Tray paging device

Abstract

The utility model belongs to the technical field of tray paging, and particularly relates to a tray paging device which comprises a support, a Y-direction transferring assembly arranged on the support, a first mounting frame arranged on the Y-direction transferring assembly, a first Z-direction transferring assembly arranged on the mounting frame and a plurality of first adsorption heads arranged on the first Z-direction transferring assembly. The first adsorption head is used for sucking or releasing trays, and the Y-direction transferring assembly and the first Z-direction transferring assembly are used for driving the first adsorption head to suck the trays located at the first tray position; the mounting frame is further provided with a second Z-direction transferring assembly and a plurality of shaking parts on the second Z-direction transferring assembly, the second Z-direction transferring assembly is used for driving the shaking parts to move up and down to shake the topmost tray sucked by the first adsorption heads, the topmost tray is separated from the next tray through an insertion plate, and the tray is separated from the next tray through a second Z-direction transferring assembly. The topmost tray is pushed to be completely separated from the next tray through high-pressure gas, and the situation that the upper tray and the lower tray adhere to each other is effectively avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of tray paging, and in particular relates to a tray paging device. Background Art

[0002] At present, pallets are usually used to place products. Empty pallets are stacked. When loading, a loading mechanism (such as a robot) takes the stacked empty pallets from top to bottom, moves the empty pallets to the loading position, and then puts the products into the empty pallets.

[0003] Since the pallets are stacked and the upper and lower pallets are stacked closely, it is easy for the upper and lower pallets to be connected (sticky). When the loading mechanism takes the empty pallet on the top layer, it is easy for the lower pallet to be connected (sticky) to the top pallet, causing the lower pallet to be transported together with the top pallet by the loading mechanism, which brings many inconveniences to subsequent production and processing. Utility Model Content

[0004] The utility model aims to provide a tray paging device, aiming to solve one of the technical problems existing in the prior art.

[0005] To achieve the above-mentioned purpose, an embodiment of the utility model provides a tray paging device, including a bracket, a Y-axis transfer assembly arranged on the bracket, a first mounting frame arranged on the Y-axis transfer assembly, a first Z-axis transfer assembly arranged on the mounting frame, and a plurality of first adsorption heads arranged on the first Z-axis transfer assembly; the first adsorption head is used to absorb or release the tray, the Y-axis transfer assembly and the first Z-axis transfer assembly are used to drive the first adsorption head to absorb the tray located at the first tray position; a second Z-axis transfer assembly is also provided on the mounting frame, and a plurality of shaking members on the second Z-axis transfer assembly, the second Z-axis transfer assembly is used to drive the shaking members to move up and down to cause shaking to the topmost tray absorbed by the plurality of the first adsorption heads.

[0006] Optionally, at least one separation spring sheet assembly is provided on the side of the first tray position, and the separation spring sheet assembly includes a support and an elastic sheet arranged on the support; the front end of the elastic sheet is located above the edge of the tray, and the elastic sheet is used to move the edge of the tray when the tray is lifted.

[0007] Optionally, the multiple first adsorption heads are used to respectively adsorb the multiple tray feet of the tray; the multiple shaking members are respectively arranged on the sides of the multiple first adsorption heads, and the second Z-axis transfer assembly is used to drive the shaking member to move up and down to shake the top-layer tray adsorbed by the multiple first adsorption heads, so as to separate the tray feet of the next layer of trays from the tray feet of the top-layer tray.

[0008] Optionally, at least one insert plate assembly is provided beside the first pallet position, and the insert plate assembly includes an insert plate driving unit and an insert plate provided at the driving end of the insert plate driving unit; the insert plate driving unit is used to drive the insert plate to extend between the topmost pallet and the next pallet.

[0009] Optionally, at least one blowing head is provided beside the first tray position, and the blowing head is used to blow air between the top tray and the next tray.

[0010] Optionally, a lifting mechanism is further included; the lifting mechanism is used to drive the stacked pallets to be transported upward in sequence so that the topmost pallet is located at the first pallet position.

