Tray arranging machine

Abstract

The utility model belongs to the technical field of automation equipment, and discloses a tray placing machine which comprises a base, a driving device arranged on the base, a guide part used for guiding a material tray, a clamping mechanism used for clamping the material tray and a mechanical arm used for placing a product into the material tray. The guide part comprises two guide pieces which are spaced; each guide piece extends in the length direction of the interval, each guide piece is connected with a first adjusting mechanism used for adjusting the width of the interval, and each guide piece is provided with a first supporting face for supporting a material disc and a guide face perpendicular to the first supporting face; the two first supporting faces are flush with each other and located on the inner sides of the two guide faces. The driving device is used for driving the clamping mechanism to move in the interval in the length direction of the interval according to set parameters; the parameters at least comprise displacement parameters; the mechanical arm comprises a single-shaft mechanical arm stretching across the two guiding pieces and a product picking mechanism arranged at the output end of the single-shaft mechanical arm in a telescopic mode.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of automation equipment, and particularly relates to a tray arranging machine. BACKGROUND

[0002] After products complete assembling or detection or the like, the products need to be placed into a tray or the like packaging object, in the prior art, different tray arranging machines are customized according to different specifications of products and packaging objects, the design cycle is long, and parts cannot be standardized, so the cost is high. UTILITY MODEL CONTENTS

[0003] In order to solve the above problems in the prior art, the utility model aims at providing a tray arranging machine.

[0004] The utility model adopts the technical scheme that:

[0005] A tray arranging machine is used for placing products into a tray and arranging the products neatly, the tray arranging machine comprises a base, a driving device arranged on the base, a guide component used for guiding the tray, a clamping mechanism used for clamping the tray, and a mechanical hand used for placing the products into the tray; the guide component comprises two guide pieces with a spacing; each guide piece extends along the length direction of the spacing, each guide piece is connected with a first adjusting mechanism used for adjusting the width of the spacing, and each guide piece has a first support surface used for supporting the tray and a guide surface perpendicular to the first support surface; the two first support surfaces are flush, and the two first support surfaces are located on the inner sides of the two guide surfaces; the driving device is used for driving the clamping mechanism to move along the length direction of the spacing with a set parameter in the spacing; the parameter at least comprises a displacement parameter; the mechanical hand comprises a single-shaft mechanical arm crossing the two guide pieces and a product picking mechanism arranged on the output end of the single-shaft mechanical arm in a telescopic mode.

[0006] As a further optional scheme of the tray arranging machine, one end of the guide component is provided with a tray separating mechanism used for separating a single tray from a stack of trays; and / or,

[0007] The other end of the guide component is provided with a tray stacking mechanism used for stacking a plurality of trays on the guide component into a stack; and / or,

[0008] The guide piece comprises a support plate extending along the length direction of the spacing and a guide plate fixed above the support plate, the top surface of the support plate is the support surface, and the opposite surfaces of the two guide plates are the guide surfaces; and / or,

[0009] The driving device comprises a servo motor, a linear guide rail and a synchronous belt transmission mechanism, the clamping mechanism is slidably connected to the base through the linear guide rail, and the servo motor is connected with the clamping mechanism through the synchronous belt transmission mechanism; and / or,

[0010] The first adjusting mechanism comprises a first support slidingly arranged on the base along the spacing width direction and a first fixed plate extending along the spacing width direction and fixed to the base, and the first fixed plate is arranged with a plurality of first threaded holes along the spacing width direction; the first support is connected with the guide piece, and the first support is provided with a first long circular hole corresponding to the first threaded hole, and the first long circular hole extends along the spacing width direction.

[0011] As a further optional solution of the swing plate machine, the disc separating mechanism comprises two disc separating modules respectively arranged on the two guide pieces, and each disc separating module comprises a supporting piece, a pressing plate, a fifth telescopic cylinder for driving the supporting piece to extend and retract along the spacing width direction, and a first lifting cylinder for driving the fifth telescopic cylinder to lift and lower, the pressing plate is arranged to extend and retract along the spacing width direction relative to the first lifting cylinder, and the pressing plate has a vertical third sliding groove; the supporting piece has a guide strip inserted into the third sliding groove and slidingly matched with the third sliding groove, and when the disc separating module is in an initial state, in the vertical direction, the supporting piece and the pressing plate are located between the flanges of the lowermost two material plates of the stack of material plates; and / or,

[0012] The disc separating mechanism comprises four first positioning pieces respectively arranged at the four top corners of the stack of material plates, each first positioning piece has a first L-shaped positioning surface matched with the top corner of the material plate, two first positioning pieces close to the end of the guide part are fixed to the two guide pieces respectively, and two first positioning pieces away from the end of the guide part are connected with a second adjusting mechanism, and the second adjusting mechanism is used for adjusting the spacing of the four first positioning pieces in the spacing length direction;

[0013] The disc stacking mechanism comprises two second jacking mechanisms respectively arranged on the two guide pieces and used for jacking up the material plates, two supporting pieces respectively arranged on the two guide pieces and extending and retracting along the spacing width direction, and a fourth lifting cylinder for jacking up the supporting pieces, and the supporting piece has a second supporting surface for supporting the material plate; and / or,

[0014] The disc stacking mechanism comprises four second positioning pieces respectively arranged at the four top corners of the stack of material plates, each second positioning piece has a second L-shaped positioning surface matched with the top corner of the material plate, two second positioning pieces close to the end of the guide part are fixed to the two guide pieces respectively, and two second positioning pieces away from the end of the guide part are connected with a third adjusting mechanism, and the third adjusting mechanism is used for adjusting the spacing of the four second positioning pieces in the spacing length direction; and / or,

[0015] Both ends of the guide piece are provided with one first adjusting mechanism, and both first fixed plates are located outside the two first supports.

[0016] As a further optional solution of the swing tray machine, the supporting member comprises a connecting strip mounted on the fifth telescopic cylinder and extending along the length direction of the interval, and a split disc plate mounted on both ends of the connecting strip, and the pressing disc member is arranged between the two split disc plates; and / or,

[0017] The split disc module is connected with a sixth telescopic cylinder for driving the split disc module to extend and retract along the length direction of the interval, and the sixth telescopic cylinder is mounted on the guide member; and / or,

[0018] The second adjusting mechanism comprises a second bracket arranged to slide along the length direction of the interval relative to the guide member, and a second fixed plate arranged to be fixed relative to the guide member, and the second fixed plate is arranged with a plurality of second threaded holes along the length direction of the interval; the second bracket is connected with the first positioning member, and the second bracket is provided with a second long circular hole corresponding to the second threaded hole, and the second long circular hole extends along the length direction of the interval; and / or,

[0019] The third adjusting mechanism comprises a third bracket arranged to slide along the length direction of the interval relative to the guide member, and a third fixed plate arranged to be fixed relative to the guide member, and the third fixed plate is arranged with a plurality of third threaded holes along the length direction of the interval; the third bracket is connected with the second positioning member, and the third bracket is provided with a third long circular hole corresponding to the third threaded hole, and the third long circular hole extends along the length direction of the interval; and / or,

[0020] A first jacking mechanism for jacking a stack of trays is arranged in the area formed by the four first positioning members, and the first jacking mechanism is located in the interval, and the first jacking mechanism comprises a second lifting cylinder fixed to the base and a first jacking plate mounted on the output end of the second lifting cylinder, and the first jacking plate is provided with an avoiding groove for avoiding the clamping mechanism, and when the first jacking mechanism is in a first state, the top surface of the first jacking plate is located between the first supporting surface and the top surface of the first positioning member, and when the first jacking mechanism is in a second state, the top surface of the first jacking plate is not higher than the first supporting surface; and / or,

[0021] The second jacking mechanism comprises a third lifting cylinder mounted on the guide member and a second jacking plate mounted on the output end of the third lifting cylinder, and the top surfaces of the two second jacking plates are flush.

