Automatic material distributing device

Abstract

The utility model discloses an automatic material distributing device which comprises a machine frame, and the machine frame is at least provided with an empty material disc feeding station, a first material distributing station and a second material distributing station. The material tray translation mechanism is arranged on the rack in a horizontally moving manner and can move among an empty material tray feeding station, a first material distributing station and a second material distributing station; the tray lifting and transferring mechanism is arranged on the rack and comprises Z-axis conveying modules which are respectively positioned below the empty tray feeding station, the first material distributing station and the second material distributing station; the material distributing mechanism is movably arranged on the machine frame, and the moving range of the material distributing mechanism comprises a first material distributing station and a second material distributing station. According to the utility model, the classified placement of workpieces, the automatic collection and conveying of full material trays and the automatic distribution of empty material trays can be realized, the manual participation degree is reduced, and the efficiency is effectively improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automation equipment, and particularly relates to an automatic material distribution device. Background Art

[0002] In an automated production line, it is often necessary to conduct quality inspections on the produced workpieces and classify and place the qualified workpieces (OK workpieces) and unqualified workpieces (NG workpieces) according to the inspection results. If manual sorting is used, not only is the labor intensity high, but also the efficiency is difficult to improve. Therefore, it is necessary to design an automated material distribution device that can realize the material distribution of qualified and unqualified workpieces and place them in corresponding trays for collection respectively, and can automatically collect and automatically supplement empty trays after the trays are full, so as to improve production efficiency. Content of the Utility Model

[0003] In order to overcome the deficiencies of the prior art, the purpose of the utility model is to provide an automatic material distribution device with high automation and capable of improving production efficiency.

[0004] The purpose of the utility model is achieved by the following technical solutions:

[0005] An automatic material distribution device, comprising: a frame, on which at least an empty tray loading station, a first material distribution station and a second material distribution station are provided, and the frame is provided with a vacancy for the feeding tray to pass through at the empty tray loading station, the first material distribution station and the second material distribution station; a tray translation mechanism movably arranged on the frame, and the tray translation mechanism can move between the empty tray loading station, the first material distribution station and the second material distribution station; a tray lifting and transferring mechanism arranged on the frame, and the tray lifting and transferring mechanism comprises Z-axis conveying modules respectively located below the empty tray loading station, the first material distribution station and the second material distribution station; a material distribution mechanism movably arranged on the frame, and the moving range of the material distribution mechanism includes the first material distribution station and the second material distribution station, and the workpieces are distributed to the first material distribution station or the second material distribution station.

[0006] Further, it also includes feeding positions respectively located below the empty tray loading station, the first material distribution station and the second material distribution station and arranged on the frame;

[0007] Further, the feeding positions include tray conveyors respectively located below the empty tray loading station, the first material distribution station and the second material distribution station.

[0008] Further, a workpiece buffer unit is also arranged on the frame, and the material distribution mechanism can move between the workpiece buffer unit, the first material distribution station and the second material distribution station.

[0009] Further, the Z-axis conveying module includes a fixing frame fixed to the machine frame, a tray support plate movably arranged up and down on the fixing frame, and a tray lifting driving unit for driving the tray support plate to move up and down.

[0010] Further, the material distribution mechanism includes an X-axis linear module arranged on the machine frame, a Y-axis linear module arranged on the X-axis linear module through a first carriage, and a workpiece gripper arranged on the Y-axis linear module through a second carriage. The workpiece gripper is arranged on a rotary cylinder; the X-axis linear module controls the first carriage to move along the X-axis direction, the Y-axis linear module controls the second carriage to move along the Y-axis direction, the workpiece gripper is movably arranged on the second carriage along the Z-axis direction, and the workpiece gripper moves along the Z-axis direction.

[0011] Further, the workpiece gripper is arranged on a rotary cylinder, and the rotary cylinder controls the workpiece gripper to rotate in the horizontal direction.

[0012] Further, the tray translation mechanism includes a transfer frame, a frame translation driving unit for driving the transfer frame to move horizontally, and vacuum suction cups and / or tray clamping jaws arranged on the transfer frame.

[0013] Further, a horizontal slide rail is arranged on the machine frame. The horizontal slide rail extends through the empty tray loading station, the first material distribution station, and the second material distribution station, and is located on opposite sides of the empty tray loading station, the first material distribution station, and the second material distribution station. The transfer frame is arranged on the horizontal slide rail.

