Automatic feeder for separating gapless stacked trays and tray separation method thereof

Abstract

The automatic feeder comprises a rack, a jacking mechanism, an elastic clamping jaw assembly, a left rigid clamping jaw and a right rigid clamping jaw, the jacking mechanism, the elastic clamping jaw assembly, the left rigid clamping jaw and the right rigid clamping jaw are installed on the rack, the left rigid clamping jaw and the right rigid clamping jaw are oppositely arranged, a separation station is formed between the left rigid clamping jaw and the right rigid clamping jaw, and the left rigid clamping jaw is provided with a left bearing hook; the right rigid clamping jaw is provided with a right bearing hook, the jacking mechanism comprises a bearing table and an elastic deflector rod, the bearing table is arranged on the rack in a lifting mode and ascends to a separation station or withdraws through lifting, the left rigid clamping jaw extends towards the elastic deflector rod to form an abutting part, and the tray on the last layer is clamped through the bearing table in the closed state; the elastic clamping jaw assembly located above the left rigid clamping jaw and the right rigid clamping jaw clamps the tray on the last but one layer. The automatic feeder for separating the gapless stacked trays is suitable for separating and feeding the gapless stacked trays and has the advantage of being high in precision. The invention further discloses a tray separation method.

Description

Technical Field

[0001] This invention relates to the field of gapless pallet loading and unloading technology, and more particularly to an automated feeder for separating gapless stacked pallets. Background Technology

[0002] Currently, some semiconductor chips are miniature square blocks, extremely small in size, but very expensive. A single tray of chips can cost as much as $20,000. The trays purchased are square with sides of two inches, and there are no gaps between the stacked trays. Therefore, they cannot be used with loading equipment that uses the gaps between the stacked trays to separate the chips by inserting them into the gaps. If traditional manual methods are used, it is not only impossible to reach out and connect to the next process equipment, making the operation highly dangerous, but also the manual separation accuracy is low. The trays are very small, and manual separation is prone to shaking. The shaking can easily cause errors in the chips or even cause the chips to shift within the tray. For expensive chips, this mode is obviously unsuitable and cannot meet current usage requirements.

[0003] Therefore, an automated feeder is needed to separate gapless stacked pallets. Summary of the Invention

[0004] One object of the present invention is to provide an automated feeder for separating gapless stacked pallets, which is suitable for separating and feeding gapless stacked pallets and has the advantage of high precision.

[0005] Another object of the present invention is to provide a pallet separation method that is suitable for separating and feeding pallets stacked without gaps and has the advantage of high precision.

[0006] To achieve the above objectives, the present invention provides an automated feeder for separating gapless stacked pallets, comprising a frame and a lifting mechanism, an elastic gripper assembly, a left rigid gripper, and a right rigid gripper mounted on the frame. The left and right rigid grippers are arranged opposite to each other, forming a separation station. The left rigid gripper has a left support hook, and the right rigid gripper has a right support hook. The lifting mechanism includes a support platform and an elastic lever for opening or closing the support platform. The support platform is vertically and vertically mounted on the frame and can be raised to the separation station or removed by lifting. The left rigid gripper extends toward the elastic lever to form a top. When the left and right rigid grippers approach each other, the left and right support hooks approach each other to jointly support the tray at the separation station and simultaneously cause the abutment to extend and push the elastic lever to open the support platform; when the left and right rigid grippers move away from each other, the trays stacked on the left and right support hooks fall onto the support platform and the elastic lever loses its abutment and closes the support platform. The support platform in the closed state clamps the tray of the penultimate layer, and the elastic gripper assembly located above the left and right rigid grippers clamps the tray of the penultimate layer to jointly separate the trays of the penultimate layer and the penultimate layer.

[0007] Preferably, the automated feeder for separating gapless stacked pallets further includes a pallet transfer mechanism located below the separation station, with the support platform located outside the pallet transfer mechanism. As the support platform descends below the pallet transfer mechanism, the open support platform transfers the pallet to the transfer table of the pallet transfer mechanism, which moves to transport the pallet.

[0008] Specifically, the lifting mechanism further includes a lifting drive device and two lifting plates. The lifting drive device is installed on the frame. The two lifting plates are symmetrically arranged on the front and rear sides of the pallet transfer mechanism along the front-rear direction of the frame. The lifting plates are installed at the output end of the lifting drive device and are lifted and lowered under its drive. The top surface of each lifting plate is recessed downward to form a support platform for support. Each lifting plate has a top post located on one side of the support platform. The elastic lever is pivotally connected to the other side of the support platform. The elastic lever has a loosened position that opens the support platform and a clamped position that closes the support platform by rotation. The elastic lever always has a tendency to rotate from the loosened position to the clamped position. The height of the elastic lever beyond the clamping part of the support platform is less than or equal to the height of a pallet, and / or the height of the top post is less than or equal to the height of a pallet.

