Tray handling device and automatic tray changing equipment

Abstract

The present application relates to a tray handling device and tray automatic replacement equipment, the tray automatic replacement equipment includes a conveying rail and a tray handling device, the tray handling device is slidably arranged on the conveying rail, and includes a base and a clamping mechanism, the base can be controllably moved along the conveying rail, the clamping mechanism is arranged on the base, the bottom of the base has a support block, the top has a clamping claw, the clamping claw and the support block form a clamping gap for clamping the tray, and the clamping claw can be lifted relative to the support block so that the size of the clamping gap is variable. In this way, the tray handling device can clamp an empty tray or a full tray in the clamping gap, and can go back and forth between the tray replacement station and the tray storage station, so as to automatically complete the supply of full trays to the rolling welding machine and the recovery of empty trays from the rolling welding machine. Compared with the existing tray replacement method, no manual intervention is required during the entire tray replacement process, which improves the tray replacement efficiency, reduces the labor intensity of workers, and avoids the occurrence of safety hazards.

Description

Technical Field

[0001] The present application relates to the technical field of roll welding, and in particular to a guide mechanism and a roll welding machine. Background Art

[0002] The roll welding machine is an important machine used to form the steel skeleton of cement products (such as drainage pipes, pipe piles for high-rise buildings and some chemical products). Its working principle is to spirally wind the steel bars wound on the material tray onto multiple main bars (also called main bars or steel bars) arranged along the axis, and then move the roll welding electrode to weld the steel bars to the main bars to complete the roll welding operation.

[0003] At present, the mode of replacing the material tray of the seam welding machine is that two workers work together to replace the material tray. Specifically, when replacing the material tray, the seam welding machine needs to stop and wait, and the two workers remove the bolts that fix the empty material tray on both sides of the empty material tray to be replaced; after all the bolts are removed, the empty material tray is lifted to the material storage area by the overhead crane, and one of the workers needs to follow the overhead crane and the empty material tray to the material storage area, responsible for unloading the empty material tray to the material storage area, and then loading the full material tray onto the overhead crane; after that, the overhead crane lifts the full material tray to the installation hole of the seam welding machine, and the two workers then tighten the bolts that fix the material tray on both sides of the full material tray at the same time. In the above process, the empty material tray is unloaded from the seam welding machine and unloaded to the material storage area, and the full material tray is loaded onto the overhead crane, and the full material tray is installed from the overhead crane to the seam welding machine. All of these are completed manually, resulting in high labor intensity and long replacement time for workers when replacing the material tray, which not only causes a long waiting time for the seam welding machine to be shut down, but also consumes a large amount of human resources and poses certain safety hazards. Utility Model Content

[0004] Based on this, it is necessary to provide a tray storage device and a tray automatic replacement device to address the above-mentioned problems existing in the existing seam welding machine when replacing the tray of the seam welding machine, so as to effectively shorten the downtime waiting time of the seam welding machine when the tray is replaced and reduce the labor intensity of the workers.

[0005] According to one aspect of the present application, a tray handling device is provided, comprising:

[0006] A base capable of controllably moving along a first horizontal direction;

[0007] The clamping mechanism is arranged on the base and can move along the first horizontal direction together with the base. The bottom of the clamping mechanism has a support block, and the top of the clamping mechanism has a clamping claw. The clamping claw and the support block form a clamping gap for clamping the material tray, and the clamping claw can be raised and lowered relative to the support block so that the size of the clamping gap can be changed.

[0008] In one embodiment, there are at least two support blocks, and all the support blocks and the clamping jaws are spaced apart along a circumferential direction.

[0009] In one embodiment, the clamping mechanism is slidably disposed on the base and is capable of moving relative to the base along a second horizontal direction perpendicular to the first horizontal direction.

[0010] In one embodiment, the clamping mechanism is provided with a first driving source, and the base is provided with a first transmission mechanism. The first driving source is connected to the base through the first transmission mechanism so as to drive the clamping mechanism to move relative to the base.

[0011] In one of the embodiments, the clamping mechanism includes a support assembly, the support block is fixedly arranged at the bottom of the support assembly, and the clamping claw is liftably arranged at the top of the support assembly.

