Full-automatic batch grabbing and stacking device for sterilization trays
By designing a fully automatic sterilization disk batch grab and palletizing device, and using a combination technology of a robot and a positioning disk, the problem of difficulty in grabbing multiple sterilization disks at one time in the existing technology is solved, high-speed palletization and stable transport are achieved, and production efficiency and safety are improved.
Patent Information
- Application Number
- CN202421642969.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-12
- Publication Date
- 2025-05-13
- Estimated Expiration
- 2034-07-12
AI Technical Summary
The prior art is difficult to grasp multiple sterilization discs arranged in a single word at a time, resulting in insufficiency of palletization.
A fully automatic sterilization disk batch grab and palletizing device is designed, including a robot and several sterilization disks. The grasping part of the robot is driven by the left and right jaws and cylinders and hydraulic cylinders, and can grab multiple sterilization discs at once. At the same time, several positioning load disks are set up to ensure that the sterilization disk remains neatly during the palletization and transport process by matching the positioning cone and the positioning cone hole.
High-speed palletization is achieved, efficient production is improved, labor intensity for workers is reduced, and production costs are reduced. At the same time, through the design of the positioning disk, it is ensured that the sterilized disk is not easily skewed or dispersed during transportation.
Smart Images
Figure CN222860502U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of sterilization equipment, in particular to a full-automatic sterilization tray batch grabbing and stacking device. Background Art
[0002] At present, the common sterilization trays on the market are usually rectangular frame structures with two pairs of frames of the same length or with a small difference in length. After the sterilization trays are loaded with items that need to be disinfected and sterilized, they are stacked from bottom to top in a palletizing manner. The number of sterilization trays in each layer of the multi-layer sterilization tray group after palletizing is one. During the palletizing process, the sterilization trays are usually grasped manually or by a robot for operation.
[0003] Strip packs refer to long and narrow strips of packaging containing items, such as long strips of packaging containing coffee powder, long strips of packaging containing medicine powder particles, etc. This type of long strips of packaging are called strip packs. Strip packs are used in large quantities. According to market requirements, our company has developed a complete logistics system for packing, sterilizing, transporting and unloading strip packs. For this purpose, sterilization trays suitable for loading strip packs are matched. This sterilization tray is long and narrow. Generally, the length of the long frame in the two pairs of frames is usually 4-6 times the length of the short frame. For the palletizing of this type of sterilization tray, the number of sterilization trays in each layer of the multi-layer sterilization tray group after palletizing is usually 4-8. Therefore, it is necessary to design a fully automatic sterilization tray batch grabbing and palletizing device that can grab multiple such sterilization trays at one time to achieve the purpose of high-speed palletizing. Utility Model Content
[0004] The technical problem to be solved by the utility model is to provide a fully automatic sterilization tray batch grabbing and stacking device which has a simple structure and can grab a plurality of sterilization trays arranged closely in a line at one time.
[0005] The technical solution adopted by the utility model is as follows: the fully automatic sterilization tray batch grabbing and stacking device comprises: a manipulator and a plurality of sterilization trays; the sterilization tray is a rectangular frame structure, and clamping strips are respectively arranged on the outer side walls of the short frames on both sides of the sterilization tray, the two clamping strips are parallel to each other and are at the same height, a positioning cone is respectively arranged at the four corners of the top surface of the sterilization tray, and a positioning cone hole for inserting the positioning cone is respectively arranged at the four corners of the bottom surface of the sterilization tray, and the four positioning cone holes correspond to the four positioning cones in the upper and lower positions respectively; when the sterilization trays are stacked up and down, the four positioning cones on the other sterilization trays except the sterilization tray located at the top layer can be respectively inserted into the four positioning cone holes on the sterilization tray located directly above the sterilization tray.
[0006] The structure of the gripping part of the manipulator includes: a fixed frame fixed to the front end of the arm of the manipulator; a left clamping jaw is arranged on the left part of the fixed frame through a pair of left slide rails, and the left clamping jaw is driven by a left driving device to slide on the pair of left slide rails; the left clamping jaw is a strip-shaped structure, and a left clamping groove is provided on the left clamping jaw for each clamping strip located on the same side of a plurality of sterilization trays arranged in a row to be clamped into; the right clamping jaw is arranged on the right part of the fixed frame through a pair of right slide rails, the tracks of the pair of right slide rails are parallel to the tracks of the pair of left slide rails, and the right clamping jaw is driven by a right driving device to slide on the pair of right slide rails; the right clamping jaw is a strip-shaped structure parallel to the left clamping jaw, and a right clamping groove is provided on the right clamping jaw for each clamping strip located on the same side of a plurality of sterilization trays arranged in a row to be clamped into.
