A pneumatic lifting device for electronic trays

Abstract

This utility model provides a pneumatic lifting device for electronic trays, including a tray positioning assembly, a drive assembly, and a handling robot. The tray positioning assembly inserts a central positioning cone into the center hole of the tray, and, in conjunction with a pressure plate, clamps the tray to achieve precise vertical positioning. The drive assembly uses a downward-pressing cylinder to drive the limit plate to rise and fall, with linear bearings ensuring stability. The handling robot uses a rotary cylinder, a gripper cylinder, and a synchronous belt mechanism to achieve 45-degree rotation and extend / retract the fork, completing the tray gripping and handling. This device has a compact structure, high positioning accuracy, and strong adaptability, significantly improving the efficiency and stability of automated production, and is suitable for various electronic trays.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically to a multi-dimensional motion control system for a pneumatic lifting device for electronic trays. Background Technology

[0002] Automation equipment technology plays a vital role in modern industrial production, especially in the manufacturing and assembly of electronic components, where tray positioning and handling are crucial for achieving high-efficiency production. As the electronics industry's demands for production efficiency and precision continue to rise, tray positioning and handling equipment is gradually evolving towards intelligence, precision, and multi-functionality. Traditional tray positioning devices often employ mechanical limits or manual assistance, while modern technology incorporates advanced methods such as pneumatic drives, guided positioning, and multi-dimensional motion control to meet the needs of complex production scenarios. In recent years, the application of pneumatic lifting devices combined with robotic arms has significantly improved the automation level of production lines, particularly in the center hole positioning and handling of electronic trays. These technologies, through the coordinated work of cylinder drives, guiding mechanisms, and gripper mechanisms, achieve stable tray positioning and flexible handling. However, existing technical solutions still have certain limitations in practical applications, restricting the equipment's performance under high precision, high efficiency, and complex operating conditions.

[0003] In existing technologies, tray positioning devices typically employ mechanical limiting or simple pneumatic clamping mechanisms. These devices are mostly designed for fixed clamping or unidirectional clamping, making it difficult to adapt to the center hole positioning requirements of trays of different sizes. For example, some devices rely on manual adjustment or mechanical hard limiting, lacking self-adaptability and resulting in insufficient positioning accuracy. Especially on high-speed production lines, even slight tray offsets can cause deviations in subsequent handling processes. The guide mechanism design of traditional positioning devices is relatively simple, with low precision in the fit between the guide cone and the center hole of the tray. This makes them prone to positioning failure due to tray deformation or dimensional deviations, and can even damage the tray or equipment.

[0004] Existing robotic handling technologies also have shortcomings in multi-dimensional motion control. Traditional robotic arms typically only possess unidirectional movement capabilities, such as vertical lifting or horizontal movement, making it difficult to achieve complex spatial movements. For example, some robotic arms lack rotation capabilities, failing to meet positioning requirements at specific angles (such as 45 degrees), leading to the need for additional manual intervention or auxiliary equipment in certain special working conditions. The gripping force control of the gripper mechanism is not precise enough, easily causing the tray to slip or deform due to excessive or insufficient gripping force. These problems are particularly prominent in the production of high-precision electronic components, directly affecting production efficiency and product quality.

[0005] To address the aforementioned issues, existing technologies have proposed several improvements. For example, some positioning devices incorporate adjustable guiding mechanisms, attempting to improve positioning accuracy by increasing the adaptability of the guide cone. However, these solutions often require complex mechanical structures or additional sensor support, leading to increased equipment costs and maintenance difficulties. Regarding robotic arms, some technologies achieve multi-dimensional motion through multi-cylinder combined drives, but the control systems of these solutions are relatively complex, and the coordination between cylinders is insufficient, easily resulting in asynchronous movements or response delays. Existing improvements, while compatible with different tray sizes and capable of handling complex working conditions, still lack flexibility and stability, failing to meet the demands of the modern electronics industry for efficient and precise material handling.

