A dual disc gripper feed stacker

Abstract

This application relates to a dual-disc gripper feeding and stacking device, comprising a frame. One end of the frame is equipped with a lifting component for vertically stacking trays onto the frame or for separating stacked trays from the bottom. Above the lifting component is a stacking component for stacking trays, located above the frame. The frame also has gripper components for clamping the bottommost tray. These gripper components clamp the front and rear sides of the bottommost tray along the length of the frame. A reciprocating drive component is provided on the frame to drive the gripper components to reciprocate along the length of the frame. One gripper component is located on each side of the frame's width, and two reciprocating drive components are correspondingly provided. The two gripper components alternately clamp the trays and advance them. The trays are detected during the forward movement driven by the grippers. This application has the advantages of adapting to multiple tray sizes and ensuring efficient continuous operation.

Description

Technical Field

[0001] This application relates to the technical field of integrated circuit feeding, and in particular to a dual-disc gripper feeding and stacking device. Background Technology

[0002] In the process of visual inspection of integrated circuit chips, in order to improve inspection efficiency and ease of operation, a feeding and stacking mechanism is usually used to separate multiple chip trays and send them into the inspection equipment. After inspection, they are stacked and output for unified handling.

[0003] In related technologies, tray feeding and stacking mechanisms mostly use cylinder-driven methods for tray separation, and the structure is equipped with only a single gripper for feeding and handling. This design requires manual adjustment of the cylinder stroke to adapt to different specifications when changing trays of different thicknesses (e.g., thin, thick, and extra-thick trays), which is complex, time-consuming, and prone to human error leading to incomplete tray separation and unstable equipment operation. Furthermore, the single-gripper structure cannot operate in parallel with the detection action during tray transport, forcing the handling station to stop while waiting for the gripper to return and retrieve the tray, severely limiting the overall machine efficiency.

[0004] Therefore, existing technologies have significant shortcomings in adapting to multi-sized trays and ensuring efficient continuous operation. Utility Model Content

[0005] To accommodate various sizes of trays and ensure efficient and continuous operation, this application provides a dual-disc gripper feeding and stacking device.

[0006] The dual-disc gripper feeding and stacking device provided in this application adopts the following technical solution: A dual-disc gripper feeding and stacking device includes a frame. One end of the frame is provided with a lifting component for driving the material trays to be stacked vertically onto the frame or for causing the material trays stacked on the frame to be separated from the bottom. Above the lifting component is a stacking component for stacking the material trays. The stacking component is located above the frame. The frame is also provided with a gripper component for clamping the bottommost material tray. The gripper component clamps the front and rear sides of the bottommost material tray along the length of the frame. The frame is provided with a reciprocating drive component for driving the gripper component to reciprocate along the length of the frame. There is one gripper component on each side of the width of the frame, and two reciprocating drive components are provided accordingly. The two gripper components alternately clamp the material trays and move them forward. The material trays are detected during the process of being driven forward by the grippers.

[0007] By adopting the above technical solution, the lifting component moves the lowest-level tray to the corresponding gripper component, which then clamps the lowest-level tray from both the front and rear sides. The reciprocating drive component alternately drives the gripper component, allowing the two grippers to continuously feed material at different intervals. The principle lies in the alternating operation of the two grippers, avoiding the pauses caused by a single gripper's reciprocating motion, thus ensuring seamless connection between the feeding process, the inspection process, and the handling station, improving the overall operating efficiency and stability of the machine. Simultaneously, the lifting component can also lift the trays on the grippers layer by layer to the stacking component to maintain an aligned row, achieving tray stacking.

[0008] Preferably, the gripper assembly includes a support frame, and the reciprocating drive assembly drives the support frame to move forward or backward along the length of the frame. A positioning pin is provided at the rear end of the support frame along its own forward direction. The positioning pin is vertically arranged and extends and retracts in the vertical direction. A clamping block is provided at the front end of the support frame. The clamping block slides along the forward direction of the support frame. When the clamping block moves to the front end of the support frame along its own forward direction, the clamping block will swing downward. A swing drive assembly for driving the clamping block to move is provided on the support frame.