[0012] In one embodiment, the support assembly includes a support seat arranged on the base and a lifting base plate connected to the support seat in a liftable manner, the support block is fixedly arranged at the bottom of the lifting base plate, a second driving source is provided on the top of the lifting base plate, and the clamp is connected to the output end of the second driving source, and the second driving source is used to drive the clamp to lift relative to the lifting base plate.

[0013] In one of the embodiments, a third driving source is provided on the support seat, and the third driving source is connected to the lifting base plate through a second transmission mechanism so as to be able to drive the lifting base plate to rise and fall relative to the support seat.

[0014] In one of the embodiments, the lifting base plate is provided with a plurality of rolling elements capable of rotating around its own central axis, and the rolling elements are used for rolling connection with the material tray when the material tray is clamped in the clamping gap.

[0015] In one embodiment, there are at least two clamping jaws, and all of the clamping jaws are spaced apart along the first horizontal direction.

[0016] According to another aspect of the present application, there is provided an automatic tray changing device, comprising a conveying rail arranged along the first horizontal direction and a tray handling device as described in any of the above schemes, wherein the tray handling device is slidably arranged on the conveying rail, and a fourth driving source is provided on the base of the tray handling device, and the fourth driving source is connected to the conveying rail through a third transmission mechanism, so as to be able to drive the tray handling device to move along the conveying rail and travel back and forth between a tray changing station and a tray storage station.

[0017] The above-mentioned tray handling device and tray automatic replacement equipment are provided by arranging a movable base in the tray handling device and arranging a clamping mechanism, wherein the bottom of the clamping mechanism has a support block, the top of the clamping mechanism has a clamping claw, the clamping claw and the support block form a clamping gap for clamping the tray, and the clamping claw can be lifted and lowered relative to the support block, so that when the tray handling device moves to the tray replacement station, the clamping mechanism can clamp the empty tray from the rolling welder in the clamping gap, and when the tray handling device moves to the tray storage station, the empty tray is unloaded from the clamping gap to the tray storage device; and When the tray conveying device is located at the tray storage station, the clamping mechanism can clamp the full tray from the tray storage device in the clamping gap, and when the tray conveying device returns to the tray changing station, the full tray is unloaded from the clamping gap to the roll welding machine, thereby realizing automatic replacement of the tray. Compared with the existing tray replacement method, no manual intervention is required during the entire tray replacement process, and the degree of automation is higher, thereby reducing the time spent on tray replacement, thereby reducing the downtime and waiting time of the roll welding machine, improving the efficiency of tray replacement, and reducing the labor intensity of workers, avoiding the occurrence of safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of an automatic tray changing device provided in one embodiment of the present application.

[0019] Figure 2 A schematic diagram of the structure of a tray handling device provided in one embodiment of the present application Figure 1 (without clamping the tray).

[0020] Figure 3 A schematic diagram of the structure of a tray handling device provided in one embodiment of the present application Figure 2 (Clamp holding tray).

[0021] Figure 4 A schematic diagram of the structure of a tray handling device provided in one embodiment of the present application Figure 3 (without clamping the tray).

[0022] Figure 5 A schematic diagram of the connection between a fourth driving source and a third transmission mechanism provided in an embodiment of the present application.

[0023] Figure 6 A schematic diagram of the connection between a first driving source and a first transmission mechanism provided in one embodiment of the present application.

[0024] Figure 7 A schematic diagram of the connection between a second driving source and a clamping jaw provided in one embodiment of the present application.

[0025] Figure 8 A schematic diagram of the connection between a third driving source and a second transmission mechanism provided in an embodiment of the present application.

[0026] Description of reference numerals:

[0027] 10. Automatic tray changing equipment; 11. Tray storage station; 12. Tray changing station; 100. Tray handling device; 110. Base; 120. Clamping mechanism; 120a. Clamping gap; 121. Support assembly; 1211. Support seat; 1212. Lifting base plate; 1213. Rolling element; 122. Support block; 123. Clamping claw; 124. First drive source; 125. First transmission mechanism; 126. Second drive source; 127. Third drive source; 128. Second transmission mechanism; 128a. Screw; 128b. Screw nut; 130. Fourth drive source; 140. Third transmission mechanism; 200. Conveying guide rail; 300. Tray storage device; 20. Roller welding machine; 30. Tray. DETAILED DESCRIPTION

[0028] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0029] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or part 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 application.

