Tray handling device
By designing cross-arranged picking components in the tray handling device, the problem of uneven load during tray handling by the three-axis robotic arm was solved, and the stability and efficiency of tray handling and labeling were improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANGZHOU RAYIN TECH CO LTD
- Filing Date
- 2025-07-24
- Publication Date
- 2026-07-31
AI Technical Summary
In existing technologies, the load on a three-axis robotic arm carrying a gripper is uneven during the material handling process, which makes it impossible to move smoothly in the horizontal direction and affects the handling efficiency.
A material tray conveying device is designed, which adopts a first translation mechanism and a conveying and labeling mechanism. The first picking component and the second picking component are located on opposite sides of the first translation mechanism and are arranged in a cross manner to achieve a balance of motion force. The smoothness and efficiency of the movement are improved by multiple picking components and the symmetrical arrangement of the picking components.
This improved the smoothness and efficiency of tray handling and labeling, increased the cycle time of tray handling and labeling, and ensured the balance and stability of the movement.
Smart Images
Figure CN224577508U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of automated material handling and counting, and specifically relates to a material tray handling device. Background Technology
[0002] Some material handling equipment in related technologies uses a three-axis robotic arm combined with a gripper at the end effector to grasp a material tray, and then the tray is moved by the movement of the robotic arm. However, during the movement of the three-axis robotic arm carrying the gripper and the material tray, the load on the three-axis robotic arm becomes uneven, making it impossible to achieve smooth movement in the horizontal direction. Utility Model Content
[0003] The purpose of this application is to provide a material tray handling device that can at least solve the problems in the related art, such as the inability to smoothly handle material trays in the horizontal direction.
[0004] To solve the above-mentioned technical problems, this application is implemented as follows:
[0005] This application provides a tray handling device, including: a first translation mechanism and a handling and labeling mechanism;
[0006] The first translation mechanism has a first translation end that is movable along a first direction;
[0007] The labeling and transport mechanism includes a base plate, a first picking component for picking up a tray, and a second picking component for picking up a label. The base plate is connected to the first translation end. The first picking component and the second picking component are both connected to the base plate and are located on opposite sides of the first translation mechanism in a second direction. The first direction and the second direction are intersected.
[0008] In this embodiment, the first pickup component and the second pickup component are respectively disposed on opposite sides of the first translation mechanism in the second direction. This provides a certain degree of balance on both sides of the first translation mechanism along the second direction, making the force on both sides more even. This alleviates the problem of uneven weight distribution caused by only placing the pickup component on one side of the first translation mechanism along the second direction. Thus, under the driving action of the first translation mechanism, the movement of the labeling and transporting mechanism, and even the entire tray transport device, is more stable, which helps to improve the cycle time of tray transport and labeling. Therefore, the tray transport device in this embodiment can improve the efficiency of labeling and transporting while ensuring stable movement. Attached Figure Description
[0009] Figure 1 This is a schematic diagram of the structure of the tray handling device and the like disclosed in the embodiments of this application;
[0010] Figure 2This is a schematic diagram of the structure of the handling and labeling mechanism and the first translation mechanism disclosed in the embodiments of this application;
[0011] Figure 3 This is a simplified structural diagram of the handling and labeling mechanism disclosed in the embodiments of this application;
[0012] Figure 4 This is a schematic diagram of the first overall structure of the handling and labeling mechanism disclosed in the embodiments of this application;
[0013] Figure 5 This is a schematic diagram of the second overall structure of the handling and labeling mechanism disclosed in the embodiments of this application;
[0014] Figure 6 This is a schematic diagram of the structure of the first translation mechanism disclosed in the embodiments of this application.
