A fully automatic intelligent plating device

Abstract

This utility model discloses a fully automatic intelligent tray-stacking device, including a base, a parallel and symmetrical first support frame and a second support frame, a tray loading module and a tray unloading module, a first tray-stacking assembly and a second tray-stacking assembly, an incoming material conveying assembly and an outgoing material conveying assembly located below the first and second support frames, an electrical control module connecting the first and second support frames, and a first material imaging module located below the first tray-stacking assembly and a second material imaging module located below the second tray-stacking assembly. This utility model, through its rationally designed and compact tray loading module, tray unloading module, incoming material conveying assembly, outgoing material conveying assembly, first tray-stacking assembly, and second tray-stacking assembly, and simultaneously compatible with different types and specifications of incoming and outgoing trays, achieves intelligent and automatic tray-stacking of materials of different types and specifications.

Description

Technical Field

[0001] This utility model relates to the field of material tray placement technology for electronic circuit boards, and in particular to a fully automatic intelligent tray placement device. Background Technology

[0002] With the continuous improvement and advancement of FPC (Flexible Printed Circuit) technology, the materials used in the FPC field are becoming increasingly diverse. Traditional mechanical positioning methods are insufficient in precision, easily leading to surface damage. Furthermore, FPCs themselves contain components, and due to their thin and easily deformable material, existing clamping mechanisms have poor adaptability. Switching between multiple FPC specifications requires manual parameter adjustments, resulting in low efficiency and unsatisfactory performance. Unintelligent tray path planning also leads to excessively long cycle times. Moreover, with the continuous improvement of automation levels in China, new requirements are being placed on machine size and placement accuracy.

[0003] Therefore, it is necessary to design a highly accurate and fast fully automatic intelligent tray-stacking device that can meet the demand for more intelligent automatic tray-stacking of materials of different types and specifications on the same equipment. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a fully automatic intelligent tray-stacking device that can automatically and intelligently tray different types and specifications of materials.

[0005] To solve the technical problem of this utility model, this utility model discloses a fully automatic intelligent tray-stacking device, including a base, a first support frame and a second support frame parallel and symmetrically mounted above the base, a tray-stacking loading module fixed to the first side wall of the base and the first support frame, a tray-stacking unloading module fixed to the first side wall of the base and the second support frame, an incoming material conveying component and an outgoing material conveying component fixed to the base and located below the first support frame and the second support frame, a first tray-stacking component fixed to the second side wall of the first support frame, a second tray-stacking component fixed to the second side wall of the second support frame, an electrical control module fixed to the base and connecting the first support frame and the second support frame, and a first material imaging module fixed to the base and located below the first tray-stacking component and a second material imaging module located below the second tray-stacking component; the first side wall faces the outside of the base; the second side wall faces the inside of the base;

[0006] The tray loading module includes a feeding assembly and a discharging assembly fixed on the base and located at both ends below the first support frame, and a feeding gripper assembly and a discharging gripper assembly fixed on the first side wall of the first support frame and located above the feeding assembly and the discharging assembly, respectively. The feeding assembly carries a tray containing material and moves vertically back and forth below the first support frame. The discharging assembly carries an empty tray and moves vertically back and forth below the first support frame. The feeding gripper assembly moves vertically back and forth below the first support frame and above the feeding assembly, picking up the tray containing material from the feeding assembly and placing it on the feeding conveyor assembly. The discharging gripper assembly moves vertically back and forth below the first support frame and above the feeding assembly, picking up the empty tray from the feeding assembly and placing it on the discharging conveyor assembly.

[0007] The tray feeding module includes a feeding assembly and a discharging assembly fixed on the base and located at both ends below the second support frame, and a feeding gripper assembly and a discharging gripper assembly fixed on the first side wall of the second support frame and located above the feeding assembly and the discharging assembly, respectively. The feeding assembly carries an empty feeding tray and moves vertically back and forth below the second support frame. The discharging assembly carries a discharging tray containing material and moves vertically back and forth below the second support frame. The feeding gripper assembly moves vertically back and forth below the second support frame and above the feeding assembly, picking up the empty feeding tray from the feeding conveyor assembly and placing it on the feeding assembly. The discharging gripper assembly moves vertically back and forth below the second support frame and above the discharging conveyor assembly, picking up the discharging tray containing material from the discharging conveyor assembly and placing it on the discharging assembly.

[0008] The material conveying component can move back and forth in a straight line below the material loading gripper component and the material unloading gripper component, and above the material feeding component and the material unloading component; the material conveying component transports the material tray containing the material on the material feeding component to below the first material balancing component, the second material balancing component and the material unloading gripper component, and after the material unloading gripper component picks up the material tray, it returns to below the material loading gripper component;

[0009] The material feeding and conveying assembly moves in a straight line back and forth below the material feeding and loading gripper assembly and the material feeding and unloading gripper assembly, and above the material feeding and unloading assembly. The material feeding and conveying assembly transports the material feeding tray on the material feeding and loading assembly to the area below the first material swing assembly, the second material swing assembly, and the material feeding and unloading gripper assembly. After the material feeding and unloading gripper assembly picks up the material feeding tray, it returns to the area below the material feeding and loading gripper assembly.

[0010] The first and second material handling components are fixed parallel and symmetrically to the second sidewalls of the first and second support frames, respectively, and move back and forth in a straight line along the axial direction of the first and second support frames, respectively. The first and second material handling components can successively pick up the material from the material receiving tray on the material receiving conveyor component, move it above the material discharging conveyor component, place the material on the material discharging tray of the material discharging conveyor component, and automatically adjust the spacing between the multiple suction heads on the material according to the shape and size of the material.

[0011] The first material imaging module and the second material imaging module are fixed parallel and symmetrically on the base and located between the incoming material conveying component and the unloading material conveying component; the first material imaging module and the second material imaging module can detect the material picked up by the first and second material lifting components and determine the angle, direction and quality of the material.

[0012] Furthermore, the first support frame and the second support frame include a first column and a second column vertically fixed on the base, and a crossbeam horizontally mounted on the first column and the second column. The crossbeam includes a first sidewall facing outward from the base and a second sidewall facing inward from the base.

[0013] Furthermore, the material feeding assembly and the material unloading assembly are symmetrical structures, including a material feeding base plate fixed on the machine base, a material feeding motor fixed below the material feeding base plate, a material feeding adjustment assembly connected to the material feeding motor fixed above the material feeding base plate, material feeding upright plates vertically fixed on the material feeding adjustment assembly and located at the four corners, a material feeding optical fiber and a material feeding cylinder fixed at the top of the material feeding upright plate, and a material feeding carrying drive assembly vertically fixed on the material feeding base plate.

[0014] The material receiving adjustment assembly includes a material receiving linear guide rail fixed to the material receiving base plate, a material receiving slide plate movably connected to the material receiving linear guide rail and movable along the material receiving linear guide rail, a material receiving fixing plate fixed to the material receiving linear guide rail, a material receiving adjustment belt fixed to the material receiving base plate and connected to the material receiving slide plate, and a material receiving adjustment synchronous pulley fixed to the material receiving base plate and connected to the material receiving adjustment belt and the material receiving motor; the material receiving adjustment assembly is used to adjust the spacing between the material receiving uprights according to the size of the material receiving tray; the material receiving uprights include two first material receiving uprights fixed to both ends of the material receiving slide plate and two second material receiving uprights fixed to both ends of the material receiving fixing plate;

[0015] The material receiving drive assembly includes a material receiving drive module vertically fixed to the material receiving base plate and a material receiving movable plate vertically fixed to the material receiving drive module and parallel to the material receiving base plate; the material receiving movable plate is used to carry the material receiving tray and can move linearly back and forth in the vertical direction under the drive of the material receiving drive module.

[0016] The incoming optical fiber is installed at the top of any incoming material stand and can pass through the incoming material stand to contact the incoming material tray, used to detect whether the uppermost incoming material tray containing materials has reached the preset tray retrieval position.

