Discharging equipment for tray

Abstract

The utility model belongs to the technical field of tray transferring equipment, and particularly relates to a tray discharging device which is characterized in that a first bearing claw and a pulling claw are arranged at the bottom of a first material frame, and a whole stack of trays is borne when the first bearing claw loosens stacked materials by utilizing the lifting function of a first tray assembly, so that the trays are lowered by the height of one layer; and when the first bearing claw is inserted into the bottom of the Tray disc on the last but one layer, the stacked materials located above the Tray disc on the bottommost layer are borne again, and the pulling claw can reset downwards while the first tray assembly moves downwards, so that the Tray disc on the bottommost layer is buckled down and falls onto the first tray assembly, and the Tray disc is transferred to the corresponding position. By means of the structure, automatic discharging of the trays is achieved, manual carrying is not needed, the pulling claws are used for assisting, the trays can be directly separated while the first tray assembly descends, automatic discharging is achieved, and the discharging efficiency is higher.

Description

Technical Field

[0001] The utility model belongs to the technical field of tray transfer equipment, in particular to a tray discharging equipment. Background Art

[0002] In the current parts assembly production line, the transfer and collection and discharge processes of the tray still rely heavily on manual operations. In the traditional production method, operators need to manually carry the trays full of parts to each workstation, and then use robots and other devices to take out the parts one by one for assembly. When a tray of parts is used up, the operator needs to quickly replace the empty tray with a fully loaded new tray. This production method is not only inefficient, but also consumes a lot of physical energy for the operators. Long working hours can easily lead to fatigue, which in turn affects production efficiency and product quality. Therefore, the development of a device that can realize automatic tray discharge is of great significance to improving production efficiency, reducing labor intensity, and optimizing production processes. Utility Model Content

[0003] The utility model aims to overcome the shortcoming that manual handling of trays is still required in the existing assembly production line, and to provide a device capable of automatically discharging materials from the trays.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0005] A material discharge device for a tray, comprising a first material discharge mechanism and a first transfer mechanism, wherein the first material discharge mechanism is provided with a first material rack for accommodating the tray, a first supporting claw arranged at the bottom end of the first material rack for supporting the bottom of the tray, and a pulling claw, a slot is formed between each two adjacent layers of the trays, the first supporting claw and the pulling claw are arranged along the Y-axis direction, and both can be moved along the X-axis direction to approach the tray and insert into the slot, or to move away from the tray and detach from the slot, the first material discharge mechanism is further provided with a trigger portion connected to the pulling claw, and an elastic component for driving the pulling claw to move downward and reset, and the trigger portion extends to the bottom of the first material rack;

[0006] The first transfer mechanism can be controlled to move to the bottom of the first material rack, and is equipped with a first liftable tray assembly. The bottom of the first tray assembly is equipped with a driving part located at the lower side of the trigger part. The first tray assembly can be controlled to move upward to a preset height to drive the driving part to push the trigger part and drive the pulling claw to move upward. When the first supporting claw moves to disengage from the Tray, the entire stack of Trays descends and is supported on the upper side of the first tray assembly. The first tray assembly can be controlled to move downward and reset after the first supporting claw and the pulling claw move to insert into the slot, so that the pulling claw resets downward under the action of the elastic component to pull the Tray at the bottom toward the direction of the first tray assembly.

[0007] The lifting and lowering function of the first tray assembly enables the first supporting claw to support the entire stack of trays when the first supporting claw releases the stack of materials, so that the tray is lowered by one layer, and when the first supporting claw is inserted into the bottom of the second-to-last tray, the stack of materials above the bottom tray is supported again, and the pulling claw is reset downward when the first tray assembly moves downward, thereby buckling the bottom tray and dropping it onto the first tray assembly so that it can be transferred to a corresponding position to realize loading or unloading operations. The above structure realizes automatic material discharge of the tray, thereby eliminating the need for manual handling, and because the tray is a relatively soft, long and thin container, the stacked trays are difficult to separate even manually. The utility model uses the pulling claw as an auxiliary, and can directly separate the trays when the first tray assembly descends, which not only realizes automatic material discharge, but also has higher material discharge efficiency.

