A tray circulation apparatus

Abstract

The present application relates to tray feeding and discharging technical field, especially to a tray circulating equipment. The tray circulating equipment comprises a feeding mechanism, a lifting mechanism, a discharging mechanism, a horizontal moving mechanism, a descending mechanism and a discharging mechanism. The feeding moving platform of the feeding mechanism can move horizontally between the first feeding station and the second lifting station. The lifting support frame of the lifting mechanism lifts the tray in the second lifting station to the third discharging station. The discharging executor discharges the material in the tray in the third discharging station. The horizontal moving executor moves the empty tray from the third discharging station to the fourth moving station. The descending mechanism is arranged side by side with the lifting mechanism, and the descending moving platform thereof lowers the empty tray to the fifth descending station. The discharging mechanism is arranged side by side with the feeding mechanism, and the discharging moving platform thereof moves the empty tray to the sixth discharging station. The present equipment has compact structure, simplified conveying line, realizes the centralized arrangement of feeding and discharging, reduces the space occupation, and adapts to the automation production demand.

Description

Technical Field

[0001] This invention relates to the field of material tray feeding and discharging technology, and in particular to a material tray circulation device. Background Technology

[0002] In automated production, tray-type feeding equipment is used for material transfer and feeding. Its tray conveying, material removal and empty tray recycling functions directly affect the efficiency and space utilization of the production line.

[0003] In the past, the loading, unloading, and discharge processes of feeding equipment were mostly arranged in a straight line on a production line, requiring a long conveying space, occupying a large area, and having cumbersome external conveying routes. Existing equipment also mostly has a decentralized workstation layout, with separate loading and unloading positions, and empty material trays need to be sent out via an independent path, further aggravating the space occupation problem and making it difficult to adapt to space-constrained scenarios.

[0004] Meanwhile, existing equipment is unable to meet the requirements of "low-position loading and unloading, high-position unloading". Some equipment requires multiple sets of transfer and lifting mechanisms, which are complex in structure and have poor stability. The separate setting of loading and unloading trays also increases the complexity of operation and affects efficiency.

[0005] There is an urgent need for a feeding device that integrates feeding and unloading in one place, simplifies external conveying lines, simplifies the structure, adapts to space-limited scenarios, and meets high and low position working conditions, thus solving the shortcomings of existing technologies. Summary of the Invention

[0006] The purpose of this invention is to provide a material tray circulation device, which is a material feeding device with small footprint, centralized material feeding and unloading, simplified conveying line and adaptability to high and low working conditions.

[0007] To achieve this objective, the present invention adopts the following technical solution: A tray circulation device, comprising: The feeding mechanism includes a feeding and transfer platform, which has a first feeding station and a second lifting station in a horizontal direction. A lifting mechanism is provided at the end of the feeding mechanism. The lifting mechanism includes a lifting support frame, which has a second lifting station and a third unloading station in a vertical direction. The lifting support frame is used to lift the material tray on the second lifting station to the third unloading station. The unloading mechanism includes an unloading actuator, which is capable of unloading material from the loading tray at the third unloading station; A transverse movement mechanism, comprising a transverse movement actuator having a third unloading station and a fourth shifting station in a horizontal direction, the transverse movement actuator being capable of horizontally moving a material tray in the third unloading station to the fourth shifting station; A lowering mechanism is provided, which is arranged side by side with the lifting mechanism. The lowering mechanism includes a lowering and transfer platform, which has a fourth transfer station and a fifth lowering station in the vertical direction. The lowering and transfer platform is capable of lowering the material tray at the fourth transfer station to the fifth lowering station. The discharge mechanism is arranged side by side with the loading mechanism. The discharge mechanism includes a discharge transfer platform with a fifth lowering station and a sixth discharge station in the horizontal direction. The discharge transfer platform can transfer the material tray at the fifth lowering station to the sixth discharge station.

