Tray disc conveying device

Abstract

The utility model provides a tray conveying device, and belongs to the technical field of conveying mechanisms. The tray conveying device comprises a first conveying platform and a second conveying platform, the first conveying platform comprises a first movement mechanism and a tray, and the first movement mechanism is used for driving the tray to move in the first horizontal direction; the second conveying platform comprises a material receiving platform, a transfer lifting mechanism and a double-shaft movement mechanism, the material receiving platform is fixed to the top of the transfer lifting mechanism and used for bearing the tray in the tray located at the transfer position, and the transfer lifting mechanism is connected with the double-shaft movement mechanism; the double-shaft movement mechanism is used for driving the transfer lifting mechanism to move in the first horizontal direction and the second horizontal direction so that all products in the tray can be aligned to the grabbing mechanism, and a preset angle is formed between the second horizontal direction and the first horizontal direction. The tray conveying device disclosed by the utility model can meet the matching requirements of more types of grabbing mechanisms.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of conveying mechanisms, in particular to a tray conveying device. BACKGROUND

[0002] When chip products are manufactured, assembled or detected, they are usually loaded by chip trays (or called tray) and transferred by automatic conveying lines.

[0003] The existing tray conveying line usually carries the tray from the feeding position to the current working position through a feeding and discharging module and a conveying mechanism, and then sequentially grasps each chip product in the tray by a grasping mechanism. Generally, the products in the tray are arranged in a rectangular array (for example, in the x and y directions). In some special use scenarios, the space where the grasping mechanism is located is limited, and the driving mechanism that drives the grasping mechanism to move cannot be arranged. In order to cope with such scenarios, the existing technology sets the conveying line to drive the tray along the x direction, the grasping mechanism grasps a column of products along the y direction at a time, and then the conveying line drives the tray to continue moving, and the grasping mechanism sequentially grasps each column of products along the y direction. This way has a greater limitation on the grasping mechanism, and cannot adapt to more grasping mechanisms, such as a suction type grasping mechanism that can only suck a single product. CONTENT OF THE UTILITY MODEL

[0004] An object of the present application is to provide a tray conveying device that can reduce the requirements for the mechanisms cooperating therewith and meet the cooperation requirements of more forms of material grasping mechanisms.

[0005] Another object of the present application is to ensure the positional accuracy of the tray during the transfer process.

[0006] Embodiments of the present application provide a tray conveying device, comprising:

[0007] A first conveying platform comprising a first movement mechanism and a tray, the first movement mechanism being configured to drive the tray to move along a first horizontal direction, the first horizontal direction being provided with a feeding position, a discharging position and a transfer position, and the tray being configured to carry a tray;

[0008] A second conveying platform comprising a receiving platform, a transfer lifting mechanism and a double-shaft movement mechanism, the receiving platform being fixed to the top of the transfer lifting mechanism, the receiving platform being configured to receive the tray in the tray carried by the tray in the transfer position, the transfer lifting mechanism being connected to the double-shaft movement mechanism, the double-shaft movement mechanism being configured to drive the transfer lifting mechanism to move along the first horizontal direction and a second horizontal direction, so that each product in the tray is aligned with a material grasping mechanism, and the second horizontal direction is arranged at a preset angle with respect to the first horizontal direction.

[0009] Optionally, the tray includes a frame portion and a hollow portion vertically extending through the frame portion, one side of the frame portion is provided with a relief opening portion, the relief opening portion is in communication with the hollow portion, and the frame portion is used to support the tray;

[0010] The receiving platform passes through the hollow portion and the relief opening portion and moves in the first direction.

[0011] Optionally, the frame portion is formed with a first limiting structure for positioning the tray in the first horizontal direction and the second horizontal direction.

[0012] Optionally, the receiving platform is formed with a second limiting structure for positioning the tray in the first horizontal direction and the second horizontal direction.

[0013] Optionally, the tray is provided with a first position sensor for detecting whether the tray is located in the tray;

[0014] The receiving platform is provided with a second position sensor for detecting whether the tray is located at the receiving platform.

[0015] Optionally, the first conveying platform further includes a limiter arranged in the first horizontal direction for limiting the stroke of the tray.