[0009] By adopting the above technical solution, the support frame is driven by a reciprocating drive assembly to achieve linear motion, and the rear positioning pin and the front clamping block complete the clamping action through sliding. The positioning pin and clamping block cooperate with the front and rear of the material tray to ensure that the material tray is subjected to uniform force and has a stable position during the clamping process, avoiding shaking or misalignment during transportation. This structure ensures the reliability of material tray clamping, enabling the feeding process to be carried out efficiently and accurately. The telescopic positioning pin and the downward swinging clamping block allow the gripper assembly to pass under the stacked material trays, and then telescopically extend and swing upward to perform the clamping operation. In this way, alternating reciprocating clamping operations are achieved.

[0010] Preferably, a mounting frame is fixed to the front end of the support frame, and the mounting frame is formed with a sliding groove that extends through the mounting frame along the width direction of the frame. A pulley is provided on the side of the clamping block near the sliding groove, and the axis of the pulley is parallel to the width direction of the frame. The pulley rotates on the clamping block around its own axis. The swing drive assembly includes a swing drive cylinder, the extension and retraction direction of which is parallel to the length direction of the frame. The cylinder body of the swing drive cylinder is fixed to the mounting frame, and a positioning block is fixed to the end of the piston rod of the swing drive cylinder. The positioning block slides and engages with the mounting frame along the length direction of the frame. The positioning block and the clamping block are rotatably connected around the width direction of the frame. When the piston rod of the swing cylinder extends, the clamping block will move along the length direction of the frame first, following the trajectory of the sliding groove, and then swing downward.

[0011] By adopting the above technical solution, the sliding groove on the mounting frame limits the movement trajectory of the clamping block and the pulley. When the swing drive cylinder extends or retracts, it drives the positioning block to slide along the groove, thereby driving the clamping block to move linearly first and then swing downwards to avoid the material tray. The reverse movement achieves controlled clamping action. This motion principle avoids the impact and interference caused by direct rotation, making the clamping process smooth and stable. This ensures that the material tray can be stably clamped, while also achieving the clamping block's avoidance of stacked material trays, improving the mechanism's motion accuracy and durability.

[0012] Preferably, the support frame is provided with a telescopic cylinder that drives the positioning pin to extend and retract in the vertical direction, and the support frame is also provided with a telescopic detection component for detecting the position of the positioning pin.

[0013] By adopting the above technical solution, the telescopic cylinder drives the positioning pin to accurately extend and retract vertically, and the telescopic detection component provides real-time position signal feedback, thereby achieving closed-loop control of the action. This design ensures that the positioning pin is in the correct position during clamping and avoidance, avoiding the risk of mispositioning or jamming. The application of detection feedback not only improves the stability and safety of the clamping process but also enhances the reliability of the system during long-term operation.

[0014] Preferably, the frame includes a first side plate and a second side plate respectively disposed on both sides in the width direction of the frame. Both the first side plate and the second side plate are vertically disposed. A lateral positioning component for limiting the material tray to be located between the first side plate and the second side plate in the width direction of the frame is disposed on the upper side of the second side plate. Multiple sets of the lateral positioning components are evenly spaced along the length direction of the frame.

[0015] By adopting the above technical solution, the first and second side plates on both sides of the frame form a rigid frame, and multiple sets of lateral positioning components on the second side plate provide continuous lateral restraint for the material tray. The principle is to achieve continuous guidance of the material tray during its forward movement through multi-point distribution, ensuring that the material tray always remains in the correct position between the two side plates. This effectively prevents lateral deviation of the material tray, ensures stable posture during feeding, and improves the accuracy of detection and subsequent handling.

[0016] Preferably, the lateral positioning component includes a mounting plate fixed to the upper side of the second side plate. A swing plate, L-shaped, is provided on the mounting plate. The long end of the swing plate is rotatably connected to the mounting plate in a vertical direction. A side-top roller, vertically positioned, is rotatably connected to the swing plate in a direction around its own axis. The side of the side-top roller protrudes from the swing plate and is lower than the upper side of the first side plate in a vertical direction. An abutment block is also provided on the mounting plate, located on the side of the swing plate away from the first side plate along the width of the frame. An elastic element is provided between the abutment block and the side edge of the swing plate in the thickness direction.

