A multi-layer tray automatic switching type product carrying device

Abstract

The embodiment of the application provides a multi-layer tray automatic switching type product carrying equipment, which comprises a feeding module and a discharging module, and the two are arranged at intervals along the horizontal direction; the feeding module is used for storing full-material trays in multiple layers and can move the full-material trays to a material taking position layer by layer; the discharging module is used for storing empty trays; further comprising a carrying module, which is arranged between the feeding module and the discharging module and is located above the two; further comprising a material taking module, which is installed on the carrying module and is driven by the carrying module to move, is used for sucking products from the material taking position and placing the products in the empty trays of the discharging module; wherein the feeding module comprises a tray pressing mechanism, which is arranged at the material taking position and is used for pressing the tray located at the material taking position when the material taking module sucks the products in the tray; after the products in the current full-material tray of the feeding module are taken out, the feeding module moves the empty tray after the products are taken out to the discharging module and switches to the next full-material tray to carry out the next round of material taking.

Description

Technical Field

[0001] This application relates to the field of automated material handling and loading / unloading technology, and in particular to a multi-layer tray automatic switching product handling device. Background Technology

[0002] In existing automated equipment, products are typically carried and transferred using trays. In processes such as tray placement, film application, laser coding, inspection, and assembly, most equipment still uses a single-tray loading and unloading method. This traditional method has many problems, such as: frequent manual tray changes, resulting in high labor intensity; short continuous operating time; manual separation and sorting of empty and full trays; low product turnover efficiency; inability to meet the needs of long-term unmanned production; and discontinuous connections between multiple processes, affecting the overall cycle time. Especially in the production of small products such as earphone shells and consumer electronics casings, where the product quantity is large and the cycle time is fast, the traditional single-tray loading and unloading method is no longer sufficient to meet the demands of automated continuous production.

[0003] Therefore, there is a need for equipment that can automatically buffer, switch, load and unload, and continuously transport multi-layer trays to improve the automation level and production efficiency of the equipment. Summary of the Invention

[0004] The purpose of this application is to provide a new technical solution for a multi-layer tray automatic switching product handling equipment.

[0005] This application provides a multi-layer tray automatic switching product handling device, including: The loading module and the unloading module are arranged at intervals along the horizontal direction; The feeding module is used to store multiple layers of full material trays and can transfer the full material trays layer by layer to the material picking position; the unloading module is used to store empty material trays. A conveying module is mounted between the loading module and the unloading module, and located above both of them; and, The picking module is installed on the conveying module and driven by the conveying module to move, for picking up products from the picking position and placing the products in the empty tray of the unloading module; The feeding module includes a pressing plate mechanism, which is located at the material picking position and is used to press the material tray located at the material picking position when the material picking module picks up the product from the material tray. When the products in the current full tray of the feeding module are emptied, the feeding module will transfer the empty tray to the unloading module and switch to the next full tray for the next round of material retrieval.

[0006] Optionally, the loading module and the unloading module have the same structure and each includes: Module rack; The material distribution tray mechanism is set on the module frame and is used to separate the stacked full material trays layer by layer. The X-axis displacement mechanism is mounted on the module frame; The material tray clamping mechanism is mounted on the X-axis displacement mechanism and is used to clamp the full material tray separated by the material tray separating mechanism, and to move the full material tray to the material picking position under the drive of the X-axis displacement mechanism. The material tray lifting mechanism is installed on the module frame and located at one end of the X-axis displacement mechanism. It is used to lift the empty material tray to the buffer position after it has been emptied.

[0007] Optionally, the dispensing tray mechanism includes: The connecting block is fixedly connected to the module frame; A connecting plate is fixedly mounted on the connecting block; A linear guide rail is mounted on the connecting plate; The dividing plate is slidably mounted on the linear guide rail; and... The first driving component is mounted on the connecting plate, and its output end is connected to the dividing plate. It is used to drive the dividing plate to slide along the linear guide rail, so that the dividing plate switches between the extended position and the retracted position. When the dividing plate is in the extended position, it extends between adjacent trays to support the upper tray; when the dividing plate is in the retracted position, it retracts from between adjacent trays.

[0008] Optionally, the tray clamping mechanism includes: The first linear guide rail is mounted on the module frame; The support frame is slidably mounted on the first linear guide rail; A material tray support plate is provided on the top of the support frame to support the material tray that is separated and descended by the material tray separation mechanism; The second driving component is disposed on the support frame; A clamping block is provided on the support frame and located on the side of the material tray plate; A clamping block is disposed on the clamping fixing block and connected to the driving end of the second driving member, for clamping or releasing the material tray supported by the material tray support plate under the driving of the second driving member; A first spring, disposed within and abutting against the clamping block, provides cushioning during the clamping of the material tray; and A lifting drive assembly is driven to the support frame and is used to drive the support frame to move up and down along the first linear guide rail.

[0009] Optionally, the lifting drive assembly includes a first servo motor and a press-rolled ball screw, or includes a servo motor and a synchronous belt drive mechanism, or includes a linear motor.

[0010] Optionally, the material tray lifting mechanism includes: The lifting mechanism connecting plate is fixedly connected to the module frame; The fourth driving component is fixed to the connecting plate of the lifting mechanism; and, The lifting plate is connected to the driving end of the fourth driving component and rises and falls under the drive of the fourth driving component to lift the material tray to the buffer position.

[0011] Optionally, the X-axis displacement mechanism includes: The displacement mechanism fixing plate is fixedly connected to the module frame; A single-axis robot mounting plate is disposed on the displacement mechanism mounting plate; A first single-axis robot is mounted on the single-axis robot fixing plate, and the tray gripping mechanism is mounted on the first single-axis robot. The first single-axis robot is used to drive the tray gripping mechanism to reciprocate along the X-axis direction. The second servo motor is connected to the first single-axis robot via a coupling and is used to provide power to the first single-axis robot.

[0012] Optionally, the module rack includes: Frame; A material tray guide bar is vertically installed on the frame to provide guidance when the material tray is placed into the module frame; The material tray X-axis displacement guide bar is set on the frame and located above the X-axis displacement mechanism to provide guidance for the material tray to move along the X-axis direction; An anti-reverse block, disposed on the frame, is used to support the tray after the tray lifting mechanism has lifted the tray to the buffer position to prevent the tray from falling; and... Module protection is provided on the outside of the frame.

[0013] Optionally, the conveying module includes: Fixed components, which are fixedly connected to the equipment stand; The support plate is fixed to the fixing component; A second single-axis robot is mounted on the support plate; The third servo motor is connected to the second single-axis robot via a coupling and is used to drive the second single-axis robot to move in the Y-axis direction; A third single-axis robot is mounted on the second single-axis robot; and, The fourth servo motor is connected to the third single-axis robot via a coupling and is used to drive the third single-axis robot to move in the Z-axis direction.