[0008] Furthermore, the descent mechanism further includes a descent drive, and the descent transfer platform includes: A descending base is mounted on the descending drive component, which is capable of driving the descending base to move vertically. A lowering support plate, which is slidably mounted on the lowering base; When the lowering transfer platform descends to the fifth lowering station, the lowering support plate engages with the discharge transfer platform, and the discharge transfer platform can drive the lowering support plate to slide on the lowering base.

[0009] Furthermore, the lowering support plate includes a horizontal plate and a vertical insert plate, and the discharge transfer platform is provided with a slot for the vertical insert plate to be inserted.

[0010] Furthermore, the lowering base includes a slide rail, a sliding member, and a position sensor. The lowering support plate is fixed on the sliding member, and the lowering support plate is also provided with a positioning member for the position sensor to detect the position.

[0011] Furthermore, the feeding mechanism also includes: A loading drive unit, wherein the loading and transfer platform is mounted on the loading drive unit; The limiting assembly includes an end baffle and symmetrically arranged side baffles, with the two side baffles disposed on both sides of the end baffle.

[0012] Furthermore, the lifting mechanism also includes a lifting drive component for driving the lifting support frame to move up and down, and the lifting support frame includes an avoidance groove; When the lifting support frame reaches the second lifting station, the lifting support frame is aligned with the side baffle, and the loading and transfer platform can enter the clearance groove so that the two ends of the material tray overlap the lifting support frame.

[0013] Furthermore, the lifting support frame includes a lifting plate and a reinforcing plate disposed at the bottom of the lifting plate, and the reinforcing plate has weight reduction holes.

[0014] Furthermore, the material tray circulation device also includes a clamping mechanism, which includes: Multiple sets of clamping cylinders, each set of clamping cylinders is symmetrically arranged on both sides of the material tray; Multiple sets of clamping cylinders are provided, each set of clamping cylinders is symmetrically arranged on both sides of the material tray, and the end of each clamping cylinder is provided with an L-shaped plate, the L-shaped plate including a vertical section and a horizontal section extending into the bottom of the material tray.

[0015] Furthermore, the unloading mechanism also includes an X-axis module and a first Z-axis module disposed on the X-axis module. The unloading actuator is mounted on the first Z-axis module. The unloading actuator includes an unloading fixing frame and a plurality of unloading suction cups disposed on the unloading fixing frame.

[0016] Furthermore, the transverse mechanism includes a Y-axis module and a second Z-axis module disposed on the Y-axis module, the transverse actuator is mounted on the second Z-axis module, and the transverse actuator includes a transverse support frame and a transverse suction cup disposed on the transverse support frame.

[0017] The beneficial effects of this invention are: The material tray circulation device provided by this invention includes a feeding mechanism, a lifting mechanism, a unloading mechanism, a traversing mechanism, a lowering mechanism, and a discharge mechanism. These mechanisms work together to achieve fully automated circulation of the material tray throughout the entire process. The feeding mechanism includes a feeding and transfer platform that can move horizontally between a first feeding station and a second lifting station to receive a full material tray and transport it to a designated position. The lifting mechanism is located at the end of the feeding mechanism and includes a lifting support frame with a vertical second lifting station and a third unloading station. This support frame can stably raise the material tray from the second lifting station to the third unloading station, meeting the requirements for high-position unloading. The unloading actuator can accurately unload the material from the material tray at the third unloading station, ensuring unloading efficiency. The traversing mechanism... The actuator has a third unloading station and a fourth transfer station in the horizontal direction, which can horizontally move the empty material tray after unloading to the fourth transfer station. The lowering mechanism and the lifting mechanism are arranged side by side, and the lowering and transfer platform included in the mechanism has a fourth transfer station and a fifth lowering station in the vertical direction, which can smoothly lower the empty material tray from the fourth transfer station to the fifth lowering station. The discharging mechanism and the loading mechanism are arranged side by side, and the discharging and transfer platform included in the mechanism can move between the fifth lowering station and the sixth discharging station in the horizontal direction, transferring the empty material tray to the discharging end. Through the rational layout of each mechanism, this equipment achieves centralized setting of loading and discharging stations, greatly simplifies the external conveying lines, effectively reduces the equipment footprint, improves space utilization, and realizes the fully automated cycle of the material tray from feeding, lifting, unloading, horizontal transfer, lowering to discharging. This reduces manual intervention, improves production efficiency, and is suitable for automated production scenarios with limited space. Moreover, the connection between each station is smooth, the operation is stable and reliable, and it can meet the needs of large-scale automated production. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of each station in the material tray circulation device in this embodiment of the invention; Figure 2 This is an overall schematic diagram of the various mechanisms of the material tray circulation device in the embodiment of the present invention; Figure 3 yes Figure 2 Enlarged view of point A in the middle; Figure 4 This is a schematic diagram of the lifting support frame in an embodiment of the present invention; Figure 5 This is an overall schematic diagram from another perspective of the material tray circulation device in an embodiment of the present invention.