[0030] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0031] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated 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 parts or the interaction relationship between two parts, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0032] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another piece, it may be directly on the other piece or there may be a central piece. If an element is considered to be "connected to" another element, it may be directly connected to the other piece or there may be a central piece at the same time. If present, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0034] One embodiment of the present application provides a tray handling device and an automatic tray changing device, wherein the automatic tray changing device includes a tray handling device, the automatic tray changing device is used to supply full trays filled with materials to production equipment (such as a rolling welder), and to recover empty trays from the production equipment; the tray handling device is used to travel back and forth between a tray storage area and the production equipment, so as to be able to transport empty trays unloaded from the production equipment and unload them to the tray storage area, and to transport full trays from the tray storage area to the location of the production equipment, and install the full trays on the production equipment.

[0035] The following uses the automatic tray replacement device in the roll welding system and is used to replace the tray of the roll welding machine as an example to illustrate the structure of the tray handling device in the automatic tray replacement device. This embodiment is only used as an example and does not limit the technical scope of the present application. It is understood that in other embodiments, the automatic tray replacement device and the tray handling device of the present application are not limited to supplying trays to the roll welding machine and replacing the trays of the roll welding machine, but can also be used to supply trays to any production equipment that needs to use trays and replace trays, which is not limited here.

[0036] See also Figure 1 , Figure 1 The schematic diagram of the structure of the automatic tray replacement device 10 in one embodiment of the present application is shown. The automatic tray replacement device 10 provided in one embodiment of the present application includes a tray handling device 100, a conveying rail 200 and a tray storage device 300, wherein the tray storage device 300 is arranged on a tray storage station 11, and the roll welding machine 20 is arranged on a tray replacement station 12, and the tray replacement station 12 and the tray storage station 11 are arranged at intervals in the first horizontal direction (the X direction as shown in the figure). The tray handling device 100 is slidably arranged on the conveying rail 200 so as to be able to travel back and forth between the tray replacement station 12 and the tray storage station 11. On the one hand, the tray transport device 100 can unload the empty tray from the seam welding machine 20 at the tray changing station 12 and transport it to the tray storage station 11, and then place the empty tray in the tray storage device 300 at the tray storage station 11; on the other hand, the tray transport device 100 can transport the full tray from the tray storage station 11 to the tray changing station 12, and unload the full tray onto the seam welding machine 20, thereby completing the automatic replacement of the tray 30.

[0037] See also Figures 2 to 4 , is a structural schematic diagram of a tray handling device 100 of an embodiment, the tray handling device 100 of this embodiment, includes a base 110 and a clamping mechanism 120, wherein the base 110 is slidably disposed on a conveying rail 200, and can be controllably moved along the conveying rail 200 (i.e., along a first horizontal direction), the clamping mechanism 120 is disposed on the base 110, and is used to clamp the tray 30, when the base 110 moves along the conveying rail 200, the clamping mechanism 120 can move along the first horizontal direction together with the base 110, so that the tray handling device 100 can move while clamping the tray 30, thereby being able to travel back and forth between the tray replacement station 12 and the tray storage station 11.

[0038] In one embodiment, the base 110 is controllably movable by being driven by a fourth driving source 130. The fourth driving source 130 may be a motor, which is disposed on the base 110 and is combined with the fourth driving source 130 to move in a controlled manner. Figure 1 and Figure 3As shown, the fourth driving source 130 is connected to the conveying guide rail 200 through the third transmission mechanism 140. In this embodiment, the third transmission mechanism 140 is a structure of a helical gear and a rack, the helical gear is connected to the fourth driving source 130, and meshes with the rack, and the rack is installed on the conveying guide rail 200. When the fourth driving source 130 drives the helical gear to rotate around its own central axis, the tray handling device 100 can move along the guide rail as the helical gear and the rack mesh with each other.

[0039] It is understandable that the third transmission mechanism 140 is not limited to a structure in which a helical gear and a rack are meshed, but may also be a sprocket chain structure, etc., which is not limited here.

