Automatic charging tray racking and caching system

Abstract

The utility model relates to an automatic charging tray racking and caching system, which can realize that charging trays are continuously loaded to a material rack, and comprises a charging tray loading area which comprises a plurality of access positions for storing the material rack, and the material rack is used for storing the plurality of charging trays; the material frame feeding and discharging module comprises a feeding mechanism used for conveying the material frame and a discharging mechanism used for conveying the material frame. The material frame transferring module is used for transferring the material frame conveyed by the feeding mechanism to the material disc feeding area and transferring the material frame in the material disc feeding area to the discharging mechanism; the tray caching module is used for caching the trays; and the material tray transferring module is used for transferring the material trays at the material tray temporary storage mechanism into the material frame on the storing and taking position.

Description

Technical Field

[0001] This application relates to the field of material loading and unloading technology, and in particular to an automatic tray loading and buffering system. Background Technology

[0002] During the product loading and unloading process, it is sometimes necessary to place multiple trays on the same rack before loading and unloading. Therefore, it is necessary to automate the loading of trays to the rack to improve the transfer efficiency of trays. Utility Model Content

[0003] Based on this, it is necessary to propose a method for automating the feeding of material trays to the rack, and to propose an automatic material tray feeding and caching system.

[0004] An automatic tray loading and caching system includes: a tray loading area, which includes multiple access positions for storing trays, the trays being used to store multiple trays; a tray loading / unloading module, which includes a loading mechanism for conveying trays and a unloading mechanism for conveying trays; a tray transfer module, which is used to transfer trays conveyed by the loading mechanism to the tray loading area and to transfer trays from the tray loading area to the unloading mechanism; a tray caching module for caching trays; and a tray transfer module, which is used to transfer trays from the tray caching module to the trays at the access positions.

[0005] In some embodiments, a plurality of the access points are arranged in a first horizontal direction; the feeding mechanism and the unloading mechanism are arranged in the first horizontal direction, the feeding mechanism is conveyed along a second horizontal direction and toward the material tray feeding area, the unloading mechanism is conveyed along the second horizontal direction and away from the material tray feeding area, the second horizontal direction is perpendicular to the first horizontal direction; the material rack transfer module is disposed in the second horizontal direction between the material tray feeding area and the material rack unloading module.

[0006] In some embodiments, the rack transfer module includes a first transfer mechanism and a second transfer mechanism, wherein the first transfer mechanism includes a conveying section capable of moving the rack in the second horizontal direction, and the second transfer mechanism is used to drive the first transfer mechanism to move along the first horizontal direction.

[0007] In some embodiments, the tray buffer module includes: a conveyor line for conveying trays along a third horizontal direction; at least one buffer mechanism disposed along the third horizontal direction, the buffer mechanism including a frame, a lifting module disposed on the frame, and a buffer frame disposed on the lifting module, the buffer frame having multiple bearing surfaces in the vertical direction, and the buffer frame being driven by the lifting module to move up and down relative to the conveyor line in the vertical direction.

[0008] In some embodiments, the buffer rack includes two support rod groups located on both sides of the conveyor line in a fourth horizontal direction, the fourth horizontal direction being perpendicular to the third horizontal direction; the support rod group includes two support rods spaced apart along the third horizontal direction, and the support rods are provided with multiple support plates in the vertical direction, the support plates on each support rods forming multiple layers of the bearing surface in the vertical direction.

[0009] In some embodiments, each of the support rod groups is mounted on a lifting plate, which is connected to the output end of the lifting module; a rotary drive mechanism is mounted on the lifting plate to drive the two support rods to rotate in the same direction, so that all the support plates in each support rod group can be simultaneously located above the conveyor line or on one side of the conveyor line in the fourth horizontal direction.

[0010] In some embodiments, the rotary drive mechanism includes: a cylinder fixed to the lifting plate; a first swing arm, one end of which is connected to the piston rod of the cylinder, and the other end of which is pivotally connected to the first of the two support rods; a second swing arm, which is pivotally connected to the first of the two support rods; and a connecting rod, one end of which is pivotally connected to the second swing arm via a pivot, the pivot being eccentrically connected to the first of the two support rods, and the other end of which is pivotally connected to the second of the two support rods.

