Pnp handling apparatus and handling method

Abstract

The application relates to a PNP conveying device and a conveying method, which relates to the technical field of conveying devices and comprises a machine body, a first feeding mechanism, a second feeding mechanism, a conveying mechanism, a discharging mechanism and a control mechanism; the machine body is provided with a first feeding port, a second feeding port and a discharging port; the first feeding mechanism is used for providing an initial tray carrying a plurality of materials; the second feeding mechanism is used for providing a target tray receiving the materials; the conveying mechanism is arranged in the machine body and is used for conveying the materials in the initial tray to the target tray; the discharging mechanism is used for moving the target tray filled with the materials out of the machine body through the discharging port; and the control mechanism is electrically connected with the first feeding mechanism, the second feeding mechanism, the conveying mechanism and the discharging mechanism and is used for the cooperative work of the mechanisms. The above technical scheme can automatically complete the conveying of the materials and solves the problems of low efficiency, poor accuracy and easy damage of the materials in manual conveying in the prior art.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment technology, specifically to a PNP material handling equipment and a material handling method. Background Technology

[0002] In laboratory research and development, sample testing, or the production and processing of precision electronic components (such as chips, sensors, and micro-components), it is often necessary to transfer, organize, or rearrange a large number of small, precision experimental items or devices between different carriers (such as trays or pallets).

[0003] Currently, this process still largely relies on operators using manual tools (such as tweezers and anti-static gloves) to pick up and place items one by one. This traditional manual handling method has several obvious drawbacks: First, it is an efficiency bottleneck. Repetitive manual operations are slow and time-consuming, making it difficult to handle batch processing tasks and affecting the smoothness of the overall workflow. Second, there are issues with accuracy and consistency. Manual operation inevitably leads to material omissions, incorrect placement, or misplacement due to fatigue or negligence, introducing error risks to subsequent testing, recording, or assembly stages. Third, there is a potential risk of material damage. Even with careful handling, manual contact can still cause irreversible damage to these delicate experimental items or devices due to improper force control or accidental slippage, such as physical scratches or bent leads. There is also a risk of introducing static electricity or contamination.

[0004] Therefore, existing manual handling methods are inadequate in terms of efficiency, accuracy, and material protection, and have become a key factor restricting the improvement of work efficiency and quality. Developing a dedicated PNP (pick-up and place) device capable of automated, high-precision, and non-destructive handling is therefore essential. Summary of the Invention

[0005] The purpose of this application is to provide a PNP handling device and handling method that can automatically complete the handling of materials, solving the problems of low efficiency, poor accuracy and easy damage to materials in the prior art of manual handling.

[0006] The present invention provides a PNP handling device, the technical solution of which is: a PNP handling device, comprising a body, a first feeding mechanism, a second feeding mechanism, a handling mechanism, a discharging mechanism, and a control mechanism;

[0007] The machine body is provided with a first feeding port, a second feeding port and a discharge port;

[0008] The first feeding mechanism is used to provide an initial tray carrying a number of materials, one end of which is located outside the machine body and the other end enters the machine body through the first feeding port;

[0009] The second feeding mechanism is used to provide a target pallet for receiving materials, with one end located outside the machine body and the other end entering the machine body through the second feeding port;

[0010] The conveying mechanism is located inside the machine body and is used to convey the materials in the initial pallet to the target pallet;

[0011] The discharge mechanism is used to remove the target pallet filled with material from the machine body through the discharge port;

[0012] The control mechanism is electrically connected to the first feeding mechanism, the second feeding mechanism, the conveying mechanism, and the discharging mechanism, and is used to control the coordinated operation of the first feeding mechanism, the second feeding mechanism, the conveying mechanism, and the discharging mechanism.

[0013] Optionally, the first feeding mechanism includes a first feeding line a located outside the machine body, a first feeding line b that can be lifted and lowered inside the machine body, and a first tray assembly located above the first feeding line b. Multiple initial trays are stacked on the first feeding line a, and the first feeding line a conveys the multiple initial trays to the first feeding line b through the first feeding port. The machine body is provided with a first lifting module for driving the first feeding line b to rise and fall vertically relative to the machine body.

[0014] When multiple initial pallets are conveyed to the first feeding line b, the first lifting module drives the first feeding line b and multiple initial pallets to rise vertically to a set height. The first pallet separating component separates the initial pallet located at the top of the first feeding line b, so that the conveying mechanism can transport the material in the initial pallet to the target pallet.

[0015] Optionally, the first feeding mechanism further includes a first feeding line c that can be lifted and lowered within the machine body, a first receiving assembly disposed above the first feeding line c, and a first transfer assembly for transferring the initial tray on the first receiving assembly to the first receiving assembly. The first receiving assembly is used to receive or release the initial tray. The machine body is provided with a second lifting module for driving the first feeding line c to rise and fall vertically.

[0016] After all the materials in the initial pallet have been transferred to the target pallet, the first transfer component transfers the initial pallet to the first receiving component, and the second lifting module drives the first feeding line c to rise below the first receiving component to receive the initial pallet released by the first receiving component.

[0017] Optionally, the first tray assembly includes two first tray plates arranged opposite each other and two first tray cylinders for driving the two first tray plates to move toward each other or away from each other. Both sides of the initial tray are provided with lifting parts that abut against and cooperate with the first tray plates. The two first tray cylinders respectively drive one first tray plate to move, so that the two first tray plates move toward each other or away from each other to clamp or release the initial tray.

[0018] Optionally, the conveying mechanism includes a conveying robot arm located on the top of the machine body, a rotating seat rotatably mounted on the conveying robot arm, an adsorption component located on one side of the rotating seat, and a vision positioning component and a barcode scanning component located on the other side of the rotating seat and electrically connected to the control mechanism. The adsorption component is used to pick up the material in the initial tray and release the material in the target tray. The vision positioning component is used to detect the position of the material so that the adsorption component can accurately pick up the material. The initial tray is provided with a first barcode for the barcode scanning component to scan.

[0019] Optionally, the adsorption assembly includes an adsorption seat fixedly mounted on a rotating base and an adsorption element mounted on the adsorption seat. The adsorption element includes a nozzle fixing rod and a nozzle detachably mounted on the nozzle fixing rod. The nozzle fixing rod and the nozzle are fixed by a magnetic attraction structure.

