Automatic charging tray feeding and discharging device

Abstract

The utility model provides an automatic charging tray feeding and discharging device which comprises a base, a translation driving mechanism and a clamping assembly, the translation driving mechanism is installed on the base, and the power output end of the translation driving mechanism is connected to the clamping assembly; the clamping assembly comprises a first clamping arm, a second clamping arm and a driving part; the driving part is used for driving the first clamping arm and the second clamping arm to get close to each other to clamp the tray or get away from each other to loosen the tray; the first clamping arm and / or the second clamping arm are / is provided with a supporting part which is used for supporting a material disc. According to the automatic charging tray feeding and discharging device provided by the utility model, the clamping assembly and the translation driving mechanism are arranged to clamp and move the charging tray, so that the technical problem of interference with a material taking manipulator does not exist; according to the tray clamping device, the supporting part is arranged on the first clamping arm and / or the second clamping arm, so that the tray is supported, the situation that the tray accidentally falls off due to the fact that the clamping force of the first clamping arm and the second clamping arm on the tray is insufficient in the moving process of the tray is avoided, and therefore the stability and reliability of tray clamping and moving are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tray loading and unloading, and particularly relates to an automatic tray loading and unloading device. Background Art

[0002] In the automation industry, as a key device for material storage and transportation, the performance of a material bin directly affects the efficiency of a production line and the quality of products. In the prior art, usually an upper feeding bin and a lower discharging bin are provided to achieve continuous automatic loading and unloading.

[0003] In the prior art, for the loading and unloading device of a tray, usually a tray filled with articles is placed in an upper feeding bin, and a manipulator and a suction cup assembly are arranged above the upper feeding bin. The manipulator is used to grasp the articles in the tray, and the suction cup assembly is used to suck the empty tray and move it to the lower discharging bin; the following deficiencies exist in this tray loading and unloading device: since the manipulator and the suction cup assembly are both arranged above the upper feeding bin, the two are prone to interference. Summary of the Utility Model

[0004] The utility model provides an automatic tray loading and unloading device to solve the technical problem that in the prior art, for the loading and unloading device of a tray, a manipulator and a suction cup assembly are both arranged above the upper feeding bin, and the two are prone to interference.

[0005] The utility model provides an automatic tray loading and unloading device, including a base, a translation driving mechanism and a clamping assembly. The translation driving mechanism is installed on the base, and its power output end is connected to the clamping assembly for driving the clamping assembly to move along a first direction; the clamping assembly includes a first clamping arm, a second clamping arm and a driving member. The power output end of the driving member is connected to the first clamping arm and / or the second clamping arm for driving the two to approach each other to clamp the tray or move away from each other to release the tray; the first clamping arm and / or the second clamping arm is provided with a supporting portion for supporting the tray.

[0006] For the automatic tray loading and unloading device provided by the utility model, on the one hand, by arranging the clamping assembly and the translation driving mechanism to replace the suction cup assembly in the prior art to clamp and move the tray, there is no technical problem of interference with the material taking manipulator; on the other hand, by arranging the supporting portion on the first clamping arm and / or the second clamping arm, the support of the tray is realized, and it is avoided that the tray accidentally drops during the moving process due to insufficient clamping force of the first clamping arm and the second clamping arm on the tray, thereby improving the stability and reliability of tray clamping and moving.

[0007] Optionally, the supporting part is a supporting pin, a clamping groove is provided at the corresponding position of the tray, the opening of the clamping groove faces downward, and the clamping groove can cooperate with the supporting pin; or, the supporting part is a supporting pin, a clamping hole is provided at the corresponding position of the tray, and the clamping hole can cooperate with the supporting pin; or, the supporting part is a clamping hole, a supporting pin is provided at the corresponding position of the tray, and the clamping hole can cooperate with the supporting pin; or, the supporting part can be movably connected to the first clamping arm and / or the second clamping arm, and the supporting part can extend into the bottom of the tray and abut against the bottom of the tray.

[0008] Optionally, a pressing plate is further provided on one side of the first clamping arm and the second clamping arm that face each other, and the pressing plate can abut against the upper surface of the tray.

[0009] Optionally, an elastic pin is provided on one side of the first clamping arm and the second clamping arm that face each other. The elastic pin is telescopic and can abut against the side surface of the tray. With this arrangement, the elastic pin is used to correct the position of the tray.

[0010] Optionally, an elastic member is connected between the first clamping arm and the second clamping arm. The elastic member is disposed opposite to the driving member, and the elastic member always has a tendency to drive the first clamping arm and the second clamping arm to approach each other. With this arrangement, the coordination of the first clamping arm and the second clamping arm approaching or separating from each other can be balanced.

