A material tray placing device

Abstract

The utility model relates to a kind of material tray arrangement, including machine table, flexible feeding mechanism, transfer platform, horizontal transfer material taking arm and bunker assembly, bunker assembly includes working tray area, empty tray bin, full tray bin and transplanting platform, transplanting platform is equipped with lifting mechanism and is configured to transfer tray between working tray area, empty tray bin and full tray bin;Empty tray bin includes empty material containing cavity defined by fence structure and multiple groups of clamping units, each group of clamping unit includes clamping drive assembly and telescopic first support and second support, first support and second support are respectively connected clamping drive assembly and present high-low staggered arrangement, first support and second support cooperatively clamp the bottom edge of empty tray of overlying empty tray.The utility model provides a kind of material tray arrangement, through the phase difference dynamic clamping system of high-low staggered first support and second support, cooperate the vertical lifting of transplanting platform, accurately separate bottom empty tray.

Description

Technical Field

[0001] This utility model relates to the technical field of material tray placement equipment, and specifically to a material tray placement device. Background Technology

[0002] In industrial production, material tray placement is a very common and crucial process. Precise material tray placement plays a key role in ensuring product quality and improving production efficiency.

[0003] However, existing material handling devices on the market reveal numerous problems that urgently need to be addressed in actual use. Among these, the issues with empty material trays are particularly prominent. Specifically, during operation, the empty material trays struggle to accurately separate the bottom empty trays. This deficiency severely impacts the continuity and efficiency of the entire material handling process, increasing the need for manual intervention and significantly hindering production efficiency. Over time, this situation puts related companies at a disadvantage in market competition, making it impossible to meet the growing market demand and severely restricting their market expansion and business development. Utility Model Content

[0004] In view of this, the present invention provides a material tray device, which uses a phase differential clamping system composed of a first support member and a second support member with different heights, in conjunction with the vertical lifting of the transplanting platform, to accurately separate the empty material tray at the bottom.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A material handling device includes a machine base, a flexible feeding mechanism mounted on the machine base and integrating visual recognition function, a transfer platform configured to receive workpieces output by the flexible feeding mechanism, a transverse material handling arm disposed between the transfer platform and a hopper assembly, and a hopper assembly. The hopper assembly includes a working material tray area, an empty material tray hopper, a full material tray hopper, and a transfer platform. The transfer platform is equipped with a lifting mechanism and configured to transfer material trays between the working material tray area, the empty material tray hopper, and the full material tray hopper. The empty material tray hopper includes an empty material receiving cavity defined by a fence structure and multiple sets of clamping units. The multiple sets of clamping units are evenly distributed along the side wall of the empty material receiving cavity. Each set of clamping units includes a clamping drive assembly and a retractable first support member and a second support member. The first support member and the second support member are respectively connected to the clamping drive assembly and are arranged in a staggered manner. The first support member and the second support member cooperate to clamp the bottom edge of the stacked empty material trays.

[0007] A phase-differential clamping system, consisting of a first and second support member with varying heights, works in conjunction with the vertical lifting of the transfer platform to precisely separate the bottom empty material tray. Specifically, the staggered first and second support members form a phase-differential clamping system that performs precise layer-by-layer peeling during the vertical lifting of the transfer platform. When the transfer platform is axially lifted along the precision transmission mechanism to the bottom of the empty material tray, the clamping drive component controls the radial contraction of the first support member through dynamic pressure adjustment, releasing the constraint on the bottom empty material tray. Simultaneously, the second support member maintains a constant pressure clamping state, and its specially shaped clamping structure forms multi-point dynamic contact with the second-layer tray, ensuring the posture stability of the stacked trays under separation conditions. The released bottom empty material tray is captured by the transfer platform and transferred along its movement trajectory to the positioning fixture in the working tray area. The positioning fixture is equipped with positioning and fixing cylinders on both sides. The lateral picking arm, through multi-axis coordinated motion, precisely places the workpiece calibrated by the vision positioning system into the tray in the working tray area. Once the material trays are fully loaded, the transfer platform automatically starts, moving the full trays to the stacked storage area of ​​the full tray bin for storage. Then, the transfer platform moves again to the empty tray bin to replenish the empty trays, repeating this cycle to ensure the continuous, stable, and reliable operation of the entire material handling device.