[0014] Further, the transfer frame is in a square shape with a mouth. At each end of the length direction of the transfer frame, a suction cup fixing plate is arranged. The suction cup fixing plate extends along the width direction of the transfer frame, and at least one of the vacuum suction cups arranged at intervals is arranged on the suction cup fixing plate; a clamping jaw fixing plate is arranged on the transfer frame between the suction cup fixing plates, and the tray clamping jaws arranged at intervals are arranged on the clamping jaw fixing plate.

[0015] Further, a tray clamping assembly is arranged on the machine frame. The tray clamping assembly includes clamping strips located on the left and right sides of each station and capable of clamping the tray, and a driving device for driving the clamping strips to move horizontally.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] The utility model is provided with different material distribution stations and an empty tray loading station, which can realize the classified and distributed placement of workpieces; moreover, by setting up a tray lifting and transferring mechanism, the collection of full trays can be realized, and at the same time, through the tray translation mechanism, the empty trays can be automatically replenished to the required stations, realizing automation in the replenishment of empty trays and the collection and output of full trays, reducing the degree of manual participation, with a high degree of automation and improved efficiency. Brief Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the automatic material distribution device according to an embodiment of the utility model;

[0019] Figure 2 is a schematic structural diagram of the automatic material distribution device according to an embodiment of the utility model from another angle;

[0020] Figure 3 is a schematic diagram of each station of the automatic material distribution device according to an embodiment of the utility model with empty spaces;

[0021] Figure 4 is a schematic structural diagram of the Z-axis conveying module according to an embodiment of the utility model;

[0022] Figure 5 is a schematic structural diagram of the material distribution mechanism according to an embodiment of the utility model;

[0023] Figure 6 is a schematic structural diagram of the workpiece buffer unit according to an embodiment of the utility model;

[0024] Figure 7 is a schematic structural diagram of the horizontal transfer unit of the tray according to the utility model;

[0025] Figure 8 is a schematic diagram of the horizontal transfer unit of the tray according to the utility model for transferring large-sized trays;

[0026] Figure 9 is a schematic diagram of the horizontal transfer unit of the tray according to the utility model for transferring small-sized trays. Detailed Embodiment

[0027] Next, in combination with the specific embodiments, the present utility model will be further described.

[0028] As Figure 1 , Figure 2 and Figure 3 shown, the automatic material distribution device of this embodiment includes: a frame 1, a material distribution mechanism 2, a tray lifting and transferring mechanism 3, a tray translation mechanism 4, a workpiece buffer unit 5, and a tray conveyor 6. The material distribution mechanism 2, the tray lifting and transferring mechanism 3, the tray translation mechanism 4, the workpiece buffer unit 5, and the tray conveyor 6 are all arranged on the frame 1.

[0029] There are at least three workstations provided on the rack 1. In this embodiment, an empty tray loading workstation A, a first material distribution workstation B, and a second material distribution workstation C are provided on the rack 1. The empty tray is loaded at the empty tray loading workstation A, and the empty tray is used to place workpieces. The classification placement of the workpieces is achieved at the first material distribution workstation B and the second material distribution workstation C. The material distribution mechanism 2 places the workpieces into the trays located at the material distribution workstations. The first material distribution workstation B is an OK part workstation (qualified workpiece workstation) or an NG part workstation (unqualified workpiece workstation). Correspondingly, the second material distribution workstation C is an NG part workstation or an OK part workstation. Different types (qualified or unqualified) of workpieces are placed at the two workstations respectively.

[0030] The setting order of the empty tray loading workstation A, the first material distribution workstation B, and the second material distribution workstation C on the rack 1 can be set accordingly according to requirements. In this embodiment, the empty tray loading workstation A, the first material distribution workstation B, and the second material distribution workstation C are arranged in sequence. The empty tray loading workstation A and the workpiece buffer unit 5 are located on both sides of the rack 1 respectively. In other embodiments, the empty tray loading workstation A can also be located between the first material distribution workstation B and the second material distribution workstation C. However, arranging the two material distribution workstations adjacent to each other and having a layout closer to the workpiece buffer unit 5 is more conducive to improving the material distribution efficiency. Of course, workpieces can also be grabbed from other workstations on the production line to replace the workpiece buffer unit 5.

