel, 744. Fourth driven wheel, 745. Fourth belt, 746. Third sliding rail, 747. Third sliding groove, 748. Limiting plate, 749. Third mounting plate, 750. First air cylinder, 751. First gripper.

[0052] 800. Descending box mechanism, 801. Fourth mounting plate, 810. Descending box cylinder, 820. Guide post, 821. Fixing piece, 823. Sliding piece, 824. Connecting post, 825. Side plate, 826. Descending box mounting seat, 827. Connecting plate, 830. Tray box conveying mechanism, 831. Fourth motor, 832. Fourth driving wheel, 833. Fourth driven wheel, 834. Fifth belt, 835. Fourth driving shaft, 836. Fourth driven shaft, 837. Fourth roller, 838. Fifth conveying belt.

[0053] 900. Discharging mechanism, 901. Discharging mounting seat, 902. Connecting post, 904. Mounting piece, 910. Fifth motor, 911. Fifth driving wheel, 912. Fifth driven wheel, 913. Sixth belt, 914. Fifth driving shaft, 915. Fifth driven shaft, 916. Fifth roller, 917. Fifth conveying belt. DETAILED DESCRIPTION

[0054] In order to make the invention purposes, technical solutions and technical effects of the present application more clear, the present application will be further described below in conjunction with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0055] REFERENCE Figures 1-4 , the automatic feeding machine comprises a rack 100 and a wall plate 101 arranged on the rack. The rack 100 comprises upper, middle and lower layers of upper rack 110, middle rack 120 and lower rack 130. Each layer of rack comprises a frame arranged on the outside and a working space surrounded by the frame. Each mechanism described below is installed on the frame or the bottom of the upper, middle and lower layers of rack in sequence according to its function and process, and the tray 1 and the tray box 2 move in the working space of each layer of rack. The trays 1 are stacked and placed in the tray box 2, and the top of the tray box 2 is open so that the topmost tray 1 is exposed. The tray box 2 is matched with the shape of the tray 1. In the embodiment shown in the figure, the tray 1 is rectangular, and the tray box 2 is cuboid. It should be understood that the tray 1 can also be of other shapes, and the inner cavity of the tray box 2 is correspondingly arranged to be suitable for stacking the tray 1.

[0056] The automatic feeding machine comprises a feeding mechanism 200, a tray lifting mechanism 300, a tray lifting mechanism 400, an empty tray descending mechanism 500, a tray transfer mechanism 600, a material taking mechanism 700, a descending box mechanism 800 and a discharging mechanism 900.

[0057] REFERENCE Figure 1 and Figure 5The feeding mechanism 200 is arranged on the frame of the middle layer rack 120, and its terminal is the tray loading station B. The feeding mechanism 200 is used to transport the tray box 2 loaded with the tray 1 to the tray loading station B. The tray 1 is placed with materials to be taken, such as cosmetic pens, cosmetic brushes, etc. The tray lifting mechanism 300 is arranged below the tray loading station B, and is used to lift the tray 1 in the tray box 2, so that the uppermost tray 1 is always located at the predetermined position. The tray lifting mechanism 400 is arranged on the upper layer rack 110 above the tray loading station B, and the empty tray descending mechanism 500 is arranged on the upper layer rack 110 on one side of the tray lifting mechanism 400. The tray transfer mechanism 600 is arranged between the upper layer rack 110 and the middle layer rack 120, and below the tray lifting mechanism 400 and the empty tray descending mechanism 500. The tray lifting mechanism 400 is used to lift the tray 1 from the predetermined position to the upper layer rack 110, and place it on the tray transfer mechanism 600. The material taking mechanism 700 is arranged on the upper layer rack 110 above the tray loading station B, and is used to take the materials on the tray 1, and automatically load the materials. Then, the tray transfer mechanism 600 transports the empty tray 1 after taking the materials to below the empty tray descending mechanism 500. The empty tray descending mechanism 500 places the empty tray 1 into the tray box 2 below the empty tray descending mechanism 500. The box descending mechanism 800 is arranged on one side of the empty tray descending mechanism 500, and is used to transport the tray box 2 filled with the empty tray 1 from the middle layer rack 120 to the lower layer rack 130. The discharging mechanism 900 is arranged below the feeding mechanism 200 of the lower layer rack 130, and the tray box conveying mechanism 810 is arranged at the box descending mechanism 800, and is used to transport the tray box 2 filled with the empty tray 1 to the discharging mechanism 900, and then discharge the tray box 2 from the automatic loading machine. The above automatic loading machine sequentially arranges the mechanisms on the frame or bottom of the upper, middle and lower layer racks, and the tray 1 and the tray box 2 move in the working space of each layer rack, so that the layout is reasonable, the space is saved, and the working efficiency is high. In addition, the mechanisms are arranged on the frame or bottom of the upper, middle and lower layer racks, so that the maintenance and repair are convenient. In addition, the above automatic loading machine realizes automatic loading, and has high working efficiency and cost saving. The material taking mechanism is arranged on the upper layer rack, so that the workbench for placing the materials taken by the material taking mechanism can be arranged at any position on one side of the material taking mechanism, the flexibility of the workbench is increased, and the automatic loading machine is suitable for various working environments.