[0008] Preferably, the full material tray includes a full material receiving cavity defined by a fence structure and multiple sets of lifting units. The multiple sets of lifting units are evenly distributed along the side wall of the full material receiving cavity. Each set of lifting units includes a lifting drive assembly and a retractable lifting member. The retractable lifting member is connected to the lifting drive assembly and lifts the tray at the bottom edge of the stacked full material trays.

[0009] The enclosure structure, which defines the full-load receiving cavity, not only effectively limits the stacked full-load trays, preventing displacement or tipping during storage and ensuring their neatness and safety, but also protects them from accidental collisions. Multiple sets of lifting units evenly distributed along the sidewalls of the cavity provide stable and balanced support for the stacked trays. The lifting drive assembly precisely controls the extension and retraction of the lifting components. When a new full-load tray needs to be stored, the lifting components retract accurately, ensuring the new tray can smoothly enter the cavity. Once inside, the lifting components extend to hold the tray, ensuring its stable placement.

[0010] Preferably, the working material tray area and the transfer platform are aligned along the predetermined material transfer path, and the lateral material picking arm transfers the workpiece in the transfer platform to the material tray loading area of ​​the working material tray area through a linear translation path.

[0011] The layout of the working tray area and the transfer platform, along with the working method of the lateral picking arm, brings significant advantages. Firstly, their alignment along the predetermined material transfer path makes the material transfer path more direct and smooth, reducing unnecessary bends and turns, and significantly shortening the transport distance of the workpiece from the transfer platform to the working tray area, thereby improving material transfer efficiency. The lateral picking arm moves the workpiece via a linear translation path; this simple and direct movement method is easy to control and operate precisely. Compared to complex curved movements or multi-dimensional movements, the linear translation path makes it easier to achieve high-precision positioning, accurately placing the workpiece into the tray loading area of ​​the working tray area, effectively reducing workpiece placement errors and improving tray placement accuracy.

[0012] Preferably, the fence structure is formed by four angle irons enclosing a three-dimensional frame.

[0013] Angle iron is a common and sturdy metal material with high strength and rigidity. The three-dimensional frame formed by angle iron provides reliable protection and support for pallets. In both empty and full pallet hoppers, the enclosure structure effectively restricts the movement of the pallets, preventing them from falling due to external impacts or their own movement during storage, thus ensuring safe storage. The three-dimensional frame design gives the pallet hopper good spatial stability, capable of supporting stacked pallets of a certain weight without deformation or damage. Angle iron is relatively easy to install and process, with low cost, reducing equipment manufacturing costs while ensuring the performance of the enclosure structure. Moreover, this structure offers good openness, allowing operators to easily observe the storage status of the pallets and promptly understand their quantity and condition. In terms of equipment maintenance, the simple structure of the angle iron frame makes it easy to disassemble and assemble; if any part is damaged, it can be easily replaced and repaired. Furthermore, the relatively flat surface of the angle iron is less likely to scratch the pallets, reducing the risk of damage caused by the enclosure structure. Throughout the operation of the material tray device, this enclosure structure formed by angle iron not only ensures the safe storage and management of the trays, but also takes into account cost, maintenance and ease of use, providing strong support for the stable operation of the equipment.

[0014] Preferably, the clamping drive assembly includes a first cylinder and a second cylinder arranged side by side, the first support member being connected to the first cylinder, and the second support member being connected to the second cylinder.

[0015] Two cylinders arranged side-by-side can independently and precisely control the extension and retraction of the first and second support components. The first cylinder drives the first support component, and the second cylinder drives the second support component. This independent control method allows for flexible adjustment of the position and sequence of action of the two support components according to actual needs. Furthermore, the compact layout of the side-by-side cylinders occupies little space, which helps optimize the internal structure of the empty material tray, making more rational use of space in the entire material handling device and improving the overall performance of the equipment.

