Charging tray feeding and discharging mechanism

Abstract

The utility model discloses a charging tray feeding and discharging mechanism which is used for solving the technical problem that the charging tray feeding and discharging efficiency is low due to the fact that the feeding and discharging automation degree of an existing charging tray is low. The number of the material conveying rails is at least two, each material conveying rail is provided with a material suction position, the number of the suction devices is at least two, the suction devices are located above the material suction positions, and the number of the material tray conveying rails is at least two. The suction device is used for sucking materials on the material conveying track to material trays on the material tray conveying track, the material tray conveying platform is arranged close to the material tray conveying track, and the material grabbing mechanical arm is located between the material tray conveying platform and the material tray conveying track so that the material trays can be transferred between the material tray conveying platform and the material tray conveying track. The material tray conveying platform is used for taking away empty material trays from the first material frame and pushing the material trays fully loaded with qualified materials to the second material frame.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic equipment technical field especially relates to a material tray feeding and discharging mechanism. BACKGROUND

[0002] In the automatic production, often need to use the material tray to feed, the specific process is as follows:

[0003] The operator places empty material tray on the conveying line, the conveying line conveys the material tray to the material taking station, the material taking manipulator fills the material tray with material, then the conveying line sends the material tray to the discharging position, and the operator discharges the material tray filled with material from the discharging position. From the above process, it can be seen that the feeding and discharging operation of the material tray needs to be completed manually by the operator, and the automation degree is low, which undoubtedly seriously affects the feeding and discharging efficiency of the material tray.

[0004] Therefore, finding a technical scheme capable of solving the above technical problems becomes an important subject for the person skilled in the art to study. UTILITY MODEL CONTENT

[0005] The utility model embodiment discloses a material tray feeding and discharging mechanism, which is used to solve the technical problem of low automation degree of the feeding and discharging operation of the existing material tray, thereby causing low feeding and discharging efficiency of the material tray.

[0006] The material tray feeding and discharging mechanism provided by the utility model comprises a material conveying track for conveying a supporting plate loaded with material, a suction device for sucking and transferring the material, a conveying track for conveying empty material trays and material trays loaded with qualified material, a grabbing manipulator for grabbing and transferring the material tray, a first material frame for storing empty material trays, a second material frame for storing material trays loaded with qualified material, and a material tray conveying platform.

[0007] The number of the material conveying tracks is at least two, the at least two material conveying tracks are arranged adjacent to each other along the X-axis direction, and each of the material conveying tracks has a material suction position; the number of the suction devices is at least two and the suction devices are located above the material suction positions; the number of the tray conveying tracks is at least two, the at least two tray conveying tracks are arranged adjacent to each other along the X-axis direction, and the tray conveying tracks are arranged adjacent to the material conveying tracks; the suction devices are used to suck the material on the material conveying tracks to the trays on the tray conveying tracks; the tray conveying platform is arranged close to the tray conveying tracks, and the grabbing manipulator is located between the tray conveying platform and the tray conveying tracks to transfer the trays between the tray conveying platform and the tray conveying tracks; the first material frame and the second material frame are arranged adjacent to each other and both are located on the moving track of the tray conveying platform; and the tray conveying platform is used to take away the empty trays from the first material frame and push the trays loaded with qualified material to the second material frame.

[0008] Optionally, the material suction position of the material conveying track is provided with a first jacking platform.

[0009] The first jacking platform is used to jack the tray loaded with material along the Z-axis direction, and at least one pair of first pneumatic clamping plates are arranged on the first jacking platform to clamp and fix the tray loaded with material.

[0010] Optionally, the suction device comprises a gantry, a first X-axis linear module and a suction module.

[0011] The gantry is arranged across the plurality of material conveying tracks, the first X-axis linear module is installed on the gantry, the suction module is connected to the first X-axis linear module, and the first X-axis linear module is used to drive the suction module to move along the X-axis direction.

[0012] Optionally, the suction module comprises a plurality of Z-axis linear modules, a plurality of first rotary driving members and a plurality of vacuum suction heads.