[0058] The working method of the above automatic loading machine includes the following steps in sequence:

[0059] 1) A tray box loaded with a tray is placed on the feeding mechanism of the middle layer rack, and is transported to the tray loading station by the feeding mechanism; meanwhile, an empty tray box is placed on the discharging mechanism of the lower layer rack, and is transported to the tray box conveying mechanism of the box descending mechanism by the discharging mechanism, and then the empty tray box is lifted to the middle layer mechanism by the box descending mechanism, and is located below the material taking mechanism;

[0060] 2) the tray transfer mechanism is started, and the tray seat is transported to above the empty tray box and below the taking mechanism;

[0061] 3) the tray lifting mechanism is started, and the tray is lifted from the pre-ordered position to an upper layer of the rack; at the same time, the tray jacking mechanism is started, and the uppermost tray in the tray box is pushed upward;

[0062] 4) the tray transfer mechanism is started, and the tray seat is transported to below the tray lifting mechanism; the tray lifting mechanism places the tray on the tray seat;

[0063] 5) the taking mechanism is started, and the material on the tray is grabbed, moved away from the tray, and placed on the workbench beside the taking mechanism; the cycle is repeated until all the materials on the tray are taken away;

[0064] 6) the tray transfer mechanism is started again, and the empty tray is transported to below the taking mechanism and above the empty tray box; at the same time, the tray lifting mechanism is started, and step 3 is repeated;

[0065] 7) the empty tray lowering mechanism detects that there is a tray below the taking mechanism, and then starts to adsorb the tray below; then, the tray transfer mechanism drives the tray seat to move away from below the taking mechanism, transports the tray seat to below the tray lifting mechanism, and repeats steps 4-6;

[0066] 8) the empty tray lowering mechanism places the empty tray into the tray box below the taking station.

[0067] Preferably, referring to Figure 4 The top of the upper layer of the rack 110 is also provided with a CCD camera 4, and the camera of the CCD camera 4 is directed to the tray 1 to take the material placement position on the tray 1. The CCD camera 4 is in signal connection with the taking mechanism 700, and transmits the taken material placement position signal to the taking mechanism 700 in real time, so that the taking mechanism 700 can accurately grab the material on the tray 1. The CCD camera 4 is a common camera in the industry field, has the functions of taking and signal transmission, and its structure and principle are well known in the art, which will not be limited in the present application, and its structure and principle will not be described here.

[0068] Preferably, referring to Figure 1 The side of the taking mechanism 700 is also provided with a deviation correction mechanism 150 near the tray 1, and the deviation correction mechanism 150 is also in signal connection with the CCD camera 4 and the taking mechanism 700. When the gripper of the taking mechanism 700 moves away from the tray 1, the deviation correction mechanism 150 corrects the material position on the tray 1, so that the placement position is adapted to the grabbing position of the gripper of the taking mechanism 700, thereby improving the working efficiency of the taking mechanism.

[0069] In the present application, the taking mechanism 700, the deviation rectifying mechanism and the CCD camera 4 cooperate with each other in working. The tray transfer mechanism 600 sends the tray to the taking position, the CCD camera 4 takes the tray on the taking position and the material placed thereon, and sends the information to the deviation rectifying mechanism and the taking mechanism 700. The taking mechanism starts to grab the material placed correctly on the tray, and then rotates to send the material to the workbench. After the taking mechanism completes the grabbing and leaves the tray, the deviation rectifying mechanism starts to grab the material placed incorrectly on the tray, rectifies the position of the material, and places the material in the proper position and in the correct direction. Then the deviation rectifying mechanism leaves the tray and returns to the original position, waiting for the next time the taking mechanism rotates to the tray to grab the material. The above process is repeated until all the materials on the tray are taken away.

[0070] Preferably, referring to Figure 1 The middle rack 120 is provided with a tray box holding assembly 121 on both sides in the tray box conveying direction, which is used to limit the opposite two sides of the tray box to prevent the tray box from deviating, causing the tray 1 in the tray box to deviate and affecting the taking of the material.

[0071] The middle rack 120 is also provided with a tray box blocking assembly 122 in the tray box conveying direction, which limits the conveying distance of the tray box 2 to prevent the tray box from conveying through the tray loading station B.

[0072] It should be understood that the feeding mechanism 200 can be a mechanical feeding mechanism, which drives the feeding component to move to realize the conveying of the material through a mechanical transmission device such as a gear, a chain, a belt, etc.; or a pneumatic feeding mechanism, which pushes the material to move by using the power generated by the compression of air by a piston; or a hydraulic feeding mechanism, which drives the feeding device to convey the material by the pressure of hydraulic oil based on a hydraulic system.

[0073] As an embodiment of the present application, referring to Figure 5The feeding mechanism 200 of the present application is a belt feeding mechanism. Specifically, the feeding mechanism 200 comprises two first mounting seats 210 arranged in parallel, two first cross beams 211 connecting the middle portions of the two first mounting seats 210, and a first driving rod 212 and a first driven rod 213 connecting the end portions of the two first mounting seats 210. One of the first cross beams 213 is provided with a first motor 220. The motor shaft of the first motor 220 is provided with a first driving wheel 221, and the first driving rod 212 is fixedly provided with a first driven wheel 222. A first belt 223 is tightly wound around the first driving wheel 221 and the first driven wheel 222. The two ends of the first driving rod 212 and the first driven rod 213 are respectively fixedly provided with first rollers 214, and two first conveying belts 215 are respectively tightly wound around a pair of first rollers 214 on the same side of the first driving rod 212 and the first driven rod 213. The first motor 220 drives the first driving wheel 221 to rotate, which drives the first driven wheel 213 to rotate through the first belt 223, thereby driving the first driving rod 212 and the first rollers 214 thereon to rotate, and further driving the first conveying belts 215 to move, and driving the tray box 2 resting on the first conveying belts 215 to move.