[0031] Vacant positions are provided at the empty tray loading workstation A, the first material distribution workstation B, and the second material distribution workstation C of the rack 1. The tray can rise from below to the vacant position or descend from the vacant position to the height where the tray conveyor 6 is located.

[0032] The tray lifting and transferring mechanism 3 is located below the empty tray loading workstation A, the first material distribution workstation B, and the second material distribution workstation C. The tray lifting and transferring mechanism 3 includes three groups of Z-axis conveying modules, and one Z-axis conveying module is provided below each workstation. The Z-axis module is used to achieve the conveyance of the tray in the Z-axis direction, such as sending the tray from bottom to top to the vacant position corresponding to the workstation on the rack 1, or sending the tray from top to bottom to the tray conveyor 6.

[0033] Such as Figure 4As shown in the figure, the Z-axis conveying module of this embodiment includes a fixed frame 3-1, a tray support plate 3-2, and a support plate lifting drive unit 3-3. The fixed frame 3-1 is installed on the frame 1 and fixed to the frame 1. The tray support plate 3-2 is movably arranged on the fixed frame 3-1 in the up and down direction. The tray support plate 3-2 is used to place trays. A number of stacked trays are placed on the tray support plate 3-2. When the tray support plate 3-2 moves up and down under the drive of the tray lifting drive unit 3-3, it drives the trays located thereon to move together. The tray lifting drive unit 3-3 of this embodiment uses a motor. The motor is connected to a lead screw (not shown) inside the fixed frame through a synchronous belt to form a transmission structure (not shown) to drive the tray support plate 3-2 to move up and down. In other embodiments, the motor can also drive the tray support plate to move up and down through conventional transmission structures such as chains, synchronous belts, and gear racks, or use other conventional drive units such as cylinders and linear modules to drive the tray support plate to move.

[0034] The trays transferred up and down by the Z-axis conveying module are centrally placed at the feeding position, and can be manually collected / placed or conveyed by a conveyor. The feeding position of this embodiment includes tray conveyors 6 respectively located below the empty tray loading station A, the first material distribution station B, and the second material distribution station C. A tray conveyor 6 is provided below each station. The tray conveyor 6 is used to realize the movement of the tray in the Y-axis direction, such as horizontally moving the tray from the AVG cart 100 to the Z-axis conveying module, or conveying the tray at the Z-axis conveying module outward to the AVG cart 100. The tray conveyor of this embodiment uses a conventional conveyor, such as the structure of the display belt in the patent publication number CN106219159A, or the synchronous belt conveyor products of companies such as Dongguan Yiheda Automation Technology Co., Ltd., Suzhou Yiheda Automation Technology Co., Ltd., and Hangzhou Yiheda Intelligent Equipment Co., Ltd. The specific model can be the intermediate drive double-groove profile double-row type.

[0035] The material distribution mechanism 2 is used to separately transfer the workpieces transferred from the previous process to the first material distribution station B or the second material distribution station C, and place the workpieces according to their categories. Such as Figure 5As shown in the figure, the material distribution mechanism 2 of this embodiment includes a workpiece gripper 2-1, a rotary cylinder 2-2, a Y-axis linear module 2-3, and an X-axis linear module 2-4. The X-axis linear module 2-4 is arranged on the frame 1. The Y-axis linear module 2-3 is arranged on the X-axis linear module 2-4 through a first carriage 2-5. The X-axis linear module 2-4 can control the first carriage 2-5 to move in the X-axis direction, thereby driving the Y-axis linear module 2-3 to move in the X-axis direction. The workpiece gripper 2-1 is arranged on the Y-axis linear module 2-3 through a second carriage 2-6. The Y-axis linear module 2-3 can control the second carriage 2-6 to move in the Y-axis direction, thereby driving the workpiece gripper 2-1 to move in the Y-axis direction. Through the cooperation of the X-axis linear module 2-4 and the Y-axis linear module 2-3, the workpiece gripper 2-1 can move in the X-axis and Y-axis directions. The workpiece gripper 2-1 is movably arranged on the second carriage 2-6 in the up and down (Z-axis direction). In this embodiment, the up and down movement of the workpiece gripper 2-1 is controlled by a cylinder (not shown), and the cylinder drives the workpiece gripper 2-1 to move in the Z-axis direction. The workpiece gripper 2-1 of this embodiment is arranged on the rotary cylinder 2-2. The rotary cylinder 2-2 can control the workpiece gripper 2-1 to rotate in the horizontal direction, and can realize the back-and-forth commutation of the workpiece by 90° clockwise or counterclockwise according to needs, so as to adjust the position and direction of the workpiece. The purpose is to make the workpiece vacancy on the empty tray consistent with the grasping direction of the workpiece gripper when they are not in the same direction, and the direction can be made consistent by turning.

