Blanking machine

Abstract

The blanking machine comprises a tray taking device, an empty tray input line, a lifting device and a full tray output line, the blanking machine comprises an upper layer and a lower layer, the empty tray input line and the tray taking device are arranged on the upper layer, the full tray output line is arranged on the lower layer, and the lifting device can move between the upper layer and the lower layer. The empty disc input line further comprises a fool-proof structure and an orientation detection unit, the fool-proof structure is vertically arranged, and first detection areas of the fool-proof structure and the orientation detection unit are both located on the front side of the disc taking position. The fool-proof structure and the first detection area are located on the same side, and the first detection area is closer to the center line of the empty disc input line than the fool-proof structure. The charging tray is provided with a non-centered notch; when the material tray reaches the tray taking position, if the orientation of the material tray is wrong, the material tray interferes with the fool-proof structure and cannot reach the first detection area, and the system judges whether the orientation of the material tray is correct or not according to a signal of the orientation detection unit so as to ensure that subsequent tray loading is effectively carried out.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a feeding machine for a material tray. Background Art

[0002] There is an existing unloading machine that includes a tray taking device, an empty tray input line, a lifting device and a full tray output line. The unloading machine is divided into two layers, the empty tray input line and the tray taking device are arranged on the upper layer, the full tray output line is arranged on the lower layer, and the lifting device is arranged between the upper and lower layers and can be moved between the empty tray input line and the full tray output line.

[0003] The empty tray input line ends at a tray retrieval station. Stacked empty trays are placed on the empty tray input line and eventually come to rest at the retrieval station. A tray retrieval device removes empty trays one by one from the retrieval station and places them on the lift table. A retrieval robot then places items onto empty trays on the lift table until the tray is full, at which point the lift table descends one position. This process of removing trays, filling the tray, and descending is repeated until the number of full trays on the lift table reaches a preset number or height. The stacked full trays are then discharged via the full tray output line.

[0004] The existing problem with this type of blanking machine is that it cannot determine whether the orientation of the empty tray is correct. If the operator inserts the empty tray in the wrong orientation, the loading will fail. Utility Model Content

[0005] The purpose of the utility model is to provide a blanking machine which can ensure the effective loading of trays.

[0006] The first object of the present invention provides a blanking machine comprising a tray taking device, an empty tray input line, a lifting device and a full tray output line. The blanking machine comprises an upper layer and a lower layer arranged vertically, the empty tray input line and the tray taking device are arranged on the upper layer, the full tray output line is arranged on the lower layer, the lifting device comprises a lifting platform, the lifting platform can be moved between the tray loading position of the upper layer and the lower layer, the lifting platform can be docked with the full tray output line on the lower layer, the empty tray input line is provided with a tray taking position, and the tray taking device can be moved between the tray taking position and the tray loading position; the empty tray input line also includes an anti-stuck knot The anti-foolproof structure and the direction detection unit are arranged upright, and the anti-foolproof structure and the first detection area of ​​the direction detection unit are both located in front of the tray picking position. Along the horizontal direction of the empty tray input line, the anti-foolproof structure and the first detection area are located on the same side and the first detection area is closer to the center line of the empty tray input line than the anti-foolproof structure; a non-centered notch is set on one side of the periphery of the tray carried by the unloader; when the tray reaches the tray picking position, the notch cooperates with the anti-foolproof structure and the tray is located in the first detection area, or the anti-foolproof structure hinders the tray from reaching the first detection area.

[0007] It can be seen from the above scheme that since a non-centered notch is set on one side of the outer periphery of the material tray, when multiple material trays of the stacked box are transported to the tray retrieval position, if all material trays are oriented correctly, the notches of all material trays cooperate with the anti-foolproofing structure, and all material trays will be accurately positioned and fall into the first detection area; if any material tray is oriented incorrectly, it will interfere with the anti-foolproofing structure. Since the first detection area is adjacent to the anti-foolproofing structure, the entire stack of material trays is in a sideways posture and cannot reach the first detection area due to the obstruction of the anti-foolproofing structure set on one side and the force of the empty tray input line. The system can determine whether the orientation of the material tray is correct based on the signal of the orientation detection unit to ensure that the subsequent loading is correct.

[0008] A further solution is that the fool-proof structure is arranged at the front corner of the tray-taking position, and the notch is arranged at the corner of the outer periphery of the tray.