[0008] Furthermore, the first material discharge mechanism also includes a first base connected to the bottom of the first material rack, the first material rack includes a first placement rod arranged around the first base and extending upward, the first placement rods enclose a space for accommodating the tray, the first base includes first substrates arranged opposite to each other, and a channel for the first transfer mechanism to pass through is formed between the first substrates on both sides, and the first supporting claw and the pulling claw are arranged on the upper end of the first substrate on each side.

[0009] Furthermore, the first substrate is respectively provided with a first driving cylinder for driving the first supporting claw to move along the X-axis direction, and a second driving cylinder for driving the pulling claw to move along the X-axis direction. The upper end surfaces of the first supporting claw and the pulling claw are horizontal planes, and the bottom surfaces of the two located at one end close to the Tray are set as inclined planes inclined from the outside to the inside and upward.

[0010] Furthermore, a bracket movable along the Z-axis direction is mounted on the first substrate, the pulling claw is installed on the bracket, a through hole is provided on the first substrate, the driving unit is connected to the bracket and extends through the through hole to the bottom of the tray, and the elastic component includes a tension spring connecting the first substrate and the bracket.

[0011] Furthermore, it also includes a first material receiving mechanism arranged at the front side or the rear side of the first material discharging mechanism, the first material receiving mechanism includes a second material rack for accommodating a Tray, a second base connected to the bottom of the second material rack, and a second supporting claw arranged on the second base for supporting the bottom of the Tray, the second material rack includes a second placement rod arranged around the second base and extending upward, the second placement rods enclose a space for accommodating the Tray, the second base includes second substrates arranged opposite to each other, and a channel for the first transfer mechanism to pass through is formed between the second substrates on both sides, The upper end of the second substrate on each side is provided with the second supporting claw, and the second supporting claw has the freedom to flip upward around the Y-axis direction. The first transfer mechanism can be controlled to move to the bottom end of the second material rack so that the first tray assembly transfers the Tray to the bottom of the second material rack. The second supporting claw can be controlled to be pushed by the Tray to flip upward when the first tray assembly rises, so that the Tray can be inserted into the second material rack upward. When the first tray assembly moves downward, the second supporting claw flips downward and resets, so that the Tray is supported on the upper side of the second supporting claw.

[0012] Furthermore, a first rotating seat is arranged at the upper end of the second substrate, and the second supporting claw is rotatably assembled on the first rotating seat. A first limiting frame is arranged at the outer side of the first rotating seat, and the first limiting frame is provided with a first upper blocking portion and a first lower blocking portion arranged longitudinally at intervals. The outer end of the second supporting claw is provided with a first limiting portion extending between the first upper blocking portion and the first lower blocking portion, and the first limiting portion swings between the first upper blocking portion and the first lower blocking portion as the second supporting claw flips.

[0013] Furthermore, it also includes a first transfer mechanism and a visual recognition mechanism, the first transfer mechanism is equipped with a movable manipulator and two relatively arranged liftable bases, the first transfer mechanism can be controlled to move to the first pallet assembly and connect between the two bases, so that the bases can upwardly support the tray located on the first pallet assembly, the visual recognition mechanism is used to obtain the coordinate information of the tray on the first pallet assembly, and the manipulator grabs the material and transfers it according to the coordinate information. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional diagram of the unloading equipment;

[0015] Figure 2 and Figure 3 It is a structural schematic diagram of the first material unloading mechanism, the first material receiving mechanism, and the first transfer mechanism;

[0016] Figure 4 It is a structural schematic diagram of the first unloading mechanism when the first transfer mechanism is not pushing up;

[0017] Figure 5 It is a schematic diagram of the structure of the first unloading mechanism when the first transfer mechanism pushes upward, and a schematic diagram of the structure of the first supporting claw and the pulling claw when they are inserted into the slot;