[0017] By adopting the above technical solution, the lateral positioning component is fixed to the second side plate using a mounting plate. The swing plate generates a rebound force through an elastic element, and the side top roller pushes the material tray against the side plate during movement. Through the flexible guidance and elastic support of the roller, automatic correction of the material tray is achieved, ensuring that the material tray maintains a consistent lateral reference position during conveying. This design reduces the need for manual adjustment and ensures the accuracy and consistency of the feeding action.

[0018] Preferably, the upper surface of the first side plate and the second side plate is further provided with a first guide strip and a second guide strip, respectively. The first guide strip and the second guide strip are used to restrict the movement of the material tray side edge of the corresponding side along the length direction of the frame.

[0019] By adopting the above technical solution, the guide bar ensures the stability of the material tray during high-speed reciprocating motion, improves the accuracy of clamping and feeding actions, and extends the service life of the device.

[0020] Preferably, the stacking assembly includes a guiding mechanism for guiding the multi-layer trays, and a tray separating mechanism for separating the bottommost tray.

[0021] By adopting the above technical solution, the stacking assembly uses a guiding mechanism to keep the multiple layers of trays aligned vertically, while the tray separating mechanism accurately separates the bottom tray to the feeding position. The principle lies in the combination of upper and lower limits and the tray separating action, ensuring that the upper tray does not tilt during stacking and that the lower tray can smoothly detach from the stack and enter the gripper assembly. This structure improves the reliability and continuity of the tray separating process, avoiding material blockage or misalignment.

[0022] Preferably, the lifting assembly includes a fixed plate fixed to the bottom of the frame, a lifting plate is provided on the upper side of the fixed plate, the lifting plate slides relative to the fixed plate in the vertical direction, and a lifting drive mechanism is provided between the lifting plate and the fixed plate.

[0023] By adopting the above technical solution, the lifting drive mechanism pushes the lifting plate vertically upward through the sliding cooperation of the fixed plate and the lifting plate, thereby gradually feeding the tray into the stacking assembly. This principle enables the tray to be accurately aligned layer by layer, ensuring smooth connection between the tray distribution and the gripper actions. Precise lifting and lowering are achieved through drive control, which not only adapts to trays of different thicknesses but also improves the automation and efficiency of the feeding process.

[0024] Preferably, the system also includes a control component. The frame is provided with an presence detection component for detecting whether a material tray is clamped at the initial position of the gripper assembly, a departure detection component for detecting the bottommost material tray leaving the loading station, and a front detection component and a rear detection component for detecting the front and rear ends of the material tray arriving at the transport station, respectively. The presence detection component, departure detection component, front detection component, and rear detection component are all electrically connected to the control component. The two reciprocating drive components are also electrically connected to the control component.

[0025] By adopting the above technical solution, the control component, through telecommunication connection with various detection components, acquires real-time status information such as the presence, departure, and handling station of the material tray, and controls the operation of the two reciprocating drive components in a coordinated manner. This principle forms a complete detection-feedback-execution closed loop, enabling the feeding process to automatically adjust according to the status of the material tray. This achieves intelligent and efficient feeding action, avoids downtime caused by misjudgment, and improves the overall system stability and reliability.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. By setting up a dual-gripper assembly and a reciprocating drive assembly, the two grippers can alternately clamp the conveyor tray, thereby realizing the parallel operation of the feeding process and the handling station, avoiding the stoppage caused by the reciprocating motion of a single gripper, and significantly improving the feeding efficiency and the working stability of the whole machine. 2. By introducing a locating pin, clamping block, and sliding groove into the gripper assembly in conjunction with a swing drive structure, the gripper can reliably clamp and avoid at different positions, ensuring the stability of the material tray during clamping and conveying, avoiding shaking, misalignment, and interference, thereby improving feeding accuracy and equipment reliability. 3. By setting multiple sets of lateral positioning components, guide bars, and control components on the frame, and combining the feedback of presence detection, departure detection, and handling detection, automatic correction and intelligent control of the material tray in the horizontal and vertical directions are realized, ensuring the continuity and accuracy of stacking, tray splitting, and feeding actions, reducing manual adjustment, and enhancing the adaptability and automation level of the device. Attached Figure Description