[0007] Furthermore, in the aforementioned fully automatic sterilization tray batch grasping and palletizing device, a pair of left slide rails and a pair of right slide rails share a pair of rails; or the center line of one of the rails in the pair of left slide rails and the center line of one of the rails in the pair of right slide rails are located on the same straight line, and the center line of the other rail in the pair of left slide rails and the center line of the other rail in the pair of right slide rails are located on the same straight line.
[0008] Considering factors such as light weight, compact structure, and cost, the left and right drive devices described in this solution are selected from pneumatic cylinders or hydraulic cylinders. Specifically:
[0009] The left driving device is a left air cylinder or a left hydraulic cylinder fixed to the left part of the fixing frame, a left connecting plate is fixedly arranged in the middle of the left clamping jaw, and a piston rod of the left air cylinder or the left hydraulic cylinder is fixedly connected to the left connecting plate;
[0010] The right driving device is a right air cylinder or a right hydraulic cylinder fixed to the right part of the fixing frame, a right connecting plate is fixedly arranged in the middle of the right clamping jaw, and the piston rod of the right air cylinder or the right hydraulic cylinder is fixedly connected to the right connecting plate.
[0011] Considering that there is no fixed connection structure between the sterilization trays arranged in a row in each layer of the palletized multi-layer sterilization tray group, and the palletized multi-layer sterilization tray group needs to be transported out through transfer and conveying equipment, such as conveyor belts and conveyor chains, etc., and in the actual transportation process, affected by factors such as gravity, it is easy for one or more sterilization trays to deflect and disperse outward. How to ensure that the palletized multi-layer sterilization tray group is always a whole piece and not loose? In response to this phenomenon, this solution adds several positioning trays, and solves the above problems by setting a positioning tray at the top and bottom of each group of palletized multi-layer sterilization tray groups. The structure of the positioning carrier is specifically as follows: a plurality of connecting cones are arranged on the top surface of the positioning carrier, each connecting cone is consistent with the positioning cone in shape and size, and the distribution of each connecting cone ensures that when a plurality of sterilization trays arranged closely in a line are placed on the positioning carrier, each positioning cone hole on each sterilization tray can be matched with a corresponding connecting cone for insertion; a plurality of connecting cone holes are arranged on the bottom surface of the positioning carrier, each connecting cone hole is consistent with the positioning cone hole in shape and size, and each connecting cone hole corresponds to each connecting cone in upper and lower positions;
[0012] Positioning strips are respectively arranged on the outer side walls on both sides of the positioning carrier, and the positions of the two positioning strips are consistent with the positions of the two strips on each sterilization tray placed on the positioning carrier, and when the gripping part of the manipulator grips the positioning carrier, the two positioning strips can be respectively clipped into the left slot and the right slot.
[0013] Furthermore, in the aforementioned fully automatic sterilization tray batch grasping and stacking device, the positioning card strip is a square tube profile structure; the left clamping jaw and the right clamping jaw are both square tube profile structures with a long groove on all four sides, wherein the long groove on the side of the left clamping jaw opposite to the right clamping jaw is the left card groove, and the long groove on the side of the right clamping jaw opposite to the left clamping jaw is the right card groove.
[0014] Furthermore, in the aforementioned fully automatic sterilization tray batch grasping and stacking device, the number of connecting cones on the top surface of the positioning carrier is twenty-four, ensuring that a maximum of six sterilization trays arranged closely in a line can be placed on the positioning carrier or the positioning carrier can cover a maximum of six sterilization trays arranged closely in a line at one time.
[0015] Furthermore, in the aforementioned fully automatic sterilization tray batch grabbing and stacking device, the positioning carrier is a rectangular frame structure formed by two horizontal bars and two vertical bars enclosed and fixedly connected; the two ends of the middle reinforcing horizontal bar are respectively fixedly connected to the middle parts of the two horizontal bars, and the middle reinforcing horizontal bar is parallel to each horizontal bar; the two ends of the two middle reinforcing vertical bars are respectively fixedly connected to the two vertical bars, and the two middle reinforcing vertical bars are parallel to each vertical bar; the connecting cones are located on the top surfaces of the two horizontal bars, and the connecting cone holes are located on the bottom surfaces of the two horizontal bars.