[0022] As a further optional solution of the swing tray machine, the clamping mechanism is arranged in at least two along the width direction of the interval; and / or,

[0023] The clamping mechanism comprises a base mounted on the output end of the driving device, a driving member telescopically arranged on the base along the length direction of the interval, a first finger vertically slidingly arranged on the base, and a second finger rotatably arranged on the base, the upper ends of the first finger and the second finger extending above the base; the rotation axis of the second finger is arranged along the width direction of the interval; the driving member has a first slot and a vertically arranged second slot; at least a part of the first slot is an inclined slot forming an angle δ with the length direction of the interval, 0°<δ<90°, and a first roller connected with the lower end of the first finger is arranged in the first slot; a second roller connected with the lower end of the second finger is arranged in the second slot.

[0024] As a further optional solution of the tray arranging machine, the product picking mechanism comprises a connecting base, a first clamping part, a second clamping part, and a first telescopic cylinder for driving the second clamping part to slide along the width direction of the interval, the first clamping part is fixed to the connecting base and extends along the length direction of the interval, and the first clamping part has a reference surface extending along the length direction of the interval; the second clamping part has a plurality of clamping blocks arranged along the length direction of the interval; the plurality of clamping blocks are telescopically arranged, and the plurality of clamping blocks are arranged opposite to the reference surface.

[0025] As a further optional solution of the tray arranging machine, the first clamping part comprises a clamping plate fixed to the connecting base and extending along the length direction of the interval, and the surface of the clamping plate facing the second clamping part is the reference surface; and / or,

[0026] The second clamping part comprises a spring base fixed to the connecting base and provided with a plurality of through holes, a plurality of compression springs respectively arranged in the plurality of through holes, and a second first cover plate for covering the plurality of through holes, the plurality of through holes are arranged along the length direction of the interval, the second first cover plate covers one end of the through hole away from the first clamping part, the plurality of clamping blocks correspond to the plurality of through holes one by one and are slidingly matched, one end of the clamping block facing the first clamping part extends out of the through hole, and the two ends of the compression spring abut against the second first cover plate and the clamping block respectively; and / or,

[0027] The number of clamping blocks is equal to the number of products arranged along the length direction of the interval in the tray; and / or,

[0028] The connecting base is detachably connected with a second telescopic cylinder, and the second telescopic cylinder is mounted on the output end of the single-axis mechanical arm.

[0029] As a further optional solution of the tray arranging machine, a telescopic feeding member is further provided; the feeding member is provided with two material grooves arranged along the telescopic direction of the feeding member, each material groove extends along a direction perpendicular to the telescopic direction of the feeding member, and the same end of the two material grooves penetrates through the feeding member; the center distance of the two material grooves is equal to the telescopic stroke of the feeding member; and the single-axis mechanical arm is used to drive the product picking mechanism to move between the two material grooves and the tray located on the guiding member.

[0030] As the further optional scheme of the swing tray machine, the feeding component comprises a feeding plate, a bottom plate arranged below the feeding plate and connected with the feeding plate, and two fourth telescopic cylinders arranged between the bottom plate and the feeding plate, a third telescopic cylinder is arranged below the bottom plate and used to drive the bottom plate to telescopically extend along the telescopic direction of the feeding component; two grooves are arranged on the top surface of the feeding plate, and a second cover plate is arranged above each groove and can be opened and closed; the third telescopic cylinder is connected with the bottom plate and the base respectively; a mounting interval is formed between the feeding plate and the bottom plate, the two fourth telescopic cylinders are arranged in the mounting interval, and the two fourth telescopic cylinders are connected with the two second cover plates respectively and are used to drive the two second cover plates to open and close.

[0031] As the further optional scheme of the swing tray machine, the swing tray machine further comprises two baffles mounted on the base, the two baffles are arranged at one end of the grooves penetrating through the feeding component, the two baffles extend along the telescopic direction of the feeding component, and a feeding interval is formed between the two baffles; the two grooves are a first groove and a second groove respectively; the two baffles are a first baffle and a second baffle respectively; when the feeding component is in the first state, the first groove is opposite to the feeding interval, and the second baffle covers the second groove; when the feeding component is in the second state, the second groove is opposite to the feeding interval, and the first baffle covers the first groove.

[0032] The swing tray machine has the following beneficial effects:

[0033] The distance between the two guide members is dynamically adjusted by the first adjusting mechanism, so that the tray with different width specifications can be adapted without needing to develop a guide structure for a single specification tray; by modifying the displacement parameters of the driving device, the tray is moved to a specified position by the driving and clamping mechanism, so that the tray with different length specifications can be adapted, and a composite positioning reference formed by the vertical constraint of the guide surface and the horizontal support of the support surface is matched, so that the tray can be accurately positioned without needing to be positioned again when the mechanical hand places the product, and the product can be accurately placed in the tray by the mechanical hand; secondly, the guide member, the first adjusting mechanism, the single-shaft mechanical arm and the clamping mechanism can be universal, and different product pickup mechanisms can be replaced to adapt to different specifications of products, so that the types of non-standard parts are greatly reduced, the development cost of equipment is reduced, and the development cycle of new models is shortened; in summary, the adjustable guide system, the modular mechanical structure and the parameterized driving control realize high universality, low cost and high precision of the swing tray machine, and the swing tray machine is especially suitable for flexible production scenes with small batches and multiple varieties, and has lower comprehensive cost and significant economic and technical advantages compared with traditional customized equipment. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a structural schematic view of the swing tray machine according to the first embodiment of the present application.

[0035] Figure 2 is Figure 1Enlarged schematic view of area A in the middle.

[0036] Figure 3 is Figure 1 Schematic view of the structure of the driving device in the tray placing machine.

[0037] Figure 4 is Figure 1 Schematic view of the structure of the clamping mechanism in the tray placing machine.

[0038] Figure 5 is Figure 1 Schematic view of the structure of the first adjusting mechanism in the tray placing machine.

[0039] Figure 6 is Figure 1 Schematic view of the structure of the product picking mechanism in the tray placing machine.

[0040] Figure 7 is Figure 6 Enlarged schematic view of area B in the middle.

[0041] Figure 8 is a schematic view of the structure of the second embodiment of the tray placing machine of the utility model.

[0042] Figure 9 is Figure 8 Schematic view of the structure of the tray separating module in the tray placing machine.

[0043] Figure 10 is Figure 8 Schematic view of the structure of the first lifting mechanism in the tray placing machine.

[0044] Figure 11 is Figure 8 Schematic view of the structure of the tray stacking mechanism in the tray placing machine (omitting the second lifting mechanism, one of the support pieces).

[0045] Figure 12 is Figure 8 Schematic view of the structure of the second lifting mechanism in the tray placing machine.