[0027] Figure 1 This is an isometric view of the overall structure of the dual-disc gripper feeding and stacking device, which is the main embodiment of this application. Figure 2 This is an isometric view of the main structure of the lifting component in the embodiments of this application; Figure 3 This is an isometric view of the main structure of the guiding mechanism in the embodiments of this application; Figure 4 This is an isometric view of any one of the disc-splitting mechanisms and the control disc detection component structure in the embodiments of this application; Figure 5 This is an isometric view of the overall structure of the gripper assembly, which mainly embodies the side closest to the first side plate, in the embodiments of this application. Figure 6 This is an isometric view of the overall structure of the lateral positioning component, which is the main feature of this application embodiment; Figure 7 This is an isometric view of the overall structure of the double-disc gripper feeding and stacking device, which mainly shows the material tray A moving to the handling station and the material tray B starting to move, in the embodiments of this application.

[0028] Reference numerals: 1. Frame; 11. First side plate; 111. First guide bar; 12. Second side plate; 121. Second guide bar; 122. Groove; 13. Lateral positioning assembly; 131. Mounting plate; 132. Abutment block; 133. Spring; 134. Swing plate; 135. Side top roller; 136. Limiting post; 14. Fixing frame; 15. Presence detection assembly; 16. Departure detection assembly; 17. Front detection assembly; 18. Rear detection assembly; 2. Lifting assembly; 21. Fixing plate; 22. Screw motor; 23. Linear bearing; 24. Origin detection assembly; 25. Lifting plate; 26. Guide rod; 3. Stacking assembly 31. Guiding mechanism; 311. Short guide frame; 312. Abutment plate; 313. Long guide frame; 314. Height detection component; 32. Disk separating mechanism; 321. Disk separating cylinder; 322. Pin; 33. Empty disk detection component; 4. Gripper assembly; 41. Support frame; 42. Mounting frame; 421. Sliding groove; 43. Positioning pin; 44. Telescopic cylinder; 45. Telescopic detection component; 46. Clamping block; 461. Pulley; 47. Swing cylinder; 471. Positioning block; 5. Reciprocating drive component; 100. Stacking station; 200. Inspection station; 300. Handling station; 400. Tray A; 500. Tray B. Detailed Implementation

[0029] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0030] This application discloses a dual-disc gripper feeding and stacking device.

[0031] See Figure 1 and Figure 7The double-disc gripper feeding and stacking device includes a frame 1. A lifting component 2 is located at one end of the frame 1 along its length, and a stacking component 3 is located above the lifting component 2 in the vertical direction. Gripper components 4 are also located inside the frame 1, with one gripper component 4 on each side of the frame 1 in the width direction. Reciprocating drive components 5 are also located inside the frame 1, with two reciprocating drive components 5 corresponding to the gripper components 4. In actual production, workers stack the trays in the stacking component 3. The lifting component 2 moves the bottom tray in the stacking component 3 to the position corresponding to the gripper component 4, where the corresponding gripper component 4 clamps the tray. The corresponding reciprocating drive component 5 then moves the gripper component 4 along the length of the frame 1. The side of the frame 1 away from the lifting component 2 along its length is the handling station 300. The middle section along the length of the frame 1 is the inspection station 200. A vision inspection device, including a camera module, is installed above or inside the frame 1. This device performs visual inspection on the chips on the tray as the grippers move forward. When the tray reaches the end of the frame 1, a robot removes it from the transport station 300. The gripper assembly 4, driven by the reciprocating drive assembly 5, returns to the space between the stacking assembly 3 and the lifting assembly 2. As one gripper assembly 4 moves to the transport station 300, the other gripper assembly 4 drives the other tray at the bottom of the stacking assembly 3 forward along the length of the frame 1, thus achieving alternating operation of the two gripper assemblies 4.

[0032] The dual-disc gripper feeding and stacking device also includes a control component. The control component can be configured as a PLC integrated module including a processor and components such as a power supply, control screen, and buttons electrically connected to the processor. It is connected to the drive units of each component via circuitry or wireless signals. The control component can be located on the outside of the frame 1 or integrated into the overall device.