[0074] Preferably, the two first mounting seats 210 are respectively provided with a load plate 216 on the side close to the first conveying belts 215, and the load plate 216 is located below the conveying belts, thereby bearing the weight of the tray box 2, avoiding the deformation of the first conveying belts 215 due to bearing, and ensuring smooth movement.

[0075] The outer sides of the two first mounting seats 210 are respectively fixedly provided with first mounting plates 217, and the first mounting plates 217 are fixedly connected with the middle layer rack 120.

[0076] Preferably, referring to Figures 1-5 , the feeding mechanism is provided with an upper feeding table 230 for placing the tray box 2. Specifically, the upper feeding table 230 is installed on the first mounting seat 210, covering the first motor 220, the first driven rod 213 and the first cross beam 211, thereby preventing the tray box 2 from falling into the area between the two first mounting seats 210.

[0077] Preferably, referring to Figure 3 , the tray feeding station B is located at the terminal end of the feeding mechanism 200, and in the moving direction of the tray box 2 on the upper feeding table 230.

[0078] Preferably, referring to Figure 1 , the tray lifting mechanism 300 is arranged on the lower layer rack 130 below the tray feeding station B, and is used to push the tray of the tray box 2 to a specific position. It should be understood that the driving force of the tray lifting mechanism 300 can be based on the pressure of a compression cylinder, or can be based on a motor driving belt.

[0079] Preferably, referring to Figure 6The bottom plate of the tray box 2 is provided with at least one through hole 3, and the tray lifting mechanism 300 passes through the through hole 3 of the bottom plate of the tray box 2 to push the tray 1 upward, so that the uppermost tray 1 reaches a specific position.

[0080] In one embodiment of the present application, referring to Figure 7 The tray lifting mechanism 300 includes a lifting rod 301 and a second motor 310 for driving the lifting rod 301 to lift. The lifting rod 301 is arranged at the bottom of the tray loading station B, and when the tray box 2 is located at the tray loading station B, the lifting rod 301 passes through the through hole 3 of the bottom plate of the tray box 2 to push the tray 1 stacked in the tray box 2 upward, so that the uppermost tray 1 reaches a predetermined position. The number of through holes 3 in the bottom plate of the tray box 2 corresponds to the number of lifting rods 301. In the embodiment shown in Figure 7 , four lifting rods are provided. The four lifting rods 301 are divided into two groups and are respectively installed on two second mounting plates 302 below the tray loading station B. The two ends of the two second mounting plates 302 are respectively fixed on two horizontal mounting shafts 303, and the two ends of the mounting shaft 302 are respectively fixed on two sliding frames 320. Each sliding frame 320 has a sliding plate 321 arranged horizontally and a pair of first sliding seats 322 arranged on the sliding plate 321. The two ends of each mounting shaft 303 are respectively fixed on a pair of first sliding seats 322 opposite to each other. Each sliding plate 321 is slidingly arranged on two first guide rods 323 arranged vertically to the horizontal plane. A second roller 324 is arranged between each pair of first sliding seats 322. A second drive shaft 325 is arranged parallel to the first mounting shaft 303 below the first mounting shaft 303, and the two ends of the second drive shaft 325 are respectively provided with a second roller 324. Two second transmission belts 327 are tightly wound around the second drive shaft 325 and a pair of second rollers 324 on the sliding seats 324, and the sliding plate 321 is provided with a long through hole 326 for the second transmission belt 327 to pass through.

[0081] The sliding plate 321 is respectively provided with a wave plate 327 and a fixed plate 328 on the two sides of the second transmission belt 327, and the second transmission belt 315 passes between the wave plate 327 and the fixed plate 328. When the second transmission belt 315 moves up and down, it drives the wave plate 327 and the fixed plate 328 and the sliding plate 321 to move up and down along the first guide rod 323, so that the mounting shaft 303 installed on the second mounting plate 302 and the lifting rod 301 thereon move synchronously. A second driven wheel 314 is fixed on the second drive shaft 325, a second driving wheel 311 is arranged on the motor shaft of the second motor 310, and a second belt 312 is tightly wound around the second driving wheel 311 and the second driven wheel 314. The second motor 310 drives the second drive shaft 325 to rotate, which in turn drives the second roller 324 to rotate, and then drives the second transmission belt 315 to move up and down.

[0082] The second motor 310 is installed on the bottom plate of the frame. The first guide rod 323 is installed on the side frame of the frame on both sides of the feeding mechanism 200 and the discharging mechanism 300. The second installation plate 302 is always located below the first cross beam 212, thereby limiting the tray lifting mechanism and preventing the tray lifting mechanism from lifting the tray beyond the predetermined position.

