Automatic tray feeding and discharging equipment

Abstract

Automatic tray feeding and discharging equipment comprises a mounting frame, and a feeding sliding way, a first horizontal bearing and clamping assembly, a second horizontal bearing and clamping assembly, a third horizontal bearing and clamping assembly, a horizontal transplanting and jacking assembly and a vertical lifting assembly are sequentially arranged on the mounting frame in the vertical direction. According to the tray separating device, the tray stack is lifted through the second bearing clamping plate, other trays except the tray on the lowermost layer are lifted through clamping of the first bearing clamping plate, and then the second bearing clamping plate is opened so that the tray on the lowermost layer can fall onto the second tray carrying plate through the gravity of the tray on the lowermost layer to be separated. The empty tray on the horizontal transplanting and jacking assembly is clamped through the third bearing clamping plate, then the tray is stacked on the first tray carrying plate through the gravity of the tray, discharging is completed, assistance of an external mechanical arm is not needed, and the manufacturing cost of equipment is greatly reduced. And meanwhile, the servo motor is used for controlling the horizontal moving mechanism and the lifting mechanism, so that the positioning precision of feeding and discharging of the tray is improved.

Description

TECHNICAL FIELD

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

[0002] Tray is mainly used for protecting and transporting precision electronic parts in automatic production, preventing friction or collision, and supporting accurate alignment and positioning in automatic production. With the continuous development of automation technology, the stacking and separation efficiency of Tray is low, which becomes the main problem restricting the development of automation.

[0003] At present, the existing Tray feeding and discharging mode mainly adopts the following two ways:

[0004] The first is pure manual operation, which places products in Tray one by one, and then places Tray on each station, which has the disadvantages of low automation, low work efficiency and high labor cost;

[0005] The second is to place Tray on the corresponding station one by one by mechanical hand and suction cup combination, which improves the automation degree of the equipment, but has the disadvantage of high manufacturing cost.

[0006] Therefore, in view of the deficiencies of the prior art, it is necessary to design a tray automatic feeding and discharging equipment to solve the above problems.

[0007] It should be noted that the above introduction to the technical background is only for the convenience of clearly and completely describing the technical scheme of the utility model, and for the convenience of understanding by the technicians in the field, and the above content cannot be considered as known by the technicians in the field because the above content is described in the background of the utility model. Utility model content

[0008] In order to overcome the deficiencies in the prior art, the utility model aims at disclosing a kind of tray automatic feeding and discharging equipment, to solve the problem of low efficiency of tray stacking and separation, and to improve the efficiency of tray feeding and discharging.

[0009] The utility model discloses a kind of tray automatic feeding and discharging equipment, including mounting frame, mounting frame is equipped with feeding slide, first horizontal supporting and clamping component, second horizontal supporting and clamping component, third horizontal supporting and clamping component, horizontal transplanting jacking assembly and vertical lifting assembly in sequence along vertical direction, wherein:

[0010] The horizontal transplanting and lifting assembly comprises a second tray loading plate, a lifting mechanism is arranged below the second tray loading plate, the lifting mechanism is installed on the mounting frame through a horizontal moving mechanism, and the moving path of the horizontal moving mechanism passes through the loading and unloading areas of the tray respectively;

[0011] The loading slide is arranged in the horizontal direction, the bottom of the loading slide is provided with a tray unloading port, and the tray unloading port is located above the moving path of the horizontal moving mechanism;

[0012] The first horizontal supporting and clamping assembly comprises first supporting clamping plates arranged on both sides of the tray unloading port in the horizontal direction, and the upper end surface of the first supporting clamping plate is not higher than the bottom surface of the loading slide;

[0013] The second horizontal supporting and clamping assembly comprises a second supporting clamping plate arranged in the horizontal direction, and the second supporting clamping plate is located directly below the first supporting clamping plate and the spacing therebetween is less than or equal to the height of the tray;

[0014] The third horizontal supporting and clamping assembly comprises a third supporting clamping plate arranged above the moving path of the horizontal moving mechanism in the horizontal direction; and the vertical lifting assembly comprises a first tray loading plate, the first tray loading plate is arranged opposite to the third supporting clamping plate, and the first tray loading plate is installed on the mounting frame through a lifting mechanism.