[0036] In this embodiment, a workpiece buffer unit 5 is arranged on the frame 1 for storing workpieces transferred from the previous process. When the workpiece buffer unit 5 is provided, the material distribution mechanism 2 grabs the workpiece from the workpiece buffer unit 5 and places the workpiece on the tray at the first material distribution station B or the second material distribution station C.

[0037] As Figure 6 shown, the workpiece buffer unit 5 includes a bottom plate 5-1, a lifting unit 5-2, a first buffer plate 5-3, a second buffer plate 5-4, and a reciprocating displacement mechanism 5-5. The workpieces to be distributed are placed on the workpiece placement positions 5-6 on the buffer plate, and several workpiece placement positions 5-6 are arranged on each buffer plate. The lifting unit 5-2 is used to lift the buffer plate. The lifting unit 5-2 can adopt a cylinder or a motor, and the motor controls the lifting of the buffer plate through a transmission structure. The reciprocating displacement mechanism 5-5 is used to control the horizontal movement of the buffer plate. The reciprocating displacement mechanism of this embodiment adopts a synchronous belt pulley mechanism. In other embodiments, it can also be other common structures of existing technologies, such as the combination of a cylinder, a lead screw and other mechanisms to realize the reciprocating movement of the buffer plate, which will not be elaborated here. The two buffer plates move up and down and horizontally under the action of their respective lifting units and reciprocating displacement mechanisms, and alternately move to the loading position where the material distribution mechanism 2 grabs the workpiece, realizing the loading of the workpiece.

[0038] Optionally, the bottom plate 5-1 of this embodiment is arranged on the frame 1 through a height adjustment screw 5-6. By screwing the height adjustment screw 5-6, the height of the bottom plate 1 can be adjusted to meet the corresponding production and assembly requirements.

[0039] The tray translation mechanism 4 is horizontally movably arranged on the frame 1 and can move between three stations (the empty tray loading station A, the first material distribution station B, and the second material distribution station C), so as to transfer the empty tray to the first material distribution station B or the second material distribution station C as required.

[0040] As Figure 7 shown, the tray translation mechanism 4 includes a transfer frame 4-1, a vacuum chuck 4-2, a tray gripper 4-3, and a frame translation drive unit 4-4. In this embodiment, the frame translation drive unit 4-4 uses a motor, and the motor drives the transfer frame 4-1 to move horizontally through a synchronous belt drive structure. In this embodiment, a horizontal slide rail is arranged on the frame 1, and the horizontal slide rail is located on the opposite sides of the three stations of the empty tray loading station A, the first material distribution station B, and the second material distribution station C. The transfer frame 4-1 is arranged on the horizontal slide rail and can move along the horizontal slide rail, so as to transfer the empty tray between different stations. In other embodiments, the motor can also drive the transfer frame to move horizontally through conventional drive structures such as chains, lead screws, crawlers, and gear racks, or use other conventional drive units such as cylinders and linear modules to drive the transfer frame to move.

[0041] In this embodiment, a push block 4-5 is arranged on the transfer frame 4-1, and a push frame 4-6 connected to the push block 4-5 is arranged on the synchronous belt. When the motor drives the synchronous belt to move, the push frame 4-6 on the synchronous belt drives the transfer frame 4-1 to move through the push block 4-5 during the movement of the synchronous belt. In other embodiments, a cylinder can also be used as the frame translation drive unit 4-4 to control the horizontal movement of the transfer frame 4-1.

