Charging tray feeding and discharging device

Abstract

The charging tray feeding and discharging device comprises a charging tray feeding device, a charging tray discharging device and a charging tray transferring device, the charging tray feeding device comprises an empty tray bin, an empty tray taking and placing device and an empty tray conveying device, and the empty tray taking and placing device transfers charging trays stored in the empty tray bin to the empty tray conveying device; the empty tray conveying device moves trays to the tray transferring device, the tray discharging device comprises a tray bin, a tray taking and placing device and a tray conveying device, the tray conveying device moves the trays to the tray taking and placing device, and the tray taking and placing device stacks the trays on the tray conveying device into the tray bin. And the tray transferring device is arranged between the empty tray conveying device and the tray conveying device, transfers the trays on the empty tray conveying device to the tray conveying device, and is matched with an external mechanical arm to load coils into the trays in the tray transferring process. By optimizing the moving path of the material tray, the tray loading waiting time is shortened, and the tray loading efficiency is further improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to material conveying technical field, especially relate to a material tray feeding and discharging device. BACKGROUND

[0002] The skeleton coil comprises a coil skeleton, a pin mounted on the coil skeleton, and a copper wire wound on the coil skeleton. The production of the skeleton coil generally comprises the following process flows: feeding, winding, tin dipping, bending, and tray loading. The process flows are integrated to form an automatic production line.

[0003] In the tray loading process of the skeleton coil, a tray loader is generally used to realize automatic tray loading of the skeleton coil. The existing tray loader adopts a reciprocating transfer mode. For example, a Chinese utility model patent with the publication number CN221115929U discloses a feeding mechanism for a coil holder, which comprises a rack, a material transfer assembly, and a material clamping assembly. A pair of material falling racks are arranged on both ends of the rack, and a material waiting area is formed between the pair of material falling racks. The material falling racks are used to store storage boxes (i.e., material trays), and first limiting cylinders are arranged on both sides of the material falling racks. The periphery of the storage boxes is movably abutted by the two first limiting cylinders, so that the storage boxes are at a preset height in the material falling racks. After a plurality of storage boxes are sequentially stacked in one of the material falling racks, the feeding tray of the material transfer assembly can drive the single storage box to be sequentially transported toward the other material falling rack. When the storage box moves to the material waiting area, the clamping jaws of the material clamping assembly can orderly place the grabbed coil holder in the storage box. After the storage box is filled with coil holders, it is sent to the other material falling rack for stacking and storage. Finally, the feeding tray is reset to move below the starting material falling rack to perform the next set of actions.

[0004] The feeding tray of the reciprocating tray loader has a long reset path. The feeding, discharging, and resetting of the feeding tray require a certain amount of time. During this period, the material clamping assembly and the upstream coil conveying line need to be stopped and waited for, which leads to a long cycle time of the entire tray loading process and reduces the efficiency. UTILITY MODEL CONTENTS

[0005] The utility model aims to provide a material tray feeding and discharging device to solve the problem of long tray loading waiting time of the existing reciprocating tray loader, which leads to a long cycle time of the entire tray loading process and low efficiency.

[0006] To achieve the above-mentioned purpose, the technical solution provided by the utility model is as follows:

[0007] The tray feeding and discharging device comprises a tray feeding device, a tray discharging device and a tray transfer device. The tray feeding device comprises an empty tray warehouse, an empty tray taking and placing device and an empty tray conveying device. The empty tray warehouse is used for stacking empty trays. The empty tray taking and placing device is used for transferring the trays in the empty tray warehouse to the empty tray conveying device. The empty tray conveying device is used for moving the trays to the tray transfer device. The tray discharging device comprises a tray warehouse, a tray taking and placing device and a tray conveying device. The tray conveying device is used for moving the tray loaded with skeleton coils to the tray taking and placing device. The tray taking and placing device is used for stacking the trays on the tray conveying device into the tray warehouse. The tray transfer device is arranged between the empty tray conveying device and the tray conveying device. The tray transfer device is used for transferring the tray on the empty tray conveying device to the tray conveying device and cooperating with an external mechanical arm to load the skeleton coils into the tray during the transferring process.

[0008] Preferably, the tray transfer device comprises a tray translation module, a tray lifting module and a tray clamping mechanism. The tray translation module is fixed on a rack. The tray lifting module is fixed on the output end of the tray translation module. The tray clamping mechanism is fixed on the output end of the tray lifting module.