[0011] In some embodiments, the tray transfer module includes: a robot body, on which a linear guide rail and a drive motor are mounted; a push plate, which slides with the linear guide rail and is connected to the drive motor to allow the guide rail to slide; and a clamping assembly disposed on the robot body, the clamping assembly including a clamping drive mechanism and two grippers located on both sides of the linear guide rail, the grippers being able to move closer or further apart under the drive of the clamping drive mechanism.

[0012] In some embodiments, the inner side of the gripper is provided with a plurality of partitions arranged in the vertical direction, and the partitions on the two grippers form a multi-layered picking surface in the vertical direction.

[0013] In some embodiments, an automated handling robot is also included, which provides a rack to the loading mechanism and removes the rack from the unloading mechanism.

[0014] In this application, the loading and unloading modules of the material rack are used to realize the loading and unloading of the material rack respectively, and the loading and unloading of the material rack do not affect each other; the material rack transfer module is used to provide the material rack to the loading area of ​​the material tray; and the material tray transfer module is used to insert the material tray into the material rack. Thus, continuous loading of material trays can be realized. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the composition of an automatic tray loading and buffering system according to an embodiment of this application.

[0016] Figure 2 This is a schematic diagram of the structure of a material rack according to an embodiment of this application.

[0017] Figure 3 This is a schematic diagram of the structure of a material tray according to an embodiment of this application.

[0018] Figure 4 This is a schematic diagram of the structure of a cache rack according to an embodiment of this application.

[0019] Figure 5 for Figure 4 Front view of the structure.

[0020] Figure 6 for Figure 4 A schematic diagram of a local structure within the structure.

[0021] Figure 7 This is a schematic diagram of the structure of a material tray transfer module according to an embodiment of this application.

[0022] Figure 8 for Figure 7 A front view of the material tray transfer module.

[0023] Figure label:

[0024] 10. Material tray loading area; 110. Storage and retrieval position; 20. Material rack loading / unloading module; 210. Loading mechanism; 220. Unloading mechanism; 30. Material rack transfer module; 310. First transfer mechanism; 320. Second transfer mechanism; 40. Material tray buffer module; 410. Conveyor line; 420. Buffer mechanism; 421. Frame; 422. Lifting module; 423. Buffer rack; 4231. Bearing surface; 4232. Support rod; 4233. Support plate; 4234. Stop bar; 424. Lifting plate; 425. Rotary drive. 4251, cylinder; 4252, first swing arm; 4253, second swing arm; 4254, connecting rod; 4255, pivot; 50, tray transfer module; 510, robot body; 520, push plate; 530, clamping assembly; 531, clamping drive mechanism; 532, gripper; 5321, partition; 540, linear guide rail; 550, drive motor; 60, automated handling robot; 200, rack; 201, tray storage space; 202, baffle; 203, positioning part; 300, tray. Detailed Implementation

[0025] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0026] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0027] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] One embodiment of this application provides an automatic tray loading and buffering system for automatically loading tray 300 to rack 200.

[0029] The automatic tray loading and buffering system includes: a tray loading area 10, a rack loading / unloading module 20, a rack transfer module 30, a tray buffer module 40, and a tray transfer module 50. The tray loading area 10 includes multiple access positions 110 for storing racks 200, which are used to hold multiple trays 300. The rack loading / unloading module 20 includes a loading mechanism 210 for conveying racks 200 and a unloading mechanism 220 for conveying racks 200. The rack transfer module 30 is used to transfer racks 200 conveyed by the loading mechanism 210 to the tray loading area 10, and to transfer racks 200 from the tray loading area 10 to the unloading mechanism 220. The tray buffer module 40 is used to buffer the trays 300. The tray transfer module 50 is used to transfer the tray 300 at the tray 300 buffer mechanism 420 to the rack 200 on the access position 110.

[0030] The material tray loading area 10 includes multiple access positions 110 for storing material racks 200. Each access position 110 is used to place one material rack 200. The material rack 200 is used to store multiple material trays 300.

