An automatic transplanting type silo module structure

Abstract

The application relates to an automatic transplanting type stock bin module structure, a base plate assembly module comprises a stock bin base plate, a linear module, a middle slide rail and a side slide rail; a stock bin bottom plate module comprises two side plate mechanisms fixedly connected with two slide blocks of the side slide rail respectively, the side plate mechanisms can reciprocate along the Y-axis direction under the driving of a screw rod motor; the side plate mechanisms are provided with upper stock bin supporting assemblies, limiting sliding grooves and lower stock bin supporting assemblies; two upper stock bin supporting assemblies and two lower stock bin supporting assemblies can support or release upper feeding trays and lower feeding trays by adjusting the spacing between the two; a lifting assembly module comprises a lifting base plate and two transplanting areas, one transplanting area adsorbs an upper feeding tray or a middle tray, and the other transplanting area adsorbs a middle tray or a lower feeding tray; the linear module is provided with a translation motor for driving a mover to drive the transplanting areas on the lifting base plate to reciprocate along the X-axis direction. The application realizes efficient and stable transplanting, has good universality and can reduce manual intervention.

Description

Technical Field

[0001] This invention relates to the fields of intelligent manufacturing and industrial automation, material handling and warehousing technology, and in particular to an automatic transfer silo module structure. Background Technology

[0002] With the rapid development of intelligent manufacturing and automated production, automatic transfer silo modules, as a key link in the material storage, conveying, and loading / unloading of production lines, directly determine the operating rhythm and stability of the entire production line. Existing conventional silo modules have insufficient automation levels. Pallet loading / unloading and whole-silo pallet replacement rely heavily on manual operation, resulting in high labor intensity and difficulty in meeting the continuous production needs of automated production lines. When pallets are stacked, they are prone to jamming and sticking together, resulting in poor pallet separation and easy pallet misalignment. This causes downstream gripping equipment to fail to identify and pick up materials. At the same time, the equipment's sensor monitoring layout is imperfect, unable to detect the presence and positional deviation of pallets in the silo in real time, and pallet movement deviations cannot be warned in time, resulting in poor operational stability. Traditional line conveyor structures have a loose layout, occupy a large area, have low space utilization, and the pallet replacement process is cumbersome, requiring waiting for an empty pallet to enter before the whole replacement can be done, affecting the production rhythm. Summary of the Invention

[0003] In view of this, the present invention provides an automatic transfer silo module structure that can achieve efficient and stable transfer, has good versatility and compact structure, and can reduce the problem of manual intervention.

[0004] This invention is achieved through the following technical solution: an automatic transfer silo module structure, comprising: The substrate assembly module includes a hopper substrate and linear modules, a central slide rail, and a side slide rail, all disposed on the hopper substrate; the central slide rail and the linear modules are disposed along the X-axis direction, and the side slide rails are disposed along the Y-axis direction. The hopper bottom plate module includes two side plate mechanisms arranged along the X-axis. The two side plate mechanisms are respectively fixedly connected to two sliders of the side slide rail. The side plate mechanisms can reciprocate along the Y-axis under the drive of the screw motor to adjust the distance between the two side plate mechanisms. The side panel mechanism includes a feeding bin support assembly, a limiting slide, and a discharging bin support assembly; the two feeding bin support assemblies can support or release the feeding pallet by adjusting their own distance; the two discharging bin support assemblies can support or release the discharging pallet by adjusting their own distance; the limiting slide is used to support the middle pallet; The lifting component module includes a lifting base plate and two transfer areas provided on the lifting base plate. One transfer area is used to absorb the loading tray or the middle tray, and the other transfer area is used to absorb the middle tray or the unloading tray. The lifting base plate is used to be fixedly connected to the slider on the slide rail in the base plate and the mover on the linear module. The translation motor in the linear module is used to drive the mover to move the two transplanting areas back and forth along the X-axis.

[0005] Furthermore, the lifting component module includes a lifting base plate and two transfer areas disposed on the lifting base plate. Each transfer area is provided with a jig support plate, a jig base plate, a lifting base plate, a lifting servo motor, an adsorption mechanism, and a transmission mechanism. The lifting base plate is located below the lifting base plate and is fixedly connected to it; the lifting servo motor is installed on the lifting base plate; the fixture tray is fixedly and sealed to the fixture base plate, and an adsorption mechanism is provided between them; the lifting servo motor drives the fixture tray to reciprocate along the Z-axis direction through the transmission mechanism.

[0006] Furthermore, there are four side slide rails, namely side slide rail a, side slide rail b, side slide rail c, and side slide rail d arranged sequentially along the X-axis direction; The height of all four side slide rails is higher than that of the two side plate mechanisms, which are respectively the front side plate mechanism and the rear side plate mechanism. The sliders of the four side slide rails on the same side are fixedly connected to the upper surface of the front side plate mechanism, and the sliders of the four side slide rails on the other side are fixedly connected to the upper surface of the rear side plate mechanism. The area between side slide rail a and side slide rail b corresponds to the feeding bin, the area between side slide rail b and side slide rail c corresponds to the temporary storage bin, and the area between side slide rail c and side slide rail d corresponds to the discharging bin.

[0007] Furthermore, the feeding hopper support assembly includes a guide rail fixing plate I, an X-axis linear slide rail I, a hopper base block I, a knob plunger I, a hopper guide plate I, a guide rail fixing plate II, a hopper base block II, a knob plunger II, a hopper guide plate II, and an X-axis linear slide rail II; X-axis linear slide rail I is fixed to the side plate mechanism along the X-axis direction via guide rail fixing plate I. The slider of X-axis linear slide rail I is fixed below the hopper base block I. The side of hopper base block I is fixedly connected to hopper guide plate I. Knob plunger I is fixed on hopper base block I. Knob plunger I can rotate into guide rail fixing plate I to position the slider of X-axis linear slide rail I, thereby positioning hopper guide plate I. X-axis linear slide rail II is fixed to the side plate mechanism along the X-axis direction by guide rail fixing plate aII. The slider of X-axis linear slide rail II is fixed below the hopper base block II. The side of hopper base block II is fixedly connected to hopper guide plate II. Knob plunger II is fixed on hopper base block II. Knob plunger II can rotate into guide rail fixing plate II to position the slider of X-axis linear slide rail II, thereby positioning hopper guide plate II. By adjusting the distance between the hopper guide plate II and the hopper guide plate I along the X-axis using X-linear slide rail I and X-linear slide rail II respectively, it is possible to accommodate pallet lengths of different lengths.

[0008] Furthermore, the feeding hopper support assembly also includes Y linear slide rail I, damping block I, buffer I, blocking plate I, disc tray I, cylinder I, floating joint I, cylinder connecting plate I, buffer II, damping block II, blocking plate II, and Y linear slide rail II; Y-linear slide rail I, damping block I, cylinder I, damping block II, and Y-linear slide rail II are all fixed to the side plate mechanism in sequence; Y-linear slide rail I and Y-linear slide rail II are both set along the Y-axis, and their sliders are fixed to the bottom surface of the upper dividing plate base plate provided in the side plate mechanism. The telescopic rod of cylinder I is connected to the bottom of the upper tray base plate through floating joint I. The upper tray base plate is fixed to the tray support plate I. The telescopic rod of cylinder I drives the tray support plate I to reciprocate along the Y-axis. The upper tray base plates on the two side plate mechanisms are used to support the two long sides of the loading pallet.

[0009] Furthermore, the transmission mechanism includes a clamping type synchronous pulley, a synchronous belt, a synchronous pulley, a lifting bearing seat, a lifting lead screw base plate, a lifting column, a lifting fixing plate, a lifting connecting rod, a linear bearing, a lifting product support plate, a lead screw, and a lead screw support assembly; The lifting servo motor shaft is fixed to the clamping synchronous pulley; the synchronous pulley is fixed to the bottom end of the lead screw, and the synchronous pulley is connected to the clamping synchronous pulley through the synchronous belt. The rotation of the lifting servo motor shaft drives the lead screw to rotate. The lifting fixing plate is fixed to the lifting base plate by four lifting columns; the top of the lead screw is rotatably connected to the lifting fixing plate, and the lead screw support assembly on the lead screw is fixed to the lifting lead screw base plate. The lifting lead screw base plate and the lifting product tray are connected by two lifting connecting rods, which pass through linear bearings set on the lifting fixing plate respectively; the rotation of the lead screw causes the lead screw support assembly to move up and down along the lead screw, which in turn drives the lifting lead screw base plate to move up and down, thereby driving the lifting product tray to move up and down reciprocally along the Z-axis. The lifting product pallet is connected to the fixture base plate, and the fixture base plate and the fixture pallet on it move up and down together with the lifting product pallet.