[0018] Figure 6 It is a schematic diagram of the structure of the first unloading mechanism when the first transfer mechanism is reset downward, and a schematic diagram of the structure of the first supporting claw dragging the bottom of the Tray plate and the pulling claw resetting downward to buckle the bottom Tray plate;

[0019] Figure 7 It is a schematic diagram of the structure of the first supporting claw and the pulling claw;

[0020] Figure 8 is a structural schematic diagram of a first tray assembly;

[0021] Fig. 9 and Fig.10 They are schematic diagrams of the structure of the second supporting claw before and after flipping;

[0022] Fig.11 and Fig.12 They are schematic diagrams of the structure before and after the Tray enters the second material rack upwards. DETAILED DESCRIPTION

[0023] A preferred specific implementation of the present utility model is described below in conjunction with the accompanying drawings.

[0024] See also Figures 1 to 4 This embodiment provides a tray unloading device, including a first unloading mechanism a1, a first receiving mechanism a3, a first transfer mechanism a2, a first transfer mechanism a4 and a visual recognition mechanism a5. Figure 2 and Figure 3As shown, the first unloading mechanism a1 and the first receiving mechanism a3 are arranged along the Y-axis direction, and the order of their arrangement is not limited in this patent. The first unloading mechanism a1 and the second receiving mechanism a3 both have the function of storing Tray trays, wherein the first unloading mechanism a1 is used to output the Tray tray, and the second receiving mechanism a3 is used to recover the Tray tray. The first transfer mechanism a2 can move back and forth along the Y-axis direction, selectively move to the bottom of the first unloading mechanism a1 to receive the Tray tray a0 stored on the first unloading mechanism a1, or move to the bottom of the first receiving mechanism a3 to put the Tray tray a0 back to the first receiving mechanism a3. After the first transfer mechanism a2 receives the Tray tray a0, it will leave the first unloading mechanism a1 along the Y-axis direction. The first transfer mechanism a4 is used to transfer the workpiece on the Tray tray a0 to the corresponding workstation, or transfer the workpiece to the Tray tray a0 for recovery. For example, a conveyor belt is arranged adjacent to the unloading equipment, and a carrier is arranged on the conveyor belt. The first transfer mechanism a4 is used to transfer the workpiece on the Tray tray a0 to the corresponding workstation, or transfer the workpiece to the Tray tray a0 for recovery. For example, a conveyor belt is arranged adjacent to the unloading equipment, and a carrier is arranged on the conveyor belt. The first transfer mechanism a4 can transfer the parts on the Tray a0 to the carrier, and then transport them to the downstream stations through the conveyor belt for subsequent assembly. When the parts on the Tray a0 are consumed, the first transfer mechanism a2 transfers the empty Tray a0 to the bottom of the first receiving mechanism a3, so that the empty Tray a0 is returned to the receiving machine a3; when the carrier loaded with parts is transported to the last station, the unloading device of the utility model is set at the station, and the unloading device is placed on the station. The first unloading mechanism a1 of the material equipment outputs an empty Tray a0, the first transferring mechanism a3 transports the empty Tray a0 to the position of the connecting carrier, and the first transferring mechanism a4 transfers the assembled parts on the carrier to the empty Tray a0, and so on. When the Tray a0 is fully loaded, the first transferring mechanism a2 transfers the fully loaded Tray a0 to the bottom of the first receiving mechanism a3, thereby putting the fully loaded Tray a0 back to the first receiving mechanism a3.

[0025] The specific structure of the first unloading mechanism a1 is described below:

[0026] See also Figure 3 , Figure 4 and Figure 7The first material discharge mechanism a1 is provided with a first material rack a11 for accommodating the Tray a0 and a first base a16 connected to the bottom of the first material rack a11. The first material rack a11 includes a first placement rod a111 arranged around the first base a16 and extending upward. The first placement rods a111 enclose a space for accommodating the Tray a0. The first base a16 includes first substrates a161 arranged opposite to each other. A channel for the first transfer mechanism a2 to pass through is formed between the first substrates a161 on both sides. The upper end of the first substrate a161 on each side is provided with a first supporting claw a12 and a pulling claw a13 arranged along the Y-axis direction.