[0015] Explanation of reference numerals in the attached figures:
[0016] 01-Plate handling device;
[0017] 10-First translation mechanism; 11-First translation module; 12-First auxiliary slide rail; 121-First slider;
[0018] 20 - Second translation mechanism; 21 - Second translation module; 22 - Second auxiliary slide rail; 221 - Second slider;
[0019] 30-Labeling and labeling mechanism; 31-Substrate; 32-First pickup assembly; 321-First lifting module; 322-Pneumatic gripper; 33-Second pickup assembly; 331-Second lifting module; 332-Suction cup; 333-Buffer; 334-Rotary drive; 34-Detection element; 35-Connecting rod; 36-First limiting element; 37-Second limiting element;
[0020] 02-Printer;
[0021] 03-Loading Cart
[0022] 04-Unloading vehicle. Detailed Implementation
[0023] 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0024] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0025] The embodiments of this application will be described in detail below with reference to the accompanying drawings and specific examples and application scenarios.
[0026] refer to Figures 1 to 6 This application discloses a tray handling device 01, which can be used for handling, labeling, and other operations on trays. The trays can be used to carry products, such as microelectronic components. The disclosed tray handling device 01 includes a first translation mechanism 10 and a handling and labeling mechanism 30.
[0027] The first translation mechanism 10 has a first translation end, which can move along a first direction. Optionally, the first translation end can be a translation seat, a translation plate, a translation block, or other structures; of course, it can also be in other forms, which are not specifically limited here. In addition, the first direction can be one of the horizontal directions.
[0028] The handling and labeling mechanism 30 is connected to the first translation end so that the handling and labeling mechanism 30 can be moved along the first direction through the first translation end so as to facilitate the handling and labeling of items.
[0029] refer to Figures 3 to 5 In some embodiments, the labeling and handling mechanism 30 may include a substrate 31, a first pickup component 32, and a second pickup component 33. The substrate 31 serves as a support member, providing a base for the first and second pickup components 32 and 33. The first pickup component 32 is used to pick up a tray, and the second pickup component 33 is used to pick up labels. Exemplarily, the pickup methods of the first and second pickup components 32 and 33 may include grasping, clamping, or adsorption; other methods are also possible and are not specifically limited here. Furthermore, the pickup methods of the first and second pickup components 32 and 33 may be the same or different.
[0030] The substrate 31 is connected to the first translation end so that it can move along the first direction under the driving action of the first translation end; the first pickup component 32 and the second pickup component 33 are both connected to the substrate 31 so that they can move with the substrate 31 in the first direction. Optionally, the first pickup component 32 and the second pickup component 33 can be connected to the substrate 31 by screws respectively.
[0031] Furthermore, in the second direction, the first pickup component 32 and the second pickup component 33 are respectively located on opposite sides of the first translation mechanism 10, wherein the first direction and the second direction are intersected. Based on this, the substrate 31 can be made to play a bearing role on opposite sides of the first translation mechanism 10, thereby improving the force balance of the substrate 31 in the second direction.
[0032] Based on the above configuration, in this embodiment, the first pickup component 32 and the second pickup component 33 are respectively arranged on opposite sides of the first translation mechanism 10 in the second direction. This provides a certain degree of balance on both sides of the first translation mechanism 10 along the second direction, making the force on both sides more even and reducing the load eccentricity on the first translation mechanism 10. This alleviates the problem of uneven weight distribution caused by only placing pickup components on one side of the first translation mechanism 10 along the second direction. Thus, under the driving action of the first translation mechanism 10, the movement of the labeling and handling mechanism 30 and even the entire tray handling device 01 is more stable, which helps to improve the tray handling and labeling cycle time. Therefore, the tray handling device 01 in this embodiment can improve the labeling and handling efficiency while ensuring stable movement.
[0033] For example, both the first direction and the second direction can be in the horizontal plane; in addition, the first direction and the second direction can be perpendicular to each other, and of course, they can also be at an angle other than 90°, which can be set according to the actual working conditions.
[0034] In some more specific embodiments, the first pickup component 32 and the second pickup component 33 can be symmetrically arranged on opposite sides of the first translation mechanism 10 along the second direction, thereby further improving the balance of the handling and labeling mechanism 30 in the second direction, which can help improve the smooth operation of the handling and labeling mechanism 30.