[0017] Furthermore, the feeding assembly and the unloading assembly are symmetrical structures, including a feeding base plate fixed on the machine base, a feeding motor fixed below the feeding base plate, a feeding adjustment assembly connected to the feeding motor fixed above the feeding base plate, feeding upright plates vertically fixed on the feeding adjustment assembly and located at the four corners, feeding optical fiber and feeding cylinder fixed at the top of the feeding upright plates, and a feeding bearing drive module vertically fixed on the feeding base plate.

[0018] The feeding adjustment assembly includes a feeding linear guide rail fixed to the feeding base plate, a feeding slide plate movably connected to the feeding linear guide rail and movable along the feeding linear guide rail, a feeding fixing plate fixed to the feeding linear guide rail, a feeding adjustment belt fixed to the feeding base plate and connected to the feeding slide plate, and a feeding adjustment synchronous pulley fixed to the feeding base plate and connected to the feeding adjustment belt and the feeding motor; the feeding adjustment assembly is used to adjust the spacing between the feeding uprights according to the size of the feeding tray; the feeding uprights include two first feeding uprights fixed to both ends of the feeding slide plate and two second feeding uprights fixed to both ends of the feeding fixing plate.

[0019] The material feeding and carrying drive assembly includes a material feeding drive module vertically fixed to the material feeding base plate and a material feeding movable plate vertically fixed to the material feeding drive module and parallel to the material feeding base plate; the material feeding movable plate is used to carry the material feeding tray and can move linearly back and forth in the vertical direction under the drive of the material feeding drive module.

[0020] The feeding optical fiber is installed at the top of any of the feeding uprights and can pass through the feeding uprights to contact the feeding tray, used to detect whether the uppermost feeding tray has reached the preset tray retrieval position.

[0021] Furthermore, the material feeding gripper assembly and the material unloading gripper assembly are symmetrical structures, including a material feeding gripper fixing plate fixed on the first side wall, a material feeding gripper adjusting assembly fixed on the material feeding gripper fixing plate, a material feeding gripper motor fixed on the material feeding gripper fixing plate and connected to the material feeding gripper adjusting assembly, a material feeding gripper rolling screw connected to the material feeding gripper adjusting assembly and passing through the material feeding gripper fixing plate from top to bottom, a material feeding gripper lifting plate fixed at the bottom of the material feeding gripper rolling screw, and a material feeding gripper suction head fixed on the material feeding gripper lifting plate and extending outward.

[0022] The feed gripper's rolling screw can move vertically in a straight line under the drive of the feed gripper adjustment assembly, while simultaneously moving the feed gripper lifting plate and the feed gripper suction head together.

[0023] The material receiving gripper adjustment assembly includes a material receiving gripper timing wheel fixed on the material receiving gripper fixing plate and connected to the material receiving gripper motor, and a material receiving gripper timing belt connected to the material receiving gripper timing wheel;

[0024] The incoming material gripper rolling screw includes a first screw located in the middle of the incoming material gripper fixing plate and connected to the incoming material gripper synchronous wheel, a second screw and a third screw located at both ends of the incoming material gripper fixing plate, and a first crossbar connecting the top ends of the first screw, the second screw and the third screw.

[0025] Furthermore, the feeding and unloading gripper assembly and the unloading gripper assembly are symmetrical structures, including a feeding gripper fixing plate fixed on the first side wall, a feeding gripper adjusting assembly fixed on the feeding gripper fixing plate, a feeding gripper motor fixed on the feeding gripper fixing plate and connected to the feeding gripper adjusting assembly, a feeding gripper rolling screw connected to the feeding gripper adjusting assembly and passing through the feeding gripper fixing plate from top to bottom, a feeding gripper lifting plate fixed on the bottom of the feeding gripper rolling screw, and a feeding gripper suction head fixed on the feeding gripper lifting plate;

[0026] The feeding gripper's rolling screw can move vertically in a straight line under the drive of the feeding gripper adjustment assembly, while simultaneously moving the feeding gripper lifting plate and the feeding gripper suction head together.

[0027] The material feeding gripper adjustment assembly includes a material feeding gripper timing wheel fixed on the material feeding gripper fixing plate and connected to the material feeding gripper motor, and a material feeding gripper timing belt connected to the material feeding gripper timing wheel;

[0028] The feeding gripper rolling screw includes a fourth screw located in the middle of the feeding gripper fixing plate and connected to the feeding gripper synchronous wheel, a fifth screw and a sixth screw located at both ends of the feeding gripper fixing plate, and a second crossbar connecting the top ends of the fourth screw, the fifth screw and the sixth screw.

[0029] Furthermore, the material conveying assembly includes a material conveying guide rail fixed on the base, a material carrying module movably connected to the material conveying guide rail, and a material conveying motor connected to the material conveying guide rail; the material conveying guide rail drives the material carrying module to move linearly back and forth along the material conveying guide rail under the drive of the material conveying motor.

[0030] Furthermore, the feeding and conveying assembly includes a feeding and conveying guide rail fixed on the base, a feeding and carrying module movably connected to the feeding and conveying guide rail, and a feeding and conveying motor connected to the feeding and conveying guide rail; the feeding and conveying guide rail drives the feeding and carrying module to move linearly back and forth along the feeding and conveying guide rail under the drive of the feeding and conveying motor.

[0031] Furthermore, the first and second material placement components are symmetrical structures, including a material placement guide rail fixed axially along the second sidewall, a material placement fixing plate movably connected to the material placement guide rail, a material placement motor connected to the material placement guide rail, a blade motor module and a Mark camera module fixed on the front side of the material placement fixing plate, and a material placement adjustment module fixed on the back side of the material placement fixing plate and passing through the material placement fixing plate and connected to the blade motor module.

[0032] The material handling adjustment module includes a material handling adjustment motor fixed on the material handling fixing plate, a material suction adjustment synchronous pulley connected to the material handling adjustment motor, and a material suction adjustment synchronous belt connected to the material suction adjustment synchronous pulley;

[0033] The blade motor module includes a blade motor slide rail fixed to the material swaying plate and axially fixed along the material swaying guide rail, a blade motor slide plate movably connected to the blade motor slide rail and passing through the material swaying plate to connect to the suction adjusting synchronous wheel, a first blade motor fixed on the blade motor slide plate and vertically fixed, a second blade motor fixed on the blade motor slide rail and vertically fixed, and a first suction head and a second suction head respectively fixed to the bottom ends of the first blade motor and the second blade motor.

[0034] Furthermore, the feeding assembly and the unloading assembly also include a feeding adjustment screw, and the feeding assembly and the unloading assembly also include a unloading adjustment screw. The feeding adjustment screw and the unloading adjustment screw are used to adjust the horizontal parallelism.

[0035] Compared with the prior art, the present invention has the following beneficial effects: The present invention has a reasonable layout and compact structure of a tray loading module, a tray unloading module, an incoming material conveying component, an outgoing material conveying component, a first tray loading component and a second tray loading component, and is compatible with different types and specifications of incoming and outgoing trays, so as to realize intelligent automatic tray loading of materials of different types and specifications. Attached Figure Description

[0036] Figure 1 This is a structural diagram of the outer shell of the fully automatic intelligent tray-stacking device according to an embodiment of the present utility model;

[0037] Figure 2 This is a three-dimensional structural diagram of the fully automatic intelligent tray-stacking device according to an embodiment of the present utility model;

[0038] Figure 3 This is a structural diagram of the material feeding assembly according to an embodiment of the present utility model;

[0039] Figure 4 This is a structural diagram of the material conveying assembly according to an embodiment of the present utility model;

[0040] Figure 5 This is a structural diagram of the first material handling assembly and the first support frame according to an embodiment of the present utility model;

[0041] Figure 6 This is a structural diagram of the material feeding gripper assembly and the material unloading gripper assembly according to an embodiment of the present utility model;

[0042] Figure 7 This is a structural diagram of the feeding and conveying assembly according to an embodiment of the present utility model;

[0043] Figure 8 This is a structural diagram of the feeding and discharging assembly according to an embodiment of the present utility model.