[0009] As can be seen above, since the horizontal position of the trays placed into the empty tray input line is not completely consistent each time, if the anti-mock structure and the notch are placed in non-corner locations, they may not fit together due to misalignment. Alternatively, the notch needs to be wide enough, which will affect the structural strength of the tray. Compared to the center, the design difficulty of the anti-mock structure and notch in the corner is relatively simple, and it can ensure that the anti-mock structure and notch cooperate well, ensuring that the tray with the correct orientation can accurately enter the tray removal position, thereby improving the success rate of tray removal.

[0010] A further solution is that the direction detection unit is arranged below the tray taking position and detects upwards.

[0011] As can be seen from the above, generally, the empty tray input line includes two groups of transport components respectively arranged on opposite sides in the horizontal direction. The available space between the two groups of transport components is relatively large. Therefore, the orientation detection unit is arranged below the tray retrieval position to utilize the original idle space of the empty tray input line, and can simultaneously detect all the vertically stacked empty trays.

[0012] Another further solution is that the empty tray input line is also provided with a waiting position, which is located upstream of the tray retrieval position; the empty tray input line also includes a waiting detection unit and a blocking mechanism, the second detection area of ​​the waiting detection unit is located at the waiting position, and the blocking mechanism includes a liftable blocking member, the blocking member in the upper limit position blocks between the tray retrieval position and the waiting position, and the blocking member in the lower limit position is as a whole below the bearing surface of the empty tray input line.

[0013] As can be seen from the above, after all the empty trays at the tray-taking position are taken out, it is necessary to pause the empty tray input line, put in the next stack of empty trays, and then start the empty tray input line again. This method slows down the cycle and affects the material unloading efficiency. In order to solve the problem of slow cycle caused by the waiting time for putting in the stacked empty trays, the utility model adds a waiting position to the empty tray input line. While the empty trays at the tray-taking position are being taken out, another stack of empty trays can be put into the waiting position to wait. In this way, after all the empty trays at the tray-taking position are taken out, the empty tray input line can immediately move the next stack of empty trays from the waiting position to the tray-taking position, speeding up the cycle and improving the material unloading efficiency. However, since the tray-taking position and the waiting position are both on the empty tray input line, the tray-taking position is generally provided with a baffle wall to block the trays from the front, while the trays in the waiting position that still need to be transported forward are not blocked and will continue to be driven forward by the input line. If the distance between the two stacks of trays is too close, they may collide under the continued drive of the empty tray input line. To this end, the present invention also adds a liftable blocking member between the two positions, and sets a waiting detection unit at a certain distance from the tray retrieval position. The waiting detection unit conducts real-time detection. If the second stacking tray enters the second detection area of ​​the waiting detection unit, it is judged that the stacking tray is close to the first stacking tray. At this time, the blocking member is controlled to rise to prevent the second stacking tray from continuing to move forward, avoid collision and ensure that the loading work is stable and effective.

[0014] A further solution is that the blocking mechanism also includes a lifting cylinder, which is fixed and the blocking member is connected to the end of the piston rod of the lifting cylinder; the waiting detection unit is connected to the lower part of the blocking member and detects upward, and the second detection area is located in front of the waiting position. In the conveying direction of the empty disk input line, the waiting detection unit is closer to the waiting position than the blocking member.

[0015] As can be seen from the above, under this setting, there is no need to set up an additional installation structure for the waiting detection unit, and the blocking mechanism is directly used as its installation structure, which simplifies the machine structure and reduces costs.

[0016] A further solution is that the empty tray input line includes two groups of transport components respectively arranged on opposite sides in the transverse direction, and the blocking mechanism and the waiting detection unit are arranged at a gap between the two groups of transport components.

[0017] As can be seen from the above, the waiting detection unit is arranged below the waiting position to utilize the original idle space of the empty tray input line and can simultaneously detect the conditions of all vertically stacked empty trays.

[0018] A further solution is to use an infrared sensor in the waiting detection unit and / or towards the detection unit.

[0019] As can be seen from the above, the straight-line detection of the infrared sensor can make the detection results more accurate and also enable the structures near the detection area on the machine to be arranged more compactly.

[0020] A further solution is that the disc picking device includes a two-axis robot and a disc picking suction cup. Driven by the two-axis robot, the disc picking suction cup can be translated and raised and lowered along the conveying direction of the empty disc input line.