[0035] To improve handling or labeling efficiency, the handling and labeling mechanism 30 may include multiple first pick-up components 32 and multiple second pick-up components 33. Each of the multiple first pick-up components 32 may be located on one side of the first translation mechanism 10 along the second direction and arranged along the first direction. Correspondingly, each of the multiple second pick-up components 33 may be located on the other side of the first translation mechanism 10 along the second direction and arranged along the first direction. The multiple first pick-up components 32 and the multiple second pick-up components 33 are arranged in a one-to-one correspondence along the second direction.
[0036] Based on the above configuration, multiple first picking components 32 can pick up multiple trays at once, thereby improving the picking efficiency of trays and thus improving the efficiency of handling and labeling; multiple second picking components 33 can pick up multiple labels at once, thereby improving the labeling efficiency.
[0037] Furthermore, the multiple first pickup components 32 and multiple second pickup components 33 are arranged in a one-to-one correspondence in the second direction. This allows the first pickup components 32 and the second pickup components 33 to be more balanced in the second direction, thereby improving the stability and speed of the labeling and handling mechanism 30 during movement and alleviating problems such as speed limitation.
[0038] In some more specific embodiments, multiple first pickup components 32 and multiple second pickup components 33 are symmetrically arranged on opposite sides of the first translation mechanism 10, which can further improve the force balance of the handling and labeling mechanism 30 in the second direction.
[0039] Optionally, the first pickup component 32 and the corresponding second pickup component 33 can be connected by a connecting rod 35 (e.g., a guide shaft) to further improve structural rigidity and ensure the smooth movement of the labeling and handling mechanism 30.
[0040] refer to Figure 4 and Figure 5 In some embodiments, each first picking component 32 may include a first lifting module 321 and a gripper 322. The first lifting module 321 is connected to the base plate 31, and the gripper 322 is connected to the lifting end of the first lifting module 321. Based on this, the gripper 322 can grasp the tray to ensure stability during tray movement and prevent the tray from falling. The first lifting module 321 can drive the tray to rise and fall via the corresponding gripper 322, facilitating tray handling. Compared to the related technologies that use the same lifting mechanism to drive multiple trays simultaneously, this embodiment allows each first lifting module 321 to drive its corresponding tray individually, thus adapting to the grasping of trays at different heights and thicknesses, thereby improving the applicability and compatibility of the first picking component 32.
[0041] In some embodiments, each second pickup component 33 may include a second lifting module 331 and a suction cup 332. The second lifting module 331 is connected to the substrate 31, and the suction cup 332 is connected to the lifting end of the second lifting module 331. Based on this, the suction cup 332 can adsorb the label to ensure stability during label movement and prevent the label from falling off. The second lifting module 331 can drive the label to rise and fall through the corresponding suction cup 332, facilitating labeling of the tray. Compared to the related technology where the same lifting mechanism simultaneously drives multiple labels, this embodiment allows each second lifting module 331 to drive the corresponding label to rise and fall independently, thereby enabling labeling of trays at different heights and improving the applicability and compatibility of the second pickup component 33. Optionally, a vacuum generator can provide vacuum suction to the suction cup 332 to pick up the label; alternatively, air can be blown to adhere the label to the tray.
[0042] refer to Figure 6 In some embodiments, the first translation mechanism 10 may include a first translation module 11 and a first auxiliary slide rail 12. The first auxiliary slide rail 12 is disposed on the first translation module 11, and both extend along a first direction. Thus, the first translation module 11 can support the first auxiliary slide rail 12, ensuring its stability. Optionally, the first auxiliary slide rail 12 and the housing of the first translation module 11 can be connected by screws. Furthermore, at least two reinforcing ribs can be added between the first auxiliary slide rail 12 and the first translation module 11 to enhance structural rigidity and improve the overall rigidity of the first translation mechanism 10.