[0016] The beneficial effects of the utility model are: 1. By designing the structure of the sterilization tray and the gripping part of the manipulator, the gripping part of the manipulator can grab a plurality of sterilization trays arranged closely in a line at one time, so as to achieve the purpose of high-speed palletizing, greatly improve the efficiency of production, reduce the labor intensity of workers, and reduce production costs; 2. A plurality of positioning trays are arranged, and a positioning tray is placed on the top and bottom of each group of multi-layer sterilization tray groups after palletizing, so as to ensure that the sterilization trays in each layer of the multi-layer sterilization tray group after palletizing are always close to each other during the transportation process, without problems such as deflection and outward dispersion. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] Figure 1 It is a structural schematic diagram of a fully automatic sterilization tray batch grabbing and stacking device described in the utility model.
[0018] Figure 2 It is a schematic diagram of the structure of the multi-layer sterilization tray group after palletizing.
[0019] Figure 3 yes Figure 2 Schematic diagram of the local enlarged structure of part A.
[0020] Figure 4 yes Figure 2 Schematic diagram of the local enlarged structure of part B.
[0021] Figure 5 It is a schematic diagram of the structure of a single sterilization tray.
[0022] Figure 6 yes Figure 5 Schematic diagram of the structure from the left view direction.
[0023] Figure 7 It is a schematic diagram of the structure of a single positioning carrier.
[0024] Figure 8 yes Figure 2 Schematic diagram of the structure from the left view direction.
[0025] Fig. 9 yes Figure 8 Schematic diagram of the local enlarged structure of part C in the middle.
[0026] Fig.10 yes Figure 1 Schematic diagram of the structure of the gripping part of the robot.
[0027] Fig.11 yes Fig.10 Schematic diagram of the local enlarged structure of part D in the middle.
[0028] Among them: 1. Robot; 2. Sterilization tray; 21. Short frame; 22. Long frame; 23. Card strip; 24. Positioning cone; 25. Positioning cone hole; 3. Fixed frame; 31. Left clamp; 32. Left cylinder; 33. Left connecting plate; 34. Left slot; 35. Right clamp; 36. Right cylinder; 37. Right connecting plate; 38. Right slot; 4. Positioning carrier; 41. Horizontal strip; 42. Middle reinforcing horizontal strip; 43. Vertical strip; 44. Middle reinforcing vertical strip; 45. Connecting cone; 46. Connecting cone hole; 47. Positioning card strip; 5. Multi-layer sterilization tray group after palletizing. DETAILED DESCRIPTION
[0029] The technical solution of the present utility model is further described in detail below in conjunction with the accompanying drawings and preferred embodiments. Embodiment 1
[0030] The fully automatic sterilization tray batch grabbing and stacking device described in this embodiment includes: a manipulator 1 and a plurality of sterilization trays 2. The sterilization trays 2 used here are all sterilization trays of the same shape, size and structure. Among them, the structure of the sterilization tray 2 is:
[0031] like Figure 5 and Figure 6 The sterilization tray 2 is in the shape of a rectangular frame structure. When in use, medicines and other items that need to be sterilized are placed in the sterilization tray 2. The sterilization tray 2 used here is a long and narrow rectangular frame structure. When the sterilization trays 2 are arranged in a row, the long frames 22 of each sterilization tray 2 are arranged in sequence. When strip packs need to be loaded, multiple partitions 26 arranged evenly in a row can be set in the frame of the sterilization cabinet 2, and the space between two adjacent partitions 26 is used to load the strip packs. The outer side walls of the short frames 21 on both sides of the sterilization tray 2 are respectively provided with clamping strips 23, and the two clamping strips 23 are parallel to each other and at the same height. A positioning cone 24 is provided at each of the four corners of the top surface of the sterilization tray 2, and a positioning cone hole 25 is provided at each of the four corners of the bottom surface of the sterilization tray 2, into which the positioning cone 24 can be inserted. The four positioning cone holes 25 correspond to the four positioning cones 24 in the upper and lower positions, that is, the axis of the positioning cone 24 and the axis of the positioning cone hole 25 in the same corner area overlap. When the sterilization trays 2 are stacked up and down, the four positioning cones 24 on each of the sterilization trays 2 except the sterilization tray 2 on the top layer can be respectively inserted into the four positioning cone holes 25 on the sterilization tray 2 directly above the sterilization tray 2, such as Figure 2 , Figure 3 and Figure 8 shown.