[0046] Figure 13 is Figure 8 Schematic view of the structure of the second adjusting mechanism and the third adjusting mechanism in the tray placing machine.

[0047] Figure 14 is Figure 13 Enlarged schematic view of area C in the middle.

[0048] Figure 15 is Figure 13 Enlarged schematic view of area D in the middle.

[0049] Figure 16 is Figure 8Structure diagram of the feeding part of the tray shaker.

[0050] In the figure: 10-base; 20-guide part; 21-guide; 211-support plate; 212-guide plate; 213-first support surface; 214-guide surface; 30-clamping mechanism; 31-driving part; 311-first slot; 312-second slot; 32-base; 321-first sliding slot; 322-second sliding slot; 323-mounting slot; 33-first finger; 34-second finger; 35-first roller; 36-second roller; 37-eighth telescopic cylinder; 38-hinge shaft; 40-single-axis mechanical arm; 41-second telescopic cylinder; 50-product picking mechanism; 51-connection seat; 52-first clamping part; 521-reference surface; 522-clamping plate; 53-second clamping part; 531-clamping block; 532-spring seat; 5321-through hole; 533-compression spring; 534-first cover plate; 54-first telescopic cylinder; 60-driving device; 61-servo motor; 62-linear guide rail; 63-synchronous belt transmission mechanism; 70-first adjusting structure; 71-first support; 711-first long circular hole; 72-first fixed plate; 721-first threaded hole; 80-tray; 81-top wall; 82-side wall; 83-groove; 90-tray dividing mechanism; 91-first jacking mechanism; 911-second lifting cylinder; 912-first jacking plate; 9121-avoidance groove; 92-tray dividing module; 921-supporting part; 9211-connection strip; 9212-tray dividing piece; 922-pressing disc part; 9221-third sliding slot; 923-fifth telescopic cylinder; 924-first lifting cylinder; 925-guide bar; 926-second positioning part; 9261-first L-shaped positioning surface; 927-second adjusting mechanism; 9271-second support; 92711-second long circular hole; 9272-second fixed plate; 92721-second threaded hole; 928-sixth telescopic cylinder; 929-mounting plate; 100-tray stacking mechanism; 101-second jacking mechanism; 1011-third lifting cylinder; 1012-second jacking plate; 102-supporting part; 1021-second support surface; 103-fourth lifting cylinder; 104-ninth telescopic cylinder; 105-second positioning part; 1051-second L-shaped positioning surface; 106-third adjusting mechanism; 1061-third support; 10611-third long circular hole; 1062-third fixed plate; 10621-third threaded hole; 110-feeding part; 1101-first material slot; 1102-feeding plate; 1103-bottom plate; 1104-fourth telescopic cylinder; 1105-feeding interval; 1106-second cover plate; 1107-first baffle; 1108-second baffle; 1109-second material slot; 120-third telescopic cylinder. DETAILED DESCRIPTION

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the present application will be briefly introduced below with reference to the drawings and the embodiments or the prior art description. Obviously, the following description of the drawings structure is only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the premise of not paying creative labor.

[0052] The technical solutions provided by the present application will be described in detail below with reference to the drawings by way of embodiments. It should be noted that the description of these embodiments is used to help understand the present application, but does not constitute a limitation on the present application; the coordinate system in the drawings is the same coordinate system.

[0053] In some examples, since some embodiments belong to prior art or conventional technology, they are not described or not described in detail.

[0054] In addition, the technical features described in this paper, or the steps in all the methods or processes disclosed, can be combined in any suitable way in one or more embodiments, except for mutually exclusive features and / or steps. It is easy for those skilled in the art to understand that the order of steps or operations of the methods related to the embodiments provided herein can also be changed. Any order in the drawings and embodiments is only used for illustration and does not imply that it is required to follow a certain order unless it is explicitly stated that it is required to follow a certain order.

[0055] The serial numbers of components in this paper, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any order or technical meaning. The "connection" and "coupling" in this application include direct and indirect connection (coupling) under reasonable circumstances (not contradictory).

[0056] Embodiment one:

[0057] As shown in Figure 1 and 2 The tray placing machine of the present embodiment includes a base 10, a driving device 60 arranged on the base 10, a guide component 20 for guiding the tray 80, a clamping mechanism 30 for clamping the tray 80, and a mechanical hand for placing products into the tray 80; the guide component 20 includes two guide pieces 21 with a spacing; each guide piece 21 is arranged along the length direction of the spacing, i.e. Figure 1Extending in the X direction as shown, each guide member 21 is connected to a first adjustment mechanism for adjusting the spacing width. Each guide member 21 has a first support surface 213 supporting the material tray 80 and a guide surface 214 perpendicular to the first support surface 213. The two first support surfaces 213 are flush and both are located inside the two guide surfaces 214. The drive device 60 is used to drive the clamping mechanism 30 to move along the spacing length direction within the spacing according to set parameters. The parameters include at least displacement parameters. The robot includes a single-axis robotic arm 40 spanning the two guide members 21 and a product picking mechanism 50 telescopically located at the output end of the single-axis robotic arm 40.

[0058] like Figure 2 As shown, the guide member 21 may include a support plate 211 extending along the spacing length direction and a guide plate 212 fixed above the support plate 211. The top surface of the support plate 211 is the support surface, and the opposing surfaces of the two guide plates 212 are both guide surfaces 214. The composite positioning reference formed by the vertical constraint of the guide surface 214 and the horizontal support of the support surface restricts the material tray 80 in the vertical direction. Figure 1 The Z-direction and the spacing width direction shown are... Figure 1 The displacement in the Y direction is shown, and the displacement parameters of the drive device 60 limit the displacement of the material tray 80 in the spacing length direction, thereby forming the positioning of the material tray 80.

[0059] A stepper motor linear drive system or a servo motor linear drive system, or a drive device 60 that allows setting the position parameters of the clamping mechanism 30, i.e., the displacement parameters of the material tray 80, can be used. In this embodiment, for example... Figure 3As shown, the driving device 60 can include a servo motor 61, a linear guide rail 62 and a synchronous belt transmission mechanism 63, the clamping mechanism 30 is slidably connected to the base 10 through the linear guide rail 62, the servo motor 61 is connected with the clamping mechanism 30 through the synchronous belt transmission mechanism 63, and the displacement parameters of the clamping mechanism 30 and the tray 80 can be set by setting the pulse number of the servo motor 61. The position of the tray 80 in the length direction of the interval is determined by setting the pulse number of the servo motor 61, the position of the tray 80 in the width direction of the interval is determined by the composite positioning reference formed by the vertical constraint of the guide surface 214 and the horizontal support of the support surface, the position of the product picking mechanism 50 in the width direction of the interval is determined by setting the parameters of the single-axis mechanical arm 40, and the position of the product picking mechanism 50 in the width direction of the interval is determined by setting the pulse number of the servo motor 61 of the single-axis mechanical arm 40. Therefore, by modifying the parameters of the single-axis mechanical arm 40 and the servo motor 61, the product picking mechanism 50 can be aligned with the tray 80 without the need for a secondary positioning mechanism to position the tray 80 again, which is more convenient and takes less time. The servo motor 61 and the clamping mechanism 30 are connected through the synchronous belt transmission mechanism 63, and compared with a screw transmission mechanism, the moving distance of the clamping mechanism 30 can be set longer; compared with a gear and rack mechanism, the structure is simpler and the cost is lower.