[0019] In the diagram: 1. Frame; 11. First loading station; 12. Second lifting station; 13. Third unloading station; 14. Fourth transfer station; 15. Fifth lowering station; 16. Sixth unloading station; 2. Loading mechanism; 21. Loading and transfer platform; 22. Loading drive component; 23. Limiting component; 231. End baffle; 232. Side baffle; 3. Lifting mechanism; 31. Lifting support frame; 311. Lifting plate; 312. Reinforcing plate; 3121. Weight reduction hole; 313. Clearance groove; 32. Lifting drive component; 4. Unloading mechanism; 41. Unloading actuator; 411. Unloading fixing frame; 412. Unloading suction cup; 42. X-axis module; 43. First Z-axis module Group; 5. Horizontal movement mechanism; 51. Horizontal movement actuator; 511. Horizontal movement support frame; 512. Horizontal movement suction cup; 52. Y-axis module; 53. Second Z-axis module; 6. Lowering mechanism; 61. Lowering transfer platform; 611. Lowering base; 6111. Slide rail; 6112. Position sensor; 612. Lowering bearing plate; 6121. Horizontal plate; 6122. Vertical insert plate; 6123. Positioning component; 62. Lowering drive component; 7. Discharge mechanism; 71. Discharge transfer platform; 711. Slot; 72. Discharge drive component; 8. Clamping mechanism; 81. Clamping cylinder; 82. Clamping cylinder; 821. L-shaped plate; 8211. Vertical section; 8212. Horizontal section. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0021] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0024] Reference Figures 1 to 5 This embodiment discloses a material tray circulation device for realizing the entire process of material tray loading, lifting, unloading, lateral movement, descent, and discharge. According to the position of the material tray and the process, it is divided into a first loading station 11, a second lifting station 12, a third unloading station 13, a fourth moving station 14, a fifth descent station 15, and a sixth discharge station 16. Each process is carried out according to the material tray circulation steps, and the material tray circulation path is circular. The first loading station 11 and the sixth discharge station 16 are arranged side by side. The material tray circulation device of this embodiment has a compact overall structure, which can effectively reduce space occupation, realize centralized setting of loading and unloading, simplify external conveying lines, and adapt to the working conditions of low-position loading and unloading and high-position unloading.

[0025] The material tray circulation equipment includes a frame 1, a feeding mechanism 2, a lifting mechanism 3, a unloading mechanism 4, a lateral movement mechanism 5, a lowering mechanism 6, a discharge mechanism 7, and a clamping mechanism 8. The feeding mechanism 2, lifting mechanism 3, unloading mechanism 4, lateral movement mechanism 5, lowering mechanism 6, discharge mechanism 7, and clamping mechanism 8 are all installed on the frame 1. The various mechanisms work together to complete the orderly flow of the material tray and the accurate discharge of materials.

[0026] The feeding mechanism 2 is used to feed the material tray and move it from the first feeding station 11 to the second lifting station 12. It should be noted that both the first feeding station 11 and the second lifting station 12 are horizontal. Specifically, the feeding mechanism 2 includes a feeding transfer platform 21, a feeding drive component 22, and a limiting component 23. The feeding transfer platform 21 is mounted on the feeding drive component 22 and can move horizontally between the first feeding station 11 and the second lifting station 12. The feeding transfer platform 21 is used to receive a full material tray and move it to the second lifting station 12. The feeding drive component 22 is a ball screw structure, which can accurately transmit the position of the feeding transfer platform 21. The limiting component 23 consists of an end baffle 231 and side baffles 232 symmetrically arranged on both sides of the end baffle 231. The side baffles 232 cooperate with the end baffles 231 to limit the material tray, preventing it from shifting or falling during the transfer process and ensuring the stability of the material tray transfer.