[0040] When the tray handling device 100 is located at the tray replacement station 12, in order to enable the tray handling device 100 to smoothly unload empty trays from the roll welder 20 or transfer full trays to the roll welder 20; or when the tray handling device 100 is at the tray storage station 11, in order to ensure that the handling device can be close to the tray storage device 300, in a preferred embodiment, the clamping mechanism 120 is also slidably connected to the bearing seat, so that the clamping mechanism 120 can move relative to the base 110 along a second horizontal direction (the Y direction shown in the figure) perpendicular to the first horizontal direction. Specifically, as Figure 4 and Figure 6 As shown, the clamping mechanism 120 is driven by a first driving source 124 and can move relative to the base 110 along the second horizontal direction. The first driving source 124 can also be a motor, which is arranged on the clamping mechanism 120. The base 110 is provided with a first transmission mechanism 125. The first driving source 124 is connected to the base 110 through the first transmission mechanism 125, so as to drive the clamping mechanism 120 to move relative to the base 110. Figure 4 and Figure 6 In the embodiment shown in , the first transmission mechanism 125 is the same as the third transmission mechanism 140, and is also a structure in which a helical gear and a rack are meshed with each other. The helical gear is connected to the output end of the first driving source 124, and the rack is arranged on the base 110. It will not be repeated here. Similarly, the first transmission mechanism 125 is not limited to a structure in which a helical gear and a rack are meshed with each other.

[0041] In this way, when the tray handling device 100 is located at the tray changing station 12, the clamping mechanism 120 can approach or move away from the seam welder 20 along the second horizontal direction, so that the empty tray can be unloaded from the seam welder 20, or the full tray can be placed on the seam welder 20; when the tray handling device 100 is located at the tray storage station 11, the clamping mechanism 120 can approach or move away from the tray storage device 300 along the second horizontal direction, so that when the handling device is located at the tray storage station 11, it can ensure that the tray handling device 100 can smoothly place the empty tray into the tray storage device 300, or can ensure that the tray handling device 100 can smoothly take away the full tray from the tray storage device 300.

[0042] Of course, the clamping mechanism 120 may not move along the base 110, and when the tray conveying device 100 is located at the tray changing station 12, the rolling welder 20 moves along the second horizontal direction to approach the tray conveying device 100; or when the tray conveying device 100 is located at the tray storage station 11, the tray storage device 300 moves along the second horizontal direction to approach the tray conveying device 100, which is not limited here.

[0043] Further, in one embodiment, see Figure 2 and Figure 3 The clamping mechanism 120 is arranged on the base 110, and has a support block 122 at the bottom and a clamping claw 123 at the top. The clamping claw 123 and the support block 122 form a clamping gap 120a for clamping the material tray 30, and the clamping claw 123 can be raised and lowered relative to the support block 122 to make the size of the clamping gap 120a variable, so that the material tray 30 can be clamped in the clamping gap 120a.

[0044] It is worth noting that, since the material tray 30 is substantially cylindrical, in order to more firmly clamp the material tray 30 in the clamping gap 120a, Figure 2 In the embodiment shown in , there are two support blocks 122, and the two support blocks 122 and the clamping jaws 123 are spaced apart in a circumferential direction. In this way, the material tray 30 can be clamped more firmly by using three points to avoid the phenomenon of loose clamping. It can be understood that the number of support blocks 122 can also be more than two.

[0045] For further information, see Figure 2 The clamping mechanism 120 further includes a support assembly 121, which is slidably disposed on the base 110, a first driving source 124 is disposed on the support assembly 121, a support block 122 is fixedly disposed at the bottom of the support assembly 121, and a clamping jaw 123 is movably disposed at the top of the support assembly 121. Driven by the first driving source 124, the support assembly 121, the support block 122 and the clamping jaw 123 can move relative to the base 110 along the second horizontal direction.

[0046] In the specific structure of the support assembly 121, the support assembly 121 includes a support seat 1211 and a lifting base plate 1212, wherein the support seat 1211 is slidably arranged on the base 110, and the lifting base plate 1212 is liftably connected to the support seat 1211, so that the lifting base plate 1212 can be lifted relative to the support seat 1211, and the support block 122 is arranged at the bottom of the lifting base plate 1212. Figure 4 and Figure 7 It can be seen that the top of the lifting base plate 1212 is provided with a second driving source 126, and the second driving source 126 in the embodiment of the figure is a cylinder or an electric cylinder, and the clamping jaw 123 is connected to the output end of the second driving source 126. Under the drive of the second driving source 126, the clamping jaw 123 can be lifted and lowered relative to the lifting base plate 1212 to complete the action of clamping the material tray 30 or releasing the material tray 30. Preferably, in order to further clamp the material tray 30, the clamping jaw 123 has two, and the two clamping jaws 123 are simultaneously connected to the output end of the second driving source 126 and are spaced apart along the first horizontal direction. Of course, the number of the clamping jaws 123 is not limited to two, and can also be more, and there is no special limitation here.