[0020] Optionally, the machine body is further provided with a nozzle switching mechanism. The nozzle switching mechanism includes a nozzle fixing frame fixedly installed in the machine body, multiple nozzle slots opened on the nozzle fixing frame, a nozzle plate disposed in the nozzle slots, a nozzle switching plate slidably disposed on the nozzle fixing frame, and a nozzle switching cylinder. The nozzle is detachably disposed on the nozzle plate. The nozzle plate is provided with a positioning post. The nozzle is provided with a positioning hole that cooperates with the positioning post. The nozzle switching plate is provided with a limiting groove for limiting the nozzle. The nozzle switching cylinder is used to drive the nozzle switching plate to move back and forth relative to the nozzle fixing frame, so that the limiting groove moves above the nozzle plate and limits the nozzle, or separates the limiting groove from the nozzle to release the limiting of the nozzle.

[0021] Optionally, the second feeding mechanism includes a second feeding line a located outside the machine body, a second feeding line b that can be lifted and lowered inside the machine body, and a second tray separating assembly located on the second feeding line b. The second feeding line a is provided with a first hopper, and multiple target pallets are stacked in the first hopper. The second feeding line a transports the first hopper to the second feeding line b through a second feeding port. The second tray separating assembly is used to separate the target pallets located in the first hopper. The machine body is provided with a third lifting module for driving the uppermost target pallet in the first hopper to rise and fall vertically.

[0022] When the first hopper is conveyed to the second feeding line b, the third lifting module drives the uppermost target pallet in the first hopper to rise to a set height, and the second tray assembly receives the target pallet so that the target pallet can stably receive the material picked up from the initial pallet by the conveying mechanism.

[0023] Optionally, the discharge mechanism includes a first discharge line a located outside the machine body, a first discharge line b that can be lifted and lowered inside the machine body, a second receiving assembly located above the first discharge line b, and a second transfer assembly for transferring the target pallet on the second receiving assembly to the second receiving assembly. The first discharge line b is provided with a second hopper for placing the target pallet, and the machine body is provided with a fourth lifting module for receiving the target pallet released by the second receiving assembly and driving the target pallet to rise and fall vertically.

[0024] Once the target pallet is full of material, the second transfer component transfers the target pallet to the second receiving component. The fourth lifting module receives the target pallet released from the second receiving component and drives the target pallet to descend vertically, so that the target pallets full of material are stacked sequentially in the second hopper.

[0025] This application also provides a handling method based on the PNP handling device described above, comprising the following steps:

[0026] Multiple stacked initial pallets are conveyed from the first feeding line a of the first feeding mechanism to the first feeding line b via the first feeding port, and the first hopper is conveyed from the second feeding port to the second feeding line b via the second feeding line a of the second feeding mechanism, thus completing the feeding process.

[0027] The first feeding line b of the first feeding mechanism is driven by the first lifting module to rise to a set height, so that multiple initial pallets stacked on the first feeding line b are raised to a set height. The first pallet separating component is used to separate the initial pallet located at the top of the first feeding line b, thus completing the separation of the initial pallets.

[0028] The third lifting module drives the target pallet at the top of the first hopper to rise to a set height, the second feeding line b of the second feeding mechanism rises to a set height, and the second tray assembly receives the target pallet and keeps it stable.

[0029] The material is moved from the initial pallet on the first tray assembly to the target pallet on the second tray assembly by a conveying mechanism, thus realizing the material handling.

[0030] After all the materials in the initial pallet are transferred to the target pallet by the handling mechanism, the first transfer component transfers the initial pallet located on the first tray-splitting component to the first receiving component. At this time, the first feeding line c of the first feeding mechanism is driven by the second lifting module to rise vertically to the bottom of the first receiving component to receive the initial pallet released by the first receiving component.

[0031] When the target pallet is full of material, the second transfer component transfers the target pallet full of material to the second receiving component. At this time, the fourth lifting module receives the target pallet full of material from the second receiving component and drives the target pallet to descend vertically, so that the target pallets full of material are stacked in the second hopper in sequence.

[0032] Once the second hopper is full of the target pallet, the first discharge line b will transport the second hopper through the discharge port to the first discharge line a outside the machine body to complete the discharge.

[0033] After adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0034] This application provides a PNP (Personal Numerical Load) material handling device and method, comprising a machine body, a first feeding mechanism, a second feeding mechanism, a handling mechanism, a discharging mechanism, and a control mechanism. Through the coordinated operation of these mechanisms, automated material handling is achieved. The first and second feeding mechanisms provide an initial pallet and a target pallet, respectively. A first and second pallet separating assembly separates the initial pallet and the target pallet. The handling mechanism then transfers the material from the initial pallet to the target pallet. Finally, the discharging mechanism removes the target pallet containing the transferred material from the machine body. Compared to traditional manual handling methods, this application offers advantages such as high automation, high handling efficiency, good accuracy, and reduced material damage. It effectively solves the problems of low efficiency, poor accuracy, and easy material damage in existing manual handling techniques, providing strong support for laboratory research and development, sample testing, or the production and processing of precision electronic components. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the overall structure of this embodiment;

[0037] Figure 2 yes Figure 1 A display image after the machine body has been removed;

[0038] Figure 3 This is a schematic diagram illustrating the cooperative relationship between the first feeding line a, the first feeding line b, the first feeding line c, the first tray assembly, the second tray assembly, the first transfer assembly, the conveying mechanism, and the nozzle switching mechanism in this embodiment.

[0039] Figure 4 This is a schematic diagram illustrating the cooperative relationship between the first feeding line a, the first feeding line b, the first feeding line c, the first lifting module, and the second lifting module in this embodiment.

[0040] Figure 5 This is a diagram illustrating the first dividing plate component and the first closing plate component in this embodiment;

[0041] Figure 6 This is a diagram illustrating the first transfer component in this embodiment;

[0042] Figure 7 This is a diagram illustrating the conveying mechanism in this embodiment;

[0043] Figure 8 This is a diagram illustrating the adsorption element in this embodiment;

[0044] Figure 9 This is a diagram illustrating the nozzle switching mechanism in this embodiment;

[0045] Figure 10 yes Figure 9 Another perspective view;

[0046] Figure 11 This is a schematic diagram illustrating the cooperative relationship between the first discharge line a, the first discharge line b, the second tray separating assembly, the second tray receiving assembly, the second transfer assembly, the third lifting module, and the fourth lifting module in this embodiment.