[0033] The frame 1 includes a first side plate 11 and a second side plate 12, both of which are vertically arranged and made of aluminum profiles. A fixing frame 14 is fixed between the first side plate 11 and the second side plate 12, ensuring a constant distance between them. A first guide strip 111 and a second guide strip 121 are fixed to the first side plate 11 and the second side plate 12, respectively. The first guide strip 111 has a side abutment surface and a bottom abutment surface, which ensure that the tray moves along the length of the frame 1, reducing the possibility of it shifting in other directions. The structure of the second guide bar 121 is the same as that of the first guide bar 111. The second guide bar 121 and the first guide bar 111 are symmetrically arranged along the center line of the width direction of the frame 1. The two side abutting surfaces of the first guide bar 111 and the second guide bar 121 abut against the two sides of the material tray along the width direction of the frame 1, respectively. The two bottom abutting surfaces of the first guide bar 111 and the second guide bar 121 abut against the bottom of the material tray, respectively. The first guide bar 111 and the second guide bar 121 ensure that the material tray moves continuously along the length direction of the frame 1, reducing the possibility of the material tray shaking during movement affecting the detection effect.

[0034] See Figure 1 , Figure 2 The lifting assembly 2 includes a fixed plate 21 fixed between a first side plate 11 and a second side plate 12. A lifting plate 25 is mounted on the upper side of the fixed plate 21, and the lifting plate 25 slides vertically relative to the fixed plate 21. A lifting drive mechanism is provided between the lifting plate 25 and the fixed plate 21. The lifting drive mechanism is a lead screw motor 22, the motor housing of which is fixed to the fixed plate 21, and the lead screw is fixed to the lifting plate 25. The lead screw motor 22 drives the lifting plate 25 to move up and down vertically. A guide rod 26 is also fixed on the lifting plate 25, and the guide rod 26 passes through the fixed plate 21 vertically. A linear bearing 23 is also fixed on the fixed plate 21, and the linear bearing 23 is sleeved on the guide rod 26 and slides vertically with the guide rod 26. Two sets of guide rods 26 and linear bearings 23 are provided between the lifting plate 25 and the fixed plate 21, respectively located on both sides of the lead screw of the lead screw motor 22 in any radial direction. An origin detection component 24 is also provided between the lifting plate 25 and the fixed plate 21. The origin detection component 24 is used to detect when the lifting plate 25 returns to the lowest point. The origin detection component 24 can be set as a photoelectric sensor. The lifting component 2 can also be used to stack the material tray from the bottom into the stacking component 3 after the gripper component 4 reverses the material tray, realizing the reverse application of the double-disc gripper feeding and stacking device.

[0035] See Figure 1 , Figures 3-4The stacking assembly 3 includes a guiding mechanism 31 and a tray-separating mechanism 32. The guiding mechanism 31 includes two short guide frames 311 and two long guide frames 313. The two short guide frames 311 are positioned on the side of the frame 1 facing away from the handling station 300 along its length, and the two long guide frames 313 are positioned between the two short guide frames 311 and the handling station 300. The two short guide frames 311 and two long guide frames 313 are respectively positioned at the four corners of the material tray after loading by the lifting assembly 2. The two short guide frames 311 and two long guide frames 313 are respectively fixed to the first guide bar 111 and the second guide bar 121. A height detection component 314 for detecting the maximum height of the stacked material tray is provided at the upper end of any long guide frame 313. An abutment plate 312 is also fixed to the side of any short guide frame 311 facing away from the long guide frame 313, and the abutment plate 312 is used to limit the movement of the material tray. Workers or a pre-programmed procedure detect the number of trays within the stacking assembly 3 using the height detection component 314, thereby controlling whether the lifting assembly 2 is loading materials. The short guide frame 311 facilitates manual stacking of trays from above.