[0027] See also Figure 7 Tray plates a0 are stacked in the first material rack a11, and a slot a01 is formed on the side between each two adjacent layers of Tray plates a0. The first supporting claw a12 and the pulling claw a13 can move along the X-axis direction to approach the Tray plate a0 and insert it into the slot a01 or move away from the Tray plate a0 and detach from the slot a01. As a specific implementation, the first substrate a161 is provided with a first driving cylinder a162 for driving the first supporting claw a12 to move along the X-axis direction, and a second driving cylinder a163 for driving the pulling claw a13 to move along the X-axis direction. The upper end surfaces of the first supporting claw a12 and the pulling claw a13 are set as horizontal planes, and the bottom surfaces of the two ends located close to the Tray a0 are set as inclined planes inclined from the outside to the inside and upward. The inclined planes are set to form a wedge-shaped structure. When the supporting claw and the pulling claw a13 are inserted into the slot a01, as the insertion depth continues to increase, the two Trays a0 will be separated under the action of the wedge-shaped structure to facilitate the subsequent output of the Tray a0 at the bottom.

[0028] See also Figure 3 As an improved solution, two or more first supporting claws a12 are arranged at intervals along the Y-axis direction, and the pulling claw a13 is arranged between the two first supporting claws a12. On the one hand, the above arrangement can effectively hold up the entire stack of Tray plates a0, and on the other hand, it can more easily separate the two Tray plates a0 when inserted into the slot a01.

[0029] See also Figures 3 to 8 Furthermore, the first material discharge mechanism a1 is also provided with a triggering portion a14 connected to the pulling claw a13, and an elastic component a15 for driving the pulling claw a13 to move downward and reset, the triggering portion a14 extends laterally to the bottom of the first material rack a11, the first transfer mechanism a2 can be controlled to move to the bottom of the first material rack a11, and is provided with a first tray component a21 that can be raised and lowered, and the bottom of the first tray component a21 is provided with a driving portion a22 located at the lower side of the triggering portion a14, as shown in FIG. Figure 5As shown, the first tray assembly a21 can be controlled to move upward to a preset height to drive the driving part a22 to push the trigger part a14 and drive the pulling claw a13 to move upward. When the first supporting claw a12 moves along the X-axis to be separated from the Tray plate a0, the Tray plate a0 descends and is supported on the upper side of the first tray assembly a21. Figure 6 As shown, the first tray assembly a21 can be controlled to move downward and reset after the first supporting claw a12 and the pulling claw a13 are moved to be inserted into the slot a01, so that the pulling claw a13 is reset downward under the action of the elastic assembly a15 to pull the Tray a0 at the bottom toward the direction of the first tray assembly a21.

[0030] Compared with the prior art, the material unloading device provided by the utility model is provided with a first supporting claw a12 and a pulling claw a13 at the bottom of the first material rack a11, and utilizes the lifting function of the first tray assembly a21, so that when the first supporting claw a12 releases the stack of materials, it supports the entire stack of Tray plates a0, so that the Tray plates a0 are lowered by one layer, and when the first supporting claw a12 is inserted to the bottom of the second-to-last layer of Tray plates a0, the stack of materials located above the bottom Tray plates a0 are supported again, and the pulling claw a13 is also driven to move upward when the first tray assembly a21 rises, and after the pulling claw a13 is inserted into the bottom of the second-to-last layer of Tray plates a0, it is lowered under the first tray assembly a21 While moving, it will also reset downward due to the action of the elastic component a15, thereby buckling the bottom Tray a0 and dropping it onto the first tray component a21, so that it can be transferred to the corresponding position to realize the loading or unloading operation. The above structure realizes the automatic discharge of Tray a0, so that there is no need for manual handling, and because Tray a0 is a relatively soft, long and thin container, the stacked Tray a0 is difficult to separate even manually. The utility model uses the pulling claw a13 as an auxiliary, and the Tray a0 can be directly separated when the first tray component a21 descends, which not only realizes automatic discharge, but also has higher efficiency in discharge.