[0043] The substrate 31 is connected to the first translation end of the first translation module 11 and slidably connected to the first auxiliary slide rail 12. Based on this, the first translation module 11 can drive the substrate 31 to move along the first direction via the first translation end. Simultaneously, the first auxiliary slide rail 12 can also provide auxiliary support and guidance for the substrate 31 in the first direction, thereby improving the rigidity of the substrate 31 and further enhancing the smoothness of the entire handling and labeling mechanism 30's movement in the first direction. Optionally, the substrate 31 and the slider on the first auxiliary slide rail 12 can be connected by screws to rigidly connect the handling and labeling mechanism 30 to the first translation mechanism 10, ensuring the reliability and stability of the connection.
[0044] refer to Figure 1 In some embodiments, the tray conveying device 01 may also include a second translation mechanism 20, which can drive the first translation mechanism 10 and the conveying and labeling mechanism 30 it carries to move together in a second direction.
[0045] The second translation mechanism 20 may include a second translation module 21 and a second auxiliary slide rail 22 extending along a second direction, and the second translation module 21 and the second auxiliary slide rail 22 are spaced apart in a first direction. The second translation module 21 has a second translation end. One end of the first translation module 11 is connected to the second translation end, and the other end of the first translation module 11 is slidably connected to the second auxiliary slide rail 22.
[0046] Based on the above configuration, the second translation module 21 can drive the first translation module 11 and the carrying labeling mechanism 30 to move along the second direction through the second translation end. At the same time, the second auxiliary slide rail 22 can also play an auxiliary bearing and auxiliary guiding role for the first translation module 11 in the second direction, which can help improve the uniformity of the force at both ends of the first translation module 11 and further improve the stability of the first translation mechanism 10 and the carrying labeling mechanism 30 moving in the second direction.
[0047] refer to Figure 6 In some embodiments, the substrate 31 and the first auxiliary slide rail 12 can be slidably connected by multiple first sliders 121. In this way, the substrate 31 can be supported at multiple points by multiple first sliders 121, reducing the force on a single first slider 121, and it is beneficial to lengthen the lever arm distance of the first slider 121 bearing the load, increase the service life of the first auxiliary slide rail 12, and also enhance the overall structural rigidity and improve the smoothness of the movement of the labeling mechanism 30.
[0048] Furthermore, the first auxiliary slide rail 12 is provided with limit blocks at both ends. The limit blocks limit the first slider 121 to ensure that the labeling and conveying mechanism 30 moves within the limited range and prevents it from exceeding the movement stroke of the first translation module 11.
[0049] In addition, the other end of the first translation module 11 can be slidably connected to the second auxiliary slide rail 22 via multiple second sliders 221, such as Figure 1 As shown, the other end of the first translation module 11 can be supported at multiple points by multiple second sliders 221, thereby improving the rigidity of the first translation module 11 and the smoothness of its movement.
[0050] refer to Figure 5 In some embodiments, the labeling and handling mechanism 30 may further include a detection element 34 for detecting the thickness of the tray along a third direction, wherein the third direction is perpendicular to the horizontal plane, and optionally, the first direction, the second direction and the third direction are perpendicular to each other.
[0051] Furthermore, the detection element 34 can be disposed on the first picking component 32 and electrically connected to the first lifting module 321, so as to adjust the lifting height of the first lifting module 321 based on the thickness of the tray detected by the detection element 34. Based on this, the thickness of the tray on the tray detection table in the third direction is obtained by the detection element 34, and the detection information is fed back to the first lifting module 321, so that the first lifting module 321 can drive the pneumatic gripper 322 to move to the corresponding height, thereby realizing the gripping of trays of different thicknesses on the tray detection table, and thus realizing the adaptive adjustment of the height when the tray is transported on the tray detection table.
