Feeding and discharging work station suitable for automatic stacking of multiple layers of trays of industrial robot

Abstract

The invention discloses a feeding and discharging work station suitable for automatic stacking of multiple layers of trays of an industrial robot, a feeding tray platform and a discharging tray platform which are of the same structure are slidably arranged on the two sides of a rack correspondingly, brackets are placed below the feeding tray platform and the discharging tray platform correspondingly, and stackable tray assemblies are placed on the brackets; the feeding tray platform and the discharging tray platform are used for clamping the material tray assemblies and completing stacking. Material tray supporting mechanisms are arranged above the feeding tray platform and the discharging tray platform correspondingly and used for clamping single material tray assemblies and placing the single material tray assemblies on the material tray conveying mechanism; the tray conveying mechanism reciprocates in the horizontal direction to convey the single tray assembly to the discharging position from the feeding position, and the tray conveying mechanism is fixedly arranged in the middle of the rack. The tray assembly is automatically recycled, machined finished products are orderly placed in the tray assembly, and the complete working process of automatic feeding and discharging of materials and trays is achieved.

Description

Technical Field

[0001] This invention relates to the field of loading and unloading workstations, specifically to a loading and unloading workstation suitable for the automatic stacking of multi-layer trays in industrial robots. Background Technology

[0002] In the field of industrial automation, the loading and unloading of industrial robots is a crucial link in connecting processing steps. Currently, in most production scenarios, manual labor with simple tooling is still used to complete the loading and unloading of multi-layer trays. Manual loading requires moving and positioning each tray one by one, which is not only labor-intensive but also prone to human error leading to tray misalignment, affecting the robot's grasping accuracy.

[0003] When manually unloading materials, it is necessary to wait for the finished product trays to be full before replacing and transferring them, which is difficult to match with the high-speed processing rhythm of robots, causing production interruptions. Although some workstations with a slightly higher degree of automation are equipped with tray conveying devices, they generally suffer from disordered tray stacking, low single-layer conveying efficiency, and the loading and unloading processes are independent of each other, making it impossible to achieve tray recycling.

[0004] These issues limit overall production efficiency, keep labor costs high, and frequent human intervention in equipment operation areas poses certain safety hazards. Therefore, developing a loading and unloading workstation capable of automatically stacking, precisely conveying, and recycling multi-layered trays has become an urgent need to promote the full automation of industrial robot loading and unloading operations. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention provides a loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots. The workstation comprises a frame, a tray support mechanism, a bracket, tray assemblies, an loading tray platform, and a unloading tray platform. The loading tray platform and the unloading tray platform, with identical structures, are slidably mounted on both sides of the frame. A bracket is placed below each loading tray platform and the unloading tray platform, and stackable tray assemblies are placed on the brackets. The loading tray platform and the unloading tray platform are used to grip and stack the tray assemblies. A tray support mechanism is provided above each loading tray platform and the unloading tray platform. The tray support mechanism is used to grip a single tray assembly and place it on a tray conveying mechanism. The tray conveying mechanism reciprocates horizontally, transporting a single tray assembly from the loading position to the unloading position. The tray conveying mechanism is fixed in the middle of the frame.

[0006] Preferably, the material tray support mechanism includes a rotary cylinder, a support tray plate, a cylinder flange, a load-bearing universal ball, a fisheye connecting rod, and a fixing component. A slidable fixing component is provided parallel to the inner side of the frame. The lower end of the fixing component is fixedly connected to the support tray plate. The rear end of the support tray plate is rotatably connected to the cylinder flange through the fisheye connecting rod. The cylinder flange is drivenly connected to the rotary cylinder. The rotary cylinder is fixed on the frame. A load-bearing universal ball is provided at the front end of the support tray plate.

[0007] Preferably, the loading / unloading pallet platform includes a partition, a material-supporting cylinder, a linear guide rail, a material-supporting plate, a load-bearing slider, and a blocking block. The frame is provided with the linear guide rail, which is slidably connected to the partition. The material-supporting cylinder is provided on the outer side of the partition, and the load-bearing slider is provided on the inner side of the partition. The load-bearing slider is slidably engaged with the bottom of the material-supporting plate. The upper end of the material-supporting plate is drivenly connected to the output end of the material-supporting cylinder. A blocking block is fixedly provided on the edge of the material-supporting plate, and a gap is left between the blocking block and the output end of the material-supporting cylinder.