[0027] The end baffle 231 is mounted on the loading and transfer platform 21 and can move with the loading and transfer platform 21, always abutting against the end of the material tray during the movement. The side baffles 232 on both sides are used to limit the sides of the material tray. The length direction of the side baffles 232 is parallel to the sliding direction of the loading and transfer platform 21, so that the material tray can always limit the sides during the conveying process.

[0028] Reference Figure 2 and Figure 4 The lifting mechanism 3 is located at the end of the feeding mechanism 2 and consists of a lifting drive 32 and a lifting support frame 31. The lifting drive 32 is used to drive the lifting support frame 31 to move up and down in the vertical direction. The lifting support frame 31 has a second lifting station 12 and a third unloading station 13, which can raise the full material tray on the second lifting station 12 to the third unloading station 13 to meet the requirements of high-position unloading.

[0029] The lifting support frame 31 includes a lifting plate 311 and a reinforcing plate 312 disposed at the bottom of the lifting plate 311. The reinforcing plate 312 has weight-reducing holes 3121, which reduce the overall weight and lower the load on the lifting drive component 32 while ensuring the strength of the lifting structure. The lifting support frame 31 is also provided with a clearance groove 313. When the lifting support frame 31 reaches the second lifting station 12, the lifting plate 311 is aligned with the side baffle 232 and the loading and transfer platform 21 to ensure that when the loading and transfer platform 21 transfers the material tray to the second lifting station 12, the end of the material tray can reach the lifting plate 311. The lifting plate 311 is also provided with a clearance groove 313. When the loading and transfer platform 21 reaches the second lifting station 12, the loading and transfer platform 21 can enter the clearance groove 313, so that the two ends of the material tray overlap the lifting support frame 31, ensuring that the material tray is smoothly transferred to the lifting support frame 31. It should be noted that when the loading and transfer platform 21 reaches the second lifting station 12, the lifting support frame 31 is already waiting for the material tray at the second lifting station 12. At this time, the loading and transfer platform 21 reaches the clearance groove 313 in the lifting plate 311, with the middle part of the material tray located on the loading and transfer platform 21 and the other part overlapping the lifting plate 311. When the lifting support frame 31 rises, it directly drives the material tray to rise and detaches the material tray from the loading and transfer platform 21. In this process, the docking and transfer of the material tray from the horizontal to the vertical direction is completed.

[0030] Reference Figure 2 and Figure 5 When the material tray is lifted to the third unloading station 13, it is first clamped and fixed by the clamping mechanism 8 to prevent the material tray from shifting. A sensor can be installed on the frame 1 to detect the position of the material tray. The clamping mechanism 8 includes multiple sets of clamping cylinders 81 and multiple sets of clamping cylinders 82. The multiple sets of clamping cylinders 81 clamp the square material tray from opposite sides. Each set of clamping cylinders 81 is symmetrically arranged on both sides of the material tray, and clamps and limits the sides of the material tray by extending and retracting the cylinders; each set of holding cylinders 82 is also symmetrically arranged on both sides of the material tray, and the end of the holding cylinder 82 is provided with an L-shaped plate 821, which includes a horizontal section 8212 and a vertical section 8211. The horizontal section 8212 extends into the bottom of the material tray and can support the bottom of the material tray. The vertical section 8211 fits against the side wall of the material tray from the side and cooperates with the clamping cylinders 81 to achieve clamping and fixing of the bottom and left and right sides of the material tray, further improving the stability of the material tray flow.