[0009] Specifically, the pallet transfer mechanism further includes a horizontal movement drive device and a bottom lever. The horizontal movement drive device is mounted on the frame, and the transfer platform is mounted on the output end of the horizontal movement drive device. Under the drive of the horizontal movement drive device, the transfer platform moves to below the separation station or the loading station. The bottom lever is pivotally connected to the transfer platform. The bottom lever has an open position for opening the transfer platform and a closed position for closing the transfer platform by rotation. The bottom lever always has a tendency to rotate from the open position to the closed position. The frame is provided with a top rail. The top rail is located below the separation station. When the transfer platform moves close to the separation station, the bottom lever rotates from the closed position to the open position under the push of the top rail.

[0010] Preferably, the abutment top is arranged along the lifting direction of the support platform, and the elastic lever is provided with rollers corresponding to the abutment top edge.

[0011] Preferably, the elastic gripper assembly includes a left elastic gripper and a right elastic gripper, the left elastic gripper and the right elastic gripper are symmetrically arranged along the left and right directions of the frame, the left rigid gripper is located below the left elastic gripper, the right rigid gripper is located below the right elastic gripper, and the left elastic gripper and the right elastic gripper clamp or release the tray by moving closer to or further away from each other.

[0012] Specifically, the left elastic gripper is provided with a left elastic element so that the left elastic gripper can elastically extend and retract, and the right elastic gripper is provided with a right elastic element so that the right elastic gripper can elastically extend and retract.

[0013] Specifically, both the gripping surfaces of the left and right elastic grippers are provided with anti-slip textures.

[0014] Specifically, the automated feeder for separating gapless stacked pallets further includes a left drive motor and a right drive motor. Both the left elastic gripper and the left rigid gripper are connected to the output end of the left drive motor. When the left drive motor is in position "0", the left elastic gripper retracts and the left rigid gripper extends; when the left drive motor is in position "1", both the left elastic gripper and the left rigid gripper retract; when the left drive motor is in position "2", the left elastic gripper extends and the left rigid gripper retracts. Similarly, both the right elastic gripper and the right rigid gripper are connected to the output end of the right drive motor. When the right drive motor is in position "0", the right elastic gripper retracts and the right rigid gripper extends; when the right drive motor is in position "1", both the right elastic gripper and the right rigid gripper retract; when the right drive motor is in position "2", the right elastic gripper extends and the right rigid gripper retracts.

[0015] To achieve the above objectives, the tray separation method provided by the present invention includes the following steps: S1: The equipment is equipped with a lifting mechanism, an elastic gripper assembly, a left rigid gripper, a right rigid gripper, and a pallet transfer mechanism. In the initial state of the equipment, the left and right elastic grippers of the elastic gripper assembly are retracted, and the left and right rigid grippers are extended, so that the left and right support hooks approach each other and extend towards the separation station, and the stacked pallets are placed and supported on the left and right support hooks. S2: The lifting mechanism's support platform rises, and the elastic lever rotates from the clamping position to the releasing position under the abutment of the top of the left rigid gripper. The support platform remains in the open position and eventually rises to the separation station. The elastic lever and the support platform rise to the same height as the left and right support hooks. The elastic lever is on the outside of the tray. S3: The left and right elastic grippers of the elastic gripper assembly remain retracted, the left and right rigid grippers retract, the stacked pallets fall onto the support platform, the elastic lever loses the abutment of the top of the left rigid gripper and rotates from the loose position to the clamping position, and the elastic lever clamps the pallet of the penultimate layer onto the support platform. S4: The lifting mechanism keeps clamping the last layer of the tray and descends. After descending a certain distance, the left and right elastic grippers on both sides extend, while the left and right rigid grippers remain retracted. The left and right elastic grippers extend together to clamp the second-to-last layer of the tray. As the lifting mechanism continues to descend, the last layer of the tray is separated from the trays above the second-to-last layer. S5: As the lifting mechanism continues to descend, the left and right rigid grippers extend, and the left and right elastic grippers of the elastic gripper assembly retract, causing the left and right support hooks to move closer together to support the pallets stacked above again; the elastic lever rotates from the clamping position to the releasing position under the abutment of the top of the left rigid gripper, and the empty pallet that has been loaded onto the transfer platform passes through the unloading station to unload the empty pallet during the process of moving from the loading station to the separation station. The unloaded transfer platform returns to the bottom of the separation station and waits for the next operation. Under the abutment of the top rail, the bottom lever switches from the pressing position to the opening position, and the open support platform transfers the pallet to the transfer platform of the pallet transfer mechanism as it descends; S6: As the transplanting platform moves away from the separation station, the bottom lever moves from the open position to the clamping position as it leaves the top rail during the removal process, thereby locking the tray on the transplanting platform. The transplanting platform then moves the separated tray from the separation station to the loading station. S7: All mechanisms are reset to their initial state before the next tray separation cycle begins.