[0042] As Figure 8 and Figure 9 shown, the transfer frame 4-1 of this embodiment is in a rectangular shape with a hollow center. A chuck fixing plate 4-7 and a gripper fixing plate 4-8 are arranged on the transfer frame 4-1. A chuck fixing plate 4-7 is arranged at each end of the transfer frame 4-1 in the length direction, and the chuck fixing plate 4-7 extends along the width direction of the transfer frame 4-1. At least one vacuum chuck 4-2 arranged at intervals is arranged on each chuck fixing plate 4-7. As Figure 8 shown, the vacuum chuck 4-2 is used to adsorb trays with larger size specifications or larger adsorption surfaces. The gripper fixing plate 4-8 is arranged between the two chuck fixing plates 4-7, and a pair of tray grippers 4-3 arranged at intervals are arranged on the gripper fixing plate 4-8. In this embodiment, the tray gripper 4-3 uses a cylinder clamping finger to clamp the edge of the tray. As Figure 9As shown, the spacing between the tray clamping jaws 4-3 can be adjusted to clamp trays with smaller sizes or special-shaped trays. The tray translation mechanism 4 of this embodiment can transfer trays of different sizes and types, and has good versatility. In other embodiments, the suction cup fixing plate 4-7 can also be one, which is set in the center of the transfer frame 4-1, as long as the suction force of the suction cup is sufficient to absorb the tray, and the clamping jaw fixing plate 4-8 and the tray clamping jaw 4-3 can also be set separately, and adjusted according to actual conditions.

[0043] In order to more accurately maintain the position of the material tray at the workstation, a material tray clamping assembly is optionally provided on the left and right sides of each workstation on the frame 1. The material tray clamping assembly includes a pair of clamping bars 7 and a driving device for driving the clamping bars 7 to move horizontally. The driving device can be a driving structure conventionally used by people in this field, such as various cylinders, electric rods, and screws. In this embodiment, the driving device is a cylinder 8. When the material tray is sent to the corresponding workstation, the clamping bars 7 on both sides of the material tray move toward each other under the action of the cylinder 8, thereby clamping the material tray, facilitating the fixing of the material tray and ensuring that the workpiece can be accurately placed when it is grabbed. After the clamping bar 7 releases the material tray, the material tray can fall on the material tray support plate 3-2 or on the material tray stacked on the material tray support plate 3-2.

[0044] The working process of the automatic material distributing device of this embodiment is described below in conjunction with all the drawings.

[0045] The AVG trolley 100 delivers the stacked empty trays to the tray conveyor 6 at the empty tray loading station A. The tray conveyor 6 and the AVG trolley 100 are docked, and the empty trays received from the AVG trolley 100 are conveyed inward to the tray support plate 3-2 of the Z-axis conveying module at the empty tray loading station A.

[0046] The tray support plate 3-2 of the Z-axis conveying module at the empty tray loading station A moves upward, so that the empty tray stacked on the tray support plate 3-2 moves upward; when it moves into place, that is, the empty tray located above rises to the empty position, the vacuum suction cup 4-2 or the tray clamp 4-3 of the tray translation mechanism 4 picks up the empty tray located at the top, at this time, the tray support plate 3-2 of the Z-axis conveying module moves downward to a position of a tray distance or avoids a certain distance to avoid interference from the tray translation mechanism 4, and the tray translation mechanism translates the empty tray and delivers the empty tray to the corresponding station; at this time, the tray support plates 3-2 of the Z-axis conveying module corresponding to the first material distribution station B and the second material distribution station C move upward to wait for the empty tray that has translated over;

[0047] After the tray is in place, it falls on the tray support plate 3-2 of the Z-axis conveying module corresponding to the first material distribution station A and the second material distribution station B. The vacuum suction cup 4-2 or the tray clamp 4-3 of the tray translation mechanism 4 releases the empty tray and returns to the empty tray loading station A to wait; the material distribution mechanism 2 grabs the workpiece from the workpiece buffer unit 5 and places the workpiece in the tray of the corresponding station according to OK or NG;

[0048] When the tray at a certain material distribution station is full of workpieces, the Z-axis conveying module of the material distribution station controls the tray support plate 3-2 to move downward to a position of a tray distance or to avoid a certain distance to leave a position for the next empty tray to be translated, and the tray translation mechanism 4 picks up an empty tray from the empty tray loading station A and moves it to the corresponding station;

[0049] When the trays at the first material distribution station B and / or the second material distribution station C are stacked to a preset height or quantity and no new trays can be stacked, the tray conveyor 6 at the station conveys the neatly stacked trays from the inside to the outside to the AVG trolley 100;

[0050] When the empty tray at the empty tray loading station A is used up, the AVG trolley 100 delivers a new empty tray to the tray conveyor 6 at the empty tray loading station A, and repeats the above steps to realize automatic material sorting and loading and unloading of workpieces.