[0031] Typically, the loading mechanism 210 transports empty racks 200 to the tray loading area 10; while the loading mechanism 210 also transports full racks 200 to the unloading mechanism 220. Trays 300 are loaded into racks 200 in the tray loading area 10 by the tray transfer module 50. An empty rack 200 refers to a rack 200 that does not contain any trays 300. A full rack 200 refers to a rack 200 that contains at least one tray 300. It is easy to understand that in practice, racks 200 are generally filled with trays 300.

[0032] refer to Figure 2 and Figure 3 Optionally, the rack 200 includes four tray storage spaces 201, each with an opening for inserting a tray 300. Each tray storage space 201 has multiple layers of baffles 202 along the height of the rack 200. Each baffle 202 holds one tray 300. The four tray storage spaces 201 are configured in three layers: one tray storage space 201 in the upper layer, two tray storage spaces 201 in the middle layer, and one tray storage space 201 in the lower layer. A positioning part 203 is provided on each side of the lower tray storage space 201. This positioning part 203 cooperates with the loading mechanism 210 or the unloading mechanism 220 to allow the rack 200 to be conveyed. The tray 300 is plate-shaped and can be inserted into the tray storage space 201 and placed on the baffle 202.

[0033] It needs to be explained that, Figure 2 and Figure 3 The above description only illustrates one structure of each of the rack 200 and the tray 300. For the purposes of this application, the rack 200 and the tray 300 are not limited to the above examples. As long as the tray 300 can be stored in the rack 200 and the rack 200 can be transferred by the tray transfer module 50, it can be applied to the automatic tray loading and caching system of this application.

[0034] The rack loading / unloading module 20 is used to automatically load and unload the rack 200. The loading mechanism 210 is used to convey empty racks 200 toward the rack transfer module 30, so that the rack transfer module 30 can transfer the empty racks 200 to the access position 110 of the tray loading area 10. The unloading mechanism 220 is used to receive full racks 200 that are grabbed by the rack transfer module 30 from the tray loading area 10.

[0035] The rack transfer module 30 is used to transfer empty racks 200 between the loading mechanism 210 and the material tray loading area 10, and to transfer full racks 200 to the unloading mechanism 220. The rack transfer module 30 is equipped with a movable conveyor section for transporting the racks 200; the specific structure is not limited. The conveyor section may be, for example, a chain.

[0036] The tray transfer module 50 is used to transfer the tray 300 at the tray 300 buffer mechanism 420 to the rack 200 on the access position 110. The tray transfer module 50 may be, for example, a multi-axis robot that grasps the tray 300 and inserts it into the rack 200.

[0037] The tray buffer module 40 is used to buffer trays 300, and it has the ability to store multiple trays 300 simultaneously. The tray buffer module 40 can be used to buffer multiple trays 300 manually or automatically.

[0038] In addition, the automatic pallet loading and buffering system also includes an automated handling robot 60, which provides empty pallets 200 to the loading mechanism 210 and removes full pallets 200 from the unloading mechanism 220. This enables full automation of the entire process of loading pallets 300 onto pallets 200. After removing a full pallet 200 from the unloading mechanism 220, the automated handling robot 60 can place the full pallet 200 in the pallet 200 buffer area.

[0039] In this application, the material rack loading and unloading module 20 realizes the loading of empty material racks 200 and the unloading of full material racks 200 respectively, and the empty and full material racks 200 do not affect each other; the tray transfer module 50 realizes the automatic loading of material trays 300 to empty material racks 200; and the material rack transfer module 30 provides empty material racks 200 to the material tray loading area 10. Thus, continuous loading of material trays 300 can be realized.

[0040] In some embodiments, reference is made to Figure 1 Multiple access points are arranged in the first horizontal direction X; the feeding mechanism 210 and the unloading mechanism 220 are arranged in the first horizontal direction X, the conveying direction of the feeding mechanism 210 is along the second horizontal direction and towards the material tray feeding area 10, the conveying direction of the unloading mechanism 220 is along the second horizontal direction and away from the material tray feeding area 10, the second horizontal direction Y is perpendicular to the first horizontal direction X; the material rack transfer module 30 is located in the second horizontal direction Y between the material tray feeding area 10 and the material rack unloading module 20.