[0006] This application aims to solve the problems of insufficient positioning accuracy of material trays, limited multi-dimensional motion capability of robotic arms, and poor adaptability of equipment to material trays of different specifications in the prior art, and to provide a pneumatic lifting device and robotic arm control system with simple structure, accurate positioning and flexible movement. Utility Model Content

[0007] To address the aforementioned technical problems, this utility model provides a pneumatic lifting device for electronic trays. Its purpose is to achieve precise vertical positioning of the tray through a guide cone and a limiting plate driven by a cylinder, and to achieve multi-dimensional motion by combining rotation and gripper cylinders. This solves the problems of insufficient tray positioning accuracy, poor manipulator movement flexibility, and low adaptability in the prior art, thereby improving the efficiency and stability of automated production.

[0008] A pneumatic lifting device for electronic trays includes a tray positioning assembly, a drive assembly, and a handling robot.

[0009] The tray positioning assembly includes a guide cone, a limiting plate, and a linear bearing. The guide cone is fixedly installed at the center of the lower surface of the limiting plate. The limiting plate is slidably connected to the fixed frame in the vertical direction through the linear bearing. The guide cone is configured to be inserted into the center hole of the electronic tray to achieve vertical positioning of the electronic tray.

[0010] The driving assembly includes a downward pressing cylinder, which is fixedly installed on the fixed frame. Its piston rod is fixedly connected to the upper surface of the limiting plate, and is used to drive the limiting plate to rise and fall vertically along the guide direction of the linear bearing.

[0011] The handling robot includes a rotary cylinder, a gripper cylinder, and a toothed fork. The rotary cylinder is fixedly mounted on the fixed frame, and its output end is fixedly connected to the base of the gripper cylinder, for driving the gripper cylinder to rotate around a fixed axis by a predetermined angle.

[0012] The gripper cylinder is fixedly connected to the base end of the toothed fork and is configured to drive the toothed fork to extend and retract in the horizontal direction to grip or release the electronic tray.

[0013] A pressure plate is also fixedly installed on the lower surface of the limiting plate. The pressure plate is coaxially arranged with the guide cone and surrounds the outer periphery of the guide cone. The pressure plate is configured to press the upper surface of the electronic material tray after the guide cone is inserted into the central hole, so as to enhance the posture stability of the electronic material tray.

[0014] Furthermore, the handling robot also includes a timing belt mechanism, which is fixedly mounted on the base of the gripper cylinder and is connected to the base end of the toothed fork for transmission. It is configured to drive the toothed fork to extend and retract in the horizontal direction via timing belt transmission.

[0015] Furthermore, the rotary cylinder is configured to drive the gripper cylinder to rotate 45 degrees around a fixed axis, and the output end of the gripper cylinder is connected to the base end of the toothed fork via a sliding guide rail to assist the horizontal extension and retraction movement of the toothed fork.

[0016] Furthermore, the guide cone has a frustum-shaped structure, with its bottom diameter being smaller than the diameter of the central hole of the electronic material tray, and the sidewall of the guide cone forms an angle of 30 to 60 degrees with the lower surface of the limiting plate, so as to guide the guide cone to be accurately inserted into the central hole.

[0017] Furthermore, the pressure plate has an annular structure with an inner diameter larger than the maximum outer diameter of the guide cone, and an elastic pad is provided on the lower surface of the pressure plate to buffer the contact force when pressing the electronic tray.

[0018] Furthermore, the synchronous belt mechanism includes a drive motor and a synchronous pulley. The drive motor is fixedly mounted on the base of the gripper cylinder, and the synchronous pulley is connected to the base end of the toothed fork through toothed meshing, which is used to precisely control the extension and retraction distance of the toothed fork.

[0019] Furthermore, the sliding guide rail includes a guide rail groove and a slider. The guide rail groove is fixedly disposed at the output end of the gripper cylinder, and the slider is fixedly connected to the base end of the toothed fork. The slider slides within the guide rail groove to limit the movement trajectory of the toothed fork.

[0020] Furthermore, the linear bearing includes at least two bearing units arranged side by side in a vertical direction. The bearing units are fixed to the inner sidewall of the fixed frame. The limiting plate slides with the fixed frame through the bearing units to enhance the lifting stability of the limiting plate.

[0021] Furthermore, the piston rod end of the pressing cylinder is fixedly connected to the upper surface of the limiting plate via a flange. The diameter of the flange is larger than the diameter of the piston rod, which is used to evenly distribute the driving force of the pressing cylinder.