[0083] Referring to Figure 8A and 8B The upper frame 110 is provided with a tray lifting mechanism 400 on both sides above the tray lifting mechanism 300, which is used to lift the uppermost tray 1 in the tray box 2 from the predetermined position to the upper frame 110 or to the tray transfer mechanism 600. The tray lifting mechanism 400 includes a first ball screw transmission assembly 410 and a first suction cup assembly 420. The first suction cup assembly 420 is used to adsorb and release the tray 1, and the first ball screw transmission assembly 410 is used to lift the tray 1. The first ball screw transmission assembly 410 includes a first screw motor 411, a first ball screw 412, a first nut 413, a first sliding rail 414, a first sliding groove 415, and a first suction cup mounting seat 416. The first screw motor 411 is installed on the upper frame 110, and the first ball screw 412 is fixedly connected to the driving shaft of the first screw motor 411. The first sliding rail 414 is parallel to the first ball screw 412 and is arranged on the upper frame 110. The first sliding groove 415 is arranged on the first sliding rail 414 and can slide along the first sliding rail 414. The first nut 413 is sleeved on the first ball screw 412 and is fixedly connected to the first sliding groove 415. The first suction cup mounting seat 416 is also fixedly connected to the first sliding groove 415. The first suction cup assembly 420 is installed on the first suction cup mounting seat 416. The first screw motor 411 drives the first ball screw 412 to rotate, thereby driving the first nut 413 to move linearly along the first ball screw 412, and then driving the first sliding groove 415 to slide along the first sliding rail 414 through the first nut 413, so as to lift the first suction cup mounting seat 416 fixedly connected to the first sliding groove 415, that is, to lift the first suction cup assembly 420 and the tray 1 adsorbed thereon. The first suction cup assembly 420 includes a first vacuum generator 421, a first suction cup 422, and a first air pipe 423 connecting the first vacuum generator 421 and the first suction cup 422. The suction port of the first suction cup 422 faces the top surface of the tray 1. The first vacuum generator 421 controls the on-off of the vacuum, that is, the first suction cup 422 can control the adsorption and release of the tray 1 through the first air pipe 423.

[0084] Referring to Figure 9The upper layer rack 110 is provided with a tray transfer mechanism 600, which receives the tray 1 lifted by the tray lifting mechanism 400 to the upper layer rack 110, and then moves the empty tray 1 to the empty tray lowering mechanism 500 after the material is taken away. The tray transfer mechanism 600 comprises a tray seat 601 for bearing the tray 1. The opposite sides of the tray seat 601 are respectively provided with L-shaped tray racks 602. The straight plates 602a of the L-shaped tray racks 602 support the tray seat 601, and the horizontal plates 602b are slidably connected to a second guide rod 604 through a sliding seat 603. The upper layer rack 110 is provided with two third rollers 605 above both ends of the second guide rod 604, one of which is fixed to the end of a third driving shaft 606, and a third driving wheel 607 is also fixed to the third driving shaft 606. A third motor 608 is arranged close to the third driving shaft 606, and a third driving wheel 609 is arranged on the motor shaft of the third motor 608. A third belt 610 is tightly wound around the third driving wheel 607 and the third driving wheel 609. Two third transmission belts 611 are arranged in the same direction as the second guide rod 604 and are tightly wound around the third rollers 605 above the second guide rod 604. The third motor 608 drives the third driving wheel 609 to rotate, which drives the third transmission belt 611 to move along the second guide rod 604 through the third belt 610.

[0085] The horizontal plate 602b of the L-shaped tray rack 602 is located below the third transmission belt 611, and the horizontal plate 602b is provided with a matching plate 602c. A through slot is formed between the horizontal plate 602b and the matching plate 602c for the third transmission belt 611 to pass through. The matching plate 602c is tightly attached to the top surface of the third transmission belt 611, so that the friction between them is strong. When the third transmission belt 611 moves, it drives the L-shaped tray rack 602 and the tray seat 601 to move through friction, thereby conveying the tray 1 placed on the tray seat 601.

[0086] The tray lifting mechanism 400 and the tray transfer mechanism 600 cooperate with each other. When the first screw motor 411 of the tray lifting mechanism 400 is started to drive the first suction disc assembly 420 to descend and take the tray 1 located at the reserved position, the tray transfer mechanism 600 moves the tray seat 601 to the lower side of the empty tray lowering mechanism 500. When the tray lifting mechanism 400 lifts the tray 1 from the reserved position to the upper layer rack 110, the tray transfer mechanism 600 moves the tray seat 601 to the lower side of the tray 1, and then the first suction disc assembly 420 rests on the tray seat 601 for the material taking mechanism 700 to take the material. After the material taking is completed, the tray transfer mechanism 600 moves the empty tray 1 to the lower side of the empty tray lowering mechanism 500.