[0010] Furthermore, three photoelectric switches are also provided; the three photoelectric switches are fixed to the lifting pad from top to bottom through the sensor bracket, each corresponding to a different lifting position; the lifting sensor plate is set on the lifting screw base plate.

[0011] Furthermore, in the transfer area near the loading hopper, the lifting product pallet is connected to the fixture base plate via a rotation angle adjustment mechanism; the rotation angle adjustment mechanism includes an angle synchronization belt, an angle adjustment servo motor, an angle synchronization pulley, an angle clamping type synchronization pulley, and a rotating shaft; The flange end of the angle adjustment servo motor is fixed to the lifting product tray, and the motor shaft of the angle adjustment servo motor is fixed to the angle clamping synchronous belt pulley; the upper end of the rotating shaft is fixed to the bottom surface of the fixture base plate, and the lower end of the rotating shaft is rotatably connected to the lifting product tray. Angle timing pulleys are fixed in the middle of the rotating shaft, and angle timing pulleys and angle clamping timing pulleys are connected by angle timing belts; the rotation of the angle adjustment servo motor shaft drives the rotating shaft to rotate, and the rotation of the rotating shaft drives the fixture base plate to rotate in the horizontal direction, so as to adjust the angle of the fixture base plate and the fixture support plate on it.

[0012] Furthermore, damping blocks are provided on both sides of the lifting product pallet to limit the rotation angle of the fixture base plate; Three angle photoelectric switches are fixed on the upper surface of the lifting product tray, serving as positive limit, origin, and negative limit switches respectively; correspondingly, angle light shields are fixed on the bottom surface of the fixture base plate.

[0013] Furthermore, the substrate assembly module also includes a transfer tank chain plate for setting up a dust-free cable chain. One end of the dust-free cable chain is fixed to the hopper substrate via the hopper upright plate, and the other end of the dust-free cable chain is fixed to the transfer tank chain fixing plate. The transfer tank chain fixing plate is fixed to the middle of the lifting substrate on the side facing the dust-free cable chain.

[0014] Compared with existing technologies, the beneficial effects of this invention are: 1. The lifting component module of this invention is set with two sets of transfer areas. The bottom plate module of the hopper is divided into three workstations: loading, temporary storage and unloading. Each workstation operates in parallel. The transfer area is independently controlled to realize an asynchronous production line, which can simultaneously complete feeding, processing and receiving. The process switching time is short and the cycle efficiency is improved several times. It is suitable for batch processing of PCB, panel and pallet. The screw motor drives the side plate mechanism to complete the width adjustment, which is suitable for pallets of various specifications. It eliminates the process of disassembling and assembling tooling and secondary positioning of workpieces when changing production. The overall layout of the machine is compact.

[0015] 2. In this invention, an adsorption mechanism is set between the jig tray and the jig base plate in each transplanting area. The lifting servo motor drives the jig tray to move back and forth along the Z-axis through the transmission mechanism. The equipment relies on the tray for transportation throughout the process, without the need for repeated mechanical gripping and friction. The lifting and stopping are smooth, and there is no cylinder impact or vibration.

[0016] 3. The present invention is provided with four side slide rails arranged along the X-axis. The height of the slide rails is higher than that of the front and rear side plates. The interval area of ​​each slide rail corresponds to the loading bin, the temporary storage bin, and the unloading bin, respectively. The sliders on both sides of the slide rails are connected to the front and rear side plate mechanisms, respectively. When the side plates move, they can prevent tilting and resist lateral loads throughout the entire process.

[0017] 4. The material hopper support assembly of the present invention is equipped with an X-axis linear slide rail, a material hopper guide plate and a rotary plunger. The X-axis spacing between the two sets of guide plates is adjusted by the X-axis linear slide rail to adapt to pallets of different lengths. After adjustment, the slider is locked by the rotary plunger to quickly switch to adapt to different specifications of workpieces.

[0018] 5. The material loading hopper support assembly of the present invention is equipped with a Y-linear slide rail, a cylinder, a tray plate, and a damping buffer stop. The cylinder drives the tray plate to move along the Y-axis, and the two tray plates on both sides jointly support the two long sides of the tray. The damping buffer structure realizes the stroke limit.

[0019] 6. The transmission mechanism of this invention consists of a synchronous pulley, a synchronous belt, a precision lead screw, a lifting column, a lifting connecting rod, and a linear bearing. The servo motor drives the precision lead screw via the synchronous belt, thereby driving the lifting plate to move along the Z-axis. The mechanism has high rigidity and minimal deformation during long-term operation. It is equipped with a multi-position photoelectric switch to identify the lifting position, resulting in high repeatability and consistency in positioning.

[0020] 7. This invention adopts a combination structure of vertical lifting and horizontal transfer for picking and placing, which can complete the fully automated process of workpiece gripping, handling, positioning and placement. The stroke, speed and position of each picking unit are independently adjustable to adapt to the different actions of different workstations. The gripping end is reserved with tooling replacement interface. The whole machine adopts a straight single row integrated layout, with the loading, processing and unloading workstations arranged in one unit. The structure is compact and occupies a small area. At the same time, it takes into account the rigidity and lightweight of the equipment, which is convenient for transportation and installation and reduces the overall manufacturing cost of the machine. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the automatic transfer silo module structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the substrate assembly module of the present invention.

[0023] Figure 3 This is a top view of the substrate assembly module of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the silo bottom plate module of the present invention.

[0025] Figure 5 This is a schematic diagram of the structure of the material hopper in the bottom plate module of the present invention.

[0026] Figure 6 This is a schematic diagram of the material hopper structure of the material hopper bottom plate module of the present invention.

[0027] Figure 7 This is a schematic diagram of the front part of the material feeding hopper of the present invention.

[0028] Figure 8 This is a schematic diagram of the structure of the rear part of the material feeding hopper of the present invention.

[0029] Figure 9 This is a schematic diagram of the lifting component module of the present invention.

[0030] Figure 10 for Figure 9 Schematic diagram of the transplanting area a of the lifting component module.

[0031] Figure 11 for Figure 9 Schematic diagram of the transplanting area b of the lifting component module. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] This invention provides an automatic transfer hopper module structure, such as... Figure 1 As shown, the automatic transfer hopper module structure includes a hopper base plate module 001, a lifting component module 002, and a base plate component module 003. Let the direction along the streamline extension be the X-axis, the direction of the streamline width be the Y-axis, and the vertical direction be the Z-axis, with the Z-axis perpendicular to both the X and Y axes.

[0034] The base plate assembly module 003 is used to support the hopper bottom plate module 001, the lifting assembly module 002, and for connection with external mechanisms. For example... Figure 2 and Figure 3 As shown, the substrate assembly module 003 includes a hopper substrate 227, a linear module 226, a central slide rail 233, a side slide rail a 228, a side slide rail b 263, a side slide rail c 273, and a side slide rail d 239.

[0035] A slide rail 233 is disposed in the middle of the hopper substrate 227 along the X-axis direction. A slider on the slide rail 233 is fixedly connected to the lifting assembly module 002. A linear module 226 is disposed on one side of the slide rail 233 along the X-axis direction. The linear module 226 includes a stator base, a mover slidably connected to the stator base, and a translation motor 225 for driving the mover. The stator base is fixed to the hopper substrate 227. The mover on the linear module 226 is fixedly connected to the lifting assembly module 002. The translation motor 225 drives the mover to reciprocate along the X-axis direction, thereby causing the lifting assembly module 002 to reciprocate along the slide rail 233 in the X-axis direction.

[0036] Side slide rails a228, b263, c273, and d239 are all mounted on the hopper base plate 227 along the Y-axis and arranged sequentially along the X-axis; among them, side slide rail a228 is located on one side of the hopper on the flow line. Side slide rails a228, b263, c273, and d239 have the same height and are all higher than the linear module 226 and the slide rail 233 in the base plate.

[0037] The hopper bottom plate module 001 includes a front side plate mechanism and a rear side plate mechanism, both arranged along the X-axis. The front side plate mechanism and the rear side plate mechanism are used to accommodate the material tray and are divided into three workstations: the loading hopper, the temporary storage hopper, and the unloading hopper.

[0038] The front side panel mechanism is equipped with a feeding bin support component a, a limiting slide groove a, and a discharging bin support component a at the corresponding positions of the feeding bin, temporary storage bin, and discharging bin, respectively. The rear side panel mechanism is equipped with a feeding bin support component b, a limiting slide groove b, and a discharging bin support component b at the corresponding positions of the feeding bin, temporary storage bin, and discharging bin, respectively.