[0011] Optionally, the lifting mechanism includes a receiving platform; the receiving platform is used to receive the first material box, and the first material box is used to stack pallets; the lifting mechanism also includes a lifting drive assembly and a lifting frame; the lifting drive assembly is arranged on the bracket, and the lifting frame is arranged at the lifting end of the lifting drive assembly; the lifting frame is provided with at least one vertically arranged push rod; the bottom of the first material box is penetrated by at least one through hole, and the lifting drive assembly is used to drive the push rod to move up and down, so that the push rod moves up, passes through the through hole, extends into the first material box and drives the stacked pallets in the first material box to be transported upward in sequence, or moves the push rod downward to drive the stacked pallets in the first material box to be transported downward in sequence.

[0012] Optionally, the first Z-axis transfer assembly includes a plurality of first drive units; and each of the drive ends of the plurality of first drive units is connected to a first adsorption head.

[0013] Optionally, the second Z-direction transfer assembly includes a plurality of second drive units; and each of the drive ends of the plurality of second drive units is connected to a shaking member.

[0014] Optionally, the shaking member is an adsorption head.

[0015] Compared with the prior art, the above one or more technical solutions in the tray paging device provided by the embodiment of the utility model have at least one of the following technical effects:

[0016] The multiple first adsorption heads are used to respectively adsorb the multiple tray feet of the tray; the multiple shaking members are respectively arranged on the sides of the multiple first adsorption heads, and the second Z-direction transfer assembly is used to drive the shaking member to move up and down to generate shaking on the top-layer tray adsorbed by the multiple first adsorption heads, so that the tray feet of the next tray are separated from the tray feet of the top tray; the insertion plate driving unit drives the insertion plate to move forward and insert between the tray feet of the next tray and the tray feet of the top tray, and separates the top tray from the next tray through the insertion plate; the blowing head blows high-pressure gas between the top tray and the next tray, and the high-pressure gas is used to push the top tray and the next tray to be completely separated, effectively avoiding the situation where the upper and lower trays are connected (adhesion). BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a structural schematic diagram of the tray paging device of the utility model.

[0019] Figure 2 It is a partial structural schematic diagram of the tray paging device of the utility model.

[0020] Figure 3 It is a structural schematic diagram of the lifting mechanism of the utility model.

[0021] Figure 4 This is another perspective view of the lifting mechanism of the utility model.

[0022] Among them, the reference numerals in the figure are:

[0023] 10. First material box; 11. Perforation; 20. Second material box; 30. Tray;

[0024] 100, support; 130, first pallet position; 140, second pallet position;

[0025] 200, lifting mechanism; 211, stand; 212, receiving platform; 213, positioning block; 214, X-axis driving unit; 215, clamping block; 220, lifting drive assembly; 230, lifting frame; 240, ejector rod;

[0026] 410, Y-axis transfer assembly; 420, first mounting frame; 430, first Z-axis transfer assembly; 431, first adsorption head; 440, second Z-axis transfer assembly; 441, shaking member; 450, separation spring assembly; 451, support; 452, elastic sheet; 460, insert plate assembly; 461, insert plate driving unit; 462, insert plate; 470, blowing head; 471, telescopic tube;

[0027] 500. Robotic arm. DETAILED DESCRIPTION

[0028] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0029] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0031] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0032] In one embodiment of the present invention, referring to Figure 1-Figure 4, a tray paging device is provided, including a bracket (not shown), a Y-axis transfer assembly 410 disposed on the bracket, a first mounting frame 420 disposed on the Y-axis transfer assembly 140, a first Z-axis transfer assembly 430 disposed on the mounting frame 420, and a plurality of first adsorption heads 431 disposed on the first Z-axis transfer assembly 430. The first adsorption head 431 is used to absorb or release the tray 30, and the Y-axis transfer assembly 410 and the first Z-axis transfer assembly 430 are used to drive the first adsorption head 431 to absorb the tray 30 located at the first tray position 130.