[0016] Optionally, the first conveying platform further includes:

[0017] A feeding bin located above the feeding position;

[0018] A feeding lifting mechanism for vertically reciprocating through the hollow portion at the feeding position to receive the tray in the feeding bin;

[0019] A discharging bin located above the discharging position;

[0020] A discharging lifting mechanism for vertically reciprocating through the hollow portion at the discharging position to convey the tray to the discharging bin.

[0021] Optionally, the feeding bin and the discharging bin each have a vertically extending storage space so as to accommodate a plurality of trays arranged in a vertical stack.

[0022] Optionally, the bottom of the feeding bin and the discharging bin is respectively provided with a first locking structure and a second locking structure for supporting the tray, in the feeding bin discharging state, the first locking structure is in an unlocked state, and in the discharging bin returning material state, the second locking structure is in an unlocked state.

[0023] Optionally, a third position sensor for detecting the tray is provided at the bottom of the feeding hopper, and a fourth position sensor for detecting the tray is provided at the top of the discharging hopper.

[0024] According to a first aspect of this invention, the tray conveyor device modifies the existing linear conveyor line into a segmented structure, namely a first conveyor platform and a second conveyor platform. The two platforms are connected via a receiving platform and a transfer lifting mechanism to transfer the tray. Then, a dual-axis motion mechanism moves the tray, allowing each product within the tray to align sequentially with the gripping mechanism, enabling the gripping mechanism to pick up the product and proceed to the next process. This type of conveyor device reduces the requirements for its cooperating mechanisms and can meet the cooperation requirements of more diverse gripping mechanisms.

[0025] According to a second aspect of this utility model, by setting the tray to a hollow structure, the receiving platform can smoothly pass through its hollow part, smoothly lift the tray, and then move it away from one side in the first horizontal direction, thereby realizing the transfer of the tray.

[0026] Furthermore, the design of the first and second limiting structures ensures the accuracy of the tray's position during the transfer process. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a tray disk transmission device according to an embodiment of the present invention;

[0028] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0029] Figure 3 This is a schematic diagram of the structure of the tray of a tray transfer device according to an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of a tray transfer device according to another embodiment of the present invention;

[0031] Figure 5 for Figure 4 A cross-sectional view of the tray transfer device in the image;

[0032] Figure 6 for Figure 5 A magnified view of a section at point B in the middle;

[0033] Figure 7 for Figure 5 A magnified view of a section at point C.

[0034] Figure label:

[0035] 100 - first conveying platform, 10 - first movement mechanism, 11 - track, 12 - sliding block, 13 - first driving mechanism, 20 - tray, 21 - frame part, 211 - horizontal part, 212 - vertical part, 213 - first limiting surface, 214 - second limiting surface, 22 - hollow part, 23 - first limiting structure, 24 - avoiding opening part, 231 - first side surface, 232 - second side surface, 200 - second conveying platform, 30 - receiving platform, 31 - second limiting structure, 40 - transfer lifting mechanism, 50 - double-shaft movement mechanism, 51 - second movement mechanism, 52 - third movement mechanism, 61 - first position sensor, 62 - second position sensor, 63 - first limiting buffer, 64 - second limiting buffer, 65 - third position sensor, 66 - fourth position sensor, 71 - feeding bin, 72 - feeding lifting mechanism, 73 - discharging bin, 74 - discharging lifting mechanism, 701 - supporting plate, 80 - first locking structure, 81 - locking plate, 82 - horizontal movement driving mechanism, 90 - second locking structure, 91 - fixed plate, 92 - locking tongue plate, 921 - inclined surface, 93 - return spring. DETAILED DESCRIPTION

[0036] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, in order to facilitate the description, only the parts related to the present application are shown in the drawings, and not all the structures. 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.

[0037] Herein the word "exemplary" is used to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0038] In addition, in order to better illustrate the present application, a large number of specific details are given in the specific embodiments hereinafter. Those skilled in the art should understand that the present application can also be implemented without certain specific details. In some examples, methods, means, elements and circuits well known to those skilled in the art are not described in detail, in order to highlight the main idea of the present disclosure.