[0014] Optionally, the transport module further includes: The mounting plate is located behind the support plate; A solenoid valve, mounted on the mounting plate, is used to control the opening and closing of the air passage; and, A vacuum generator assembly, mounted on the mounting plate and connected to the solenoid valve, is used to establish or release a vacuum under the control of the solenoid valve to provide vacuum suction to the material handling module.

[0015] Optionally, the material handling module includes: The module base plate is connected to the third single-axis robot of the transport module; The connecting frame is spaced apart from and parallel to the module base plate; and, Multiple material handling units; Each of the material handling units includes: A pneumatic slide is disposed between the module base plate and the connecting frame; A second linear guide rail is mounted on the connecting frame; and The material handling component is slidably mounted on the second linear guide rail and connected to the drive end of the pneumatic slide table, which drives the material handling component to reciprocate along the second linear guide rail.

[0016] Optionally, the material handling assembly includes: The L-shaped fixing block is slidably mounted on the second linear guide rail and connected to the drive end of the pneumatic slide table; A ventilation block is fixedly mounted on the L-shaped fixing block; and, A suction cup, installed on the ventilation block, is used to adsorb the product.

[0017] Optionally, the material handling module further includes a buffer assembly; the buffer assembly includes a spring guide post and a second spring; the spring guide post is disposed on the connecting frame; the second spring is sleeved on the spring guide post, and one end of the second spring is connected to the connecting frame, and the other end is connected to the L-shaped fixing block.

[0018] One technical advantage of this application is: The multi-layer tray automatic switching product handling equipment of this application, through the overall layout of the feeding module and the unloading module being set horizontally at intervals, the handling module being mounted on top of the two, and the picking module being installed on the handling module, and the working mode of the feeding module automatically switching to the next full tray after the tray is emptied and moving the empty tray to its own buffer position for temporary storage, realizes automatic tray buffering, automatic switching and continuous automatic loading and unloading of products. It eliminates the need for frequent manual tray replacement, reduces labor intensity, improves the automation level and continuous operation capability of the equipment, reduces the waiting time of products between multiple processes, improves the overall production efficiency, and can meet the needs of long-term unmanned production.

[0019] Other features and advantages of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of this specification.

[0021] Figure 1 This is a schematic diagram of the structure of a multi-layer tray automatic switching product handling equipment provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the loading / unloading module provided in the embodiments of this application; Figure 3 This is a schematic diagram of the material distribution tray mechanism provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of the pressure plate mechanism provided in the embodiments of this application; Figure 5 This is a schematic diagram of the material tray clamping mechanism provided in the embodiments of this application; Figure 6 This is a schematic diagram of the structure of the material tray lifting mechanism provided in the embodiments of this application; Figure 7 This is a schematic diagram of the X-axis displacement mechanism provided in the embodiments of this application; Figure 8 This is a schematic diagram of the module rack provided in an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the handling module provided in the embodiments of this application; Figure 10 This is a schematic diagram of the material handling module provided in an embodiment of this application.

[0022] Explanation of reference numerals in the attached figures: 10. Feeding module; 11. Distributing tray mechanism; 12. Pressing tray mechanism; 13. Tray clamping mechanism; 14. Tray lifting mechanism; 15. X-axis displacement mechanism; 16. Module frame; 111. Connecting block; 112. Connecting plate; 113. Linear guide rail; 114. First driving component; 115. Divider plate; 121. Material tray pressure plate; 122. Third drive component; 123. Fixing plate; 131. Material tray support plate; 132. Clamping plate fixing block; 133. Clamping plate block; 134. First spring; 135. Second driving component; 136. First linear guide rail; 137. Press-rolled ball screw; 138. First servo motor; 139. Support frame; 141. Lifting plate; 142. Fourth driving component; 143. Lifting mechanism connecting plate; 151. Second servo motor; 152. First single-axis robot; 153. Single-axis robot mounting plate; 154. Displacement mechanism mounting plate; 161. Material tray feeding guide strip; 162. Material tray X-axis displacement guide strip; 163. Anti-reverse block; 164. Module protection; 165. Frame; 20. Handling module; 21. Fixing component; 22. Second single-axis robot; 23. Third servo motor; 24. Solenoid valve; 25. Vacuum generator assembly; 26. Fourth servo motor; 27. Third single-axis robot; 28. Support plate; 30. Material handling module; 31. Module base plate; 32. Spring guide post; 33. Second spring; 34. L-shaped fixing block; 35. Ventilation block; 36. Suction cup; 37. Second linear guide rail; 38. Pneumatic slide table; 39. Connecting frame; 40. Material feeding module. Detailed Implementation

[0023] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0024] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0025] Technologies and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies and equipment should be considered part of the specification.

[0026] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0028] The multi-layer tray automatic switching product handling equipment provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0029] According to one embodiment of this application, a multi-layer tray automatic switching product handling device is provided. See [link to relevant documentation] Figure 1 The system includes a feeding module 10, a conveying module 20, a picking module 30, and a discharging module 40. The feeding module 10 and the discharging module 40 are arranged horizontally at intervals. The feeding module 10 stores multiple layers of full trays and can transfer the full trays layer by layer to the picking position. The discharging module 40 stores empty trays. The conveying module 20 is mounted between the feeding module 10 and the discharging module 40, and is located above them. The picking module 30 is mounted on the conveying module 20 and driven by the conveying module 20 to move, for picking up products from the picking position and placing the products into the empty tray of the discharging module 40. The feeding module 10 includes a pressing plate mechanism 12, which is located at the picking position and is used to press the tray located at the picking position when the picking module 30 picks up the product. When the products in the current full tray of the feeding module 10 are emptied, the feeding module 10 will transfer the empty tray to the unloading module 40 and switch to the next full tray for the next round of material retrieval.

[0030] See Figure 1 The multi-layer tray automatic switching product handling equipment includes: a feeding module 10, a handling module 20, a picking module 30, and a discharging module 40.

[0031] For example, see Figure 1The feeding module 10 and the unloading module 40 are horizontally spaced apart and located on opposite sides of the entire equipment. The feeding module 10 stores multiple layers of full-load trays and can separate the full trays layer by layer, transferring them to the picking position for the picking module 30 to remove the products from the trays. The unloading module 40 stores multiple layers of empty trays, which can be used to receive products transported from the picking position by the picking module 30. In other words, the feeding module 10 is used to feed full-load trays and unload empty trays (i.e., full at the top and empty at the bottom), while the unloading module 40 is used to feed empty trays and unload full trays (i.e., empty at the top and full at the bottom).