[0009] Preferably, the tray clamping mechanism comprises a base, a driver, a rotating seat, four clamping seats, four connecting rods and four slide rails. The base is fixed on the output end of the tray lifting module. The driver is fixed on the base. The rotating seat is fixed on the output end of the driver. Four slide rails are fixed on the base in a circumferential direction of the rotating seat. Each slide rail is provided with a clamping seat. Four connecting rods correspond to the four clamping seats one by one. One end of each connecting rod is hinged to a clamping seat. The other end of each connecting rod is hinged to the rotating seat. The driver is used for driving the rotating seat to rotate forward or reverse. The rotating seat drives the four connecting rods to rotate forward or reverse around the rotating seat at the same time. The four clamping seats are simultaneously folded towards the rotating seat or expanded away from the rotating seat along the slide rails, so as to clamp or release the tray from four corners of the tray.

[0010] Preferably, the top end of each clamping seat is provided with a V-shaped clamping groove matched with the shape of the corner of the tray.

[0011] Preferably, the empty tray conveying device and the tray conveying device each comprise a first belt driving assembly and two groups of first belt conveying assemblies. The two groups of first belt conveying assemblies are arranged on the rack in parallel relative to each other and are used for supporting the tray from opposite sides of the tray. The first belt driving assembly is used for driving the two groups of first belt conveying assemblies to rotate synchronously to drive the tray to move.

[0012] Preferably, the empty tray taking and placing device comprises a tray taking mechanism and a tray placing mechanism. The tray taking mechanism is arranged below the empty tray warehouse and comprises an empty tray bearing plate, an empty tray translation module and an empty tray lifting module. The empty tray lifting module is fixed to the output end of the empty tray translation module, and the empty tray bearing plate is fixed to the output end of the empty tray lifting module. The empty tray lifting module is used to drive the empty tray bearing plate to move up and down to match the tray at the bottom of the empty tray warehouse. The empty tray translation module is used to drive the empty tray bearing plate to move back and forth between the empty tray warehouse and the empty tray conveying device to convey the tray to the lower side of the tray placing mechanism. The tray placing mechanism is arranged above the empty tray conveying device and comprises a suction cup lifting assembly, a suction cup assembly and a vacuum generator. The suction cup assembly is fixed to the output end of the suction cup lifting assembly, and the vacuum generator is connected with the suction cup assembly and used to control the suction cup assembly to adsorb the tray. The suction cup lifting assembly is used to drive the suction cup assembly to transfer the tray on the tray taking mechanism to the empty tray conveying device.

[0013] Preferably, the empty tray warehouse comprises an empty tray warehouse frame and two groups of empty tray supporting assemblies. The bottom of the empty tray warehouse frame has a tray falling port, and the two groups of empty tray supporting assemblies are arranged on opposite sides of the tray falling port and used to support the trays stacked in the empty tray warehouse and the tray at the bottom.

[0014] Preferably, the empty tray warehouse frame comprises two first front angle plates, two second front angle plates, two rear angle plates, a front support, a rear support, two side supports, two latches and two latch seats. The front support and the rear support are arranged in front of and behind each other. The two ends of the rear support are respectively connected with a rear angle plate. The two ends of the front support are respectively connected with a first front angle plate. An upper side of each first front angle plate is provided with a second front angle plate. The second front angle plate is hinged with the rear angle plate on the same side through the side support. Each second front angle plate is provided with a latch. The front side of each first front angle plate is provided with a latch seat matched with the latch. The empty tray supporting assembly comprises an empty tray supporting plate and an empty tray supporting plate telescopic cylinder. The empty tray supporting plate telescopic cylinder is fixed to the frame, and the empty tray supporting plate is fixed to the output end of the empty tray supporting plate telescopic cylinder. The two empty tray supporting plate telescopic cylinders are used to drive the two empty tray supporting plates to move horizontally towards or away from each other.

[0015] Preferably, the tray taking and placing device is arranged above the tray conveying device and the tray warehouse, and comprises a tray grabbing assembly, a tray lifting assembly and a tray translation assembly, the tray translation assembly is fixed on a rack, the tray lifting assembly is fixed on an output end of the tray translation assembly, and the tray grabbing assembly is fixed on an output end of the tray lifting assembly.