[0039] The feeding bin support assembly a and feeding bin support assembly b can support or release the feeding pallet 02 located in the feeding bin by adjusting their own distance; the discharging bin support assembly a and discharging bin support assembly b can support or release the discharging pallet 09 located in the discharging bin by adjusting their own distance; the limiting slide a and limiting slide b are used together to support the middle pallet 14 located in the temporary storage bin.

[0040] Side slide rails a228, b263, c273, and d239 are each equipped with two sliders. The height of all four side slide rails is higher than that of the front and rear side plate mechanisms. One slider on each of the four side slide rails on the same side is fixedly connected to the upper surface of the front side plate mechanism of the hopper bottom plate module 001. The sliders on the other side of each of the four side slide rails are fixedly connected to the upper surface of the rear side plate mechanism of the hopper bottom plate module 001. The area between side slide rails a228 and b263 corresponds to the loading hopper, the area between side slide rails b263 and c273 corresponds to the temporary storage hopper, and the area between side slide rails c273 and d239 corresponds to the unloading hopper.

[0041] The front side plate mechanism can reciprocate along the Y-axis under the drive of its lead screw motor a80, and the rear side plate mechanism can reciprocate along the Y-axis under the drive of its lead screw motor b72, so as to synchronously adjust the distance between the front side plate mechanism and the rear side plate mechanism to accommodate material trays of different widths.

[0042] like Figure 9-11As shown, the lifting assembly module 002 includes a lifting base plate 165 and two transfer areas disposed on the lifting base plate 165. Each transfer area is provided with a jig support plate, a jig base plate, a lifting base plate, a lifting servo motor, an adsorption mechanism, and a transmission mechanism. The lifting base plate 165 is used to be fixedly connected to the slider on the slide rail 233 in the base plate and the mover on the linear module 226.

[0043] Let the area closer to the loading hopper be the transplanting area a, and the area closer to the unloading hopper be the transplanting area b. It should be noted that when the transplanting area a corresponds to the loading hopper, the transplanting area b corresponds to the temporary storage hopper; when the transplanting area a corresponds to the temporary storage hopper, the transplanting area b corresponds to the unloading hopper.

[0044] Correspondingly, transplanting area a includes fixture tray a145, fixture base plate a146, lifting base plate a153, lifting servo motor a151, adsorption mechanism a, and transmission mechanism a; transplanting area b includes fixture tray b139, fixture base plate b167, lifting base plate b160, lifting servo motor b159, adsorption mechanism b, and transmission mechanism b.

[0045] Lifting base plates a153 and b160 are respectively positioned below lifting base plate 165, corresponding to the positions of transplanting areas a and b. Lifting base plate a153 is fixedly connected to lifting base plate 165 on both sides via lifting pads aⅠ155 and aⅡ196, respectively. Lifting base plate b160 is fixedly connected to lifting base plate 165 on both sides via lifting pads bⅠ163 and bⅡ210, respectively. Lifting servo motors a151 and b159 are respectively mounted on lifting base plates a153 and b160.

[0046] The fixture pallet a145 is fixedly and sealed to the fixture base plate a146, and an adsorption mechanism a is provided between them. When the fixture pallet a145 comes into contact with the tray (including the loading tray 02 and the middle tray 14) on the hopper base plate module 001, the adsorption mechanism a can adsorb the tray and move together with the fixture pallet a145.

[0047] The fixture pallet b139 is fixedly and sealed to the fixture base plate b167, and an adsorption mechanism b is provided between them. When the fixture pallet b139 comes into contact with the tray (including the middle tray 14 and the unloading tray 09) on the hopper base plate module 001, the adsorption mechanism b can adsorb the tray and move together with the fixture pallet b139.

[0048] The lifting servo motor a151 is fixed to the lifting base plate a153 via the motor adjustment plate a152, and the lifting servo motor b159 is fixed to the lifting base plate b160 via the motor adjustment plate b158. The drive shaft of the lifting servo motor a151 is connected to the fixture support plate a145 via the transmission mechanism a, and the drive shaft of the lifting servo motor b159 is connected to the fixture support plate b139 via the transmission mechanism b. The lifting servo motors a151 and b159 are used to drive the fixture support plate a145 and the fixture support plate b139 to reciprocate along the Z-axis direction, respectively.

[0049] like Figure 4 As shown, in this embodiment, the front side plate mechanism includes a front upper fixing block 01, a front upper sub-plate base plate 03, a front upper hopper base plate 04, a front streamline connecting plate 05, a photoelectric sensor 06, a front lower hopper base plate 07, a front lower sub-plate base plate 08, and a front lower fixing block 10.

[0050] The upper end of the front upper fixing block 01 is fixedly connected to the bottom plate 04 of the front upper hopper by bolts, and the lower end of the front upper fixing block 01 is detachably fixed to a slider of the side slide rail a228 in the substrate assembly module 003 by bolts. The upper end of the front lower fixing block 10 is fixedly connected to the bottom plate 07 of the front lower hopper by bolts, and the lower end of the front lower fixing block 10 is detachably fixed to a slider of the side slide rail d239 in the substrate assembly module 003 by bolts.

[0051] The front loading bin bottom plate 04 and the front unloading bin bottom plate 07 are respectively fixed to both ends of the front streamline connecting plate 05 by bolts. The front loading bin bottom plate 04 and the front unloading bin bottom plate 07 are correspondingly and detachably fixed to a slider of the side slide rail b263 and side slide rail c273 in the base plate assembly module 003 by bolts. The photoelectric sensor 06 is fixed to the middle position of the front streamline connecting plate 05 by bolts; its function is to sense whether the temporary storage bin has the middle tray 14.

[0052] The rear panel mechanism includes a rear lower fixing block 11, a rear lower tray base plate 12, a rear lower material bin base plate 13, a rear streamline connecting plate 15, a rear upper material bin base plate 16, a rear upper tray base plate 17, and a rear upper fixing block 18. The upper end of the rear upper fixing block 18 is fixedly connected to the rear upper material bin base plate 16 by bolts, and the lower end of the rear upper fixing block 18 is detachably fixed to another slider of the side slide rail a228 in the base plate assembly module 003 by bolts.

[0053] The upper end of the lower rear fixing block 11 is connected to the lower rear material bin bottom plate 13 by bolts, and the lower end of the lower rear fixing block 11 is detachably fixed to another slider of the side slide rail d239 in the substrate assembly module 003 by bolts. The upper rear material bin bottom plate 16 and the lower rear material bin bottom plate 13 are respectively fixed to both ends of the rear streamline connecting plate 15 by bolts. The upper rear material bin bottom plate 16 and the lower rear material bin bottom plate 13 are respectively detachably fixed to another slider of the side slide rail b263 and the side slide rail c273 in the substrate assembly module 003 by bolts.

[0054] The front lead screw motor 72 is connected to the front unloading bin bottom plate 07 and is used to drive the front unloading bin bottom plate 07 to reciprocate along the Y-axis. The rear lead screw motor 80 is connected to the rear unloading bin bottom plate 13 and is used to drive the rear unloading bin bottom plate 13 to reciprocate along the Y-axis. The movement of the front unloading bin bottom plate 07 will drive the entire front side plate mechanism to move along the side slide rails (including side slide rails a228, b263, c273, and d239), and the movement of the rear unloading bin bottom plate 13 will drive the entire rear side plate mechanism to move along the side slide rails (including side slide rails a228, b263, c273, and d239), thereby adjusting the spacing between the front and rear side plate mechanisms to accommodate pallets of different widths.

[0055] like Figure 5 As shown, the feeding hopper support assembly a includes a guide rail fixing plate aⅠ19, an X linear slide rail aⅠ20, a hopper base block aⅠ21, a knob plunger aⅠ22, a hopper guide plate aⅠ23, a Y linear slide rail aⅠ24, a damping block aⅠ25, a buffer aⅠ26, a blocking plate aⅠ27, a tray support plate aⅠ28, a cylinder aⅠ29, a floating joint aⅠ30, a cylinder connecting plate aⅠ31, a buffer aⅡ32, a damping block aⅡ33, a blocking plate aⅡ34, a Y linear slide rail aⅡ35, a guide rail fixing plate aⅡ36, a hopper base block aⅡ37, a knob plunger aⅡ38, a hopper guide plate aⅡ41, and an X linear slide rail aⅡ42; in addition, a photoelectric sensor aⅠ39 is installed on the hopper guide plate aⅡ41 through a photoelectric fixing sheet metal aⅠ40.