[0016] Compared with existing technologies, the automated feeder for separating gapless stacked pallets provided by this invention combines multiple mechanisms such as a lifting mechanism, an elastic gripper assembly, a left rigid gripper, and a right rigid gripper. It utilizes the clamping and releasing action of the elastic gripper assembly above, the support of the left and right rigid grippers, and the abutment of the lifting mechanism below. The coordinated and interlocking actions of the lifting mechanism's rising and clamping ensure that during separation, the closed support platform only clamps the pallet of the penultimate layer. The elastic gripper assembly above the left and right rigid grippers clamps the pallet of the penultimate layer, and finally, with the descent of the lifting mechanism, both the penultimate and penultimate layers of pallets are separated. The separation of gapless stacked pallets is achieved through the clamping actions of multiple mechanisms, and the coordinated flow and feeding of pallets between these mechanisms is achieved through the actions of multiple mechanisms. This provides advantages such as high precision and flexible coordination. Furthermore, after separation, the upper pallet is re-extended by the lower left and right rigid grippers to achieve a reset support, thus facilitating the next cycle of separation. A major highlight of the automated feeder for separating gapless stacked pallets provided by this invention is that it completes the linkage and coordination of multiple mechanisms in a confined space, thereby completing the separation, transfer and resetting of the pallets. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the automated feeder for separating gapless stacked pallets according to the present invention.

[0018] Figure 2 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state a.

[0019] Figure 3 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state b.

[0020] Figure 4 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state c.

[0021] Figure 5 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state d.

[0022] Figure 6 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state e.

[0023] Figure 7 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state f.

[0024] Figure 8 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state g.

[0025] Figure 9 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets of the present invention in state h.

[0026] Figure 10 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets according to the present invention.

[0027] Figure 11 This is a schematic diagram of the internal structure of the automated feeder for separating gapless stacked pallets according to the present invention. Detailed Implementation