[0013] The Z-axis linear modules are connected to the first X-axis linear module, the first rotary driving members are connected to the Z-axis linear modules, the Z-axis linear modules are used to drive the first rotary driving members to ascend and descend along the Z-axis direction, the vacuum suction heads are connected to the first rotary driving members, and the first rotary driving members are used to drive the vacuum suction heads to rotate around the Z-axis direction.

[0014] Optionally, the tray conveying track comprises a first Y-axis linear module and a support platform connected to the first Y-axis linear module, the first Y-axis linear module is configured to drive the support platform to move along the Y-axis direction, and the support platform is configured to support the tray, and at least one pair of second pneumatic clamping plates are arranged on the support platform to clamp and fix the tray.

[0015] Optionally, the material grabbing manipulator comprises a support frame, a second X-axis linear module, and pneumatic clamping jaws for grabbing the tray.

[0016] The second X-axis linear module is installed on the support frame, the second X-axis linear module is connected with a connecting frame, the second X-axis linear module is configured to drive the connecting frame to move along the X-axis direction, the connecting frame is installed with a second rotary driving member, the second rotary driving member is installed with a rotating frame, the second rotary driving member is configured to drive the rotating frame to rotate around the Z-axis, and the number of the pneumatic clamping jaws is two, and the two pneumatic clamping jaws are arranged adjacent to each other on the rotating frame along the X-axis direction.

[0017] Optionally, the tray conveying platform comprises a second Y-axis linear module and a second jacking platform.

[0018] The second Y-axis linear module is connected with the second jacking platform, the second Y-axis linear module is configured to drive the second jacking platform to move along the Y-axis direction to pass through the first tray frame and the second tray frame, and the second jacking platform is configured to jack up the tray.

[0019] The second jacking platform is provided with a limiting plate for limiting the tray along the X-axis direction and the Y-axis direction.

[0020] Optionally, the first tray frame comprises a first frame body for storing the stacked trays, the first frame body is a hollow structure, and the bottom of the first frame body is installed with a pneumatic cylinder on opposite sides, the pneumatic cylinder is connected with a first support plate, and the pneumatic cylinder is configured to drive the first support plate to extend along the X-axis direction to support the stacked trays.

[0021] Optionally, the second tray frame comprises a second frame body for storing the stacked trays filled with materials, the second frame body is a hollow structure, the bottom of the second frame body is installed with a spring hinge on opposite sides, the spring hinge is connected with a second support plate for supporting the stacked trays, and the second support plate is driven to be flipped upward to allow the tray to enter into the second frame body.

[0022] Optionally, it further comprises a substandard product conveying track for transporting the tray filled with substandard materials.

[0023] The unqualified product conveying track is located on one side of the tray conveying track.

[0024] Compared with the prior art, the utility model has the following beneficial effects:

[0025] In the tray feeding and discharging mechanism, the tray conveying platform moves to the first material frame to take away an empty tray, then the tray conveying platform moves to the material grabbing manipulator with the empty tray, the material grabbing manipulator grabs the empty tray and places it on the tray conveying track, at the same time, the material conveying track moves the tray with materials to the material suction position, the suction device sucks the materials and places them on the tray on the tray conveying track, after the tray is filled with materials, the tray conveying track returns to the material grabbing manipulator, the material grabbing manipulator places the tray filled with materials on the tray conveying platform, the tray conveying platform moves the tray filled with materials to the second material frame and pushes the tray into the second material frame for storage, thus completing the feeding and discharging operation of one tray.

[0026] Through the above design, the feeding and discharging operation of the tray is more automated, no human intervention is needed throughout the operation, and seamless alternate feeding and discharging operation can be realized, greatly improving the feeding and discharging efficiency of the tray. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0028] Figure 1 A structural schematic view of a tray feeding and discharging mechanism provided by the present application is shown in the figure.

[0029] Figure 2 Another structural schematic view of a tray feeding and discharging mechanism provided by the present application is shown in the figure.