[0011] Optionally, the clamping assembly further includes a slideway and a sliding block. The slideway is fixedly provided on the base and is disposed opposite to each other in the second direction. The sliding block is slidably connected to the slideway, and both the first clamping arm and the second clamping arm are connected to the sliding block, wherein the second direction is perpendicular to the first direction. With this arrangement, the first clamping arm and the second clamping arm are slidably connected to the base, improving the stability of the relative movement of the first clamping arm and the second clamping arm.

[0012] Optionally, the driving member is a parallel opening and closing air gripper, and the power output ends of the parallel opening and closing air gripper are respectively connected to the first clamping arm and the second clamping arm.

[0013] Optionally, both the first clamping arm and the second clamping arm are U-shaped clamping arms, and the openings of the U-shaped clamping arms face each other.

[0014] Optionally, the loading and unloading device further includes a lifting driving mechanism. The lifting driving mechanism is installed on the base, and its power output end is connected with a bearing plate for driving the bearing plate to drive the tray to move up and down. With this arrangement, the rising and falling of the tray are realized.

[0015] Optionally, the loading and unloading device also includes: an upper material bin and a lower material bin, both of which are arranged in the cavity of the base in sequence along the first direction; the upper material bin and the lower material bin are both equipped with the lifting drive mechanism; the translation drive mechanism is used to drive the clamping assembly to drive the material tray to move back and forth between the upper material bin and the lower material bin.

[0016] Optionally, the lifting drive mechanism includes a first motor and a first linear module, the first motor is installed on the base, the first linear module is installed on the base, the power input end of the first linear module is transmission-connected to the first motor, and the power output end of the first linear module is connected to the supporting plate.

[0017] Optionally, the base includes a base plate, and drawers are provided in the upper material bin and the lower material bin, and the drawer includes a bottom plate, and the bottom plate is slidably connected to the base plate along a second direction for supporting the material tray; the supporting plates have at least two and are respectively located on both sides of the drawer along the first direction; wherein the second direction is perpendicular to the first direction.

[0018] Optionally, a spinning cylinder is provided on the lower surface of the base plate, the spinning cylinder comprises a cylinder body, a piston rod and a spinning plate, the cylinder body is fixedly provided on the lower surface of the base plate, the piston rod is rotatably and telescopically connected to the cylinder body, and the spinning plate is fixedly provided on the end of the piston rod; a stop block is provided on the lower surface of the bottom plate, and the spinning plate can abut against the first end of the stop block to lock the position of the drawer. This arrangement prevents the drawer from being accidentally opened.

[0019] Optionally, the upper surface of the bottom plate is provided with positioning pins, and there are at least two positioning pins that are arranged at intervals. The material tray is provided with positioning holes, and the positioning holes and the positioning pins cooperate with each other.

[0020] Optionally, the base plate is fixed with a first slide rail, the first slide rail is slidably connected to a first slider, the first slider is connected to a second slide rail, the second slide rail is slidably connected to a second slider, and the bottom plate is connected to the second slider; a second limit block is provided at the end of the second slide rail, and the second slider can abut against the second limit block; a third limit block is provided at the end of the base plate, and the first slider can abut against the third limit block. In this way, the drawer can be completely pulled out.

[0021] Optionally, a first limiting block is further provided on the lower surface of the substrate, the second end of the limiting block can abut against the end of the first limiting block, and the second end of the limiting block and the first end of the limiting block are arranged opposite to each other.

[0022] Optionally, the automatic loading and unloading device for the tray further includes a control system, and the lifting drive mechanism, the driving member, and the translation drive mechanism are all electrically connected to the control system;

[0023] The base further includes side plates; proximity switches are provided on the side plates, and the proximity switches are electrically connected to the control system for detecting the position of the carrier plate; and / or, a transmissive photoelectric sensor is provided at the top of the side plates, and the transmissive photoelectric sensor is electrically connected to the control system for detecting the position of the tray.

[0024] Optionally, the translation drive mechanism includes a second motor and a second linear module. The second motor is fixedly provided on the base, the second linear module is installed on the base, the power input end of the second linear module is drivingly connected to the second motor, and the power output end of the second linear module is connected to the fixed end of the driving member. Description of the Drawings

[0025] Figure 1 is an assembly schematic diagram of an automatic loading and unloading device for a tray provided by an embodiment of the present invention Figure 1 ;

[0026] Figure 2 is an assembly schematic diagram of an automatic loading and unloading device for a tray provided by an embodiment of the present invention Figure 2 ;

[0027] Figure 3 is Figure 2 a partially enlarged structural schematic diagram of the circled part C in