[0028] To illustrate the technical content, structural features, and effects of the present invention in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0029] Please see Figures 1 to 11The automated feeder 100 for separating gapless stacked pallets 20 of the present invention includes a frame 1, a lifting mechanism 2, an elastic gripper assembly 3, a left rigid gripper 4, and a right rigid gripper 5. The lifting mechanism 2, the elastic gripper assembly 3, the left rigid gripper 4, and the right rigid gripper 5 are all mounted on the frame 1. A left mounting plate 12 and a right mounting plate 13 are vertically mounted on the frame 1. The distance between the left mounting plate 12 and the right mounting plate 13 is equal to the width of the pallet 20. A hopper is formed between the left mounting plate 12 and the right mounting plate 13. The left rigid gripper 4 and the right rigid gripper 5 are arranged opposite each other, and a separation station 9 is formed between them. The separation station 9 is located at the bottom of the hopper. The left rigid gripper 4 has a left support hook 41, and the right rigid gripper 5 has a right support hook 51. Both the left support hook 41 and the right support hook 51 are "L"-shaped support hooks. The left support hook 41 is movably located at the bottom of the left mounting plate 12 along the left-right direction of the frame 1, and the right support hook 51 is movably located at the bottom of the right mounting plate 13 along the left-right direction of the frame 1. When the left rigid gripper 4 and the right rigid gripper 5 are close to each other, the left support hook 41 and the right support hook 51 are close to each other to jointly support the stacked pallets 20. When the left rigid gripper 4 and the right rigid gripper 5 are far apart, the left support hook 41 and the right support hook 51 are far apart to release the stacked pallets 20. The elastic gripper assembly 3 includes a left elastic gripper 31 and a right elastic gripper 32. The left elastic gripper 31 and the right elastic gripper 32 are symmetrically arranged along the left and right directions of the frame 1. The left rigid gripper 4 is located below the left elastic gripper 31. The left elastic gripper 31 is movably inserted into the left mounting plate 12. The left mounting plate 12 is provided with a corresponding clearance hole 14. The right rigid gripper 5 is located below the right elastic gripper 32. The right elastic gripper 32 is movably inserted into the right mounting plate 13. The right mounting plate 13 is provided with a corresponding clearance hole 14. The left elastic gripper 31 and the right elastic gripper 32 clamp the target tray 20 by moving closer to each other, and the left elastic gripper 31 and the right elastic gripper 32 release the target tray 20 by moving away from each other. The lifting mechanism 2 includes a support platform 21 and a flexible lever 22. The flexible lever 22 is used to open or close the support platform 21. The support platform 21 is located directly below the separation station 9. The support platform 21 is vertically mounted on the frame 1. The support platform 21 can be raised to the separation station 9 or removed by lifting. Please refer to Figure 9- Figure 11The left rigid gripper 4 extends toward the elastic lever 22 to form a top 42. The elastic lever 22 opens the support platform 21 under the pressure of the top 42. The support platform 21 can hold or release the tray 20. When the left rigid gripper 4 and the right rigid gripper 5 approach each other, the left support hook 41 and the right support hook 51 approach each other to jointly support the tray 20 at the separation station 9. At the same time, as the top 42 moves toward the elastic lever 22 with the movement of the left rigid gripper 4, the top 42 extends and pushes the elastic lever 22 to open the support platform 21. The support platform 21 is always in the open state when the left rigid gripper 4 extends. When the left rigid gripper 4 and the right rigid gripper 5 move away from each other, the tray 20 stacked on the left support hook 41 and the right support hook 51 falls onto the support platform 21 and the elastic lever 22 loses its pressure and closes the support platform 21. The support platform 21 is in the closed state when the left rigid gripper 4 retracts. The penultimate tray 20 is clamped by the closed support platform 21, while the elastic gripper assembly 3, located above the left rigid gripper 4 and right rigid gripper 5, clamps the penultimate tray 20. Finally, as the lifting mechanism 2 descends, the penultimate and penultimate trays 20 are separated. More specifically, as follows: Please see Figure 5 The automated feeder 100 for separating gapless stacked pallets 20 also includes a pallet transfer mechanism 6. The pallet transfer mechanism 6 is located below the separation station 9. The support platform 21 is located outside the pallet transfer mechanism 6. The lifting and lowering of the support platform 21 will not interfere with the movement of the pallet 20 transfer mechanism. As the support platform 21 descends to below the pallet transfer mechanism 6, during this process, the support platform 21 remains open due to the resistance of the elastic lever 22 against the top 42 when the left rigid gripper 4 extends. The transfer platform 61 of the pallet 20 transfer mechanism is also open at this time. During the descent, the open support platform 21 transfers the pallet 20 to the transfer platform 61 of the pallet transfer mechanism 6. The transfer platform 61 moves to transport the pallet 20 and moves along the left and right directions of the frame 1.

[0030] Please see Figures 1 to 2The lifting mechanism 2 also includes a lifting drive device 23 and two lifting plates 24. The lifting drive device 23 is installed on the frame 1. The two lifting plates 24 are symmetrically arranged on the front and rear sides of the transfer platform 61 of the pallet transfer mechanism 6 along the front-rear direction of the frame 1. The lifting plates 24 are installed at the output end of the lifting drive device 23 and are lifted and lowered under its drive. The top surface of each lifting plate 24 is recessed downward to form a support platform 21 for support. The lifting plate 24 has a support column 241 located on one side of the support platform 21. The support column 241 extends upward from one side of the support platform 21. The elastic lever 22 is pivotally connected to the other side of the support platform 21. The elastic lever 22 and the support column 241 are arranged opposite to each other along the left-right direction of the frame 1. When the support platform 21 is in the separated position, the two elastic levers 22 are located on the front and rear sides of the left support hook 41, so there is no interference. The two support columns 241 are located on the front and rear sides of the right support hook 51, so there is also no interference. The elastic lever 22 is rotated to... The device has an open position for opening the support platform 21 and a closed position for clamping the support platform 21. When in the open position, the elastic lever 22 and the abutment post 241 clamp the tray 20 on the support platform 21. When in the closed position, the elastic lever 22 and the abutment post 241 release the tray 20 on the support platform 21. The elastic lever 22 always has a tendency to rotate from the open position to the closed position. The elastic lever 22 has a built-in elastic element (not shown) and has an elastic force through the elastic element. This elastic force makes the elastic lever 22 always have a tendency to rotate from the open position to the closed position. The height of the clamping part 221 of the elastic lever 22 beyond the support platform 21 is less than or equal to the height of the tray 20 and the height of the abutment post 241 is less than or equal to the height of the tray 20, or the height of the clamping part 221 of the elastic lever 22 beyond the support platform 21 is less than or equal to the height of the tray 20, or the height of the abutment post 241 is less than or equal to the height of the tray 20. Understandably, only when the elastic lever 22 and the abutment post 241 jointly clamp the last layer of tray 20, can the elastic gripper assembly 3 located above the left rigid gripper 4 and the right rigid gripper 5 clamp the last layer of tray 20, thus separating the last layer of tray 20 from the last layer of tray 20. Therefore, the height of the elastic lever 22 exceeding one or both of the clamping part 221 of the support platform 21 and the abutment post 241 is less than or equal to the height of one tray 20, thereby avoiding clamping the last layer of tray 20, thus avoiding interference and ensuring the accuracy of separation.