[0022] Furthermore, the handling robot also includes an angle sensor, which is fixedly installed at the output end of the rotary cylinder to detect the rotation angle of the gripper cylinder and output a control signal to ensure the accuracy of the rotation angle.

[0023] The pneumatic lifting device for electronic trays provided by this invention significantly improves the positioning accuracy and handling efficiency of electronic trays in automated production through the organic combination of tray positioning components, drive components, and handling robots. The guide cone in the tray positioning component is fixed to the lower surface of the limiting plate, and, in conjunction with the sliding connection between the linear bearing and the fixed frame, can be precisely inserted into the center hole of the tray, achieving high-precision vertical positioning. This design effectively avoids deviations caused by traditional mechanical limiting or manual adjustment. Especially on high-speed production lines, the frustum-shaped structure of the guide cone and the specific angle formed with the limiting plate further ensure smooth and stable insertion, reducing the risk of positioning failure due to tray deformation or dimensional deviations.

[0024] The downward-pressing cylinder in the drive assembly is fixedly connected to the limiting plate via a piston rod. Combined with the uniform force distribution design of the flange, it provides a stable vertical driving force, allowing the limiting plate to rise and fall smoothly along the linear bearing, thus enhancing the operational reliability of the device. The ring structure and elastic pad design of the pressure plate effectively buffer the contact force when clamping the material tray, protecting the tray surface from damage and enhancing posture stability. This structural design not only improves the positioning firmness but also adapts to different tray sizes, enhancing the versatility of the device.

[0025] The multi-dimensional motion capability of the handling robot is another significant advantage of this invention. A rotary cylinder drives a gripper cylinder to achieve precise rotation at a specific angle (e.g., 45 degrees). Combined with real-time detection by an angle sensor, this ensures accurate control of the rotation angle, meeting positioning requirements under complex working conditions. The gripper cylinder, connected to the fork via a sliding guide rail, and coupled with the precise transmission of a synchronous belt mechanism, achieves smooth extension and retraction of the fork, improving the efficiency and reliability of gripping the material tray. The coordination between the synchronous belt mechanism and the drive motor further optimizes the extension and retraction accuracy of the fork, reducing errors during the gripping process.

[0026] Compared with existing technologies, this invention overcomes the shortcomings of traditional devices, such as low positioning accuracy, single motion, and poor adaptability, by combining pneumatic drive, guiding positioning, and multi-dimensional motion control. Its simple structure and convenient maintenance make it suitable for the automated production needs of various electronic trays, significantly improving production line efficiency and product quality, and possessing high practical value and economic benefits. Attached Figure Description

[0027] Appendix Figure 1 This is a schematic diagram of the lower pressing device in the lifting state in this utility model;

[0028] Appendix Figure 2 This is a schematic diagram of the lowering device in the present invention in a descending state;

[0029] Appendix Figure 3 This is a partially enlarged schematic diagram of the guide cone and the downward pressing cylinder in this utility model;

[0030] Appendix Figure 4 This is a structural diagram of the material tray being pressed by the pressure plate in this utility model.

[0031] Appendix Figure 5 This is a schematic diagram of the structure of the robotic arm with its fork extended to transport the material tray in this utility model.

[0032] Figure reference numerals: 1. Center positioning cone of the material tray; 2. High position of the pressing device; 3. Low position of the pressing device; 4. Center hole of the material tray; 5. Linear bearing assembly; 6. Pressing cylinder; 7. Material tray pressure plate; 8. Electronic material tray; 9. End of the toothed fork; 10. High position of the pressure plate; 11. Synchronous belt assembly; Detailed Implementation

[0033] The technical solution of this utility model will now be clearly and completely described in conjunction with the accompanying drawings. In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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, and therefore should not be construed as a limitation of this utility model. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The utility model will be further described below with reference to the accompanying drawings.