[0016] Preferably, the tray translation assembly comprises a second belt driving assembly and two groups of second belt conveying assemblies, the two groups of second belt conveying assemblies are arranged in parallel on the rack, and the second belt driving assembly is used for driving the two groups of second belt conveying assemblies to rotate synchronously so as to drive the tray grabbing assembly to move horizontally. The tray lifting assembly comprises a support, a second lifting module, a second linear bearing and a second guide shaft, the support is fixed on the output ends of the two groups of second belt conveying assemblies, the second lifting module is fixed on the support, an output end of the second lifting module is connected with the tray basket through the support, the second linear bearing is fixed on the support, the second guide shaft is inserted into the second linear bearing, and a lower end of the second guide shaft extends out of the support and is connected with the tray basket.

[0017] By adopting the technical scheme, the tray feeding device, the tray moving device and the tray discharging device of the coil feeding and discharging device are relatively independent, so that the tray feeding, coil tray loading and tray discharging can be performed synchronously, the tray moving device only needs to reciprocate between the empty tray conveying device and the tray conveying device, the reciprocating path is short, meanwhile, the empty tray conveying device and the tray conveying device can timely convey the trays, so that the tray moving device can be reset and the next tray loading action can be performed, the tray loading waiting time is shortened, and the tray loading efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 4 is a perspective view of the skeleton coil tray loading machine.

[0019] Figure 2 FIG. 5 is a top view of the skeleton coil tray loading machine. Figure 1 FIG. 6 is a top view of the skeleton coil tray loading machine.

[0020] Figure 3 Figure 1 is a front view of the schematic diagram. Figure 1

[0021] Figure 4 Figure 2 is a perspective view of the schematic diagram of the feeding device of the tray. Figure 1

[0022] Figure 5 Figure 3 is a perspective view of the schematic diagram of the tray warehouse. Figure 4

[0023] Figure 6 Figure 4 is a perspective view of the schematic diagram of the tray placing mechanism. Figure 4

[0024] Figure 7 Figure 5 is a perspective view of the schematic diagram of the tray discharging device. Figure 1

[0025] Figure 8 Figure 6 is a perspective view of the schematic diagram of the tray taking and placing device. Figure 7

[0026] Figure 9 Figure 7 is a perspective view of the schematic diagram of the hollow tray conveying device, the tray conveying device and the tray transfer device. Figure 1

[0027] Figure 10 Figure 8 is a perspective view of the schematic diagram of the tray transfer device. Figure 9 Wherein: 1, rack;

[0028] 2, tray feeding device; 21, empty tray warehouse; 211, empty tray warehouse frame; 2111, first front angle plate; 2112, second front angle plate; 2113, rear angle plate; 2114, front support; 2115, rear support; 2116, side support; 2117, latch; 2118, latch seat; 212, empty tray supporting assembly; 2121, empty tray supporting plate; 2122, empty tray supporting plate telescopic cylinder; 22, tray taking mechanism; 221, empty tray supporting plate; 222, empty tray translation module; 223, empty tray lifting module; 23, tray placing mechanism; 231, upper mounting plate; 232, lower mounting plate; 233, first lifting module; 234, first linear bearing; 235, first guide shaft; 236, suction cup mounting plate; 237, suction cup; 24, empty tray conveying device; 241, first belt driving assembly; 242, first belt conveying assembly;

[0029]

[0030] ​​​​​​​​3, tray unloading device; 31, tray warehouse; 311, tray seat; 32, tray taking and placing device; 321, tray grabbing assembly; 3211, tray basket; 3212, tray supporting plate; 3213, tray supporting plate telescopic cylinder; 322, tray lifting assembly; 3221, support; 3222, second lifting module; 3223, second linear bearing; 3224, second guide shaft; 323, tray translation assembly; 3231, second belt driving assembly; 3232, second belt conveying assembly; 33, tray conveying device;

[0031] 4, tray transfer device; 41, tray translation module; 42, tray lifting module; 43, tray clamping mechanism; 431, base; 432, driver; 433, rotating seat; 434, clamping seat; 4341, V-shaped clamping groove; 435, connecting rod; 436, sliding rail. DETAILED DESCRIPTION

[0032] The utility model will be further explained in connection with the drawings and specific embodiments.