[0047] See also Figure 2 and Figure 8 In one embodiment, the support seat 1211 is provided with a third driving source 127, which is connected to the lifting base plate 1212 through a second transmission mechanism 128. The third driving source 127 can also be a motor. Under the drive of the third driving source 127, the second transmission mechanism 128 can drive the lifting base plate 1212 to rise and fall relative to the support seat 1211. Figure 8 In the embodiment shown in , the second transmission mechanism 128 is a structure of a screw rod 128a and a screw rod nut 128b, that is, the screw rod nut 128b is sleeved on the screw rod 128a and meshed with the screw rod 128a, the lifting base plate 1212 is connected to the screw rod nut 128b, and the third driving source 127 can drive the screw rod 128a to rotate around its own central axis. As the screw rod 128a rotates, the screw rod nut 128b can move along the axial direction of the screw rod 128a, thereby driving the lifting base plate 1212 to move relative to the support seat 1211 in the vertical direction (that is, along the axial direction of the screw rod 128a, which is also the Z direction shown in the figure).

[0048] It is understandable that the second transmission mechanism 128 is not limited to a structure in which the screw rod 128a and the slider are meshed, but may also be a structure in which a gear rack is meshed or a sprocket chain structure, and there is no special limitation here.

[0049] In this way, by setting a support seat 1211 and a lifting base plate 1212 in the support assembly 121, the lifting base plate 1212 can be lifted and lowered relative to the support seat 1211, and the clamping claw 123 and the support block 122 can clamp the material tray 30 together for lifting to avoid the material tray storage device 300, so as to prevent the clamping mechanism 120 from touching the material tray storage device 300 when the material tray conveying device 100 reaches the material tray storage station 11, thereby ensuring that the empty material tray can be smoothly placed in the material tray storage device 300 or the full material tray can be smoothly taken out of the material tray storage device 300.

[0050] In addition, when the clamping mechanism 120 clamps the material tray 30 in the clamping gap 120a, in order to avoid the material tray 30 and the lifting base plate 1212 from rubbing against each other, thereby causing wear to the material tray 30 or the lifting base plate 1212, based on the above embodiment, refer to Figure 2 and Figure 4 The lifting base plate 1212 is also provided with a plurality of rolling members 1213 that can rotate around its own central axis. The rolling members 1213 are used to roll and connect with the material tray 30 when the material tray 30 is clamped in the clamping gap 120a, thereby achieving the purpose of reducing the wear of the material tray 30 or reducing the lifting base plate 1212.

[0051] The following combined Figures 1 to 3 , introduces the whole process of transporting and replacing the material tray 30 using the material tray transporting device 100 provided in the present application.

[0052] When the empty tray needs to be recovered, first, the tray transport device 100 moves along the first horizontal direction to the tray replacement station 12, and the clamping mechanism 120 moves along the second horizontal direction to approach the seam welder 20, so that part of the empty tray is located in the clamping gap 120a, and the clamping claw 123 descends relative to the support block 122 to clamp the empty tray in the clamping gap 120a. At this time, the fixing bolts on the seam welder 20 are manually loosened to allow the tray 30 to be detached from the seam welder 20.

[0053] Then, the clamping mechanism 120 clamps the empty tray and retreats along the second horizontal direction to away from the rolling welder 20, and rises to a avoidance position in the vertical direction. Then the tray transport device 100 moves horizontally to the tray storage station 11 along the first horizontal direction. At this time, the clamping mechanism 120 clamps the empty tray and descends from the avoidance position and approaches the tray storage device 300 along the second horizontal direction. The clamping claw 123 rises relative to the support block 122 to release the empty tray. Finally, the clamping mechanism 120 retreats along the second horizontal direction and places the empty tray into the tray storage device 300, thereby completing the action of recycling the empty tray.