[0028] Figure 4 is a top view of an automatic loading and unloading device for a tray provided by an embodiment of the present invention;

[0029] Figure 5 is Figure 4 a partially enlarged structural schematic diagram of the circled part A in

[0030] Figure 6 is a side view of an automatic loading and unloading device for a tray provided by an embodiment of the present invention;

[0031] Figure 7 is an assembly schematic diagram of an automatic loading and unloading device for a tray provided by an embodiment of the present invention Figure 3 ;

[0032] Figure 8 is Figure 7 a partially enlarged structural schematic diagram of the circled part B in

[0033] Description of the Reference Numerals:

[0034] 10. Base; 101. Proximity switch; 102. Side plate; 103. Second guide rail; 110. Loading bin; 120. Unloading bin; 130. Substrate; 131. First limit block; 132. Second limit block; 133. Third limit block; 140. Spinning cylinder; 141. Cylinder block; 142. Piston rod; 143. Spinning plate; 150. First slide rail; 151. First slider; 160. Second slide rail; 162. Second slider;

[0035] 20. Tray; 201. Card slot; 202. Positioning hole;

[0036] 30. Lifting drive mechanism; 310. Carrier plate; 320. First motor; 330. First linear module; 331. Lead screw; 332. Nut; 333. First guide rail; 334. Sliding block; 340. Transmission component; 341. Driving wheel; 342. First driven wheel; 343. Timing belt; 350. Tensioning component; 352. Rotating shaft; 353. Second driven wheel;

[0037] 40. Clamping component; 401. Support pin; 402. Pressing plate; 403. Elastic pin; 404. Elastic member; 405. Slideway; 406. Sliding block; 410. First clamping arm; 420. Second clamping arm; 430. Driving part;

[0038] 50. Drawer; 510. Bottom plate; 511. Positioning pin; 512. Stop block; 520. Panel; 530. Pulling part;

[0039] 60. Translational drive mechanism; 610. Second motor; 620. Second linear module. Detailed implementation manners

[0040] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the following Figure 1 —8 will describe in detail the specific embodiments of the present utility model with reference to the attached drawings.

[0041] In the present utility model, terms such as "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure.

[0042] In the present utility model, terms such as "inner", "outer", "upper", and "lower" indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings. It is only for the convenience of describing the present utility model 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 should not be construed as a limitation of the present utility model.

[0043] The embodiment of the present utility model provides a tray automatic loading and unloading device. Refer to the attached Figure 1, the automatic loading and unloading device for the tray includes a base 10, a translation driving mechanism 60, and a clamping assembly 40. The translation driving mechanism 60 is installed on the base 10, and its power output end is connected to the clamping assembly 40 for driving the clamping assembly 40 to move in a first direction. The clamping assembly 40 includes a first clamping arm 410, a second clamping arm 420, and a driving member 430. The power output end of the driving member 430 is connected to the first clamping arm 410 and / or the second clamping arm 420 for driving the two to approach each other to clamp the tray 20 or move away from each other to release the tray 20. The first clamping arm 410 and / or the second clamping arm 420 has a supporting portion for supporting the tray 20.

[0044] The working principle of an automatic loading and unloading device for a tray provided by an embodiment of the present invention is as follows:

[0045] The driving member 430 drives the first clamping arm 410 and the second clamping arm 420 to move away from each other; the tray 20 with products is moved between the first clamping arm 410 and the second clamping arm 420; the driving member 430 drives the first clamping arm 410 and the second clamping arm 420 to approach each other to clamp the tray 20, and the supporting portion supports the tray 20; the translation driving mechanism 60 drives the clamping assembly 40 to drive the tray 20 to move in the first direction. Wherein, the first direction is Figure 1 the OX direction shown.

[0046] For an automatic loading and unloading device for a tray provided by an embodiment of the present invention, on the one hand, by setting the clamping assembly 40 and the translation driving mechanism 60 to replace the suction cup assembly in the prior art, clamping and moving the tray 20, there is no technical problem of interference with the picking manipulator; on the other hand, by setting a supporting portion on the first clamping arm 410 and / or the second clamping arm 420, the support for the tray 20 is realized, avoiding the accidental dropping of the tray 20 during the movement due to insufficient clamping force of the first clamping arm 410 and the second clamping arm 420 on the tray 20, thereby improving the stability and reliability of clamping and moving the tray 20.

[0047] The relative movement direction of the first clamping arm 410 and the second clamping arm 420 is not limited. In the embodiment of the present invention, the first clamping arm 410 and the second clamping arm 420 can approach or move away from each other in the first direction.