[0008] Preferably, the tray assembly includes a positioning pin, a positioning sleeve, and a tray body. The positioning sleeve is fixed at each of the four corners of the tray body, and the lower end of the positioning sleeve is adapted to be connected to the positioning pin.

[0009] Preferably, the material tray conveying mechanism includes an upper intermediate conveying mechanism and a lower intermediate conveying mechanism. The lower intermediate conveying mechanism includes a sensor, a clamping plate, a linear guide rail, a lower drive motor, and a pulley. The lower drive motor is fixedly mounted on one side of the middle of the frame. The output end of the lower drive motor is connected to the pulley for transmission. The clamping plate is fitted onto the pulley and is connected to the upper intermediate conveying mechanism. Three sets of sensors are fixedly mounted at intervals and evenly on the other side of the middle of the frame.

[0010] Preferably, the upper intermediate conveying mechanism includes an upper mounting frame, a synchronous belt, a second linear guide rail, and an upper drive motor. The upper end of the clamping plate is fixedly connected to one side of the upper mounting frame. The bottom of the upper mounting frame is slidably connected to the frame via the second linear guide rail. A synchronous belt is adapted to be installed on the upper end of the upper mounting frame. The frame is also equipped with an upper drive motor, and the output end of the upper drive motor is connected to the synchronous belt for transmission.

[0011] Preferably, the blocking block is trapezoidal, and the tray body has openings on both sides. The height of the blocking block is less than or equal to the depth of the openings on both sides of the tray body.

[0012] Preferably, the distance between the sensors at both ends is less than the length of the pulley.

[0013] Compared with the prior art, the present invention has the following beneficial effects: (1) This invention features a loading tray platform and a unloading tray platform with identical structures that slide on both sides of the frame. Each loading tray platform has a bracket underneath, on which stackable tray assemblies are placed. The loading tray platform and the unloading tray platform are used to grip and stack the tray assemblies. Above the loading tray platform and the unloading tray platform are tray support mechanisms, which grip individual tray assemblies and place them on a tray conveying mechanism. The tray conveying mechanism reciprocates horizontally, transporting individual tray assemblies from the loading position to the unloading position. The tray conveying mechanism is fixed in the middle of the frame. This invention automatically recycles tray assemblies and orderly places finished products into the tray assemblies, achieving a complete automatic loading and unloading process for materials and trays. This invention improves machining efficiency, ensures worker safety, facilitates subsequent automated material handling and secondary processing, and achieves fully automated material processing and tray assembly recycling. It replaces the traditional manual placement of materials, tray assembly placement, and tray assembly recycling, saving labor and costs, and enabling more efficient product processing and production. The invention boasts a high degree of automation, is easy to operate, control, and use, and saves costs, making it easy to promote and use.

[0014] (2) The feeding tray platform and unloading tray platform set on both sides of the frame of this invention cooperate with the material support cylinder through linear guide rails to complete the automatic lifting, raising and lowering and stacking of the material tray assembly; the material tray support mechanism drives the expansion and contraction of the support tray plate by means of a rotary cylinder, which can not only stably support a single material tray assembly, but also retract and hide in the non-working state to avoid interfering with the conveying path of the material tray assembly; the intermediate conveying mechanism between the upper and lower layers effectively realizes the precise and rapid reciprocating conveying of the material tray assembly between the upper and lower material positions. Each mechanism realizes a modular design and is closely connected, replacing the traditional manual loading and unloading and tray changing operations, and greatly improving production efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 This is a side view of the present invention.

[0017] Figure 3 This is a top view of the present invention.

[0018] Figure 4 This is a schematic diagram of the working state of the present invention.

[0019] Figure 5 This is a schematic diagram of the material tray support mechanism of the present invention.

[0020] Figure 6 This is a schematic diagram of the structure of the loading / unloading pallet platform of the present invention.

[0021] Figure 7 This is one of the structural schematic diagrams of the material tray conveying mechanism of the present invention.

[0022] Figure 8 This is a second schematic diagram of the material tray conveying mechanism of the present invention.