[0039] It should be understood that the term "and / or" herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " herein represents that the front and rear associated objects are in an "or" relationship.

[0040] The "multiple" appearing in the embodiments of the present application refers to two or more than two. The first, second, and the like appearing in the embodiments of the present application are only for illustration and distinction of the described objects, and do not have order, nor represent a special limitation on the number in the embodiments of the present application, and cannot constitute any limitation on the embodiments of the present application.

[0041] Figure 1 A structural schematic diagram of a tray conveying device according to an embodiment of the present application. As shown in the figure, Figure 1 In an embodiment, the tray conveying device includes a first conveying platform 100 and a second conveying platform 200. The first conveying platform 100 includes a first movement mechanism 10 and a tray 20, and the first movement mechanism 10 is used to drive the tray 20 to move along a first horizontal direction (i.e. Figure 1 X direction in the figure). The tray 20 is used to carry a tray, and the tray stores a plurality of chip products, for example, arranged in a rectangular array. As shown in the figure, Figure 1 The first horizontal direction forms a feeding position W1, a discharging position W2, and a transfer position W3. The feeding position W1 is the position where the tray is transferred to the tray return position by the previous process, the discharging position W2 is the discharging position of the tray conveying device, and the transfer position W3 is the transfer position of the first conveying platform 100 and the second conveying platform 200. The second conveying platform 200 includes a receiving platform 30, a transfer lifting mechanism 40, and a double-axis movement mechanism 50. The receiving platform 30 is fixed to the top of the transfer lifting mechanism 40, and the receiving platform 30 is used to receive the tray in the tray in the transfer position. The transfer lifting mechanism 40 is connected with the double-axis movement mechanism 50, and the double-axis movement mechanism 50 is used to drive the transfer lifting mechanism 40 to move along the first horizontal direction and a second horizontal direction, so that each product in the tray is aligned with a grabbing mechanism. The second horizontal direction is arranged at a preset angle with the first horizontal direction, and the present application does not limit the preset angle.

[0042] In the embodiment, the first horizontal direction is perpendicular to the second horizontal direction (see Figure 1 Y direction in the figure). The grabbing mechanism here can include but is not limited to a suction device and a mechanical hand and the like.

[0043] The tray conveying device of the embodiment sets the existing straight line type conveying line into a segmented structure, that is, a first conveying platform 100 and a second conveying platform 200, the two platforms are connected through a receiving platform 30 and a transfer lifting mechanism 40 to transfer the tray, and then the tray is moved through a double shaft movement mechanism 50, so that each product in the tray can be aligned with the grabbing mechanism in turn, so that the grabbing mechanism can grab the product and then operate the next process. The transmission device of this form reduces the requirements of the mechanism matched therewith, and can meet the cooperation requirements of more forms of grabbing mechanisms.

[0044] As shown in Figure 1 , in one embodiment, the first movement mechanism 10 includes two slide rail mechanisms arranged along the width direction of the tray 20, the slide rail mechanism includes a slidingly matched track 11 and a sliding block 12, the sliding block 12 is fixed to the bottom of the tray 20, and the sliding block 12 is driven by a first driving mechanism 13. The first driving mechanism 13 can be a linear motor, a ball screw or other commonly used movement driving mechanism, and the transfer lifting mechanism 40 can be a cylinder, a linear motor or other lifting driving mechanism, which is not limited here. The double shaft movement mechanism 50 includes a second movement mechanism 51 and a third movement mechanism 52, the transfer lifting mechanism 40 is fixedly connected with a moving part of the second movement mechanism 51; the second movement mechanism 51 and the third movement mechanism 52 are similar to the first movement mechanism 10, and can adopt matched slide rails and corresponding linear driving mechanisms, which will not be described here.