[0054] When it is necessary to load a full tray onto the rolling welder 20, first, the transport device moves along a first horizontal direction to the tray storage device 300, and the clamping mechanism 120 moves along a second horizontal direction to approach the tray storage device 300, so that part of the full tray is located in the clamping gap 120a, and the clamping jaws 123 descend relative to the support block 122 to clamp the full tray in the clamping gap 120a.

[0055] Then, the clamping mechanism 120 holds the full tray and rises to the avoidance position in the vertical direction, and retreats in the second horizontal direction to move away from the second storage mechanism. Then the tray handling device 100 moves laterally in the first horizontal direction and returns to the tray changing station 12. At this time, the clamping mechanism 120 holds the full tray and descends from the avoidance position and approaches the seam welder 20 in the second horizontal direction. At this time, the fixing bolts on the seam welder 20 are manually tightened to fix the tray 30 on the seam welder 20. Finally, the clamping jaws 123 rise relative to the support block 122, and the clamping mechanism 120 retreats in the second horizontal direction to disengage the clamping mechanism 120 from the full tray, thereby completing the action of loading the full tray on the seam welder 20.

[0056] It can be seen that when the tray transporting device 100 provided in the present application is used to transport the tray 30 and replace the tray 30, no manual intervention is required during the entire tray 30 replacement process, and the degree of automation is higher, thereby reducing the time spent on replacing the tray 30, thereby reducing the downtime and waiting time of the rolling welding machine 20, improving the efficiency of replacing the tray 30, and reducing the labor intensity of workers, avoiding the occurrence of safety hazards.

[0057] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0058] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A tray handling device, characterized in that: include; A base capable of controllably moving along a first horizontal direction; The clamping mechanism is arranged on the base and can move along the first horizontal direction together with the base. The bottom of the clamping mechanism has a support block, and the top of the clamping mechanism has a clamping claw. The clamping claw and the support block form a clamping gap for clamping the material tray, and the clamping claw can be raised and lowered relative to the support block so that the size of the clamping gap can be changed.

2. The tray handling device according to claim 1, characterized in that: There are at least two support blocks, and all the support blocks and the clamping jaws are spaced apart along a circumferential direction.

3. The tray handling device according to claim 1, characterized in that: The clamping mechanism is slidably disposed on the base and is capable of moving relative to the base along a second horizontal direction perpendicular to the first horizontal direction.

4. The tray handling device according to claim 3, characterized in that: The clamping mechanism is provided with a first driving source, and the base is provided with a first transmission mechanism. The first driving source is connected to the base through the first transmission mechanism so as to drive the clamping mechanism to move relative to the base.

5. The tray handling device according to any one of claims 1 to 3, characterized in that: The clamping mechanism comprises a supporting assembly, the supporting block is fixedly arranged at the bottom of the supporting assembly, and the clamping claw is liftably arranged at the top of the supporting assembly.

6. The tray handling device according to claim 5, characterized in that: The support assembly includes a support seat arranged on the base and a lifting base plate connected to the support seat in a liftable manner, the support block is fixedly arranged at the bottom of the lifting base plate, a second driving source is provided on the top of the lifting base plate, the clamp is connected to the output end of the second driving source, and the second driving source is used to drive the clamp to lift relative to the lifting base plate.

7. The tray handling device according to claim 6, characterized in that: The support seat is provided with a third driving source, and the third driving source is connected to the lifting base plate through a second transmission mechanism so as to be able to drive the lifting base plate to rise and fall relative to the support seat.

8. The tray handling device according to claim 6, characterized in that: The lifting base plate is provided with a plurality of rolling elements which can rotate around their own central axes, and the rolling elements are used for rolling connection with the material tray when the material tray is clamped in the clamping gap.

9. The tray handling device according to claim 1, characterized in that: There are at least two clamping jaws, and all the clamping jaws are arranged at intervals along the first horizontal direction.

10. An automatic tray replacement device, characterized in that: It includes a conveying rail arranged along the first horizontal direction and a tray handling device as described in any one of claims 1 to 9, wherein the tray handling device is slidably arranged on the conveying rail, and a fourth driving source is provided on the base of the tray handling device, and the fourth driving source is connected to the conveying rail through a third transmission mechanism to be able to drive the tray handling device to move along the conveying rail and travel back and forth between a tray changing station and a tray storage station.

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