[0015] Preferably, the first supporting clamping plate, the second supporting clamping plate and the third supporting clamping plate are respectively driven by independently arranged elastic clamping mechanisms; the elastic clamping mechanism comprises a telescopic drive arranged on the mounting frame in the horizontal direction, a horizontal pull rod connected to the moving end of the telescopic drive, a smooth surface arranged on the side of the pull rod close to the mounting frame, a wave surface arranged on the end of the pull rod away from the mounting frame, a plurality of jacks and slide rods arranged on the mounting frame in the direction of the pull rod, a first sliding groove provided on the jack for the pull rod to pass through, a first roller pivotally connected in the first sliding groove and rolling connected with the smooth surface, a second sliding groove provided on the slide rod for the pull rod to pass through, a second roller pivotally connected in the second sliding groove and rolling connected with the wave surface, the end of the slide rod away from the second sliding groove penetrating through the mounting frame and sliding connected therewith, and a push plate connected to the end of the slide rod away from the second sliding groove and used for pushing the clamping plate, and an elastic member arranged between the push plate and the mounting frame. The elastic member itself provides clamping force for the tray, the telescopic drive only needs to drive the pull rod to limit the slide rod, the device has low energy consumption, the elastic clamping mechanism itself has a simple structure, and thus the manufacturing and operation costs are reduced.

[0016] Preferably, the wave surface is one of a sine wave, a trapezoidal wave or a sawtooth wave, and the telescopic drive is any one of a pneumatic cylinder, an electric cylinder and an oil cylinder.

[0017] The preferred technical scheme is that the second tray carrier plate is provided with a locking mechanism for clamping the tray, so that the trays cannot be stuck and cannot be separated, and the separation efficiency between the trays is improved.

[0018] The preferred technical scheme is that the clamping end surfaces of the first supporting clamp plate, the second supporting clamp plate and the third supporting clamp plate are provided with clamping teeth capable of completely abutting the side edges of the tray, so that the stability of clamping the tray is improved.

[0019] The preferred technical scheme is that the mounting frame is provided with a bracket, the first tray carrier plate and the lifting mechanism are connected through a translation mechanism, the translation mechanism can drive the first tray carrier plate to move to the bracket, and the empty tray stacked in the bracket is used for transferring and storing, so that the empty tray is conveniently carried.

[0020] The preferred technical scheme is that the driving of the jacking mechanism and the translation mechanism is any one of a pneumatic cylinder, an electric cylinder and an oil cylinder.

[0021] The preferred technical scheme is that the first tray carrier plate and the second tray carrier plate are both provided with photoelectric sensors for identifying whether the tray is in place.

[0022] The preferred technical scheme is that the horizontal moving mechanism and the lifting mechanism are both driven by a servo motor through a belt and a speed reducer, so that the positioning accuracy of the tray is ensured when the tray is fed or discharged.

[0023] The preferred technical scheme is that the mounting frame is provided with an electromagnetic valve assembly and an IO module, so that the accuracy and stability of automatic control are improved.

[0024] Due to the above technical scheme, the present application has the following beneficial effects compared with the prior art:

[0025] 1) The second supporting clamp plate is used to lift the tray stack, the first supporting clamp plate is used to clamp and lift the tray except the lowermost tray, and then the second supporting clamp plate is opened to make the lowermost tray fall onto the second tray carrier plate by its own gravity to complete the separation, without using an external mechanical hand for assistance, so that the manufacturing cost of the equipment is greatly reduced.

[0026] 2) The third supporting clamp plate is used to clamp the empty tray on the horizontal moving and jacking assembly, and then the empty tray is stacked on the first tray carrier plate by its own gravity to complete the discharging, without using an external mechanical hand for assistance, so that the manufacturing cost of the equipment is greatly reduced.

[0027] 3) The servo motor is used to control the horizontal moving mechanism and the lifting mechanism, so that the positioning accuracy of the tray is improved.

[0028] 4) Use photoelectric sensors to monitor the loading and unloading of trays to ensure the stability of automated loading and unloading.

[0029] 5) Set up solenoid valve components and I / O modules to automate the control of the equipment, thereby improving the operating accuracy and stability of the equipment. Attached Figure Description

[0030] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is an isometric side view of an automatic tray loading and unloading device according to the present invention.

[0032] Figure 2 for Figure 1 A magnified view of a portion of point B in the middle;

[0033] Figure 3 This is a front view of an automatic tray loading and unloading device according to the present invention.

[0034] Figure 4 This is a top view of an automatic tray loading and unloading device according to the present invention.

[0035] Figure 5 for Figure 4 The cross-sectional view taken along AA.