[0035] This utility model provides a pneumatic lifting device for electronic trays, aiming to solve the problems of insufficient tray positioning accuracy, poor movement flexibility, and low adaptability in existing technologies through precise positioning and flexible multi-dimensional handling. The device integrates a tray positioning component, a drive component, and a handling robot; each part achieves efficient automated operation through precise structural design and coordinated work. (See attached diagram) Figure 1 The diagram shows the structure of the high-position 2 of the pressing device. The overall device includes a fixed frame as the main support structure. The tray positioning assembly, drive assembly, and handling robot are all mounted on the fixed frame, forming a compact and stable whole. The tray positioning assembly includes a tray center positioning cone 1, a limiting plate, and a linear bearing assembly 5. The tray center positioning cone 1 is fixedly installed at the center of the lower surface of the limiting plate by bolts, ensuring a rigid connection during positioning. The limiting plate is slidably connected to the fixed frame in the vertical direction via the linear bearing assembly 5. The linear bearing assembly 5 includes at least two bearing units arranged side by side in the vertical direction and fixed to the inner wall of the fixed frame. The bearing units use high-precision ball bearings to reduce frictional resistance and ensure the stability and high precision of the limiting plate during lifting. The center positioning cone 1 of the material tray is designed as a frustum shape, with its bottom diameter slightly smaller than the diameter of the center hole 4 of the electronic material tray 8. Its sidewall forms an angle of 30 to 60 degrees with the lower surface of the limiting plate. This angle design facilitates the smooth insertion of the center positioning cone 1 into the center hole 4 of the electronic material tray 8, avoiding jamming or positioning failure due to dimensional deviations. The center positioning cone 1 is made of high-strength stainless steel to ensure its wear resistance and long-term stability.

[0036] The core of the drive assembly is the downward-pressing cylinder 6, as shown in the attached diagram. Figure 3 The diagram shows a partially enlarged view of the center positioning cone 1 of the material tray and the pressing cylinder 6. The pressing cylinder 6 is bolted to the top of the fixed frame, and its piston rod is fixedly connected to the upper surface of the limiting plate via a flange. The diameter of the flange is larger than the diameter of the piston rod, and it is designed as a circular structure to evenly distribute the driving force of the pressing cylinder 6, avoiding tilting or displacement of the limiting plate due to uneven force. When the cylinder retracts, the pressing device is at its high position 2, as shown in the attached diagram. Figure 1As shown, the limiting plate drives the center positioning cone 1 of the material tray and the material tray pressure plate 7 to rise to the high position, leaving enough space to place the electronic material tray 8 in the positioning area. When the cylinder extends, the pressing device is in the low position 3, as shown in the attached diagram. Figure 2 The diagram shows the structure of the lower position 3 of the pressing device. The piston rod pushes the limiting plate downward along the linear assembly 5, and the center positioning cone 1 of the material tray is inserted into the center hole 4 of the electronic material tray 8, completing the precise vertical positioning. A material tray pressure plate 7 is also fixedly installed on the lower surface of the limiting plate. The material tray pressure plate 7 has a ring structure, and its inner diameter is larger than the maximum outer diameter of the center positioning cone 1. It surrounds the outer circumference of the center positioning cone 1, ensuring that the material tray pressure plate 7 does not interfere with the insertion action of the center positioning cone 1 when pressing the electronic material tray 8. An elastic pad layer made of highly elastic rubber material is provided on the lower surface of the material tray pressure plate 7. Figure 4 The image shows the state in which the tray pressure plate 7 presses the electronic tray 8. The elastic pad provides cushioning when the tray pressure plate 7 contacts the electronic tray 8, reducing contact stress and preventing scratches or deformation on the tray surface. At the same time, it enhances the posture stability of the electronic tray 8, making it particularly suitable for thin-walled or easily deformable trays.