[0021] As can be seen from the above, under this setting, the tray-taking suction cup takes out the top empty tray stacked at the tray-taking position each time and moves it to the lifting platform at the tray-loading position.

[0022] A further solution is that the feeder also includes a feeding device and a defective product output line; the defective product output line is arranged on the upper layer, and the loading position, the feeding device and the defective product output line are arranged in sequence along the conveying direction of the empty tray input line; the feeding device can be moved between the feeding position and the loading position outside the feeder, and the feeding device can be moved between the feeding position and the defective product output line.

[0023] As can be seen from the above, the blanking machine of the present invention can also blank qualified products and defective products separately.

[0024] A further solution is that the blanking machine also includes a clamping mechanism arranged at the loading position, the clamping mechanism includes two clamping members arranged opposite to each other in the transverse direction and a driving unit corresponding to each clamping member, and the driving unit drives the clamping member to move in the transverse direction.

[0025] As can be seen from the above, the clamping mechanism can clamp the tray being loaded to ensure the accurate position of the loading process and improve the success rate of loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a structural diagram of an embodiment of the blanking machine and the material tray of the utility model from a first perspective.

[0027] Figure 2 This is a structural diagram of an embodiment of the blanking machine and the material tray of the utility model from a second perspective.

[0028] Figure 3 This is a structural diagram of an embodiment of the blanking machine of the present utility model from a third perspective.

[0029] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0030] Figure 5 for Figure 3 Enlarged view of point B in the middle.

[0031] Figure 6 This is a schematic diagram of an embodiment of the feed tray of the feed machine of the present invention, with the tray being correctly oriented and placed in the tray removal position.

[0032] Figure 7 This is a schematic diagram of an embodiment of the feed tray of the feed machine of the present invention, which is placed in the wrong direction at the tray removal position.

[0033] Figure 8 This is a schematic diagram of the material tray in the waiting position when the blocking mechanism of the blanking machine embodiment of the present invention is not blocking it.

[0034] Figure 9 This is a schematic diagram of the blocking mechanism of the blanking machine embodiment of the present invention blocking the material tray in the waiting position. DETAILED DESCRIPTION

[0035] See also Figure 1 and Figure 2 The unloader of this embodiment includes a mounting frame 1, an empty tray input line 2, a lifting device 3, a full tray output line 4, a tray removal device 51, a material removal device 52, a defective product output line 6, a tray clamping mechanism 7, an orientation detection unit 81, a waiting detection unit 82, a foolproof structure 83, and a blocking mechanism 84. The x-axis in the figure represents the conveying direction of the empty tray input line 2 and the full tray output line 4, the y-axis represents the horizontal direction of the empty tray input line 2, and the z-axis represents the vertical direction.

[0036] The mounting frame 1 is arranged into an upper layer 11 and a lower layer 12 arranged vertically. The empty tray input line 2, the tray taking device 51, the material taking device 52, the defective product output line 6 and the clamping mechanism 7 are all arranged on the upper layer, the full tray output line 4 is arranged on the lower layer 12, and the lifting device 3 is arranged between the upper layer 11 and the lower layer 12; the direction detection unit 81, the waiting detection unit 82, the anti-fool structure 83 and the blocking mechanism 84 are all arranged on the empty tray input line 2 of the upper layer 11.

[0037] Continue to see Figure 1 and Figure 2 The empty tray input line 2 inputs the empty tray 9 along the positive direction of the x-axis, the full tray output line 4 is located directly below the empty tray input line 2, and the full tray output line 4 outputs the full tray 9 along the negative direction of the x-axis. The lifting device 3 is connected between the end of the empty tray input line 2 and the starting end of the full tray output line 4.

[0038] The empty tray input line 2 is provided with a tray taking position 202 and a waiting position 201 located upstream of the tray taking position 202 and at a certain interval from the tray taking position 202; the upper layer 11 also includes a tray loading position 301 arranged downstream of the tray taking position 202 along the x-axis direction, and the lifting device 3 includes a lifting platform 31, which can be moved between the tray loading position 301 of the upper layer 11 and the lower layer 12, and the lifting platform 31 can be docked with the full tray output line 4 on the lower layer 12.