[0031] See also Figure 7 Regarding the installation method of the pulling claw a13, this embodiment provides the following specific setting method: a bracket a164 movable along the Z-axis direction is mounted on the first substrate a161, the pulling claw a13 is installed on the bracket a164, the first substrate a161 is provided with a through hole a165, the driving part a22 is connected to the bracket a164 and extends through to the bottom of the Tray a0, and the elastic component a15 includes a tension spring a151 connecting the first substrate a161 and the bracket a164.

[0032] See also Figure 5As an improved solution, a buffer member a166 is provided on the first substrate a161 below the driving portion a22. When the driving portion a22 moves downward to reset, the buffer member a166 can prevent the driving portion a22 from directly hitting the via a165 to avoid damage.

[0033] See also Figure 3 The first material receiving mechanism a3 can be arranged at the front side or the rear side of the first material discharging mechanism a1, and includes a second material rack a31 for accommodating the Tray plate a0, a second base a32 connected to the bottom of the second material rack a31, and a second supporting claw a33 arranged on the second base a32 for supporting the bottom of the Tray plate a0. The second material rack a31 includes a second placing rod a311 arranged around the second base a32 and extending upward, and the second placing rods a311 are enclosed to form a second supporting claw a33 for accommodating the Tray plate a0. The second base a32 comprises a second substrate a321 which is arranged opposite to each other, and a channel for the first transfer mechanism a2 to pass through is formed between the second substrates a321 on both sides, and the upper end of each second substrate a321 is provided with a second supporting claw a33, and the second supporting claw a33 has the freedom to flip upward around the Y-axis direction, and the first transfer mechanism a2 can be controlled to move to the bottom end of the second material rack a31, so that the first tray assembly a21 transfers the tray a0 to the bottom of the second material rack a31, as shown in FIG. Figure 11 to Figure 12 As shown, the second supporting claw a33 can be controlled to be pushed by the Tray plate a0 to flip upward when the first tray assembly a21 rises, so that the Tray plate a0 can be inserted into the second material rack a31 upward. When the first tray assembly a21 moves downward, the second supporting claw a33 flips downward and resets, so that the Tray plate a0 is supported on the upper side of the second supporting claw a33.

[0034] See also Fig. 9 and Fig.10As a specific arrangement of the second supporting claw a33, a first rotating seat a322 is disposed at the upper end of the second substrate a321, and the second supporting claw a33 is rotatably assembled on the first rotating seat a322. A first limiting frame a323 is disposed on the outer side of the first rotating seat a322. The first limiting frame a323 is provided with a first upper blocking portion a323a and a first lower blocking portion a323b arranged at intervals in the longitudinal direction. The outer end of the second supporting claw a33 is provided with a first limiting portion a331 extending between the first upper blocking portion a323a and the first lower blocking portion a323b. A limit portion a331 swings between the first upper blocking portion a323a and the first lower blocking portion a323b as the second supporting claw a33 flips over. The second supporting claw a33 set up as above can only swing between the first upper blocking portion a323a and the first lower blocking portion a323b. This setting method of limiting its swing amplitude can play a role in supporting the entire stack of Tray plates a0, and can also flip upward when pushed up to form an entrance for inserting Tray plates a0. When the tray moves down and resets, it can swing downward under the action of the gravity of Tray plates a0 to reset and form a Fig. 9 The plane support angle shown can re-support the entire stack of Tray plates a0.

[0035] The arrangement sequence of the first material unloading mechanism a1 and the first material receiving mechanism a3 is described as follows:

[0036] like Figure 2As shown, when the first unloading mechanism a1 is arranged at the rear side of the first receiving mechanism a3, that is, at the side away from the first transfer mechanism a2, the unloading equipment serves as a loading station for connecting the parts assembly line. The operator stacks multiple Tray plates a0 with parts in the first material rack a11. When loading is required, the first transfer mechanism a2 moves to the bottom of the first unloading mechanism a1, and the first tray assembly a21 is lifted to a certain height. At the same time, the pulling claw a13 is driven to move upward through the trigger part a14, and then the first supporting claw a12 moves along the X-axis direction away from the Tray plate a0, so that the whole stack of Tray plates a0 descends and falls onto the first tray assembly a21. Then the first supporting claw a12 and the pulling claw a13 move along the X-axis direction toward the direction close to the Tray a0 and insert into the slot a01. When the first tray component a21 moves down and resets, the pulling claw a13 resets downward under the action of the elastic component a15 to buckle the bottom Tray a0 and place it on the first tray component a21. At this time, the remaining Tray a0 is supported by the first supporting claw a12, thus completing the unloading of the Tray a0. Then the first transferring mechanism a2 leaves the first unloading mechanism a1 with the Tray a0 that has just been unloaded, and the first transferring mechanism a4 can transfer the parts on the Tray a0 to the corresponding place, such as the carrier of the conveyor belt, and transfer them to each workstation. When the parts on the Tray a0 are consumed, the first transfer mechanism a2 drives the Tray a0 to move to the bottom of the first material receiving mechanism a3, and the first tray assembly a21 rises to cause the Tray a0 to push the second supporting claw a33 upwards so that the Tray a0 enters the second material rack a31 and is placed at the bottom of its stack of materials. The first tray assembly a21 descends and resets, so that the second supporting claw a33 swings downward and resets, thereby lifting the entire stack of empty Tray a0, and the cycle continues. The above-mentioned arrangement of the first material discharge mechanism a1 at the rear end can facilitate engineers to put the fully loaded Tray into the first material rack a11.

[0037] like Figure 3As shown, when the first unloading mechanism a1 is arranged at the front side of the first receiving mechanism a3, that is, close to the side of the first transfer mechanism a2, the unloading device is used as the unloading station of the connecting parts assembly line. The operator stacks multiple empty Tray trays a0 in the first material rack a11. When the parts are assembled, the first transfer mechanism a4 puts the assembled parts back to the empty Tray tray a0 located on the first transfer mechanism a2. When the Tray tray a0 is fully loaded, the first transfer mechanism a2 will put the full Tray tray a0 back to the first transfer mechanism a2. The loaded Tray a0 moves to the bottom of the first receiving mechanism a3, and then the first tray assembly a21 rises to make the Tray a0 push the second supporting claw a33 upwards so that the Tray a0 enters the second material rack a31 and is placed at the bottom of its stack, and the first tray assembly a21 descends and resets, so that the second supporting claw a33 swings downward and resets, thereby lifting the entire stack of fully loaded Tray a0 to achieve the unloading operation of the assembled parts; then the first transfer mechanism a2 moves to the first unloading mechanism a3. At the bottom of the mechanism a1, the first tray assembly a21 is lifted to a certain height, and the trigger part a14 drives the pull claw a13 to move upward, and then the first supporting claw a12 moves along the X-axis direction away from the Tray a0, so that the whole stack of Tray a0 drops and falls onto the first tray assembly a21, and then the first supporting claw a12 and the pull claw a13 move along the X-axis direction toward the direction close to the Tray a0 and insert into the slot a01. When the first tray assembly a21 moves down and resets, the pull claw a13 is reset downward under the action of the elastic component a15 to buckle the Tray plate a0 at the bottom and place it on the first tray component a21. At this time, the remaining Tray plates a0 are supported by the first supporting claws a12, thus completing the unloading of the Tray plate a0. Subsequently, the first transfer mechanism a2 takes the Tray plate a0 that has just been unloaded away from the first unloading mechanism a1, and the first transfer mechanism a4 continues to transfer the assembled parts to the empty Tray plate a0, and the cycle continues.

[0038] See also Fig. 9 The first tray assembly a21 includes a liftable first bracket a211, both sides of the first bracket a211 are provided with first ridges a212 extending upward, a first suction cup a213 located on the upper side of the first bracket a211 is arranged between the first ridges a212, and the first suction cup a213 can make it easier to remove the Tray a0 from the first discharge mechanism a1, and the space between the first ridges a212 on both sides is used to place the Tray a0, which can be used to place the Tray a0 for displacement.