[0060] The clamping mechanism 30 can adopt a pneumatic clamping jaw or an electric clamping jaw, etc. Figure 2 and 4 As shown, the clamping mechanism 30 includes a base 32 installed at the output end of the driving device 60, a driving piece 31 arranged in the length direction of the interval and extended on the base 32, a first finger 33 arranged in the vertical direction and slid on the base 32, and a second finger 34 arranged in rotation on the base 32, and the upper ends of the first finger 33 and the second finger 34 are extended above the base 32; the rotation axis of the second finger 34 is arranged in the width direction of the interval; the driving piece 31 has a first groove 311 and a second groove 312 arranged in the vertical direction; at least a part of the first groove 311 is an inclined groove with an included angle δ with the length direction of the interval, 0°<δ<90°, and a first roller 35 connected with the lower end of the first finger 33 is arranged in the first groove 311; a second roller 36 connected with the lower end of the second finger 34 is arranged in the second groove 312. Figure 2As shown, the driving member 31 can be extended and retracted by the eighth telescopic cylinder 37. In the initial state, the first finger 33 is in the retracted state and the second finger 34 is in the dumping state, at this time, the top of the first finger 33 and the top of the second finger 34 are not higher than the first support surface 213, so as not to interfere with the placement of the clamped object; after the tray 80 is placed into the guide member 21, the driving member 31 is extended, the first finger 33 is driven to extend above the first support surface 213 through the first slot 311, and the second finger 34 is driven to rotate to the vertical state through the second slot 312, so as to clamp the tray 80 towards the side wall 82 of the single-axis mechanical arm 40, and then the driving device 60 pulls the tray 80 to the single-axis mechanical arm 40. The tray 80 of the prior art generally comprises a top wall 81 and a side wall 82 connected to the edge of the top wall 81, and the top wall 81 has a recess 83 for accommodating products.

[0061] The smaller the included angle δ, the smaller the resistance received by the driving member 31 when it is extended, but the longer the telescopic stroke of the driving member 31 and the longer the time for the first finger 33 to extend to the position; the larger the included angle δ, the larger the resistance received by the driving member 31 when it is extended, but the shorter the telescopic stroke of the driving member 31 and the shorter the time for the first finger 33 to extend to the position, in the embodiment, 30°≤δ≤45°. The relationship between the sliding stroke S1 of the first finger 33 and the telescopic stroke S2 of the driving member 31 is S1=S2*tan(δ); the rotation angle θ of the second finger 34 is θ=arctan(S2 / L), L is the distance from the contact point of the driving member 31 and the second finger 34 to the rotation axis of the second finger 34; so as to make the second finger 34 just rotate to the position to clamp the side wall 82 of the tray 80 when the first finger 33 extends to the position by changing the telescopic stroke of the driving member 31. However, due to the existence of machining errors and assembly errors, it is difficult to realize the extension of the first finger 33 to the position at the same time as the rotation of the second finger 34 to the position, so in the embodiment, as shown, Figure 4 As shown, the oblique slot is connected with a straight slot at one end away from the second finger 34, after the oblique slot drives the first finger 33 to extend to the position, the driving member 31 can continue to move to drive the second finger 34 to rotate to clamp the side wall 82 of the tray 80, at this stage, the first roller 35 is in the straight slot, and the extension state of the first finger 33 is maintained.

[0062] In the embodiment, as shown, Figure 4As shown, the base 32 is provided with a first sliding slot 321 slidably matched with the driving member 31, a second sliding slot 322 slidably matched with the first finger 33, and a mounting slot 323 for mounting the second finger 34. The mounting slot 323 is connected between two side walls 82 arranged opposite to each other and perpendicular to the rotation axis of the second finger 34, and the hinged shaft 38 penetrates through the second finger 34. The relative relationship between the first finger 33, the second finger 34 and the driving member 31 is ensured by machining of the same part, i.e. the base 32, so that the matching precision is higher. In addition, the driving member 31 is guided by the first sliding slot 321, the first finger 33 is guided by the second sliding slot 322, and the displacement of the second finger 34 along the rotation axis direction is limited by the mounting slot 323, so that additional guide structures such as guide rails are avoided, and the structure is more compact.

[0063] As shown in Figure 1 and 3 In the present embodiment, the clamping mechanism 30 is arranged in at least two in the spacing width direction, i.e. the Y direction as shown in Figure 1 and Figure 3 so that the center of the tray 80 in the spacing width direction is located between the plurality of clamping mechanisms 30, thereby avoiding the tray 80 from tilting during the movement of the tray 80. At the same time, the two guide members 21 are adjusted by two first adjusting mechanisms respectively, i.e. the two guide members 21 move the same distance relative to the center of symmetry of the plurality of clamping mechanisms 30, so that even if the tray 80 of different specifications, the center of the tray 80 in the spacing width direction can be ensured to be located between the plurality of clamping mechanisms 30.

[0064] The first adjusting mechanism can be a screw adjusting mechanism, for example, the two guide members 21 are respectively mounted to the front and rear nuts of the same screw, and the two guide members 21 can be driven to move in opposite directions by rotating the screw. Alternatively, the two guide members 21 are respectively mounted to two screw transmission pairs, and the two guide members 21 can be driven to move in opposite directions by rotating the two screw transmission pairs respectively. The first adjusting mechanism can also be a flexible transmission mechanism, and the two guide members 21 are respectively mounted to the upper and lower sides of the flexible member. Since the movement directions of the upper and lower sides of the flexible member are opposite, the two guide members 21 are driven to move in opposite directions, so as to adjust the spacing between the two guide members 21. The first adjusting mechanism can also be two groups of linear driving units arranged symmetrically, and the two guide members 21 are respectively mounted to the two groups of linear driving units. The linear driving units can be single-axis robots. The first adjusting mechanism can also be a gear and rack mechanism, and the two guide members 21 are respectively mounted to two racks meshing with gears.

[0065] As shown in Figure 5As shown, the first adjusting mechanism can include a first bracket 71 slidingly arranged on the base 10 along the pitch width direction and a first fixed plate 72 extending along the pitch width direction and fixed to the base 10, and the first fixed plate 72 is arranged with a plurality of first threaded holes 721 along the pitch width direction; the first bracket 71 is connected with the guide 21, and the first bracket 71 is provided with a first long circular hole 711 corresponding to the first threaded hole 721, and the first long circular hole 711 extends along the pitch width direction. A screw is inserted into the first long circular hole 711, and the screw is screwed into the first threaded hole 721 to fix the first bracket 71 to the base 10. When adjusting, the screw is loosened, the first bracket 71 is moved to the position, and then the screw is screwed into the corresponding first threaded hole 721, which is simple in structure and has cost advantage.

[0066] As shown, Figure 5 In the embodiment, both ends of the guide 21 are provided with a first adjusting mechanism, and the two first fixed plates 72 are located outside the two first brackets 71. By arranging two first adjusting mechanisms 70, the rigidity is better, and secondly, the first fixed plate 72 is arranged outside, so that the operation space is larger during adjustment, and the operation is convenient.