[0032] See Figure 1 The conveying module 20 is mounted between the loading module 10 and the unloading module 40, and is located above both of them. The conveying module 20 serves as a mobile support platform for the picking module 30, and can drive the picking module 30 to move in the horizontal and / or vertical directions, allowing the picking module 30 to reciprocate between the picking position and the empty tray of the unloading module 40.

[0033] The picking module 30 is mounted on the conveying module 20 and moves under the drive of the conveying module 20. The picking module 30 is used to pick up products from the picking position, then transport the products to the unloading module 40, and place the products in the empty tray of the unloading module 40.

[0034] In this application, the loading module 10 and the unloading module 40 have the same mechanical structure, both equipped with the pressing plate mechanism 12. Taking the loading module 10 as an example, the pressing plate mechanism 12 is located at the material picking position and is used to press the material tray located at the material picking position during material picking. Specifically, when a full material tray is moved to the material picking position, see... Figure 3 The material tray pressure plate 121 of the material tray mechanism 12 moves downward under the drive of the driving component and presses the edge of the material tray, thereby reliably fixing the material tray during the product picking process of the material picking module 30, and avoiding the impact of material picking accuracy and stability due to material tray shaking or displacement. After the material picking is completed, the material tray mechanism 12 releases the material tray to facilitate subsequent material tray transfer operations.

[0035] When the multi-layer tray automatic switching product handling equipment of this application is running, the feeding module 10 first moves the currently full tray to the picking position, and the picking module 30 moves above the picking position under the drive of the handling module 20 to pick up products from the full tray (for example, eight products can be picked up at a time), and then transports the picked-up products to the empty tray of the unloading module 40 for placement.

[0036] When the product in the currently full tray of the feeding module 10 is emptied, the tray becomes an empty tray. At this time, the feeding module 10 moves the empty tray to its own buffer position for temporary storage and switches the next full tray to the picking position for the next round of picking. Similarly, the unloading module 40 moves the empty tray to the picking position for the picking module 30 to put products in; after the tray is full of products, the unloading module 40 moves the full tray to its own buffer position for temporary storage.

[0037] Through the above method, the multi-layer tray automatic switching product handling equipment provided in this application can realize automatic switching and automatic buffering of multi-layer trays. After the full tray is emptied, the feeding module 10 automatically switches to the next full tray to continue feeding, and moves the empty tray to its own buffer position for temporary storage. The unloading module 40 moves the stored empty tray to the picking position for the picking module 30 to put products (products from the full tray of the feeding module) into. With the cooperation of the picking module 30 and the handling module 20, the picking and unloading of products can be carried out continuously, realizing continuous automatic loading and unloading and cyclic handling of products. Therefore, there is no need for frequent manual tray replacement, which improves the automation level and continuous operation capability of the equipment, effectively improves the overall production efficiency, and can meet the needs of long-term unmanned production.

[0038] See some examples in this application. Figure 1 and Figure 2 The feeding module 10 and the unloading module 40 have the same structure and respectively include: a distributing tray mechanism 11, a pressing tray mechanism 12, a tray clamping mechanism 13, a tray lifting mechanism 14, an X-axis displacement mechanism 15, and a module frame 16. The distributing tray mechanism 11 is mounted on the module frame 16 and is used to separate stacked full trays layer by layer. The X-axis displacement mechanism 15 is mounted on the module frame 16. The tray clamping mechanism 13 is mounted on the X-axis displacement mechanism 15 and is used to clamp the full tray separated by the distributing tray mechanism 11, and, driven by the X-axis displacement mechanism 15, move the full tray to the picking position. The tray lifting mechanism 14 is mounted on the module frame 16 and located at one end of the X-axis displacement mechanism 15, and is used to lift the empty tray to the buffer position.

[0039] In this application, the feeding module 10 and the unloading module 40 adopt the same mechanical structure, both of which include Figure 2The diagram shows a material distribution plate mechanism 11, a pressing plate mechanism 12, a material tray clamping mechanism 13, a material tray lifting mechanism 14, an X-axis displacement mechanism 15, and a module frame 16. It should be noted that the feeding module 10 and the unloading module 40 perform different functions in the entire device: the feeding module 10 supplies full material trays and unloads empty material trays; the unloading module 40 supplies empty material trays and unloads full material trays. By setting the feeding module 10 and the unloading module 40 to have the same structure, this application achieves component standardization and interchangeability, facilitating manufacturing, assembly, and maintenance.

[0040] See Figure 2 The material distribution tray mechanism 11 is disposed on the module frame 16 and is used to separate the stacked full material trays layer by layer. Specifically, the material distribution tray mechanism 11 is located at one end of the module frame 16 (e.g., the loading end), and all the full material trays are placed on top of the material distribution tray mechanism 11 in a stacked manner. The material distribution tray mechanism 11, through the telescopic movement of its tray-separating plate 115, separates the bottom full material tray from the upper full material trays, thereby releasing the full material trays layer by layer for the tray clamping mechanism 13 to pick up and transport to the material picking position of the loading module 10.

[0041] The X-axis displacement mechanism 15 is mounted on the module frame 16 and arranged in the horizontal direction (i.e., the X-axis direction). It is used to drive the material tray clamping mechanism 13 to reciprocate along the X-axis direction.

[0042] Specifically, the tray clamping mechanism 13 is mounted on the X-axis displacement mechanism 15. The tray clamping mechanism 13 is used to clamp the full tray separated by the tray distribution mechanism 11, and under the drive of the X-axis displacement mechanism 15, it moves the clamped full tray from the side where the tray distribution mechanism 11 is located to the picking position of the loading module 10, which is the work position where the picking module 30 picks up the product.

[0043] The pressing plate mechanism 12 is located at the material picking position and is used to press the material tray during material picking. After the full material tray separated by the separating plate mechanism 11 is transferred to the material picking position, the material tray pressing plate 121 of the pressing plate mechanism 12 can move downward under the drive of the driving component to press the edge of the material tray (here, the full material tray) to prevent the material tray from shaking or shifting when the picking module 30 picks up the product, thereby ensuring the stability and accuracy of the picking action. After the material picking is completed, the pressing plate mechanism 12 releases the material tray (at this time, the material tray is empty).

[0044] The tray lifting mechanism 14 is mounted on the module frame 16 and located at the end of the X-axis displacement mechanism 15 away from the tray distribution mechanism 11, i.e., the unloading end of the module frame 16. The tray lifting mechanism 14 is used to lift the empty tray to a buffer position for temporary storage. Specifically, after the tray clamping mechanism 13 moves the empty tray above the tray lifting mechanism 14, the tray lifting mechanism 14 lifts upwards, raising the empty tray to the buffer position. With the cooperation of corresponding structures on the module frame 16, the empty tray is held in the buffer position to complete the empty tray buffering. In the loading module 10, this buffer position is used to temporarily store the empty tray; in the unloading module 40, this buffer position is used to temporarily store the full tray after it is filled with products.