[0044] Labeling Explanation: 1. Housing; 2. Base; 3. Incoming Material Feeding Assembly; 4. Incoming Material Feeding Assembly; 5. Incoming Material Conveying Assembly; 6. First Support Frame; 7. Incoming Material Loading Gripper Assembly; 8. Unloading and Feeding Assembly; 9. Unloading and Conveying Assembly; 10. Unloading and Loading Gripper Assembly; 11. Electrical Control Module; 12. Second Support Frame; 13. Unloading and Loading Gripper Assembly; 14. Unloading and Loading Assembly; 15. Incoming Material Unloading Gripper Assembly; 16. Second Material Imaging Module; 17. First Material Imaging Module; 21. Mark Camera Module; 22. Second Blade Motor; 23. First Blade Motor; 221. Second Suction Head; 231. First Suction Head ; 232. Blade motor slide plate; 24. Material placement fixing plate; 25. Material placement adjusting motor; 26. Material placement adjusting module; 27. Material placement guide rail; 28. Material placement motor; 29. ​​Blade motor slide rail; 41. Incoming material motor; 42. Incoming material base plate; 43. Incoming material adjusting assembly; 431. Incoming material linear guide rail; 432. Incoming material adjusting belt; 433. Incoming material adjusting synchronous pulley; 434. Incoming material fixing plate; 435. Incoming material slide plate; 44. Incoming material adjusting screw; 45. Incoming material cylinder; 46. Incoming material tray; 471. Incoming material drive module; 472. Incoming material movable plate; 48. Incoming material optical fiber; 491. First incoming material upright plate; 492. 51. Incoming material conveyor motor; 52. Incoming material loading module; 53. Incoming material conveyor guide rail; 61. Second column; 62. First column; 63. Crossbeam; 631. First side wall; 632. Second side wall; 71. Incoming material gripper lifting plate; 72. Second lead screw; 73. Incoming material gripper suction head; 74. First lead screw; 75. Incoming material gripper fixing plate; 76. Third lead screw; 77. Incoming material gripper motor; 78. Incoming material gripper adjusting assembly; 79. First crossbar; 81. Unloading motor; 82. Unloading base plate; 831. Unloading linear guide rail; 832. Unloading adjusting belt; 833. Unloading adjusting synchronous pulley; 834. 835. Feeding plate; 84. Feeding adjusting screw; 85. Feeding cylinder; 86. Feeding tray; 871. Feeding drive module; 872. Feeding movable plate; 88. Feeding fiber optic cable; 891. First feeding upright plate; 892. Second feeding upright plate; 91. Feeding conveyor motor; 92. Feeding loading module; 93. Feeding conveyor guide rail; 101. Feeding gripper lifting plate; 102. Feeding gripper fixing plate; 103. Feeding gripper suction head; 104. Feeding gripper motor; 105. Feeding gripper adjusting assembly; 106. Sixth lead screw; 107. Second crossbar; 108. Fourth lead screw; 109. Fifth lead screw. Detailed Implementation

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0046] In this utility model, unless otherwise stated, directional terms such as "up, down, left, right, front, and back" generally refer to the up, down, left, right, front, and back in the drawings, and "inner" and "outer" refer to the inner and outer parts relative to the outline of the component.

[0047] It should be noted that the terms "first," "second," etc., in the claims, description, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate to allow implementation in a sequence other than that described in the utility model.

[0048] like Figure 1 , Figure 2 As shown, the fully automatic intelligent tray-stacking device of this utility model embodiment includes a housing 1, a base 2, a first support frame 6 and a second support frame 12 that are parallel and symmetrically mounted on the base 2, a tray-stacking loading module fixed on the first side wall 631 of the base 2 and the first support frame 6, a tray-stacking unloading module fixed on the first side wall of the base 2 and the second support frame 12, a material conveying assembly 5 and a material discharging assembly 9 fixed on the base 2 and located below the first support frame 6 and the second support frame 12, a first tray-stacking assembly fixed on the first support frame 6, a second tray-stacking assembly fixed on the second support frame 12, an electrical control module 11 fixed on the base 2 and connected to the first support frame 6 and the second support frame 12, and a first material image module 17 fixed on the base 2 and located below the first tray-stacking assembly and a second material image module 16 located below the second tray-stacking assembly.

[0049] Specifically, the tray loading module includes a feeding assembly 4 and a discharging assembly 8 fixed on the base 2 and located at both ends below the first support frame 6, and a feeding gripper assembly 7 and a discharging gripper assembly 10 fixed on the first side wall 631 of the first support frame 6 and located above the feeding assembly 4 and the discharging assembly 8, respectively. The feeding assembly 4 and the discharging assembly 8 can move vertically back and forth below the first support frame 6. The feeding assembly 4 is used to carry the feeding tray 46 containing material, and the discharging assembly 8 is used to carry the empty discharging tray 86. The feeding gripper assembly 7 can move vertically back and forth below the first support frame 6 and above the feeding assembly 4, and is used to pick up the feeding tray 46 containing material from the feeding assembly 4 and place it on the feeding conveyor assembly 5. The feeding gripper assembly 10 can move vertically back and forth below the first support frame 6 and above the feeding assembly 8 to pick up the feeding tray 86 above the feeding assembly 8 and place it on the feeding conveyor assembly 9.

[0050] The tray unloading module includes a feeding assembly 3 and a discharging assembly 14 fixed on the base 2 and located at both ends below the second support frame 12, and a feeding gripper assembly 15 and a discharging gripper assembly 13 fixed to the first side wall of the second support frame 12 and located above the feeding assembly 3 and the discharging assembly 14, respectively. The feeding assembly 3 and the discharging assembly 14 can move vertically back and forth below the second support frame 12. The feeding assembly 3 is used to carry an empty feeding tray 46, and the discharging assembly 14 is used to carry a discharging tray 86 containing material. The feeding gripper assembly 15 can move vertically back and forth below the second support frame 12 and above the feeding assembly 3, and is used to pick up the feeding tray 46 above the feeding conveyor assembly 5 and place it on the feeding assembly 3. The material feeding gripper assembly 13 can move vertically back and forth below the second support frame 12 and above the material feeding assembly 8 to pick up the material feeding tray 86 containing materials on the material feeding conveyor assembly 9 and place it on the material feeding assembly 14.

[0051] In this embodiment, the material conveying component 5 can move back and forth in a straight line below the material loading gripper component 7 and the material unloading gripper component 15 and above the material feeding component 4 and the material unloading component 3. It is used to transport the material tray 46 containing material on the material feeding component 4 to the bottom of the first and second material swing components. After the material on the material tray 46 containing material is sucked up, the empty material tray 46 is transported to the bottom of the material unloading gripper component 15. After the material unloading gripper component 15 sucks up the material tray 46, it returns to the bottom of the material loading gripper component 7.

[0052] like Figure 4 As shown, the material conveying assembly 5 includes a material conveying guide rail 53 fixed on the base 2, a material carrying module 52 movably connected to the material conveying guide rail 53, and a material conveying motor connected to the material conveying guide rail 53; the material conveying guide rail 53 drives the material carrying module 52 to move linearly back and forth along the material conveying guide rail 53 under the drive of the material conveying motor 51.

[0053] In this embodiment, the material feeding and conveying component 9 can perform a linear reciprocating motion below the material feeding and loading gripper component 10 and the material feeding and unloading gripper component 13 and above the material feeding and conveying component 8 and the material feeding and unloading component 14. This motion is used to transport the material feeding tray 86 above the material feeding and conveying component 8 to the area below the first and second material swinging components. After the empty material feeding tray 86 is filled with material, the material feeding tray 86 is then transported to the area below the material feeding and unloading gripper component 13. After the material feeding and unloading gripper component 13 picks up the material feeding tray 86, it returns to the area below the material feeding and loading gripper component 10.