[0047] Figure 12 yes Figure 11 A partial view;

[0048] Figure 13 This is a schematic diagram illustrating the positional relationship between the third lifting module and the second distributor assembly in this embodiment;

[0049] Figure 14 This is a diagram illustrating the second transfer component in this embodiment;

[0050] Figure 15 This is a flowchart of the handling method provided in this embodiment.

[0051] Explanation of reference numerals in the attached drawings: 10. Machine body; 11. First feeding port; 12. Second feeding port; 13. Discharge port; 14. First lifting module; 141. First lifting fixing frame; 142. First lifting seat; 143. First driving component; 15. Second lifting module; 16. Nozzle switching mechanism; 161. Nozzle fixing frame; 162. Nozzle groove; 163. Nozzle plate; 1631. Positioning post; 164. Nozzle switching plate; 1641. Limit groove; 1642. Barcode scanning groove; 165. Nozzle switching cylinder; 17. Third lifting module; 171. Third lifting fixing frame; 172. Third lifting frame; 173. Slide cylinder; 174. Lifting plate; 175. Third driving component; 18. Fourth lifting module;

[0052] 20. First feeding mechanism; 21. First feeding line a; 22. First feeding line b; 221. First lifting connecting plate; 23. First tray separating assembly; 231. First tray separating plate; 232. First tray separating cylinder; 233. First abutting cylinder; 234. First abutting plate; 24. First feeding line c; 25. First tray collecting assembly; 26. First transfer assembly; 261. First transfer fixing frame; 262. First transfer sliding seat; 263. First transfer lifting plate; 264. First transfer gripper; 265. First transfer driving component;

[0053] 30. Second feeding mechanism; 31. Second feeding line a; 311. First hopper; 32. Second feeding line b; 33. Second dividing plate assembly; 331. Second dividing plate cylinder a; 332. Second dividing plate plate; 333. Second dividing plate cylinder b; 334. Second abutment plate;

[0054] 40. Handling mechanism; 41. Handling robot; 42. Rotating seat; 43. Adsorption assembly; 431. Adsorption seat; 432. Adsorption component; 4321. Nozzle fixing rod; 4322. Nozzle; 4323. Magnetic structure; 44. Vision positioning assembly; 45. Barcode scanning assembly;

[0055] 50. Discharge mechanism; 51. First discharge line a; 511. Second hopper; 52. First discharge line b; 53. Second receiving assembly; 54. Second transfer assembly; 541. Second transfer fixing frame; 542. Second transfer sliding seat; 543. Second transfer lifting plate; 544. Second transfer cylinder; 545. Second clamping plate; 546. Second gripper;

[0056] 60. Control mechanism; 200. Initial pallet; 201. Lifting unit; 300. Target pallet. Detailed Implementation

[0057] The following will refer to the appendices in the embodiments of the present invention. Figures 1-15The technical solutions in the embodiments of the present invention are clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0058] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0059] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0060] This embodiment provides a PNP handling device, referring to... Figure 1 and Figure 2 The system includes a body 10, a first feeding mechanism 20, a second feeding mechanism 30, a conveying mechanism 40, a discharging mechanism 50, and a control mechanism 60. The body 10 has a working chamber inside, and the body 10 has a first feeding port 11, a second feeding port 12, and a discharging port 13 that communicate with the working chamber. In this embodiment, the first feeding port 11, the second feeding port 12, and the discharging port 13 are all located on the same side of the body 10.

[0061] The first feeding mechanism 20 is used to provide an initial pallet 200 carrying a number of materials, one end of which is located outside the machine body 10, and the other end enters the machine body 10 through the first feeding port 11.

[0062] The second feeding mechanism 30 is used to provide a target pallet 300 for receiving materials, one end of which is located outside the machine body 10, and the other end enters the machine body 10 through the second feeding port 12.

[0063] The conveying mechanism 40 is located inside the machine body 10 and is used to convey the materials in the initial pallet 200 to the target pallet 300 to realize the material conveying.

[0064] The discharge mechanism 50 is used to remove the target pallet 300 filled with material from the machine body 10 through the discharge port 13 to realize the discharge;

[0065] The control mechanism 60 is electrically connected to the first feeding mechanism 20, the second feeding mechanism 30, the handling mechanism 40, and the discharging mechanism 50, and is used to control the coordinated operation of the above-mentioned mechanisms to complete the entire automated material handling process.

[0066] During operation, the first feeding mechanism 20 and the second feeding mechanism 30 respectively transport the initial pallet 200 and the target pallet 300 into the machine body 10. At this time, the control mechanism 60 controls the conveying mechanism 40 to work, and the conveying mechanism 40 moves the materials in the initial pallet 200 one by one or in batches to the target pallet 300. During the conveying process, the control mechanism 60 monitors the operation of the conveying mechanism 40 in real time to ensure the accuracy and stability of the conveying. When the target pallet 300 is full of materials, the control mechanism 60 controls the discharge mechanism 50 to start, and the discharge mechanism 50 smoothly moves the target pallet 300 full of materials out of the machine body 10 through the discharge port 13. Thus, the entire automated material handling process is completed.

[0067] Furthermore, referring to Figure 2 , Figure 3 and Figure 4 The first feeding mechanism 20 includes a first feeding line a21 located outside the machine body 10, a first feeding line b that can be lifted and lowered inside the machine body 10, and a first tray assembly 23 disposed on the first feeding line b. Multiple initial trays 200 are stacked on the first feeding line a21. The first feeding line a21 conveys the multiple initial trays 200 to the first feeding line b through the first feeding port 11. A first lifting module 14 is provided inside the machine body 10 for driving the first feeding line b to rise and fall vertically relative to the machine body 10.

[0068] When multiple initial pallets 200 are conveyed by the first feeding line a21 through the first feeding port 11 to the first feeding line b inside the machine body 10, the first lifting module 14 drives the first feeding line b and the multiple initial pallets 200 located on the first feeding line b to rise vertically to a set height. Then, the first tray separating component 23 separates the stacked multiple initial pallets 200, that is, separates the initial pallet 200 located at the top of the first feeding line b from the other initial pallets 200, so as to facilitate the handling mechanism 40 to transport the materials in the initial pallet 200 to the target pallet 300.