[0023] Figure 9 This is a schematic diagram of the material tray assembly of the present invention. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0025] like Figures 1 to 9 As shown, a loading and unloading workstation suitable for automatic stacking of multi-layer material trays in industrial robots includes a frame 1, an upper intermediate conveying mechanism 2, a material tray support mechanism 3, a bracket 4, a material tray assembly 5, an loading tray platform 6, an unloading tray platform 7, a partition 8, a blocking block 9, a lower intermediate conveying mechanism 10, a material tray support cylinder 11, a linear guide rail 12, a material tray support plate 13, a load-bearing slider 14, a material 15, a positioning pin 16, a positioning sleeve 17, a material tray body 18, a rotary cylinder 19, a supporting material tray plate 20, a rotary cylinder flange 21, a load-bearing universal ball 22, a fisheye connecting rod 23, a fixing component 24, a sensor 25, a pulley 26, an upper drive motor 27, an upper mounting plate 28, a synchronous belt 29, a clamping plate 30, a second linear guide rail 31, and a lower drive motor 32.

[0026] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] like Figures 1 to 9As shown, a loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots includes a frame 1, a tray support mechanism 3, a bracket 4, a tray assembly 5, an loading tray platform 6, and an unloading tray platform 7. The loading tray platform 6 and the unloading tray platform 7, with identical structures, are slidably mounted on both sides of the frame 1. A bracket 4 is placed below each of the loading tray platform 6 and the unloading tray platform 7, and stackable tray assemblies 5 are placed on the bracket 4. The loading tray platform 6 and the unloading tray platform 7 are used to grip the tray assemblies 5 and complete the stacking. A tray support mechanism 3 is provided above the loading tray platform 6 and the unloading tray platform 7, and the tray support mechanism 3 is used to grip a single tray assembly 5 and place it on a tray conveying mechanism. The tray conveying mechanism reciprocates horizontally, transporting a single tray assembly 5 from the loading position to the unloading position. The tray conveying mechanism is fixed in the middle of the frame 1. This invention enables automatic lifting, raising, and stacking of the tray assembly 5; the tray support mechanism 3 can stably support a single tray assembly 5 and can retract and hide when not in operation to avoid interfering with the conveying path of the tray assembly 5; the upper and lower intermediate conveying mechanism effectively realizes precise and rapid reciprocating conveying of the tray assembly 5 between the upper and lower material positions. Each mechanism features a modular design and tight connections, replacing traditional manual loading, unloading, and tray changing operations, significantly improving production efficiency.

[0029] The tray support mechanism 3 includes a rotary cylinder 19, a tray support plate 20, a cylinder flange 21, a load-bearing universal ball 22, a fisheye connecting rod 23, and a fixing member 24. The inner side of the frame 1 is provided with a sliding aluminum profile, so the fixing member 24 can slide inside the frame 1. The sliding fixing member 24 is provided parallel to the inner side of the frame 1. The lower end of the fixing member 24 is fixedly connected to the tray support plate 20. The rear end of the tray support plate 20 is rotatably connected to the cylinder flange 21 through the fisheye connecting rod 23. The cylinder flange 21 is connected to the rotary cylinder 19 for transmission. The rotary cylinder 19 is fixed on the frame 1. The front end of the tray support plate 20 is provided with a load-bearing universal ball 22.

[0030] A rotary cylinder 19 is fixed inside the frame 1, and a support tray plate 20 is located at the bottom of the tray plate to support the tray assembly 5. The rotation of the rotary cylinder 19 drives the cylinder flange 21 at the bottom, which is linked to the fisheye connecting rods 23 on the left and right sides to complete the unfolding and retraction of the support tray plate 20. When the cylinder flange 21 rotates clockwise, it retracts and hides the support tray plate 20; when it rotates counterclockwise, it unfolds the support tray plate 20. When the tray assembly 5 arrives, the support tray plate 20 unfolds to support the tray assembly 5. When not in use, the support tray plate 20 retracts and hides to avoid interfering with the conveying path of the tray assembly 5. After unfolding, the support tray plate 20 is completely in contact with the bottom surface of the tray assembly 5, and the load-bearing universal ball 24 provides uniform support force to ensure that the tray assembly 5 remains horizontal and stable during lifting and rotation.

[0031] The tray assembly 5 includes positioning pins 16, positioning sleeves 17, and a tray body 18. Positioning sleeves 17 are fixed at the four corners of the tray body 18, and the lower end of the positioning sleeves 17 is adapted to connect with the positioning pins 16. The positioning pins 16 can be embedded into the positioning sleeves 17 of the lower tray assembly 5, which can ensure that the upper and lower tray assemblies 5 are accurately aligned and stacked without affecting the placement of materials.