[0041] like Figure 1As shown, the material tray loading area 10 includes multiple storage positions 110. These storage positions are arranged sequentially in the first horizontal direction X. The material rack loading / unloading module 20, the material rack transfer module 30, and the material tray loading area 10 are arranged sequentially in the second horizontal direction Y. The material tray transfer module 50 is located in the second horizontal direction Y between the material tray loading area 10 and the material rack loading / unloading module 20. The material tray transfer module 50 is located on the side of the material tray loading area 10 opposite to the material rack transfer module 30.

[0042] The feeding mechanism 210 is conveyed along the second horizontal direction Y and toward the material tray feeding area 10. The feeding mechanism 210 causes the empty material rack 200 to move toward the material tray feeding area 10 in the second horizontal direction Y. The unloading mechanism 220 is conveyed along the second horizontal direction Y and away from the material tray feeding area 10. The feeding mechanism 210 causes the full material rack 200 to move away from the material tray feeding area 10 in the second horizontal direction Y.

[0043] In this embodiment, both the empty and full racks 200 move in the second horizontal direction Y, which is consistent with the arrangement direction of the rack loading / unloading module 20, the rack transfer module 30, and the tray loading area 10. This helps to reduce the movement distance when the tray transfer module 50 transfers the empty or full racks 200. This shortens the conveying distance of the empty or full racks 200 and improves their conveying efficiency.

[0044] Optionally, the rack transfer module 30 includes a first transfer mechanism 310 and a second transfer mechanism 320, wherein the first transfer mechanism 310 includes a conveying section capable of moving the rack 200 in the second horizontal direction Y, and the second transfer mechanism 320 is used to drive the first transfer mechanism 310 to move along the first horizontal direction X.

[0045] The first transfer mechanism 310 is mounted on the second transfer mechanism 320. The first transfer mechanism 310 can move in a first horizontal manner, so that the first transfer mechanism 310 can move to correspond with the loading mechanism 210 or the unloading mechanism 220 in the second horizontal direction Y.

[0046] When the first transfer mechanism 310 corresponds to the loading mechanism 210 in the second horizontal direction Y, its own conveying section can receive an empty material rack 200 and then transfer it to the material tray loading area 10. When the second transfer mechanism 320 corresponds to the unloading mechanism 220 in the second horizontal direction Y, the first transfer mechanism 310 can transfer a full material rack 200 it carries to the unloading mechanism 220.

[0047] In this application, there are two access positions 110 in the first direction, corresponding to the loading mechanism 210 and the unloading mechanism 220 respectively in the second horizontal direction Y. When the first transfer mechanism 310 corresponds to the loading mechanism 210 in the second horizontal direction Y, the first transfer mechanism 310 is also aligned with an access position 110 on its right, thereby enabling the empty rack 200 on the loading mechanism 210 to be quickly transferred to the access position 110. When the first transfer mechanism 310 corresponds to the unloading mechanism 220 in the second horizontal direction Y, the first transfer mechanism 310 can quickly transfer the full rack 200 of its right access position 110 to the unloading mechanism 220.

[0048] The number of access positions 110 in the first direction can also be greater than two. In this case, by adjusting the position of the first transfer mechanism 310 in the first horizontal direction X through the second transfer mechanism 320, the docking of the material rack loading / unloading module 20 with different storage positions can be realized.

[0049] Optionally, both the loading mechanism 210 and the unloading mechanism 220 convey the material rack 200 via a conveyor chain; the conveying section of the first transfer mechanism 310 is also a conveyor chain. The first transfer mechanism 310 is also driven to move as a whole via a conveyor chain. Each of the aforementioned conveyor chains is equipped with a drive motor.

[0050] In some embodiments, reference is made to Figures 4 to 6 The material tray buffer module 40 includes: a conveyor line 410 for conveying material trays 300 along a third horizontal direction L; and at least one buffer mechanism 420 disposed along the third horizontal direction L. The buffer mechanism 420 includes a frame 421, a lifting module 422 disposed on the frame 421, and a buffer rack 423 disposed on the lifting module 422. The buffer rack 423 has multiple bearing surfaces 4231 in the vertical direction, and the buffer rack 423 is driven by the lifting module 422 to move up and down relative to the conveyor line 410 in the vertical direction. In this application, two buffer mechanisms 420 are provided, but this is not a limitation.