[0031] Please see Figures 1 to 6The pallet transfer mechanism 6 also includes a horizontal movement drive 62 and a bottom lever 63. The horizontal movement drive 62 is mounted on the frame 1, and the transfer platform 61 is mounted on the output end of the horizontal movement drive 62. Driven by the horizontal movement drive 62, the transfer platform 61 moves to below the separation station 9 or the loading station 10. The bottom lever 63 is pivotally connected to the transfer platform 61. The bottom lever 63, through rotation, has an open position (opening the transfer platform 61) and a closed position (closing the transfer platform 61). The bottom lever 63 always has a tendency to rotate from the open position to the closed position. The bottom lever 63 has an elastic force through an elastic element, which causes the bottom lever 63 to always have a tendency to rotate from the open position to the closed position. Please refer to [link to relevant documentation]. Figures 10 to 11 The frame 1 is equipped with a top rail 11, which is arranged along the left and right direction of the frame 1. The top rail 11 is located below the separation station 9. When the transplanting platform 61 moves close to the separation station 9, the bottom lever 63 rotates from the pressed position to the open position under the push of the top rail 11. The top rail 11 is a long strip-shaped block mechanism, and the starting section of the top rail 11 has a guide ramp 11a.

[0032] Please see Figures 9 to 11 The top 42 is arranged along the lifting direction of the support platform 21. The elastic lever 22 is provided with a roller 222 corresponding to the top edge of the top 42. The roller 222 is rotatably engaged with the top 42.

[0033] Please see Figures 10 to 11 The left elastic gripper 31 is equipped with a left elastic element (not shown in the figure) to allow the left elastic gripper 31 to extend and retract elastically. The right elastic gripper 32 is equipped with a right elastic element (not shown in the figure) to allow the right elastic gripper 32 to extend and retract elastically. Based on the consideration of protecting the tray 20, the elastic grip can prevent damage to the tray 20. The gripping surfaces of both the left elastic gripper 31 and the right elastic gripper 32 are provided with anti-slip textures 33, which effectively prevents slippage during gripping and thus improves the gripping accuracy.

[0034] Please see Figures 10 to 11The automated feeder 100 for separating gapless stacked pallets 20 of the present invention further includes a left drive motor 7 and a right drive motor 8. The left elastic gripper 31 and the left rigid gripper 4 are both connected to the output end of the left drive motor 7. When the left drive motor 7 is in the "0" position, the left elastic gripper 31 retracts and the left rigid gripper 4 extends; when the left drive motor 7 is in the "1" position, the left elastic gripper 31 retracts and the left rigid gripper 4 retracts; when the left drive motor 7 is in the "2" position, the left elastic gripper 31 extends and the left rigid gripper 4 retracts. The right elastic gripper 32 and the right rigid gripper 5 are both connected to the output end of the right drive motor 8. When the right drive motor 8 is in the "0" position, the right elastic gripper 32 retracts and the right rigid gripper 5 extends; when the right drive motor 8 is in the "1" position, the right elastic gripper 32 retracts and the right rigid gripper 5 retracts; when the right drive motor 8 is in the "2" position, the right elastic gripper 32 extends and the right rigid gripper 5 retracts. The left drive motor 7 and the right drive motor 8 are located on the left and right sides of the hopper. The left elastic gripper 31, the left rigid gripper 4, the right elastic gripper 32 and the right rigid gripper 5 are driven by the three positions of the left drive motor 7 and the right drive motor 8, which not only meets the action requirements, but also saves space.

[0035] Please see Figures 5 to 7 The present invention further includes an empty pallet recycling mechanism for separating gapless stacked pallets 20. This empty pallet recycling mechanism is located between the loading station 10 and the separating station 9. Empty pallets, after being loaded onto the transfer table 61, are unloaded from the loading station 10 as they move to the separating station 9. For example, the empty pallet recycling mechanism includes a lifting device 30 and a one-way pallet device 40. The lifting device pushes the empty pallet 20 onto the one-way pallet device 40, thereby storing the stacked pallets at the one-way pallet device 40 in an empty pallet hopper.