[0056] The front side plate mechanism is located at one end of the upper hopper: the guide rail fixing plate aⅠ19 is fixed to the bottom plate 04 of the front upper hopper by bolts, the X linear slide rail aⅠ20 is fixed to the guide rail fixing plate aⅠ19 along the X-axis by bolts, the slider of the X linear slide rail aⅠ20 is fixed under the hopper base block aⅠ21, and the side of the hopper base block aⅠ21 is fixedly connected to the hopper guide plate aⅠ23; the knob plunger aⅠ22 is fixed on the hopper base block aⅠ21, and the knob plunger aⅠ22 can rotate into the guide rail fixing plate aⅠ19 to position the slider of the X linear slide rail aⅠ20, thereby positioning the hopper guide plate aⅠ23.

[0057] Similarly, the front side plate mechanism is located at the other end of the upper hopper: the guide rail fixing plate aⅡ36 is fixed to the rear upper hopper bottom plate 16 by bolts, the X linear slide rail aⅡ42 is fixed to the guide rail fixing plate aⅡ36 along the X-axis direction by bolts, the slider of the X linear slide rail aⅡ42 is fixed under the hopper base block aⅡ37, and the side of the hopper base block aⅡ37 is fixedly connected to the hopper guide plate aⅡ41; the knob plunger aⅡ38 is fixed on the hopper base block aⅡ37, and the knob plunger aⅡ38 can rotate into the guide rail fixing plate aⅡ36 to position the slider of the X linear slide rail aⅡ42, thereby positioning the hopper guide plate aⅡ41.

[0058] The distance between the hopper guide plate aⅡ41 and the hopper guide plate aⅠ23 is the pallet length. The distance between the hopper guide plate aⅡ41 and the hopper guide plate aⅠ23 along the X-axis direction can be adjusted by the X-linear slide rail aⅠ20 and the X-linear slide rail aⅡ42 to accommodate pallet lengths of different lengths.

[0059] In addition, the front side plate mechanism is located in the middle of the loading bin: the Y-linear slide rail aⅠ24, damping block aⅠ25, cylinder aⅠ29, damping block aⅡ33, and Y-linear slide rail aⅡ35 are all sequentially fixed to the bottom plate 04 of the front loading bin by bolts. The Y-linear slide rails aⅠ24 and aⅡ35 are both arranged along the Y-axis, and the sliders of the Y-linear slide rails aⅠ24 and aⅡ35 are fixed to the bottom plate 03 of the front upper sub-plate by bolts.

[0060] The telescopic rod of cylinder aⅠ29 is connected to the floating joint aⅠ30. The floating joint aⅠ30 is locked onto the cylinder connecting plate aⅠ31. The upper surface of the cylinder connecting plate aⅠ31 is fixed to the bottom of the front upper sub-plate 03. The front upper sub-plate 03 is fixed to the sub-plate support plate aⅠ28 by bolts. The telescopic rod of cylinder aⅠ29 drives the front upper sub-plate 03 and the sub-plate support plate aⅠ28 to reciprocate along the Y-axis.

[0061] Buffer aⅠ26 is positioned in the middle of baffle plate aⅠ27, and buffer aⅡ32 is positioned in the middle of baffle plate aⅡ34. Baffle plate aⅠ27 and baffle plate aⅡ34 are fixed to the bottom of the front upper sub-plate 03, and the front upper sub-plate 03 is limited in the Y-axis direction by damping block aⅠ25 and damping block aⅡ33 respectively.

[0062] The structure of the feeding hopper support component b is identical to that of the feeding hopper support component a, and the positions of the components correspond one-to-one. Specifically: The feeding hopper support assembly b includes a guide rail fixing plate bⅠ62, an X linear slide rail bⅠ63, a hopper base block bⅠ61, a knob plunger bⅠ60, a hopper guide plate bⅠ64, a Y linear slide rail Ⅰb58, a damping block bⅠ57, a buffer bⅠ55, a blocking plate bⅠ56, a tray support plate bⅠ59, a cylinder bⅠ52, a floating joint bⅠ53, a cylinder connecting plate bⅠ54, a buffer bⅡ50, a damping block bⅡ51, a blocking plate bⅡ49, a Y linear slide rail bⅡ48, a guide rail fixing plate bⅡ46, a hopper base block bⅡ44, a knob plunger bⅡ45, a hopper guide plate bⅡ43, and an X linear slide rail bⅡ47.

[0063] The rear side plate mechanism is located at one end of the upper hopper: the guide rail fixing plate bⅠ62 is fixed to the bottom plate 16 of the rear upper hopper by bolts, the X linear slide rail bⅠ63 is fixed to the guide rail fixing plate bⅠ62 along the X-axis by bolts, the slider of the X linear slide rail bⅠ63 is fixed under the hopper base block bⅠ61, and the side of the hopper base block bⅠ61 is fixedly connected to the hopper guide plate bⅠ64; the knob plunger bⅠ60 is fixed on the hopper base block bⅠ61, and the knob plunger bⅠ60 can rotate into the guide rail fixing plate bⅠ62 to position the slider of the X linear slide rail bⅠ63, thereby positioning the hopper guide plate bⅠ64.

[0064] Similarly, the rear side plate mechanism is located at the other end of the upper hopper: the guide rail fixing plate bⅡ46 is fixed to the rear upper hopper bottom plate 16 by bolts. The X linear slide rail bⅡ47 is fixed to the guide rail fixing plate bⅡ46 along the X-axis direction by bolts. The slider of the X linear slide rail bⅡ47 is fixed under the hopper base block bⅡ44. The side of the hopper base block bⅡ44 is fixedly connected to the hopper guide plate bⅡ43. The knob plunger bⅡ45 is fixed on the hopper base block bⅡ44. The knob plunger bⅡ45 can rotate into the guide rail fixing plate bⅡ46 to position the slider of the X linear slide rail bⅡ47, thereby positioning the hopper guide plate bⅡ43.

[0065] The distance between the hopper guide plate bⅡ43 and the hopper guide plate bⅠ64 is the pallet length. The distance between the hopper guide plate bⅡ43 and the hopper guide plate bⅠ64 along the X-axis direction can be adjusted by the X-linear slide rail bⅠ63 and X-linear slide rail bⅡ47 to accommodate pallet lengths of different lengths.

[0066] In addition, the rear side plate mechanism is located in the middle of the loading bin: the Y linear slide rail Ib58, damping block bI57, cylinder bI52, damping block bII51, and Y linear slide rail bII48 are all sequentially fixed to the rear loading bin bottom plate 16 by bolts. The Y linear slide rail Ib58 and Y linear slide rail bII48 are both arranged along the Y-axis, and the sliders of the Y linear slide rail Ib58 and Y linear slide rail bII48 are fixed to the bottom of the rear upper sub-plate 17 by bolts.

[0067] The telescopic rod of cylinder bⅠ52 is connected to the floating joint bⅠ53. The floating joint bⅠ53 is locked onto the cylinder connecting plate bⅠ54. The upper surface of the cylinder connecting plate bⅠ54 is fixed to the bottom of the rear upper sub-plate 17. The rear upper sub-plate 17 is fixed to the sub-plate support plate bⅠ59 by bolts. The telescopic rod of cylinder bⅠ52 drives the rear upper sub-plate 17 and the sub-plate support plate bⅠ59 to reciprocate along the Y-axis.

[0068] Buffer bⅠ55 is positioned in the middle of bⅠ56, and buffer bⅡ50 is positioned in the middle of bⅡ49. BⅠ56 and bⅡ49 are fixed to the bottom of the rear upper sub-plate 17, and the rear upper sub-plate 17 is limited in the Y-axis direction by damping blocks bⅠ57 and bⅡ51, respectively.

[0069] It should be noted that the space formed by the front upper tray base plate 03, the rear upper tray base plate 17, the hopper guide plate aⅠ23, the hopper guide plate aⅡ41, the hopper guide plate bⅠ64, and the hopper guide plate bⅡ43 is the accommodating space of the loading pallet 02; the tray support plates aⅠ28 and bⅠ59 support or release the two long sides of the loading pallet 02 through reciprocating motion along the Y-axis; the hopper guide plates aⅠ23, aⅡ41, bⅠ64, and bⅡ43 each have a certain height and can be used to support multiple pallets.

[0070] like Figure 6 As shown, in this embodiment, the rear unloading hopper bottom plate 13 is equipped with a barcode scanner 65, a barcode scanner connecting plate 66, a hopper rib plate b78, a motor fixing plate b79, a motor connecting plate b77, a barcode scanner fixing seat 81, a connecting rod I 82, a connecting rod II 83, and a connecting block 84. The front unloading hopper bottom plate 07 is also equipped with a motor connecting plate a67, a hopper rib plate a68, and a motor fixing plate a73.