[0036] The tray-separating mechanism 32 includes pins 322 corresponding to the grooves 122 on the edge of the tray. The frame 1 also has a tray-separating cylinder 321 that drives the pins 322 to extend and retract along the width of the frame 1. The cylinder body of the tray-separating cylinder 321 is fixed to the upper side of the frame 1, and the piston rod end of the tray-separating cylinder 321 is fixed to the pins 322. Two sets of tray-separating cylinders 321 and pins 322 are respectively arranged on both sides of the width of the frame 1. Each set includes two tray-separating cylinders 321 arranged along the length of the frame 1 on both sides of the tray and two corresponding pins 322. When tray separation is required, the lifting plate 25 rises until it abuts against the lowest tray. The four tray-separating cylinders 321 drive the four pins 322 to retract, the lifting plate 25 descends by the height of one tray, and the four tray-separating cylinders 321 drive the four pins 322 to extend, abutting against the upper tray. The lifting plate 25 drives the bottom tray to continue descending until it moves to correspond with the gripper assembly 4 on the lower side, which clamps the tray. When the lifting assembly 2 reverses the feeding direction, the gripper assembly 4, which clamps the tray, moves between the lifting assembly 2 and the stacking assembly 3. The gripper assembly 4 then releases the tray, and the lifting assembly 2 pushes the tray held by the gripper assembly 4 to abut against the bottom of the tray on the upper side of the four pins 322. The four distributing cylinders 321 then drive the four pins 322 to retract. The lifting assembly 2 continues to drive the tray to rise, and after it moves to the upper side of the pins 322, the four distributing cylinders 321 drive the four pins 322 to extend. The lifting plate 25 descends, and the bottom tray of the feeding material falls on the upper side of the four pins 322.

[0037] Each of the dispensing cylinders 321 is also equipped with an empty tray detection component 33 on one side along the length of the frame 1. The empty tray detection component 33 is used to detect whether there are still trays inside the stacking assembly 3. The empty tray detection component 33 can be configured as a photoelectric sensor. The empty tray detection component 33 is electrically connected to the control assembly.

[0038] See Figure 1 , Figure 5 The gripper assembly 4 includes a support frame 41. A reciprocating drive assembly 5 drives the support frame 41 to move forward or backward along the length of the frame 1. A positioning pin 43 is provided at the rear end of the support frame 41 along its forward direction. The positioning pin 43 is vertically positioned and extends and retracts in the vertical direction. A telescopic cylinder 44 is provided on the support frame 41 to drive the positioning pin 43 to extend and retract in the vertical direction. A telescopic detection assembly 45 for detecting the position of the positioning pin 43 is also provided on the support frame 41. The telescopic detection assembly 45 includes an extension position sensor and a retraction position sensor. The telescopic cylinder 44, the extension position sensor, and the retraction position sensor are all electrically connected to the control assembly.

[0039] A clamping block 46 is provided at the front end of the support frame 41. The clamping block 46 slides along the forward direction of the support frame 41. When the clamping block 46 moves to the front end of the support frame 41 along its own forward direction, the clamping block 46 will swing downward. The support frame 41 is provided with a swing drive component that drives the clamping block 46 to move. A mounting frame 42 is fixed to the front end of the support frame 41. The mounting frame 42 is formed with a sliding groove 421, which runs through the mounting frame 42 along the width direction of the frame body 1. A pulley 461 is provided on the side of the clamping block 46 near the sliding groove 421. The axis of the pulley 461 is parallel to the width direction of the frame body 1. The pulley 461 rotates on the clamping block 46 around its own axis. The swing drive assembly includes a swing drive cylinder. The extension and retraction direction of the swing drive cylinder is parallel to the length direction of the frame body 1. The cylinder body of the swing drive cylinder is fixed on the mounting frame 42. A positioning block 471 is fixed to the end of the piston rod of the swing drive cylinder. The positioning block 471 slides and engages with the mounting frame 42 along the length direction of the frame body 1 through a slide rail slider. The positioning block 471 and the clamping block 46 are rotatably connected around the width direction of the frame body 1. When the piston rod of the swing cylinder 47 extends, the clamping block 46 will move along the length direction of the frame body 1 along the trajectory of the sliding groove 421, and then swing downward.