[0036] Please see Figures 1 to 11 The tray 20 separation method of the present invention is characterized by comprising the following steps: S1: The lifting mechanism 2, elastic gripper assembly 3, left rigid gripper 4, right rigid gripper 5, and pallet 20 transfer mechanism are set up. In the initial state, the left elastic gripper 31 and right elastic gripper 32 of the elastic gripper assembly 3 retract, and the left rigid gripper 4 and right rigid gripper 5 extend, causing the left support hook 41 and right support hook 51 to approach each other and extend towards the separation station 9. The stacked pallet 20 is placed and supported on the left support hook 41 and right support hook 51. Because the left elastic gripper 31 and right elastic gripper 32 of the elastic gripper assembly 3 retract, the retraction of the left elastic gripper 31 and right elastic gripper 32 will not contact the pallet 20 (see details). Figure 2 ); S2: The support platform 21 of the lifting mechanism 2 rises, the left rigid gripper 4 and the right rigid gripper 5 remain extended, and the elastic lever 22 rotates from the clamped position to the released position under the pressure of the top 42 of the left rigid gripper 4. The support platform 21 remains in the open position and finally rises to the separation position 9. The elastic lever 22 and the support platform 21 rise to the same height as the left and right support hooks. The elastic lever 22 is outside the tray 20, so there is no interference (see details). Figure 3 ); S3: The left elastic gripper 31 and right elastic gripper 32 of the elastic gripper assembly 3 remain retracted, the left rigid gripper 4 and right rigid gripper 5 retract, the pallets 20 stacked on the left rigid gripper 4 and right rigid gripper 5 fall onto the support platform 21, the elastic lever 22 loses the abutment of the top 42 of the left rigid gripper 4 and rotates from the released position to the clamping position, the elastic lever 22 and the abutment post 241 clamp the pallet 20 of the last layer onto the support platform 21 (see details). Figure 4 ); S4: The lifting mechanism 2 maintains clamping on the last layer of tray 20 and descends. After descending a certain distance, the left elastic gripper 31 and right elastic gripper 32 extend, while the left rigid gripper 4 and right rigid gripper 5 remain retracted. The left elastic gripper 31 and right elastic gripper 32 extend together to clamp the second-to-last layer of tray 20. At this time, all trays 20 above the second-to-last layer are transferred to the left elastic gripper 31 and right elastic gripper 32. As the lifting mechanism 2 continues to descend, the last layer of tray 20 is separated from the trays 20 above the second-to-last layer (see details). Figures 4 to 5 ); S5: As the lifting mechanism 2 continues to descend, the left rigid gripper 4 and the right rigid gripper 5 extend, while the left elastic gripper 31 and the right elastic gripper 32 of the elastic gripper assembly 3 retract, causing the left support hook 41 and the right support hook 51 to move closer together to support the pallet 20 stacked above again; the elastic lever 22 rotates from the clamping position to the releasing position under the pressure of the top 42 of the left rigid gripper 4, and the empty pallet after the transfer platform 61 has finished loading is unloaded at the unloading station 10 during the process of moving from the loading station 10 to the separation station 9. The empty transfer platform 61 moves to the bottom of the separation station 9 and then waits for the next operation. The bottom lever 63 switches from the clamping position to the opening position under the pressure of the top rail 11, and the open support platform 21 transfers the pallet 20 to the transfer platform 61 of the pallet transfer mechanism 6 as it descends (see [link]). Figures 5 to 8 ); S6: As the transplanting platform 61 moves away from the separation station 9, the bottom lever 63, during the retraction process, moves from the open position to the clamping position due to the loss of the supporting rail 11, thereby locking the tray 20 on the transplanting platform 61. The transplanting platform 61 then moves the separated tray 20 from the separation station 9 to the loading station 10 (see [link]). Figure 9 ); S7: All mechanisms are reset to their initial state before the next separation of tray 20 is cycled.

[0037] In S5, the unloading station 10 is equipped with an empty pallet recycling mechanism, which includes an upper lifting device 30 and a one-way pallet device 40. The empty pallet 20 is lifted to the one-way pallet device 40 by the upper lifting device, thereby switching the one-way pallet device 40 to the empty pallet hopper.