[0031] After the clamping mechanism 8 clamps the material tray, the unloading mechanism 4 can unload the material from the material tray in the third unloading station 13. Specifically, the unloading mechanism 4 includes an X-axis module 42, a first Z-axis module 43, and an unloading actuator 41. The X-axis module 42 is horizontally arranged, the first Z-axis module 43 is mounted on the X-axis module 42 and can move horizontally along the X-axis module 42, and the unloading actuator 41 is mounted on the first Z-axis module 43 and can move vertically along the first Z-axis module 43, realizing horizontal and vertical square movement adjustment. The unloading actuator 41 includes an unloading fixing frame 411 and multiple unloading suction cups 412. The unloading fixing frame 411 is fixed on the first Z-axis module 43, and the multiple unloading suction cups 412 are installed on the unloading fixing frame 411. The number of unloading suction cups 412 corresponds to the material compartments in the material tray, and can suck out the material in the material tray row by row. By adsorbing the material in the material tray under negative pressure, the material can be accurately taken out and unloaded, and then the material is sent to the next process.

[0032] After the material in the tray is unloaded, the tray becomes an empty tray. The lateral movement mechanism 5 then moves the empty tray from the third unloading station 13 to the fourth transfer station 14. The lateral movement mechanism 5 includes a Y-axis module 52, a second Z-axis module 53, and a lateral movement actuator 51. The Y-axis module 52 is horizontally positioned, and the second Z-axis module 53 is mounted on the Y-axis module 52 and can move horizontally along the Y-axis module 52. The lateral movement actuator 51 is mounted on the second Z-axis module 53 and can move vertically along the second Z-axis module 53, realizing the horizontal movement and height fine adjustment of the empty tray. The lateral movement actuator 51 consists of a lateral movement support frame 511 and a lateral movement suction cup 512 mounted on the lateral movement support frame 511. The lateral movement support frame 511 is mounted on the second Z-axis module 53, and the lateral movement suction cup 512 uses negative pressure to adsorb the empty tray, ensuring that the empty tray moves smoothly without deviation during the lateral movement.

[0033] Reference Figure 2 and Figure 3 After the empty material tray is moved to the fourth transfer station 14 by the transverse transfer mechanism 5, the lowering mechanism 6 lowers the empty material tray from the high position to the low position. Specifically, the lowering mechanism 6 is arranged side by side with the lifting mechanism 3 and is used to lower the empty material tray from the fourth transfer station 14 to the fifth lowering station 15. The lowering mechanism 6 includes a lowering drive component 62 and a lowering transfer platform 61.

[0034] The lowering transfer platform 61 consists of a lowering base 611 and a lowering support plate 612. The lowering base 611 is mounted on a lowering drive component 62, which can drive the lowering base 611 to move vertically, thereby raising and lowering the lowering transfer platform 61. The lowering support plate 612 is slidably mounted on the lowering base 611. The lowering support plate 612 includes a horizontal plate 6121 and a vertical insert plate 6122. The horizontal plate 6121 and the vertical insert plate 6122 are fixedly connected, and the connection method can be bolted or welded. Of course, the two can also be integrally formed.

[0035] The lowering base 611 also includes a slide rail 6111, a sliding member and a position sensor 6112. The lowering support plate 612 is fixed on the sliding member and can slide along the slide rail 6111. The lowering support plate 612 is provided with a positioning member 6123 for the position sensor 6112 to detect the position and ensure that the movement of the lowering support plate 612 is accurate.

[0036] The discharge mechanism 7 is arranged side by side with the loading mechanism 2, and is used to transfer the empty material tray from the fifth lowering station 15 to the sixth discharge station 16. The discharge mechanism 7 includes a discharge transfer platform 71 and a discharge drive component 72, which can be a ball screw. The discharge drive component 72 drives the discharge transfer platform 71 to move, and the discharge transfer platform 71 can move horizontally between the fifth lowering station 15 and the sixth discharge station 16.