[0045] Figure 2 is Figure 1 a partial enlarged view of A in the middle. Figure 3 is a structural schematic view of the tray 20 of the tray conveying device according to one embodiment of the utility model. As shown in Figure 3 , the tray 20 includes a frame part 21 and a hollow part 22 vertically penetrating the frame part 21, the frame part 21 is provided with an avoiding opening part 24 on one side, the avoiding opening part 24 is communicated with the hollow part 22, and the frame part 21 is used for supporting the tray. As shown in Figure 2 , the transfer lifting mechanism 40 and the double shaft movement mechanism 50 can drive the receiving platform 30 to pass through the hollow part 22 and the avoiding opening part 24 and move along the first horizontal direction. Further, the frame part 21 is formed with a first limiting structure 23 for positioning the tray in the first horizontal direction and the second horizontal direction. In the embodiment, as shown in Figure 3As shown, the frame part 21 is provided in a "C" shape, i.e. including a horizontal part 211 and two vertical parts 212, the first limiting structure 23 is a recess formed on the two vertical parts 212, the recess is adapted to the shape of the tray, the two opposite first side surfaces 231 of the recess are used to limit the freedom of the tray in the first horizontal direction, and the two opposite second side surfaces 232 of the recess are used to limit the freedom of the tray in the second horizontal direction.

[0046] As shown in the drawings, Figure 2 The receiving platform 30 is formed with a second limiting structure 31 for positioning the tray in the first horizontal direction and the second horizontal direction; the second limiting structure 31 is a baffle strip protruding around the top surface of the receiving platform 30. Of course, in other embodiments not shown, the first limiting structure 23 or the second limiting structure 31 can be a protruding structure, which can be a continuous strip or a protrusion arranged at intervals, and the first limiting structure 23 or the second limiting structure 31 can also be a recess, which is not limited here.

[0047] In this embodiment, the tray 20 is provided in a hollow structure, so that under the driving of the transfer lifting mechanism 40, the receiving platform 30 can smoothly pass through the hollow part 22, smoothly lift the tray, and then under the driving of the double-axis movement mechanism 50, move away from the first horizontal direction through the avoiding opening part 24, thereby realizing the transfer of the tray.

[0048] Further, the first limiting structure 23 and the second limiting structure 31 can ensure the accuracy of the position of the tray during the transfer.

[0049] In a further embodiment, as shown in the drawings, Figure 2 The tray 20 is provided with a first position sensor 61 for detecting whether the tray is located in the tray 20. The receiving platform 30 is provided with a second position sensor 62 for detecting whether the tray is located at the receiving platform 30. Thus, the subsequent automatic control is facilitated.

[0050] In an embodiment, as shown in the drawings, Figure 1 The first transmission platform 100 further includes a limiting device arranged in the first horizontal direction, for limiting the stroke of the tray 20.

[0051] Further, the limiting device includes a first limiting buffer 63 and a second limiting buffer 64, which are arranged between the two slide rail mechanisms and correspond to the horizontal part 211 of the tray 20. When the tray 20 moves to the first limit position, the first limiting surface 213 of the tray 20 is in contact with the first limiting buffer 63; when the tray 20 moves to the second limit position, the second limiting surface 214 of the tray 20 is in contact with the second limiting buffer 64.

[0052] In other embodiments, the limiter can be a sensor for detecting the moving position of the tray 20, and the limiter is disposed on the travel stroke of the tray 20. Further, when the limiter detects that the tray 20 has moved to a first extreme position, it controls the first motion mechanism 10 to stop abruptly, thereby limiting the tray 20 at the first extreme position; when the limiter detects that the tray 20 has moved to a second extreme position, it controls the first motion mechanism 10 to stop abruptly, thereby limiting the tray 20 at the second extreme position, thus providing a protective limiting function.

[0053] Figure 4 This is a schematic diagram of a tray transfer device according to another embodiment of the present invention. Figure 4 As shown, in another embodiment, the first transfer platform 100 further includes a feeding bin 71, a loading lifting mechanism 72, a discharging bin 73, and a unloading lifting mechanism 74. The feeding bin 71 is located above the loading position. The loading lifting mechanism 72 is used to reciprocate vertically through the hollow portion 22 at the loading position to receive the tray in the feeding bin 71. The discharging bin 73 is located above the unloading position. The unloading lifting mechanism 74 is used to reciprocate vertically through the hollow portion 22 at the unloading position to transfer the tray to the discharging bin 73. Here, both the loading lifting mechanism 72 and the unloading lifting mechanism 74 include a top support plate 701 and a lifting drive mechanism connected to the support plate 701. The lifting drive mechanism can be a cylinder.