[0087] Reference Figure 10The empty tray descending mechanism 500 comprises a second ball screw transmission assembly 510 and a second suction disc assembly. The second ball screw transmission assembly 510 comprises a second screw rod motor 511, a second screw rod 512, a second nut 513, a second sliding rail 514, a second sliding groove, and a second suction disc mounting rack 516. The second screw rod motor 511 is mounted on the upper rack 110. The motor shaft of the second screw rod motor 511 is fixedly connected with the second screw rod 512, which is arranged vertically to the horizontal plane. The second screw rod 512 is sleeved with the second nut 513, and the second nut 513 is provided with the second sliding groove (not shown). The upper rack 110 is provided with the second sliding rail 514 which is parallel to the second screw rod 512. The second sliding rail 514 is accommodated in the second sliding groove to guide the second sliding groove and the second nut 513 to slide along the extension direction thereof. The second nut 513 is further fixedly provided with the second suction disc mounting rack 516. The second suction disc mounting rack 516 comprises a horizontal plate 516a and two vertically arranged connecting rods 516b. The horizontal plate 516a is fixedly connected with the second nut 513, and the horizontal plate 516a is fixedly connected with the upper ends of the connecting rods 516b. The lower ends of the connecting rods 516b are fixedly connected with a suction disc seat 517. The second suction disc assembly comprises a second vacuum generator 521 and a second suction disc 522. The second vacuum generator 521 is arranged on the horizontal plate 516a, and the second suction disc 522 is mounted on the suction disc seat 517. The second vacuum generator 521 is connected with the second suction disc 522 through a second air pipe (not shown).

[0088] The second screw rod motor 511 drives the second suction disc mounting rack 516 to ascend and descend, and the second vacuum generator 521 controls the second suction disc 522 to adsorb or release the tray 1 by turning on or off the vacuum. When the tray transferring mechanism 600 moves the tray seat 2 and the tray 1 thereon to the position below the second suction disc 522, the second screw rod motor 511 drives the second suction disc mounting rack 516 to descend to a predetermined position, the second vacuum generator 521 controls the second suction disc 522 to adsorb the tray 2 from the tray seat 601, and then the second screw rod motor 511 drives the second suction disc mounting rack 516 to ascend, so that the tray 2 moves upward and leaves the tray seat 601. Then, the tray transferring mechanism 600 moves the tray seat 601 back. Then, the second screw rod motor 511 drives the second suction disc mounting rack 516 to descend, and the second vacuum generator 521 controls the second suction disc 522 to put the tray 1 into the tray box 2 below. Then, the second screw rod motor 511 drives the second suction disc mounting rack 516 to ascend again to reset, waiting for the next adsorption.

[0089] Referring to Figure 10A horizontal material taking mechanism mounting plate 701 is fixed on the connecting rod 516b. A material taking mechanism 700 is mounted on the material taking mechanism mounting plate 701, which includes a base 710, a rotating arm 720 and a material taking gripper 730 at the end of the rotating arm 720. The base 710 is mounted on the material taking mechanism mounting plate 701, and the rotating arm 720 is rotatably mounted on the base 710, with the material taking gripper 730 mounted at the end of the rotating arm 720. The structure and principle of the rotating arm 720 and the material taking gripper 730 are well known to those skilled in the art and will not be described here.

[0090] Referring to Figure 11 and 12 A deviation rectifying mechanism 740 is further provided on the upper rack, which is used to rectify the deviation of the materials placed on the tray 1. The deviation rectifying mechanism 740 is preferably provided on the side of the material taking mechanism 700 facing the tray lifting mechanism 400. The deviation rectifying mechanism 740 includes a deviation rectifying mechanism mounting seat 741 mounted on the upper rack 110, a deviation rectifying motor 742 provided on the deviation rectifying mechanism mounting seat 741, a fourth driving wheel 743, a fourth driven wheel 744, a fourth belt 745, a third sliding rail 746 and a third sliding groove 747. The deviation rectifying motor 742 is provided at one end of the deviation rectifying mechanism mounting seat 741, the fourth driving wheel 743 is provided on the driving shaft of the deviation rectifying motor 742, and the fourth driven wheel 744 is provided at the other end of the deviation rectifying mechanism mounting seat 741. The fourth belt 745 is tightly wound around the fourth driving wheel 743 and the fourth driven wheel 744. The third sliding rail 746 is provided on the side of the fourth belt 745 and in the same direction as the fourth belt 745, and the third sliding groove 747 is slidingly provided on the third sliding rail 746. The upper side wall of the third sliding groove 747 is located below the fourth belt 745, and a limiting plate 748 is provided on the upper side wall of the third sliding groove 747. The limiting plate 748 is in contact with the surface of the fourth belt 745, so that the fourth belt 745 passes between the limiting plate 748 and the upper side wall of the third sliding groove 747. A third mounting plate 749 is further provided on the third sliding groove 747, and a cylinder 750 is provided on the third mounting plate 749. A gripper 751 is mounted on the piston rod of the cylinder 750, and the gripper 751 faces the tray 1 on which the materials are placed.

[0091] When the deviation rectifying motor 742 drives the fourth belt 745 to move, the third sliding groove 747 is driven to move along the third sliding rail 746 by the friction between the fourth belt 745 and the limiting plate 748, thereby driving the cylinder 750 on the third sliding groove 747 to move horizontally along the third sliding rail 746. The piston rod of the cylinder 750 is arranged vertically to the horizontal plane, and the gripper 751 on the piston rod is lifted and lowered by the cylinder 750, thereby adjusting the position of the gripper 751 so that it can grab the materials placed incorrectly on the tray 1 and rectify them, so that the material taking mechanism 700 can grab the materials.

[0092] Preferably, referring to Figure 1 and 13, the middle layer rack 120 is provided with a tray box holding mechanism 140 on both sides of the tray loading position B, which is used to hold the tray box 2 and prevent it from deviating from the position. The tray box holding mechanism 140 includes a second cylinder 141 and a push plate 142 provided on the piston rod of the second cylinder 141. The second cylinder 141 drives the piston rod to extend or retract, so that the push plate 142 is attached to the side wall of the tray box 2, and the position is adjusted to prevent it from deviating.