[0039] The tray picking device 51 includes a two-axis robot 512 and a tray picking suction cup 511. Driven by the two-axis robot 512, the tray picking suction cup 511 can be translated along the conveying direction of the empty tray input line 2 (the x-axis direction in the figure) and lifted and lowered vertically (the z-axis direction in the figure) to move between the tray picking position 202 and the tray loading position 301. The tray picking suction cup 511 can absorb the topmost tray 9 among the multiple trays 9 stacked in the tray picking position 202 and move it to the lifting platform 31 in the tray loading position 301.

[0040] The loading position 301, the material removal device 52, and the defective product output line 6 are arranged sequentially along the conveying direction of the empty tray input line 2, that is, along the x-axis shown in the figure. The material removal device 52 includes a material removal suction cup 521 and a multi-axis robot 522. Driven by the multi-axis robot 522, the material removal suction cup 521 can move between the material removal position outside the feeder and the loading position 301 inside the feeder, thereby grabbing qualified materials from the material removal position outside the feeder and transferring them to the tray 9 at the loading position 301 for loading. Driven by the multi-axis robot 522, the material removal suction cup 521 can also move between the material removal position and the defective product output line 6, thereby grabbing defective products from the material removal position and transferring them to the defective product output line 6. The material removal position is generally located at the end of the process line connected to the feeder.

[0041] The clamping mechanism 7 is arranged at the loading position 301. The clamping mechanism 7 includes two clamping pieces 71 arranged opposite to each other in the transverse direction and a driving unit 72 corresponding to each clamping piece 71. The driving unit 72 is a cylinder that outputs in the transverse direction. The clamping piece 71 driven by the driving unit 72 can move in the transverse direction. The two clamping pieces 71 can clamp the material tray 9 being loaded in the loading position 301 to ensure the accuracy of the loading process and improve the loading success rate.

[0042] When the trays 9 filled with materials on the lifting platform 31 are fully stacked, that is, when the sensor detects that the trays 9 have been stacked to a preset height or when the number of trays 9 has been stacked to a preset number by counting the number of actions, the lifting platform 31 descends to the lower layer 12 and docks with the full tray output line 4. The full tray output line 4 includes two conveyor belts 41 spaced apart laterally, and both conveyor belts 41 extend into the lifting device 3 along the x-axis direction. When the lifting platform 31 descends to the lower limit position, the lifting platform 31 is located between the two conveyor belts 41 in the horizontal direction, and the lifting platform 31 is located below the bearing surface of the conveyor belts 41. In this way, when the lifting platform 31 descends to the lower limit position, the stack of trays 9 on the lifting platform 31 will be received by the two conveyor belts 41 and then delivered by the full tray output line 4.

[0043] See also Figure 3 、 Figure 4 and Figure 6The foolproof structure 83 and the first detection area 810 facing the detection unit 81 are both located in front of the tray removal position 202. Along the transverse direction of the empty tray input line 2, the foolproof structure 83 and the first detection area 810 are arranged sequentially and are both located on the same side of the centerline 20 of the empty tray input line 2. The first detection area 810 is closer to the centerline 20 of the empty tray input line 2 than the foolproof structure 83. Furthermore, in this embodiment, the foolproof structure 83 is arranged in a front corner of the tray removal position 202, i.e., at the corner where the front side of the tray removal position 202 in the conveying direction and the side in the transverse direction intersect.

[0044] In addition, a baffle wall 23 is provided on the upper layer 11 between the tray taking position 202 and the tray loading position 301. The baffle wall 23 prevents the material tray 9 at the tray taking position 202 from continuing to move forward from the front of the tray taking position 202. The front side of the tray taking position 202 is the side close to the front in the conveying forward direction of the tray taking position 202, that is, the side close to the baffle wall 23. The baffle wall 23 extends horizontally, and the anti-fool structure 83 is provided close to the extended end of the baffle wall 23.

[0045] The empty tray input line 2 includes two groups of transport components 21 respectively arranged on opposite sides in the horizontal direction. The transport components 21 mainly include transport belts. In the horizontal direction, an idle space that can be used is formed between the two groups of transport components 21. The direction detection unit 81 is arranged in the idle space between the above two groups of transport components 21. The direction detection unit 81 is an infrared sensor. The direction detection unit 81 is located as a whole below the bearing surface of the transport component 21. The direction detection unit 81 is arranged below the tray retrieval position 202 and detects upward.

[0046] In addition, the upper layer 11 is further provided with a side guard 22 on each lateral side of the tray removal position 202 of the empty tray input line 2 , so that the material tray 9 arriving at the tray removal position 202 will be restricted by the side guard 22 and the barrier wall 23 .