[0033] In combination Figures 1 to 10 , the tray feeding and discharging device of the embodiment comprises a rack 1, a tray feeding device 2 mounted on the rack 1, a tray unloading device 3, and a tray transfer device 4 arranged between the two. Among them, the tray feeding device 2 comprises an empty tray warehouse 21, an empty tray taking and placing device, and an empty tray conveying device 24. The empty tray warehouse 21 is used for stacking empty trays. The empty tray taking and placing device is used for transferring the trays stored in the empty tray warehouse 21 to the empty tray conveying device 24. The empty tray conveying device 24 is used for moving the trays to the tray transfer device 4. The tray transfer device 4 is used for transferring the trays on the empty tray conveying device 24 to the tray unloading device 3 and cooperating with the external mechanical arm to coil 8 during the process of transferring the trays. The tray unloading device 3 comprises a tray warehouse 31, a tray taking and placing device 32, and a tray conveying device 33. The tray conveying device 33 is used for moving the tray loaded with the skeleton coil to the tray taking and placing device 32. The tray taking and placing device 32 is used for stacking the trays on the tray conveying device 33 into the tray warehouse 31.

[0034] The tray feeding device 2, the tray transfer device 4, and the tray unloading device 3 of the tray feeding and discharging device of the embodiment are relatively independent, so that the tray feeding, coil loading, and tray unloading can be performed synchronously. The tray transfer device 4 only needs to move back and forth between the empty tray conveying device 24 and the tray conveying device 33, the reciprocating path is short, and the empty tray conveying device 24 and the tray conveying device 33 can timely convey the trays, so that the tray transfer device 4 can be reset to perform the next coil loading action, the coil loading waiting time is shortened, and the coil loading efficiency is improved.

[0035] In combination Figure 4 and Figure 5The empty tray bin 21 of the embodiment comprises an empty tray bin frame 211 and two sets of empty tray supporting assemblies 212. The bottom of the empty tray bin frame 211 has a discharge opening, and the two sets of empty tray supporting assemblies 212 are respectively arranged on opposite sides of the discharge opening to support the trays stacked in the empty tray bin frame 211 from both sides of the trays and to lower the bottommost tray.

[0036] Specifically, as shown in the drawings, Figure 5 The empty tray bin frame 211 of the embodiment comprises two rear corner plates 2113, two first front corner plates 2111, two second front corner plates 2112, a front support 2114, a rear support 2115, two side supports 2116, two latches 2117, and two latch seats 2118. The front support 2114 and the rear support 2115 are arranged in front of and behind each other, and the left and right ends of the rear support 2115 are respectively connected with one of the rear corner plates 2113. The left and right ends of the front support 2114 are respectively connected with one of the first front corner plates 2111. The upper part of each first front corner plate 2111 is provided with one of the second front corner plates 2112. The second front corner plate 2112 is hinged to the same side rear corner plate 2113 through the side support 2116. Each second front corner plate 2112 is provided with the latch 2117. The front side of each first front corner plate 2111 is provided with the latch seat 2118 matched with the latch 2117. The empty tray bin frame 211 of the embodiment can be flexibly opened and closed, which facilitates the loading and unloading of the trays and improves the convenience of operation. In use, the latch 2117 is unlocked, the two second front corner plates 2112 are rotated outward to open the empty tray bin frame 211, the trays are conveniently placed into the empty tray bin frame 211 laterally, after the tray placing operation is completed, the two second front corner plates 2112 are rotated inward to reset and the latch 2117 is inserted into the latch seat 2118 to close the empty tray bin frame 211, so that the front and rear corner plates horizontally limit the trays from the four corners of the trays to ensure the stability of the trays.

[0037] The empty tray supporting assembly 212 of the embodiment comprises an empty tray supporting plate 2121 and an empty tray supporting plate telescopic cylinder 2122. The empty tray supporting plate telescopic cylinder 2122 is fixed on the rack 1, and the empty tray supporting plate 2121 is fixed on the output end of the empty tray supporting plate telescopic cylinder 2122. By controlling the two empty tray supporting plate telescopic cylinders 2122 to drive the two empty tray supporting plates 2121 to move horizontally towards each other or away from each other, the trays are lowered one by one.

[0038] In combination with Figure 4 and Figure 6 The empty tray taking and placing device of the embodiment comprises a tray taking mechanism 22 arranged below the empty tray bin 21 and a tray placing mechanism 23 arranged above the empty tray conveying device 24. The tray taking mechanism 22 is used to cooperate with the empty tray bin 21 to lower the bottommost tray and convey the tray to the tray placing mechanism 23. The tray placing mechanism 23 is used to transfer the tray to the empty tray conveying device 24.