[0093] Referring to Figure 1 and 14 , the tray box holding mechanism 140 is provided with a tray box blocking assembly 150 on the side, which includes a blocking cylinder 151 and a blocking piece 152 provided on the piston rod of the blocking cylinder 151, and a sensing element 153. When the sensing element 153 senses the tray box 2, the blocking cylinder 151 is started, and the piston rod is retracted to place the blocking piece 152 in front of the tray box 2 in the forward direction, thereby blocking the tray box 2 from continuing to move forward.

[0094] Referring to Figure 1 , 11 and 15, the side of the taking mechanism 700 is also provided with a descending box mechanism 800, which is used to lower the tray box 2 filled with empty trays 1 from the middle layer rack 120 to the lower layer rack 130. The descending box mechanism 800 includes a descending box cylinder 810, which is installed on the lower layer rack 130. The top of the piston rod of the descending box cylinder 810 is fixedly provided on a fourth mounting plate 801. Two guide columns 820 are provided on both sides of the descending box cylinder 810, and the bottom and top ends of the guide columns 820 are fixedly installed on the lower layer rack 130 and the middle layer rack 120, respectively. A pair of fixed pieces 821 are fixedly provided on the two guide columns 820, and two pairs of sliding pieces 823 are slidingly provided thereon. The fixed pieces 821 are fixedly connected to the fourth mounting plate 801, and the two pairs of sliding pieces 823 are fixedly connected to a connecting column 824, respectively. The connecting column 824 and the fourth mounting plate are perpendicular to the guide column 820 and parallel to each other. The two connecting columns 824 are arranged in parallel on the top and bottom. The two ends of the connecting column 824 are fixedly installed with a side plate 825, respectively. The two side plates 825 are relatively parallel and face the direction of the discharging mechanism 900. Two descending box mounting seats 826 are installed on the opposite sides of the two side plates 825. The two descending box mounting seats 826 are located on one side of the discharging mechanism 900. The tray box conveying mechanism 830 is installed between the two descending box mounting seats 826.

[0095] Preferably, the two descending box mounting seats 826 are fixedly connected by a connecting plate 827, so as to improve the stability of the position.

[0096] When in operation, a tray box 2 is placed on the tray box conveying mechanism 830. The lowering box cylinder 810 drives its piston to extend or retract, thereby pulling the slide 823 to ascend or descend along the guide column 821, thereby driving the connecting column 824 fixed to the slide 823, the side plates 825 fixed on both sides of the connecting column 824, the lowering box mounting seat 826 mounted on the side plates 825, and the tray box conveying mechanism 830 mounted between the two lowering box mounting seats 826 to ascend or descend, thereby conveying the tray box 2 between the lower rack 130 and the middle rack 120.

[0097] The tray box conveying mechanism 830 comprises a fourth motor 831, a fourth driving wheel 832, a fourth driven wheel 833, a fifth belt 834, a fourth driving shaft 835, a fourth driven shaft 836, two pairs of fourth rollers 837, and a pair of fourth conveying belts 838. The fourth motor 831 is mounted on the connecting plate 827, and the fourth driving wheel 832 is fixedly mounted on the motor shaft of the fourth motor 831. The fourth driven wheel 833 is fixedly mounted on the fourth driving shaft 835, and the fifth belt 834 is tightly wound around the fourth driving wheel 832 and the fourth driven wheel 833. The fourth driving shaft 835 and the fourth driven shaft 836 are perpendicular to the two lowering box mounting seats 826 and are respectively connected to the two ends of the two lowering box mounting seats 826. The two pairs of fourth rollers 837 are respectively fixedly arranged at the two ends of the fourth driving shaft 835 and the fourth driven shaft 836. The pair of fourth conveying belts 838 are respectively tightly wound around the fourth rollers 837 on the same side of the fourth driving shaft 835 and the fourth driven shaft 836. The fourth motor 831 drives the fourth driving wheel 832 to rotate, thereby driving the fifth belt 834 to move, and the fifth belt 834 drives the fourth driven wheel 833 and the fourth driving shaft 835 fixedly connected with the fourth driven wheel 833 to rotate. The rotation of the fourth driving shaft 835 drives the fourth rollers 837 arranged at the two ends thereof to rotate, thereby driving the fifth belt 834 to move. The tray box 2 is placed on the fifth belt 834, thereby conveying the tray box 2 to the discharging mechanism 900.