[0054] Figure 5 for Figure 4 A cross-sectional view of the tray transfer device. Figure 6 for Figure 5 A magnified view of a section at point B. Figure 7 for Figure 5 A magnified view of section C. Furthermore, both the feeding bin 71 and the discharging bin 73 have vertically extending storage spaces to accommodate multiple trays arranged vertically in a stacked manner. The bottoms of the feeding bin 71 and the discharging bin 73 are respectively provided with a first locking structure 80 and a second locking structure 90 for supporting the trays. When the feeding bin 71 is discharging material, the first locking structure 80 is in an unlocked state; when the discharging bin 73 is returning material, the second locking structure 90 is in an unlocked state.

[0055] In one embodiment, such as Figure 6 As shown, the first locking structure 80 includes a locking plate 81 and a transverse drive mechanism 82 connected to each other. The transverse drive mechanism 82 is used to drive the locking plate 81 to move repeatedly along the first horizontal direction, so that the locking plate 81 is in a locked state when it protrudes from the inner wall of the feeding bin 71, and in an unlocked state when it does not protrude from the inner wall of the feeding bin 71.

[0056] In one embodiment, such asFigure 7 As shown, the second locking structure 90 includes a fixed plate 91, a lock tongue plate 92 hinged to the fixed plate 91, and a reset spring 93 provided between the free end of the lock tongue plate 92 and the fixed plate 91. When the reset spring 93 is in the initial state, the lock tongue plate 92 protrudes out of the discharge bin 73 to form a locking state, supporting the bottom of all tray discs. The bottom surface of the lock tongue plate 92 is formed as an inclined surface 921. When the bottom of the discharge bin 73 has a tray disc coming in, i.e., when the tray disc on the tray 20 lifted by the unloading lifting mechanism 74 moves to the storage space of the discharge bin 73, the tray disc can push the inclined surface 921 of the lock tongue plate 92, so that the reset spring 93 is compressed, and the lock tongue plate 92 is retracted to not protrude out of the inner wall of the discharge bin 73, forming an unlocking state. After the tray disc is located above the lock tongue plate 92, the lock tongue plate 92 is reset, and the unloading lifting mechanism 74 is lowered.

[0057] It should be noted that the projection of the lock tongue plate 92 and the locking plate 81 in the vertical direction should not overlap the supporting plate 701, so as to smoothly move out of the supporting plate 701 when the feeding or unloading is completed. The projections of the tray 20 and the supporting plate 701 in the vertical direction do not overlap, so as to lift and lower the supporting plate 701 in the hollow portion 22 of the tray 20.

[0058] Further, the bottom of the feeding bin 71 is provided with a third position sensor 65 for detecting the tray disc, and the top of the discharge bin 73 is provided with a fourth position sensor 66 for detecting the tray disc.

[0059] The third position sensor 65 can assist in determining whether there is still a tray disc in the feeding bin 71, so as to remind the staff to supplement the tray disc. The fourth position sensor 66 can assist in determining whether the discharge bin 73 is full, so as to remind the staff to take away all the tray discs.

[0060] The working process of the tray disc conveying device of the present application is as follows:

[0061] Feeding: The tray 20 is moved to the feeding position, the feeding lifting mechanism 72 is raised to the top surface of the supporting plate 701 abutting against the bottom surface of the lowermost tray disc of the feeding bin 71, while the first locking structure 80 is controlled to be unlocked, the feeding lifting mechanism 72 is lowered by a distance of the thickness of a tray disc, the first locking structure 80 is controlled to be locked, and the feeding lifting mechanism 72 continues to be lowered until the tray disc thereon falls to the tray 20 at the feeding position;

[0062] Transportation: the first movement mechanism 10 drives the tray 20 to move to the transfer position, the transfer lifting mechanism 40 drives the receiving platform 30 to rise, the tray at the receiving platform 30 is received, the biaxial movement mechanism 50 drives the receiving platform 30 to move to the position below the grabbing mechanism, and the tray 20 is sequentially moved to the position where each chip product is aligned with the grabbing mechanism, so that the grabbing mechanism grabs the chip product to operate (for example, detection, assembly, processing and the like).