[0030] Figure 3 A structural schematic view of a material conveying track of a tray feeding and discharging mechanism provided by the present application is shown in the figure.

[0031] Figure 4 The structure schematic view of the suction device of the tray feeding and discharging mechanism is provided in the utility model;

[0032] Figure 5 The structure schematic view of the tray feeding and discharging mechanism is provided in the utility model;

[0033] Figure 6 The structure schematic view of the suction device of the tray feeding and discharging mechanism is provided in the utility model;

[0034] Figure 7 The position relation diagram of the tray feeding platform, the first material frame and the second material frame of the tray feeding and discharging mechanism is provided in the utility model;

[0035] Figure 8 The structure schematic view of the second support plate in the second material frame of the tray feeding and discharging mechanism is provided in the utility model;

[0036] Figure 9 The position relation diagram of the cylinder and the first support plate in the first material frame of the tray feeding and discharging mechanism is provided in the utility model;

[0037] Illustration: material conveying track 1;First jacking platform 101;First pneumatic clamping plate 102;Suction device 2;Gantry 201;First X-axis linear module 202;Suction module 203;Z-axis linear module 2031;First rotary drive 2032;Vacuum suction head 2033;Tray conveying track 3;First Y-axis linear module 301;Support platform 302;Second pneumatic clamping plate 303;Tray conveying platform 4;Second Y-axis linear module 401;Second jacking platform 402;First material frame 5;First frame body 501;Cylinder 502;First support plate 503;Second material frame 6;Second frame body 601;Spring hinge 602;Second support plate 603;Unqualified product conveying track 7;Grabbing manipulator 8;Support frame 801;Second X-axis linear module 802;Second rotary drive 803;Rotary frame 804;Pneumatic clamping jaw 805;Support plate A;Tray B;Material C. DETAILED DESCRIPTION

[0038] The utility model discloses a tray feeding and discharging mechanism for solving the low degree of automation of the feeding and discharging of the existing tray, thereby causing the technical problem of the low efficiency of the feeding and discharging of the tray.

[0039] For the person skilled in the art to better understand the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0040] Please refer to Figures 1 to 9 The material tray feeding and discharging mechanism provided by the embodiment of the present application comprises a material conveying track 1 for conveying a supporting plate loaded with material, a suction device 2 for sucking and transferring the material, a material tray conveying track 3 for transporting empty material trays and material trays loaded with qualified material, a material grabbing manipulator 8 for grabbing and transferring the material trays, a first material frame 5 for storing empty material trays, a second material frame 6 for storing material trays loaded with qualified material, and a material tray conveying platform 4.

[0041] The number of the material conveying tracks 1 is at least two, at least two of the material conveying tracks 1 are arranged adjacently along the X-axis direction, and each of the material conveying tracks 1 has a material suction position, the number of the suction devices 2 is at least two and the suction devices 2 are located above the material suction positions, the number of the material tray conveying tracks 3 is at least two, at least two of the material tray conveying tracks 3 are arranged adjacently along the X-axis direction, and the material tray conveying tracks 3 are arranged adjacently to the material conveying tracks 1, the suction devices 2 are used to suck the material on the material conveying tracks 1 to the material trays of the material tray conveying tracks 3, the material tray conveying platform 4 is arranged close to the material tray conveying tracks 3, and the material grabbing manipulator 8 is located between the material tray conveying platform 4 and the material tray conveying tracks 3 to transfer the material trays between the material tray conveying platform 4 and the material tray conveying tracks 3, the first material frame 5 and the second material frame 6 are arranged adjacently and are located on the moving track of the material tray conveying platform 4, and the material tray conveying platform 4 is used to take away the empty material trays from the first material frame 5 and push the material trays loaded with qualified material to the second material frame 6.