[0037] The design of the handling robot is key to achieving multi-dimensional motion in this invention. It includes a rotary cylinder, a gripper cylinder, a toothed fork end 9, and a synchronous belt assembly 11. The rotary cylinder is fixedly mounted on the side of the fixed frame, and its output end is fixedly connected to the base of the gripper cylinder via a coupling, driving the gripper cylinder to rotate 45 degrees around a fixed axis to meet the angle positioning requirements under specific working conditions. An angle sensor is fixedly mounted on the output end of the rotary cylinder, employing a high-precision optical encoder to detect the rotation angle of the gripper cylinder in real time and output a control signal. The output end of the gripper cylinder is connected to the base end of the toothed fork end 9 via a sliding guide rail. The sliding guide rail includes a guide rail groove and a slider. The guide rail groove is fixed to the output end of the gripper cylinder, and the slider is fixedly connected to the base end of the toothed fork end 9 by bolts. The slider slides within the guide rail groove, restricting the movement trajectory of the toothed fork end 9 and ensuring smooth and non-deviation-free horizontal extension and retraction. Synchronous belt assembly 11 includes a drive motor and a synchronous belt pulley. The drive motor is fixed to the base of the gripper cylinder via a base. The synchronous belt pulley is connected to the base end of the toothed fork 9 via toothed meshing. Synchronous belt assembly 11 drives the toothed fork end 9, as shown in the attached figure. Figure 5 The image shows the position where the fork tip 9 extends to handle the electronic tray 8. The drive motor is a stepper motor, which can precisely control the rotation angle of the synchronous pulley, thereby enabling fine-tuning of the extension and retraction distance of the fork tip 9 and ensuring reliability and stability when gripping the electronic tray 8.

[0038] In actual operation, the electronic tray 8 is first placed in the positioning area of ​​the fixed frame. The positioning area is designed with a support platform to ensure the initial stability of the electronic tray 8. The downward cylinder 6 is activated, and the piston rod pushes the limiting plate downwards along the linear bearing assembly 5. The center positioning cone 1 of the tray gradually approaches and inserts into the center hole 4 of the electronic tray 8, as shown in the attached diagram. Figure 3 As shown, the process of inserting the center positioning cone 1 of the material tray into the center hole 4 is achieved with high-precision centering through the guiding effect of the frustum-shaped structure. The material tray pressure plate 7 descends with the limiting plate. After the center positioning cone 1 is fully inserted, the material tray pressure plate 7 presses against the electronic material tray 8. Its elastic pad layer is in close contact with the surface of the electronic material tray 8, forming a uniform clamping force to ensure the stability of the electronic material tray 8 during the positioning process. Subsequently, the rotary cylinder is activated, driving the gripper cylinder to rotate to a predetermined 45-degree angle. The angle sensor provides real-time feedback of the rotation data to ensure accurate positioning. The gripper cylinder drives the toothed fork end 9 to extend via the sliding guide rail. The end of the toothed fork 9 is designed with an anti-slip gripping surface, which fits tightly against the side of the electronic material tray 8 to complete the gripping action. Under the control of the drive motor, the synchronous belt assembly 11 drives the toothed fork end 9 to precisely extend and retract via the synchronous belt pulley, as shown in the attached diagram. Figure 5 As shown, after the fork tip 9 extends, it firmly secures the electronic material tray 8 and moves it to the designated position. After the movement is completed, the gripper cylinder drives the fork tip 9 to retract, the pressing cylinder 6 retracts, and the limiting plate and the material tray pressure plate 7 are raised to the high position 10 of the pressure plate, releasing the electronic material tray 8, as shown in the attached diagram. Figure 1 The pressing device is in the high position 2 state, ready for the next round of operation.

[0039] This invention achieves high-precision vertical positioning of the electronic tray 8 through the coordinated operation of the tray center positioning cone 1, the linear bearing assembly 5, and the pressing cylinder 6, overcoming the insufficient precision of traditional mechanical limits or manual adjustments. The tray pressure plate 7, designed to press the electronic tray 8 firmly, combined with an elastic pad, further enhances the stability of the electronic tray 8 and is compatible with various tray specifications. The rotary cylinder, gripper cylinder, and synchronous belt assembly 11 of the handling robot, through the cooperation of sliding guide rails and angle sensors, achieve precise control of 45-degree rotation and horizontal extension, significantly improving the flexibility and efficiency of handling. The entire device has a compact structure, is easy to maintain, and is suitable for automated production lines for electronic components. It can effectively reduce positioning deviations and handling failure rates, improve production efficiency and product quality, and has significant practical value.