[0052] Alternatively, the detection element 34 can be located on the second pickup assembly 33 and electrically connected to the second lifting module 331. The lifting height of the second lifting module 331 can be adjusted based on the thickness of the tray detected by the detection element 34. Based on this, the thickness of the tray on the tray detection table in the third direction is obtained by the detection element 34, and the detection information is fed back to the second lifting module 331. This allows the second lifting module 331 to move the suction cup 332 to the corresponding height, enabling labeling of trays of different thicknesses on the tray detection table. This allows for adaptive adjustment of the label height when labeling trays on the tray detection table.
[0053] Of course, the detection element 34 can also be respectively disposed on the first pickup component 32 and the second pickup component 33, and electrically connected to the first lifting module 321 and the second lifting module 331 respectively, so as to adjust the lifting height of the first lifting module 321 or the second lifting module 331 according to the thickness of the tray detected by the corresponding detection element 34, so as to realize the handling or labeling of trays of different thicknesses on the tray detection table, thereby realizing the adaptive adjustment of the tray handling height or label height on the tray detection table.
[0054] Optionally, the detection element 34 can be a height displacement sensor, or it can be a camera with a ranging function. Of course, the detection element 34 can also be other components, which are not specifically limited here. For example, the detection element 34 can be a ranging instrument such as a laser rangefinder.
[0055] refer to Figure 4 In some embodiments, the labeling and handling mechanism 30 may further include a first limiting member 36 and a second limiting member 37 for limiting the pneumatic gripper 322 in a third-party direction, wherein the first limiting member 36 and the second limiting member 37 are respectively disposed on the first lifting module 321, and in the third-party direction, the first limiting member 36 is located above the second limiting member 37, so as to limit the lifting height of the first lifting module 321 by the first limiting member 36 and the second limiting member 37.
[0056] Optionally, the gripper 322 can be mounted on a sheet metal part, and the first lifting module 321 can be connected to the sheet metal part. During the upward movement of the gripper 322 driven by the first lifting module 321, the sheet metal part can also move along the third direction, allowing it to make contact with the material tray and trigger the first limiting member 36, thus stopping the first lifting module 321 and limiting the maximum upward distance of the gripper 322. Additionally, the maximum downward distance of the gripper 322 driven by the first lifting module 321 is limited by the contact between the sheet metal part and the second limiting member 37. Therefore, the limiting action of the first limiting member 36 and the second limiting member 37 restricts the upward and downward heights of the first lifting module 321, protecting the material tray and gripper 322 from damage caused by contact.
[0057] In other embodiments, the second lifting module 331 may be provided with a first limiting member 36 and a second limiting member 37 to limit the height at which the suction cup 332 of the second lifting module 331 is driven to rise or fall in a third direction, so as to protect the label and the suction cup 332 and prevent the label or suction cup 332 from being damaged by contact.
[0058] Optionally, the first limiting member 36 and the second limiting member 37 can be electronic limiting members or mechanical limiting members, which can be set according to the actual working conditions.
[0059] refer to Figure 5 In some embodiments, the second pickup component 33 may further include a buffer 333, which is connected between the lifting end of the second lifting module 331 and the suction cup 332, for cushioning the suction cup 332 in a third-party direction. Based on this, the buffer 333 can provide cushioning protection for the suction cup 332, ensuring safe contact between the label and the suction cup 332 and preventing accidental contact. Optionally, the buffer 333 can be a cushioning cylinder; of course, it can also be in other forms, which are not specifically limited here.
[0060] Continue to refer to Figure 5 In some embodiments, the second pickup component 33 may further include a rotary drive 334 connected to the buffer 333, and the rotating end of the rotary drive 334 is connected to the suction cup 332 for driving the suction cup 332 to rotate around a first axis, wherein the first axis extends in a third direction.
[0061] Optionally, the rotary drive 334 can be a stepper motor, which can drive the suction cup 332 to rotate to meet the rotation requirements of the label adsorbed by the suction cup 332, thereby realizing the change of label coordinates and angle.
[0062] For example, the stepper motor and the suction cup 332 can be connected, such as by a threaded connection, etc.