[0042] In the tray feeding and discharging mechanism of the embodiment, the tray conveying platform 4 moves to the first tray frame 5 to take away an empty tray, then the tray conveying platform 4 moves to the grabbing manipulator 8 with the empty tray, the grabbing manipulator 8 grabs the empty tray and places it on the tray conveying track 3, the tray conveying track 3 conveys the empty tray to the material taking and placing position, at the same time, the material conveying track 1 moves the tray loaded with materials to the material suction position, the suction device 2 sucks the materials and places them on the tray of the tray conveying track 3, after the tray is filled with materials, the tray conveying track 3 returns to the grabbing manipulator 8, the grabbing manipulator 8 places the tray filled with materials on the tray conveying platform 4, and the tray conveying platform 4 moves the tray filled with materials to the second tray frame 6 and pushes the tray into the second tray frame 6 for storage, thus completing the feeding and discharging operation of one tray. In addition, in the design of the utility model, the number of the material conveying track 1, the suction device 2 and the tray conveying track 3 is at least two, and under this design, the tray can effectively realize alternating feeding and discharging operation, that is, the grabbing manipulator 8 can place the empty tray on one of the tray conveying tracks 3 while discharging the tray filled with materials on the other tray conveying track 3.

[0043] Through the above design, the feeding and discharging operation of the tray is more automated, and the whole process does not need human intervention and can realize seamless alternating feeding and discharging operation, greatly improving the feeding and discharging efficiency of the tray.

[0044] Further, the material suction position of the material conveying track 1 in the embodiment is provided with a first lifting platform 101;

[0045] The first lifting platform 101 is used for lifting the tray loaded with materials along the Z-axis direction, and at least one pair of first pneumatic clamping plates 102 is arranged on the first lifting platform 101 to clamp and fix the tray loaded with materials.

[0046] It should be noted that through the above design, when the tray loaded with materials moves to the material suction position, the first pneumatic clamping plate 102 on the first lifting platform 101 first clamps and fixes the tray, then the first lifting platform 101 lifts the tray and the materials to leave the material conveying track 1, at this time, the materials on the tray are waiting to be sucked by the suction device 2.

[0047] Further, the suction device 2 in the embodiment includes a gantry 201, a first X-axis linear module 202 and a suction module 203;

[0048] The gantry 201 is arranged between a plurality of the material conveying tracks 1, the first X-axis linear module 202 is installed on the gantry 201, the suction module 203 is connected to the first X-axis linear module 202, and the first X-axis linear module 202 is used to drive the suction module 203 to move along the X-axis direction.

[0049] It should be noted that when the material is sucked, the first X-axis linear module 202 drives the suction module 203 to move to the material suction position, the suction module 203 sucks the material and moves to the upper side of the tray conveying track 3 under the drive of the first X-axis linear module 202, and the material is placed on the empty tray.

[0050] Specifically, the suction module 203 in the embodiment includes a plurality of Z-axis linear modules 2031, a plurality of first rotary driving members 2032, and a plurality of vacuum suction heads 2033.

[0051] The Z-axis linear module 2031 is connected to the first X-axis linear module 202, the first rotary driving member 2032 is connected to the Z-axis linear module 2031, the Z-axis linear module 2031 is used to drive the first rotary driving member 2032 to move up and down along the Z-axis direction, and the vacuum suction head 2033 is connected to the first rotary driving member 2032. The first rotary driving member 2032 is used to drive the vacuum suction head 2033 to rotate around the Z-axis direction.

[0052] It should be noted that through the above design, the vacuum suction head 2033 has the functions of lifting and rotating, so that the vacuum suction head 2033 can complete the operation of transferring the material.

[0053] Further, the tray conveying track 3 in the embodiment includes a first Y-axis linear module 301 and a support platform 302 connected to the first Y-axis linear module 301, the first Y-axis linear module 301 is used to drive the support platform 302 to move along the Y-axis direction, the support platform 302 is used to support the tray, and at least one pair of second pneumatic clamping plates 303 is arranged on the support platform 302 to clamp and fix the tray.