[0038] By combining multiple mechanisms such as the lifting mechanism 2, the elastic gripper assembly 3, the left rigid gripper 4, and the right rigid gripper 5, the lifting mechanism 2 is supported by the clamping and releasing action of the elastic gripper assembly 3 located above, the support of the left and right rigid grippers 4 and 5, and the resistance of the lifting mechanism 2 by the bottom abutment 42. The lifting mechanism 2's rising and clamping actions are coordinated and linked, ensuring that the closed support platform 21 only clamps the bottom-most tray 20 during separation. The elastic gripper assembly 3 located above the left and right rigid grippers 4 and 5... The second-to-last layer of pallets 20 is clamped, and finally, with the descent of the lifting mechanism 2, the first and second-to-last layers of pallets 20 are separated. The separation of the stacked pallets without gaps is achieved through the clamping actions of multiple mechanisms. The coordinated movement and feeding of the pallets 20 between these mechanisms is achieved through the actions of multiple mechanisms, offering advantages of high precision and flexible coordination. Furthermore, after separation, the upper pallet 20 is reset and supported again by the re-extending of the lower left rigid gripper 4 and right rigid gripper 5, thus preparing for the next cycle of separation. A major highlight of the automated feeder 100 for separating stacked pallets without gaps provided by this invention is its ability to complete the linkage and coordination of multiple mechanisms within a confined space, thereby achieving the separation, transfer, and reset of the pallets 20 between each mechanism.

[0039] The above-disclosed examples are merely preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, any equivalent variations made in accordance with the claims of the present invention shall still fall within the scope of the present invention.

Claims

1. An automated feeder for separating a gapless stack of trays, characterized by, The device comprises a frame, a lifting mechanism, a flexible clamp assembly, a left rigid clamp and a right rigid clamp, the left rigid clamp and the right rigid clamp are oppositely arranged and form a separating station between them, the left rigid clamp has a left supporting hook, the right rigid clamp has a right supporting hook, the lifting mechanism comprises a supporting table and a flexible lever for opening or closing the supporting table, the supporting table is arranged on the frame in a lifting manner and can be lifted to the separating station or removed, the left rigid clamp extends to the flexible lever to form a stop part, when the left rigid clamp and the right rigid clamp are close to each other, the left supporting hook and the right supporting hook are close to each other to jointly support the tray at the separating station and simultaneously make the stop part push the flexible lever to open the supporting table, when the left rigid clamp and the right rigid clamp are away from each other, the tray stacked on the left supporting hook and the right supporting hook falls on the supporting table and the flexible lever loses the stop to close the supporting table, the flexible clamp assembly above the left rigid clamp and the right rigid clamp separates the last tray and the second last tray by clamping the second last tray through the last tray clamped by the supporting table in a closed state.

2. The automated feeder for separating a gapless stack of pallets of claim 1, wherein, The device further comprises a tray transfer mechanism, the tray transfer mechanism is below the separating station, the supporting table is outside the tray transfer mechanism, when the supporting table is lowered below the tray transfer mechanism, the supporting table in an open state transfers the tray to a transfer table of the tray transfer mechanism, the transfer table carries the tray by moving.

3. The automated feeder for separating a gapless stack of pallets of claim 2, wherein, The lifting mechanism further comprises a lifting driving device and two lifting plates, the lifting driving device is arranged on the frame, the two lifting plates are symmetrically arranged on the front and back sides of the tray transfer mechanism along the front and back directions of the frame, the lifting plates are arranged on the output end of the lifting driving device and are lifted under the driving of the lifting driving device, the top end surface of the lifting plates is concave downward to form a supporting table for supporting, the lifting plates have a stop column on one side of the supporting table, the flexible lever is pivotally connected to the other side of the supporting table, the flexible lever has a loose position for opening the supporting table and a clamping position for closing the supporting table by rotating, the flexible lever always has a tendency to rotate from the loose position to the clamping position, the height of the flexible lever beyond the clamping part of the supporting table is less than or equal to the height of a tray, and / or the height of the stop column is less than or equal to the height of a tray.

4. The automated feeder for separating gapless stacked pallets of claim 2, wherein, The tray transfer mechanism further comprises a horizontal movement driving device and a bottom poking rod, the horizontal movement driving device is installed on the rack, the transplanting table is installed on the output end of the horizontal movement driving device, the transplanting table is moved to the below of the separating station or the feeding station under the driving of the horizontal movement driving device, the bottom poking rod is pivotally connected with the transplanting table, the bottom poking rod has an opening position for opening the transplanting table and a pressing position for closing the transplanting table by rotating, the bottom poking rod always has a tendency to rotate from the opening position to the pressing position, the rack is provided with a top abutting convex rail, the top abutting convex rail is located below the separating station, when the transplanting table moves to the separating station, the bottom poking rod is pushed by the top abutting convex rail to rotate from the pressing position to the opening position.

5. The automated feeder for separating a gapless stack of pallets of claim 1, wherein, The abutting part is arranged along the lifting direction of the bearing table, and the elastic poking rod is provided with a roller corresponding to the abutting edge of the abutting part.