[0054] Specifically, such as Figure 7As shown, the feeding and conveying assembly 9 includes a feeding and conveying guide rail 93 fixed on the base 2, a feeding and carrying module 92 movably connected to the feeding and conveying guide rail 93, and a feeding and conveying motor 91 connected to the feeding and conveying guide rail 93; the feeding and conveying guide rail 93 drives the feeding and carrying module 92 to move linearly back and forth along the feeding and conveying guide rail 93 under the drive of the feeding and conveying motor 91.

[0055] The first material imaging module 17 and the second material imaging module 16 are fixed parallel and symmetrically on the base 2 and located between the incoming material conveying component 5 and the unloading material conveying component 9. They are used to detect the material picked up by the first and second material lifting components and to determine the angle, direction and quality of the material.

[0056] like Figure 5 , Figure 6 The diagram shown is a structural diagram of the first support frame 6 in this embodiment. Since the first support frame 6 and the second support frame 12 are symmetrical structures, the structural diagram of the second support frame 12 is omitted. Specifically, the first support frame 6 and the second support frame 12 include a first column 62 and a second column 61 vertically fixed on the base 2, and a crossbeam 63 horizontally mounted on the first column 62 and the second column 61. The crossbeam 63 includes a first sidewall 631 facing the outside of the base 2 and a second sidewall 632 facing the inside of the base 2.

[0057] like Figure 3 The diagram shown is a structural diagram of the material feeding assembly 4 in this embodiment. Since the material feeding assembly 4 and the material unloading assembly 3 are symmetrical structures, the structural diagram of the material unloading assembly 3 is omitted. The material feeding assembly 4 and the material unloading assembly 3 include a material feeding base plate 42 fixed on the base 2, a material feeding motor 41 fixed below the material feeding base plate 42, a material feeding adjustment assembly 43 fixed above the material feeding base plate 42 and connected to the material feeding motor 41, a material feeding upright plate vertically fixed on the material feeding adjustment assembly 43 and located at the four corners, a material feeding optical fiber 48 and a material feeding cylinder 45 fixed at the top of the material feeding upright plate, and a material feeding carrying drive assembly vertically fixed on the material feeding base plate 42.

[0058] The material feeding adjustment assembly 43 includes a material feeding linear guide rail 431 fixed on the material feeding base plate 42, a material feeding slide plate 435 movably connected to and movable along the material feeding linear guide rail 431, a material feeding fixing plate 434 fixed on the material feeding linear guide rail 431, a material feeding adjustment belt 432 fixed on the material feeding base plate 42 and connected to the material feeding slide plate 435, and a material feeding adjustment synchronous pulley 433 fixed on the material feeding base plate 42 and connected to the material feeding adjustment belt 432 and the material feeding motor 41. The material feeding adjustment assembly 43 is used to adjust the spacing between the material feeding uprights according to the size of the material feeding tray 46. The material feeding uprights include two first material feeding uprights 491 fixed at both ends of the material feeding slide plate 435, and two second material feeding uprights 492 fixed at both ends of the material feeding fixing plate 434.

[0059] The material receiving drive assembly includes a material receiving drive module 471 vertically fixed on the material receiving base plate 42, and a material receiving movable plate 472 vertically fixed on the material receiving drive module 471 and parallel to the material receiving base plate 42; the material receiving movable plate 472 is used to carry the material receiving tray 46, and can move linearly back and forth in the vertical direction under the drive of the material receiving drive module 471.

[0060] In this embodiment, the incoming optical fiber 48 is installed at the top of any incoming vertical plate and can pass through the incoming vertical plate to contact the incoming tray 46. It is used to detect whether the uppermost incoming tray 46 containing material has reached the preset tray picking position. If so, the incoming material driving module 471 stops driving the incoming material moving plate 472 to move upward; and detects whether a new empty incoming tray 46 has arrived at the uppermost level. If so, the incoming material driving module 471 drives the incoming material moving plate 472 to move downward a certain distance.

[0061] Specifically, the incoming material feeding component 4 has an optical fiber 48 for detecting whether the material receiving tray 46 on the top layer has reached the preset tray picking position. If so, the incoming material driving module 471 stops driving the material receiving movable plate 472 to move upward.

[0062] The incoming material fiber optic cable 48 on the incoming material unloading assembly 3 is used to detect whether a new empty incoming material tray 46 has arrived at the top layer. If so, the incoming material drive module 471 drives the incoming material movable plate 472 to move downward a certain distance.

[0063] In this embodiment, a material receiving cylinder 45 is installed at the top of each material receiving plate to clamp the uppermost material receiving tray 46. When the material receiving drive module 471 stops driving the material receiving movable plate 472 to move upward, the material receiving cylinder 45 releases the uppermost material receiving tray 46 and clamps the second layer of material receiving tray 46; and when the material receiving drive module 471 stops driving the material receiving movable plate 472 to move downward, the material receiving cylinder 45 releases the uppermost material receiving tray 46.

[0064] Specifically, the feeding cylinder 45 on the feeding assembly 4 is used to clamp the uppermost feeding tray 46. When the feeding drive module 471 stops driving the feeding movable plate 472 to move upward, the feeding cylinder 45 releases the uppermost feeding tray 46 and clamps the second-layer feeding tray 46. The feeding cylinder 45 on the feeding unloading assembly 3 is used to clamp the uppermost feeding tray 46. When the feeding drive module 471 stops driving the feeding movable plate 472 to move downward, the feeding cylinder 45 releases the uppermost feeding tray 46.

[0065] In addition, in this embodiment, the material feeding assembly 4 and the material unloading assembly 3 also include material adjusting screws 44 fixed on the four corners of the material base plate 42, which are used to adjust the parallelism of the material base plate 42.

[0066] like Figure 8 The diagram shown is a structural diagram of the feeding assembly 8 in this embodiment. Since the feeding assembly 8 and the feeding unloading assembly 14 are symmetrical structures, the structural diagram of the feeding unloading assembly 14 is omitted. Specifically, the feeding assembly 8 and the feeding unloading assembly 14 include a feeding base plate 82 fixed on the base 2, a feeding motor 81 fixed below the feeding base plate 82, a feeding adjustment assembly connected to the feeding motor 81 fixed above the feeding base plate 82, feeding upright plates vertically fixed on the feeding adjustment assembly and located at the four corners, a feeding optical fiber 88 and a feeding cylinder 85 fixed at the top of the feeding upright plates, and a feeding bearing drive module vertically fixed on the feeding base plate 82.

[0067] The feeding adjustment assembly includes a feeding linear guide rail 831 fixed on the feeding base plate 82, a feeding slide plate 835 movably connected to and movable along the feeding linear guide rail 831, a feeding fixing plate 834 fixed on the feeding linear guide rail 831, a feeding adjustment belt 832 fixed on the feeding base plate 82 and connected to the feeding slide plate 835, and a feeding adjustment synchronous wheel 833 fixed on the feeding base plate 82 and connected to the feeding adjustment belt 832 and the feeding motor 81. The feeding adjustment assembly is used to adjust the spacing between the feeding uprights according to the size of the feeding tray 86. The feeding uprights include two first feeding uprights 891 fixed at both ends of the feeding slide plate 835 and two second feeding uprights 892 fixed at both ends of the feeding fixing plate 834.

[0068] The material feeding and carrying drive assembly includes a material feeding drive module 871 vertically fixed on the material feeding base plate 82, and a material feeding movable plate 872 vertically fixed on the material feeding drive module 871 and parallel to the material feeding base plate 82; the material feeding movable plate 872 is used to carry the material feeding tray 86, and can move linearly back and forth in the vertical direction under the drive of the material feeding drive module 871.