[0033] Among them, refer to Figure 1 and Figure 2 The mounting frame 420 is also provided with a second Z-direction transfer assembly 440 and a plurality of shaking members 441 on the second Z-direction transfer assembly 440. The second Z-direction transfer assembly 440 is used to drive the shaking members 441 to move up and down to cause shaking of the topmost tray 30 sucked by the plurality of first adsorption heads 431.

[0034] Compared with the prior art, the above one or more technical solutions in the tray paging device provided by the embodiment of the utility model have at least one of the following technical effects:

[0035] Reference Figure 1 and Figure 2 When working, the Y-axis transfer component 410 and the first Z-axis transfer component 430 drive the first suction head 431 to approach the empty pallet 30 located at the first pallet position 130. The first suction head 431 sucks the topmost empty pallet 30 through negative pressure. Then the second Z-axis transfer component 440 drives the shaking member to move up and down to hit the topmost pallet 30 sucked by multiple first suction heads 431, causing shaking of the topmost pallet 30 and the next pallet 30. The next pallet 30 is separated from the topmost pallet 30 through shaking, thereby separating the next pallet 30 from the topmost pallet 30, effectively avoiding the situation where the upper and lower pallets are connected (adhesion). Then the Y-axis transfer component 410 and the first Z-axis transfer component 430 drive the first suction head 431 and the empty pallet 30 to move to the second pallet position 140. The first suction head 431 removes the negative pressure, so that the empty pallet 30 is stacked on the second pallet position 140.

[0036] The Y-axis moving assembly 410 , the first Z-axis moving assembly 430 , and the second Z-axis moving assembly 440 may be air cylinders, electric cylinders, or linear modules, etc., which are not limited here.

[0037] In another embodiment of the present invention, referring to Figure 1 and Figure 2At least one separation spring assembly 450 is provided on the side of the first pallet position 130. The separation spring assembly 450 includes a support 451 and an elastic sheet 452 provided on the support 451. The support 451 is provided on a bracket. The front end of the elastic sheet 452 extends into the first pallet position 130 and is located above the edge of the pallet 30. The elastic sheet 452 is used to move the edge of the pallet 30 when the pallet 30 is lifted. The elastic sheet 452 is a metal sheet and can bend elastically when pushed by the pallet 30. Specifically, when the Y-axis transfer assembly 410 and the first Z-axis transfer assembly 430 drive the first suction head 431 to transfer the empty pallet 30 located at the first pallet position 130 and stack it on the second pallet position 140, the pallet 30 will pass through the elastic sheet 452 when it is lifted. The elastic sheet 452 moves the edge of the pallet 30 to separate the next layer of pallets 30 from the top layer of pallets 30.

[0038] Preferably, a plurality of separation spring sheet assemblies 450 are disposed around the first tray position 130 .

[0039] In another embodiment of the present invention, referring to Figure 1 and Figure 2 For thinner trays 30, when thin trays 30 are stacked, the upper and lower thin empty trays 30 are more tightly adhered to each other. At this time, vibration is not enough to completely separate the next layer of trays 30 from the top layer of trays 30. Therefore, multiple first adsorption heads 431 are used to respectively adsorb multiple tray feet of the tray 30; multiple shaking members 441 are respectively arranged on the sides of the multiple first adsorption heads 431, and the second Z-direction transfer assembly 440 is used to drive the shaking member 441 to move up and down to shake the top layer of tray 30 adsorbed by the multiple first adsorption heads 431, so that the tray feet of the next layer of trays 30 are separated from the tray feet of the top layer of trays 30. At this time, an auxiliary structure (for example: tray insertion assembly 460, blowing structure, etc.) needs to be set to completely separate the next layer of trays 30 from the top layer of trays 30.