[0045] As an example of the working process of this application: In the feeding module 10, the material distribution plate mechanism 11 separates the stacked full material plates layer by layer, the material plate clamping mechanism 13 clamps the separated full material plates, and under the drive of the X-axis displacement mechanism 15, moves the full material plates to the picking position; the material pressing plate mechanism 12 presses the material plates at the picking position so that the picking module 30 can pick up the products.

[0046] After the product is emptied, the tray clamping mechanism 13 first moves the empty tray at the picking position to the tray lifting mechanism 14, which lifts the empty tray to the buffer position for temporary storage. Then, the tray clamping mechanism 13 moves to the dispensing tray mechanism 11 again, clamps the next full tray and moves it to the picking position to start the next round of picking.

[0047] The operation of the unloading module 40 is similar to that of the loading module 10. Specifically, the unloading module 40's tray separating mechanism 11 separates the stacked empty trays layer by layer, and the tray clamping mechanism 13 moves the separated empty trays to the picking position for the picking module 30 to put in products. After the product is full, the tray clamping mechanism 13 moves the full tray to the tray lifting mechanism 14, and the tray lifting mechanism 14 lifts the full tray to the buffer position for temporary storage, waiting for output.

[0048] See some examples in this application. Figure 3The material distribution mechanism 11 includes: a connecting block 111, a connecting plate 112, a linear guide rail 113, a first driving member 114, and a distribution plate 115. The connecting block 111 is fixedly connected to the module frame 16. The connecting plate 112 is fixedly disposed on the connecting block 111. The linear guide rail 113 is disposed on the connecting plate 112. The distribution plate 115 is slidably mounted on the linear guide rail 113. The first driving member 114 is mounted on the connecting plate 112, and its output end is connected to the distribution plate 115, for driving the distribution plate 115 to slide along the linear guide rail 113, so that the distribution plate 115 switches between an extended position and a retracted position; when the distribution plate 115 is in the extended position, the distribution plate 115 extends between adjacent material trays to support the upper material tray; when the distribution plate 115 is in the retracted position, the distribution plate 115 retracts from between adjacent material trays.

[0049] The connecting block 111 is fixedly connected to the module frame 16, serving as the mounting base for the entire dispensing tray mechanism 11. The connecting plate 112 is fixed to the connecting block 111, providing mounting support for the linear guide rail 113 and the first driving component 114. The linear guide rail 113 is disposed on the connecting plate 112, providing guidance for the sliding of the dispensing plate 115. The dispensing plate 115 is slidably mounted on the linear guide rail 113, allowing it to slide along the linear guide rail 113.

[0050] The first driving component 114 is also mounted on the connecting plate 112, and its output end is connected to the dividing plate 115 to drive the dividing plate 115 to slide along the linear guide rail 113, so that the dividing plate 115 can switch between the extended position and the retracted position.

[0051] For example, the working process of the material distribution plate mechanism 11 is as follows: When it is necessary to separate the trays, the first drive unit 114 drives the tray separating plate 115 to slide along the linear guide rail 113 to the extended position. The tray separating plate 115 extends into the gap between the bottom tray and the adjacent tray above it in the stacked trays to support all the trays above.

[0052] Subsequently, the tray support plate 131 of the waiting tray clamping mechanism 13 rises to contact the bottom of the lowest tray to support it; the clamping block 133 of the tray clamping mechanism 13 clamps the lowest tray. The tray support plate 131 drives the clamped lowest tray to descend as a whole, causing the lowest tray to detach from the supporting position of the tray divider plate 115. The first driving member 114 drives the tray divider plate 115 to slide along the linear guide rail 113 to the retracted position, and the tray divider plate 115 retracts from between the trays.

[0053] After the dividing plate 115 retracts, the upper tray it supports will also descend by one tray position, and the original second-to-last tray will become the new bottom tray. The first drive unit 114 will then drive the dividing plate 115 to extend, inserting between the new bottom tray and the tray above it, supporting all the upper trays.

[0054] By alternating between the extended and retracted positions of the separating plate 115, the stacked full material trays can be separated layer by layer.

[0055] See some examples in this application. Figure 4 The material pressing plate mechanism 12 includes a material pressing plate 121, a third driving member 122, and a fixing plate 123. The fixing plate 123 is fixedly connected to the module frame 16. The third driving member 122 is disposed on the fixing plate 123. The material pressing plate 121 is connected to the driving end of the third driving member 122, and presses or releases the material plate located at the material picking position under the drive of the third driving member 122.

[0056] The fixing plate 123 is fixedly connected to the module frame 16, serving as the mounting base for the entire pressing plate mechanism 12. The third driving member 122 is disposed on the fixing plate 123. The third driving member 122 provides power to the pressing plate mechanism 12; exemplarily, the third driving member 122 can be a three-axis cylinder. The pressing plate 121 is connected to the driving end of the third driving member 122.

[0057] After the tray clamping mechanism 13 moves the full tray to the picking position, it maintains its clamping state on the full tray. Simultaneously, the third drive component 122 is activated, causing the tray pressure plate 121 to move downwards and press against the edge of the full tray at the picking position. At this time, the full tray is doubly fixed at the picking position by both clamping and pressing. Subsequently, the picking module 30 picks up products from the tray (e.g., eight at a time). Because the full tray is reliably fixed, the stability of the picking action is ensured, effectively avoiding picking failures caused by tray shaking.

[0058] After the material is picked up, the third driving component 122 drives the material tray pressure plate 121 to move upward, causing the material tray pressure plate 121 to disengage from the material tray (which is now empty), thereby releasing the material tray. At this time, the material tray clamping mechanism 13 can move the empty material tray away from the picking position and move the next full material tray to the picking position to enter the next round of picking cycle.

[0059] In other words, the material tray pressure plate 121 can move up and down under the drive of the third driving member 122, thereby pressing or releasing the material tray located at the material picking position. By pressing the material tray during material picking, it is possible to effectively prevent the material tray from shaking or shifting during the picking process, thus ensuring the stability of material picking.