[0032] like Figure 1 , Fig.10 and Fig.11As shown, the structure of the gripping part of the manipulator 1 in this embodiment includes: a fixed frame 3 fixed to the front end of the arm of the manipulator 1; a left clamping jaw 31 is arranged on the left side of the fixed frame 3 through a pair of left slide rails, and the left clamping jaw 31 is driven by a left driving device to slide on the pair of left slide rails. The left driving device is a left cylinder 32 or a left hydraulic cylinder fixed to the left side of the fixed frame 3, and a left connecting plate 33 is fixedly arranged in the middle of the left clamping jaw 31, and the piston rod of the left cylinder 32 or the left hydraulic cylinder is fixedly connected to the left connecting plate 33. The left clamping jaw 31 is a strip-shaped structure, and a left card slot 34 is provided on the left clamping jaw 31 for each card strip 23 on the same side of a plurality of sterilization trays 2 arranged in a row to be inserted.
[0033] The right clamping jaw 35 is arranged on the right side of the fixed frame 3 through a pair of right slide rails. The tracks of the pair of right slide rails are parallel to the tracks of the pair of left slide rails, and the right clamping jaw 35 is driven by a right driving device to slide on the pair of right slide rails. The right driving device is a right cylinder 36 or a right hydraulic cylinder fixed to the right side of the fixed frame 3. A right connecting plate 37 is fixedly arranged in the middle of the right clamping jaw 35. The piston rod of the right cylinder 36 or the right hydraulic cylinder is fixedly connected to the right connecting plate 37. The right clamping jaw 35 is a strip-shaped structure parallel to the left clamping jaw 31. The right clamping jaw 35 is provided with a right clamping groove 38 for clamping the clamping strips 23 on the same side of a plurality of sterilization trays 2 arranged in a row.
[0034] In this embodiment, the pair of left slide rails and the pair of right slide rails share a pair of tracks; or the center line of one of the tracks in the pair of left slide rails and the center line of one of the tracks in the pair of right slide rails are located on the same straight line, and the center line of the other track in the pair of left slide rails and the center line of the other track in the pair of right slide rails are located on the same straight line.
[0035] When the manipulator 1 grabs multiple sterilization trays 2 at one time, it first ensures that the long frames 22 of the multiple sterilization trays 2 are arranged closely in sequence, so that the sterilization trays 2 are closely arranged in a line, and then the gripping part of the manipulator 1 moves to the sterilization trays 2 that are closely arranged in a line, and the left cylinder 32 or the left hydraulic cylinder and the right cylinder 36 or the right hydraulic cylinder are started at the same time, so that the left clamping jaw 31 and the right clamping jaw 35 gradually move inward until the left clamping strips 23 on each sterilization tray 2 are inserted into the left clamping slot 34, and the right clamping strips 23 on each sterilization tray 2 are inserted into the right clamping slot 38. At this time, the manipulator 1 Multiple sterilization trays 2 are grabbed, and then the manipulator 1 can transfer the grabbed sterilization trays 2 to the required position according to the instructions, and then the left cylinder 32 or the left hydraulic cylinder, the right cylinder 36 or the right hydraulic cylinder are started at the same time, so that the left clamp 31 and the right clamp 35 gradually move away from the outside until the left clamp strips 23 on each sterilization tray 2 are completely withdrawn from the left clamping slot 34, and the right clamp strips 23 on each sterilization tray 2 are completely withdrawn from the right clamping slot 38. At this time, the manipulator 1 is in a separated state from each sterilization tray 2, and the manipulator 1 can perform the next task operation according to the instructions. In this process, the manipulator 1 can complete the stacking operation of multiple sterilization trays per layer every time it completes the above steps. The stacking speed is very fast, achieving the purpose of high-speed stacking, greatly improving the efficiency of production, reducing the labor intensity of workers, and reducing production costs. Embodiment 2
[0036] This embodiment is based on the first embodiment and further includes a plurality of positioning carriers 4; Figure 2 , Figure 3 and Figure 7 As shown, a plurality of connecting cones 45 are arranged on the top surface of the positioning carrier 4, and the shape and size of each connecting cone 45 are consistent with the positioning cone 24, and the distribution of each connecting cone 45 ensures that when a plurality of sterilization trays 2 arranged closely in a line are placed on the positioning carrier 4, each positioning cone hole 25 on each sterilization tray 2 can match a corresponding connecting cone 45 for insertion. A plurality of connecting cone holes 46 are arranged on the bottom surface of the positioning carrier 4, and the shape and size of each connecting cone hole 46 are consistent with the positioning cone hole 25, and each connecting cone hole 46 corresponds to each connecting cone 45 in the upper and lower positions, that is, the axis of the connecting cone 45 and the axis of the connecting cone hole 46 in the same upper and lower regions overlap. When the positioning carrier 4 is covered on a plurality of sterilization trays 2 arranged closely in a line, a positioning cone 24 is inserted into each connecting cone hole 46.