[0071] At the end of the front unloading hopper bottom plate 07 facing the upper hopper: the lower end of the motor mounting plate a73 is fixed to the hopper base plate 227 of the base plate assembly module 003 by bolts. The side of the hopper rib plate a68 is fixed to the motor mounting plate a73, and the bottom surface of the hopper rib plate a68 is fixed to the hopper base plate 227, serving a reinforcing function. The flange of the front lead screw motor 72 is fixed to the motor mounting plate a73, the guide bearing on the lead screw of the front lead screw motor 72 is fixed to the motor connecting plate a67, and the upper surface of the motor connecting plate a67 is fixed to the bottom of the front unloading hopper bottom plate 07.

[0072] At the end of the rear unloading hopper bottom plate 13 facing the upper hopper: the lower end of the motor mounting plate b79 is fixed to the hopper base plate 227 of the base plate assembly module 003 by bolts. The side of the hopper rib plate b78 is fixed to the motor mounting plate b79, and the bottom surface is fixed to the hopper base plate 227, serving a reinforcing function. The flange of the rear lead screw motor 80 is fixed to the motor mounting plate b79, and the guide bearing on its lead screw is fixed to the motor connecting plate b77. The upper surface of the motor connecting plate b77 is fixed to the bottom of the rear unloading hopper bottom plate 13.

[0073] The barcode scanner 65 is fixed to the barcode scanner connecting plate 66 by bolts. The barcode scanner connecting plate 66 is locked and fixed to the connecting rod II 83. The connecting rod II 83 is connected to the connecting rod I 82 through the connecting block 84. The lower end of the connecting rod I 82 is locked and fixed to the barcode scanner mounting base 81. The function of the barcode scanner 65 is to scan the QR codes on all the trays and output records for traceability.

[0074] like Figure 7 As shown, the hopper support assembly a includes a guide rail fixing plate aⅢ92, an X linear slide rail aⅢ91, a hopper base block aⅢ93, a knob plunger aⅢ94, a hopper guide plate aⅢ69, a Y linear slide rail aⅢ96, a damping block aⅢ85, a buffer aⅢ97, a blocking plate aⅢ98, a tray support plate aⅢ110, a cylinder aⅢ99, a floating joint aⅢ111, a cylinder connecting plate aⅢ112, a buffer aⅣ100, a damping block aⅣ109, a blocking plate aⅣ108, a Y linear slide rail aⅣ101, a guide rail fixing plate aⅣ105, a hopper base block aⅣ106, a knob plunger aⅣ104, a hopper guide plate aⅣ74, and an X linear slide rail aⅣ107; in addition, a photoelectric sensor aⅢ89 is fixedly connected to the hopper guide plate aⅢ69 via a photoelectric fixing sheet metal aⅢ90.

[0075] The unloading hopper support assembly a has the same structure as the loading hopper support assembly a, and the connection relationships between the components in the unloading hopper support assembly a are also the same as those between the components in the loading hopper support assembly a. Briefly, X-linear slide rails aⅢ91 and aⅣ107 are set along the X-axis on the front unloading hopper bottom plate 07. The distance between the hopper guide plate aⅢ69 and the hopper guide plate aⅣ74 along the X-axis is adjusted by the corresponding sliders on X-linear slide rails aⅢ91 and aⅣ107 to accommodate different pallet lengths. Limiting is achieved through the corresponding cooperation of the knob plunger aⅢ94, knob plunger aⅣ104, guide rail fixing plate aⅢ92, and guide rail fixing plate aⅣ105. The telescopic rod of cylinder aⅢ99, located in the middle of the bottom plate 07 of the front unloading hopper, drives the bottom plate 08 of the front lower sub-disc and the sub-disc support plate aⅢ110 to reciprocate along the Y-axis direction, and the Y-axis is limited by damping blocks aⅢ85 and aⅣ109.

[0076] like Figure 8 As shown, the hopper support assembly b includes a guide rail fixing plate bⅢ135, an X linear slide rail bⅢ136, a hopper base block bⅢ133, a knob plunger bⅢ134, a hopper guide plate bⅢ76, a Y linear slide rail bⅢ131, a damping block bⅢ114, a buffer bⅢ130, a blocking plate bⅢ129, a tray support plate bⅢ115, a cylinder bⅢ128, a floating joint bⅢ127, a cylinder connecting plate bⅢ116, a buffer bⅣ126, a damping block bⅣ117, a blocking plate bⅣ118, a Y linear slide rail bⅣ125, a guide rail fixing plate bⅣ122, a hopper base block bⅣ120, a knob plunger bⅣ123, a hopper guide plate bⅣ75, and an X linear slide rail bⅣ121.

[0077] The unloading hopper support assembly b has the same structure as the loading hopper support assembly b, and the connection relationships between the components in the unloading hopper support assembly b are also the same as those between the components in the loading hopper support assembly b. Briefly, the X-axis linear guide rails bⅢ136 and bⅣ121 are set on the rear unloading hopper bottom plate 13 along the X-axis direction. The spacing between the hopper guide plates bⅢ76 and bⅣ75 along the X-axis direction is adjusted by the corresponding sliders on the X-axis linear guide rails bⅢ136 and bⅣ121 to accommodate pallet lengths of different lengths. Limiting is achieved through the corresponding cooperation of the rotary plungers bⅢ134 and bⅣ123 with the guide rail fixing plates bⅢ135 and bⅣ122. The extension and retraction of the cylinder bⅢ128 telescopic rod, which is located in the middle of the rear unloading bin bottom plate 13, drives the rear lower sub-disc bottom plate 12 and the sub-disc support plate bⅢ115 to reciprocate along the Y-axis direction, and the Y-axis is limited by the damping block bⅢ114 and the damping block bⅣ117.

[0078] It should be noted that the space formed by the tray divider aⅢ110, tray divider bⅢ115, hopper guide plate aⅢ69, hopper guide plate aⅣ74, hopper guide plate bⅢ76, and hopper guide plate bⅣ75 is the accommodating space for the unloading pallet 09; the tray divider aⅢ110 and tray divider bⅢ115 support or release the two long sides of the unloading pallet 09 through reciprocating motion along the Y-axis; the hopper guide plates aⅢ69, hopper guide plate aⅣ74, hopper guide plate bⅢ76, and hopper guide plate bⅣ75 each have a certain height and can be used to support multiple pallets.

[0079] As an improvement, to better sense the pallet, the front unloading hopper bottom plate 07 is also equipped with multi-point sensors. For example, at the location corresponding to the hopper guide plate aⅢ69, a fiber optic fixing plate aⅢ86 is provided via fiber optic sensor aⅢ87, and a photoelectric sensor aⅣ95 is provided via photoelectric fixing plate aⅣ88. At the location corresponding to the hopper guide plate aⅣ74, a fiber optic sensor aⅣ102 is provided via fiber optic fixing plate aⅣ103. Correspondingly, a fiber optic fixing plate bⅢ113 is provided on the rear unloading hopper bottom plate 13 via fiber optic sensor bⅢ124.

[0080] In this embodiment, as Figure 9-11 As shown, the transmission mechanism a of the transplanting area a includes a clamping synchronous pulley a183, a synchronous belt a185, a synchronous pulley a187, a lifting bearing seat a186, a lifting lead screw base plate a189, four lifting columns a (lifting column aⅠ180, lifting column aⅡ181, lifting column aⅢ188, and lifting column aⅣ190 respectively), a lifting fixing plate a197, two lifting connecting rods a (lifting connecting rod aⅠ178 and lifting connecting rod aⅡ198 respectively), two linear bearings a (linear bearing aⅠ141 and linear bearing aⅡ142 respectively), a lifting product support plate a148, a precision lead screw a184, a lead screw support assembly a179, and a bottom protective cover a154.

[0081] The flange end of the lifting servo motor a151 is fixed on the motor adjusting plate a152. The motor shaft of the lifting servo motor a151 is fixed to the clamping synchronous pulley a183. The motor shaft of the lifting servo motor a151 is set along the Z-axis. The synchronous pulley a187 is fixed to the bottom end of the precision lead screw a184. The precision lead screw a184 is set along the Z-axis. The synchronous pulley a187 is connected to the clamping synchronous pulley a183 through the synchronous belt a185. The rotation of the motor shaft of the lifting servo motor a151 drives the precision lead screw a184 to rotate synchronously.