[0039] Specifically, as shown in Figure 4 The tray taking mechanism 22 includes a tray carrier plate 221, a tray translation module 222, and a tray lifting module 223. The tray translation module 222 is fixed on the rack 1, the tray lifting module 223 is fixed on the output end of the tray translation module 222, and the tray carrier plate 221 is fixed on the output end of the tray lifting module 223. The tray lifting module 223 is used to drive the tray carrier plate 221 to move up and down to match the tray in the bottom layer of the tray storage 21, and the tray translation module 222 is used to drive the tray carrier plate 221 to move back and forth between the tray storage 21 and the tray conveying device 24 to convey the tray to below the tray placing mechanism 23.

[0040] As shown in Figure 6 The tray placing mechanism 23 includes a suction cup lifting assembly, a suction cup assembly, and a vacuum generator (not shown in the figure). The suction cup lifting assembly is fixed on the rack 1, the suction cup assembly is fixed on the output end of the suction cup lifting assembly, and the vacuum generator is connected with the suction cup assembly. When the tray taking mechanism 22 moves the tray to below the tray placing mechanism 23, the vacuum generator controls the suction cup assembly to adsorb the tray, and after the tray taking mechanism 22 is reset, the suction cup lifting assembly drives the suction cup assembly to move downward to place the tray on the tray conveying device 24.

[0041] The suction cup assembly includes a suction cup mounting plate 236 and a plurality of suction cups 237, and the suction cups 237 are fixed on the four corners of the suction cup mounting plate 236. Each suction cup 237 is connected with the vacuum generator. The suction cup lifting assembly includes an upper mounting plate 231, a lower mounting plate 232, a first lifting module 233, a first linear bearing 234, and a first guide shaft 235. The lower mounting plate 232 is fixed on the rack 1, the upper mounting plate 231 is arranged above the lower mounting plate 232, one end of the first guide shaft 235 is connected with the upper mounting plate 231, and the other end penetrates through the lower mounting plate 232 and is connected with the suction cup mounting plate 236. The first linear bearing 234 is sleeved on the first guide shaft 235 and is fixed on the lower mounting plate 232. The first lifting module 233 is fixed on the upper mounting plate 231, the output end of the first lifting module 233 is connected with the lower mounting plate 232, and the first lifting module 233 is selected from a gas cylinder or an electric cylinder.

[0042] The tray feeding device 2 of the embodiment is provided with two tray storages 21, which can accommodate more trays and reduce the frequency of manual tray addition. The tray placing mechanism 23 is arranged between the two tray storages 21, which is beneficial to shorten the tray taking path of the tray taking mechanism 22, reduce resource waste, and reduce cost.

[0043] In combination with Figure 4The tray conveying device 24 of the embodiment is a belt conveyor, which comprises a first belt driving assembly 241 and two groups of first belt conveying assemblies 242. The two groups of first belt conveying assemblies 242 are arranged in parallel on the rack 1 and used to support the tray from opposite sides, and the first belt driving assembly 241 is used to drive the two groups of first belt conveying assemblies 242 to rotate synchronously to move the tray.

[0044] In combination Figure 7 The tray storage 31 of the embodiment is internally provided with a tray seat 311 which is slidably arranged at the bottom of the tray storage 31 and on which the trays are stacked. The tray seat 311 can be laterally pulled out of the second tray storage 31 through the slide rail to collect the trays.

[0045] In combination Figure 7 The tray taking and placing device 32 of the embodiment is arranged above the tray conveying device 33 and the tray storage 31, which comprises a tray grabbing assembly 321, a tray lifting assembly 322 and a tray translation assembly 323. The tray translation assembly 323 is fixed on the rack 1, the tray lifting assembly 322 is fixed on the output end of the tray translation assembly 323, and the tray grabbing assembly 321 is fixed on the output end of the tray lifting assembly 322. The tray translation assembly 323 is used to move the tray grabbing assembly 321 between the tray conveying device 33 and the tray storage 31, and the tray lifting assembly 322 is used to drive the tray grabbing assembly 321 to move up and down to grab the tray on the tray conveying device 33 and stack the grabbed tray in the tray storage 31.