6. The automated feeder for separating a gapless stack of pallets of claim 1, wherein, The elastic clamping jaw assembly comprises a left elastic clamping jaw and a right elastic clamping jaw, the left elastic clamping jaw and the right elastic clamping jaw are symmetrically arranged along the left-right direction of the rack, the left rigid clamping jaw is located below the left elastic clamping jaw, and the right rigid clamping jaw is located below the right elastic clamping jaw, the left elastic clamping jaw and the right elastic clamping jaw are used for clamping or releasing the tray by moving close to or away from each other.

7. An automated feeder for separating gapless stacked pallets as claimed in claim 6, wherein, The left elastic clamping jaw is provided with a left elastic member to make the left elastic clamping jaw elastically stretch and retract, and the right elastic clamping jaw is provided with a right elastic member to make the right elastic clamping jaw elastically stretch and retract.

8. The automated feeder for separating a gapless stack of trays of claim 6, wherein, The clamping surfaces of the left elastic clamping jaw and the right elastic clamping jaw are both provided with anti-skid lines.

9. The automated feeder for separating a gapless stack of trays of claim 6, wherein, The left elastic clamping jaw and the left rigid clamping jaw are both connected to the output end of the left driving motor, when the left driving motor is in the "0" position, the left elastic clamping jaw is retracted, and the left rigid clamping jaw is extended; when the left driving motor is in the "1" position, the left elastic clamping jaw is retracted, and the left rigid clamping jaw is retracted; when the left driving motor is in the "2" position, the left elastic clamping jaw is extended, and the left rigid clamping jaw is retracted; the right elastic clamping jaw and the right rigid clamping jaw are both connected to the output end of the right driving motor, when the right driving motor is in the "0" position, the right elastic clamping jaw is retracted, and the right rigid clamping jaw is extended; when the right driving motor is in the "1" position, the right elastic clamping jaw is retracted, and the right rigid clamping jaw is retracted; when the right driving motor is in the "2" position, the right elastic clamping jaw is extended, and the right rigid clamping jaw is retracted.

10. A tray separation method characterized by, The method comprises the following steps: S1: setting a jacking mechanism, an elastic clamping jaw assembly, a left rigid clamping jaw, a right rigid clamping jaw and a tray transplanting mechanism, the initial state of the equipment, the left elastic clamping jaw and the right elastic clamping jaw of the elastic clamping jaw assembly are retracted, the left rigid clamping jaw and the right rigid clamping jaw are extended, the left bearing hook and the right bearing hook are close to each other and extend to the separating station, and the stacked tray is placed on and carried on the left bearing hook and the right bearing hook; S2: the bearing table of the jacking mechanism rises, the elastic lever rotates from the clamping position to the loosening position under the abutment of the abutment part of the left rigid jaw, the bearing table remains in the open state and finally rises to the separation station, the elastic lever and the bearing table rise to the same height as the left bearing hook and the right bearing hook, the elastic lever is outside the tray; S3: the left elastic jaw and the right elastic jaw of the elastic jaw assembly remain retracted, the left rigid jaw and the right rigid jaw retract, the stacked trays fall on the bearing table, the elastic lever loses the abutment of the abutment part of the left rigid jaw and rotates from the loosening position to the clamping position, the elastic lever clamps the last tray on the bearing table; S4: the jacking mechanism remains clamped on the last tray and descends, after descending a certain distance, the left elastic jaw and the right elastic jaw on both sides extend, the left rigid jaw and the right rigid jaw remain retracted, the left elastic jaw and the right elastic jaw jointly clamp the second last tray, as the jacking mechanism continues to descend, the last tray is separated from the tray above the second last tray; S5: as the jacking mechanism continues to descend, the left rigid jaw and the right rigid jaw extend, the left elastic jaw and the right elastic jaw of the elastic jaw assembly retract, so that the left bearing hook and the right bearing hook approach each other to support the stacked trays above again; the elastic lever rotates from the clamping position to the loosening position under the abutment of the abutment part of the left rigid jaw, the empty tray of the feeding station moves to the separation station during the process of moving the empty tray of the feeding station to the separation station, the empty tray is unloaded at the unloading station, the empty moving tray is reset below the separation station, and then waits for the next work, the bottom lever switches from the pressing position to the open position under the abutment of the abutment rail, the bearing table in the open state transfers the tray to the moving tray of the tray moving mechanism as it descends; S6: the moving tray moves away from the separation station, the bottom lever switches from the open position to the pressing position due to the loss of abutment during the moving process, thereby locking the tray on the moving tray, the moving tray moves the separated tray from the separation station to the feeding station; S7: all mechanisms are reset to the initial state for recycling the separation of the next tray.

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