[0054] It should be noted that through the above design, the support platform 302 for supporting the tray can move linearly under the drive of the first Y-axis linear module 301, for example, when the support platform 302 is driven to move to the first position, at this time, the suction device 2 can place the sucked material into the tray, when the tray is full of material, the support platform 302 is driven to move to the second position, at this time, the material grabbing manipulator 8 can take away the tray full of material, and when the support platform 302 is in the second position, the material grabbing manipulator 8 can also place the empty tray on the support platform 302, so as to repeatedly realize the loading and unloading operation of the tray.

[0055] Further, the grabbing manipulator 8 in the embodiment comprises a support frame 801, a second X-axis linear module 802, and pneumatic clamps 805 for grabbing the tray;

[0056] The second X-axis linear module 802 is mounted on the support frame 801, and the second X-axis linear module 802 is connected with a connecting frame, the second X-axis linear module 802 is used for driving the connecting frame to move along the X-axis direction, the connecting frame is mounted with a second rotary driving member 803, the second rotary driving member 803 is mounted with a rotating frame 804, the second rotary driving member 803 is used for driving the rotating frame 804 to rotate around the Z-axis, and the number of the pneumatic clamps 805 is two, and the two pneumatic clamps 805 are arranged adjacent to each other on the rotating frame 804 along the X-axis direction.

[0057] It should be noted that through the above design, the two pneumatic clamps 805 can be driven to realize lifting and rotation, so as to facilitate grabbing or placing the tray to the tray conveying platform 4 or the tray conveying track 3. Moreover, through the design of the two pneumatic clamps 805, the grabbing manipulator 8 can grab two trays at the same time, and the tray loading and unloading efficiency can be improved more effectively.

[0058] In addition, the pneumatic clamps 805 in the embodiment have pneumatic lifting and pneumatic clamping functions.

[0059] Further, the tray conveying platform 4 in the embodiment comprises a second Y-axis linear module 401 and a second jacking platform 402.

[0060] The second Y-axis linear module 401 is connected with the second jacking platform 402, the second Y-axis linear module 401 is used for driving the second jacking platform 402 to move along the Y-axis direction to pass through the first tray frame 5 and the second tray frame 6, and the second jacking platform 402 is used for jacking the tray.

[0061] The second jacking platform 402 is provided with a limiting plate for limiting the tray along the X-axis direction and the Y-axis direction.

[0062] It should be noted that through the above design, the second jacking platform 402 can be moved to the second tray frame 6, the first tray frame 5 and the grabbing manipulator 8 under the driving of the second Y-axis linear module 401.

[0063] Further, the first material frame 5 in the embodiment comprises a first frame body 501 for storing the stacked material trays, the first frame body 501 is a hollow structure, and the bottom of the first frame body 501 is provided with a pneumatic cylinder 502 on each of the opposite sides, the pneumatic cylinder 502 is connected with a first supporting plate 503, and the pneumatic cylinder 502 is used to drive the first supporting plate 503 to extend along the X-axis direction to support the stacked material trays.

[0064] It should be noted that when the material tray conveying platform 4 needs to take away the empty material tray, the second lifting platform 402 is driven to move to the lower side of the first material frame 5, then the second lifting platform 402 moves upward to support the bottommost material tray in the stacked material trays, then the piston rod of the pneumatic cylinder 502 is retracted to drive the first supporting plate 503 to stop supporting the stacked material trays, at this time, the second lifting platform 402 takes away the empty material tray, and at the same time, the first supporting plate 503 is driven to return to the original position to continue supporting the stacked material trays.

[0065] In addition, the first material frame 5 is provided with two first sensors, which are installed on the top and bottom of the first material frame 5, and when the height of the stacked material trays is lower than the lower first sensor, the lower first sensor is triggered, and at this time, the lower first sensor can prompt the worker to supplement the empty material tray to the first material frame 5 through the warning device.