[0036] In the attached diagrams above, 100 is the mounting frame; 1 is the feeding chute; 11 is the tray outlet; 2 is the first horizontal support clamping assembly; 21 is the first support clamping plate; 3 is the second horizontal support clamping assembly; 31 is the second support clamping plate; 4 is the third horizontal support clamping assembly; 41 is the third support clamping plate; 5 is the horizontal transplanting lifting assembly; 51 is the second tray carrier plate; 51a is the locking mechanism; 52 is the lifting mechanism; and 53 is the horizontal... 6. Moving mechanism; 7. Vertical lifting assembly; 8. First tray plate; 9. Lifting mechanism; 10. Bracket; 11. Translation mechanism; 12. Elastic clamping mechanism; 13. Telescopic drive; 14. Pull rod; 15. Top rod; 16. First slide rail; 17. First roller; 18. Slide rod; 19. Second slide rail; 10. Second roller; 10. Push plate; 11. Elastic element; 12. Photoelectric sensor; 13. Servo motor. Detailed Implementation

[0037] The following embodiments of the present application are illustrated by specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification.

[0038] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so as to describe the embodiments of the present application. In addition, the terms "include" and "have" and their synonyms, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0039] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0040] In addition, in addition to being used to indicate the orientation or positional relationship, the above-mentioned part of the terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0041] In addition, the terms "mount", "set", "provided with", "connected", "connected", "sleeved", "attached" should be broadly understood. For example, "connected" can be fixedly connected, detachably connected, or integrally constructed; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For example, "attached" can be completely attached or partially attached. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0043] Embodiment:

[0044] As Figure 1 , Figure 2 and Figure 3 disclose a tray automatic feeding and discharging equipment, comprising a mounting frame 100, the mounting frame 100 is sequentially provided with a feeding chute 1, a first horizontal supporting and clamping assembly 2, a second horizontal supporting and clamping assembly 3, a third horizontal supporting and clamping assembly 4, a horizontal transplanting jacking assembly 5 and a vertical lifting assembly 6 in the vertical direction, the main components of the utility model will be described below:

[0045] As Figure 1 , Figure 4 and Figure 5 indicate that the horizontal transplanting jacking assembly 5 comprises a second tray carrier plate 51, and a jacking mechanism 52 is arranged below the second tray carrier plate 51, the jacking mechanism 52 is installed on the mounting frame 100 through a horizontal moving mechanism 53, and the moving path of the horizontal moving mechanism 53 passes through the feeding and discharging areas of the tray respectively.

[0046] As Figure 1 , Figure 4 and Figure 5 indicate that the feeding chute 1 is arranged in the horizontal direction, and the bottom of the feeding chute 1 is provided with a tray discharge port 11, and the tray discharge port 11 is located above the moving path of the horizontal moving mechanism 53.

[0047] As Figure 1 , Figure 4 and Figure 5 indicate that the first horizontal supporting and clamping assembly 2 comprises first supporting and clamping plates 21 arranged on both sides of the tray discharge port 11 in the horizontal direction, and the upper end surface of the first supporting and clamping plates 21 is not higher than the bottom surface of the feeding chute 1.

[0048] As Figure 1 , Figure 4 and Figure 5 indicate that the second horizontal supporting and clamping assembly 3 comprises second supporting and clamping plates 31 arranged in the horizontal direction, and the second supporting and clamping plates 31 are located directly below the first supporting and clamping plates 21 and the distance between the two is less than or equal to the height of the tray.

[0049] As Figure 1 , Figure 4 and Figure 5 indicate that the third horizontal supporting and clamping assembly 4 comprises third supporting and clamping plates 41 arranged above the moving path of the horizontal moving mechanism 53 in the horizontal direction.

[0050] As Figure 1 , Figure 4 and Figure 5As shown, the vertical lifting assembly 6 comprises a first tray plate carrier 61 which is arranged opposite to the third supporting clamp plate 41 and is installed on the mounting frame 100 through a lifting mechanism 62.

[0051] Reference Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, the utility model uses the following method and principle: step one: the full tray stack is placed in the feeding chute 1, the tray stack is pushed to the tray discharge port 11 by manual or auxiliary device, the upper end surface of the first supporting clamp plate 21 supports the tray stack until the tray stack is completely in the range of the tray discharge port 11 and is no longer supported by the feeding chute 1.

[0052] Step two: the first supporting clamp plate 21 is opened so that the upper end surface no longer supports the tray stack, the tray stack falls to the second supporting clamp plate 31 and is supported by the upper end surface of the second supporting clamp plate 31, then the first supporting clamp plate 21 closes to clamp the remaining trays on the second supporting clamp plate 31, it should be noted that since the trays are stacked together, the distance between the first supporting clamp plate 21 and the second supporting clamp plate 31 should be less than the height of the tray to ensure that only one tray is separated on the second supporting clamp plate 31, and the actual distance should also refer to the actual overlapping height of the trays.