[0039] See also Figure 1 and Fig. 9The first transfer mechanism a4 is equipped with a movable manipulator a41 and two relatively arranged liftable bases a42. The first transfer mechanism a2 can be controlled to move to the first pallet assembly a21 and connect between the two bases a42, so that the base a42 can upwardly support the Tray a0 located on the first pallet assembly a21. The visual recognition mechanism a5 is used to obtain the coordinate information of the Tray a0 on the first pallet assembly a21. The manipulator a41 grabs the material and transfers it according to the coordinate information. The transfer includes transferring the workpiece from the Tray a0 to other places, such as a carrier, or includes transferring the workpiece from other places to the Tray a0, such as transferring the assembled parts from the carrier to the empty Tray a0 for collection, so as to complete the unloading and loading operations of the workpiece. Since the two sides of the Tray a0 protrude from the first pallet assembly a21, the base a42 set above can effectively support the Tray a0 from both sides when the manipulator a41 takes and places the workpiece.

[0040] According to the disclosure and teaching of the above description, the technical personnel in the field to which the utility model belongs can also change and modify the above implementation. Therefore, the utility model is not limited to the specific implementation methods disclosed and described above, and some modifications and changes to the utility model should also fall within the scope of protection of the claims of the utility model. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the utility model.

Claims

1. A tray unloading device, It is characterized in that The invention comprises a first material discharge mechanism (a1) and a first transfer mechanism (a2), wherein the first material discharge mechanism (a1) is provided with a first material rack (a11) for accommodating a tray, a first supporting claw (a12) and a pulling claw (a13) arranged at the bottom of the first material rack (a11) for supporting the bottom of the tray, a slot (a01) is formed between each two adjacent layers of trays, the first supporting claw (a12) and the pulling claw (a13) are arranged along the Y-axis direction, and both can be moved along the X-axis direction to approach the tray and insert into the slot (a01), or to move away from the tray and detach from the slot (a01), the first material discharge mechanism (a1) is also provided with a trigger part (a14) connected to the pulling claw (a13), and an elastic component (a15) for driving the pulling claw (a13) to move downward and reset, and the trigger part (a14) extends to the bottom of the first material rack (a11); The first transfer mechanism (a2) can be controlled to move to the bottom of the first material rack (a11), and is equipped with a first tray assembly (a21) that can be raised and lowered. The bottom of the first tray assembly (a21) is equipped with a driving part (a22) located below the trigger part (a14). The first tray assembly (a21) can be controlled to move upward to a preset height to drive the driving part (a22) to push the trigger part (a14) and drive the pulling claw (a13) to move upward. When the first supporting claw (a13) is When the first tray assembly (a12) moves to be separated from the tray, the whole stack of trays descends and is supported on the upper side of the first tray assembly (a21). The first tray assembly (a21) can be controlled to move downward and reset after the first supporting claw (a12) and the pulling claw (a13) move to be inserted into the slot (a01), so that the pulling claw (a13) is reset downward under the action of the elastic assembly (a15) to pull the tray at the bottom toward the direction of the first tray assembly (a21).

2. The unloading device according to claim 1, It is characterized in that The first material discharge mechanism (a1) also includes a first base (a16) connected to the bottom of the first material rack (a11), the first material rack (a11) includes a first placement rod (a111) arranged around the first base (a16) and extending upward, the first placement rods (a111) enclose a space for accommodating the Tray, the first base (a16) includes first substrates (a161) arranged opposite to each other, and a channel for the first transfer mechanism (a2) to pass through is formed between the first substrates (a161) on both sides, and the upper end of the first substrate (a161) on each side is provided with the first supporting claw (a12) and the pulling claw (a13).

3. The unloading device according to claim 2, It is characterized in that The first substrate (a161) is provided with a first driving cylinder (a162) for driving the first supporting claw (a12) to move along the X-axis direction, and a second driving cylinder (a163) for driving the pulling claw (a13) to move along the X-axis direction. The upper end surfaces of the first supporting claw (a12) and the pulling claw (a13) are horizontal planes, and the bottom surfaces of the two located at one end close to the Tray are set as inclined planes inclined from the outside to the inside toward the upper side.