[0040] When the gripper assembly 4 avoids the tray, the piston rod of the swing cylinder 47 extends, the clamping block 46 swings downward, and the positioning pin 43 retracts. The reciprocating drive assembly 5 can drive the gripper assembly 4 to pass under the tray without affecting the tray. When the gripper assembly 4 moves to the station where the tray needs to be clamped, the positioning pin 43 extends and abuts against the side of the tray away from the transport station 300 along the length of the frame 1. The piston rod of the swing cylinder 47 retracts, and the clamping block 46 first swings upward and then slides along the length of the frame 1, thereby clamping the tray.

[0041] The reciprocating drive assembly 5 is configured with a pulley, a belt and a motor. The support frame 41 is fixed on the upper belt of the belt of the corresponding reciprocating drive assembly 5. The motor is electrically connected to the control assembly.

[0042] See Figure 1 , Figure 6 The second guide bar 121 also has a groove 122 formed on its upper side. A lateral positioning component 13 is disposed in the groove 122. The lateral positioning component 13 includes a mounting plate 131. A swing plate 134 is disposed on the mounting plate 131. The swing plate 134 is L-shaped. The long end of the swing plate 134 is rotatably connected to the mounting plate 131 around the vertical direction. A side top roller 135 is disposed at the short end of the swing plate 134. The side top roller 135 is vertically disposed and rotates around its own... The axis of the body is rotatably connected to the swing plate 134. The side top roller 135 protrudes from the swing plate 134. The side top roller 135 is lower than the upper side of the first side plate 11 in the vertical direction. The mounting plate 131 is also provided with an abutment block 132. The abutment block 132 is located on the side of the swing plate 134 away from the first side plate 11 along the width direction of the frame 1. An elastic element is provided between the abutment block 132 and the side of the swing plate 134 in the thickness direction. The elastic element is a spring 133. The groove 122 and the lateral positioning component 13 are respectively provided with multiple evenly spaced items along the length direction of the frame 1. The side of the swing plate 134 away from the abutment plate 312 along the width direction of the frame 1 is also provided with a limit post 136. The limit post 136 is vertically arranged and located on the side of the long side width direction of the swing plate 134.

[0043] See Figure 1 , Figure 7 The frame 1 is equipped with the following components along the tray's forward direction: a presence detection component 15 for detecting whether a tray is being held at the initial position of the gripper assembly 4; a departure detection component 16 for detecting the bottommost tray leaving the loading station; and a front detection component 17 and a rear detection component 18 for detecting the front and rear ends of the trays reaching the transport station 300, respectively. All three components—presence detection component 15, departure detection component 16, front detection component 17, and rear detection component 18—are electrically connected to the control component. Each of these components can be configured as a photoelectric sensor.

[0044] In actual operation, when detection component 15 detects a tray A400 at the workstation and gripper component A4 clamps the tray A400, the corresponding reciprocating drive component 5 can drive gripper component A4 to move forward along the length of the frame 1 and enter the detection workstation 200. When the exit detection component 16 detects that the end of the tray has passed, another gripper component B4 can move to below the stacking component 3, and the lifting component 2 drives the bottom tray B500 of the stacking component 3 to move onto gripper component B4, which clamps the tray B500. After the current detection component 17 detects that the tray A400 has been driven into the handling workstation 300 by gripper component A4, gripper component B4 is driven by the corresponding reciprocating drive component 5, causing the tray B500 to move along the length of the frame 1 and pass through the detection workstation 200. Once the detection component 18 detects that the material tray A400 driven by the gripper component A4 has completely entered the handling station 300, a robot will take away the material tray A400. The telescopic cylinder 44 on the gripper component A4 will retract and the swing cylinder 47 will extend. The corresponding reciprocating drive component 5 will drive the gripper component A4 back to the stacking station 100 to clamp the material tray C driven by the lifting component 2. The above operation will be repeated to achieve uninterrupted continuous operation.

[0045] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A double-disc gripper feeding and stacking device, characterized in that: The system includes a frame (1), one end of which is provided with a lifting component (2) for driving the material trays to be stacked vertically onto the frame (1) or for causing the material trays stacked on the frame (1) to be separated from the bottom. Above the lifting component (2) is a stacking component (3) for stacking the material trays. The stacking component (3) is located above the frame (1). The frame (1) is also provided with a gripper component (4) for clamping the bottommost material tray. The gripper component (4) clamps the front and rear sides of the bottommost material tray along the length of the frame (1). The frame (1) is provided with a reciprocating drive component (5) for driving the gripper component (4) to move back and forth along the length of the frame (1). There is one gripper component (4) on each side of the width of the frame (1). There are two reciprocating drive components (5). The two gripper components (4) alternately clamp the material trays and move forward. The material trays are detected during the process of being driven forward by the grippers.