[0016] Preferably, the first support member is a horizontally extending high material clamping piece, the second support member is a horizontally extending low material clamping piece, and a vertical gap is formed between the high material clamping piece and the low material clamping piece.

[0017] The horizontally extending clamping design increases the contact area with the bottom edge of the empty tray, thereby improving clamping stability. The high and low clamping plates clamp the empty tray from different heights; this staggered layout better accommodates empty trays of different sizes and shapes. For empty trays with irregular edges or varying thicknesses, the high and low clamping plates provide support and clamping force from different angles and positions, ensuring the tray is securely fixed. The vertical spacing not only helps achieve the staggered clamping effect but also prevents interference between the two clamping plates during operation. In actual operation, when the empty tray is placed in the empty tray compartment, the high and low clamping plates quickly and accurately clamp the bottom edge of the tray. Due to their horizontal extension, they disperse the clamping force, preventing excessive localized pressure on the tray edges and potential damage.

[0018] Preferably, the transverse material handling arm is a multi-axis robotic arm structure, and its end effector is configured as a vacuum suction cup or gripper assembly.

[0019] The multi-axis robotic arm structure grants the traversing arm abundant degrees of freedom, allowing for flexible movement and rotation in multiple dimensions. It can easily reach various positions on the transfer platform and in the work tray area, significantly expanding the equipment's workspace. This multi-axis linkage makes material handling more precise and efficient, allowing for rapid adjustment of the robotic arm's posture and position according to different work requirements, accurately gripping and placing workpieces. The end effector is configured as a vacuum suction cup or gripper assembly, increasing the equipment's applicability to different types of workpieces. The vacuum suction cup is suitable for adsorbing some flat, lightweight workpieces, using negative pressure to adsorb the workpiece, offering advantages such as uniform adsorption force and no damage to the workpiece surface. For some irregularly shaped or heavier workpieces, the gripper assembly can be used for gripping. The gripper can be adjusted according to the shape and size of the workpiece, providing sufficient clamping force to ensure the stability of the workpiece during transfer.

[0020] Preferably, the transfer platform includes a turntable base and a rotation drive module, and the surface of the turntable base is provided with anti-slip texture or positioning groove.

[0021] The rotary drive module enables the turntable base to rotate, providing greater flexibility for workpiece transfer. During traversing the pick-up arm, the rotating turntable positions the workpiece in a more advantageous position, facilitating accurate gripping and reducing the difficulty and error of the pick-up process. The anti-slip texture or positioning grooves on the turntable base surface also play a crucial role. The anti-slip texture increases friction between the workpiece and the turntable surface, preventing slippage or displacement during rotation and ensuring the workpiece remains in a stable position, which is beneficial for subsequent pick-up operations. The positioning grooves provide precise workpiece positioning; when placed within the groove, its position is accurately determined, further improving the accuracy of workpiece transfer.

[0022] Preferably, the transplanting platform is provided with a linear sliding pair consisting of a guide rail and a slider, and the lifting mechanism is mounted on the slider.

[0023] The linear sliding pair, consisting of the guide rail and the slider, provides precise linear motion guidance for the transfer platform, ensuring smooth and accurate transfer between the working material tray area, empty material tray bins, and full material tray bins. The slider has a low coefficient of sliding friction on the guide rail, resulting in low motion resistance and enabling rapid and flexible movement, thus improving the efficiency of material tray transfer. Simultaneously, this linear sliding pair has a simple structure, is easy to install and maintain, and reduces equipment maintenance costs and complexity. Mounting the lifting mechanism on the slider allows the transfer platform to not only move linearly horizontally but also lift vertically. This design greatly expands the working range and functionality of the transfer platform. When transferring material trays, the transfer platform can adjust its height according to the height requirements of different material tray areas through the lifting mechanism, accurately docking with each material tray area to achieve smooth loading and unloading. Moreover, the coordinated work of the lifting mechanism and the linear sliding pair allows the transfer platform to more flexibly adapt to different working scenarios and task requirements. Whether transferring empty pallets from the empty pallet hopper to the working pallet area, or transferring full pallets from the working pallet area to the full pallet hopper, the process can be completed efficiently and accurately. This design improves the automation and intelligence of pallet management, reduces manual intervention, and enhances the overall efficiency and reliability of the material handling device.