[0060] See some examples in this application. Figure 5 The tray clamping mechanism 13 includes: a tray support plate 131, a tray fixing block 132, a tray block 133, a first spring 134, a second driving member 135, a first linear guide rail 136, and a lifting drive assembly. The first linear guide rail 136 is mounted on the module frame 16. The support frame 139 is slidably mounted on the first linear guide rail 136. The tray support plate 131 is mounted on the top of the support frame 139 and is used to support the tray that descends after being separated by the tray separating mechanism. The second driving member 135 is mounted on the support frame 139. The tray fixing block 132 is mounted on the support frame 139 and is located on the side of the tray support plate 131. The clamping block 133 is disposed on the clamping fixing block 132 and connected to the driving end of the second driving member 135, for clamping or releasing the material tray supported by the material tray support plate 131 under the drive of the second driving member 135. The first spring 134 is disposed in the clamping fixing block 132 and abuts against the clamping block 133, for providing cushioning when clamping the material tray. The lifting drive assembly is drivenly connected to the support frame 139, for driving the support frame 139 to rise and fall along the first linear guide rail 136.

[0061] See Figure 5 The first linear guide rail 136 can be fixed on the module frame 16, extending vertically to guide the lifting and lowering movement of the support frame 139. Specifically, the support frame 139 is slidably disposed on the first linear guide rail 136, and can slide vertically along the first linear guide rail 136. The support frame 139 serves as the mounting base for the movable part of the entire tray clamping mechanism 13, and the components on it rise and fall together with the support frame 139.

[0062] The material tray plate 131 is disposed on the top of the support frame 139, specifically on the upper end face of the support frame 139, and is used to support the material tray after it has been separated by the material tray mechanism 11.

[0063] The clamping block 133 is disposed on the clamping fixing block 132 and connected to the driving end of the second driving member 135. The second driving member 135 is fixed on the support frame 139 and is used to drive the clamping block 133 to slide relative to the clamping fixing block 132 to clamp or release the material tray supported by the material tray support plate 131. Exemplarily, the clamping blocks 133 are arranged in pairs on both sides of the material tray support plate 131, and move towards each other to clamp the material tray or move away from each other to release the material tray under the drive of the second driving member 135.

[0064] The first spring 134 is disposed within the clamping block 132 and abuts against the clamping block 133. When the clamping block 133 clamps the material tray, the first spring 134 is compressed, and the elastic deformation of the first spring 134 absorbs the clamping force, providing a buffer for the clamping action and preventing excessive clamping force. When the clamping block 133 releases the material tray, the first spring 134 returns to its original deformation, assisting the clamping block 133 in resetting.

[0065] The lifting drive assembly is used to provide power for the lifting of the support frame 139, so that the support frame 139 and its components such as the material tray 131, clamp fixing block 132, clamp block 133, and second drive component 135 move as a whole along the first linear guide rail 136.

[0066] For example, the working process of the tray clamping mechanism 13 of this application is as follows: The lifting drive assembly drives the support frame 139 to rise along the first linear guide rail 136 to the material distribution position, so that the material tray plate 131 is close to the material distribution tray mechanism 11. The lowest material tray separated by the material distribution tray mechanism 11 falls onto the material tray plate 131, and the second drive member 135 drives the clamping block 133 to clamp the material tray.

[0067] The lifting drive assembly restarts, driving the support frame 139 to descend. During this process, the clamping block 133 maintains its grip on the material tray. When the support frame 139 drives the material tray to the picking position, the material tray clamping mechanism 13 maintains its grip on the material tray. At the same time, the third drive component 122 of the pressing plate mechanism 12 drives the material tray pressure plate 121 to press down, thereby pressing the material tray located at the picking position. Under the dual action of clamping and pressing, the material tray is fixed at the picking position for the picking module 30 to pick up the product.

[0068] After material removal is completed, the third drive component 122 of the pressing plate mechanism 12 drives the pressing plate 121 to rise and release the material tray. After the product on the tray is removed, the tray clamping mechanism 13, while the clamping block 133 holds the tray, moves the empty tray away from the material removal position and transfers it to the tray lifting mechanism 14. At the lifting position, the second drive component 135 drives the clamping block 133 to release the empty tray, and the empty tray falls onto the tray lifting mechanism 14, which then lifts it to the buffer position.

[0069] See some examples in this application. Figure 5 The lifting drive assembly includes a first servo motor 138 and a press-rolled ball screw 137, or includes a servo motor and a synchronous belt drive mechanism, or includes a linear motor.

[0070] For example, see Figure 5The lifting drive assembly includes a first servo motor 138 and a pressure ball screw 137. The first servo motor 138 drives the pressure ball screw 137 to rotate, converting the rotational motion into linear motion, so as to drive the support frame 139 to rise and fall along the first linear guide rail 136.

[0071] For example, the lifting drive assembly can also be implemented using a servo motor in conjunction with a synchronous belt drive mechanism. The servo motor drives the synchronous belt drive mechanism to move the support frame 139 up and down along the first linear guide rail 136.

[0072] For example, the lifting drive assembly can also be implemented using a linear motor. The linear motor drives the support frame 139 to move up and down along the first linear guide rail 136.

[0073] See some examples in this application. Figure 6 The tray lifting mechanism 14 includes a lifting plate 141, a fourth driving member 142, and a lifting mechanism connecting plate 143. The lifting mechanism connecting plate 143 is fixedly connected to the module frame 16. The fourth driving member 142 is fixed to the lifting mechanism connecting plate 143. The lifting plate 141 is connected to the driving end of the fourth driving member 142 and moves up and down under the drive of the fourth driving member 142 to lift the tray to the buffer position.

[0074] The lifting mechanism connecting plate 143 is fixedly connected to the module frame 16, serving as the mounting base for the entire tray lifting mechanism 14. The fourth driving member 142 is fixed to the lifting mechanism connecting plate 143, and provides power to the tray lifting mechanism 14. For example, the fourth driving member 142 can be a three-axis cylinder. The lifting plate 141 is connected to the driving end of the fourth driving member 142, and the upper surface of the lifting plate 141 is used to support the tray.

[0075] Once the empty tray (or the full tray after being filled with products) is moved above the lifting plate 141, the fourth drive unit 142 is activated, driving the lifting plate 141 to move upward. The lifting plate 141 supports the tray and continues to rise, lifting the tray to the buffer position. In the loading module 10, the buffer position is used to temporarily store the empty tray after being emptied; in the unloading module 40, the buffer position is used to temporarily store the full tray after being filled with products.

[0076] See some examples in this application. Figure 7The X-axis displacement mechanism 15 includes: a second servo motor 151, a first single-axis robot 152, a single-axis robot mounting plate 153, and a displacement mechanism mounting plate 154. The displacement mechanism mounting plate 154 is fixedly connected to the module frame 16. The single-axis robot mounting plate 153 is disposed on the displacement mechanism mounting plate 154. The first single-axis robot 152 is disposed on the single-axis robot mounting plate 153, and the tray gripping mechanism is mounted on the first single-axis robot 152. The first single-axis robot 152 drives the tray gripping mechanism to reciprocate along the X-axis direction. The second servo motor 151 is connected to the first single-axis robot 152 via a coupling and provides power to the first single-axis robot 152.