[0037] To facilitate the transfer of empty material trays from the lowering support plate 612, a snap-fit ​​structure is provided between the lowering support plate 612 and the discharge transfer platform 71. When the lowering support plate 612 carrying the empty material tray reaches the fifth lowering station 15, the lowering support plate 612 snaps into the discharge transfer platform 71, and the discharge transfer platform 71 drives the lowering support plate 612 to move towards the sixth discharge station 16. During this process, the empty material tray does not move into the space between the discharge transfer platforms 71 and remains on the lowering support plate 612. Furthermore, when the lowering support plate 612 slides towards the sixth discharge station 16, the end of the lowering support plate 612 remains on the lowering base 611.

[0038] Specifically, the discharge transfer platform 71 is provided with an upward-opening slot 711. The shape of the slot 711 is adapted to the vertical insertion plate 6122. The vertical insertion plate 6122 is inserted into the slot 711 on the discharge transfer platform 71 from top to bottom, realizing the engagement between the lowering support plate 612 and the discharge transfer platform 71. The discharge transfer platform 71 drives the lowering support plate 612 to slide on the lowering base 611, completing the transfer of the empty material tray. Through the engagement with the lowering support plate 612, the empty material tray is moved, realizing the centralized discharge of the empty material tray. In conjunction with the loading mechanism 2, loading and unloading are completed in the same area, simplifying the external conveying line.

[0039] This embodiment cleverly utilizes the engagement between the lowering support plate 612 and the discharge transfer platform 71, enabling the horizontally moving discharge transfer platform 71 to drive the lowering support plate 612, which originally moved vertically with the lowering base 611, to move horizontally. This allows the lowering support plate 612 to switch between vertical and horizontal motion strokes, ensuring that the empty material tray remains on the lowering support plate 612. This avoids the empty material tray being moved from the lowering support plate 612 to the discharge transfer platform 71, greatly simplifying the transfer structure, eliminating the steps and time required for material tray transfer, and improving transportation efficiency.

[0040] The working process of the material tray circulation device in this embodiment is as follows: A full material tray is placed at the first loading station 11 of the loading and transfer platform 21. The limiting component 23 limits the material tray. The loading drive component 22 drives the loading and transfer platform 21 to transfer the full material tray to the second lifting station 12. The lifting drive component 32 drives the lifting support frame 31 to rise, lifting the full material tray from the second lifting station 12 to the third unloading station 13. The clamping mechanism 8 clamps and fixes the material tray. The X-axis module 42 and the first Z-axis module 43 drive the unloading actuator 41 to move, and the unloading suction cup 412 picks up the material in the material tray and unloads it. After unloading, After completion, the clamping mechanism 8 is released, and the Y-axis module 52 and the second Z-axis module 53 drive the transverse actuator 51 to move. The transverse suction cup 512 picks up the empty material tray and moves it from the third unloading station 13 to the fourth transfer station 14. The descent drive component 62 drives the descent transfer platform 61 to rise to the fourth transfer station 14, and after receiving the empty material tray, it descends to the fifth descent station 15. The descent support plate 612 engages with the discharge transfer platform 71. The discharge transfer platform 71 drives the descent support plate 612 to slide, transferring the empty material tray from the fifth descent station 15 to the sixth discharge station 16, completing the entire process cycle of the material tray.

[0041] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A material tray circulation device, characterized in that, include: The feeding mechanism (2) includes a feeding and transfer platform (21), which has a first feeding station (11) and a second lifting station (12) in the horizontal direction. Lifting mechanism (3) is provided at the end of the feeding mechanism (2). The lifting mechanism (3) includes a lifting support frame (31). The lifting support frame (31) has a second lifting station (12) and a third unloading station (13) in the vertical direction. The lifting support frame (31) is used to lift the material tray on the second lifting station (12) to the third unloading station (13). The unloading mechanism (4) includes an unloading actuator (41) which is capable of unloading the material from the loading tray of the third unloading station (13); The transverse movement mechanism (5) includes a transverse movement actuator (51), which has a third unloading station (13) and a fourth transfer station (14) in the horizontal direction. The transverse movement actuator (51) is capable of horizontally moving the material tray in the third unloading station (13) to the fourth transfer station (14). A lowering mechanism (6) is arranged side by side with the lifting mechanism (3). The lowering mechanism (6) includes a lowering transfer platform (61). The lowering transfer platform (61) has a fourth transfer station (14) and a fifth lowering station (15) in the vertical direction. The lowering transfer platform (61) can lower the tray of the fourth transfer station (14) to the fifth lowering station (15). The discharge mechanism (7) is arranged side by side with the feeding mechanism (2). The discharge mechanism (7) includes a discharge transfer platform (71). The discharge transfer platform (71) has a fifth descending station (15) and a sixth discharge station (16) in the horizontal direction. The discharge transfer platform (71) can transfer the material tray of the fifth descending station (15) to the sixth discharge station (16).