[0024] Preferably, the flexible feeding mechanism includes a vibratory feeder and a robotic arm assembly, with a robotic arm baffle provided next to the robotic arm assembly, and the visual recognition function is realized through an industrial camera installed on the robotic arm assembly.

[0025] A vibratory feeder arranges and transports workpieces in an orderly manner through vibration. Based on the workpiece's shape, size, and other characteristics, it moves the workpiece towards the robotic arm assembly in a specific posture and sequence, significantly improving loading efficiency and orderliness. The robotic arm assembly is responsible for precisely gripping and placing the workpieces; its flexible movements accurately transfer the workpieces output from the vibratory feeder to the transfer platform. The robotic arm's baffle prevents accidental collisions with the surrounding environment during operation, protecting the robotic arm assembly from damage and extending its service life. Simultaneously, the baffle also prevents external debris from entering the robotic arm's working area and affecting its normal operation.

[0026] The advantages of this utility model compared to the prior art are:

[0027] This utility model's material tray placement device utilizes a phase-differential clamping system composed of a first and second support member with varying heights, in conjunction with the vertical lifting of a transfer platform, to precisely separate the bottom empty material tray. Specifically, the staggered first and second support members form a phase-differential clamping system, performing precise layering and peeling operations during the vertical lifting of the transfer platform. When the transfer platform is axially lifted along the precision transmission mechanism to the bottom of the empty material tray compartment, the clamping drive component dynamically adjusts the pressure to control the radial contraction of the first support member, releasing the constraint on the bottom empty material tray. Simultaneously, the second support member maintains a constant pressure clamping state, and its specially shaped clamping structure forms multi-point dynamic contact with the next layer of material trays, ensuring the posture stability of the stacked material trays during separation. The released bottom empty material tray is captured by the transfer platform and transferred along its trajectory to a positioning fixture in the working material tray area. This positioning fixture is equipped with positioning and fixing cylinders on both sides. The lateral conveyor arm, through multi-axis coordinated motion, precisely places the workpieces calibrated by the vision positioning system into the work tray area. Once the tray is fully loaded, the transfer platform automatically starts, moving the full tray to the stacked storage area of ​​the full tray bin. Afterward, the transfer platform moves again to the empty tray bin to replenish empty trays, repeating this cycle to ensure continuous, stable, and reliable operation of the entire material handling device. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a structural diagram of a material tray arrangement device according to an embodiment of the present invention.

[0030] Figure 2 This is a structural diagram of a material tray device according to an embodiment of the present invention from another perspective.

[0031] Figure 3 This is a structural diagram of a hopper assembly according to an embodiment of the present invention.

[0032] Figure 4 This is a partial structural diagram of a hopper assembly according to an embodiment of the present invention.