[0048] In the embodiment of the present invention, the structure of the supporting portion is not limited, and specifically as follows:

[0049] See attachment Figure 2 and Figure 3,In the first embodiment, the supporting part is a supporting pin 401. A clamping groove 201 is provided at the corresponding position of the tray 20. The opening of the clamping groove 201 faces downward. The clamping groove 201 can cooperate with the supporting pin 401 to support the tray 20. The number of the supporting pins 401 is at least two. Preferably, the number of the supporting pins 401 is four, two of which are spaced on the first clamping arm 410, and the other two are spaced on the second clamping arm 420; the number of the clamping grooves 201 is four, and the four clamping grooves 201 and the four supporting pins 401 can cooperate correspondingly.

[0050] ,In the second embodiment, the supporting part is a supporting pin 401. A clamping hole is provided at the corresponding position of the tray. The clamping hole can cooperate with the supporting pin 401.

[0051] ,In the third embodiment, the supporting part is a clamping hole, and the corresponding position of the tray has a supporting pin 401. The clamping hole can cooperate with the supporting pin 401.

[0052] ,In the fourth embodiment, the supporting part can be movably connected to the first clamping arm 410 and / or the second clamping arm 420. The supporting part can extend into the bottom of the tray 20 and abut against the bottom of the tray 20. The supporting part can be a supporting plate or a supporting pin 401.

[0053] See attached Figure 2 and Figure 3 . In the embodiment of the present utility model, a pressing plate 402 is further provided on the opposite sides of the first clamping arm 410 and the second clamping arm 420. The pressing plate 402 can abut against the upper surface of the tray 20. With such a setting, the tray 20 is clamped between the pressing plate 402 and the supporting part, preventing the tray 20 from moving up and down.

[0054] See attached Figure 2 and Figure 3 . In the embodiment of the present utility model, the supporting part is a supporting pin 401, and the pressing plate 402 and the supporting pin 401 are arranged opposite to each other up and down.

[0055] See attached Figure 2 . In the embodiment of the present utility model, an elastic pin 403 is provided on the opposite sides of the first clamping arm 410 and the second clamping arm 420. The elastic pin 403 is telescopic and can abut against the side surface of the tray 20.

[0056] . In the embodiment of the present utility model, the elastic pin 403 is telescopic along the first direction. With such a setting, the elastic pin 403 is used to correct the position of the tray 20.

[0057] See attached Figure 2, in the embodiment of the present utility model, an elastic member 404 is connected between the first clamping arm 410 and the second clamping arm 420. The elastic member 404 is disposed opposite to the driving member 430, and the elastic member 404 always has a tendency to drive the first clamping arm 410 and the second clamping arm 420 to approach each other. With such a setting, the coordination of the first clamping arm 410 and the second clamping arm 420 approaching or separating from each other can be balanced.

[0058] In the embodiment of the present utility model, the elastic member 404 is a spring.

[0059] See the appendix Figure 2 , in the embodiment of the present utility model, the clamping assembly 40 further includes a slideway 405 and a sliding block 406. The slideway 405 is fixedly arranged on the base 10 and is oppositely arranged along the second direction. The sliding block 406 is slidably connected to the slideway 405, and both the first clamping arm 410 and the second clamping arm 420 are connected to the sliding block 406, wherein the second direction is perpendicular to the first direction. With such a setting, the first clamping arm 410 and the second clamping arm 420 are slidably connected to the base 10, improving the stability of the relative movement between the first clamping arm 410 and the second clamping arm 420.

[0060] It should be noted that the second direction is Figure 1 the OY direction shown.

[0061] See the appendix Figure 1 , in the embodiment of the present utility model, the driving member 430 is a parallel opening and closing air gripper, and the power output ends of the parallel opening and closing air gripper are respectively connected to the first clamping arm 410 and the second clamping arm 420.

[0062] In the embodiment of the present utility model, the structures of the first clamping arm 410 and the second clamping arm 420 are not limited. They can be straight clamping arms or U-shaped clamping arms. Preferably, see the appendix Figure 1 , both the first clamping arm 410 and the second clamping arm 420 are U-shaped clamping arms, and the openings of the U-shaped clamping arms are oppositely arranged. One end of the U-shaped clamping arm along the second direction is connected to the driving member 430, and the other end is connected to the elastic member 404.

[0063] See the appendix Figure 1 , in the embodiment of the present utility model, the loading and unloading device further includes a lifting driving mechanism 30. The lifting driving mechanism 30 is installed on the base 10, and its power output end is connected to a carrier plate 310 for driving the carrier plate 310 to drive the material tray 20 to move up and down. With such a setting, the rising and falling of the material tray 20 are realized. It should be noted that the lifting movement direction is Figure 1 the OZ direction shown.