[0066] Further, the second material frame 6 in the embodiment comprises a second frame body 601 for storing the stacked material trays filled with materials, the second frame body 601 is a hollow structure, and the bottom of the second frame body 601 is provided with a spring hinge 602 on each of the opposite sides, the spring hinge 602 is connected with a second supporting plate 603 for supporting the stacked material trays, and the second supporting plate 603 is driven to be flipped upward to allow the material tray to enter the second frame body 601.

[0067] It should be noted that when the material tray conveying platform 4 obtains the material tray filled with materials, the second lifting platform 402 is driven to move to the lower side of the second material frame 6, at this time, the second lifting platform 402 lifts the material tray upward to push the second supporting plate 603 from the bottom to the top, and when the material tray completely passes the second supporting plate 603, the second supporting plate 603 returns to the original position to support the material tray under the elastic force of the spring hinge 602.

[0068] In addition, the second material frame 6 is provided with a second sensor, which is installed on the top of the second material frame 6, and when the stacked material trays reach a certain height, the second sensor is triggered, and at this time, the second sensor can prompt the worker that the material tray in the second material frame 6 is full through the warning device.

[0069] The first sensor and the second sensor are similar to the water level sensor for detecting the water level, and can be specifically selected as the photoelectric sensor.

[0070] Further, the tray loading and unloading mechanism in the embodiment further comprises an unqualified product conveying track 7 for conveying the tray containing unqualified materials.

[0071] The unqualified product conveying track 7 has the same structure as the tray conveying track 3, and is located on one side of the tray conveying track 3.

[0072] It should be noted that when the material is detected and determined as unqualified, the suction device 2 directly grasps the unqualified material onto the tray of the unqualified product conveying track.

[0073] Further, the X-axis linear module, the second Y-axis linear module 401 and the Z-axis linear module 2031 in the embodiment can be linear modules driven by motors and screws or driven by motors and belts, and the embodiment is not limited thereto. In addition, the rotary driving member can be a rotary motor.

[0074] The tray loading and unloading mechanism provided by the utility model is described in detail above, and for the general skilled in the art, the specific implementation and application range will be changed according to the idea of the embodiment of the utility model, and the content of the specification should not be understood as the limitation of the utility model.

Claims

1. A tray loading and unloading mechanism, characterized by, The material conveying track (1) for conveying the material loaded pallet, the suction device (2) for sucking and transferring the material, the empty tray conveying track (3) for transporting the empty tray and the tray loaded with qualified material, the tray grabbing manipulator (8) for grabbing and transferring the tray, the first tray frame (5) for storing the empty tray, the second tray frame (6) for storing the tray loaded with qualified material, and the tray conveying platform (4); The number of the material conveying tracks (1) is at least two, the at least two material conveying tracks (1) are arranged adjacent along the X-axis direction, each of the material conveying tracks (1) has a material suction position, the number of the suction devices (2) is at least two and the suction devices (2) are located above the material suction position, the number of the tray conveying tracks (3) is at least two, the at least two tray conveying tracks (3) are arranged adjacent along the X-axis direction and adjacent to the material conveying tracks (1), the suction devices (2) are used for sucking the material on the material conveying tracks (1) to the tray on the tray conveying tracks (3), the tray conveying platform (4) is arranged close to the tray conveying tracks (3), and the tray grabbing manipulator (8) is located between the tray conveying platform (4) and the tray conveying tracks (3) to transfer the tray between the tray conveying platform (4) and the tray conveying tracks (3), the first tray frame (5) and the second tray frame (6) are arranged adjacent and located on the moving track of the tray conveying platform (4), and the tray conveying platform (4) is used for taking the empty tray from the first tray frame (5) and pushing the tray loaded with qualified material to the second tray frame (6).

2. The magazine loading and unloading mechanism of claim 1, wherein, The material suction position of the material conveying track (1) is provided with a first lifting platform (101); The first lifting platform (101) is used for lifting the pallet loaded with material along the Z-axis direction, and at least one pair of first pneumatic clamping plates (102) is arranged on the first lifting platform (101) to clamp and fix the pallet loaded with material.