2. The material tray circulation device according to claim 1, characterized in that, The descent mechanism (6) further includes a descent drive (62), and the descent transfer platform (61) includes: A descending base (611) is mounted on the descending drive (62), which is capable of driving the descending base (611) to move vertically. A lowering support plate (612) is slidably mounted on the lowering base (611); When the lowering transfer platform (61) descends to the fifth lowering station (15), the lowering support plate (612) engages with the discharge transfer platform (71), and the discharge transfer platform (71) can drive the lowering support plate (612) to slide on the lowering base (611).

3. The material tray circulation device according to claim 2, characterized in that, The lowering support plate (612) includes a horizontal plate (6121) and a vertical insert plate (6122), and the discharge transfer platform (71) is provided with a slot (711) for the vertical insert plate (6122) to be inserted.

4. The material tray circulation device according to claim 3, characterized in that, The lowering base (611) includes a slide rail (6111) and a position sensor (6112). The lowering support plate (612) is slidably disposed on the slide rail (6111). The lowering support plate (612) is also provided with a positioning element (6123) for the position sensor (6112) to detect the position.

5. The material tray circulation device according to any one of claims 1-4, characterized in that, The feeding mechanism (2) also includes: A loading drive unit (22) is provided, and the loading transfer platform (21) is mounted on the loading drive unit (22); The limiting component (23) includes an end baffle (231) and symmetrically arranged side baffles (232), with the two side baffles (232) disposed on both sides of the end baffle (231).

6. The material tray circulation device according to claim 5, characterized in that, The lifting mechanism (3) further includes a lifting drive (32) for driving the lifting support frame (31) to move up and down. The lifting support frame (31) includes a clearance groove (313). When the lifting support frame (31) reaches the second lifting station (12), the lifting support frame (31) is aligned with the side baffle (232), and the loading and transfer platform (21) can enter the clearance groove (313) so that the two ends of the material tray overlap the lifting support frame (31).

7. The material tray circulation device according to claim 6, characterized in that, The lifting support frame (31) includes a lifting plate (311) and a reinforcing plate (312) disposed at the bottom of the lifting plate (311), and the reinforcing plate (312) is provided with a weight reduction hole (3121).

8. The material tray circulation device according to claim 1, characterized in that, The material tray circulation device also includes a clamping mechanism (8), which includes: Multiple sets of clamping cylinders (81), each set of clamping cylinders (81) is symmetrically arranged on both sides of the material tray; Multiple sets of clamping cylinders (82) are symmetrically arranged on both sides of the material tray, and the end of each clamping cylinder (82) is provided with an L-shaped plate (821). The L-shaped plate (821) includes a vertical section (8211) and a horizontal section (8212) extending into the bottom of the material tray.

9. The material tray circulation device according to claim 1, characterized in that, The unloading mechanism (4) further includes an X-axis module (42) and a first Z-axis module (43) disposed on the X-axis module (42). The unloading actuator (41) is installed on the first Z-axis module (43). The unloading actuator (41) includes an unloading fixing frame (411) and a plurality of unloading suction cups (412) disposed on the unloading fixing frame (411).

10. The material tray circulation device according to claim 1, characterized in that, The transverse mechanism (5) includes a Y-axis module (52) and a second Z-axis module (53) disposed on the Y-axis module (52). The transverse actuator (51) is mounted on the second Z-axis module (53). The transverse actuator (51) includes a transverse support frame (511) and a transverse suction cup (512) disposed on the transverse support frame (511).

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