[0064] See the appendix Figure 1In this embodiment of the utility model, the loading and unloading device also includes: an upper material bin 110 and a lower material bin 120, which are arranged in the cavity of the base 10 in sequence along the first direction; the upper material bin 110 and the lower material bin 120 are both equipped with a lifting drive mechanism 30; a translation drive mechanism 60, which is used to drive the clamping assembly 40 to drive the material tray 20 to move back and forth between the upper material bin 110 and the lower material bin 120.

[0065] The working principle of the automatic loading and unloading device of a material tray provided by the embodiment of the utility model is as follows:

[0066] Place the tray 20 with the product into the upper bin 110;

[0067] The driving member 430 drives the first clamping arm 410 and the second clamping arm 420 to move away from each other;

[0068] After the lifting drive mechanism 30 of the upper bin 110 drives the material tray 20 to rise to the first height, the product of the material tray 20 is taken out;

[0069] After the lifting drive mechanism 30 drives the material tray 20 to rise to the second height after taking the material;

[0070] The driving member 430 drives the first clamping arm 410 and the second clamping arm 420 to move closer to each other to clamp the material tray 20;

[0071] The translation drive mechanism 60 drives the clamping assembly 40 to drive the material tray 20 to move from the upper material bin 110 to the lower material bin 120;

[0072] The lifting drive mechanism 30 of the lower bin 120 rises to carry the material tray 20 after the material is taken out;

[0073] The driving member 430 drives the first clamping arm 410 and the second clamping arm 420 to move away from each other to release the material tray 20;

[0074] The lifting drive mechanism 30 of the lower bin 120 drives the material tray 20 to descend;

[0075] Repeat the above steps, and when the number of the material trays 20 after taking the materials from the lower material bin 120 reaches a certain number, take away the material trays 20 after taking the materials.

[0076] See attached Figure 7 and Figure 8 In this embodiment of the utility model, the lifting drive mechanism 30 includes a first motor 320 and a first linear module 330. The first motor 320 is installed on the base 10, the first linear module 330 is installed on the base 10, the power input end of the first linear module 330 is transmission-connected to the first motor 320, and the power output end of the first linear module 330 is connected to the supporting plate 310.

[0077] See attached Figure 7 andFigure 8 In an embodiment of the present utility model, the lifting drive mechanism 30 further includes a transmission assembly 340. The power output end of one linear module 330 is connected to the first motor 320, and the power input end of the other first linear module 330 is drivingly connected to the motor shaft of the first motor 320 through the transmission assembly 340.

[0078] See the appendix Figure 7 and Figure 8 In an embodiment of the present utility model, the transmission assembly 340 includes a driving wheel 341, a first driven wheel 342 and a synchronous belt 343. The driving wheel 341 is fixed on the motor shaft of the first motor 320. The synchronous belt 343 is respectively engaged with the driving wheel 341 and the first driven wheel 342. The first driven wheel 342 is pivotally connected to the base plate 130 and drivingly connected to the power input end of the first linear module 330.

[0079] See the appendix Figure 7 and Figure 8 In an embodiment of the present utility model, the first linear module 330 includes a lead screw 331, a nut 332, a first guide rail 333 and a sliding block 334. The lead screw 331 is installed on the side plate 102 of the base 10. The nut 332 is threadedly connected to the lead screw 331. The first guide rail 333 is arranged in parallel and at an interval with the lead screw 331 and is installed on the side plate 102 of the base 10. The sliding block 334 is slidably connected to the guide rail. Both the nut 332 and the sliding block 334 are connected to the bearing plate 310.

[0080] See the appendix Figure 8 In an embodiment of the present utility model, the base 10 includes a base plate 130. The base plate 130 is provided with a strip-shaped hole, and the strip-shaped hole extends along the second direction. The transmission assembly 340 further includes a tensioning assembly 350. The tensioning assembly 350 includes a mounting plate, a rotating shaft 352 and a second driven wheel 353. The mounting plate is provided with a threaded hole, and the threaded hole and the strip-shaped hole are connected by bolts. The upper end of the rotating shaft 352 is fixed on the mounting plate, and the second driven wheel 353 is pivotally connected to the lower end of the rotating shaft 352 and engaged with the synchronous belt 343.