[0069] In this embodiment, the first feeding line a21 delivers multiple initial pallets 200 in a stacked state to the first feeding line b each time. In other embodiments, only one initial pallet 200 may be delivered each time. Correspondingly, there is no need to set up a pallet splitting component, which will not be elaborated here.

[0070] Furthermore, the first feeding mechanism 20 also includes a first feeding line c24 that can be lifted and lowered inside the machine body 10, a first receiving assembly 25 disposed above the first feeding line c24, and a first transfer assembly 26 for transferring the initial tray 200 on the first tray assembly 23 to the first receiving assembly 25. The first receiving assembly 25 is used to receive or release the initial tray 200, and the machine body 10 is provided with a second lifting module 15 for driving the first feeding line c24 to rise and fall vertically.

[0071] When all the material in the initial pallet 200 is transferred to the target pallet 300, the initial pallet 200 is now empty. The first transfer component 26 transfers the initial pallet 200 to the first receiving component 25. After the first receiving component 25 receives the initial pallet 200, the second lifting module 15 drives the first feeding line c24 to rise vertically to below the first receiving component 25. Then, the first receiving component 25 releases the initial pallet 200, causing it to fall onto the first feeding line c24, thus realizing the recovery of the empty initial pallet 200.

[0072] In this embodiment, the first lifting module 14 and the second lifting module 15 have the same structure. Taking the first lifting module 14 as an example, the first lifting module 14 includes a first lifting fixing frame 141, a first lifting seat 142 that can be lifted and lowered on the first lifting fixing frame 141, and a first driving member 143 for driving the first lifting seat 142 to rise and fall vertically. The first driving member 143 is a linear motor. A first lifting connecting plate 221 is fixedly provided on the first feeding line b, and the first lifting connecting plate 221 is fixedly connected to the first lifting seat 142. The first lifting seat 142 is driven to rise and fall vertically by the first driving member 143, which in turn drives the first lifting connecting plate 221 to rise and fall vertically, thereby driving the first feeding line b to rise and fall vertically.

[0073] In other embodiments, the first lifting module 14 and the second lifting module 15 may also adopt different structures, and the first driving member 143 may also be a lead screw motor transmission structure or other driving structure, which will not be elaborated here.

[0074] Furthermore, in this embodiment, the first tray splitting component 23 and the first tray closing component 25 have the same structure. In other embodiments, the first tray splitting component 23 and the first tray closing component 25 may also be configured with different structures.

[0075] Specifically, refer to Figure 2 and Figure 5 Taking the first dividing plate assembly 23 as an example, the first dividing plate assembly 23 includes two first dividing plate 231 arranged opposite to each other and two first dividing plate cylinders 232 for driving the two first dividing plate 231 to move in a direction closer to or further away from each other. Both sides of the initial tray 200 are provided with lifting parts 201 that abut against and cooperate with the first dividing plate 231. The two first dividing plate cylinders 232 respectively drive one first dividing plate 231 to move, so that the two first dividing plate 231 move in a direction closer to or further away from each other to clamp or release the initial tray 200.

[0076] In addition, the first disc assembly 23 also includes a first abutting cylinder 233 and a first abutting plate 234 disposed on the piston rod of the first abutting cylinder 233. The first abutting cylinder 233 is located between two first disc plates 231, and the first abutting plate 234 is used to abut against the initial tray 200.

[0077] During operation, when the two first separating cylinders 232 drive the two first separating plates 231 to move closer to each other, the two first separating plates 231 respectively abut against both sides of the initial pallet 200, thereby clamping the initial pallet 200. Subsequently, the first abutting cylinder 233 drives the first abutting plate 234 to move closer to the initial pallet 200, causing the first abutting plate 234 to abut against the initial pallet 200, thereby further fixing the initial pallet 200 and preventing it from shaking or shifting during subsequent material handling, ensuring the stability and accuracy of material handling. Similarly, when the first receiving assembly 25 is in operation, it receives and releases the initial pallet 200 through corresponding cylinders and clamping plates, etc. Its working principle is similar to that of the first separating assembly 23, and will not be described in detail here. By adopting the above structure, the first separating assembly 23 and the first receiving assembly 25 can stably and reliably complete the separating and receiving of the initial pallet 200, improving the automation level and operating efficiency of the entire handling equipment.

[0078] Furthermore, referring to Figure 2 and Figure 6The first transfer assembly 26 includes a first transfer fixing frame 261 fixedly disposed within the body 10, a first transfer sliding seat 262 slidably disposed on the first transfer fixing frame 261, a first transfer lifting plate 263 movably disposed on the first transfer sliding seat 262, a plurality of first transfer grippers 264 movably disposed on the bottom side of the first transfer lifting plate 263, and a first transfer drive member 265 for moving the plurality of first transfer grippers 264 toward each other in a direction of approaching or moving away to clamp or release the initial tray 200. The first transfer sliding seat 262 is capable of clamping or releasing the initial tray 200 in the first tray assembly 23 and The first receiving assembly 25 moves back and forth, the first transfer lifting plate 263 can be vertically lifted relative to the first transfer sliding seat 262, the first transfer drive 265 is a circular pneumatic finger with multiple pneumatic sliders, and multiple first transfer grippers 264 are respectively fixed on the multiple pneumatic sliders. The circular pneumatic finger drives the multiple pneumatic sliders to move in a direction closer to or further away from each other, thereby driving the multiple first transfer grippers 264 to move in a direction closer to or further away from each other, so that the multiple first transfer grippers 264 can cooperate to grip or release the initial tray 200 in the empty tray state.

[0079] Furthermore, referring to Figure 2 and Figure 7 The handling mechanism 40 includes a handling robot 41 mounted on the top of the body 10, a rotating seat 42 rotatably mounted on the handling robot 41, an adsorption component 43 mounted on one side of the rotating seat 42, and a vision positioning component 44 and a barcode scanning component 45 mounted on the other side of the rotating seat 42 and electrically connected to the control mechanism 60. The handling robot 41 is a four-axis robot. The adsorption component 43 is used to pick up the material in the initial tray 200 and release the picked-up material in the target tray 300. The vision positioning component 44 is used to detect the position of the material so that the adsorption component 43 can accurately pick up the material and accurately place the picked-up material in the corresponding position of the target tray 300. The initial tray 200 is provided with a first barcode for the barcode scanning component 45 to scan.