[0077] The displacement mechanism fixing plate 154 is fixedly connected to the module frame 16, serving as the mounting base for the entire X-axis displacement mechanism 15. The single-axis robot fixing plate 153 is disposed on the displacement mechanism fixing plate 154 and is used to mount the first single-axis robot 152. Exemplarily, the single-axis robot fixing plate 153 can be fixedly connected to the displacement mechanism fixing plate 154 by bolts or other fasteners.

[0078] The first single-axis robot 152 is mounted on the single-axis robot mounting plate 153 and arranged along the X-axis direction (i.e., the horizontal direction). The tray gripping mechanism 13 is mounted on the first single-axis robot 152. Exemplarily, the first single-axis robot 152 is an integrated linear motion module, which internally integrates transmission components such as guide rails and lead screws, and has a moving end (e.g., a slider portion) that can reciprocate along the X-axis direction. The tray gripping mechanism 13 is specifically mounted on the moving end of the first single-axis robot 152, and can move synchronously with the moving end along the X-axis direction.

[0079] The second servo motor 151 is connected to the input end of the first single-axis robot 152 via a coupling, providing power to the first single-axis robot 152. During operation, the second servo motor 151 starts, transmitting power to the first single-axis robot 152 via the coupling, driving the moving end of the first single-axis robot 152 to reciprocate along the X-axis. Since the tray gripping mechanism 13 is mounted on the moving end of the first single-axis robot 152, the tray gripping mechanism 13 moves along the X-axis as well. Thus, the X-axis displacement mechanism 15, driven by the second servo motor 151, drives the first single-axis robot 152, thereby causing the tray gripping mechanism 13 to move along the X-axis between the tray distribution mechanism 11, the material picking position, and the tray lifting mechanism 14, realizing the transfer of the tray between these workstations.

[0080] See some examples in this application. Figure 8The module frame 16 includes: a tray loading guide bar 161, a tray X-axis displacement guide bar 162, a stop block 163, a module protector 164, and a frame body 165. The tray loading guide bar 161 is vertically mounted on the frame body 165 to provide guidance when the tray is placed into the module frame. The tray X-axis displacement guide bar 162 is mounted on the frame body 165 and located above the X-axis displacement mechanism, providing guidance when the tray moves along the X-axis. The stop block 163 is mounted on the frame body 165 to support the tray and prevent it from falling after the tray lifting mechanism lifts it to the buffer position. The module protector 164 is located on the outside of the frame body 165 to prevent foreign objects from falling into the equipment.

[0081] The frame 165 serves as the main support frame of the module rack 16, and is used to support and install the various functional components on the module rack 16.

[0082] Material tray loading guide strips 161 are arranged in pairs at one end of the frame 165, forming a guide channel between the two guide strips that matches the width of the material tray. For example, the installation position of the material tray loading guide strips 161 on the frame 165 can be adjusted according to the actual width of the material tray to accommodate different specifications of material trays. When the operator places the stacked material trays from above the module frame 16, the material tray loading guide strips 161 limit the material tray from both sides, allowing the material tray to smoothly enter the module frame 16 vertically and preventing the material tray from shifting or tilting during placement.

[0083] The tray X-axis displacement guide strip 162 is disposed on the frame 165 and located above the X-axis displacement mechanism 15. The tray X-axis displacement guide strip 162 extends along the X-axis direction (i.e., the horizontal direction), and its length direction is consistent with the transfer path of the tray in the X-axis direction. When the tray moves along the X-axis direction under the drive of the X-axis displacement mechanism 15, the tray X-axis displacement guide strip 162 guides the tray to prevent the tray from tilting during the transfer process and ensures that the tray moves smoothly along the X-axis direction.

[0084] The anti-reverse block 163 is provided on the frame 165 and located at the buffer position. The anti-reverse block 163 is used to support the material tray after the material tray lifting mechanism 14 lifts the material tray to the buffer position to prevent the material tray from falling.

[0085] The module protection 164 is disposed on the outer side of the frame 165. The module protection 164 is located on the outer periphery of the frame 165 to prevent foreign objects from falling into the equipment, avoid interference with the operation of the equipment, and improve the safety of the equipment operation.

[0086] See some examples in this application. Figure 9The handling module 20 includes: a fixing component 21, a second single-axis robot 22, a third servo motor 23, a fourth servo motor 26, a third single-axis robot 27, and a support plate 28. The fixing component 21 is fixedly connected to the equipment stand. The support plate 28 is fixed to the fixing component 21. The second single-axis robot 22 is mounted on the support plate 28. The third servo motor 23 is connected to the second single-axis robot 22 via a coupling, and is used to drive the second single-axis robot 22 to move in the Y-axis direction. The third single-axis robot 27 is mounted on the second single-axis robot 22. The fourth servo motor 26 is connected to the third single-axis robot 27 via a coupling, and is used to drive the third single-axis robot 27 to move in the Z-axis direction.

[0087] The support plate 28 is fixed to the fixing component 21, providing mounting support for components such as the second single-axis robot 22. For example, the fixing component 21 can be a column or bracket structure, and the support plate 28 is horizontally positioned at the upper end of the fixing component 21.

[0088] The second single-axis robot 22 is mounted on the support plate 28 and arranged along the Y-axis direction (i.e., the horizontal direction, perpendicular to the X-axis direction). The second single-axis robot 22 in this application is an integrated linear motion module, internally integrating transmission components such as guide rails and lead screws. Its moving end (i.e., the slider part) can reciprocate along the Y-axis direction. The third servo motor 23 is connected to the input end of the second single-axis robot 22 via a coupling, providing power to the second single-axis robot 22. During operation, the third servo motor 23 starts, driving the moving end of the second single-axis robot 22 to reciprocate along the Y-axis direction.

[0089] The third single-axis robot 27 is mounted on the second single-axis robot 22. Specifically, the third single-axis robot 27 is installed on the moving end of the second single-axis robot 22 and moves along the Y-axis direction together with the moving end of the second single-axis robot 22. The third single-axis robot 27 is arranged along the Z-axis direction (i.e., the vertical direction), and its moving end can reciprocate along the Z-axis direction. The fourth servo motor 26 is connected to the input end of the third single-axis robot 27 through a coupling to provide power to the third single-axis robot 27. During operation, the fourth servo motor 26 starts, driving the moving end of the third single-axis robot 27 to reciprocate along the Z-axis direction.

[0090] With the cooperation of the second single-axis robot 22 and the third single-axis robot 27, the material handling module 30 can move flexibly in both the Y and Z axes, thereby transporting the product from the material handling position of the loading module 10 to the empty material tray of the unloading module 40.