[0069] In this embodiment, the feeding optical fiber 88 is installed at the top of any feeding stand and can pass through the feeding stand to contact the feeding tray 86. It is used to detect whether the uppermost feeding tray 86 has reached the preset tray picking position. If so, the feeding drive module 871 stops driving the feeding movable plate 872 to move upward; and to detect whether a new feeding tray 86 has arrived at the uppermost level. If so, the feeding drive module 871 drives the feeding movable plate 872 to move downward a certain distance.

[0070] Specifically, the feeding fiber optic cable 88 on the feeding assembly 8 is used to detect whether the uppermost feeding tray 86 has reached the preset tray retrieval position. If so, the feeding drive module 871 stops driving the feeding movable plate 872 to move upward.

[0071] The feeding fiber optic cable 88 on the feeding assembly 14 is used to detect whether a new feeding tray 86 has arrived at the top. If so, the feeding drive module 871 drives the feeding movable plate 872 to move downward a certain distance.

[0072] In this embodiment, a feeding cylinder 85 is installed at the top of each feeding plate to clamp the uppermost feeding plate 86. When the feeding drive module 871 stops driving the feeding movable plate 872 to move upward, the feeding cylinder 85 releases the uppermost feeding plate 86 and clamps the second feeding plate 86; and when the feeding drive module 871 stops driving the feeding movable plate 872 to move downward, the feeding cylinder 85 releases the uppermost feeding plate 86.

[0073] Specifically, the feeding cylinder 85 on the feeding assembly 8 is used to clamp the uppermost feeding tray 86. When the feeding drive module 471 stops driving the feeding movable plate 872 to move upward, the feeding cylinder 85 releases the uppermost feeding tray 86 and clamps the second feeding tray 86. The feeding cylinder 85 on the feeding unloading assembly 14 is used to clamp the uppermost feeding tray 86. When the feeding drive module 871 stops driving the feeding movable plate 872 to move downward, the feeding cylinder 85 releases the uppermost feeding tray 86.

[0074] In addition, in this embodiment, the feeding assembly 8 and the unloading assembly 14 also include feeding adjustment screws 84 fixed on the four corners of the feeding base plate 82, which are used to adjust the parallelism of the feeding base plate 82.

[0075] In this embodiment, as Figure 6The diagram shown is a structural diagram of the material feeding gripper assembly 7 in this embodiment. Since the material feeding gripper assembly 7 and the material unloading gripper assembly 15 are symmetrical structures, the structural diagram of the material unloading gripper assembly 15 is omitted. Specifically, the material feeding gripper assembly 7 and the material unloading gripper assembly 15 include a material feeding gripper fixing plate 75 fixed on the first side wall 631, a material feeding gripper adjusting assembly 78 fixed on the material feeding gripper fixing plate 75, a material feeding gripper motor 77 fixed on the material feeding gripper fixing plate 75 and connected to the material feeding gripper adjusting assembly 78, a material feeding gripper rolling screw connected to the material feeding gripper adjusting assembly 78 and passing through the material feeding gripper fixing plate 75 from top to bottom, a material feeding gripper lifting plate 71 fixed to the bottom of the material feeding gripper rolling screw, and a material feeding gripper suction head 73 fixed on the material feeding gripper lifting plate 71 and extending outward.

[0076] The material feeder adjustment assembly 78 includes a material feeder timing wheel fixed on the material feeder fixing plate 75 and connected to the material feeder motor 77, and a material feeder timing belt connected to the material feeder timing wheel.

[0077] The feed gripper's rolling screw can move vertically in a straight line under the drive of the feed gripper adjustment component 78, while simultaneously moving the feed gripper lifting plate 71 and the feed gripper suction head 73 together.

[0078] The incoming material gripper rolling screw includes a first screw 74 located in the middle of the incoming material gripper fixing plate 75 and connected to the incoming material gripper synchronous wheel, a second screw 72 and a third screw 76 located at both ends of the incoming material gripper fixing plate 75, and a first crossbar 79 connecting the top ends of the first screw 74, the second screw 72 and the third screw 76.

[0079] In this embodiment, as Figure 6 The diagram shown is a structural diagram of the feeding and unloading gripper assembly 10 in this embodiment. Since the feeding and unloading gripper assembly 10 and the feeding and unloading gripper assembly 13 are symmetrical structures, the structural diagram of the feeding and unloading gripper assembly 13 is omitted. The feeding and unloading gripper assembly 10 and the feeding and unloading gripper assembly 13 include a feeding gripper fixing plate 102 fixed on the first side wall 631, a feeding gripper adjusting assembly 105 fixed on the feeding gripper fixing plate 102, a feeding gripper motor 104 fixed on the feeding gripper fixing plate 102 and connected to the feeding gripper adjusting assembly 105, a feeding gripper rolling screw connected to the feeding gripper adjusting assembly 105 and passing through the feeding gripper fixing plate 102 from top to bottom, a feeding gripper lifting plate 101 fixed to the bottom of the feeding gripper rolling screw, and a feeding gripper suction head 103 fixed on the feeding gripper lifting plate 101.

[0080] The material feeding gripper adjustment assembly 105 includes a material feeding gripper timing wheel fixed on the material feeding gripper fixing plate 102 and connected to the material feeding gripper motor 104, and a material feeding gripper timing belt connected to the material feeding gripper timing wheel.

[0081] The feed gripper's rolling screw can move vertically in a straight line under the drive of the feed gripper adjustment component 105, while simultaneously moving the feed gripper lifting plate 101 and the feed gripper suction head 103 together.

[0082] Specifically, the feeding gripper rolling screw includes a fourth screw 108 located in the middle of the feeding gripper fixing plate 102 and connected to the feeding gripper synchronous wheel, a fifth screw 109 and a sixth screw 106 located at both ends of the feeding gripper fixing plate 102, and a second crossbar 107 connecting the top ends of the fourth screw 108, the fifth screw 109 and the sixth screw 106.

[0083] In this embodiment, the first material handling component and the second material handling component are fixed parallel and symmetrically to the second side wall 632 of the first support frame 6 and the second side wall of the second support frame 12, respectively. They can move back and forth in a straight line along the axial direction of the first support frame 6 and the second support frame 12, respectively, to pick up the material on the material receiving tray 46 on the material receiving conveying component 5, and then move it above the material discharging conveying component 9 to place the material on the material discharging tray 86 of the material discharging conveying component 9, and automatically adjust the spacing between the multiple suction heads on it according to the shape and size of the material.

[0084] like Figure 5 The diagram shown is a structural diagram of the first material placement assembly in this embodiment. Since the first and second material placement assemblies are symmetrical, the structural diagram of the second material placement assembly is omitted. Specifically, the first and second material placement assemblies include a material placement guide rail 27 axially fixed along the second sidewall 632, a material placement fixing plate 24 movably connected to the material placement guide rail 27, a material placement motor 28 connected to the material placement guide rail 27, a blade motor module and a Mark camera module 21 fixed on the front side of the material placement fixing plate 24, and a material placement adjustment module 26 fixed on the back side of the material placement fixing plate 24 and passing through the material placement fixing plate 24 and connected to the blade motor module.

[0085] The material handling adjustment module 26 includes a material handling adjustment motor 25 fixed on the material handling fixing plate 24, a material suction adjustment synchronous wheel connected to the material handling adjustment motor 25, and a material suction adjustment synchronous belt connected to the material suction adjustment synchronous wheel.

[0086] The blade motor module includes a blade motor slide rail 29 fixed on the material handling plate 24 and axially fixed along the material handling guide rail 27, a blade motor slide plate 232 movably connected to the blade motor slide rail 29 and passing through the material handling plate 24 to connect to the suction adjustment synchronous wheel, a first blade motor 23 fixed on the blade motor slide plate 232 and fixed in the vertical direction, a second blade motor 22 fixed on the blade motor slide rail 29 and fixed in the vertical direction, and a first suction head 231 and a second suction head 221 respectively fixed at the bottom ends of the first blade motor 23 and the second blade motor 22.

[0087] In this embodiment, there is only one first suction head 231 and one second suction head 221. However, other numbers can be set, such as two or three, without affecting the implementation of this utility model.