[0081] See the appendix Figure 6, in the embodiment of the present utility model, the base 10 includes a base plate 130. Drawers 50 are provided in both the loading bin 110 and the unloading bin 120. The drawer 50 includes a bottom plate 510 which is slidably connected to the base plate 130 along a second direction and is used for carrying the tray 20. The bearing plate 310 has at least two and is respectively located on both sides of the drawer 50 along a first direction. Wherein, the second direction is perpendicular to the first direction. It should be noted that the bearing plate 310 can move above and below the bottom plate 510. When the bearing plate 310 is lower than the bottom plate 510, it can move upward to carry the tray 20 located on the bottom plate 510 and drive the tray 20 to move upward. The bearing plate 310 is located outside the side wall surface of the bottom plate 510 of the drawer 50 along the first direction. With such a setting, by opening the drawer 50, the operator can put a plurality of trays 20 into the loading bin 110 and take out a plurality of trays 20 from the unloading bin 120.

[0082] See the appendix Figure 5 , in the embodiment of the present utility model, a spinning cylinder 140 is provided on the lower surface of the base plate 130. The spinning cylinder 140 includes a cylinder block 141, a piston rod 142 and a spinning plate 143. The cylinder block 141 is fixed on the lower surface of the base plate 130. The piston rod 142 is rotationally and telescopically connected to the cylinder block 141. The spinning plate 143 is fixed at the end of the piston rod 142. A stop block is provided on the lower surface of the bottom plate 510. The spinning plate 143 can abut against the first end of the stop block to lock the position of the drawer 50. With such a setting, the drawer 50 is prevented from being accidentally opened.

[0083] In the embodiment of the present utility model, a first limit block is further provided on the lower surface of the base plate 130. The second end of the stop block can abut against the end of the first limit block. The second end and the first end of the stop block are oppositely arranged. With such a setting, the position for closing the drawer 50 is limited.

[0084] See the appendix Figure 2 , in the embodiment of the present utility model, positioning pins 511 are provided on the upper surface of the bottom plate 510. There are at least two positioning pins 511 and they are spaced apart. The tray 20 is provided with positioning holes 202. The positioning holes 202 and the positioning pins 511 cooperate with each other. With such a setting, through the cooperation of the positioning holes 202 and the positioning pins 511, the movement of the tray 20 in the plane is prevented.

[0085] See the appendix Figure 2 , in the embodiment of the present utility model, preferably, the number of the positioning pins 511 is 4, and the connection line of the 4 positioning pins 511 is rectangular.

[0086] See the appendix Figure 2 , in the embodiment of the present utility model, the bottom plate 510 is further provided with a mounting block, and the positioning pins 511 are fixed on the mounting block.

[0087] See the appendix Figure 6, in the embodiment of the present utility model, a first slide rail 150 is fixedly provided on the substrate 130. A first slider 151 is slidably connected to the first slide rail 150. The first slider 151 is connected to a second slide rail 160. A second slider 162 is slidably connected to the second slide rail 160. The bottom plate 510 is connected to the second slider 162. A second limit block 132 is provided at the end of the second slide rail 160. The second slider 162 can abut against the second limit block 132. A third limit block 133 is provided at the end of the substrate 130. The first slider 151 can abut against the third limit block 133. With such a setting, the complete extraction of the drawer 20 is realized.

[0088] See the appendix Figure 6 , in the embodiment of the present utility model, the drawer 50 includes a panel 520. The panel 520 is vertically connected to the bottom plate 510. A handle part 530 is provided on the panel 520.

[0089] In the embodiment of the present utility model, the automatic loading and unloading device for trays further includes a control system. The lifting drive mechanism 30, the driving part 430, and the translation drive mechanism 60 are all electrically connected to the control system.

[0090] See the appendix Figure 2 , in the embodiment of the present utility model, the base 10 further includes side plates 102. A proximity switch 101 is provided on the side plates 102. The proximity switch 101 is electrically connected to the control system and is used to detect the position of the carrier plate 310.

[0091] See the appendix Figure 2 , in the embodiment of the present utility model, the side plates 102 are provided with second guide rails 103. The second guide rails 103 extend in the vertical direction. The proximity switch 101 can be slidably connected to the second guide rails 103.

[0092] In the embodiment of the present utility model, the base 10 further includes side plates 102. An opposed photoelectric sensor is provided at the top of the side plates 102. The opposed photoelectric sensor is electrically connected to the control system and is used to detect the position of the tray 20.

[0093] See the appendix Figure 1 , in the embodiment of the present utility model, the translation drive mechanism 60 includes a second motor 610 and a second linear module 620. The second motor 610 is fixedly provided on the base 10. The second linear module 520 is installed on the base 10. The power input end of the second linear module 620 is drivingly connected to the second motor 610. The power output end of the second linear module 620 is connected to the fixed end of the driving part 430.