[0046] Specifically, as shown in Figure 8 The tray translation assembly 323 of the embodiment comprises a second belt driving assembly 3231 and two groups of second belt conveying assemblies 3232. The two groups of second belt conveying assemblies 3232 are arranged in parallel on the rack 1, and the second belt driving assembly 3231 is used to drive the two groups of second belt conveying assemblies 3232 to rotate synchronously to move the tray grabbing assembly 321 horizontally.

[0047] The tray grabbing assembly 321 of the embodiment comprises a tray basket 3211 and two groups of tray supporting assemblies. The tray basket 3211 is provided with an inlet at the bottom, and each of the two groups of tray supporting assemblies is connected to the opposite side of the inlet. Each tray supporting assembly comprises a tray supporting plate 3212 and a tray supporting plate telescopic cylinder 3213. The tray supporting plate telescopic cylinder 3213 is fixed on the bottom of the tray basket 3211, and the tray supporting plate 3212 is fixed on the output end of the tray supporting plate telescopic cylinder 3213. The two groups of tray supporting plate telescopic cylinders 3213 are used to drive the two tray supporting plates 3212 to move horizontally towards or away from each other to grab or drop the tray from the inlet. The tray basket 3211 of the embodiment can grab multiple trays at a time and then stack them, which is beneficial to optimize the processing flow and improve the production efficiency and resource utilization.

[0048] The tray lifting assembly 322 of the embodiment comprises a support 3221, a second lifting module 3222, a second linear bearing 3223 and a second guide shaft 3224. The support 3221 is fixed at the output ends of the two groups of second belt conveying assemblies 3232, the second lifting module 3222 is fixed on the support 3221, the output end of the second lifting module 3222 is connected with the tray basket 3211 through the support 3221, and the second lifting module 3222 is selected from a pneumatic cylinder or an electric cylinder. The second linear bearing 3223 is fixed on the support 3221, the second guide shaft 3224 is inserted in the second linear bearing 3223, and the lower end of the second guide shaft 3224 extends out of the support 3221 and is connected with the tray basket 3211.

[0049] The tray conveying device 33 of the embodiment has the same structure as the empty tray conveying device 24, and will not be described here. The tray loading of the skeleton coil can be detected by the CCD vision device arranged above the tray conveying device 33, so that the full tray can be unloaded in time.

[0050] The tray unloading device 3 of the embodiment is provided with two tray warehouses 31, the tray conveying device 33 is arranged between the two tray warehouses 31, and the tray taking and placing device 32 can move transversely between the tray conveying device 33 and the two tray warehouses 31. The two tray warehouses 31 can accommodate more trays, reduce the frequency of manual tray loading, optimize the movement path of the tray taking and placing device 32, and reduce resource waste and cost.

[0051] In combination Figure 9 And Figure 10 In a preferred embodiment of the utility model, the tray moving device 4 is arranged below the empty tray conveying device 24 and the tray conveying device 33, which comprises a tray translation module 41 fixed on the rack 1, a tray lifting module 42 fixed at the output end of the tray translation module 41, and a tray clamping mechanism 43 fixed at the output end of the tray lifting module 42. The tray clamping mechanism 43 is used for clamping the tray, the tray translation module 41 is used for moving the tray clamping mechanism 43 between the empty tray conveying device 24 and the tray conveying device 33, and cooperating with the external mechanical arm to load the skeleton coil during the movement from the empty tray conveying device 24 to the tray conveying device 33. The tray lifting module 42 is used for driving the tray clamping mechanism 43 to rise to lift the empty tray from the empty tray conveying device 24 when the tray translation module 41 moves the tray clamping mechanism 43 below the empty tray conveying device 24, and driving the tray clamping mechanism 43 to descend to place the tray loaded with the skeleton coil on the tray conveying device 33 when the tray translation module 41 moves the tray clamping mechanism 43 below the tray conveying device 33.