[0080] Understandably, when the first feeding line a21 conveys multiple initial pallets 200 to the second feeding line b32, the handling robot 41 begins to move, causing the rotating seat 42 to move directly above the initial pallets 200, enabling the barcode scanning component 45 to scan the first barcode on the initial pallet 200. The barcode scanning component 45 transmits the scanned information to the control mechanism 60. The control mechanism 60 identifies the size, thickness, material type, batch, and other relevant data of the initial pallet 200 based on the received information. According to the size and thickness of the initial pallet 200, the control mechanism 60 controls the first lifting module 14 to rise to a set height, allowing the first tray-separating component 23 to smoothly perform tray separation. Subsequently, the visual positioning component 44 accurately detects the position of the material within the initial pallet 200 and feeds back the detected position information to the control mechanism 60. Based on the information fed back by the visual positioning component 44, the control mechanism 60 plans the optimal suction path for the adsorption component 43. The handling robot 41 moves along the planned path, causing the rotating base 42 to accurately move the adsorption component 43 above the material in the initial tray 200. The adsorption component 43 then activates, firmly sucking up the material. Next, the handling robot 41 moves again, moving the rotating base 42 directly above the target tray 300. The vision positioning component 44 then functions again, detecting the position of the corresponding material in the target tray 300 and feeding back the position information to the control mechanism 60. Based on the feedback information, the control mechanism 60 instructs the handling robot 41 to adjust the position of the adsorption component 43, ensuring that the adsorption component 43 accurately places the sucked-up material in the corresponding position on the target tray 300, completing one material handling cycle. This cycle continues until all the material in the initial tray 200 has been transferred to the target tray 300.

[0081] Furthermore, referring to Figure 7 and Figure 8 The adsorption assembly 43 includes an adsorption seat 431 fixedly mounted on the rotating seat 42 and an adsorption component 432 mounted on the adsorption seat 431. The adsorption component 432 includes a suction nozzle fixing rod 4321 fixedly mounted on the adsorption seat 431 and a suction nozzle 4322 detachably mounted on the suction nozzle fixing rod 4321. The suction nozzle fixing rod 4321 and the suction nozzle 4322 are fixed by a magnetic attraction structure 4323.

[0082] Furthermore, referring to Figure 2 , Figure 9 and Figure 10The body 10 also includes a nozzle switching mechanism 16, which comprises a nozzle fixing frame 161 fixedly installed inside the body 10, multiple nozzle slots 162 formed on the nozzle fixing frame 161, a nozzle plate 163 installed in the nozzle slots 162, a nozzle switching plate 164 slidably installed on the nozzle fixing frame 161, and a nozzle switching cylinder 165. The nozzle 4322 is detachably mounted on the nozzle plate 163, and the nozzle plate 163 is provided with a positioning post 1631. The suction nozzle 4322 is provided with a positioning hole that cooperates with the positioning post 1631. The suction nozzle switching plate 164 is provided with a limiting groove 1641 for limiting the suction nozzle 4322. The suction nozzle switching cylinder 165 is used to drive the suction nozzle switching plate 164 to move back and forth relative to the suction nozzle fixing frame 161, so that the limiting groove 1641 moves above the suction nozzle plate 163 and limits the suction nozzle 4322, or separates the limiting groove 1641 from the suction nozzle 4322 to release the limitation on the suction nozzle 4322.

[0083] In addition, a second code body is provided on the suction nozzle 4322, and a scanning slot 1642 is provided on the suction nozzle switching plate 164 corresponding to the second code body, so that the scanning component 45 can scan the second code body through the scanning slot 1642.

[0084] Understandably, when the scanning component 45 scans the first code on the initial tray 200 and transmits the scanned information to the control mechanism 60, the control mechanism 60 identifies the characteristics of the material to be transported based on the received information and further determines whether the current suction nozzle 4322 is suitable for that material. If the current suction nozzle 4322 is not suitable, the control mechanism 60 controls the transport robot 41 to move above the current suction nozzle 4322's placement position and remove the current suction nozzle 4322. Subsequently, the control mechanism 60 controls the transport robot 41 to move above different suction nozzles 4322, and the scanning component 45 scans the second code on the suction nozzle 4322 through the scanning slot 1642 on the suction nozzle switching plate 164, transmitting the scanned information to the control mechanism 60. The control mechanism 60 determines whether the suction nozzle 4322 is the type of suction nozzle 4322 suitable for the current transported material based on the information. If the suction nozzle 4322 is determined to be suitable, the control mechanism 60 controls the suction nozzle switching cylinder 165 to actuate, causing the limiting groove 1641 of the suction nozzle switching plate 164 corresponding to the target suction nozzle 4322 to separate from the target suction nozzle 4322, thus releasing the limitation on the target suction nozzle 4322. At this time, the handling robot 41 moves the adsorption assembly 43 close to the target suction nozzle 4322. Since the suction nozzle fixing rod 4321 and the suction nozzle 4322 are fixed by a magnetic attraction structure 4323, the adsorption assembly 43 can easily pick up the target suction nozzle 4322 from the suction nozzle plate 163 and install it onto the suction nozzle fixing rod 4321. After the suction nozzle 4322 is replaced, the handling robot 41 returns to the initial pallet 200 and continues to perform the material handling task. Through the setting of the suction nozzle switching mechanism 16, the handling equipment can flexibly cope with the handling needs of materials with different characteristics, greatly improving the versatility and adaptability of the equipment. Meanwhile, the adoption of the magnetic suction structure 4323 simplifies the replacement process of the suction nozzle 4322, improves the replacement efficiency, and further enhances the automation level and operating efficiency of the entire handling equipment.

[0085] Furthermore, referring to Figure 2 , Figure 11 and Figure 12 The second feeding mechanism 30 includes a second feeding line a31 located outside the machine body 10, a second feeding line b32 that can be lifted and lowered inside the machine body 10, and a second dispensing assembly 33 on the second feeding line b32. The second feeding line a31 is provided with a first hopper 311, and multiple target pallets 300 are stacked in the first hopper 311. The second feeding line a31 conveys the first hopper 311 to the second feeding line b32 through the second feeding port 12. The second dispensing assembly 33 is used to separate the target pallets 300 located in the first hopper 311. The machine body 10 is provided with a third lifting module 17 for driving the uppermost target pallet 300 in the first hopper 311 to rise and fall vertically.