[0067] The product picking mechanism 50 can be a vacuum chuck, and for some products without a flat surface on which the vacuum chuck is placed, a mechanical clamping mechanism such as a pneumatic clamping jaw or an electric clamping jaw can be used. As shown, Figure 6 In the embodiment, the product picking mechanism 50 can include a connecting seat 51, a first clamping part 52, a second clamping part 53, and a first telescopic cylinder 54 for driving the second clamping part 53 to slide along the pitch width direction, the first clamping part 52 is fixed to the connecting seat 51 and extends along the pitch length direction, and the first clamping part 52 has a reference surface 521 extending along the pitch length direction; the second clamping part 53 has a plurality of clamping blocks 531 arranged along the pitch length direction; the plurality of clamping blocks 531 are elastically arranged, and the plurality of clamping blocks 531 are arranged opposite to the reference surface 521. By arranging the reference surface 521 extending along the pitch length direction and the plurality of clamping blocks 531 arranged along the pitch length direction, a plurality of products can be clamped at the same time, a plurality of products can be placed in one stroke of the mechanical arm, and the efficiency is higher; secondly, each clamping block 531 is elastically arranged, which ensures that each product can be reliably clamped; thirdly, by arranging the fixed reference surface 521, the plurality of clamped products have a unified reference, and since the reference surface 521 does not move during clamping of the products, the plurality of clamped products always remain in alignment, which facilitates simultaneous alignment of the plurality of products to the tray 80; and fourthly, the extension direction of the reference surface 521 and the arrangement direction of the clamping blocks 531 are orthogonal to the mechanical arm, and the increase in the number of clamped products does not increase the stroke of the mechanical arm.

[0068] As shown, Figure 6As shown, in this embodiment, the first clamping part 52 includes a clamping plate 522 fixed to the connecting seat 51 and extending along the spacing length direction, and the surface of the clamping plate 522 facing the second clamping part 53 is the reference surface 521.

[0069] like Figure 7 As shown, in this embodiment, the second clamping part 53 may include a spring seat 532 fixed to the connecting base 51 and having multiple through holes 5321, multiple compression springs 533 respectively disposed in the multiple through holes 5321, and a first cover plate 534 for sealing the multiple through holes 5321. The multiple through holes 5321 are arranged along the length of the spacing. The first cover plate 534 seals the end of the through hole 5321 away from the first clamping part 52. Multiple clamping blocks 531 correspond one-to-one with the multiple through holes 5321 and slide in fit. The clamping blocks 531 extend out of the through holes 5321 towards the end of the first clamping part 52. The two ends of the compression springs 533 abut against the first cover plate 534 and the clamping blocks 531 respectively. The compression springs 533 compensate for the size differences of different clamped products, thereby reliably clamping each product. Figure 7 As shown, in order to prevent the clamping block 531 from coming out of the through hole 5321 and to make the clamping block 531 have a certain initial clamping force, the spring seat 532 is provided with a pin that passes through the through hole 5321, and the clamping block 531 has an elongated hole in the direction of its extension and retraction corresponding to the pin.

[0070] In this embodiment, the number of clamping blocks 531 is equal to the number of products arranged along the spacing length direction in the tray 80. That is, the robotic arm can fill a row of grooves 83 along the spacing length direction of the tray 80 with products in one stroke, which greatly improves the tray placement efficiency.

[0071] In this embodiment, such as Figure 1 As shown, a second telescopic cylinder 41 is detachably connected to the connecting base 51, and the second telescopic cylinder 41 is installed at the output end of the single-axis robotic arm 40. When changing to different specifications of products, the different product picking mechanism 50 can be replaced. In this embodiment, the second telescopic cylinder 41 is a telescopic cylinder such as a slide cylinder with a positioning structure at its output end.

[0072] Implementation Method Two:

[0073] Figure 8The specific structure of the tray placing machine of the second embodiment of the utility model is shown, and the difference from the tray placing machine of the first embodiment is that one end of the guide component 20 is provided with a tray separating mechanism 90 for separating single trays 80 from a stack of trays 80; one stack of trays 80 can be placed at one time, and then the stack of trays 80 is gradually separated into multiple independent trays 80 through the tray separating mechanism 90, and then the separated trays 80 are moved to the mechanical arm through the driving device 60 and the clamping mechanism 30 for tray placing, so that the frequency of replenishing empty trays 80 is greatly reduced. Similarly, a tray stacking mechanism 100 for stacking multiple trays 80 on the guide component 20 into a stack can be arranged at the other end of the guide component 20, and multiple trays 80 on which products have been placed are stacked into a stack through the tray stacking mechanism 100, so that the frequency of taking out the trays 80 is greatly reduced.

[0074] The tray separating mechanism 90 and the tray stacking mechanism 100 can both be realized by using the existing technology. In the embodiment, as shown in Figure 8 and Figure 9 , the tray separating mechanism 90 can include two tray separating modules 92 respectively arranged at the two guide pieces 21, each of the tray separating modules 92 includes a supporting piece 921, a pressing piece 922, a fifth telescopic cylinder 923 for driving the supporting piece 921 to stretch and retract along the width direction of the interval, and a first lifting cylinder 924 for driving the fifth telescopic cylinder 923 to lift and drop, the pressing piece 922 is arranged to stretch and retract along the width direction of the interval relative to the first lifting cylinder 924, and the pressing piece 922 has a vertical third sliding groove 9221; the supporting piece 921 has a guide bar 925 inserted into the third sliding groove 9221 and slidably matched with the third sliding groove 9221, and when the tray separating module 92 is in an initial state, in the vertical direction, the supporting piece 921 and the pressing piece 922 are located between the flanges of the lowermost two trays 80 in the stack of trays 80. When separating the trays, the fifth telescopic cylinder 923 is stretched out, the supporting piece 921 is inserted between the flanges of the lowermost two trays 80, and the pressing piece 922 is driven by the guide bar 925 to be inserted between the flanges of the lowermost two trays 80; then, the first lifting cylinder 924 drives the fifth telescopic cylinder 923 and the supporting piece 921 installed on the output end of the fifth telescopic cylinder 923 to rise, so as to lift the stack of trays 80, and since the guide bar 925 slides in the vertical third sliding groove 9221, the pressing piece 922 will not rise with the supporting piece 921, and the lowermost tray 80 will be blocked by the pressing piece 922 and cannot continue to rise, so as to separate the lowermost tray 80, the clamping mechanism 30 clamps the separated tray 80, and the driving device 60 drives the clamping mechanism 30 and the separated tray 80 to move to the mechanical arm; the first lifting cylinder 924 is reset, and then the fifth telescopic cylinder 923 is reset, so that the tray 80 falls into the first supporting surface 213; the above process is repeated, so as to gradually separate the stack of trays 80 into single trays 80. In the embodiment, the fifth telescopic cylinder 923 and the first lifting cylinder 924 are both guide rod cylinders, and the fifth telescopic cylinder 923 is installed on the output end of the first lifting cylinder 924.

[0075] In the embodiment, as shown in Figure 9 The supporting member 921 can include a connecting strip 9211 mounted on the fifth telescopic cylinder 923 and extending along the length direction of the pitch, and two sub-discs 9212 mounted on both ends of the connecting strip 9211, and the pressing disc member 922 is arranged between the two sub-discs 9212.