[0032] The loading / unloading pallet platform 6 and the unloading pallet platform 7 include a partition 8, a material-supporting cylinder 11, a linear guide rail 12, a material-supporting plate 13, a load-bearing slider 14, and a blocking block 9. The frame 1 has the linear guide rail 12, which is slidably connected to the partition 8. The material-supporting cylinder 11 is located on the outer side of the partition 8, and the load-bearing slider 14 is located on the inner side of the partition 8. The load-bearing slider 14 is slidably engaged with the bottom of the material-supporting plate 13. The upper end of the material-supporting plate 13 is drively connected to the output end of the material-supporting cylinder 11. A blocking block 9 is fixedly installed on the edge of the material-supporting plate 13, with a gap between the blocking block 9 and the output end of the material-supporting cylinder 11. The blocking block 9 is trapezoidal, with openings on both sides of the pallet body 18. The height of the blocking block 9 is less than or equal to the depth of the openings on both sides of the pallet body 18. The trapezoidal blocking block 9 not only precisely matches the opening depth of the pallet body 18 but also provides progressive guidance and self-calibration during stacking, effectively preventing the pallet body 18 from shifting or jamming. The gap between the blocking block 9 and the output end of the material support cylinder 11 is used to accommodate the stacking height adjustment of the material tray assembly 5, ensuring that the multi-layer material trays maintain accurate alignment and stable support during dynamic stacking.

[0033] When in operation, the material support plate 13 is located at the bottom of the material tray assembly 5. To lift the loading pallet platform 6 or unloading pallet platform 7, the material support plate 13 rises to contact the bottom of the material tray, providing a lifting effect. The blocking block 9 at the front end of the material support plate 13 engages with the pre-reserved blocking openings on both sides of the material tray body 18, achieving coarse positioning and blocking fixation during the lifting process of the material tray assembly 5. The load-bearing slider 14 provides load support for the material support plate 13. The material support cylinder 11 controls the forward and backward movement of the material support plate 13. The partition plate 8 is slidably connected to the linear guide rail 12 on both sides to achieve the lifting and lowering of the loading pallet platform 6 or unloading pallet platform 7, thereby also achieving the lifting and lowering action of the entire material tray assembly 5.

[0034] The material conveying mechanism includes an upper intermediate conveying mechanism 2 and a lower intermediate conveying mechanism 10. The lower intermediate conveying mechanism 10 includes sensors 25, clamping plates 30, linear guide rails 31, a lower drive motor 32, and pulleys 26. The lower drive motor 32 is fixedly mounted on one side of the middle of the frame 1. The output end of the lower drive motor 32 is connected to the pulley 26 for transmission. The clamping plate 30 is fitted onto the pulley 26 and is connected to the upper intermediate conveying mechanism 2. Three sets of sensors 25 are fixedly mounted at intervals and evenly on the other side of the middle of the frame 1, respectively corresponding to... Figure 4The distance between the three points a, b, and c in the diagram is less than the length of the pulley 26, which facilitates the corresponding sensing of the stopping position of the upper conveyor mechanism 2.

[0035] The upper intermediate conveyor mechanism 2 includes an upper mounting frame 28, a synchronous belt 29, a linear guide rail 21, and an upper drive motor 27. The upper end of the clamping plate 30 is fixedly connected to one side of the upper mounting frame 28. The bottom of the upper mounting frame 28 is slidably connected to the frame 1 through the linear guide rail 21. The upper end of the upper mounting frame 28 is fitted with the synchronous belt 29. The frame 1 is also equipped with an upper drive motor 27. The output end of the upper drive motor 27 is connected to the synchronous belt 29 for transmission.