[0053] Step three: the horizontal moving mechanism 53 moves under the second supporting clamp plate 31, the lifting mechanism 52 rises to align the second tray plate carrier 51 with the tray on the second supporting clamp plate 31, then the second supporting clamp plate 31 is opened, the tray falls onto the second tray plate carrier 51 automatically, then the tray is sent to the feeding area by the horizontal moving mechanism 53 and the lifting mechanism 52 for positioning and arrangement.

[0054] Step four: when the feeding of the material in the tray is completed, the horizontal moving mechanism 53 moves under the third supporting clamp plate 41, the third supporting clamp plate 41 is opened, the lifting mechanism 52 rises to move the empty tray to between the third supporting clamp plate 41, then the third supporting clamp plate 41 clamps the empty tray and the horizontal moving mechanism 53 moves away, the lifting mechanism 62 drives the first tray plate carrier 61 to move directly below the empty tray, the third supporting clamp plate 41 is opened, and the empty tray falls onto the first tray plate carrier 61 to complete the unloading.

[0055] The utility model discloses a tray automatic feeding and discharging equipment does not need to use external mechanical hand, and the sectional bearing of tray stack is realized through the gap of first supporting clamping plate 21 and second supporting clamping plate 31, and the one-to-one separation of tray and tray stack is completed by using the gravity of tray itself, which has simple structure and low manufacturing cost.

[0056] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 indicated, to further reduce equipment cost, first supporting clamping plate 21, second supporting clamping plate 31 and third supporting clamping plate 41 are driven by independently arranged elastic clamping mechanism 7 respectively, elastic clamping mechanism 7 includes telescopic drive 71 arranged on mounting frame 100 in horizontal direction, the movement end of telescopic drive 71 is connected with horizontally arranged pull rod 72, the side of pull rod 72 close to mounting frame 100 is provided with smooth surface, the end of pull rod 72 away from mounting frame 100 is provided with wave surface, a plurality of top rods 73 and slide rods 74 are arranged on mounting frame 100 in the direction of pull rod 72 staggered, first sliding groove 73a for pull rod 74 is arranged on top rod 73, first roller shaft 73b is rotatably connected in first sliding groove 73a, first roller shaft 73b is rotatably connected with smooth surface, second sliding groove 74a for pull rod 72 is arranged on slide rod 74, second roller shaft 74b is rotatably connected in second sliding groove 74a, second roller shaft 74b is rotatably connected with wave surface, the end of slide rod 74 away from second sliding groove 74a is slidably connected with mounting frame 100 by penetrating mounting frame 100, the end of slide rod 74 away from second sliding groove 74a is connected with push plate 75 for pushing clamping plate, elastic element 76 is arranged between push plate 75 and mounting frame 100, and the overall structure of elastic clamping mechanism 7 is simple, and the manufacturing cost is low.

[0057] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 indicated, to ensure the stability of equipment operation, wave surface is one of sine wave, trapezoidal wave or sawtooth wave, and telescopic drive 71 is any one of air cylinder, electric cylinder and oil cylinder.

[0058] As Figure 1 、 Figure 3 、 Figure 4 and Figure 5 indicated, to ensure the stability of tray separation operation, locking mechanism 51a for clamping tray is arranged on second tray carrier plate 51, tray is clamped through locking mechanism 51a, the problem that tray is jammed between trays is avoided, and the positioning accuracy of tray on second tray carrier plate 51 is ensured.

[0059] AsFigure 1 , Figure 3 , Figure 4 and Figure 5 As shown, to improve the stability of the equipment, the clamping end faces of the first support plate 21, the second support plate 31 and the third support plate 41 are provided with locking teeth that can completely fit with the side of the tray, ensuring the stability of the tray clamping.

[0060] like Figure 1 , Figure 3 , Figure 4 and Figure 5 As shown, to facilitate the unloading of trays, the mounting frame 100 is provided with a bracket 63. The first tray carrier plate 61 is connected to the lifting mechanism 62 through a translation mechanism 64. The translation mechanism 64 can move the first tray carrier plate 61 to the bracket 63, where empty trays are stacked for easy loading and unloading.

[0061] like Figure 1 and Figure 5 As shown, to ensure the stability of equipment operation, the lifting mechanism 52 and the translation mechanism 64 are driven by any one of the following: pneumatic cylinder, electric cylinder, and hydraulic cylinder.

[0062] like Figure 5 As shown, to ensure the accuracy of equipment operation, photoelectric sensors 8 are provided on both the first tray plate 61 and the second tray plate 51.

[0063] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, to ensure the accuracy of equipment operation, both the horizontal moving mechanism 53 and the lifting mechanism 62 are driven by belts and reducers in conjunction with the servo motor 9.