[0076] In the embodiment, as shown in Figure 9 The sub-disc module 92 is connected with a sixth telescopic cylinder 928 for driving the sub-disc module 92 to extend or retract along the length direction of the pitch, and the sixth telescopic cylinder 928 is mounted on the guide member 21. After the tray 80 is replaced, the sub-disc module 92 is moved along the length direction of the pitch by the sixth telescopic cylinder 928, so as to ensure that the center of the tray 80 along the length direction of the pitch is located between the two sub-discs 9212, thereby avoiding the center of gravity of the tray 80 from falling outside the two sub-discs 9212. As shown in Figure 9 The first lifting cylinder 924 is mounted on a mounting plate 929, the mounting plate 929 is slidably connected with the guide member 21 through a guide rail, the pressing disc member 922 is slidably connected with the mounting plate 929 along the width direction of the pitch through the guide rail, and the sixth telescopic cylinder 928 is fixedly connected with the guide member 21 and connected with the mounting plate 929. The sixth telescopic cylinder 928 can be an electric cylinder.

[0077] As shown in Figure 8 and Figure 11 The stacking mechanism 100 can include two second lifting mechanisms 101 respectively arranged on the two guide members 21 and used for lifting the tray 80, two support members 102 respectively arranged on the two guide members 21 and extending or retracting along the width direction of the pitch, and a fourth lifting cylinder 103 used for lifting the support member 102, and the support member 102 has a second support surface 1021 used for supporting the tray 80. As shown in Figure 11As shown, the support 102 is mounted on the output end of the ninth telescopic cylinder 104, the ninth telescopic cylinder 104 is mounted on the output end of the fourth lifting cylinder 103, and the fourth lifting cylinder 103 and the ninth telescopic cylinder 104 can be guide rod cylinders. When stacking the trays, the second lifting mechanism 101 lifts the first tray 80 to make the bottom surface of the first tray 80 higher than the second support surface 1021, then the ninth telescopic cylinder 104 extends to make the support 102 extend below the flange of the first tray 80, then the second lifting mechanism 101 resets, the first tray 80 falls to the second support surface 1021, then the fourth lifting cylinder 103 with the ninth telescopic cylinder 104 rises to a distance between the second support surface 1021 and the first support surface 213 at which at least one tray 80 can be placed; after the second tray 80 is in place, the fourth lifting cylinder 103 resets to make the first tray 80 fit outside the second tray 80 (because the side wall 82 of the tray 80 has a draft angle), then the ninth telescopic cylinder 104 retracts, and the second lifting mechanism 101 lifts the first tray 80 and the second tray 80 to make the bottom surface of the second tray 80 higher than the second support surface 1021, then the ninth telescopic cylinder 104 extends to make the support 102 extend below the flange of the second tray 80, then the second lifting mechanism 101 resets, the second tray 80 falls to the second support surface 1021, then the fourth lifting cylinder 103 with the ninth telescopic cylinder 104 rises to a distance between the second support surface 1021 and the first support surface 213 at which at least one tray 80 can be placed, and so on, to stack N trays 80 into a stack, and the second lifting mechanism 101 lifts the stacked trays 80 for easy removal. Because of the fourth lifting cylinder 103, when the support 102 retracts, the previous tray 80 has been fitted outside the subsequent tray 80, which has a guiding effect, so that the trays 80 can be accurately overlapped.

[0078] As shown in FIG. 1, the first lifting mechanism 100 can include a first lifting cylinder 1001 mounted on the guide 21 and a first lifting plate 1002 mounted on the output end of the first lifting cylinder 1001. Figure 11 As shown, the fourth lifting cylinder can also be connected to a telescopic cylinder to accommodate more specifications of trays, and the principle is similar to that of the tray separating module connected to the sixth telescopic cylinder, which will not be described here.

[0079] As shown in FIG. 1, the first lifting mechanism 100 can include a first lifting cylinder 1001 mounted on the guide 21 and a first lifting plate 1002 mounted on the output end of the first lifting cylinder 1001. Figure 12 As shown in FIG. 1, the first lifting mechanism 100 can include a first lifting cylinder 1001 mounted on the guide 21 and a first lifting plate 1002 mounted on the output end of the first lifting cylinder 1001.

[0080] As shown in FIG. 1, the first lifting mechanism 100 can include a first lifting cylinder 1001 mounted on the guide 21 and a first lifting plate 1002 mounted on the output end of the first lifting cylinder 1001. Figure 13As shown, in the embodiment, the tray separating mechanism 90 can further include four first positioning members 926 respectively arranged at the four corners of the stack of trays 80, each of the first positioning members 926 has a first L-shaped positioning surface 9261 adapted to the corner of the tray 80, the two first positioning members 926 close to the end of the guide member 20 are respectively fixed to the two guide members 21, and the two first positioning members 926 away from the end of the guide member 20 are both connected with a second adjusting mechanism 927 for adjusting the spacing of the four first positioning members 926 in the length direction of the spacing. As shown, Figure 8 As shown, in the embodiment, the first jacking mechanism 91 for jacking the stack of trays 80 is arranged in the spacing formed by the four first positioning members 926, and the first jacking mechanism 91 is located in the spacing. As shown, Figure 10 As shown, the first jacking mechanism 91 can include a second lifting cylinder 911 fixed to the base 10 and a first jacking plate 912 mounted on the output end of the second lifting cylinder 911, the first jacking plate 912 is provided with an avoiding groove 9121 for avoiding the clamping mechanism 30, when the first jacking mechanism 91 is in the first state, the top surface of the first jacking plate 912 is located between the first supporting surface 213 and the top surface of the first positioning member 926, and when the first jacking mechanism 91 is in the second state, the top surface of the first jacking plate 912 is not higher than the first supporting surface 213. The second lifting cylinder 911 can be a guide rod cylinder. As shown, Figure 8 As shown, the first jacking plate 912 is located in the spacing and extends longer in the length direction and the width direction of the spacing, so that the center of gravity of the trays 80 of various specifications is always located in the first jacking plate 912. Since the first positioning member 926 is arranged, the stack of trays 80 needs to be kept in a vertical state during the process of placing the stack of trays 80 from top to bottom, and therefore the first jacking mechanism 91 is arranged above the first positioning member 926 to receive the trays 80, and the trays 80 are kept in a vertical state by the descending of the first jacking plate 912, thereby reducing the difficulty of placing the trays 80.

[0081] As shown, Figure 13 As shown, in the embodiment, the tray stacking mechanism 100 can further include four second positioning members 105 respectively arranged at the four corners of the stack of trays 80, each of the second positioning members 105 has a second L-shaped positioning surface 1051 adapted to the corner of the tray 80, the two second positioning members 105 close to the end of the guide member 20 are respectively fixed to the two guide members 21, and the two second positioning members 105 away from the end of the guide member 20 are both connected with a third adjusting mechanism 106 for adjusting the spacing of the four second positioning members 105 in the length direction of the spacing.

[0082] The specific structures of the second adjusting mechanism 927 and the third adjusting mechanism 106 can be the same as the first adjusting mechanism, and specifically, in the embodiment, as shown, Figure 14As shown in the figure, the second adjusting mechanism 927 can include a second bracket 9271 slidingly arranged along the length direction of the interval, and a second fixed plate 9272 fixedly arranged relative to the guide 21, and the second fixed plate 9272 is arranged with a plurality of second threaded holes 92721 along the length direction of the interval; the second bracket 9271 is connected with the first positioning member 926, and the second bracket 9271 is provided with a second long circular hole 92711 corresponding to the second threaded hole 92721, and the second long circular hole 92711 extends along the length direction of the interval. Figure 13 and Figure 14 As shown in the figure, the second bracket 9271 is slidingly connected with the first bracket 71 through a guide rail, and the second fixed plate 9272 is fixed to the first bracket 71.