[0086] When the first hopper 311 is conveyed to the second feeding line b32, the third lifting module 17 drives the target pallet 300 at the top of the first hopper 311 to rise to a set height, and the second tray assembly 33 receives the target pallet 300 so that the target pallet 300 can stably receive the material picked up from the initial pallet 200 by the conveying mechanism 40.

[0087] Furthermore, the discharge mechanism 50 includes a first discharge line a51 located outside the machine body 10, a first discharge line b52 that can be lifted and lowered inside the machine body 10, a second receiving assembly 53 located above the first discharge line b52, and a second transfer assembly 54 for transferring the target pallet 300 on the second receiving assembly 53 to the second receiving assembly 53. The second receiving assembly 53 is used to receive or release the target pallet 300. The first discharge line b52 is provided with a second hopper 511 for placing the target pallet 300. The machine body 10 is provided with a fourth lifting module 18 for receiving the target pallet 300 released by the second receiving assembly 53 and driving the target pallet 300 to rise and fall vertically.

[0088] When the target pallet 300 is full of material, the second transfer component 54 transfers the target pallet 300 to the second receiving component 53. The fourth lifting module 18 receives the target pallet 300 released from the second receiving component 53 and drives the target pallet 300 to descend vertically, so that the target pallets 300 filled with material are stacked in the second hopper 511.

[0089] In some specific embodiments, reference is made to Figure 12 and Figure 13 The second tray-separating assembly 33 and the second tray-receiving assembly 53 have the same structure. Taking the second tray-separating assembly 33 as an example, the second tray-separating assembly 33 includes four second tray-separating cylinders a331 symmetrically arranged on the left and right sides of the target tray 300, a second tray-separating plate 332 arranged on the piston rod of the second tray-separating cylinder a331, and two second tray-separating cylinders b333 symmetrically arranged on the front and rear sides of the target tray 300, and a second abutting plate 334 arranged on the piston rod of the second tray-separating cylinder b333.

[0090] When the third lifting module 17 drives the target pallet 300 at the top of the first hopper 311 to rise to the set height, the second distributing cylinder a331 actuates, causing the second distributing plate 332 to move towards the target pallet 300, so that the second distributing plate 332 inserts into the bottom side of the target pallet 300 and lifts the target pallet 300. Subsequently, the second distributing cylinder b333 actuates, pushing the second abutment plate 334 towards the first hopper 311 until the second abutment plate 334 abuts against both sides of the target pallet 300. At this time, the target pallet 300 is stably located on the second distributing assembly 33, and the conveying mechanism 40 can accurately convey the material into the target pallet 300.

[0091] Similarly, the second receiving assembly 53 operates in the opposite manner to the second separating assembly 33. When the target pallet 300 is filled with material and transferred above the second receiving assembly 53 by the second transfer assembly 54, the second separating cylinder a331 and the second separating cylinder b333 in the second receiving assembly 53 actuate, positioning the second separating plate 332 in the appropriate position to receive the target pallet 300. Subsequently, when it is necessary to release the target pallet 300 to the second hopper 511 on the first discharge line b52, the second separating cylinder a331 and the second separating cylinder b333 actuate again, causing the second separating plate 332 to release the target pallet 300. The target pallet 300 falls onto the fourth lifting module 18 under gravity, and then the fourth lifting module 18 drives the target pallet 300 to descend, thereby stacking the target pallets 300 filled with material sequentially into the second hopper 511.

[0092] In this embodiment, the third lifting module 17 and the fourth lifting module 18 have the same structure. Taking the third lifting module 17 as an example, the third lifting module 17 includes a third lifting fixing frame 171, a third lifting frame 172 that can be lifted and lowered on the third lifting fixing frame 171, a slide cylinder 173 on both sides of the third lifting frame 172, a lifting plate 174 on the slider of the slide cylinder 173, and a third driving member 175 for driving the third lifting seat to rise and fall vertically. The third driving member 175 is a linear motor. There are four slide cylinders 173, which are symmetrically arranged on both sides of the third lifting frame 172. When the first hopper 311 is conveyed to the second feeding line b32, the first hopper 311 is located inside the third lifting frame 172. The lifting plate 174 is driven by the slide cylinder 173 to move closer to the inside of the first hopper 311, so that the lifting plate 174 is inserted into the gap between the target pallet 300 located at the top inside the first hopper 311 and the target pallet 300 adjacent to it. Then the third driving member 175 drives the third lifting frame 172 to rise vertically, raising the target pallet 300 located at the top inside the first hopper 311 to a set height. Finally, the second tray assembly 33 receives the target pallet 300 and keeps it in a stable state, thereby transporting the material.

[0093] Similarly, when the second transfer component 54 transfers the target pallet 300 filled with material to the second receiving component 53, the fourth lifting module 18 rises vertically to below the second receiving component 53. At this time, the second receiving component 53 releases the target pallet 300 filled with material, causing it to fall onto the fourth lifting module 18. Subsequently, the fourth lifting module 18 descends, placing the target pallet 300 filled with material onto the second hopper 511 on the first discharge line b52. This process is repeated to achieve the orderly stacking of the target pallets 300 filled with material within the second hopper 511.

[0094] In some specific embodiments, refer to Figure 14 The second transfer assembly 54 includes a second transfer fixing frame 541 fixedly disposed between the second tray assembly 33 and the second tray receiving assembly 53, a second transfer sliding seat 542 slidably disposed on the second transfer fixing frame 541, a second transfer lifting plate 543 liftable on the second transfer sliding seat 542, two second transfer cylinders 544 symmetrically disposed on both sides of the second transfer lifting plate 543, a second clamping plate 545 fixedly disposed on the piston rod of the second transfer cylinder 544, and two second clamping claws 546 fixedly disposed on the second clamping plate 545. The second transfer sliding seat 542 can move back and forth between the second tray assembly 33 and the second tray receiving assembly 53.

[0095] Once the target pallet 300 is full of material, the second transfer sliding seat 542 moves above the second tray assembly 33. By driving the second transfer lifting plate 543 to descend, the second transfer lifting plate 543 approaches the target pallet 300. Then, the second transfer cylinder 544 operates, driving the second gripper 546 to move towards the target pallet 300, thereby gripping the target pallet 300. Finally, by driving the second transfer assembly 54 to slide above the second receiving assembly 53, the target pallet 300 is transferred onto the second receiving assembly 53.