[0094] The working principle of an automatic loading and unloading device for trays provided by the embodiment of the present utility model is as follows:

[0095] The tray 20 in the loading bin 110 is empty. The lifting drive mechanism 30 drives the carrier plate 310 to descend to a position lower than the bottom plate 510 of the tray 20;

[0096] Control the spinning plate 143 of the spinning cylinder 140 to disengage from the stopper on the lower surface of the drawer 50, open the drawer 50 located in the loading bin 110, stack multiple trays 20 with products on the bottom plate 510 of the drawer 50, close the drawer 50, and make the stopper on the lower surface of the drawer 50 abut against the lower surface of the substrate 130; and control the spinning cylinder 140 to make the spinning plate 143 abut against the stopper on the lower surface of the drawer 50, thereby locking the position of the drawer 50.

[0097] Start the lifting drive mechanism 30, drive the carrier plate 310 to rise to carry the tray 20 located on the bottom plate 510 and raise the tray 20 to the first height, and pick up the products on the top tray 20.

[0098] The lifting drive mechanism 30 drives the carrier plate 310 to drive the tray 20 to rise to the second height. At this time, the first clamping arm 410 and the second clamping arm 420 of the clamping assembly 40 are in a state of moving away from each other, and the driving member 430 drives the first clamping arm 410 and the second clamping arm 420 to move closer to each other to clamp the top tray 20.

[0099] Start the translation drive mechanism 60, drive the clamping assembly 40 to drive the top tray 20 to move from the top of the loading bin 110 to the top of the unloading bin 120.

[0100] The lifting drive mechanism 30 of the unloading bin 120 drives the carrier plate 310 to rise to carry the tray 20 after picking up the materials.

[0101] The driving member 430 drives the first clamping arm 410 and the second clamping arm 420 to move away from each other to release the tray 20.

[0102] The lifting drive mechanism 30 of the unloading bin 120 drives the carrier plate 310 to drive the tray 20 to descend.

[0103] Repeat the above steps. After the number of trays 20 in the unloading bin 120 reaches a certain number, control the spinning plate 143 of the spinning cylinder 140 to disengage from the stopper on the lower surface of the drawer 50, open the drawer 50 of the unloading bin 120, and take away the trays 20 in the unloading bin 120.

[0104] Although the present utility model is disclosed as above, the present utility model is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the scope defined by the claims.

Claims

1. An automatic loading and unloading device for trays, characterized in that, It includes a base (10), a translation driving mechanism (60) and a clamping assembly (40). The translation driving mechanism (60) is installed on the base (10), and its power output end is connected to the clamping assembly (40) for driving the clamping assembly (40) to move in a first direction. The clamping assembly (40) includes a first clamping arm (410), a second clamping arm (420) and a driving member (430). The power output end of the driving member (430) is connected to the first clamping arm (410) and / or the second clamping arm (420) for driving them to approach each other to clamp the tray (20) or move away from each other to release the tray (20). The first clamping arm (410) and / or the second clamping arm (420) has a supporting portion for supporting the tray (20).

2. The automatic loading and unloading device for the material tray according to claim 1, wherein, The supporting portion is a supporting pin (401), and a clamping groove (201) is provided at a corresponding position of the tray (20). The opening of the clamping groove (201) faces downward, and the clamping groove (201) can cooperate with the supporting pin (401); or, the supporting portion is a supporting pin (401), and a clamping hole is provided at a corresponding position of the tray, and the clamping hole can cooperate with the supporting pin (401); or, the supporting portion is a clamping hole, and a supporting pin (401) is provided at a corresponding position of the tray, and the clamping hole can cooperate with the supporting pin (401); or, the supporting portion can be movably connected to the first clamping arm (410) and / or the second clamping arm (420), and the supporting portion can extend into the bottom of the tray (20) and abut against the bottom of the tray (20). And / or, a pressing plate (402) is further provided on one side of the first clamping arm (410) and the second clamping arm (420) opposite to each other, and the pressing plate (402) can abut against the upper surface of the tray (20). And / or, an elastic pin (403) is provided on one side of the first clamping arm (410) and the second clamping arm (420) opposite to each other. The elastic pin (403) is telescopic and can abut against the side surface of the tray (20). And / or, an elastic member (404) is connected between the first clamping arm (410) and the second clamping arm (420). The elastic member (404) is arranged opposite to the driving member (430), and the elastic member (404) always has a tendency to drive the first clamping arm (410) and the second clamping arm (420) to approach each other. And / or, the clamping assembly (40) further includes a slideway (405) and a sliding block (406). The slideway (405) is fixed on the base (10) and arranged oppositely along a second direction. The sliding block (406) is slidably connected to the slideway (405), and both the first clamping arm (410) and the second clamping arm (420) are connected to the sliding block (406), wherein the second direction is perpendicular to the first direction. And / or, the driving member (430) is a parallel opening and closing air gripper, and the power output ends of the parallel opening and closing air gripper are respectively connected to the first clamping arm (410) and the second clamping arm (420).