[0088] The tray-stacking method of the fully automatic intelligent tray-stacking device according to this utility model embodiment includes the following steps:

[0089] S1. The feeding assembly 4 raises the feeding tray 46 containing materials to the preset tray picking position. The feeding gripper assembly 7 picks up the top feeding tray 46 containing materials. The feeding conveyor assembly 5 moves below the feeding gripper assembly 7 and places the top feeding tray 46 containing materials on the feeding conveyor assembly 5. At this time, the feeding assembly 8 raises the empty feeding tray 86 to the preset tray picking position. The feeding gripper assembly 10 picks up the top empty feeding tray 86 and moves below the feeding gripper assembly 10 and places the top empty feeding tray 86 on the feeding conveyor assembly 9.

[0090] S2. The material conveying component 5 carries the material tray 46 to the preset first suction position, and the material discharging component 9 carries the material discharging tray 86 to the preset second suction position. The first and second material swinging components move above the material conveying component 5 and the material discharging component 9 respectively. The mark points on the material tray 46 and the material discharging tray 86 are detected and confirmed by the Mark camera module 21.

[0091] S3. The first material handling component moves above the receiving conveyor component 5. If there is no material on the receiving tray 46 directly opposite the first material handling component, the receiving conveyor component 5 moves a certain distance towards the first material handling component so that the first material handling component can pick up the material. The first material handling component adjusts the spacing between its multiple suction heads according to the marked points on the receiving tray 46, and then picks up the material on the receiving tray 46 and moves towards the discharging conveyor component 9. During this process, when it passes above the first material imaging module 17, the first material imaging module 17 determines the current angle, direction, and mass of the material. The first material handling component then... The material is adjusted to the preset angle direction according to the current angle direction of the material. If the material quality is not up to standard, the material is placed in the waste box. If the quality is up to standard, the material continues to move until it is above the feeding conveyor component 9. The second material feeding component moves to the top of the receiving conveyor component 5. If there is no material on the receiving tray 46 directly opposite the second material feeding component, the receiving conveyor component 5 moves a certain distance toward the second material feeding component so that the second material feeding component can pick up the material. The second material feeding component adjusts the spacing between its multiple suction heads according to the marked points on the receiving tray 46, and then picks up the material on the receiving tray 46.

[0092] S4. If material is already placed on the feeding tray 86 opposite the first material placement component, the feeding conveyor component 9 moves a certain distance towards the first material placement component so that the first material placement component can place the material. The first material placement component adjusts the spacing between its multiple suction heads according to the marked points on the feeding tray 86, places the material on the feeding tray 86, and then returns to the top of the receiving conveyor component 5. The second material placement component moves towards the feeding conveyor component 9. During this process, when it passes above the second material image module 16, the second material image module 16 determines the current angle and direction of the material. The second material handling component adjusts to a preset angle direction according to the current angle and direction of the material. If the material quality is unqualified, it is placed in the waste box. If the quality is qualified, it continues to move until it is above the material feeding conveyor component 9. If there is already material on the material feeding tray 86 directly opposite the second material handling component, the material feeding conveyor component 9 moves a certain distance towards the second material handling component so that the second material handling component can place the material. The second material handling component adjusts the spacing between its multiple suction heads according to the marked points on the material feeding tray 86 to place the material on the material feeding tray 86.

[0093] S5. If the material on the receiving tray 46 is taken out and the discharging tray 86 is also full of material, the receiving conveyor component 5 moves below the receiving unloading gripper component 15, the receiving unloading gripper component 15 picks up the empty receiving tray 46 and places it on the receiving unloading component 3, the receiving unloading component 3 carries the receiving tray 46 and moves downward a certain distance, and then waits for the next receiving tray 46; the discharging conveyor component 9 moves below the discharging gripper component 13, the discharging gripper component 13 picks up the full discharging tray 86 and places it on the discharging component 14, the discharging component 14 carries the discharging tray 86 and moves downward a certain distance, and then waits for the next discharging tray 86, and returns to the execution of step S1;

[0094] If the material on the receiving tray 46 is exhausted and the dispensing tray 86 is not yet full, the receiving conveyor component 5 moves below the receiving unloading gripper component 15, the receiving unloading gripper component 15 picks up the empty receiving tray 46 and places it on the receiving unloading component 3, the receiving unloading component 3 carries the receiving tray 46 downwards for a certain distance, and then waits for the next receiving tray 46; the receiving loading gripper component 7 picks up the next receiving tray 46 containing material from the receiving feeding component 4, the receiving conveyor component 5 moves below the receiving loading gripper component 7, the receiving loading gripper component 7 places the receiving tray 46 containing material on the receiving conveyor component 5, the receiving conveyor component 5 carries the receiving tray 46 to the preset first suction position, the first material placement component detects and confirms the marked point on the receiving tray 46 through the Mark camera module 21, and then returns to execute steps S3 and S4;

[0095] If the material on the receiving tray 46 is not completely removed and the discharging tray 86 is full of material, then the discharging conveyor component 9 moves below the discharging gripper component 13, the discharging gripper component 13 picks up the full discharging tray 86 and places it on the discharging component 14, the discharging component 14 carries the discharging tray 86 downwards for a certain distance, and then waits for the next discharging tray 86; the discharging feeder component 10 picks up the next empty discharging tray 86 from the discharging feeder component 8, the discharging conveyor component 9 moves below the discharging feeder component 10, the discharging feeder component 10 places the empty discharging tray 86 on the discharging conveyor component 9, the discharging conveyor component 9 carries the discharging tray 86 to the preset second suction position, the second material placement component detects and confirms the marked point on the discharging tray 86 through the Mark camera module 21, and then returns to execute steps S3 and S4;

[0096] If the material on the receiving tray 46 is not completely removed and the discharging tray 86 is not full of material, then return to steps S3 and S4.

[0097] The following examples will be used to describe in detail the plating method of the fully automatic intelligent plating device according to an embodiment of this utility model.

[0098] The operator places the material-filled receiving tray 46 onto the material-feeding component 4, and the empty material-discharging tray 86 onto the material-discharging component 8.

[0099] When the fully automatic testing machine for plate slabs is powered on, after a reset operation, the pre-set testing program is selected, and fully automatic operation begins.

[0100] At this time, according to the selected program parameters, the feeding gripper assembly 7 and the unloading gripper assembly 10 activate vacuum negative pressure and move to the feeding assembly 4 and the unloading assembly 8 respectively, so that the feeding tray 46 and the unloading tray 86 are respectively picked up onto the feeding conveyor assembly 5 and the unloading conveyor assembly 9. The feeding cylinder 45 and the unloading cylinder 85 respectively lock the second feeding tray 46 and the second unloading tray 86 to prevent them from being lifted. According to the selected program parameters, the feeding conveyor assembly 5 and the unloading conveyor assembly 9 activate vacuum negative pressure to firmly fix the feeding tray 46 and the unloading tray 86 onto the feeding loading module 52 and the unloading loading module 92, respectively, to prevent the feeding tray 46 and the unloading tray 86 from sliding.

[0101] The feeding conveyor component 5 and the discharging conveyor component 9 carry the feeding tray 46 and the discharging tray 86 respectively, moving sequentially to the preset first suction position and the second suction position (both below the first support frame 6). First, the feeding tray 46 and the discharging tray 86 arrive below the first support frame 6. The first material handling component removes the material from the feeding tray 46 onto the discharging tray 86. As the first material handling component moves towards the discharging tray 86, the feeding conveyor component 5 carries the feeding tray 46 to the second support frame 12. Then, the second material handling component picks up the material from the feeding tray 46. At this point, the first material handling component has already placed the material onto the discharging tray 86 and is returning to the preset first suction position. Then, the discharging conveyor component 9 carries the discharging tray 86 from below the first support frame 6 to below the second support frame 12. The second material handling component removes the material onto the discharging tray 86 and then returns. This process repeats, with the first and second material handling components alternating between the two.