[0033] Labeling: Machine base (1), Flexible feeding mechanism (2), Vibratory feeder (21), Robotic arm assembly (22), Robotic arm baffle (23), Transfer platform (3), Turntable base (31), Rotary drive module (32), Lateral material picking arm (4), End effector (41), Hopper assembly (5), Working material tray area (51), Empty material tray (52), First cylinder (521), Second cylinder (522), First support (523), Second support (524), Full material tray (53), Lifting drive assembly (531), Lifting component (532), Transplanting platform (54), Lifting mechanism (541). Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0035] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0036] It should be noted that similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the embodiments of this application, it should be understood that the terms "upper," "lower," "left," "right," "vertical," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship commonly used when the product of this application is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0038] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0039] This embodiment provides a material handling device, including a machine base 1, a flexible feeding mechanism 2 mounted on the machine base 1 and integrating visual recognition function, a transfer platform 3 configured to receive workpieces output by the flexible feeding mechanism 2, a transverse material handling arm 4 disposed between the transfer platform 3 and a hopper assembly 5, and a hopper assembly 5. The hopper assembly 5 includes a working material tray area 51, an empty material tray 52, a full material tray 53, and a transfer platform 54. The transfer platform 54 is equipped with a lifting mechanism 541 and configured to handle workpieces in the working material tray area 51 and the empty material tray 52. 2. Transfer of material trays between full and empty material trays 53; Empty material tray 52 includes an empty material receiving cavity defined by a fence structure and multiple sets of clamping units. The multiple sets of clamping units are evenly distributed along the side wall of the empty material receiving cavity. Each set of clamping units includes a clamping drive assembly and a retractable first support member 523 and a second support member 524. The first support member 523 and the second support member 524 are respectively connected to the clamping drive assembly and are arranged in a staggered manner. The first support member 523 and the second support member 524 cooperate to clamp the bottom edge of the stacked empty material trays.

[0040] The feeding logic of this material tray device is based on a multi-level clamping and collaborative control mechanism: the first support member 523 and the second support member 524, which are staggered in height, constitute a phase differential clamping system, performing precise layering and peeling operations during the vertical lifting and lowering of the transfer platform 54. When the transfer platform 54 is axially lifted along the precision transmission mechanism to the bottom of the empty material tray 52, the clamping drive component controls the radial contraction of the first support member 523 through dynamic pressure adjustment, releasing the constraint on the bottom empty material tray; at the same time, the second support member 524 maintains a constant pressure clamping state, and its special-shaped clamping structure forms multi-point dynamic contact with the second-layer material tray, ensuring the posture stability of the stacked material trays under separation conditions. The released bottom empty material tray is captured by the transfer platform 54 and transferred along its movement trajectory to the positioning fixture in the working material tray area 51. Positioning and fixing cylinders are installed on both sides of the positioning fixture. The transverse picking arm 4, through multi-axis collaborative motion, accurately places the workpiece calibrated by the vision positioning system into the material tray in the working material tray area 51. Once the material tray is fully loaded, the transfer platform 54 automatically starts and moves the full tray to the stacked storage area of ​​the full tray bin 53 for storage. Then, the transfer platform 54 moves again to the empty tray bin 52 to replenish the empty trays, repeating this cycle to ensure the continuous, stable, and reliable operation of the entire material handling device.

[0041] The transverse material handling arm 4 has multiple axes, namely a horizontal transverse movement axis and a vertical lifting movement axis.

[0042] In this embodiment, the full material tray 53 includes a full material receiving cavity defined by a fence structure and multiple sets of lifting units. The multiple sets of lifting units are evenly distributed along the side wall of the full material receiving cavity. Each set of lifting units includes a lifting drive assembly 531 and a retractable lifting member 532. The retractable lifting member 532 is connected to the lifting drive assembly 531 and lifts the tray at the bottom edge of the stacked full material trays.

[0043] The enclosure structure, which defines the full-load receiving cavity, not only effectively limits the stacked full-load trays, preventing them from shifting or tipping over during storage and ensuring their neatness and safety, but also protects them from accidental collisions caused by external factors. Multiple sets of lifting units evenly distributed along the sidewalls of the full-load receiving cavity provide stable and balanced support for the stacked full-load trays. The lifting drive assembly 531 precisely controls the extension and retraction of the lifting member 532. When a new full-load tray needs to be stored, the lifting member 532 retracts accurately, ensuring the new tray can smoothly enter the full-load receiving cavity. After the new tray enters the cavity, it extends to support it, ensuring stable placement.