[0040] Further, refer to Figure 1 and Figure 2At least one inserting plate assembly 460 is disposed beside the first tray position 130, and the inserting plate assembly 460 includes an inserting plate driving unit 461 and an inserting plate 462 disposed at a driving end of the inserting plate driving unit 461. The inserting plate driving unit 461 is disposed on a bracket, and the inserting plate driving unit 461 is used to drive the inserting plate 462 to extend between the top tray 30 and the next tray 30. When the shaking member separates the plate foot of the next layer tray 30 from the plate foot of the top layer tray 30 by shaking, the plug-in plate driving unit 461 drives the insertion plate 462 to move forward and insert between the plate foot of the next layer tray 30 and the plate foot of the top layer tray 30, and separates the top layer tray 30 from the next layer tray 30 by the insertion plate 462, and then drives the first adsorption head 431 to remove the top layer tray 30 by the Y-direction transfer assembly 410 and the first Z-direction transfer assembly 430, and pulls the top layer tray 30 to be completely separated from the next layer tray 30, and the plug-in plate blocks the next layer tray 30 to make it completely separated from the top layer tray 30. Among them, the plug-in plate driving unit 461 can be a cylinder, an electric cylinder, or a linear module, etc., which is not limited here.

[0041] Preferably, a plurality of tray inserting assemblies 460 are disposed around the first tray position 130 .

[0042] Further, refer to Figure 1 and Figure 2 At least one blowing head 470 is provided beside the first pallet position 130. The blowing head 470 is provided on the bracket and faces the first pallet position 130. The blowing head 470 is used to blow air between the topmost pallet 30 and the next pallet 30. Specifically, when the shaking member separates the plate foot of the next pallet 30 from the plate foot of the topmost pallet 30 by shaking, the blowing head 470 blows high-pressure gas between the topmost pallet 30 and the next pallet 30, and the high-pressure gas pushes the topmost pallet 30 to be completely separated from the next pallet 30. Among them, the inserting tray assembly 460 and the blowing head 470 can be used together or separately, depending on the actual production needs.

[0043] Preferably, a plurality of air blowing heads 470 are provided around the first pallet position 130 .

[0044] Further, refer to Figure 1 and Figure 2 The blowing head 470 is connected to a telescopic tube 471, and the position of the blowing head 470 can be adjusted through the telescopic tube 471, so that the blowing head 470 blows air between the top tray 30 and the next tray 30 at a suitable position.

[0045] In another embodiment of the present invention, referring to Figure 1 , Figure 3 and Figure 4The tray paging device also includes a lifting mechanism 200; the lifting mechanism 200 is used to drive the stacked trays 30 to be transported upward in sequence, so that the top tray 30 is located at the first tray position 130, so that the Y-axis transfer component 410 and the first Z-axis transfer component 430 drive the first adsorption head 431 to absorb the trays 30 located at the first tray position 130 in sequence.

[0046] Further, refer to Figure 3 and Figure 4 The lifting mechanism 200 includes a receiving platform 212; the receiving platform 212 is used to receive the first material box 10, the first material box 10 is used to stack the tray 30, and the first material box 10 has an upper box opening. The first material box 10 is set according to the shape of the tray 30 to adapt to the stacked tray 30. The first material box 10 is mainly rectangular, but of course it can also be other shapes. The lifting mechanism 200 further includes a lifting drive assembly 220 and a lifting frame 230; the lifting drive assembly 220 is arranged on the bracket, and the lifting frame 230 is arranged at the lifting end of the lifting drive assembly 220; the lifting frame 230 is provided with at least one vertically arranged top rod 240; at least one through hole 11 is penetrated through the bottom of the first material box 10, and the lifting drive assembly 220 is used to drive the top rod 240 to move up and down, so that the top rod 240 moves up through the through hole 11 and extends into the first material box 10 and drives the stacked trays 30 in the first material box 10 to be transported upward in sequence, or the top rod 240 moves down and drives the stacked trays 30 in the first material box 10 to be transported downward in sequence. In a specific embodiment, the lifting frame 230 is located below the receiving platform 212, and the lifting frame 230 is arranged horizontally. When the empty pallet 30 at the first pallet position 130 is taken away by the first suction head 431, the lifting drive assembly 220 drives the top rod 240 to move upward to continue to transport the next pallet 30 (the top pallet 30 at this time) in the first material box 10 upward to the first pallet position 130, and the cycle is repeated so that the stacked pallets 30 in the first material box 10 are transported upward in sequence. The lifting drive assembly 220 can be an electric cylinder, a linear module, etc., which is not limited here.