[0036] The workflow of this invention is as follows: Before starting processing, such as Figure 4 As shown, the loading pallet platform 6 is in position A of the forklift; the pallet conveying mechanism is in position b; the unloading pallet platform 7 is raised to the unloading top position in advance, and an empty pallet assembly 5 needs to be placed on the unloading pallet platform 7 in advance by the operator. The loading and unloading workstation begins operation. A manual forklift, carrying the stacked pallet body 18, is moved to forklift position A. The forklift is then manually removed, and the loading pallet platform 6 rises to the position to lift the first layer of the stacked pallet assembly 5. At this point, the pallet plate cylinder 11 of the loading pallet platform 6 controls the pallet plate 13 to move to the end of the loading guide rail. The blocking block 9 at the front end of the pallet plate 13 engages with the pre-reserved openings on both sides of the pallet body 18. The linear guide rail 12 lifts and lowers the entire loading pallet platform 6, thus also lifting and lowering the entire pallet assembly 5. The fully loaded pallet assembly 5 is lifted and raised to the top loading position. An external industrial robot (not shown in the attached diagram, but a common industrial robot on the market) uses a robotic gripper to grab the raw material from the top of the loading position and place it into multiple machine tools to start processing the material. Once the material processing is complete; After the material processing is completed, the industrial robot picks up the finished product from the machine tool and puts it into the empty material tray assembly 5 that was placed in advance at the top of the unloading position. The above work process is repeated until the material tray assembly 5 at the top of the unloading position is full of finished products. When the blank pallet assembly 5 located at the top of the loading position becomes empty, the unloading pallet platform 7 lowers the fully loaded finished product pallet assembly 5 to position B of the forklift and places the fully loaded finished product pallet assembly 5 into the bracket 4. The lower intermediate conveyor mechanism 10 drives the upper intermediate conveyor mechanism 2 to move from position b to position a and stop. At the same time, the cylinder flange 21 in the pallet support mechanism 8 located above the loading pallet platform 6 rotates counterclockwise to unfold the support pallet plate 20. At this time, the loading pallet platform 6 lifts the empty pallet assembly 5 and drops it from the top loading position to loading position A. The empty pallet assembly 5 falls onto the upper intermediate conveyor mechanism 2 and is conveyed by the synchronous belt 29 until it stops at the middle position of the upper intermediate conveyor mechanism 2. The lower intermediate conveyor mechanism 10 drives the upper intermediate conveyor mechanism 2 to move from position a to position b and stop. The material tray support mechanism 3 located on the loading pallet platform 6 is fully retracted, and the material tray support mechanism 3 above the unloading pallet platform 7 is fully extended. At this time, the upper middle conveyor 2 moves from position b to position c and stops. The upper drive motor 27 drives the synchronous belt 29 to move so that the empty material tray assembly 5 is conveyed from the middle position to the unloading position B. The unloading pallet platform 7 rises from position B of the forklift to position B, and then continues to rise to the top of the unloading position after completing the action of picking up the empty pallet assembly. When the upper intermediate conveyor mechanism 2 starts to move from position c to position b and stops, the pallet support plate 20 in the pallet support mechanism 3 above the unloading pallet platform 7 begins to retract and hide. The loading pallet platform 6 descends from position A to the second pallet picking position of the loading stacked pallet assembly 5, and picks up the second pallet assembly 5 fully loaded with blanks to the top of the loading position. The industrial robot uses a special material gripper to grab the blank material from the top of the loading position and puts it into multiple machine tools to start material processing. All the above work processes are repeated until all the blank materials at position A of the forklift are processed and a complete work process ends.

[0037] This invention provides an automatic material tray assembly 5 for recycling and for orderly placing finished products into the material tray assembly 5, achieving a complete automated material loading and unloading process and a fully automated material tray collection workflow. This improves machining efficiency, ensures worker safety, and facilitates subsequent automated material handling or automated secondary processing, thereby achieving fully automated material processing and material tray assembly 5 recycling. It replaces the traditional manual placement of materials, placement of the material tray assembly 5, and recycling of the material tray assembly 5, saving labor and costs, and enabling more efficient product processing and production.

[0038] This invention features a highly integrated and compact overall structure, saving factory space. It also boasts a high degree of automation; workers only need to use a forklift to move the stacked pallet assembly 5 to the designated location, eliminating the need for frequent intervention in the work area and reducing personnel safety risks. Furthermore, the operational logic of each drive component and actuator is clear, making operation and maintenance simple. It is adaptable to different specifications of industrial robots and machine tools, demonstrating strong versatility and promotional value.