[0051] For those skilled in the art, various other corresponding changes and modifications can be made according to the technical solutions and concepts described above, and all of these changes and modifications should fall within the protection scope of the claims of the utility model.

Claims

1. An automatic material distribution device, characterized in that, Including: A frame, on which at least a blank tray loading station, a first material distribution station and a second material distribution station are provided, and the frame is provided with vacancies for the feeding tray to pass through at the blank tray loading station, the first material distribution station and the second material distribution station; A tray translation mechanism movably arranged horizontally on the frame, and the tray translation mechanism can move between the blank tray loading station, the first material distribution station and the second material distribution station; A tray lifting and transferring mechanism arranged on the frame, and the tray lifting and transferring mechanism includes Z-axis conveying modules respectively located below the blank tray loading station, the first material distribution station and the second material distribution station; A material distribution mechanism movably arranged on the frame, and the moving range of the material distribution mechanism includes the first material distribution station and the second material distribution station, and distributes workpieces to the first material distribution station or the second material distribution station.

2. The automatic material distribution device according to claim 1, characterized in that: It further includes feeding positions respectively arranged on the frame and located below the blank tray loading station, the first material distribution station and the second material distribution station.

3. The automatic material distribution device according to claim 2, wherein: The feeding positions include tray conveyors respectively located below the blank tray loading station, the first material distribution station and the second material distribution station.

4. The automatic material distribution device according to claim 1, characterized in that: A workpiece buffer unit is further arranged on the frame, and the material distribution mechanism can move between the workpiece buffer unit, the first material distribution station and the second material distribution station.

5. The automatic material distribution device according to claim 1, characterized in that: The Z-axis conveying module includes a fixed frame fixed to the frame, a tray support plate movably arranged up and down on the fixed frame, and a support plate lifting drive unit for driving the tray support plate to move up and down.

6. The automatic material distribution device according to claim 1, wherein: The material distribution mechanism includes an X-axis linear module arranged on the frame, a Y-axis linear module arranged on the X-axis linear module through a first slide, and a workpiece gripper arranged on the Y-axis linear module through a second slide, and the workpiece gripper is arranged on a rotary cylinder; the X-axis linear module controls the first slide to move along the X-axis direction, the Y-axis linear module controls the second slide to move along the Y-axis direction, the workpiece gripper is movably arranged on the second slide along the Z-axis direction, and the workpiece gripper moves along the Z-axis direction.

7. The automatic material distribution device according to claim 6, wherein: The workpiece gripper is arranged on a rotary cylinder, and the rotary cylinder controls the workpiece gripper to rotate in the horizontal direction.

8. The automatic material distribution device according to claim 1, wherein: The tray translation mechanism includes a transfer frame, a frame translation drive unit for driving the transfer frame to move horizontally, and vacuum suction cups and / or tray grippers arranged on the transfer frame.

9. The automatic material distribution device according to claim 8, characterized in that: Horizontal slide rails are arranged on the frame, the horizontal slide rails extend through the blank tray loading station, the first material distribution station and the second material distribution station, and are located on opposite sides of the blank tray loading station, the first material distribution station and the second material distribution station, and the transfer frame is arranged on the horizontal slide rails.

10. The automatic material distribution device according to claim 8, characterized in that: The transfer frame is in a square shape with openings on four sides, and a suction cup fixing plate is arranged at each end in the length direction of the transfer frame, the suction cup fixing plate extends along the width direction of the transfer frame, and at least one of the vacuum suction cups arranged at intervals is arranged on the suction cup fixing plate; A gripper fixing plate located between the suction cup fixing plates is arranged on the transfer frame, and the gripper fixing plates are provided with the tray grippers arranged at intervals.

11. The automatic material distribution device according to claim 1, characterized in that: A tray clamping assembly is arranged on the frame. The tray clamping assembly includes clamping strips located on the left and right sides of each station and capable of clamping the tray, and a driving device for driving the clamping strips to move horizontally.

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