[0051] The conveyor line 410 is used to continuously transport multiple trays 300, so that each buffer rack 423 is gradually filled with trays 300. The conveyor line 410 first fills the downstream buffer rack 423 with trays 300, and then fills the other buffer racks 423 with trays 300 in sequence upstream.

[0052] When placing the tray 300 into the buffer rack 423, the uppermost bearing surface 4231 is first positioned to receive the tray 300. After the conveyor line 410 transports the tray 300 to the uppermost bearing surface 4231, the lifting module 422 drives the buffer rack 423 to rise, causing the next bearing surface 4231 to move to a position where it can receive the tray 300, and so on.

[0053] In this embodiment, the material tray buffer module 40, by setting up a conveyor line 410 and a liftable buffer frame 423, can realize the automatic feeding of material tray 300 to the material tray buffer module 40.

[0054] In some embodiments, the buffer rack 423 includes two support rod groups located on both sides of the conveyor line 410 in a fourth horizontal direction M, the fourth horizontal direction M being perpendicular to the third horizontal direction L; the support rod group includes two support rods 4232 spaced apart along the third horizontal direction L, and multiple support plates 4233 are provided on the support rods 4232 in the vertical direction, the support plates 4233 on each support rod 4232 forming a multi-layer bearing surface 4231 in the vertical direction.

[0055] A support rod assembly is provided on each side of the conveyor line 410. Each support rod assembly includes two support rods 4232. In this way, the four support rods 4232 together stably support the material tray 300. Specifically, each support rod 4232 has multiple support plates 4233 arranged vertically. The support plates 4233 on each support rod 4232 form a multi-layer support plate assembly in the vertical direction, and each support plate assembly includes four support plates 4233 located at the same height. The four support plates 4233 located at the same height are coplanar, thereby defining a layer of bearing surface 4231.

[0056] In this embodiment, each support rod 4232 can be manufactured and installed independently. By setting the support rod 4232 at a predetermined position, a multi-layer bearing surface 4231 can be formed, thereby facilitating the formation of a buffer rack 423.

[0057] Furthermore, each support rod 4232 is also equipped with a stop bar 4234. The stop bar 4234 extends vertically and is simultaneously connected to multiple support plates 4233 on the support rod 4232. The stop plate 202 is located downstream of the support plate 4233 in the third horizontal direction L. In this way, when the tray 300 is conveyed to the support plate 4233 by the conveyor line 410, the stop bar 4234 acts as a limit for the tray 300.

[0058] The tray transfer module 50 is configured to transfer multiple trays 300 stored on the tray buffer module 40 for one-time use. To facilitate the transfer of trays 300 by the tray transfer module 50, in some embodiments, each support rod group is mounted on a lifting plate 424, which is connected to the output end of the lifting module 422; a rotary drive mechanism 425 is mounted on the lifting plate 424, which is used to drive two support rods 4232 to rotate in the same direction, so that all support plates 4233 can be simultaneously located above the conveyor line 410 or on one side of the conveyor line 410 in the fourth horizontal direction M.

[0059] In this embodiment, the two support rods 4232 of each support rod group are driven to rotate synchronously by a rotary drive mechanism 425. When all support plates 4233 are located above the conveyor line 410, they can support the material tray 300.

[0060] When the tray transfer module 50 secures multiple trays 300 on the buffer rack 423, each rotary drive mechanism 425 rotates both support rods 4232 of the corresponding support rod group to the same side of the conveyor line 410. This support rod group releases the trays 300 vertically, thus not affecting the tray transfer module's ability to simultaneously transfer multiple trays 300. This improves the efficiency of the tray transfer module 50 in transferring trays 300. Furthermore, the tray transfer module 50 can simultaneously insert multiple picked-up trays 300 into the storage space of the rack 200.

[0061] It is easy to understand that the rotary drive mechanism 425 configured in the two support rod assemblies works synchronously under the action of the control system.