[0063] Discharge: after the related detection operation is completed, the grabbing mechanism puts the chip product back to the tray, the biaxial movement mechanism 50 drives the receiving platform 30 to move to the transfer position, the transfer lifting mechanism 40 is lowered, so that the tray falls to the tray 20, the first movement mechanism 10 drives the tray 20 to move to the discharge position, the discharge lifting mechanism 74 is raised, so that the tray pushes open the second locking structure 90, the second locking structure 90 is automatically reset, the discharge lifting mechanism 74 is lowered, and the material returning is completed.

[0064] The above-mentioned embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it cannot be understood as the limitation of the scope of the present application patent. It should be pointed out that, for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A tray transfer device, characterized by, The application relates to a tray conveying device. The tray conveying device comprises a first conveying platform and a tray, wherein the first conveying platform is used for driving the tray to move along a first horizontal direction, and the first horizontal direction is provided with a feeding position, a discharging position and a transfer position; the tray is used for carrying a tray disc. The tray conveying device further comprises a second conveying platform, a transfer lifting mechanism and a double-shaft moving mechanism, wherein the second conveying platform is fixed to the top of the transfer lifting mechanism, the second conveying platform is used for receiving the tray disc in the tray located at the transfer position, the transfer lifting mechanism is connected with the double-shaft moving mechanism, the double-shaft moving mechanism is used for driving the transfer lifting mechanism to move along the first horizontal direction and a second horizontal direction, so that each product in the tray disc is aligned with a grabbing mechanism, and the second horizontal direction is arranged at a preset angle with the first horizontal direction.

2. The tray conveying apparatus according to claim 1, wherein The tray comprises a frame part and a hollow part vertically penetrating the frame part, one side of the frame part is provided with a avoiding opening part, the avoiding opening part is communicated with the hollow part, and the frame part is used for supporting the tray disc. The second conveying platform penetrates the hollow part and the avoiding opening part and moves along the first horizontal direction.

3. The tray conveying apparatus of claim 2, wherein The frame part is provided with a first limiting structure for positioning the tray disc along the first horizontal direction and the second horizontal direction.

4. The tray conveying apparatus of claim 2, wherein The second conveying platform is provided with a second limiting structure for positioning the tray disc along the first horizontal direction and the second horizontal direction.

5. The tray conveying apparatus according to any one of claims 1 to 4, characterized by The tray is provided with a first position sensor for detecting whether the tray disc is located in the tray. The second conveying platform is provided with a second position sensor for detecting whether the tray disc is located at the second conveying platform.

6. The tray conveying apparatus according to any one of claims 1 to 4, characterized by The first conveying platform further comprises a limiter arranged along the first horizontal direction and used for limiting the stroke of the tray.

7. The tray conveying apparatus according to any one of claims 2 to 4, characterized by The first conveying platform further comprises: A feeding bin located above the feeding position; A feeding lifting mechanism used for reciprocally moving vertically through the hollow part at the feeding position to receive the tray disc in the feeding bin; A discharging bin located above the discharging position; A discharging lifting mechanism used for reciprocally moving vertically through the hollow part at the discharging position to convey the tray disc to the discharging bin.

8. The tray conveying apparatus of claim 7, wherein The feeding bin and the discharging bin are both provided with a storage space extending vertically, so as to accommodate a plurality of tray discs arranged vertically and in layers.

9. The tray conveying apparatus of claim 7, wherein, The bottom of the feeding bin and the discharging bin is respectively provided with a first locking structure and a second locking structure for supporting the tray disc, in the feeding state of the feeding bin, the first locking structure is in an unlocked state, and in the discharging state of the discharging bin, the second locking structure is in an unlocked state.

10. The tray conveying apparatus of claim 7, wherein, The bottom of the feeding bin is provided with a third position sensor for detecting the tray disc, and the top of the discharging bin is provided with a fourth position sensor for detecting the tray disc.

Images