[0098] Referring to Figure 16The discharge mechanism 900 has the same structure as the feeding mechanism 200, and also includes a fifth motor 910, a fifth driving wheel 911, a fifth driven wheel 912, a sixth belt 913, a fifth driving shaft 914, a fifth driven shaft 915, two pairs of fifth rollers 916, and a pair of fifth conveying belts 917 and two discharge mounting bases 901 arranged oppositely. The middle portions of the two discharge mounting bases 901 are connected by two connecting columns 902. The fifth motor 910 is mounted on the connecting columns 902, and the fifth driving wheel 911 is fixedly mounted on the motor shaft of the fifth motor 910. The fifth driven wheel 912 is fixedly mounted on the fifth driving shaft 914, and the sixth belt 913 is tightly wound around the fifth driving wheel 911 and the fifth driven wheel 912. The fifth driving shaft 914 and the fifth driven shaft 915 are perpendicular to the two discharge mounting bases 901, and are connected to the two ends of the two discharge mounting bases 901, respectively. The two pairs of fifth rollers 916 are fixedly arranged at the two ends of the fifth driving shaft 914 and the fifth driven shaft 915, respectively. The fifth conveying belts 917 are tightly wound around the fifth rollers 916 on the same side of the fifth driving shaft 914 and the fifth driven shaft 915, respectively. The fifth motor 910 drives the fifth driving wheel 911 to rotate, thereby driving the sixth belt 913 to move, and the sixth belt 913 drives the fifth driven wheel 912 and the fifth driving shaft 914 fixedly connected with the fifth driven wheel 912 to rotate. The rotation of the fifth driving shaft 914 drives the fifth rollers 916 arranged at the two ends of the fifth driving shaft 914 to rotate, thereby driving the fifth conveying belts 917 to move. The tray box 2 is placed on the fifth conveying belts 917, thereby transporting the tray box 2 to the discharge mechanism 900.

[0099] The two discharge mounting bases 901 are mounted on the lower layer frame 130 by a plurality of mounting members 904.

[0100] The automatic feeding machine of the present application includes the following working steps in sequence:

[0101] 1. When starting work, a tray box loaded with trays is placed on the feeding mechanism on the middle layer frame, and is sent to the tray feeding station by the feeding mechanism; at the same time, an empty tray box is placed on the discharge mechanism on the lower layer frame, and is sent to the tray box conveying mechanism in the tray box lowering mechanism by the discharge mechanism, and then the empty tray box is lifted to the middle layer mechanism by the tray box lowering mechanism, and is located below the tray taking mechanism.

[0102] 2. The tray transferring mechanism is started to transport the tray seat above the empty tray box and below the tray taking mechanism; if the tray seat has already been located above the empty tray box and below the tray taking mechanism, this step is not performed.

[0103] 3. The tray lifting mechanism is started, the first ball screw transmission assembly drives the first suction cup assembly to descend, so that the first suction cup is above the tray box of the loading tray; the first vacuum generator controls the first suction cup to suck the uppermost tray; then, the first ball screw transmission assembly drives the first suction cup assembly to ascend; at the same time, the tray lifting mechanism is started to push the uppermost tray in the tray box upward for the next suction of the first suction cup;

[0104] 4. The tray transfer mechanism is started to transport the tray seat to below the first suction cup assembly; the first vacuum generator controls the first suction cup assembly to release the tray on the tray seat;

[0105] 5. The CCD camera shoots the tray and the material arrangement on it, and transmits the signal to the material taking mechanism and the deviation rectifying mechanism after data analysis;

[0106] 6. After receiving the signal from the CCD camera, the material taking mechanism is started, the rotating arm drives the gripper to rotate to the tray, after grabbing the material, the rotating arm drives the gripper to leave the tray, and places the material on the workbench beside the material taking mechanism; after the gripper leaves the tray, the deviation rectifying mechanism is started to drive the gripper to rectify the material on the tray which is not in the right position and direction, and returns to the original position after rectification, waiting for the next material grabbing of the material taking mechanism, and so on, until all the materials on the tray are taken away.

[0107] 7. The tray transfer mechanism is started again to transport the empty tray to below the material taking mechanism and above the empty tray box; at the same time, the tray lifting mechanism is started to repeat step 3.

[0108] 8. After detecting that there is a tray below the material taking mechanism, the empty tray descending mechanism is started, the second ball screw transmission assembly drives the second suction cup to descend, and the second suction cup sucks the tray; then, the tray transfer mechanism drives the tray seat to move away from below the material taking mechanism, transports the tray seat to below the first suction cup assembly, and repeats steps 4-6.

[0109] 9. The second ball screw transmission assembly of the empty tray descending mechanism drives the second suction cup to descend and put the empty tray into the tray box below the material taking station.

[0110] 10. When the tray box below the material taking station is full of empty trays, all the trays in the tray box at the tray loading station are taken away and become empty boxes; the tray box descending mechanism is started to transport the tray box loaded with empty trays to the lower rack, and then the tray box conveying mechanism sends it to the empty box mechanism;

[0111] 11. The tray box descending mechanism ascends to below the material taking mechanism; the tray box conveying mechanism is started to transport the empty tray box at the tray loading station to the tray box descending mechanism;

[0112] 12. The box conveying mechanism sends the loaded empty tray box from the tray box conveying mechanism to complete the automatic feeding work of the whole box material.

[0113] The structure described above makes each process compact and time-saving, and improves work efficiency.

[0114] The above is a further detailed description of the present application in combination with specific preferred embodiments, and cannot be considered as limiting the specific implementation of the present application to these descriptions. For ordinary skilled persons in the technical field of the present application, the architecture form can be flexible and variable without departing from the concept of the present application, and a series of products can be derived. Any simple deduction or replacement should be considered as belonging to the patent protection range determined by the submitted claims.