[0082] The lifting fixing plate a197 is fixed to the lifting base plate a153 by four lifting columns a. The lifting columns a limit the lifting fixing plate a197 and prevent it from rotating in the horizontal direction. The top end of the precision lead screw a184 is rotatably connected to the lifting fixing plate a197. The lead screw support assembly a179 on the precision lead screw a184 is fixed to the lifting lead screw base plate a189 by bolts. The rotation of the precision lead screw a184 causes the lead screw support assembly a179 to drive the lifting lead screw base plate a189 to move up and down along the Z-axis.

[0083] The lifting screw base plate a189 and the lifting product support plate a148 are connected by lifting connecting rods aⅠ178 and aⅡ198. The lifting connecting rods aⅠ178 and aⅡ198 pass through linear bearings aⅠ141 and aⅡ142 respectively, which are mounted on the lifting fixed plate a197, allowing for vertical movement. In other words, the rotation of the precision screw a184 causes the screw support assembly a179 to move vertically along the precision screw a184, causing the lifting screw base plate a189 to reciprocate vertically along the Z-axis, thereby driving the lifting product support plate a148 to move vertically. The lifting product support plate a148 is connected to the fixture base plate a146, and the fixture base plate a146 and its fixture support plate a145 move vertically together with the lifting product support plate a148.

[0084] The air pipe connector a172 is fixed under the fixture base plate a146; the O-ring a174 is sealed between the fixture support plate a145 and the fixture base plate a146 to prevent air leakage during vacuuming. The photoelectric sensor aⅡ144 is fixed to the fixture base plate a146 via photoelectric fixing sheet metal aⅡ143, and is used to identify whether a tray is adsorbed on the fixture support plate a145. The limiting block a140 is fixed to the upper surface of the fixture support plate a145 by bolts, and is used to limit the movement of the tray.

[0085] Three photoelectric switches a (namely photoelectric switch aⅠ191, photoelectric switch aⅡ192, and photoelectric switch aⅢ195) are fixed from top to bottom on the lifting pad aⅡ196 via sensor bracket a193, corresponding to three different lifting positions; the lifting sensor a194 is set on the lifting screw base plate a189.

[0086] The transmission mechanism b of the transplanting area b has the same structure as the transmission mechanism a. The transmission mechanism b includes a clamping synchronous pulley b208, a synchronous belt b209, a synchronous pulley b211, a lifting bearing seat b212, a lifting lead screw base plate b213, four lifting columns b (lifting column bⅠ214, lifting column bⅡ215, lifting column bⅢ206, and lifting column bⅣ207 respectively), a lifting fixing plate b221, two lifting connecting rods b (lifting connecting rod bⅠ203 and lifting connecting rod bⅡ222 respectively), two linear bearings b (linear bearing bⅠ162 and linear bearing bⅡ164 respectively), a lifting product support plate b166, a precision lead screw b204, a lead screw support assembly b205, and a bottom protective cover b161.

[0087] The flange end of the lifting servo motor b159 is fixed on the motor adjusting plate b158. The motor shaft of the lifting servo motor b159 is fixed to the clamping synchronous pulley b208. The motor shaft of the lifting servo motor b159 is set along the Z-axis. The synchronous pulley b211 is fixed to the bottom end of the precision lead screw b204. The precision lead screw b204 is set along the Z-axis. The synchronous pulley b211 is connected to the clamping synchronous pulley b208 through the synchronous belt b209. The rotation of the motor shaft of the lifting servo motor b159 drives the precision lead screw b204 to rotate synchronously.

[0088] The lifting fixing plate b221 is fixed to the lifting base plate b160 by four lifting columns b. The lifting columns b limit the lifting fixing plate b221 and prevent it from rotating in the horizontal direction. The top end of the precision lead screw b204 is rotatably connected to the lifting fixing plate b221. The lead screw support assembly b205 on the precision lead screw b204 is fixed to the lifting lead screw base plate b213 by bolts. The rotation of the precision lead screw b204 causes the lead screw support assembly b205 to drive the lifting lead screw base plate b213 to move up and down along the precision lead screw b204.

[0089] The lifting screw base plate b213 and the lifting product support plate b166 are connected by lifting connecting rods bⅠ203 and bⅡ222. Lifting connecting rods bⅠ203 and bⅡ222 pass through linear bearings bⅠ162 and bⅡ164 respectively, which are mounted on the lifting fixed plate b221, allowing for vertical movement. In other words, the rotation of the precision screw b204 causes the screw support assembly b205 to move vertically along the precision screw b204, causing the lifting screw base plate b213 to reciprocate vertically along the Z-axis, thereby driving the lifting product support plate b166 to move vertically. The lifting product support plate b166 is connected to the fixture base plate b167, and the fixture base plate b167 and its fixture support plate b139 move vertically together with the lifting product support plate b166.

[0090] The air pipe connector b200 is fixed under the fixture base plate b167; the O-ring b199 is sealed between the fixture support plate b139 and the fixture base plate b167 to prevent air leakage during vacuuming. The photoelectric sensor bⅠ138 is fixed to the fixture base plate b167 via photoelectric fixing sheet metal bⅠ137, and is used to identify whether a tray is adsorbed on the fixture support plate b139. The limiting block b is fixed to the upper surface of the fixture support plate b139 by bolts, and is used to limit the movement of the tray.

[0091] Three photoelectric switches b (photoelectric switch bⅠ217, photoelectric switch bⅡ218, and photoelectric switch Ⅲb220 respectively) are fixed from top to bottom on the lifting pad bⅡ210 through the sensor bracket b216, corresponding to three different lifting positions respectively; the lifting sensor b219 is set on the lifting screw base plate b213.

[0092] As a further improvement, in transplanting area a: the lifting product support plate a148 and the fixture base plate a146 are connected by a rotation angle adjustment mechanism. The rotation angle adjustment mechanism includes an angle synchronization belt 147, an angle motor adjustment plate 149, an angle adjustment servo motor 150, an angle synchronization pulley 173, an angle clamping type synchronization pulley 175, and a rotating shaft 177.

[0093] The flange end of the angle adjustment servo motor 150 is fixed to the bottom surface of the angle motor adjustment plate 149, the angle motor adjustment plate 149 is fixed to the lifting product support plate a148, the motor shaft of the angle adjustment servo motor 150 is fixed to the angle clamping type synchronous pulley 175, and the motor shaft of the angle adjustment servo motor 150 is set along the Z-axis direction.

[0094] The rotating shaft 177 is positioned along the Z-axis. Its upper end is fixed to the bottom surface of the fixture base plate a146 via bolts, while its lower end is rotatably connected to the lifting product tray a148. An angle synchronous pulley 173 is fixed in the middle of the rotating shaft 177, and is connected to the angle clamping type synchronous pulley 175 via an angle synchronous belt 147. The rotation of the angle adjustment servo motor 150 drives the rotating shaft 177 to rotate, which in turn causes the fixture base plate a146 to rotate horizontally. This allows for fine-tuning of the angles of the fixture base plate a146 and its upper fixture tray a145, resulting in better fit and adhesion of the tray.

[0095] The lifting product support plate a148 is equipped with a first damping block 156 and a second damping block 176 on both sides, which limit the rotation angle of the fixture base plate a146. Angle photoelectric switches I 168, II 169, and III 171 are fixed to the upper surface of the lifting product support plate a148 by bolts, respectively realizing the functions of forward limit, origin sensing, and reverse limit; correspondingly, the angle light shield 170 is fixed to the bottom of the fixture base plate a146 by bolts.

[0096] The lifting product pallet b166 and the fixture base plate b167 in the transplanting area b can also be connected via the aforementioned rotation angle adjustment mechanism. Alternatively, since the transplanting area b only serves pallets for the temporary storage bin and the unloading bin, the rotation angle adjustment mechanism may not be required. In this embodiment, the lifting product pallet b166 is fixedly connected to the fixture base plate b167 via four support columns b (support column bⅠ201, support column bⅡ202, support column bⅢ223, and support column bⅣ224).

[0097] like Figure 2-3As shown, in this embodiment, the substrate assembly module 003 further includes a transfer tank chain plate 230 for setting the dust-free drag chain 232. One end of the dust-free drag chain 232 is fixed to the hopper substrate 227 via the hopper upright plate 270, and the other end of the dust-free drag chain 232 is fixed to the transfer tank chain fixing plate 157 via bolts. The transfer tank chain fixing plate 157 is fixed to the middle of the lifting substrate 165 on the side facing the dust-free drag chain 232.