[0047] See also Figure 6 and Figure 7 The tray 9 carried by the unloader has a generally rectangular outer contour. A non-centered notch 91 is provided on one side of the outer contour of the tray 9. Furthermore, in this embodiment, the notch 91 is a beveled notch provided at a corner of the outer contour of the tray 9. The contour of the notch 91 matches the contour of the foolproof structure 83. The foolproof structure 83 is an upright right-angled triangular prism structure, with the inclined surface of the foolproof structure 83 facing the tray removal position 202.

[0048] See also Figure 6 When the tray 9 is transported to the tray removal position 202 with the correct orientation, the notch 91 cooperates with the foolproof structure 83, the tray 9 is centered without any lateral deviation, and its front edge is located in the first detection area 810. Figure 7When the tray 9 facing the wrong direction is transported to the tray removal position 202, the notch 91 cannot cooperate with the anti-foolproof structure 83. The diagonal of the notch 91 on the tray 9 interferes with the anti-foolproof structure 83. Under the obstruction of the anti-foolproof structure 83 and the continued driving of the transport component 21, the tray 9 finally becomes Figure 7 In the non-centering, sideways state shown, the tray 9 cannot reach the first detection area 810. This way, the system can determine whether the tray 9 is oriented correctly based on the different signals from the orientation detection unit 81, and suspend operations if the tray 9 is not oriented correctly. This setting ensures that subsequent tray loading is correct.

[0049] See also Figure 3 、 Figure 5 and Figure 8 In the conveying direction, the blocking mechanism 84 and the waiting detection unit 82 are arranged between the tray removal position 202 and the waiting position 201, and in the horizontal direction, in the interval between the two groups of transport components 21. The blocking mechanism 84 also includes a lifting cylinder 841, which is fixedly arranged. The blocking member 85 is connected to the end of the piston rod of the lifting cylinder 841. The waiting detection unit 82 uses an infrared sensor. The waiting detection unit 82 is connected to the lower part of the blocking member 85 and detects upward. The second detection area is located in front of the waiting position 201. In the conveying direction of the empty tray input line 2, the waiting detection unit 82 is closer to the waiting position 201 than the blocking member 85.

[0050] See also Figure 8 In this state, the blocking member 85 is at the lower limit position. The blocking member 85 at the lower limit position is entirely below the bearing surface of the transport component 21 of the empty tray input line 2. At this time, the blocking member 85 does not hinder the empty tray input line 2 from conveying the material tray 9; see Figure 9 In this state, the blocking member 85 is at the upper limit position. The blocking member 85 at the upper limit position blocks the tray 9 at the waiting position 201 and prevents the tray 9 at the waiting position 201 from moving forward.

[0051] The present invention adds a waiting position 201 to the empty tray input line 2. While the empty tray 9 in the tray taking position 202 is being taken, another stack of empty trays 9 can be placed in the waiting position 201 to wait. In this way, after all the trays 9 in the tray taking position 202 are taken, the empty tray input line 2 can immediately move the next stack of empty trays 9 from the waiting position 201 to the tray taking position 202, thereby speeding up the cycle and improving the unloading efficiency.

[0052] However, after the first stacking tray 9 enters the tray removal position 202, the transport assembly 21 will continue to operate for a certain period of time to ensure that the first stacking tray 9 is completely and accurately located at the tray removal position 202 before stopping. During this process, if the second stacking tray 9 is not blocked, the second stacking tray 9 will approach the first stacking tray 9 or even collide with each other, affecting normal tray loading.

[0053] To this end, the waiting detection unit 82 of the present invention is facing the front side of the waiting position 201 from bottom to top, and the waiting position 201 is at a certain distance from the tray-picking position 202. When the second stacking tray 9 enters the second detection area 820 of the waiting detection unit 82, it indicates that the distance between the second stacking tray 9 and the first stacking tray 9 in front is less than a certain distance. The system controls the transport component 21 to pause and controls the blocking member 85 to rise to the upper limit position according to the detection signal of the waiting detection unit 82. After that, even if the transport component 21 runs again, the second stacking tray 9 is blocked by the blocking member 85, no longer moves forward, and maintains a certain distance from the first stacking tray 9.

[0054] In other embodiments, the fool-proof structure is arranged at a non-central position in the transverse direction, but not at a corner. The position of the notch on the tray also corresponds to the fool-proof structure and is not arranged at a peripheral corner.