Claims

1. An automatic loading machine, comprising an upper rack, a middle rack and a lower rack arranged in upper, middle and lower layers; characterized in that: A feeding mechanism is provided on the bottom frame of the middle frame, the terminal of which is a pallet loading station, and the feeding mechanism transports a pallet box loaded with pallets to the pallet loading station; materials are placed on the pallets; A pallet lifting mechanism is provided on the lower frame, located below the pallet loading station, and lifts the pallets in the pallet box so that the uppermost pallet is always located at a predetermined position; The upper rack is provided with a pallet raising mechanism on both sides above the pallet loading station, and an empty pallet lowering mechanism is provided on one side of the pallet raising mechanism; a pallet transferring mechanism is provided between the upper rack and the middle rack, below the pallet raising mechanism and the empty pallet lowering mechanism; the pallet raising mechanism raises the pallet from a predetermined position to the upper rack and places it on the pallet transferring mechanism; The upper frame is provided with a picking mechanism on the upper side of the pallet loading station, and the picking mechanism grabs the material on the pallet and automatically loads the material; then the pallet transfer mechanism transports the empty pallet with the material taken away to the bottom of the empty pallet descending mechanism; and the empty pallet descending mechanism places the pallet into the pallet box placed below the empty pallet descending mechanism.

2. The automatic loading machine according to claim 1, characterized in that: A box lowering mechanism is provided on the side of the empty tray lowering mechanism to transport the tray box filled with empty trays from the middle rack to the lower rack.

3. The automatic loading machine according to claim 1, characterized in that: The lower frame is provided with the discharging mechanism below the feeding mechanism, and the lowering mechanism is also provided with the pallet box conveying mechanism to transport the pallet box filled with empty pallets to the discharging mechanism, which then transports the pallet out of the automatic loader.

4. The automatic feeding machine according to any one of claims 1 to 3, characterized in that: A CCD camera is also provided on the top of the upper frame, and the camera head of the CCD camera shoots the material placement position on the pallet; the CCD camera is connected to the material picking mechanism signal and transmits the photographed material placement position signal to the material picking mechanism in real time.

5. The automatic feeding machine according to any one of claims 1 to 3, characterized in that: A deviation correction mechanism is further provided on the side of the material taking mechanism at a position close to the tray, and the deviation correction mechanism is signal-connected with the CCD camera and the material taking mechanism.

6. The automatic loading machine according to any one of claims 1 to 3, characterized in that: The middle frame is provided with a pallet box clamping assembly on both sides of the pallet box conveying direction, and the pallet box clamping mechanism includes a second cylinder and a push plate provided on the piston rod of the second cylinder.

7. The automatic feeding machine according to any one of claims 1 to 3, characterized in that: The middle frame is further provided with a pallet box blocking assembly in the conveying direction of the pallet box. The pallet box blocking assembly includes a blocking cylinder, a blocking member on a piston rod on the blocking cylinder, and a sensing element.

8. The automatic loading machine according to claim 2, characterized in that: The box lowering mechanism includes a box lowering cylinder, which is installed on the lower frame, and the top of the piston rod of the box lowering cylinder is fixedly mounted on a fourth mounting plate; two guide columns are provided in parallel on both sides of the box lowering cylinder, and the bottom end and the top end of the guide column are respectively fixedly mounted on the lower frame and the middle frame; a pair of fixing parts and a sliding sleeve are fixed on the two guide columns; wherein, the fixing parts are fixedly connected to the fourth mounting plate, and the two pairs of sliding parts are respectively fixedly connected to a connecting column; the connecting column and the fourth mounting plate are arranged perpendicular to the guide column and parallel to each other; the two connecting columns are arranged parallelly above and below; a side plate is respectively fixedly installed on both ends of the connecting column, and the two side plates are relatively parallel and face the direction of the discharging mechanism; two box lowering mounting seats are respectively installed on the opposite sides of the two side plates; a pallet box conveying mechanism is installed between the two box lowering mounting seats.

9. The working method of the automatic feeding machine according to claims 1-8, characterized in that: The following steps are included in order: 1) placing the pallet box loaded with a pallet onto the feeding mechanism on the middle rack, and being delivered to the pallet loading station by the feeding mechanism; at the same time, placing an empty pallet box onto the discharging mechanism on the lower rack, and being delivered to the pallet box conveying mechanism in the lowering mechanism by the discharging mechanism; and then, the lowering mechanism raises the empty pallet box to the middle mechanism and is located below the retrieving mechanism; 2) The pallet transfer mechanism is activated to transport the pallet base to the top of the empty pallet box and below the material removal mechanism; 3) The pallet lifting mechanism is activated to lift the pallet from the predetermined position to the upper rack; at the same time, the pallet jacking mechanism is activated to push the uppermost pallet in the pallet box upward; 4) The pallet transfer mechanism is activated to transport the pallet seat to the bottom of the pallet lifting mechanism; the pallet lifting mechanism places the pallet on the pallet seat; 5) The material taking mechanism starts, grabs the material on the tray, leaves the tray, and places the material on the workbench next to the material taking mechanism; this cycle continues until all the material on the tray is taken; 6) The pallet transfer mechanism is started again to transport the empty pallet to the bottom of the material taking mechanism and above the empty pallet box; at the same time, the pallet lifting mechanism is started and step 3 is repeated; 7) The empty tray descending mechanism detects the presence of the tray under the retrieving mechanism and starts to attract the tray below it; then, the tray transfer mechanism drives the tray base away from under the retrieving mechanism and transports the tray base to the bottom of the tray ascending mechanism, repeating steps 4-6; 8) The empty pallet lowering mechanism places the empty pallet into the pallet box below the material taking station.

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