[0096] In addition, refer to Figure 15 This embodiment also provides a handling method based on the PNP handling device described above, comprising the following steps:

[0097] 101. The stacked initial pallets 200 are conveyed to the first feeding line b22 via the first feeding line a21 of the first feeding mechanism 20 through the first feeding port 11, and the first hopper 311 is conveyed to the second feeding line b32 via the second feeding port 12 via the second feeding line a31 of the second feeding mechanism 30, thus completing the feeding process.

[0098] 102. The first feeding line b22 of the first feeding mechanism 20 is driven to rise to a set height by the first lifting module 14, so that the multiple initial pallets 200 stacked on the first feeding line b22 are raised to the set height. The first tray separating component 23 is used to separate the initial pallet 200 located at the top of the first feeding line b22, thus completing the tray separating of the initial pallets 200.

[0099] 103. The target pallet 300 at the top of the first hopper 311 is driven to rise to a set height by the third lifting module 17, the second feeding line b32 of the second feeding mechanism 30 rises to a set height, and the second tray assembly 33 receives the target pallet 300 and keeps it stable.

[0100] 104. The material in the initial pallet 200 on the first tray assembly 23 is transferred to the target pallet 300 on the second tray assembly 33 by the conveying mechanism 40, thereby realizing the material handling.

[0101] 105. After all the materials in the initial pallet 200 are transported to the target pallet 300 by the handling mechanism 40, the first transfer component 26 transfers the initial pallet 200 located on the first tray-splitting component 23 to the first receiving component 25. At this time, the first feeding line c24 of the first feeding mechanism 20 is driven by the second lifting module 15 to rise vertically to below the first receiving component 25 to receive the initial pallet 200 released by the first receiving component 25.

[0102] 106. When the target pallet 300 is full of material, the target pallet 300 full of material is transferred to the second receiving component 53 by the second transfer component 54. At this time, the target pallet 300 full of material is received by the fourth lifting module 18 and the target pallet 300 is driven to descend vertically, so that the target pallets 300 full of material are stacked in the second hopper 511.

[0103] 107. When the second hopper 511 is full of the target pallet 300, the first discharge line b52 will transport the second hopper 511 through the discharge port 13 to the first discharge line a51 outside the machine body 10 to complete the discharge.

[0104] The above is only used to illustrate the technical solution of the present invention and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of the present invention, as long as they do not depart from the spirit and scope of the technical solution of the present invention, should be covered within the scope of the claims of the present invention.

Claims

1. A PNP handling apparatus characterized by comprising: The machine body (10), the first feeding mechanism (20), the second feeding mechanism (30), the carrying mechanism (40), the discharging mechanism (50) and the control mechanism (60) are included. The first feeding port (11), the second feeding port (12) and the discharging port (13) are arranged on the machine body (10). The first feeding mechanism (20) is used for providing the initial tray (200) carrying a plurality of materials, one end of which is located outside the machine body (10), and the other end of which enters the machine body (10) through the first feeding port (11). The second feeding mechanism (30) is used for providing the target tray (300) receiving materials, one end of which is located outside the machine body (10), and the other end of which enters the machine body (10) through the second feeding port (12). The carrying mechanism (40) is arranged in the machine body (10) and is used for carrying the materials in the initial tray (200) into the target tray (300). The discharging mechanism (50) is used for moving the target tray (300) full of materials out of the machine body (10) through the discharging port (13). The control mechanism (60) is electrically connected with the first feeding mechanism (20), the second feeding mechanism (30), the carrying mechanism (40) and the discharging mechanism (50), and is used for controlling the cooperative work of the first feeding mechanism (20), the second feeding mechanism (30), the carrying mechanism (40) and the discharging mechanism (50). The first feeding mechanism (20) includes the first feeding line a (21) located outside the machine body (10), the first feeding line b (22) which can be lifted and arranged in the machine body (10), and the first tray separating assembly (23) arranged above the first feeding line b (22), a plurality of initial trays (200) are stacked on the first feeding line a (21), the first feeding line a (21) conveys a plurality of the initial trays (200) to the first feeding line b (22) through the first feeding port (11), and the machine body (10) is provided with the first lifting module (14) for driving the first feeding line b (22) to vertically lift relative to the machine body (10). When a plurality of the initial trays (200) are conveyed to the first feeding line b (22), the first lifting module (14) drives the first feeding line b (22) and the plurality of initial trays (200) to vertically rise to a set height, the first tray separating assembly (23) separates the initial tray (200) located at the uppermost of the first feeding line b (22), and the carrying mechanism (40) carries the materials in the initial tray (200) into the target tray (300). The first feeding mechanism (20) further includes the first feeding line c (24) which can be lifted and arranged in the machine body (10), the first tray receiving assembly (25) arranged above the first feeding line c (24), and the first transfer assembly (26) for transferring the initial tray (200) on the first tray separating assembly (23) to the first tray receiving assembly (25), the first tray receiving assembly (25) is used for receiving or releasing the initial tray (200), and the machine body (10) is provided with the second lifting module (15) for driving the first feeding line c (24) to vertically lift. When the material in the initial tray (200) is completely transported into the target tray (300), the first transfer assembly (26) transfers the initial tray (200) to the first tray receiving assembly (25), and the second lifting module (15) drives the first feeding line c (24) to rise below the first tray receiving assembly (25) to receive the initial tray (200) released by the first tray receiving assembly (25); The second feeding mechanism (30) comprises a second feeding line a (31) located outside the machine body (10), a second feeding line b (32) which can be lifted in the machine body (10), and a second tray separating assembly (33) provided on the second feeding line b (32). The first warehouse (311) is provided on the second feeding line a (31), and a plurality of target trays (300) are stacked in the first warehouse (311). The second feeding line a (31) transports the first warehouse (311) to the second feeding line b (32) through the second feeding port (12). The second tray separating assembly (33) is used to separate the target trays (300) in the first warehouse (311). The machine body (10) is provided with a third lifting module (17) for driving the uppermost target tray (300) in the first warehouse (311) to vertically lift; When the first warehouse (311) is transported to the second feeding line b (32), the third lifting module (17) drives the uppermost target tray (300) in the first warehouse (311) to rise to a specified height, and the second tray separating assembly (33) receives the target tray (300) so that the target tray (300) can stably receive the material sucked from the initial tray (200) by the transporting mechanism (40).