[0037] When there are many layers of sterilization trays 2 stacked on multiple sterilization trays 2 arranged closely in a line, since there is no connection between the sterilization trays 2 on the same layer, the sterilization trays 2 after stacking may be easily skewed or scattered outwards during transportation due to various factors such as uneven gravity distribution of the sterilization trays 2. To address this problem, the present embodiment designs multiple positioning trays 4. When in use, a positioning tray 4 can be placed on the bottom layer first, and then each sterilization tray 2 can be stacked on the positioning tray 4. After the stacking is completed, a positioning tray 4 is covered on each sterilization tray 2 on the top layer after stacking. At this time, the top and bottom of the stacked multi-layer sterilization tray group 5 are both fixed by a positioning tray 4. Figure 2 , Figure 3 , Figure 4 , Figure 8 and Fig. 9 As shown, it is ensured that the sterilization trays in each layer of the stacked multi-layer sterilization tray group 5 are always close to each other during the transportation process, and are always a whole, without problems such as deflection and outward dispersion. This also ensures that the subsequent transportation and entry into the sterilization cabinet can operate normally.
[0038] In addition, in order to facilitate the robot 1 to grasp and position the carrier 4, as shown in FIG. Fig. 9 As shown, positioning strips 47 are respectively provided on the outer side walls of both sides of the positioning carrier 4, and the positions of the two positioning strips 47 are consistent with the positions of the two strips 23 on each sterilization tray 2 placed on the positioning carrier 4, and when the gripping part of the manipulator 1 grips the positioning carrier 4, the two positioning strips 47 can be respectively clipped into the left slot 34 and the right slot 38.
[0039] Among them, the positioning clamping strip 47 can be made of square tube profile; the left clamping jaw 31 and the right clamping jaw 35 are both square tube profiles with a long groove on all four sides, wherein the long groove on the side of the left clamping jaw 31 opposite to the right clamping jaw 35 is the left clamping groove 34, and the long groove on the side of the right clamping jaw 35 opposite to the left clamping jaw 31 is the right clamping groove 38.
[0040] In this embodiment, the number of connecting cones 45 on the top surface of the positioning carrier 4 is preferably twenty-four, ensuring that a maximum of six sterilization trays 2 arranged in a line can be placed on the positioning carrier 4 or the positioning carrier 4 can cover a maximum of six sterilization trays 2 arranged in a line at one time.
[0041] In this embodiment, the positioning carrier 4 is a rectangular frame structure formed by two horizontal bars 41 and two vertical bars 43 that are surrounded and fixedly connected. The two ends of the middle reinforcing horizontal bar 42 are respectively fixedly connected to the middle of the two horizontal bars 41, and the middle reinforcing horizontal bar 42 is parallel to each horizontal bar 41. The two ends of the two middle reinforcing vertical bars 44 are respectively fixedly connected to the two vertical bars 43, and the two middle reinforcing vertical bars 44 are parallel to each vertical bar 43; the connecting cones 45 are located on the top surface of the two horizontal bars 41, and the connecting cone holes 46 are located on the bottom surface of the two horizontal bars 41.
[0042] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 direct connection, an indirect connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0043] The above description is only a preferred embodiment of the present invention and does not constitute any other limitation on the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.