[0091] See some examples in this application. Figure 9 The conveying module 20 further includes a mounting plate and a solenoid valve 24 and a vacuum generator assembly 25 disposed on the mounting plate. The mounting plate is located behind the support plate 28. The solenoid valve 24 is used to control the opening and closing of the air passage. The vacuum generator assembly 25 is disposed on the mounting plate and communicates with the solenoid valve 24, and is used to establish or release a vacuum under the control of the solenoid valve 24 to provide vacuum suction to the material handling module 30.

[0092] For example, the air inlet of the solenoid valve 24 is connected to an external compressed air source, and its air outlet is connected to the vacuum generator assembly 25. When a product needs to be picked up, the solenoid valve 24 opens, compressed air enters the vacuum generator assembly 25, the vacuum generator assembly 25 establishes a vacuum, and the suction cup 36 picks up the product; when a product needs to be released, the vacuum generator assembly 25 releases the vacuum, and the suction cup 36 releases the product. Through the cooperation of the solenoid valve 24 and the vacuum generator assembly 25, the suction cup 36 can be controlled to pick up and release the product, ensuring the reliability of the pick-up and release operation.

[0093] See some examples in this application. Figure 10 The material handling module 30 includes a module base plate 31, a connecting frame 39, and multiple material handling units. The module base plate 31 is connected to the third single-axis robot 27 of the transport module 20. The connecting frame 39 is spaced apart from and parallel to the module base plate 31. Each material handling unit includes a pneumatic slide 38, a second linear guide rail 37, and a material handling component. The pneumatic slide 38 is disposed between the module base plate 31 and the connecting frame 39. The second linear guide rail 37 is disposed on the connecting frame 39. The material handling component is slidably disposed on the second linear guide rail 37 and connected to the drive end of the pneumatic slide 38. The pneumatic slide 38 is used to drive the material handling component to reciprocate along the second linear guide rail 37.

[0094] The module base plate 31 is connected to the third single-axis robot 27 of the handling module 20. Specifically, the module base plate 31 is mounted on the moving end of the third single-axis robot 27 and moves along the Z-axis direction together with the moving end of the third single-axis robot 27. The connecting frame 39 is spaced apart from and parallel to the module base plate 31, forming an installation space between them.

[0095] Each of the material handling units includes a pneumatic slide table 38, a second linear guide rail 37, and a material handling component. The pneumatic slide table 38 is disposed between the module base plate 31 and the connecting frame 39. The second linear guide rail 37 is disposed on the connecting frame 39. The material handling component is slidably disposed on the second linear guide rail 37 and connected to the drive end of the pneumatic slide table 38. The pneumatic slide table 38 is used to drive the material handling component to reciprocate along the second linear guide rail 37, thereby realizing the switching of the material handling component between the material handling position and the material dispensing position.

[0096] See some examples in this application. Figure 10 The material handling assembly includes an L-shaped fixing block 34, a ventilation block 35, and a suction cup 36. The L-shaped fixing block 34 is slidably disposed on the second linear guide rail 37 and connected to the drive end of the pneumatic slide table 38. The ventilation block 35 is fixedly disposed on the L-shaped fixing block 34. The suction cup 36 is installed on the ventilation block 35 for adsorbing products.

[0097] The L-shaped fixing block 34 is slidably mounted on the second linear guide rail 37 and connected to the drive end of the pneumatic slide table 38. The L-shaped fixing block 34 serves as the mounting base for the material handling assembly and can reciprocate along the second linear guide rail 37 under the drive of the pneumatic slide table 38. The venting block 35 is fixedly mounted on the L-shaped fixing block 34. The venting block 35 has an internal air passage for transmitting vacuum suction to the suction cup 36. The suction cup 36 is mounted on the venting block 35 and is used to contact and adsorb the product. The suction cup 36 is, for example, made of a flexible material, which can elastically deform upon contact with the product to conform to the product surface, ensuring the sealing and reliability of the adsorption.

[0098] In this application, the material handling components and the pneumatic slides 38 are configured in a one-to-one correspondence. That is, each pneumatic slide 38 drives one material handling component. For example, there are eight material handling components, eight pneumatic slides 38, and eight second linear guides 37.

[0099] See some examples in this application. Figure 10 The material handling module 30 further includes a buffer assembly; the buffer assembly includes a spring guide post 32 and a second spring 33; the spring guide post 32 is disposed on the connecting frame 39; the second spring 33 is sleeved on the spring guide post 32, and one end of the second spring 33 is connected to the connecting frame 39, and the other end is connected to the L-shaped fixing block 34.

[0100] The spring guide post 32 is mounted on the connecting frame 39 and extends vertically. The spring guide post 32 guides the extension and retraction of the second spring 33, preventing it from bending or shifting during compression and recovery. The second spring 33 is sleeved on the spring guide post 32, with one end connected to the connecting frame 39 and the other end connected to the L-shaped fixing block 34. Through the cooperation of the spring guide post 32 and the second spring 33, the buffer assembly provides cushioning protection for the material handling operation.

[0101] The above embodiments mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be elaborated here.

[0102] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A multi-layer tray automatic switching product handling device, characterized in that, include: The loading module (10) and the unloading module (40) are arranged at intervals along the horizontal direction; The loading module (10) is used to store multiple layers of full material trays and can transfer the full material trays layer by layer to the material picking position; the unloading module (40) is used to store empty material trays; A conveying module (20) is mounted between the loading module (10) and the unloading module (40), and is located above both of them; and, The picking module (30) is installed on the conveying module (20) and driven by the conveying module (20) to move, for picking up products from the picking position and placing the products in the empty tray of the unloading module (40); The feeding module (10) includes a pressing plate mechanism (12), which is located at the picking position and is used to press the plate located at the picking position when the picking module (30) picks up the product from the plate. When the product in the current full material tray of the feeding module (10) is emptied, the feeding module (10) will transfer the empty material tray to the unloading module (40) and switch to the next full material tray for the next round of material retrieval.

2. The multi-layer tray automatic switching product handling equipment according to claim 1, characterized in that, The loading module (10) and the unloading module (40) have the same structure and each includes: Module rack (16); The material distribution tray mechanism (11) is set on the module frame (16) and is used to separate the stacked full material trays layer by layer. The X-axis displacement mechanism (15) is mounted on the module frame (16); The material tray clamping mechanism (13) is installed on the X-axis displacement mechanism (15) and is used to clamp the full material tray separated by the material tray mechanism (11) and move the full material tray to the material picking position under the drive of the X-axis displacement mechanism (15). The material tray lifting mechanism (14) is set on the module frame (16) and located at one end of the X-axis displacement mechanism (15), and is used to lift the empty material tray after it has been emptied to the buffer position.