2. The PNP handling apparatus according to claim 1, wherein The first tray separating assembly (23) comprises two first tray separating plates (231) arranged opposite to each other and two first tray separating cylinders (232) for driving the two first tray separating plates (231) to move towards each other or away from each other. The two sides of the initial tray (200) are provided with lifting portions (201) abutting with the first tray separating plates (231). The two first tray separating cylinders (232) respectively drive one first tray separating plate (231) to move, so that the two first tray separating plates (231) move towards each other or away from each other to clamp or release the initial tray (200).

3. The PNP handling apparatus according to claim 1, wherein The carrying mechanism (40) comprises a carrying manipulator (41) arranged on the top of the machine body (10), a rotating seat (42) arranged on the carrying manipulator (41), a suction assembly (43) arranged on one side of the rotating seat (42), and a visual positioning assembly (44) and a code scanning assembly (45) arranged on the other side of the rotating seat (42) and electrically connected with the control mechanism (60), the suction assembly (43) is used for sucking the material in the initial tray (200) and releasing the material in the target tray (300), the visual positioning assembly (44) is used for detecting the position of the material so that the suction assembly (43) can accurately suck the material, and the initial tray (200) is provided with a first code body for the code scanning assembly (45) to scan.

4. The PNP handling apparatus according to claim 3, wherein The suction assembly (43) comprises a suction seat (431) fixedly arranged on the rotating seat (42) and a suction member (432) arranged on the suction seat (431), the suction member (432) comprises a suction nozzle fixing rod (4321) and a suction nozzle (4322) detachably arranged on the suction nozzle fixing rod (4321), and the suction nozzle fixing rod (4321) and the suction nozzle (4322) are fixed by a magnetic suction structure (4323).

5. A PNP handling apparatus according to claim 4, wherein The machine body (10) is further provided with a suction nozzle switching mechanism (16), the suction nozzle switching mechanism (16) comprises a suction nozzle fixing frame (161) fixedly arranged in the machine body (10), a plurality of suction nozzle grooves (162) formed in the suction nozzle fixing frame (161), a suction nozzle plate (163) arranged in the suction nozzle groove (162), a suction nozzle switching plate (164) slidably arranged on the suction nozzle fixing frame (161), and a suction nozzle switching cylinder (165), the suction nozzle (4322) is detachably arranged on the suction nozzle plate (163), the suction nozzle plate (163) is provided with a positioning column (1631), the suction nozzle (4322) is provided with a positioning hole matched with the positioning column (1631), the suction nozzle switching plate (164) is provided with a limiting groove (1641) for limiting the suction nozzle (4322), and the suction nozzle switching cylinder (165) is used for driving the suction nozzle switching plate (164) to move back and forth relative to the suction nozzle fixing frame (161), so that the limiting groove (1641) moves above the suction nozzle plate (163) and limits the suction nozzle (4322), or the limiting groove (1641) is separated from the suction nozzle (4322) to release the limitation of the suction nozzle (4322).

6. A PNP handling apparatus according to claim 5, wherein The discharge mechanism (50) comprises a first discharge line a (51) located outside the machine body (10), a first discharge line b (52) which can be lifted in the machine body (10), a second collecting disc assembly (53) located above the first discharge line b (52), and a second transfer assembly (54) for transferring the target tray (300) on the second tray assembly (33) to the second collecting disc assembly (53), the second collecting disc assembly (53) is used for receiving or releasing the target tray (300), the first discharge line b (52) is provided with a second stock bin (511) for placing the target tray (300), and the machine body (10) is provided with a fourth lifting module (18) for receiving the target tray (300) released by the second collecting disc assembly (53) and driving the target tray (300) to vertically lift; When the target tray (300) is full of material, the second transfer assembly (54) transfers the target tray (300) to the second collecting disc assembly (53), and the fourth lifting module (18) receives the target tray (300) released from the second collecting disc assembly (53) and drives the target tray (300) to vertically descend, so that the target tray (300) full of material is stacked in the second stock bin (511) in sequence.

7. A handling method based on the PNP handling apparatus as claimed in claim 6, characterized by The conveying method comprises the following steps: The first feeding mechanism (20) is used to convey the stacked multiple initial trays (200) on the first feeding line b (22) through the first feeding port (11) on the first feeding line a (21), and the second feeding mechanism (30) is used to convey the first stock bin (311) on the second feeding line b (32) through the second feeding port (12) on the second feeding line a (31), and the feeding is completed; The first feeding line b (22) of the first feeding mechanism (20) is driven by the first lifting module (14) to rise to a set height, so that the multiple initial trays (200) stacked on the first feeding line b (22) rise to the set height, and the initial tray (200) located at the uppermost position of the first feeding line b is separated by the first tray assembly (23), and the tray separation of the initial tray (200) is completed; The uppermost target tray (300) in the first stock bin (311) is driven by the third lifting module (17) to rise to a set height, the second feeding line b (32) of the second feeding mechanism (30) rises to a set height, and the second tray assembly (33) receives the target tray (300) and keeps it stable; The conveying mechanism (40) is used to convey the material in the initial tray (200) on the first tray assembly (23) to the target tray (300) on the second tray assembly (33), so as to realize the conveying of the material; When the material in the initial tray (200) is completely transported into the target tray (300) by the transporting mechanism (40), the first transfer assembly (26) transfers the initial tray (200) on the first tray assembly (23) to the first tray receiving assembly (25), and the first feeding line c (24) of the first feeding mechanism (20) is driven by the second lifting module (15) to vertically rise below the first tray receiving assembly (25) to receive the initial tray (200) released by the first tray receiving assembly (25); When the target tray (300) is full of material, the target tray (300) full of material is transferred to the second tray receiving assembly (53) by the second transfer assembly (54), and at this time the target tray (300) full of material on the second tray receiving assembly (53) is received by the fourth lifting module (18) and is driven to vertically descend, so that the target tray (300) full of material is stacked in the second material bin (511) in sequence; When the second material bin (511) is full of target trays (300), the second material bin (511) is transported to the first material line a (51) outside the machine body (10) through the discharge port (13) by the first material line b (52), and the discharging is completed.

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