[0040] The above are merely preferred embodiments of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Other parts of this utility model not described in detail belong to the prior art and will not be elaborated upon here.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A pneumatic lifting device for electronic trays, characterized in that, Includes a tray positioning assembly, a drive assembly, and a handling robot; The tray positioning assembly includes a guide cone, a limiting plate, and a linear bearing. The guide cone is fixedly installed at the center of the lower surface of the limiting plate. The limiting plate is slidably connected to the fixed frame in the vertical direction through the linear bearing. The guide cone is configured to be inserted into the center hole of the electronic tray to achieve vertical positioning of the electronic tray. The driving assembly includes a downward pressing cylinder, which is fixedly installed on the fixed frame. Its piston rod is fixedly connected to the upper surface of the limiting plate, and is used to drive the limiting plate to rise and fall vertically along the guide direction of the linear bearing. The handling robot includes a rotary cylinder, a gripper cylinder, and a toothed fork. The rotary cylinder is fixedly mounted on the fixed frame, and its output end is fixedly connected to the base of the gripper cylinder, for driving the gripper cylinder to rotate around a fixed axis by a predetermined angle. The gripper cylinder is fixedly connected to the base end of the toothed fork and is configured to drive the toothed fork to extend and retract in the horizontal direction to grip or release the electronic tray. A pressure plate is also fixedly installed on the lower surface of the limiting plate. The pressure plate is coaxially arranged with the guide cone and surrounds the outer periphery of the guide cone. The pressure plate is configured to press the upper surface of the electronic material tray after the guide cone is inserted into the central hole, so as to enhance the posture stability of the electronic material tray.

2. The pneumatic lifting device for electronic trays according to claim 1, characterized in that, The handling robot also includes a timing belt mechanism, which is fixedly mounted on the base of the gripper cylinder and is connected to the base end of the toothed fork. It is configured to drive the toothed fork to extend and retract in the horizontal direction via the timing belt drive.

3. The pneumatic lifting device for electronic trays according to claim 2, characterized in that, The rotary cylinder is configured to drive the gripper cylinder to rotate 45 degrees around a fixed axis. The output end of the gripper cylinder is connected to the base end of the toothed fork via a sliding guide rail to assist the horizontal extension and retraction of the toothed fork.

4. The pneumatic lifting device for electronic trays according to claim 1, characterized in that, The guide cone has a frustum-shaped structure, with its bottom diameter being smaller than the diameter of the central hole of the electronic material tray. The sidewall of the guide cone forms an angle of 30 to 60 degrees with the lower surface of the limiting plate to guide the guide cone to be accurately inserted into the central hole.

5. The pneumatic lifting device for electronic trays according to claim 1, characterized in that, The pressure plate has an annular structure with an inner diameter larger than the maximum outer diameter of the guide cone, and an elastic pad is provided on the lower surface of the pressure plate to buffer the contact force when pressing the electronic tray.

6. The pneumatic lifting device for electronic trays according to claim 2, characterized in that, The synchronous belt mechanism includes a drive motor and a synchronous pulley. The drive motor is fixedly mounted on the base of the gripper cylinder. The synchronous pulley is connected to the base of the toothed fork through toothed meshing, which is used to precisely control the extension and retraction distance of the toothed fork.

7. The pneumatic lifting device for electronic trays according to claim 3, characterized in that, The sliding guide rail includes a guide rail groove and a slider. The guide rail groove is fixedly disposed at the output end of the gripper cylinder. The slider is fixedly connected to the base end of the toothed fork. The slider slides in the guide rail groove to limit the movement trajectory of the toothed fork.

8. The pneumatic lifting device for electronic trays according to claim 1, characterized in that, The linear bearing includes at least two bearing units arranged side by side in a vertical direction. The bearing units are fixed to the inner sidewall of the fixed frame. The limiting plate slides with the fixed frame through the bearing units to enhance the lifting stability of the limiting plate.

9. The pneumatic lifting device for electronic trays according to claim 1, characterized in that, The piston rod end of the downward pressing cylinder is fixedly connected to the upper surface of the limiting plate via a flange. The diameter of the flange is larger than the diameter of the piston rod, which is used to evenly distribute the driving force of the downward pressing cylinder.

10. The pneumatic lifting device for electronic trays according to claim 3, characterized in that, The handling robot also includes an angle sensor, which is fixedly installed at the output end of the rotary cylinder. The angle sensor is used to detect the rotation angle of the gripper cylinder and output a control signal to ensure the accuracy of the rotation angle.

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