[0044] In this embodiment, the working material tray area 51 and the transfer platform 3 are aligned along the direction of the predetermined material transfer path. The lateral material picking arm 4 transfers the workpiece in the transfer platform 3 to the material tray loading area of ​​the working material tray area 51 through a linear translation path.

[0045] The layout of the working material tray area 51 and the transfer platform 3, along with the working method of the lateral picking arm 4, brings significant advantages. Firstly, their alignment along the predetermined material transfer path makes the material transfer path more direct and smooth, reducing unnecessary bends and turns, and significantly shortening the transport distance of the workpiece from the transfer platform 3 to the working material tray area 51, thereby improving material transfer efficiency. The lateral picking arm 4 moves the workpiece via a linear translation path; this simple and direct movement method is easy to control and operate precisely. Compared to complex curved movements or multi-dimensional movements, the linear translation path makes it easier to achieve high-precision positioning, accurately placing the workpiece into the tray loading area of ​​the working material tray area 51, effectively reducing workpiece placement errors and improving tray placement accuracy.

[0046] In this embodiment, the fence structure is formed by four angle irons enclosing a three-dimensional frame.

[0047] Angle iron is a common and sturdy metal material with high strength and rigidity. The three-dimensional frame formed by angle iron provides reliable protection and support for the pallets. In the empty pallet bin 52 and the full pallet bin 53, the enclosure structure effectively restricts the movement of the pallets, preventing them from falling due to external impacts or their own movement during storage, thus ensuring safe storage. The three-dimensional frame design gives the pallet bin good spatial stability, capable of supporting stacked pallets of a certain weight without deformation or damage. Angle iron is relatively easy to install and process, with low cost, reducing equipment manufacturing costs while ensuring the performance of the enclosure structure. Moreover, this structure offers good openness, allowing operators to easily observe the storage status of the pallets and promptly understand their quantity and condition. In terms of equipment maintenance, the simple structure of the angle iron frame makes it easy to disassemble and assemble, facilitating convenient replacement and repair if any part is damaged. Furthermore, the relatively flat surface of the angle iron is less likely to scratch the pallets, reducing the risk of damage caused by the enclosure structure. Throughout the operation of the material handling device, this enclosure structure formed by angle iron not only ensures the safe storage and management of the material trays, but also takes into account cost, maintenance and ease of use, providing strong support for the stable operation of the equipment.

[0048] In this embodiment, the clamping drive assembly includes a first cylinder 521 and a second cylinder 522 arranged side by side, a first support member 523 connected to the first cylinder 521, and a second support member 524 connected to the second cylinder 522.

[0049] Two cylinders arranged side-by-side can independently and precisely control the extension and retraction of the first support 523 and the second support 524. The first cylinder 521 drives the first support 523, and the second cylinder 522 drives the second support 524. This independent control method allows for flexible adjustment of the position and sequence of action of the two supports according to actual needs. Furthermore, the side-by-side cylinder layout is compact, occupies little space, and helps optimize the internal structure of the empty material tray 52, making more rational use of space in the entire material handling device and improving the overall performance of the equipment.

[0050] In this embodiment, the first support member 523 is a horizontally extending high material clamping piece, and the second support member 524 is a horizontally extending low material clamping piece, with a vertical gap formed between the high material clamping piece and the low material clamping piece.

[0051] The horizontally extending clamping design increases the contact area with the bottom edge of the empty tray, thereby improving clamping stability. The high and low clamping plates clamp the empty tray from different heights; this staggered layout better accommodates empty trays of different sizes and shapes. For empty trays with irregular edges or varying thicknesses, the high and low clamping plates provide support and clamping force from different angles and positions, ensuring the tray is securely fixed. The vertical spacing not only helps achieve the staggered clamping effect but also prevents interference between the two clamping plates during operation. In actual operation, when the empty tray is placed in the empty tray compartment 52, the high and low clamping plates quickly and accurately clamp the bottom edge of the tray. Due to their horizontal extension, they disperse the clamping force, preventing excessive local pressure on the tray edges and potential damage.