[0047] Further, refer to Figure 3 and Figure 4The receiving platform 212 is arranged on a stand 211, and at least one positioning block 213 is arranged at one end of the receiving platform 212, and an X-direction driving unit 214 is arranged at the other end of the receiving platform 212. The driving end of the X-direction driving unit 214 is provided with at least one clamping block 215, and the clamping block 215 is arranged opposite to the positioning block 213. The positioning block 213 is used to position the first material box 10, and the X-direction driving unit 214 is used to drive the clamping block 215 to approach or move away from the positioning block 213, and the clamping block 215 clamps and positions the first material box 10 on the receiving platform 212 when it approaches the positioning block 213. Specifically, when the first material box 10 is placed on the receiving platform 212, the X-direction driving unit 214 drives the clamping block 215 to approach the positioning block 213 to clamp and position the first material box 10 on the receiving platform 212, so as to prevent the first material box 10 on the receiving platform 212 from moving, and the structure is reliable.

[0048] Among them, refer to Figure 1 , Figure 3 and Figure 4 , the second pallet position 140 can be a conveyor belt, the Y-direction transfer assembly 410 and the first Z-direction transfer assembly 430 drive the first suction head 431 to sequentially transfer the stacked empty pallets 30 to the second pallet position 140, and the pallets 30 are sequentially transported by the conveyor belt. At this time, the product can be placed in the pallet 30 manually or by a robot 500. The second pallet position 140 can also be placed with a second material box 20, and the structure of the second material box 20 is consistent with that of the first material box 10. The Y-direction transfer assembly 410 and the first Z-direction transfer assembly 430 drive the first suction head 431 to sequentially transfer the stacked empty pallets 30 to the second pallet position 140, and at this time, the product can be placed in the pallet 30 manually or by a robot 500. After the product is placed in the pallet 30, another lifting mechanism 200 drives the pallet with the product in the second pallet position 140 to move down and put it into the second material box 20.

[0049] In another embodiment of the present invention, referring to Figure 2 The first Z-direction transfer assembly 430 includes a plurality of first drive units; each of the drive ends of the plurality of first drive units is connected to a first adsorption head 431. The plurality of first drive units are used to drive the plurality of first adsorption heads 431 to move up and down. The first drive unit may be a cylinder, an electric cylinder, or a linear module, etc., which is not limited here.

[0050] In another embodiment of the present invention, referring to Figure 2 The second Z-direction transfer assembly 440 includes a plurality of second drive units; each of the drive ends of the plurality of second drive units is connected to a shaking member 441. The plurality of shaking members 441 are driven to move up and down by the plurality of second drive units. The second drive unit may be a cylinder, an electric cylinder, or a linear module, etc., which is not limited here.

[0051] In another embodiment of the present invention, referring to Figure 2 The shaking member 441 is a suction head, which is soft and elastic. The suction head moves up and down to hit the top tray 30 sucked by the multiple first suction heads 431, without damaging the tray 30. Of course, the shaking member can also be rubber, silicone, or sponge.

[0052] Among them, the suction heads (first suction head 431, second suction head, etc.) of the present application can be connected to the air pump through an air pipe, and the air pump can provide negative pressure to the suction head, or it can not provide negative pressure to the suction head (that is, the suction head removes the negative pressure). The air pump is a mature prior art. The blowing head 470 can be connected to the air pump through an air pipe, and the air pump can provide high-pressure gas to the blowing head 470, so that the blowing head 470 is used to blow air between the top tray 30 and the next tray 30.

[0053] The rest of this embodiment is the same as the first embodiment. The features not explained in this embodiment are all based on the explanations in the first embodiment and will not be described in detail here.