[0062] Figure 6 An optional implementation of the rotary drive mechanism 425 is illustrated. The rotary drive mechanism 425 includes: a cylinder 4251, a first swing arm 4252, a second swing arm 4253, and a connecting rod 4254. The cylinder 4251 is fixed to the lifting plate 424. One end of the first swing arm 4252 is connected to the piston rod of the cylinder 4251, and the other end is pivotally connected to the first of the two support rods 4232. The second swing arm 4253 is pivotally connected to the first of the two support rods 4232. One end of the connecting rod 4254 is pivotally connected to the second swing arm 4253 via a pivot 4255, the pivot 4255 being eccentrically positioned to the first of the two support rods 4232, and the other end is pivotally connected to the second of the two support rods 4232.

[0063] When the piston rod reciprocates, the first swing arm 4252 drives the first of the two support rods 4232 to rotate. Figure 6 The left support rod 4232 rotates, which in turn drives the second support rod 4232 (the right support rod 4232) to rotate via the second swing arm 4253 and connecting rod 4254. The two support rods 4232 rotate in the same direction. Thus, the two support rods 4232 of each support rod group can be simultaneously positioned above the conveyor line 410 to support the material tray 300, or simultaneously rotate to one side of the conveyor line 410 to release the material tray 300.

[0064] In other implementations, the rotary drive mechanism 425 may include two rotary drive motors 550, which are used to drive the left support rod 4232 and the right support rod 4232 respectively.

[0065] refer to Figure 7 and Figure 8In some embodiments, the tray transfer module 50 includes a robot body 510, a push plate 520, and a clamping assembly 530. A linear guide rail 540 and a drive motor 550 are mounted on the robot body 510. The push plate 520 is slidably engaged with the linear guide rail 540, and the push plate 520 is drive-connected to the drive motor 550 to allow the guide rail to slide. The clamping assembly 530 is disposed on the robot body 510 and includes a clamping drive mechanism 531 and two grippers 532 located on both sides of the linear guide rail 540. The grippers 532 can move closer to or further away from each other under the drive of the clamping drive mechanism 531.

[0066] The robotic arm body 510 is capable of moving in multiple directions within space and can be a multi-axis robotic arm. A drive motor 550 drives the push plate 520 to slide via a rotary-linear motion conversion mechanism. This rotary-linear motion conversion mechanism can be, for example, a gear and rack mechanism; or a worm gear and worm mechanism. A clamping assembly 530 is used to clamp the tray 300. Specifically, two grippers 532 are located on either side of the linear guide rail 540. The movement direction of the two grippers 532 is perpendicular to the sliding direction of the push plate 520.

[0067] Optionally, a pressure sensor (not shown) is provided on the push plate 520. The drive motor 550 determines whether the material tray 300 is obstructed based on the detection data of the pressure sensor, so as to avoid damaging the material tray 300.

[0068] The working process of the material tray transfer module 50 transferring the buffer rack 423 to the material tray 300 to the rack 200 is as follows:

[0069] The robotic arm body 510 moves two grippers 532 to both sides of the tray 300 in the fourth horizontal direction M, and the two grippers 532 move relative to each other to pick up the tray 300. Then, the robotic arm body 510 moves the grippers 532 in the second horizontal direction Y to correspond with the retrieval positions 110 in the tray loading area 10. Next, the pusher plate 520 pushes the tray 300 toward the rack 200, causing the tray 300 to insert into the tray storage space 201 of the rack 200. When the baffle 202 within the tray storage space 201 is sufficient to support the tray 300, the gripping assembly 530 releases the tray 300.

[0070] Furthermore, the inner side of the gripper 532 is provided with multiple vertically arranged partitions 5321, and the partitions 5321 on the two grippers 532 form multiple picking surfaces in the vertical direction. The multiple picking surfaces are used to simultaneously pick up multiple trays 300 on the buffer rack 423. Thus, the tray transfer module 50 of this application can simultaneously pick up multiple trays 300 on the buffer rack 423, thereby improving the tray 300 transfer efficiency.

[0071] Optionally, the number of pickup surfaces is equal to the number of bearing surfaces 4231 on the cache rack 423, and the spacing between multiple pickup surfaces can be configured to be equal to the spacing between multiple bearing surfaces 4231 on the cache rack 423.