[0055] In other embodiments, the direction detection unit and / or the waiting detection unit may be arranged above the empty tray input line 2 and configured to detect in a downward direction.

[0056] In other embodiments, the waiting detection unit can be provided independently of the blocking mechanism, for example, fixed to the mounting frame via a mounting structure.

[0057] In other embodiments, the outline of the fool-proof structure may not match the outline of the notch on the tray. For example, the fool-proof structure may be cylindrical, and the notch of the tray may still have a beveled corner like the notch 91 of the tray 9 in the preferred embodiment.

[0058] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material unloader, comprising a tray removal device, an empty tray input line, a lifting device, and a full tray output line. The material unloader comprises an upper layer and a lower layer arranged vertically. The empty tray input line and the tray removal device are arranged on the upper layer, and the full tray output line is arranged on the lower layer. The lifting device comprises a lifting platform, which is movable between a tray loading position on the upper layer and the lower layer. The lifting platform can dock with the full tray output line on the lower layer. The empty tray input line is provided with a tray removal position, and the tray removal device is movable between the tray removal position and the tray loading position. Its characteristics are: The empty tray input line further includes a foolproof structure and a direction detection unit. The foolproof structure is arranged upright. The foolproof structure and the first detection area of ​​the direction detection unit are both located in front of the tray removal position. In the transverse direction of the empty tray input line, the foolproof structure and the first detection area are located on the same side, and the first detection area is closer to the center line of the empty tray input line than the foolproof structure. A non-centered notch is provided on one side of the outer periphery of the material tray carried by the unloading machine; When the material tray reaches the tray-taking position, the notch cooperates with the fool-proof structure and the material tray is located in the first detection area, or the fool-proof structure prevents the material tray from reaching the first detection area.

2. The blanking machine according to claim 1, characterized in that: The fool-proof structure is arranged at a front corner of the tray-taking position, and the notch is arranged at a corner of the outer periphery of the tray.

3. The blanking machine according to claim 2, characterized in that: The direction detection unit is arranged below the tray taking position and detects upward.

4. The blanking machine according to any one of claims 1 to 3, characterized in that: The empty tray input line is further provided with a waiting position, and the waiting position is located upstream of the tray taking position; The empty tray input line also includes a waiting detection unit and a blocking mechanism. The second detection area of ​​the waiting detection unit is located at the waiting position. The blocking mechanism includes a liftable blocking member. The blocking member in the upper limit position blocks between the tray retrieval position and the waiting position. The blocking member in the lower limit position is entirely below the bearing surface of the empty tray input line.

5. The blanking machine according to claim 4, characterized in that: The blocking mechanism further comprises a lifting cylinder, the lifting cylinder is fixedly arranged, and the blocking member is connected to the end of the piston rod of the lifting cylinder; The waiting detection unit is connected to the lower part of the blocking member and detects upward, the second detection area is located in front of the waiting position, and in the conveying direction of the empty tray input line, the waiting detection unit is closer to the waiting position than the blocking member.

6. The blanking machine according to claim 4, characterized in that: The empty tray input line includes two groups of transport components respectively arranged on opposite sides of the transverse direction, and the blocking mechanism and the waiting detection unit are arranged at a gap between the two groups of transport components.

7. The blanking machine according to claim 4, characterized in that: The waiting detection unit and / or the direction detection unit adopts an infrared sensor.

8. The blanking machine according to claim 4, characterized in that: The disc picking device includes a two-axis robot and a disc picking suction cup. Driven by the two-axis robot, the disc picking suction cup can be translated and raised and lowered along the conveying direction of the empty disc input line.

9. The blanking machine according to claim 8, characterized in that: The blanking machine also includes a material taking device and a defective product output line; The defective product output line is arranged on the upper layer, and the tray loading position, the material taking device and the defective product output line are arranged in sequence along the conveying direction of the empty tray input line; The material taking device can be moved between the material taking position outside the unloader and the tray loading position, and the material taking device can be moved between the material taking position and the defective product output line.

10. The blanking machine according to claim 4, characterized in that: The blanking machine also includes a clamping mechanism arranged at the loading position, the clamping mechanism includes two clamping members arranged opposite to each other along the horizontal direction and a driving unit corresponding to each clamping member, and the clamping member can move along the horizontal direction under the drive of the driving unit.

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