[0102] The first and second material handling components, after determining the mark point of the incoming material tray 46 through their respective Mark camera modules 21, move above the discharging tray 86 and determine the mark point of the discharging tray 86 through the Mark camera module 21. Then, the material handling adjustment motor 25 adjusts the distance between the first blade motor 23 and the second blade motor 22. Depending on the distance, the first suction head 231 and the second suction head 221 can simultaneously suction and discharge, or separately suction and discharge, or simultaneously suction and discharge separately, or separately suction and discharge separately. Specifically, according to pre-selected program parameters, the first suction head 231 and the second suction head 221 activate vacuum negative pressure, respectively, and after the material on the incoming material tray 46 is detected by the first material imaging module or the second material imaging module, the material is adjusted to the corresponding angle and direction through simultaneous suction and discharge, or separate suction and discharge, or simultaneous suction and discharge, or separate suction and discharge, or separate suction and discharge, or separate suction and discharge, before being placed on the discharging tray 86. Defective products are directly placed in the waste box. The waste box is mounted on the base 2.

[0103] When the material on the receiving tray 46 is taken out or the material on the discharging tray 86 is full, the receiving conveyor component 5 and the discharging conveyor component 9 will move to the bottom of the receiving unloading component 3 and the discharging unloading component 14 respectively, waiting for the material to be unloaded.

[0104] Specifically, when the incoming material conveying component 5 and the unloading material conveying component 9 move below the incoming material unloading gripper component 15 and the unloading material unloading gripper component 13, respectively, the incoming material unloading gripper component 15 and the unloading material unloading gripper component 13, according to the selected program parameters, activate vacuum negative pressure to lift the incoming material tray 46 and the unloading material tray 86, respectively. Then, the incoming material conveying component 5 and the unloading material conveying component 9 move onto the incoming material feeding component 4 and the unloading material feeding component 8, respectively, waiting for material to be loaded. At the same time, the unloading material unloading gripper component 13 and the incoming material unloading gripper component 15 place the incoming material tray 46 and the unloading material tray 86 onto the incoming material unloading component 3 and the unloading material unloading component 14, respectively. When the receiving tray 46 touches the receiving optical fiber 48, the receiving drive module 471 will drive the receiving movable plate 472 to move downward until it can no longer touch the receiving optical fiber 48 and then stop. When the discharging tray 86 touches the discharging optical fiber 88, the discharging drive module 871 will drive the discharging movable plate 872 to move downward until it can no longer touch the discharging optical fiber 88 and then stop.

[0105] In summary, this utility model, through the design of a reasonably laid-out and compact tray loading module and tray unloading module, is compatible with different types and specifications of incoming and outgoing trays, thereby realizing intelligent automatic tray loading of materials of different types and specifications.

[0106] The above-described preferred embodiments further illustrate the purpose, technical solution, and advantages of this utility model. It should be understood that the above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model. The scope of rights claimed by this utility model should be determined by the scope of the utility model application, and not limited to the above-described embodiments.

Claims

1. A fully automatic intelligent tray-stacking device, characterized in that, The system includes a base, a first support frame and a second support frame mounted parallel and symmetrically above the base, a swivel tray loading module fixed to the first side wall of the base and the first support frame, a swivel tray unloading module fixed to the first side wall of the base and the second support frame, an incoming material conveying assembly and an outgoing material conveying assembly fixed to the base and located below the first support frame and the second support frame, a first material handling assembly fixed to the second side wall of the first support frame, a second material handling assembly fixed to the second side wall of the second support frame, an electrical control module fixed to the base and connecting the first support frame and the second support frame, and a first material imaging module fixed to the base and located below the first material handling assembly and a second material imaging module located below the second material handling assembly; the first side wall faces outward of the base; the second side wall faces inward of the base; The tray loading module includes a material feeding assembly and a material discharging assembly fixed on the base and located at both ends below the first support frame, and a material feeding gripper assembly and a material discharging gripper assembly fixed on the first side wall of the first support frame and located above the material feeding assembly and the material discharging assembly, respectively; the material feeding assembly carries the material tray containing the material and moves vertically back and forth below the first support frame; The feeding assembly carries an empty feeding tray and moves vertically back and forth under the first support frame. The material feeding gripper assembly moves vertically back and forth between the first support frame and the material feeding assembly, picking up the material tray containing the material on the material feeding assembly and placing it on the material conveying assembly. The feeding gripper assembly moves vertically back and forth between the first support frame and the feeding assembly, picking up the feeding tray above the feeding assembly and placing it onto the feeding conveyor assembly. The tray feeding module includes a feeding assembly and a discharging assembly fixed on the base and located at both ends below the second support frame, and a feeding gripper assembly and a discharging gripper assembly fixed on the first side wall of the second support frame and located above the feeding assembly and the discharging assembly, respectively. The feeding assembly carries an empty feeding tray and moves vertically back and forth below the second support frame. The discharging assembly carries a discharging tray containing material and moves vertically back and forth below the second support frame. The feeding gripper assembly moves vertically back and forth below the second support frame and above the feeding assembly, picking up the empty feeding tray from the feeding conveyor assembly and placing it on the feeding assembly. The discharging gripper assembly moves vertically back and forth below the second support frame and above the discharging conveyor assembly, picking up the discharging tray containing material from the discharging conveyor assembly and placing it on the discharging assembly. The material conveying component can move back and forth in a straight line below the material loading gripper component and the material unloading gripper component, and above the material feeding component and the material unloading component; the material conveying component transports the material tray containing the material on the material feeding component to below the first material balancing component, the second material balancing component and the material unloading gripper component, and after the material unloading gripper component picks up the material tray, it returns to below the material loading gripper component; The material feeding and conveying assembly moves in a straight line back and forth below the material feeding and unloading gripper assembly and above the material feeding and unloading assembly; The feeding conveyor assembly transports the feeding tray on the feeding assembly to below the first swaying assembly, the second swaying assembly, and the feeding and unloading gripper assembly. After the feeding and unloading gripper assembly picks up the feeding tray, it returns to below the feeding and loading gripper assembly. The first and second material-lifting components are fixed parallel and symmetrically to the second sidewalls of the first and second support frames, respectively, and move back and forth in a straight line along the axial direction of the first and second support frames, respectively. The first and second material handling components can successively pick up the material from the material receiving tray on the material receiving conveyor component, move it above the material discharging conveyor component, place the material on the material discharging tray of the material discharging conveyor component, and automatically adjust the spacing between the multiple suction heads on the material according to the shape and size of the material. The first material imaging module and the second material imaging module are fixed parallel and symmetrically on the base and located between the incoming material conveying component and the unloading material conveying component; the first material imaging module and the second material imaging module can detect the material picked up by the first and second material lifting components and determine the angle, direction and quality of the material.

2. The fully automatic intelligent plating device as described in claim 1, characterized in that, The first support frame and the second support frame include a first column and a second column that are vertically fixed on the base, and a crossbeam that is horizontally mounted on the first column and the second column. The crossbeam includes a first side wall facing the outside of the base and a second side wall facing the inside of the base.