3. The tray loading and unloading mechanism of claim 1, wherein, The suction device (2) comprises a gantry (201), a first X-axis linear module (202), and a suction module (203); The gantry (201) is arranged between the plurality of material conveying tracks (1), the first X-axis linear module (202) is installed on the gantry (201), the suction module (203) is connected to the first X-axis linear module (202), and the first X-axis linear module (202) is used for driving the suction module (203) to move along the X-axis direction.

4. The tray loading and unloading mechanism of claim 3, wherein, The suction module (203) comprises a plurality of Z-axis linear modules (2031), a plurality of first rotary driving members (2032), and a plurality of vacuum suction heads (2033). The Z-axis linear module (2031) is connected to the first X-axis linear module (202), the first rotary driving part (2032) is connected with the Z-axis linear module (2031), and the Z-axis linear module (2031) is used for driving the first rotary driving part (2032) to ascend and descend along the Z-axis direction; the vacuum suction head (2033) is connected with the first rotary driving part (2032), and the first rotary driving part (2032) is used for driving the vacuum suction head (2033) to rotate around the Z-axis direction.

5. The tray loading and unloading mechanism of claim 1, wherein, The tray conveying track (3) comprises a first Y-axis linear module (301) and a support platform (302) connected to the first Y-axis linear module (301), the first Y-axis linear module (301) is used for driving the support platform (302) to move along the Y-axis direction, and the support platform (302) is used for supporting the tray; at least one pair of second pneumatic clamping plates (303) are arranged on the support platform (302) to clamp and fix the tray.

6. The tray loading and unloading mechanism of claim 1, wherein, The material grabbing manipulator (8) comprises a support frame (801), a second X-axis linear module (802) and a pneumatic clamping jaw (805) used for grabbing the tray; The second X-axis linear module (802) is installed on the support frame (801), the second X-axis linear module (802) is connected with a connecting frame, the second X-axis linear module (802) is used for driving the connecting frame to move along the X-axis direction, a second rotary driving part (803) is installed on the connecting frame, a rotating frame (804) is installed on the second rotary driving part (803), the second rotary driving part (803) is used for driving the rotating frame (804) to rotate around the Z-axis, and the number of the pneumatic clamping jaws (805) is two; the two pneumatic clamping jaws (805) are arranged adjacent to each other on the rotating frame (804) along the X-axis direction.

7. The tray loading and unloading mechanism of claim 1, wherein, The tray conveying platform (4) comprises a second Y-axis linear module (401) and a second jacking platform (402); The second Y-axis linear module (401) is connected with the second jacking platform (402), the second Y-axis linear module (401) is used for driving the second jacking platform (402) to move along the Y-axis direction to pass through the first tray frame (5) and the second tray frame (6), and the second jacking platform (402) is used for jacking the tray; The second jacking platform (402) is provided with a limiting plate used for limiting the tray along the X-axis direction and the Y-axis direction.

8. The tray loading and unloading mechanism of claim 1, wherein, The first tray frame (5) comprises a first frame body (501) used for storing the stacked trays, the first frame body (501) is a hollow structure, and a gas cylinder (502) is installed on each of the opposite sides of the bottom of the first frame body (501); the gas cylinder (502) is connected with a first support plate (503), and the gas cylinder (502) is used for driving the first support plate (503) to extend along the X-axis direction to support the stacked trays.

9. The tray loading and unloading mechanism of claim 1, wherein, The second material frame (6) comprises a second frame body (601) for storing the stacked and full material trays, the second frame body (601) is a hollow structure, the bottom of the second frame body (601) is provided with spring hinges (602) on opposite sides, the spring hinges (602) are connected with second support plates (603) for supporting the stacked trays, the second support plates (603) are driven to be flipped upward to allow the trays to enter into the second frame body (601).

10. The tray loading and unloading mechanism of claim 1, wherein, The substandard product conveying track (7) for conveying the trays filled with substandard material is further included; The substandard product conveying track (7) has the same structure as the tray conveying track (3), and is located on one side of the tray conveying track (3).

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