[0052] In this embodiment, the transverse material handling arm 4 is a multi-axis robotic arm structure, and its end effector 41 is configured as a vacuum suction cup or gripper assembly.

[0053] The multi-axis robotic arm structure provides the transverse material handling arm 4 with abundant degrees of freedom of movement. It can move and rotate flexibly in multiple dimensions, easily reaching various positions on the transfer platform 3 and the work tray area 51, greatly expanding the equipment's workspace. This multi-axis linkage makes material handling operations more precise and efficient, allowing for rapid adjustment of the robotic arm's posture and position according to different work requirements, accurately gripping and placing workpieces. The end effector 41 is configured as a vacuum suction cup or gripper assembly, increasing the equipment's applicability to different types of workpieces. The vacuum suction cup is suitable for adsorbing some flat, lightweight workpieces, using negative pressure to adsorb the workpiece, offering advantages such as uniform adsorption force and no damage to the workpiece surface. For some irregularly shaped or heavier workpieces, the gripper assembly can be used for gripping. The gripper can be adjusted according to the shape and size of the workpiece, providing sufficient clamping force to ensure the stability of the workpiece during transfer.

[0054] In this embodiment, the transfer platform 3 includes a turntable base 31 and a rotation drive module 32. The surface of the turntable base 31 is provided with anti-slip texture or positioning groove.

[0055] The rotary drive module 32 enables the turntable base 31 to rotate, providing greater flexibility for workpiece transfer. During the traversing pick-up arm 4, the rotating turntable positions the workpiece more favorably, facilitating accurate gripping and reducing the difficulty and error of the pick-up process. The anti-slip texture or positioning grooves on the surface of the turntable base 31 also play a crucial role. The anti-slip texture increases friction between the workpiece and the turntable surface, preventing slippage or displacement during rotation and ensuring the workpiece remains in a stable position, which is beneficial for subsequent pick-up operations. The positioning grooves provide precise workpiece positioning; when placed within the groove, its position is accurately determined, further improving the accuracy of workpiece transfer.

[0056] In this embodiment, the transplanting platform 54 is provided with a linear sliding pair consisting of a guide rail and a slider, and the lifting mechanism 541 is installed on the slider.

[0057] The linear sliding pair formed by the guide rail and the slider provides precise linear motion guidance for the transfer platform 54, ensuring smooth and accurate transfer between the working material tray area 51, the empty material tray bin 52, and the full material tray bin 53. The slider has a low coefficient of sliding friction on the guide rail, resulting in low motion resistance and enabling rapid and flexible movement, thus improving the efficiency of material tray transfer. Simultaneously, this linear sliding pair has a simple structure, is easy to install and maintain, and reduces equipment maintenance costs and complexity. Mounting the lifting mechanism 541 on the slider allows the transfer platform 54 to not only move linearly horizontally but also lift vertically. This design greatly expands the working range and functionality of the transfer platform 54. During material tray transfer, the transfer platform 54 can adjust its height according to the height requirements of different material tray areas via the lifting mechanism 541, accurately docking with each material tray area to achieve smooth loading and unloading of material trays. Furthermore, the coordinated work of the lifting mechanism 541 and the linear sliding pair allows the transfer platform 54 to more flexibly adapt to different working scenarios and task requirements. Whether transferring empty pallets from the empty pallet hopper 52 to the working pallet area 51, or transferring full pallets from the working pallet area 51 to the full pallet hopper 53, the process can be completed efficiently and accurately. This design improves the automation and intelligence of pallet management, reduces manual intervention, and enhances the overall efficiency and reliability of the material handling device.

[0058] In this embodiment, the flexible feeding mechanism 2 includes a vibratory feeder 21 and a robotic arm assembly 22. A robotic arm baffle 23 is provided next to the robotic arm assembly 22, and the visual recognition function is realized through a camera installed on the robotic arm.