3. The fully automatic intelligent plating device as described in claim 1, characterized in that, The feeding assembly and the unloading assembly are symmetrical structures, including a feeding base plate fixed on the machine base, a feeding motor fixed below the feeding base plate, a feeding adjustment assembly connected to the feeding motor fixed above the feeding base plate, feeding upright plates vertically fixed on the feeding adjustment assembly and located at the four corners, a feeding optical fiber and a feeding cylinder fixed at the top of the feeding upright plate, and a feeding bearing drive assembly vertically fixed on the feeding base plate. The material receiving adjustment assembly includes a material receiving linear guide rail fixed to the material receiving base plate, a material receiving slide plate movably connected to the material receiving linear guide rail and movable along the material receiving linear guide rail, a material receiving fixing plate fixed to the material receiving linear guide rail, a material receiving adjustment belt fixed to the material receiving base plate and connected to the material receiving slide plate, and a material receiving adjustment synchronous pulley fixed to the material receiving base plate and connected to the material receiving adjustment belt and the material receiving motor; the material receiving adjustment assembly is used to adjust the spacing between the material receiving uprights according to the size of the material receiving tray; the material receiving uprights include two first material receiving uprights fixed to both ends of the material receiving slide plate and two second material receiving uprights fixed to both ends of the material receiving fixing plate; The material receiving drive assembly includes a material receiving drive module vertically fixed to the material receiving base plate and a material receiving movable plate vertically fixed to the material receiving drive module and parallel to the material receiving base plate; the material receiving movable plate is used to carry the material receiving tray and can move linearly back and forth in the vertical direction under the drive of the material receiving drive module. The incoming optical fiber is installed at the top of any incoming material stand and can pass through the incoming material stand to contact the incoming material tray, used to detect whether the uppermost incoming material tray containing materials has reached the preset tray retrieval position.

4. The fully automatic intelligent plating device as described in claim 1, characterized in that, The feeding and unloading assembly and the unloading assembly are symmetrical structures, including a feeding base plate fixed on the machine base, a feeding motor fixed below the feeding base plate, a feeding adjustment assembly connected to the feeding motor fixed above the feeding base plate, feeding upright plates vertically fixed on the feeding adjustment assembly and located at the four corners, feeding optical fiber and feeding cylinder fixed at the top of the feeding upright plates, and a feeding bearing drive module vertically fixed on the feeding base plate. The feeding adjustment assembly includes a feeding linear guide rail fixed to the feeding base plate, a feeding slide plate movably connected to the feeding linear guide rail and movable along the feeding linear guide rail, a feeding fixing plate fixed to the feeding linear guide rail, a feeding adjustment belt fixed to the feeding base plate and connected to the feeding slide plate, and a feeding adjustment synchronous pulley fixed to the feeding base plate and connected to the feeding adjustment belt and the feeding motor; the feeding adjustment assembly is used to adjust the spacing between the feeding uprights according to the size of the feeding tray; the feeding uprights include two first feeding uprights fixed to both ends of the feeding slide plate and two second feeding uprights fixed to both ends of the feeding fixing plate. The material feeding and carrying drive assembly includes a material feeding drive module vertically fixed to the material feeding base plate and a material feeding movable plate vertically fixed to the material feeding drive module and parallel to the material feeding base plate; the material feeding movable plate is used to carry the material feeding tray and can move linearly back and forth in the vertical direction under the drive of the material feeding drive module. The feeding optical fiber is installed at the top of any of the feeding uprights and can pass through the feeding uprights to contact the feeding tray, used to detect whether the uppermost feeding tray has reached the preset tray retrieval position.

5. The fully automatic intelligent plating device as described in claim 1, characterized in that, The material feeding gripper assembly and the material unloading gripper assembly are symmetrical structures, including a material feeding gripper fixing plate fixed on the first side wall, a material feeding gripper adjusting assembly fixed on the material feeding gripper fixing plate, a material feeding gripper motor fixed on the material feeding gripper fixing plate and connected to the material feeding gripper adjusting assembly, a material feeding gripper rolling screw connected to the material feeding gripper adjusting assembly and passing through the material feeding gripper fixing plate from top to bottom, a material feeding gripper lifting plate fixed at the bottom of the material feeding gripper rolling screw, and a material feeding gripper suction head fixed on the material feeding gripper lifting plate and extending outward. The feed gripper's rolling screw can move vertically in a straight line under the drive of the feed gripper adjustment assembly, while simultaneously moving the feed gripper lifting plate and the feed gripper suction head together. The material receiving gripper adjustment assembly includes a material receiving gripper timing wheel fixed on the material receiving gripper fixing plate and connected to the material receiving gripper motor, and a material receiving gripper timing belt connected to the material receiving gripper timing wheel; The incoming material gripper rolling screw includes a first screw located in the middle of the incoming material gripper fixing plate and connected to the incoming material gripper synchronous wheel, a second screw and a third screw located at both ends of the incoming material gripper fixing plate, and a first crossbar connecting the top ends of the first screw, the second screw and the third screw.

6. The fully automatic intelligent plating device as described in claim 1, characterized in that, The feeding and unloading gripper assembly and the unloading gripper assembly are symmetrical structures, including a feeding gripper fixing plate fixed on the first side wall, a feeding gripper adjusting assembly fixed on the feeding gripper fixing plate, a feeding gripper motor fixed on the feeding gripper fixing plate and connected to the feeding gripper adjusting assembly, a feeding gripper rolling screw connected to the feeding gripper adjusting assembly and passing through the feeding gripper fixing plate from top to bottom, a feeding gripper lifting plate fixed on the bottom of the feeding gripper rolling screw, and a feeding gripper suction head fixed on the feeding gripper lifting plate; The feeding gripper's rolling screw can move vertically in a straight line under the drive of the feeding gripper adjustment assembly, while simultaneously moving the feeding gripper lifting plate and the feeding gripper suction head together. The material feeding gripper adjustment assembly includes a material feeding gripper timing wheel fixed on the material feeding gripper fixing plate and connected to the material feeding gripper motor, and a material feeding gripper timing belt connected to the material feeding gripper timing wheel; The feeding gripper rolling screw includes a fourth screw located in the middle of the feeding gripper fixing plate and connected to the feeding gripper synchronous wheel, a fifth screw and a sixth screw located at both ends of the feeding gripper fixing plate, and a second crossbar connecting the top ends of the fourth screw, the fifth screw and the sixth screw.

7. The fully automatic intelligent plating device as described in claim 1, characterized in that, The material conveying assembly includes a material conveying guide rail fixed on the base, a material carrying module movably connected to the material conveying guide rail, and a material conveying motor connected to the material conveying guide rail; the material conveying guide rail drives the material carrying module to move linearly back and forth along the material conveying guide rail under the drive of the material conveying motor.

8. The fully automatic intelligent plating device as described in claim 1, characterized in that, The feeding and conveying assembly includes a feeding and conveying guide rail fixed on the base, a feeding and carrying module movably connected to the feeding and conveying guide rail, and a feeding and conveying motor connected to the feeding and conveying guide rail; the feeding and conveying guide rail drives the feeding and carrying module to move linearly back and forth along the feeding and conveying guide rail under the drive of the feeding and conveying motor.

9. The fully automatic intelligent plating device as described in claim 1, characterized in that, The first and second material placement components are symmetrical structures, including a material placement guide rail fixed axially along the second side wall, a material placement fixing plate movably connected to the material placement guide rail, a material placement motor connected to the material placement guide rail, a blade motor module and a Mark camera module fixed on the front side of the material placement fixing plate, and a material placement adjustment module fixed on the back side of the material placement fixing plate and passing through the material placement fixing plate and connected to the blade motor module. The material handling adjustment module includes a material handling adjustment motor fixed on the material handling fixing plate, a material suction adjustment synchronous pulley connected to the material handling adjustment motor, and a material suction adjustment synchronous belt connected to the material suction adjustment synchronous pulley; The blade motor module includes a blade motor slide rail fixed to the material swaying plate and axially fixed along the material swaying guide rail, a blade motor slide plate movably connected to the blade motor slide rail and passing through the material swaying plate to connect to the suction adjusting synchronous wheel, a first blade motor fixed on the blade motor slide plate and vertically fixed, a second blade motor fixed on the blade motor slide rail and vertically fixed, and a first suction head and a second suction head respectively fixed to the bottom ends of the first blade motor and the second blade motor.

10. The fully automatic intelligent plating device as described in claim 1, characterized in that, The feeding assembly and the unloading assembly further include a feeding adjustment screw, and the feeding assembly and the unloading assembly further include a unloading adjustment screw. The feeding adjustment screw and the unloading adjustment screw are used to adjust the horizontal parallelism.

Images