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

Claims

1. A loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots, characterized in that: The system includes a frame (1), a tray support mechanism (3), a bracket (4), a tray assembly (5), an loading tray platform (6), and a unloading tray platform (7). The loading tray platform (6) and the unloading tray platform (7) with the same structure are slidably provided on both sides of the frame (1). A bracket (4) is placed under the loading tray platform (6) and the unloading tray platform (7). Stackable tray assemblies (5) are placed on the bracket (4). The loading tray platform (6) and the unloading tray platform (7) are used to clamp the tray assemblies (5) and complete the stacking. A tray support mechanism (3) is provided above the loading tray platform (6) and the unloading tray platform (7). The tray support mechanism (3) is used to clamp a single tray assembly (5) and place it on the tray conveying mechanism. The tray conveying mechanism reciprocates in the horizontal direction to transport a single tray assembly (5) from the loading position to the unloading position. The tray conveying mechanism is fixed in the middle of the frame (1).

2. The loading and unloading workstation for automatic stacking of multi-layer trays in industrial robots according to claim 1, characterized in that: The material tray support mechanism (3) includes a rotary cylinder (19), a support tray plate (20), a cylinder flange (21), a load universal ball (22), a fisheye connecting rod (23), and a fixing member (24). The inner side of the frame (1) is provided with a sliding fixing member (24). The lower end of the fixing member (24) is fixedly connected to the support tray plate (20). The rear end of the support tray plate (20) is rotatably connected to the cylinder flange (21) through the fisheye connecting rod (23). The cylinder flange (21) is connected to the rotary cylinder (19) through a transmission. The rotary cylinder (19) is fixed on the frame (1). The front end of the support tray plate (20) is provided with a load universal ball (22).

3. A loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots according to claim 2, characterized in that: The loading pallet platform (6) / unloading pallet platform (7) includes a partition (8), a material-supporting cylinder (11), a linear guide rail (12), a material-supporting plate (13), a load-bearing slider (14), and a blocking block (9). The frame (1) is provided with a linear guide rail (12), which is slidably connected to the partition (8). The outer side of the partition (8) is provided with a material-supporting cylinder (11), and the inner side of the partition (8) is provided with a load-bearing slider (14). The load-bearing slider (14) is slidably engaged with the bottom of the material-supporting plate (13). The upper end of the material-supporting plate (13) is connected to the output end of the material-supporting cylinder (11). The edge of the material-supporting plate (13) is fixed with a blocking block (9), and a gap is left between the blocking block (9) and the output end of the material-supporting cylinder (11).

4. A loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots according to claim 3, characterized in that: The tray assembly (5) includes a positioning pin (16), a positioning sleeve (17) and a tray body (18). The positioning sleeve (17) is fixed at the four corners of the tray body (18), and the lower end of the positioning sleeve (17) is adapted to connect with the positioning pin (16).

5. A loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots according to claim 4, characterized in that: The material tray conveying mechanism includes an upper intermediate conveying mechanism (2) and a lower intermediate conveying mechanism (10). The lower intermediate conveying mechanism (10) includes a sensor (25), a clamping plate (30), a linear guide rail (31), a lower drive motor (32), and a pulley (26). The lower drive motor (32) is fixed on one side of the middle of the frame (1). The output end of the lower drive motor (32) is connected to the pulley (26) for transmission. The clamping plate (30) is fitted on the pulley (26). The clamping plate (30) is connected to the upper intermediate conveying mechanism (2). Three sets of sensors (25) are fixed at intervals and evenly on the other side of the middle of the frame (1).

6. A loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots according to claim 5, characterized in that: The upper intermediate conveying mechanism (2) includes an upper mounting frame (28), a synchronous belt (29), a second linear guide rail (31), and an upper drive motor (27). The upper end of the clamping plate (30) is fixedly connected to one side of the upper mounting frame (28). The bottom of the upper mounting frame (28) is slidably connected to the frame (1) through the second linear guide rail (31). The upper end of the upper mounting frame (28) is fitted with a synchronous belt (29). The frame (1) is also provided with an upper drive motor (27). The output end of the upper drive motor (27) is connected to the synchronous belt (29) for transmission.

7. A loading / unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots according to claim 5 or 6, characterized in that: The blocking block (9) is trapezoidal, and the tray body (18) has openings on both sides. The height of the blocking block (9) is less than or equal to the depth of the openings on both sides of the tray body (18).

8. A loading and unloading workstation suitable for automatic stacking of multi-layer trays in industrial robots according to claim 6, characterized in that: The distance between the sensors (25) at both ends is less than the length of the pulley (26).

Images