3. The automatic loading and unloading device for the material tray according to claim 2, wherein, The first clamp arm (410) and the second clamp arm (420) are both U-shaped clamp arms, and the openings of the U-shaped clamp arms are arranged opposite to each other.

4. The automatic loading and unloading device for the material tray according to any one of claims 1-3, characterized in that, The loading and unloading device further comprises a lifting drive mechanism (30), wherein the lifting drive mechanism (30) is mounted on the base (10), and a power output end thereof is connected to a supporting plate (310) for driving the supporting plate (310) to drive the material tray (20) to move upward and downward.

5. The automatic loading and unloading device for the tray according to claim 4, characterized in that, The loading and unloading device further comprises: an upper material bin (110) and a lower material bin (120), which are sequentially arranged in the cavity of the base (10) along the first direction; the upper material bin (110) and the lower material bin (120) are both equipped with the lifting drive mechanism (30); the translation drive mechanism (60) is used to drive the clamping assembly (40) to drive the material tray (20) to move back and forth between the upper material bin (110) and the lower material bin (120); And / or, the lifting drive mechanism (30) comprises a first motor (320) and a first linear module (330), the first motor (320) is mounted on the base (10), the first linear module (330) is mounted on the base (10), a power input end of the first linear module (330) is transmission-connected to the first motor (320), and a power output end of the first linear module (330) is connected to the supporting plate (310).

6. The automatic loading and unloading device for the tray according to claim 5, wherein, The base (10) includes a base plate (130), and drawers (50) are provided in the upper material bin (110) and the lower material bin (120), and the drawer (50) includes a bottom plate (510), and the bottom plate (510) is slidably connected to the base plate (130) along a second direction, and is used to support the material tray (20); the supporting plates (310) have at least two and are respectively located on both sides of the drawer (50) along the first direction; wherein the second direction is perpendicular to the first direction.

7. The automatic loading and unloading device for the material tray according to claim 6, wherein, A spinning cylinder (140) is provided on the lower surface of the base plate (130), and the spinning cylinder (140) comprises a cylinder body (141), a piston rod (142) and a spinning plate (143); the cylinder body (141) is fixedly provided on the lower surface of the base plate (130), the piston rod (142) is rotatably and telescopically connected to the cylinder body (141), and the spinning plate (143) is fixedly provided on the end of the piston rod (142); a stop block is provided on the lower surface of the bottom plate (510), and the spinning plate (143) can abut against the first end of the stop block to lock the position of the drawer (50); And / or, the upper surface of the bottom plate (510) is provided with positioning pins (511), the positioning pins (511) are provided with at least two and are arranged at intervals, the material tray (20) is provided with positioning holes (202), and the positioning holes (202) and the positioning pins (511) cooperate with each other; And / or, the substrate (130) is fixedly provided with a first slide rail (150), the first slide rail (150) is slidably connected with a first slider (151), the first slider (151) is connected with a second slide rail (160), the second slide rail (160) is slidably connected with a second slider (162), and the bottom plate (510) is connected to the second slider (162); a second limit block (132) is provided at the end of the second slide rail (160), and the second slider (162) can abut against the second limit block (132); a third limit block (133) is provided at the end of the substrate (130), and the first slider (151) can abut against the third limit block (133).

8. The automatic loading and unloading device for the tray according to claim 7, wherein, A first limit block is further provided on the lower surface of the substrate (130), the second end of the stop block can abut against the end of the first limit block, and the second end and the first end of the stop block are oppositely arranged.

9. The automatic loading and unloading device for the tray according to claim 4, wherein, The automatic loading and unloading device for the trays further includes a control system, and the lifting drive mechanism (30), the driving member (430) and the translation drive mechanism (60) are all electrically connected to the control system. The base (10) further includes side plates (102); a proximity switch (101) is provided on the side plates (102), and the proximity switch (101) is electrically connected to the control system for detecting the position of the carrier plate (310); and / or, a transmissive photoelectric sensor is provided at the top of the side plates (102), and the transmissive photoelectric sensor is electrically connected to the control system for detecting the position of the tray (20).

10. The automatic loading and unloading device for the tray according to any one of claims 1-3, characterized in that, The translation drive mechanism (60) includes a second motor (610) and a second linear module (620), the second motor (610) is fixedly provided on the base (10), the second linear module (620) is installed on the base (10), the power input end of the second linear module (620) is drivingly connected to the second motor (610), and the power output end of the second linear module (620) is connected to the fixed end of the driving member (430).

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