Claims
1. A fully automatic sterilization tray batch grabbing and stacking device, comprising: A manipulator and a plurality of sterilization trays; characterized in that: the sterilization tray is a rectangular frame structure, and clamping strips are respectively arranged on the outer side walls of the short frames on both sides of the sterilization tray, and the two clamping strips are parallel to each other and at the same height, and a positioning cone is respectively arranged at the four corners of the top surface of the sterilization tray, and a positioning cone hole for inserting the positioning cone is respectively arranged at the four corners of the bottom surface of the sterilization tray, and the four positioning cone holes correspond to the four positioning cones in the upper and lower positions one by one; The structure of the gripping part of the manipulator includes: a fixed frame fixed to the front end of the arm of the manipulator; a left clamping jaw is arranged on the left part of the fixed frame through a pair of left slide rails, and the left clamping jaw is driven by a left driving device to slide on the pair of left slide rails; the left clamping jaw is a strip-shaped structure, and a left clamping groove is provided on the left clamping jaw for each clamping strip located on the same side of a plurality of sterilization trays arranged in a row to be clamped into; the right clamping jaw is arranged on the right part of the fixed frame through a pair of right slide rails, the tracks of the pair of right slide rails are parallel to the tracks of the pair of left slide rails, and the right clamping jaw is driven by a right driving device to slide on the pair of right slide rails; the right clamping jaw is a strip-shaped structure parallel to the left clamping jaw, and a right clamping groove is provided on the right clamping jaw for each clamping strip located on the same side of a plurality of sterilization trays arranged in a row to be clamped into.
2. The fully automatic sterilization tray batch grabbing and stacking device according to claim 1, characterized in that: A pair of left slide rails and a pair of right slide rails share a pair of tracks; or the center line of one of the tracks in the pair of left slide rails is on the same straight line as the center line of one of the tracks in the pair of right slide rails, and the center line of the other track in the pair of left slide rails is on the same straight line as the center line of the other track in the pair of right slide rails.
3. A fully automatic sterilization tray batch grabbing and stacking device according to claim 1 or 2, characterized in that: The left driving device is a left air cylinder or a left hydraulic cylinder fixed to the left part of the fixing frame, a left connecting plate is fixedly arranged in the middle of the left clamping jaw, and a piston rod of the left air cylinder or the left hydraulic cylinder is fixedly connected to the left connecting plate; The right driving device is a right air cylinder or a right hydraulic cylinder fixed to the right part of the fixing frame, a right connecting plate is fixedly arranged in the middle of the right clamping jaw, and the piston rod of the right air cylinder or the right hydraulic cylinder is fixedly connected to the right connecting plate.
4. The fully automatic sterilization tray batch grabbing and stacking device according to claim 1, characterized in that: It also includes a plurality of positioning trays; a plurality of connecting cones are arranged on the top surface of the positioning tray, each connecting cone is consistent with the positioning cone in shape and size, and the distribution of each connecting cone ensures that when a plurality of sterilization trays arranged in a row are placed on the positioning tray, each positioning cone hole on each sterilization tray can be matched with a corresponding connecting cone for insertion; a plurality of connecting cone holes are arranged on the bottom surface of the positioning tray, each connecting cone hole is consistent with the positioning cone hole in shape and size, and each connecting cone hole corresponds to each connecting cone in upper and lower positions; Positioning strips are respectively arranged on the outer side walls on both sides of the positioning carrier, and the positions of the two positioning strips are consistent with the positions of the two strips on each sterilization tray placed on the positioning carrier, and when the gripping part of the manipulator grips the positioning carrier, the two positioning strips can be respectively clipped into the left slot and the right slot.
5. The fully automatic sterilization tray batch grabbing and stacking device according to claim 4, characterized in that: The positioning clip strip is a square tube profile structure; the left clamping jaw and the right clamping jaw are both square tube profile structures with a long groove on all four sides, wherein the long groove on the side of the left clamping jaw opposite to the right clamping jaw is the left clip groove, and the long groove on the side of the right clamping jaw opposite to the left clamping jaw is the right clip groove.
6. The fully automatic sterilization tray batch grabbing and stacking device according to claim 4, characterized in that: The number of connecting cones on the top surface of the positioning carrier is twenty-four, ensuring that at most six sterilization trays arranged in a line can be placed on the positioning carrier or the positioning carrier can cover at most six sterilization trays arranged in a line at one time.
7. A fully automatic sterilization tray batch grabbing and stacking device according to claim 4 or 6, characterized in that: The positioning carrier is a rectangular frame structure formed by two horizontal bars and two vertical bars that are surrounded and fixedly connected; the two ends of the middle reinforcing horizontal bar are respectively fixedly connected to the middle of the two horizontal bars, and the middle reinforcing horizontal bar is parallel to each horizontal bar; the two ends of the two middle reinforcing vertical bars are respectively fixedly connected to the two vertical bars, and the two middle reinforcing vertical bars are parallel to each vertical bar; the connecting cones are located on the top surfaces of the two horizontal bars, and the connecting cone holes are located on the bottom surfaces of the two horizontal bars.