[0072] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0073] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the disclosed patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An automatic tray feeding and buffering system, characterized in that, include: The material tray loading area includes multiple storage and retrieval positions for storing material racks, which are used to store multiple material trays. The material rack loading and unloading module includes a loading mechanism for conveying the material rack and a unloading mechanism for conveying the material rack. A material rack transfer module is used to transfer the material rack conveyed by the feeding mechanism to the material tray feeding area, and to transfer the material rack in the material tray feeding area to the unloading mechanism; Tray buffer module, used to buffer trays; and A tray transfer module is used to transfer the tray at the tray buffer mechanism to the rack at the access position.

2. The automatic tray feeding and buffering system according to claim 1, characterized in that, The plurality of the access bits are arranged in a first horizontal direction; The feeding mechanism and the unloading mechanism are arranged in the first horizontal direction. The feeding mechanism is conveyed along the second horizontal direction and toward the material tray feeding area. The unloading mechanism is conveyed along the second horizontal direction and away from the material tray feeding area. The second horizontal direction is perpendicular to the first horizontal direction. The material rack transfer module is located in the second horizontal direction between the material tray loading area and the material rack unloading module.

3. The automatic tray feeding and buffering system according to claim 2, characterized in that, The material rack transfer module includes a first transfer mechanism and a second transfer mechanism, wherein the first transfer mechanism includes a conveying part capable of moving the material rack in the second horizontal direction, and the second transfer mechanism is used to drive the first transfer mechanism to move along the first horizontal direction.

4. The automatic tray feeding and buffering system according to claim 1, characterized in that, The tray buffer module includes: A conveyor line used to transport trays along a third horizontal direction; At least one buffer mechanism is provided along the third horizontal direction. The buffer mechanism includes a frame, a lifting module provided on the frame, and a buffer frame provided on the lifting module. The buffer frame has multiple bearing surfaces along the vertical direction. The buffer frame is driven by the lifting module to move up and down relative to the conveyor line in the vertical direction.

5. The automatic tray feeding and buffering system according to claim 4, characterized in that, The buffer rack includes two support rod groups located on both sides of the conveyor line in a fourth horizontal direction, the fourth horizontal direction being perpendicular to the third horizontal direction; The support rod assembly includes two support rods spaced apart along the third horizontal direction. Each support rod has multiple support plates arranged vertically, and the support plates on each support rod together form multiple layers of the bearing surface in the vertical direction.

6. The automatic tray feeding and buffering system according to claim 5, characterized in that, Each of the support rod assemblies is mounted on a lifting plate, which is connected to the output end of the lifting module; A rotary drive mechanism is installed on the lifting plate. The rotary drive mechanism is used to drive the two support rods to rotate in the same direction, so that all the support plates in each support rod group can be simultaneously located above the conveyor line or on one side of the conveyor line in the fourth horizontal direction.

7. The automatic tray feeding and buffering system according to claim 6, characterized in that, The rotary drive mechanism includes: The cylinder is fixed to the lifting plate; The first swing arm has one end connected to the piston rod of the cylinder, and the other end pivotally connected to the first of the two support rods. The second swing arm is pivotally connected to the first of the two support rods; The connecting rod has one end pivotally connected to the second swing arm via a pivot, the pivot being eccentrically connected to the first of the two support rods, and the other end connected to the second of the two support rods via a pivot.

8. The automatic tray feeding and buffering system according to claim 1, characterized in that, The tray transfer module includes: The robotic arm body is equipped with a linear guide rail and a drive motor. A push plate is slidably engaged with the linear guide rail, and the push plate is connected to the drive motor to enable the guide rail to slide. A clamping assembly is disposed on the robot body. The clamping assembly includes a clamping drive mechanism and two grippers located on both sides of the linear guide rail. The grippers can move closer to or further away from each other under the drive of the clamping drive mechanism.

9. The automatic tray feeding and buffering system according to claim 8, characterized in that, The inner side of the gripper is provided with multiple partitions arranged in the vertical direction, and the partitions on the two grippers form multiple picking surfaces in the vertical direction.

10. The automatic tray feeding and buffering system according to claim 1, characterized in that, It also includes an automated handling robot, which provides a material rack to the loading mechanism and removes the material rack from the unloading mechanism.

Images