[0059] The vibratory feeder 21 arranges and transports workpieces through vibration. Based on the shape, size, and other characteristics of the workpieces, it moves them in a specific posture and sequence towards the robotic arm assembly 22, greatly improving the efficiency and orderliness of loading. The robotic arm assembly 22 precisely grasps and places the workpieces, and its flexible movements accurately transfer the workpieces output from the vibratory feeder 21 to the transfer platform 3. The robotic arm baffle 23 prevents accidental collisions with the surrounding environment during operation, protecting the robotic arm assembly 22 from damage and extending its service life. Simultaneously, the baffle also prevents debris from entering the robotic arm's working area and affecting its operation.

[0060] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A material tray placement device, characterized in that, include: Machine (1); A flexible feeding mechanism (2) with integrated visual recognition function is installed on the machine base (1); The transfer platform (3) is configured to receive the workpieces output by the flexible feeding mechanism (2); A transverse material handling arm (4) is positioned between the transfer platform (3) and the hopper assembly (5); The hopper assembly (5) includes a working material tray area (51), an empty material tray hopper (52), a full material tray hopper (53), and a transfer platform (54). The transfer platform (54) is equipped with a lifting mechanism (541) and configured to transfer material trays between the working material tray area (51), the empty material tray hopper (52), and the full material tray hopper (53). The empty material tray hopper (52) includes an empty material receiving cavity defined by a fence structure and multiple sets of clamping units. The multiple sets of clamping units are evenly distributed along the side wall of the empty material receiving cavity. Each set of clamping units includes: Clamping drive components; The retractable first support (523) and second support (524) are respectively connected to the clamping drive assembly and are arranged in a staggered manner. The first support (523) and the second support (524) work together to clamp the bottom edge of the stacked empty trays.

2. The material tray arrangement device according to claim 1, characterized in that, The full material hopper (53) includes a full material receiving cavity defined by a fence structure and multiple sets of lifting units. The multiple sets of lifting units are evenly distributed along the side wall of the full material receiving cavity, and each set of lifting units includes: Lifting drive assembly (531); A retractable lifting member (532) is connected to the lifting drive assembly (531) and lifts the bottom edge of the stacked full tray.

3. The material tray arrangement device according to claim 1, characterized in that, The working material tray area (51) and the transfer platform (3) are aligned along the direction of the predetermined material transfer path. The transverse material picking arm (4) transfers the workpiece in the transfer platform (3) to the material tray loading area of ​​the working material tray area (51) through a linear translation path.

4. The material tray arrangement device according to claim 1, characterized in that, The fence structure is formed by four angle irons enclosing a three-dimensional frame.

5. The material tray arrangement device according to claim 1, characterized in that, The clamping drive assembly includes a first cylinder (521) and a second cylinder (522) arranged side by side, the first support (523) is connected to the first cylinder (521), and the second support (524) is connected to the second cylinder (522).

6. The material tray arrangement device according to claim 1, characterized in that, The first support member (523) is a horizontally extending high material clamping piece, and the second support member (524) is a horizontally extending low material clamping piece, with a vertical gap between the high material clamping piece and the low material clamping piece.

7. The material tray arrangement device according to claim 1, characterized in that, The transverse material handling arm (4) is a multi-axis robotic arm structure, and its end effector (41) is configured as a vacuum suction cup or gripper assembly.

8. The material tray arrangement device according to claim 1, characterized in that, The transfer platform (3) includes a turntable base (31) and a rotation drive module (32). The surface of the turntable base (31) is provided with anti-slip texture or positioning groove.

9. The material tray arrangement device according to claim 1, characterized in that, The transplanting platform (54) is provided with a linear moving pair consisting of a guide rail and a slider, and the lifting mechanism (541) is installed on the slider.

10. The material tray arrangement device according to claim 1, characterized in that, The flexible feeding mechanism (2) includes a vibratory feeder (21) and a robotic arm assembly (22). A robotic arm baffle (23) is provided next to the robotic arm assembly (22). The visual recognition function is realized by an industrial camera installed on the robotic arm assembly (22).

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