[0098] The slide rail 233 in the substrate is fixed to the hopper substrate 227 by the slide rail pad 261. The two sliders on the slide rail 233 in the substrate are fixed to the lower surface of the lifting substrate 165 by bolts. The lifting substrate 165 and the two transfer areas on it reciprocate along the slide rail 233 in the substrate in the X-axis direction.

[0099] Side slide rail a228 is fixed to hopper base plate 227 via a frame structure consisting of horizontal plate a260, right hopper vertical plate a258, left hopper vertical plate a264, and hopper guide base plate a229. The two sliders on side slide rail a228 are connected to front upper fixing block 01 and rear upper fixing block 18, respectively.

[0100] The side slide rail d239 is fixed to the hopper base plate 227 via a frame structure composed of the horizontal plate d243, the right hopper upright plate d275, the left hopper upright plate d245, and the hopper guide base plate d235. Two sliders on the side slide rail d239 are connected to the front lower fixing block 10 and the rear lower fixing block 11, respectively. Several photoelectric switches are provided on the side of the hopper guide base plate d235 to identify changes in the distance between the front and rear side plate mechanisms. Examples include the first photoelectric switch 236, the second photoelectric switch 237, the third photoelectric switch 238, the fourth photoelectric switch 240, the fifth photoelectric switch 241, and the sixth photoelectric switch 242 in this embodiment.

[0101] Side slide rail b263 is fixed to hopper base plate 227 via a frame structure composed of right hopper upright plate b255, left hopper upright plate b265, and hopper guide base plate b267. The right slider of side slide rail b263 is fixedly connected to a semi-enclosed structure formed by right guide rail pull block b251, upper right guide rail module b252, and lower right guide rail module b253, which is fixed to the upper surface of the rear upper hopper base plate 16. The left slider of side slide rail b263 is fixedly connected to a semi-enclosed structure formed by left guide rail pull block b262, upper left guide rail module b257, and lower left guide rail module b259, which is fixed to the upper surface of the front upper hopper base plate 04.

[0102] Side slide rail c273 is fixed to hopper base plate 227 via a frame structure composed of left hopper upright plate c270, right hopper upright plate c249, and hopper guide base plate c272. The right slider of side slide rail c273 is fixedly connected to a semi-enclosed structure formed by right guide rail pull block c244, upper right guide rail module c246, and lower right guide rail module c247. This semi-enclosed structure is fixed to the upper surface of the rear hopper bottom plate 13. The left slider of side slide rail c273 is fixedly connected to a semi-enclosed structure formed by left guide rail pull block c274, upper left guide rail module c268, and lower left guide rail module c269. This semi-enclosed structure is fixed to the upper surface of the front hopper bottom plate 07.

[0103] The sides of silo reinforcing plates c250 and b256 are fixed to the lower parts of the right silo upright plates c249 and b255, respectively, to strengthen the structure and make it more stable. The sides of silo reinforcing plates c271 and b266 are fixed to the upper parts of the left silo upright plates c270 and b265, respectively, to strengthen the structure and make it more stable.

[0104] The working principle of this invention is as follows: Adjust the distance between the front and rear side plate mechanisms to accommodate pallets of different widths: By controlling the rotation of the front lead screw motor 72 and the rear lead screw motor 80, the front loading bin bottom plate 04, the front streamline connecting plate 05, and the front unloading bin bottom plate 07 are driven respectively; the rear unloading bin bottom plate 13, the rear streamline connecting plate 15, the rear loading bin bottom plate 16, and the rear upper tray bottom plate 17 move back and forth along the side slide rails. The system presets parameters to make the production line width adaptively adjust the adaptive width.

[0105] The lengths of the loading and unloading hoppers can be adjusted to accommodate pallets of different lengths. For example, the length of the loading pallet 02 can be adjusted by manually releasing knob plungers aⅠ22, aⅡ38, bⅡ45, and bⅠ60. The loading pallet 02 is placed into the loading hopper by external equipment or a robotic arm, and multiple pallets can be stacked in the loading hopper.

[0106] The translation motor 225 drives the mover of the linear module 226 to move, thereby driving the lifting component module 002 to move. When the jig plate a145 of the lifting component module 002 moves to the bottom of the loading tray 02, the angle adjustment servo motor 150 finely adjusts the angle to better fit the tray. The lifting servo motor a151 rotates to drive the jig plate a145 to rise to a certain position, so that the limit block a140 just limits the loading tray 02. At this time, the air pipe connector a172 starts to draw a vacuum, so that the jig plate a145 firmly sucks the loading tray 02 from the bottom.

[0107] The spacing of the loading bin support components is adjusted to support the pallet: cylinders aⅠ29 and bⅠ52 retract simultaneously, driving the sub-disc trays aⅠ28 and bⅠ59 to move outwards respectively. After the action is completed, the lifting servo motor a151 is activated, causing the loading pallet 02 to descend to a certain position. The translation motor 225 drives the linear module 226 to move the loading pallet 02 horizontally to the position of the temporary storage bin. When it descends to the limit slide just contacts the pallet, the air pipe connector a172 is de-vacuumed and disconnected, and the loading pallet 02 is separated from the fixture tray a145. At this time, the product pallet 14 can be stored or processed in the temporary storage bin.

[0108] After the middle pallet 14 is stored or processed, the translation motor 225 drives the mover of the linear module 226 to move by rotating, thereby driving the lifting component module 002 to move. When the jig plate b139 in the moving lifting component module 002 moves to directly below the middle pallet 14, the lifting servo motor 159 rotates to drive the jig plate 139 to rise to a certain position, just supporting the middle pallet 14. At this time, the air pipe connector b200 starts to draw a vacuum, so that the product jig plate 139 firmly sucks the middle pallet 14 from the bottom.

[0109] The lifting servo motor 159 continues to operate, and the fixture plate 139 supports the upward movement of the middle tray 14 and disengages it from the front streamline connecting plate 05 and the rear streamline connecting plate 15 at a certain position. The translation motor 225 drives the linear module 226 to move the product tray 14 horizontally to the position of the unloading bin. The lifting servo motor b159 rotates, causing the fixture plate b139 to rise to a position where it just contacts the unloading tray 09. At this time, cylinders aⅢ99 and bⅢ128 simultaneously... The lifting servo motor 159 continues to operate, driving the product fixture tray 139 to rise to a certain position. Then, cylinders aⅢ99 and bⅢ128 extend simultaneously, so that the sub-plate trays aⅢ110 and bⅢ115 just support the middle tray 14. At this time, the air pipe connector a172 disconnects the vacuum, the middle tray 14 separates from the fixture tray b139, and the lifting servo motor b159 continues to operate, causing the fixture tray b139 to descend to a specific position to wait.

[0110] This invention integrates two major functions: three-station automatic transfer and conveying and servo adaptive width adjustment. It significantly improves the process flow efficiency of the entire production line. It integrates the horizontal long-distance pallet transfer and lifting and the servo adaptive adjustment of the production line width into a coordinated action. There is no need to add additional separate transfer fixtures for different specifications. After a single loading, the entire process of loading, intermediate temporary storage and inspection or processing, and unloading can be completed simultaneously. With the servo adaptive width adjustment, it is compatible with multiple specifications of workpieces. It saves the time spent on disassembling and assembling fixtures for multiple models of production change and secondary transfer and repositioning of workpieces. The overall cycle efficiency is effective and it is suitable for high-speed flexible automated production lines.

[0111] Meanwhile, this invention features ultra-high repeatability and high yield. The integrated linear module at the bottom supports the pallet for smooth translation. Combined with dual servo synchronous drive and limit baffles on both sides of the production line, it prevents skewing and resists lateral loads throughout the process. The conveying reference is always centered and parallel. The servo closed-loop adjustment has extremely small width dimension error. It has extremely high consistency in the conveying of multi-specification workpieces and multi-station processing, greatly reducing defects such as workpiece deviation, jamming, squeezing and scratching, processing misalignment, poor pressing, and assembly defects, and significantly improving product yield.

[0112] In summary, the integrated structure of this invention simplifies the overall machine layout and reduces overall costs. The lifting component module replaces the multi-section drive mechanism, and the servo width adjustment eliminates the need for multiple sets of manual locking profiles. This significantly reduces the space occupied by the independent lifting, transplanting, and width adjustment modules, resulting in a more compact overall equipment size, lower material procurement costs, and simpler and more organized piping and wiring. The difficulty of initial installation and commissioning, as well as subsequent maintenance, is greatly reduced. In use, only the corresponding product tray base needs to be replaced and the servo width parameters retrieved to quickly switch between different workpiece sizes. It is widely compatible with various automated assembly lines, multi-station inspection fixtures, segmented processing lines, and tray circulation transfer equipment.