[0063] In this embodiment of the application, the material tray on the loading cart 03 can be transported to the labeling station by the material tray transport device 01, so that the material tray can be labeled at the labeling station, and the material tray after labeling can be transported to the unloading cart 04.
[0064] Step 1: Take material from loading trolley 03 via material tray transfer device 01:
[0065] With the cooperation of the first translation mechanism 10 and the second translation mechanism 20, the handling and labeling mechanism 30 is moved horizontally to above the loading trolley 03; the loading lifting mechanism lifts the tray carried by the loading trolley 03, and after the tray is detected by the tray lifting detection photoelectric sensor, the loading lifting mechanism stops lifting; the first lifting module 321 drives the pneumatic gripper 322 to descend, and the pneumatic gripper 322 grabs the tray.
[0066] Optionally, the labeling and handling mechanism 30 may include a plurality of first lifting modules 321 and a plurality of first picking components 32, each pneumatic gripper 322 being connected to a corresponding first lifting module 321, thereby picking up a plurality of trays by driving the plurality of pneumatic grippers 322 to descend through the plurality of first lifting modules 321 respectively.
[0067] Step 2: Detect the position of the material tray and the coordinates of the label, and then cover the material tray with labels:
[0068] After the first pickup component 32 picks up the tray, the first translation mechanism 10 and the second translation mechanism 20 cooperate to move the labeling and handling mechanism 30 horizontally to the tray inspection table. The first lifting module 321 drives the corresponding pneumatic gripper 322 to descend, placing the tray on the tray inspection table. The first translation mechanism 10 and the second translation mechanism 20 cooperate to move the labeling and handling mechanism 30 horizontally to the printer 02. The second lifting module 331 drives the suction cup 332 to descend and pick up the label, preparing it to be affixed to the tray at the tray inspection table.
[0069] Optionally, the camera module can identify the coordinate position of the tray on the tray inspection platform, as well as the coordinates and angle of the label to be applied. Simultaneously with the camera module's identification, the first translation mechanism 10 and the second translation mechanism 20 work together to move the label-applying mechanism 30 horizontally above the tray inspection platform. Based on the coordinates and angle of the label to be applied to the tray on the tray inspection platform, the second lifting module 331 lowers the suction cup 332 to apply the label held by the suction cup 332 to the corresponding position on the tray.
[0070] In addition, a high-brightness light source can be provided to the camera module through the camera light source module to ensure that the camera module can clearly identify the trays on the tray inspection table.
[0071] Step 3: Feeding material to unloading cart 04:
[0072] After the trays on the tray inspection table are labeled, the height displacement sensor obtains the height position of the trays on the inspection table, calculates the thickness of the trays, and feeds this information back to the first lifting module 321. The first lifting module 321 then drives the pneumatic gripper 322 to descend to the required height. Multiple first lifting modules 321 can be controlled independently to accommodate trays of different heights (or thicknesses), preparing to transport the trays on the inspection table to the unloading trolley 04. Simultaneously, as the pneumatic gripper 322 descends, when it reaches the target height, it contacts the second limiting member 37. At this point, the cooperation of the first and second horizontal mechanisms drives the labeling and handling mechanism 30 to move horizontally to the unloading trolley 04 for unloading.
[0073] In summary, the material tray handling device 01 in this application embodiment can both handle and label the material trays, and achieves a high degree of automation when requirements are met. It also has a relatively simple structure, is easy to maintain, and has the advantages of high handling efficiency.
[0074] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
Claims
1. A tray handling device, characterized in that include: First translation mechanism (10) and handling and labeling mechanism (30); The first translation mechanism (10) has a first translation end that is movable along a first direction; The labeling and handling mechanism (30) includes a base plate (31), a first picking component (32) for picking up a tray, and a second picking component (33) for picking up a label. The base plate (31) is connected to the first translation end. The first picking component (32) and the second picking component (33) are both connected to the base plate (31) and are located on opposite sides of the first translation mechanism (10) in the second direction. The first direction and the second direction are intersected.