3. The multi-layer tray automatic switching product handling equipment according to claim 2, characterized in that, The material distribution plate mechanism (11) includes: The connecting block (111) is fixedly connected to the module frame (16); A connecting plate (112) is fixedly mounted on the connecting block (111); A linear guide rail (113) is mounted on the connecting plate (112); The dividing plate (115) is slidably mounted on the linear guide rail (113); and, The first driving component (114) is mounted on the connecting plate (112), and its output end is connected to the dividing plate (115) for driving the dividing plate (115) to slide along the linear guide rail (113) so that the dividing plate (115) switches between the extended position and the retracted position. When the dividing plate (115) is in the extended position, the dividing plate (115) extends between adjacent trays to support the upper tray; when the dividing plate (115) is in the retracted position, the dividing plate (115) retracts from between adjacent trays.

4. The multi-layer tray automatic switching product handling equipment according to claim 2, characterized in that, The pressing plate mechanism (12) includes: The fixing piece (123) is fixedly connected to the module frame (16); The third driving member (122) is disposed on the fixed plate (123); and, The material tray pressure plate (121) is connected to the driving end of the third driving member (122) and presses or releases the material tray located at the material picking position under the drive of the third driving member (122).

5. The multi-layer tray automatic switching product handling equipment according to claim 2, characterized in that, The tray clamping mechanism (13) includes: The first linear guide rail (136) is mounted on the module frame (16); The support frame (139) is slidably mounted on the first linear guide rail (136); A material tray support plate (131) is disposed on the top of the support frame (139) and is used to support the material tray that is separated and lowered by the material tray mechanism; The second driving component (135) is disposed on the support frame (139); The clamping block (132) is disposed on the support frame (139) and located on the side of the material tray (131); A clamping block (133) is disposed on the clamping fixing block (132) and connected to the driving end of the second driving member (135), for clamping or releasing the material tray supported by the material tray support plate (131) under the drive of the second driving member (135). A first spring (134), disposed within the clamping block (132) and abutting against the clamping block (133), is used to provide cushioning when clamping the material tray; and, The lifting drive assembly is driven to connect with the support frame (139) and is used to drive the support frame (139) to lift and lower along the first linear guide rail (136).

6. The multi-layer tray automatic switching product handling equipment according to claim 5, characterized in that, The lifting drive assembly includes a first servo motor (138) and a press-rolled ball screw (137), or includes a servo motor and a synchronous belt drive mechanism, or includes a linear motor.

7. The multi-layer tray automatic switching product handling equipment according to claim 2, characterized in that, The tray lifting mechanism (14) includes: The lifting mechanism connecting plate (143) is fixedly connected to the module frame (16); The fourth driving component (142) is fixed to the lifting mechanism connecting plate (143); and, The lifting plate (141) is connected to the driving end of the fourth driving member (142) and is raised and lowered under the drive of the fourth driving member (142) to lift the material tray to the buffer position.

8. The multi-layer tray automatic switching product handling equipment according to claim 2, characterized in that, The X-axis displacement mechanism (15) includes: The displacement mechanism fixing plate (154) is fixedly connected to the module frame (16); A single-axis robot mounting plate (153) is mounted on the displacement mechanism mounting plate (154); The first single-axis robot (152) is mounted on the single-axis robot fixing plate (153), and the tray gripping mechanism is mounted on the first single-axis robot (152). The first single-axis robot (152) is used to drive the tray gripping mechanism to reciprocate along the X-axis direction. The second servo motor (151) is connected to the first single-axis robot (152) via a coupling and is used to provide power to the first single-axis robot (152).

9. The multi-layer tray automatic switching product handling equipment according to claim 2 or 8, characterized in that, The module rack (16) includes: Frame (165); A material tray guide bar (161) is vertically mounted on the frame (165) to provide guidance when the material tray is placed into the module frame; The tray X-axis displacement guide bar (162) is disposed on the frame (165) and located above the X-axis displacement mechanism, and is used to provide guidance for the tray to move along the X-axis direction; An anti-reverse block (163), disposed on the frame (165), is used to support the tray after the tray lifting mechanism lifts the tray to the buffer position to prevent the tray from falling; and, Module protection (164) is provided on the outside of the frame (165).

10. The multi-layer tray automatic switching product handling equipment according to claim 1, characterized in that, The transport module (20) includes: The fixing component (21) is fixedly connected to the equipment stand; The support plate (28) is fixed to the fixing component (21); The second single-axis robot (22) is mounted on the support plate (28); The third servo motor (23) is connected to the second single-axis robot (22) via a coupling and is used to drive the second single-axis robot (22) to move in the Y-axis direction; A third single-axis robot (27) is mounted on the second single-axis robot (22); and, The fourth servo motor (26) is connected to the third single-axis robot (27) via a coupling and is used to drive the third single-axis robot (27) to move in the Z-axis direction.

11. The multi-layer tray automatic switching product handling equipment according to claim 10, characterized in that, The transport module (20) also includes: The mounting plate is located behind the support plate (28); A solenoid valve (24), mounted on the mounting plate, is used to control the opening and closing of the air passage; and, A vacuum generator assembly (25) is mounted on the mounting plate and communicates with the solenoid valve (24) to establish or release a vacuum under the control of the solenoid valve (24) to provide vacuum suction to the material handling module (30).

12. The multi-layer tray automatic switching product handling equipment according to claim 10, characterized in that, The material handling module (30) includes: The module base plate (31) is connected to the third single-axis robot (27) of the transport module (20); The connecting frame (39) is spaced apart from and parallel to the module base plate (31); and, Multiple material handling units; Each of the material handling units includes: A pneumatic slide (38) is disposed between the module base plate (31) and the connecting frame (39); The second linear guide (37) is disposed on the connecting frame (39); and, The material handling component is slidably mounted on the second linear guide rail (37) and connected to the drive end of the pneumatic slide table (38). The pneumatic slide table (38) is used to drive the material handling component to slide back and forth along the second linear guide rail (37).

13. The multi-layer tray automatic switching product handling equipment according to claim 12, characterized in that, The material handling component includes: The L-shaped fixing block (34) is slidably mounted on the second linear guide rail (37) and connected to the drive end of the pneumatic slide (38); A ventilation block (35) is fixedly mounted on the L-shaped fixing block (34); and, A suction cup (36) is mounted on the ventilation block (35) for adsorbing products.

14. The multi-layer tray automatic switching product handling equipment according to claim 13, characterized in that, The material handling module (30) also includes a buffer component; The buffer assembly includes a spring guide post (32) and a second spring (33); The spring guide post (32) is disposed on the connecting frame (39); The second spring (33) is sleeved on the spring guide post (32). One end of the second spring (33) is connected to the connecting frame (39), and the other end is connected to the L-shaped fixing block (34).

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