[0113] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic transfer silo module structure, characterized in that, include: The substrate assembly module includes a hopper substrate and linear modules, a central slide rail, and a side slide rail, all disposed on the hopper substrate; the central slide rail and the linear modules are disposed along the X-axis direction, and the side slide rails are disposed along the Y-axis direction. The hopper bottom plate module includes two side plate mechanisms arranged along the X-axis. The two side plate mechanisms are respectively fixedly connected to two sliders of the side slide rail. The side plate mechanisms can reciprocate along the Y-axis under the drive of the screw motor to adjust the distance between the two side plate mechanisms. The side panel mechanism includes a feeding bin support assembly, a limiting slide, and a discharging bin support assembly; the two feeding bin support assemblies can support or release the feeding pallet by adjusting their own distance; the two discharging bin support assemblies can support or release the discharging pallet by adjusting their own distance; the limiting slide is used to support the middle pallet; The lifting component module includes a lifting base plate and two transfer areas provided on the lifting base plate. One transfer area is used to absorb the loading tray or the middle tray, and the other transfer area is used to absorb the middle tray or the unloading tray. The lifting base plate is used to be fixedly connected to the slider on the slide rail in the base plate and the mover on the linear module. The translation motor in the linear module is used to drive the mover to move the two transplanting areas back and forth along the X-axis.

2. The automatic transfer silo module structure as described in claim 1, characterized in that, The lifting component module includes a lifting base plate and two transfer areas set on the lifting base plate. Each transfer area is equipped with a jig support plate, a jig base plate, a lifting base plate, a lifting servo motor, an adsorption mechanism, and a transmission mechanism. The lifting base plate is located below the lifting base plate and is fixedly connected to it; the lifting servo motor is installed on the lifting base plate; the fixture tray is fixedly and sealed to the fixture base plate, and an adsorption mechanism is provided between them; the lifting servo motor drives the fixture tray to reciprocate along the Z-axis direction through the transmission mechanism.

3. The automatic transfer silo module structure as described in claim 2, characterized in that, There are four side slide rails, namely side slide rail a, side slide rail b, side slide rail c, and side slide rail d, which are arranged sequentially along the X-axis. The height of all four side slide rails is higher than that of the two side plate mechanisms, which are respectively the front side plate mechanism and the rear side plate mechanism. The sliders of the four side slide rails on the same side are fixedly connected to the upper surface of the front side plate mechanism, and the sliders of the four side slide rails on the other side are fixedly connected to the upper surface of the rear side plate mechanism. The area between side slide rail a and side slide rail b corresponds to the feeding bin, the area between side slide rail b and side slide rail c corresponds to the temporary storage bin, and the area between side slide rail c and side slide rail d corresponds to the discharging bin.

4. The automatic transfer silo module structure as described in claim 2, characterized in that, The feeding hopper support assembly includes a guide rail fixing plate I, an X-linear slide rail I, a hopper base block I, a knob plunger I, a hopper guide plate I, a guide rail fixing plate II, a hopper base block II, a knob plunger II, a hopper guide plate II, and an X-linear slide rail II; X-axis linear slide rail I is fixed to the side plate mechanism along the X-axis direction via guide rail fixing plate I. The slider of X-axis linear slide rail I is fixed below the hopper base block I. The side of hopper base block I is fixedly connected to hopper guide plate I. Knob plunger I is fixed on hopper base block I. Knob plunger I can rotate into guide rail fixing plate I to position the slider of X-axis linear slide rail I, thereby positioning hopper guide plate I. X-axis linear slide rail II is fixed to the side plate mechanism along the X-axis direction by guide rail fixing plate aII. The slider of X-axis linear slide rail II is fixed below the hopper base block II. The side of hopper base block II is fixedly connected to hopper guide plate II. Knob plunger II is fixed on hopper base block II. Knob plunger II can rotate into guide rail fixing plate II to position the slider of X-axis linear slide rail II, thereby positioning hopper guide plate II. By adjusting the distance between the hopper guide plate II and the hopper guide plate I along the X-axis using X-linear slide rail I and X-linear slide rail II respectively, it is possible to accommodate pallet lengths of different lengths.

5. The automatic transfer silo module structure as described in claim 4, characterized in that, The feeding hopper support assembly also includes Y linear slide rail I, damping block I, buffer I, blocking plate I, disc tray I, cylinder I, floating joint I, cylinder connecting plate I, buffer II, damping block II, blocking plate II, and Y linear slide rail II; Y-linear slide rail I, damping block I, cylinder I, damping block II, and Y-linear slide rail II are all fixed to the side plate mechanism in sequence; Y-linear slide rail I and Y-linear slide rail II are both set along the Y-axis, and their sliders are fixed to the bottom surface of the upper dividing plate base plate provided in the side plate mechanism. The telescopic rod of cylinder I is connected to the bottom of the upper tray base plate through floating joint I. The upper tray base plate is fixed to the tray support plate I. The telescopic rod of cylinder I drives the tray support plate I to reciprocate along the Y-axis. The upper tray base plates on the two side plate mechanisms are used to support the two long sides of the loading pallet.

6. The automatic transfer silo module structure as described in any one of claims 2-5, characterized in that, The transmission mechanism includes a clamping synchronous pulley, a synchronous belt, a synchronous pulley, a lifting bearing seat, a lifting lead screw base plate, a lifting column, a lifting fixing plate, a lifting connecting rod, a linear bearing, a lifting product support plate, a lead screw, and a lead screw support assembly. The lifting servo motor shaft is fixed to the clamping synchronous pulley; the synchronous pulley is fixed to the bottom end of the lead screw, and the synchronous pulley is connected to the clamping synchronous pulley through the synchronous belt. The rotation of the lifting servo motor shaft drives the lead screw to rotate. The lifting fixing plate is fixed to the lifting base plate by four lifting columns; the top of the lead screw is rotatably connected to the lifting fixing plate, and the lead screw support assembly on the lead screw is fixed to the lifting lead screw base plate. The lifting lead screw base plate and the lifting product tray are connected by two lifting connecting rods, which pass through linear bearings set on the lifting fixing plate respectively; the rotation of the lead screw causes the lead screw support assembly to move up and down along the lead screw, which in turn drives the lifting lead screw base plate to move up and down, thereby driving the lifting product tray to move up and down reciprocally along the Z-axis. The lifting product pallet is connected to the fixture base plate, and the fixture base plate and the fixture pallet on it move up and down together with the lifting product pallet.

7. The automatic transfer silo module structure as described in claim 6, characterized in that, It is also equipped with three photoelectric switches; the three photoelectric switches are fixed to the lifting pad from top to bottom through the sensor bracket, each corresponding to a different lifting position; the lifting sensor plate is set on the lifting screw base plate.

8. The automatic transfer silo module structure as described in claim 6, characterized in that, In the transfer area near the loading hopper, the lifting product pallet is connected to the fixture base plate via a rotation angle adjustment mechanism; the rotation angle adjustment mechanism includes an angle synchronization belt, an angle adjustment servo motor, an angle synchronization pulley, an angle clamping type synchronization pulley, and a rotating shaft; The flange end of the angle adjustment servo motor is fixed to the lifting product tray, and the motor shaft of the angle adjustment servo motor is fixed to the angle clamping synchronous belt pulley; the upper end of the rotating shaft is fixed to the bottom surface of the fixture base plate, and the lower end of the rotating shaft is rotatably connected to the lifting product tray. Angle timing pulleys are fixed in the middle of the rotating shaft, and angle timing pulleys and angle clamping timing pulleys are connected by angle timing belts; the rotation of the angle adjustment servo motor shaft drives the rotating shaft to rotate, and the rotation of the rotating shaft drives the fixture base plate to rotate in the horizontal direction, so as to adjust the angle of the fixture base plate and the fixture support plate on it.

9. The automatic transfer silo module structure as described in claim 8, characterized in that, Damping blocks are provided on both sides of the lifting product pallet to limit the rotation angle of the fixture base plate; Three angle photoelectric switches are fixed on the upper surface of the lifting product tray, serving as positive limit, origin, and negative limit switches respectively; correspondingly, angle light shields are fixed on the bottom surface of the fixture base plate.

10. The automatic transfer silo module structure as described in any one of claims 2-5, characterized in that, The base plate assembly module also includes a transfer tank chain plate for setting up a dust-free cable chain. One end of the dust-free cable chain is fixed to the base plate of the hopper via the hopper upright plate, and the other end of the dust-free cable chain is fixed to the transfer tank chain fixing plate. The transfer tank chain fixing plate is fixed to the middle of the side of the lifting base plate facing the dust-free cable chain.

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