[0083] In the embodiment, as shown in the figure, Figure 13 and 15 As shown in the figure, the third adjusting mechanism 106 can further include a third bracket 1061 slidingly arranged along the length direction of the interval, and a third fixed plate 1062 fixedly arranged relative to the guide 21, and the third fixed plate 1062 is arranged with a plurality of third threaded holes 10621 along the length direction of the interval; the third bracket 1061 is connected with the second positioning member 105, and the third bracket 1061 is provided with a third long circular hole 10611 corresponding to the third threaded hole 10621, and the third long circular hole 10611 extends along the length direction of the interval. Figure 13 and Figure 15 As shown in the figure, the third bracket 1061 is slidingly connected with the first bracket 71 through a guide rail, and the third fixed plate 1062 is fixed to the first bracket 71.

[0084] In other embodiments, as shown in the figure, Figure 8 The tray placing machine of the utility model can further include a telescopic feeding component 110; the feeding component 110 is provided with two troughs arranged along the telescopic direction thereof, each of the troughs extends along a direction perpendicular to the telescopic direction of the feeding component 110, and the same end of the two troughs penetrates through the feeding component 110; the center distance of the two troughs is equal to the telescopic stroke of the feeding component 110; and the single-axis mechanical arm 40 is used to drive the product picking mechanism 50 to move between the two troughs and the tray 80 located on the guide component 20. Since the center distance of the two troughs is equal to the telescopic stroke of the feeding component 110, when the product picking mechanism 50 picks up products from one of the troughs, the other trough can continue to receive products, thereby reducing the waiting time of the single-axis mechanical arm 40 and greatly improving the efficiency. In the embodiment, the telescopic direction of the feeding component 110 is parallel to the length direction of the interval.

[0085] In the embodiment, as shown in the figure, Figure 16As shown, the feeding component 110 includes a feeding plate 1102, a bottom plate 1103 arranged below the feeding plate 1102 and connected with the feeding plate 1102, and two fourth telescopic cylinders 1104 arranged between the bottom plate 1103 and the feeding plate 1102, and a third telescopic cylinder 120 arranged below the bottom plate 1103 and used to drive the bottom plate 1103 to extend or retract along the extension direction of the feeding component 110; the top surface of the feeding plate 1102 is provided with two troughs, and each trough is provided above with a second cover plate 1106 which can be opened and closed; the third telescopic cylinder 120 is connected with the bottom plate 1103 and the base 10 respectively; a mounting interval is formed between the feeding plate 1102 and the bottom plate 1103, and the two fourth telescopic cylinders 1104 are arranged in the mounting interval and are connected with the two second cover plates 1106 respectively and are used to drive the two second cover plates 1106 to open and close respectively. By arranging the second cover plate 1106 which can extend and retract, the second cover plate 1106 covers the trough during the process that the product enters the trough, so that the product is prevented from arching due to mutual extrusion when the product is stacked in the trough. When the product picking mechanism 50 picks the product, the cover plate is opened, so that interference is avoided. Figure 16 As shown, the bottom plate 1103 is slidably connected with the base 10 through a guide rail, and the feeding plate 1102 and the bottom plate 1103 are connected through a vertical plate.

[0086] In the embodiment, as shown, Figure 16 two baffle plates are arranged on the base 10, the two baffle plates are arranged at one end of the troughs which penetrate through the feeding component 110, the two baffle plates extend along the extension direction of the feeding component 110, and a feeding interval 1105 is formed between the two baffle plates; the two troughs are a first trough 1101 and a second trough 1109 respectively; the two baffle plates are a first baffle plate 1107 and a second baffle plate 1108 respectively; when the feeding component 110 is in the first state, the first trough 1101 is opposite to the feeding interval 1105, and the second baffle plate 1108 covers the second trough 1109; when the feeding component 110 is in the second state, the second trough 1109 is opposite to the feeding interval 1105, and the first baffle plate 1107 covers the first trough 1101. By arranging the baffle plates, the product is prevented from falling from the penetrating end of the trough during the extension and retraction of the feeding component 110.

[0087] The utility model is not limited to the above optional embodiments, and anyone can derive other various forms of products under the inspiration of the utility model, but no matter any change in shape or structure, any technical scheme falling within the scope defined by the claims of the utility model falls within the protection scope of the utility model.

Claims

1. A tray loading machine for loading product into a tray and for aligning the product, characterised in that: The swing tray machine comprises a base, a driving device arranged on the base, a guide component for guiding the trays, a clamping mechanism for clamping the trays, and a mechanical hand for placing products into the trays; the guide component comprises two guide pieces with a spacing; each guide piece extends along the length direction of the spacing; each guide piece is connected with a first adjusting mechanism for adjusting the width of the spacing; each guide piece has a first support surface for supporting the trays and a guide surface perpendicular to the first support surface; the two first support surfaces are flush and located on the inner side of the two guide surfaces; the driving device is used to drive the clamping mechanism to move along the length direction of the spacing with a set parameter in the spacing; the parameter at least comprises a displacement parameter; the mechanical hand comprises a single-axis mechanical arm crossing the two guide pieces and a product picking mechanism arranged on the output end of the single-axis mechanical arm in a telescopic manner.

2. The tray shaker of claim 1, wherein: One end of the guide component is provided with a tray separating mechanism for separating a single tray from a stack of trays; and / or, The other end of the guide component is provided with a tray stacking mechanism for guiding a plurality of trays on the guide component to be stacked into a stack; and / or, The guide piece comprises a support plate extending along the length direction of the spacing and a guide plate fixed above the support plate; the top surface of the support plate is the support surface; the opposite surfaces of the two guide plates are the guide surfaces; and / or, The driving device comprises a servo motor, a linear guide rail, and a synchronous belt transmission mechanism; the clamping mechanism is slidably connected to the base through the linear guide rail; and the servo motor is connected with the clamping mechanism through the synchronous belt transmission mechanism; and / or, The first adjusting mechanism comprises a first bracket arranged on the base in a sliding manner along the width direction of the spacing and a first fixed plate extending along the width direction of the spacing and fixed to the base; the first fixed plate is arranged with a plurality of first threaded holes along the width direction of the spacing; the first bracket is connected with the guide piece; the first bracket is provided with a first long circular hole corresponding to the first threaded hole, and the first long circular hole extends along the width direction of the spacing.