[0052] Specifically, asFigure 10 As shown, the tray clamping mechanism 43 comprises a base 431, a driver 432, a rotating seat 433, four clamping seats 434, four connecting rods 435 and four slide rails 436. The base 431 is fixed at the output end of the tray lifting module 42, the driver 432 is fixed on the base 431, the rotating seat 433 is fixed at the output end of the driver 432, the four slide rails 436 are fixed on the base 431 in a circumferential direction of the rotating seat 433, each of the slide rails 436 is provided with a clamping seat 434, the top end of the clamping seat 434 is provided with a V-shaped clamping groove 4341 matched with the shape of the corner of the tray, the four connecting rods 435 correspond to the four clamping seats 434 one by one, one end of the connecting rod 435 is hinged to the clamping seat 434, and the other end is hinged to the rotating seat 433. The driver 432 preferably adopts a rotary cylinder, the driver 432 is used for driving the rotating seat 433 to rotate forward or reversely, the rotating seat 433 simultaneously drives the four connecting rods 435 to rotate forward or reversely around the rotating seat 433, so that the four clamping seats 434 are synchronously folded towards the rotating seat 433 or synchronously opened away from the rotating seat 433, so as to clamp or release the tray from the four corners of the tray. The tray clamping mechanism 43 of the embodiment can adapt to a certain position deviation of the tray, reduce the conveying precision requirement of the tray feeding device 2, be compatible with the position deviation of the tray caused by vibration and the like in the conveying process, on the other hand, the tray clamping mechanism 43 can position the tray, eliminate the position deviation of the tray, and ensure that the external mechanical arm can accurately place the skeleton coil in place, so as to avoid product damage caused by the position error of the tray.

[0053] It can be understood that the various devices of the utility model are uniformly controlled by the controller, and the action feedback of each device is realized by the photoelectric sensor.

[0054] Although the utility model is specifically shown and introduced in combination with the preferred embodiment, it should be understood by those skilled in the art that various changes can be made to the utility model in form and detail without departing from the spirit and scope of the utility model defined in the appended claims, and all of them are within the protection scope of the utility model.

Claims

1. A material tray loading and unloading device, characterized in that, include: Material tray loading device, material tray unloading device, and material tray transfer device; The material tray feeding device includes: an empty tray bin, an empty tray picking and placing device, and an empty tray conveying device; the empty tray bin is used to stack empty trays; the empty tray picking and placing device is used to transfer trays stored in the empty tray bin to the empty tray conveying device; the empty tray conveying device is used to move trays to the material tray transfer device. The material tray unloading device includes: a material tray bin, a material tray picking and placing device, and a material tray conveying device; the material tray conveying device is used to move the material tray containing the skeleton coil to the material tray picking and placing device; the material tray picking and placing device is used to stack the material trays on the material tray conveying device into the material tray bin; The material tray transfer device is located between the empty tray conveying device and the material tray conveying device. The material tray transfer device is used to transfer the material tray on the empty tray conveying device to the material tray conveying device, and cooperates with the external robotic arm to load the skeleton coil during the material tray transfer process.

2. The material tray loading and unloading device according to claim 1, characterized in that, The tray transfer device includes: a tray translation module, a tray lifting module, and a tray clamping mechanism; the tray translation module is fixed on the frame, the tray lifting module is fixed at the output end of the tray translation module, and the tray clamping mechanism is fixed at the output end of the tray lifting module.

3. The material tray loading and unloading device according to claim 2, characterized in that, The tray clamping mechanism includes: a base, a driver, a rotating seat, four card holders, four connecting rods, and four slide rails. The base is fixed to the output end of the tray lifting module, the driver is fixed to the base, the rotating seat is fixed to the output end of the driver, and the four slide rails are fixed to the base at intervals along the circumference of the rotating seat. Each slide rail is equipped with a card holder. The four connecting rods correspond one-to-one with the four card holders. One end of each connecting rod is hinged to a card holder, and the other end is hinged to the rotating seat. The driver is used to drive the rotating seat to rotate clockwise or counterclockwise. The rotating seat simultaneously drives the four connecting rods to rotate clockwise or counterclockwise around the rotating seat, so that the four card holders synchronously close towards the rotating seat or synchronously open away from the rotating seat along the slide rails, thereby clamping or releasing the tray from the four corners.

4. The material tray loading and unloading device according to claim 3, characterized in that, The top of the card holder has a V-shaped slot that matches the shape of the corner of the material tray.

5. The material tray loading and unloading device according to claim 1, characterized in that, Both the empty tray conveying device and the material tray conveying device include: a first belt drive assembly and two sets of first belt conveyor assemblies; the two sets of first belt conveyor assemblies are arranged parallel to each other on the frame and are used to support the material tray from opposite sides of the material tray. The first belt drive assembly is used to drive the two sets of first belt conveyor assemblies to rotate synchronously to move the material tray.