4. The unloading device according to claim 1, It is characterized in that Two of the first supporting claws (a12) are arranged at intervals along the Y-axis direction, and the pulling claw (a13) is arranged between the two first supporting claws (a12).

5. The unloading device according to claim 2, It is characterized in that The first substrate (a161) is equipped with a bracket (a164) that can move along the Z-axis direction, the pulling claw (a13) is installed on the bracket (a164), the first substrate (a161) is provided with a through hole (a165), the driving part (a22) is connected to the bracket (a164) and extends through the through hole (a165) to the bottom of the Tray, and the elastic component (a15) includes a tension spring (a151) connecting the first substrate (a161) and the bracket (a164).

6. The unloading device according to claim 5, It is characterized in that The first substrate (a161) is located below the driving part (a22) and is provided with a buffer part (a166).

7. The unloading device according to claim 1, It is characterized in that The first material receiving mechanism (a3) ​​is also provided on the front or rear side of the first material discharging mechanism (a1), the first material receiving mechanism (a3) ​​includes a second material rack (a31) for accommodating a Tray, a second base (a32) connected to the bottom of the second material rack (a31), and a second supporting claw (a33) provided on the second base (a32) for supporting the bottom of the Tray, the second material rack (a31) includes a second placement rod (a311) provided around the second base (a32) and extending upward, the second placement rods (a311) enclose a space for accommodating the Tray, the second base (a32) includes second substrates (a321) arranged opposite to each other, and a space for the first transfer mechanism (a2) to pass through is formed between the second substrates (a321) on both sides. The second supporting claw (a33) is arranged at the upper end of the second substrate (a321) on each side, and the second supporting claw (a33) has the freedom to flip upward around the Y-axis direction. The first transfer mechanism (a2) can be controlled to move to the bottom end of the second material rack (a31) so that the first tray assembly (a21) transfers the Tray to the bottom of the second material rack (a31). The second supporting claw (a33) can be controlled to be pushed by the Tray to flip upward when the first tray assembly (a21) rises, so that the Tray can be inserted into the second material rack (a31) upward. When the first tray assembly (a21) moves downward, the second supporting claw (a33) flips downward and resets, so that the Tray is supported on the upper side of the second supporting claw (a33).

8. The unloading device according to claim 7, It is characterized in that A first rotating seat (a322) is arranged at the upper end of the second substrate (a321), and the second supporting claw (a33) is rotatably assembled on the first rotating seat (a322); a first limiting frame (a323) is arranged on the outer side of the first rotating seat (a322), and the first limiting frame (a323) is provided with a first upper blocking portion (a323a) and a first lower blocking portion (a323b) arranged longitudinally at intervals; a first limiting portion (a331) extending between the first upper blocking portion (a323a) and the first lower blocking portion (a323b) is arranged at the outer end of the second supporting claw (a33), and the first limiting portion (a331) swings between the first upper blocking portion (a323a) and the first lower blocking portion (a323b) as the second supporting claw (a33) flips.

9. The unloading device according to claim 1, It is characterized in that The first tray assembly (a21) includes a first liftable bracket (a211), both sides of the first bracket (a211) are provided with first convex strips (a212) extending upward, and a first suction cup (a213) located on the upper side of the first bracket (a211) is arranged between the first convex strips (a212).

10. The unloading device according to claim 1, It is characterized in that It also includes a first transfer mechanism (a4) and a visual recognition mechanism (a5), wherein the first transfer mechanism (a4) is equipped with a movable manipulator (a41) and two relatively arranged liftable bases (a42), and the first transfer mechanism (a2) can be controlled to move to the first pallet assembly (a21) and connect between the two bases (a42) so that the bases (a42) can upwardly support the Tray located on the first pallet assembly (a21), and the visual recognition mechanism (a5) is used to obtain the coordinate information of the Tray on the first pallet assembly (a21), and the manipulator (a41) grabs the material and transfers it according to the coordinate information.

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