[0064] like Figure 1 , Figure 2 and Figure 3 As shown, in order to improve the accuracy and stability of automated control, the mounting bracket 100 is equipped with a solenoid valve assembly and an I / O module to monitor and control the operation of the equipment.

[0065] Finally, it should be noted that the above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A tray automatic feeding and discharging device, comprising a mounting frame, characterized in that: The mounting frame is sequentially provided with an upper feeding slide, a first horizontal supporting and clamping assembly, a second horizontal supporting and clamping assembly, a third horizontal supporting and clamping assembly, a horizontal transplanting and jacking assembly and a vertical lifting assembly in the vertical direction, wherein: The horizontal transplanting and jacking assembly comprises a second tray plate carrier, and a jacking mechanism is arranged below the second tray plate carrier and mounted on the mounting frame through a horizontal moving mechanism, and the moving path of the horizontal moving mechanism passes through the upper feeding and lower feeding areas of the tray plate respectively; The upper feeding slide is arranged in the horizontal direction, and a tray plate discharge port is arranged at the bottom of the upper feeding slide and located above the moving path of the horizontal moving mechanism; The first horizontal supporting and clamping assembly comprises first supporting and clamping plates arranged on both sides of the tray plate discharge port in the horizontal direction, and the upper end surface of the first supporting and clamping plates is not higher than the bottom surface of the upper feeding slide; The second horizontal supporting and clamping assembly comprises second supporting and clamping plates arranged in the horizontal direction, and the second supporting and clamping plates are located directly below the first supporting and clamping plates and the distance between the second supporting and clamping plates and the first supporting and clamping plates is less than or equal to the height of the tray plate; The third horizontal supporting and clamping assembly comprises third supporting and clamping plates arranged above the moving path of the horizontal moving mechanism in the horizontal direction; The vertical lifting assembly comprises a first tray plate carrier, and the first tray plate carrier is arranged opposite to the third supporting and clamping plates and mounted on the mounting frame through a lifting mechanism.

2. The tray automatic feeding and discharging equipment according to claim 1, characterized in that: The first supporting and clamping plates, the second supporting and clamping plates and the third supporting and clamping plates are respectively driven by independently arranged elastic clamping mechanisms; the elastic clamping mechanism comprises a telescopic drive arranged on the mounting frame in the horizontal direction, a horizontal pull rod connected to the moving end of the telescopic drive, a smooth surface arranged on the side of the pull rod close to the mounting frame, a wave surface arranged on the end of the pull rod away from the mounting frame, a plurality of jacks and slide rods arranged on the mounting frame in the direction of the pull rod, a first sliding groove provided on the jack and through which the pull rod passes, a first roller rotatably connected in the first sliding groove and rollingly connected with the smooth surface, a second sliding groove provided on the slide rod and through which the pull rod passes, a second roller rotatably connected in the second sliding groove and rollingly connected with the wave surface, the end of the slide rod away from the second sliding groove penetrating through the mounting frame and slidingly connected with the mounting frame, a push plate connected to the end of the slide rod away from the second sliding groove and used for pushing the clamping plate, and an elastic member arranged between the push plate and the mounting frame.

3. The tray automatic loading and unloading equipment according to claim 2, characterized in that: The wave surface is one of a sine wave, a trapezoidal wave or a sawtooth wave, and the telescopic drive is any one of a pneumatic cylinder, an electric cylinder and an oil cylinder.

4. The tray automatic loading and unloading equipment according to claim 1, characterized in that: The second tray plate carrier is provided with a locking mechanism used for clamping the tray plate.

5. The tray automatic loading and unloading apparatus according to claim 1, characterized by: The clamping end surface of the first supporting and clamping plates, the second supporting and clamping plates and the third supporting and clamping plates is provided with a tooth that can completely fit the side edge of the tray plate.

6. The tray automatic loading and unloading apparatus according to claim 1, characterized by: The mounting frame is provided with a bracket, and the first tray board is connected with the lifting mechanism through a translation mechanism.

7. The tray automatic loading and unloading apparatus according to claim 6, characterized in that: The driving of the jacking mechanism and the translation mechanism is any one of a pneumatic cylinder, an electric cylinder and an oil cylinder.

8. The tray automatic loading and unloading apparatus according to claim 1, characterized by: The first tray board and the second tray board are both provided with photoelectric sensors.

9. The tray automatic loading and unloading apparatus according to claim 1, characterized by: The horizontal moving mechanism and the lifting mechanism are both driven by a servo motor in cooperation with a belt and a speed reducer.

10. The tray automatic loading and unloading apparatus according to claim 1, characterized by: The mounting frame is provided with a solenoid valve assembly and an io module.

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