6. The material tray loading and unloading device according to claim 1, characterized in that, The empty disk retrieval and placement device includes: a disk retrieval mechanism and a disk placement mechanism; The tray-retrieving mechanism is located below the empty tray bin and includes: an empty tray support plate, an empty tray translation module, and an empty tray lifting module; the empty tray lifting module is fixed to the output end of the empty tray translation module, and the empty tray support plate is fixed to the output end of the empty tray lifting module; the empty tray lifting module is used to drive the empty tray support plate to move up and down to cooperate with the empty tray bin to lower the bottom tray; the empty tray translation module is used to drive the empty tray support plate to move back and forth between the empty tray bin and the empty tray conveying device to transport the tray to the area below the tray-discharging mechanism; The tray placement mechanism is located above the empty tray conveying device and includes: a suction cup lifting assembly, a suction cup assembly, and a vacuum generator; the suction cup assembly is fixed to the output end of the suction cup lifting assembly, and the vacuum generator is connected to the suction cup assembly to control the suction cup assembly to adsorb the material tray; the suction cup lifting assembly is used to drive the suction cup assembly to transfer the material tray on the tray removal mechanism to the empty tray conveying device.

7. The material tray loading and unloading device according to claim 1, characterized in that, The empty tray bin includes an empty tray bin frame and two sets of empty tray support components; the bottom of the empty tray bin frame has a material drop port, and the two sets of empty tray support components are respectively located on opposite sides of the material drop port, for supporting the trays stacked in the empty tray bin frame and for dropping the bottom tray.

8. The material tray loading and unloading device according to claim 7, characterized in that, The empty pallet rack includes: two first front corner plates, two second front corner plates, two rear corner plates, a front bracket, a rear bracket, two side brackets, two pins, and two pin seats; the front bracket and the rear bracket are spaced apart, each end of the rear bracket is connected to a rear corner plate, each end of the front bracket is connected to a first front corner plate, each first front corner plate has a second front corner plate above it, the second front corner plate is hinged to the rear corner plate on the same side through the side bracket, each second front corner plate is equipped with a pin, and each first front corner plate has a pin seat on its front side that cooperates with the pin. The empty tray support assembly includes: an empty tray plate and an empty tray plate telescopic cylinder; the empty tray plate telescopic cylinder is fixed on the frame, and the empty tray plate is fixed at the output end of the empty tray plate telescopic cylinder; the two empty tray plate telescopic cylinders are used to drive the two empty tray plates to move horizontally towards each other or backwards.

9. The material tray loading and unloading device according to claim 1, characterized in that, The tray picking and placing device is located above the tray conveying device and the tray hopper, and includes: a tray gripping component, a tray lifting component, and a tray translating component; the tray translating component is fixed on the frame, the tray lifting component is fixed at the output end of the tray translating component, and the tray gripping component is fixed at the output end of the tray lifting component; the tray translating component is used to drive the tray gripping component to move between the tray conveying device and the tray hopper, and the tray lifting component is used to drive the tray gripping component to move up and down to grip the trays on the tray conveying device, and to stack the gripped trays in the tray hopper.

10. The material tray loading and unloading device according to claim 9, characterized in that, The material tray translation assembly includes: a second belt drive assembly and two sets of second belt conveyor assemblies; the two sets of second belt conveyor assemblies are arranged parallel to each other on the frame, and the second belt drive assembly is used to drive the two sets of second belt conveyor assemblies to rotate synchronously so as to drive the material tray gripping assembly to move horizontally; The material tray gripping assembly includes: a material tray basket and two sets of material tray support assemblies; the bottom of the material tray basket has a material inlet, and a material tray support assembly is connected to each of the opposite sides of the material tray basket at the material inlet; the material tray support assembly includes: a material tray plate and a material tray plate telescopic cylinder, the material tray plate telescopic cylinder is fixed to the bottom of the material tray basket, the material tray plate is fixed to the output end of the material tray plate telescopic cylinder, and the two material tray plate telescopic cylinders are used to drive the two material tray plates to move horizontally towards each other or backwards. The material tray lifting assembly includes: a support, a second lifting module, a second linear bearing, and a second guide shaft; the support is fixed on the output ends of two sets of second belt conveyor assemblies, the second lifting module is fixed on the support, the output end of the second lifting module passes through the support and connects to the material tray basket, the second linear bearing is fixed on the support, the second guide shaft is inserted into the second linear bearing, and the lower end of the second guide shaft extends out of the support and connects to the material tray basket.

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