3. The tray shaker of claim 2, wherein: The tray separating mechanism comprises two tray separating modules arranged on the two guide pieces respectively; the tray separating module comprises a supporting piece, a pressing piece, a fifth telescopic cylinder for driving the supporting piece to extend and retract along the width direction of the spacing, and a first lifting cylinder for driving the fifth telescopic cylinder to lift and lower; the pressing piece is arranged to extend and retract along the width direction of the spacing relative to the first lifting cylinder; the pressing piece has a vertical third sliding groove; the supporting piece has a guide strip inserted into the third sliding groove and slidably matched with the third sliding groove; when the tray separating module is in an initial state, the supporting piece and the pressing piece are located between the flanges of the lowermost two trays in a stack in the vertical direction; and / or, The tray separating mechanism comprises four first positioning pieces arranged at the four corners of a stack of trays respectively; each first positioning piece has a first L-shaped positioning surface matched with the corner of the tray; two first positioning pieces close to the end of the guide component are fixed to the two guide pieces respectively; the other two first positioning pieces away from the end of the guide component are connected with a second adjusting mechanism; the second adjusting mechanism is used to adjust the spacing of the four first positioning pieces along the length direction of the spacing. The stacking mechanism comprises two second lifting mechanisms respectively arranged on the two guide members and used for lifting the tray, two support members respectively arranged on the two guide members and extending in the interval width direction, and a fourth lifting cylinder used for lifting the support member, and the support member has a second support surface used for supporting the tray; and / or, The stacking mechanism comprises four second positioning members respectively arranged at the four corners of the tray, each of the second positioning members has a second L-shaped positioning surface matched with the corner of the tray, two second positioning members close to the end of the guide member are fixed on the two guide members, and the other two second positioning members away from the end of the guide member are connected with a third adjusting mechanism, and the third adjusting mechanism is used for adjusting the interval of the four second positioning members in the interval length direction; and / or, The first adjusting mechanism is arranged at the two ends of the guide member, and the two first fixing plates are arranged outside the two first supports.

4. The tray shaker of claim 3, wherein: The supporting member comprises a connecting strip mounted on the fifth telescopic cylinder and extending in the interval length direction, and a tray piece mounted on the two ends of the connecting strip, and the pressing disc member is arranged between the two tray pieces; and / or, The tray module is connected with a sixth telescopic cylinder used for driving the tray module to extend in the interval length direction, and the sixth telescopic cylinder is mounted on the guide member; and / or, The second adjusting mechanism comprises a second support member slidingly arranged on the guide member in the interval length direction and a second fixing plate fixedly arranged on the guide member, and the second fixing plate is arranged with a plurality of second threaded holes in the interval length direction; the second support member is connected with the first positioning member, the second support member is provided with a second long circular hole corresponding to the second threaded hole, and the second long circular hole extends in the interval length direction; and / or, The third adjusting mechanism comprises a third support member slidingly arranged on the guide member in the interval length direction and a third fixing plate fixedly arranged on the guide member, and the third fixing plate is arranged with a plurality of third threaded holes in the interval length direction; the third support member is connected with the second positioning member, the third support member is provided with a third long circular hole corresponding to the third threaded hole, and the third long circular hole extends in the interval length direction; and / or, The first lifting mechanism used for lifting the tray is arranged in the area formed by the four first positioning members, and the first lifting mechanism is located in the interval, and the first lifting mechanism comprises a second lifting cylinder fixed on the base and a first lifting plate mounted on the output end of the second lifting cylinder, the first lifting plate is provided with an avoiding groove for avoiding the clamping mechanism, when the first lifting mechanism is in the first state, the top surface of the first lifting plate is located between the first support surface and the top surface of the first positioning member, and when the first lifting mechanism is in the second state, the top surface of the first lifting plate is not higher than the first support surface; and / or, The second lifting mechanism comprises a third lifting cylinder mounted on the guide member and a second lifting plate mounted on the output end of the third lifting cylinder, and the top surfaces of the two second lifting plates are flush.

5. The tray shaker of claim 1, wherein: The clamping mechanism is arranged in the interval width direction and comprises at least two clamping mechanisms; and / or, The clamping mechanism comprises a base mounted on the output end of the driving device, a driving member telescopically arranged on the base along the length direction of the interval, a first finger vertically slidingly arranged on the base, and a second finger rotatably arranged on the base, the upper ends of the first finger and the second finger extending above the base; the rotation axis of the second finger is arranged along the width direction of the interval; the driving member has a first slot and a vertically arranged second slot; at least a part of the first slot is an inclined slot forming an angle δ with the length direction of the interval, 0°<δ<90°, a first roller connected with the lower end of the first finger is arranged in the first slot; a second roller connected with the lower end of the second finger is arranged in the second slot.

6. The tray shaker of claim 1, wherein: The product picking mechanism comprises a connecting seat, a first clamping part, a second clamping part, and a first telescopic cylinder for driving the second clamping part to slide along the width direction of the interval, the first clamping part is fixed to the connecting seat and extends along the length direction of the interval, the first clamping part has a reference surface extending along the length direction of the interval; the second clamping part has a plurality of clamping blocks arranged along the length direction of the interval; the plurality of clamping blocks are telescopically arranged, and the plurality of clamping blocks are arranged opposite to the reference surface.

7. The tray shaker of claim 6, wherein: The first clamping part comprises a clamping plate fixed to the connecting seat and extending along the length direction of the interval, and the surface of the clamping plate facing the second clamping part is the reference surface; and / or, The second clamping part comprises a spring seat fixed to the connecting seat and provided with a plurality of through holes, a plurality of compression springs respectively arranged in the plurality of through holes, and a first cover plate for covering the plurality of through holes, the plurality of through holes are arranged along the length direction of the interval, the first cover plate covers one end of the through hole away from the first clamping part, the plurality of clamping blocks correspond to the plurality of through holes one by one and are slidingly matched, one end of the clamping block facing the first clamping part extends out of the through hole, and the two ends of the compression spring abut against the first cover plate and the clamping block respectively; and / or, The number of clamping blocks is equal to the number of products arranged along the length direction of the interval in the tray; and / or, The connecting seat is detachably connected with a second telescopic cylinder, and the second telescopic cylinder is mounted on the output end of the single-axis mechanical arm.

8. The tray shaker of claim 1, wherein: Further comprising a telescopically arranged feeding member; the feeding member is provided with two material grooves arranged along the telescopic direction thereof, each material groove extends along a direction perpendicular to the telescopic direction of the feeding member, and the same end of the two material grooves penetrates through the feeding member; the center distance of the two material grooves is equal to the telescopic stroke of the feeding member; the single-axis mechanical arm is used to drive the product picking mechanism to move between the two material grooves and the tray located on the guide member.

9. The tray shaker of claim 8, wherein: The feeding member comprises a feeding plate, a bottom plate arranged below the feeding plate and connected with the feeding plate, and two fourth telescopic cylinders arranged between the bottom plate and the feeding plate, a third telescopic cylinder for driving the bottom plate to telescopically extend along the telescopic direction of the feeding member is arranged below the bottom plate; two material grooves are arranged on the top surface of the feeding plate, and an openable and closable second cover plate is arranged above each material groove; the third telescopic cylinder is connected with the bottom plate and the base respectively; a mounting interval is formed between the feeding plate and the bottom plate, the two fourth telescopic cylinders are arranged in the mounting interval, and the two fourth telescopic cylinders are connected with the two second cover plates respectively and are used to drive the two second cover plates to open and close respectively.

10. The tray shaker of claim 8, wherein: The two baffle plates are installed on the base, and are arranged at one end of the feeding component penetrating through the trough, extend along the extension direction of the feeding component, and form a feeding interval between the two baffle plates; the two troughs are a first trough and a second trough; the two baffle plates are a first baffle plate and a second baffle plate; when the feeding component is in the first state, the first trough is opposite to the feeding interval, and the second baffle plate covers the second trough; when the feeding component is in the second state, the second trough is opposite to the feeding interval, and the first baffle plate covers the first trough.

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