2. The tray handling device of claim 1, wherein The transport and labeling mechanism (30) includes a plurality of first picking components (32) and a plurality of second picking components (33). Multiple first picking components (32) are located on one side of the first translation mechanism (10) along the second direction and arranged along the first direction; Multiple second pickup components (33) are located on the other side of the first translation mechanism along the second direction and are arranged along the first direction; Multiple first picking components (32) and multiple second picking components (33) are arranged in a one-to-one correspondence in the second direction.
3. The tray handling device of claim 2, wherein, Each of the first picking components (32) includes a first lifting module (321) and a gripper (322), the first lifting module (321) being connected to the base plate (31), and the gripper (322) being connected to the lifting end of the first lifting module (321); And / or, each of the second pickup components (33) includes a second lifting module (331) and a suction cup (332), the second lifting module (331) being connected to the substrate (31) and the suction cup (332) being connected to the lifting end of the second lifting module (331).
4. The tray handling device of claim 1, wherein The first translation mechanism (10) includes a first translation module (11) and a first auxiliary slide rail (12), the first auxiliary slide rail (12) is disposed on the first translation module (11), and both extend along a first direction; The substrate (31) is connected to the first translation end of the first translation module (11) and is slidably connected to the first auxiliary slide rail (12).
5. The tray handling device of claim 4, wherein, The tray conveying device (01) also includes a second translation mechanism (20); The second translation mechanism (20) includes a second translation module (21) and a second auxiliary slide rail (22) extending along the second direction, and the second translation module (21) and the second auxiliary slide rail (22) are spaced apart in the first direction. The second translation module (21) has a second translation end that is movable along the second direction. One end of the first translation module (11) is connected to the second translation end, and the other end of the first translation module (11) is slidably connected to the second auxiliary slide rail (22).
6. The pallet handling device of claim 5, wherein, The substrate (31) and the first auxiliary slide rail (12) are slidably connected by a plurality of first sliders (121); And / or, the other end of the first translation module (11) is slidably connected to the second auxiliary slide rail (22) by a plurality of second sliders (221).
7. The tray handling device of claim 3, wherein The labeling and handling mechanism (30) further includes a detection element (34) for detecting the thickness of the tray along a third direction, which is perpendicular to the horizontal plane. The detection element (34) is disposed on the first pickup assembly (32) and electrically connected to the first lifting module (321) to adjust the lifting height of the first lifting module (321) by means of the thickness of the tray detected by the detection element (34); Alternatively, the detection element (34) is disposed on the second pickup assembly (33) and electrically connected to the second lifting module (331) to adjust the lifting height of the second lifting module (331) by means of the thickness of the tray detected by the detection element (34); Alternatively, the detection element (34) is respectively disposed on the first pickup component (32) and the second pickup component (33), and is electrically connected to the first lifting module (321) and the second lifting module (331) respectively, so as to adjust the lifting height of the first lifting module (321) or the second lifting module (331) by the thickness of the tray detected by the corresponding detection element (34).
8. The pallet handling device of claim 3, wherein, The labeling and handling mechanism (30) further includes a first limiting member (36) and a second limiting member (37) for limiting the pneumatic gripper (322) in a third direction, which is perpendicular to the horizontal plane. The first limiting member (36) and the second limiting member (37) are respectively disposed on the first lifting module (321), and in the third direction, the first limiting member (36) is located above the second limiting member (37) so as to limit the lifting height of the first lifting module (321) by the first limiting member (36) and the second limiting member (37).
9. The pallet handling device of claim 3, wherein, The second pickup component (33) further includes a buffer (333), which is connected between the lifting end of the second lifting module (331) and the suction cup (332) for buffering the suction cup (332) in a third direction, which is perpendicular to the horizontal plane.
10. The tray handling device of claim 9, wherein, The second pickup component (33) further includes a rotary drive (334), which is connected to the buffer (333), and the rotating end of the rotary drive (334) is connected to the suction cup (332) for driving the suction cup (332) to rotate around a first axis, which extends along the third direction.