[0054] The above content is a further detailed description of the utility model in combination with specific preferred implementation methods, and it cannot be determined that the specific implementation of the utility model is limited to these descriptions. For ordinary technicians in the technical field to which the utility model belongs, without departing from the concept of the utility model, its architecture can be flexible and can derive a series of products. Just making a few simple deductions or substitutions should be regarded as belonging to the patent protection scope of the utility model determined by the submitted claims.

Claims

1. A tray paging device, characterized in that: It includes a bracket, a Y-axis transfer assembly arranged on the bracket, a first mounting frame arranged on the Y-axis transfer assembly, a first Z-axis transfer assembly arranged on the mounting frame, and a plurality of first adsorption heads arranged on the first Z-axis transfer assembly; the first adsorption head is used to absorb or release the pallet, the Y-axis transfer assembly and the first Z-axis transfer assembly are used to drive the first adsorption head to absorb the pallet located at the first pallet position; the mounting frame is also provided with a second Z-axis transfer assembly, and a plurality of shaking members on the second Z-axis transfer assembly, the second Z-axis transfer assembly is used to drive the shaking members to move up and down to generate shaking on the topmost pallet absorbed by the plurality of the first adsorption heads.

2. The tray paging device according to claim 1, characterized in that: At least one separation spring sheet assembly is provided beside the first tray position, and the separation spring sheet assembly includes a support and an elastic sheet arranged on the support; the front end of the elastic sheet is located above the edge of the tray, and the elastic sheet is used to move the edge of the tray when the tray is lifted.

3. The tray paging device according to claim 1, characterized in that: The multiple first adsorption heads are used to respectively adsorb the multiple tray feet of the tray; the multiple shaking parts are respectively arranged on the sides of the multiple first adsorption heads, and the second Z-axis transfer assembly is used to drive the shaking parts to move up and down to shake the top-layer tray adsorbed by the multiple first adsorption heads, so as to separate the tray feet of the next layer of trays from the tray feet of the top-layer tray.

4. The tray paging device according to claim 3, characterized in that: At least one insert plate assembly is provided beside the first tray position, and the insert plate assembly includes an insert plate driving unit and an insert plate provided at the driving end of the insert plate driving unit; the insert plate driving unit is used to drive the insert plate to extend between the top tray and the next tray.

5. The tray paging device according to claim 3, characterized in that: At least one blowing head is provided beside the first tray position, and the blowing head is used to blow air between the top tray and the next tray.

6. The tray paging device according to any one of claims 1 to 5, characterized in that: It also includes a lifting mechanism; the lifting mechanism is used to drive the stacked pallets to be transported upward in sequence, so that the top pallet is located at the first pallet position.

7. The tray paging device according to claim 6, characterized in that: The lifting mechanism includes a receiving platform; the receiving platform is used to receive the first material box, and the first material box is used to stack pallets; the lifting mechanism also includes a lifting drive assembly and a lifting frame; the lifting drive assembly is arranged on the bracket, and the lifting frame is arranged at the lifting end of the lifting drive assembly; the lifting frame is provided with at least one vertically arranged push rod; at least one through-hole is penetrated through the bottom of the first material box, and the lifting drive assembly is used to drive the push rod to move up and down, so that the push rod moves up, passes through the through-hole and extends into the first material box and drives the stacked pallets in the first material box to be transported upward in sequence, or the push rod moves down to drive the stacked pallets in the first material box to be transported downward in sequence.

8. The tray paging device according to any one of claims 1 to 5, characterized in that: The first Z-axis transfer assembly includes a plurality of first drive units; each of the drive ends of the plurality of first drive units is connected to a first adsorption head.

9. The tray paging device according to any one of claims 1 to 5, characterized in that: The second Z-direction transfer assembly includes a plurality of second drive units; each of the drive ends of the plurality of second drive units is connected to a shaking member.

10. The tray paging device according to any one of claims 1 to 5, characterized in that: The shaking part is an adsorption head.

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