2. The double-disc gripper feeding and stacking device according to claim 1, characterized in that: The gripper assembly (4) includes a support frame (41). The reciprocating drive assembly (5) drives the support frame (41) to move forward or backward along the length of the frame (1). The support frame (41) is provided with a positioning pin (43) at its rear end along its own forward direction. The positioning pin (43) is vertically arranged and extends and retracts along the vertical direction. The support frame (41) is provided with a clamping block (46) at its front end. The clamping block (46) slides along the forward direction of the support frame (41). When the clamping block (46) moves to the front end of the support frame (41) along its own forward direction, the clamping block (46) swings downward. The support frame (41) is provided with a swing drive assembly that drives the clamping block (46) to move.

3. The double-disc gripper feeding and stacking device according to claim 2, characterized in that: The support frame (41) has a mounting frame (42) fixed at its front end. The mounting frame (42) has a sliding groove (421) formed therein, which extends through the mounting frame (42) along the width direction of the frame (1). A pulley (461) is provided on the side of the clamping block (46) near the sliding groove (421). The axis of the pulley (461) is parallel to the width direction of the frame (1). The pulley (461) rotates on the clamping block (46) around its own axis. The swing drive assembly includes a swing drive cylinder. The extension direction is parallel to the length direction of the frame (1). The cylinder body of the swing drive cylinder is fixed on the mounting frame (42). The piston rod end of the swing drive cylinder is fixed with a positioning block (471). The positioning block (471) and the mounting frame (42) slide and cooperate along the length direction of the frame (1). The positioning block (471) and the clamping block (46) are rotatably connected around the width direction of the frame (1). When the piston rod of the swing cylinder (47) is extended, the clamping block (46) will move along the length direction of the frame (1) first, and then swing downwards along the trajectory of the sliding groove (421).

4. The double-disc gripper feeding and stacking device according to claim 2, characterized in that: The support frame (41) is provided with a telescopic cylinder (44) that drives the positioning pin (43) to extend and retract in the vertical direction, and the support frame (41) is also provided with a telescopic detection component (45) for detecting the position of the positioning pin (43).

5. The double-disc gripper feeding and stacking device according to claim 1, characterized in that: The frame (1) includes a first side plate (11) and a second side plate (12) respectively disposed on both sides of the width direction of the frame (1). The first side plate (11) and the second side plate (12) are both vertically disposed. The upper side of the second side plate (12) is provided with a lateral positioning component (13) for limiting the material tray to be located between the first side plate (11) and the second side plate (12) in the width direction of the frame (1). The lateral positioning component (13) is evenly spaced in multiple sets along the length direction of the frame (1).

6. The double-disc gripper feeding and stacking device according to claim 5, characterized in that: The lateral positioning component (13) includes a mounting plate (131) fixed to the upper side of the second side plate (12). A swing plate (134) is provided on the mounting plate (131). The swing plate (134) is L-shaped. The long side end of the swing plate (134) is rotatably connected to the mounting plate (131) around the vertical direction. A side top roller (135) is provided at the short side end of the swing plate (134). The side top roller (135) is vertically arranged and rotates around itself. The axis is rotatably connected to the swing plate (134). The side top roller (135) protrudes from the swing plate (134). The side top roller (135) is lower than the upper side of the first side plate (11) in the vertical direction. The mounting plate (131) is also provided with an abutment block (132). The abutment block (132) is located on the side of the swing plate (134) away from the first side plate (11) along the width direction of the frame (1). An elastic element is provided between the abutment block (132) and the side of the swing plate (134) in the thickness direction.

7. The double-disc gripper feeding and stacking device according to claim 5, characterized in that: The first side plate (11) and the second side plate (12) are respectively provided with a first guide strip (111) and a second guide strip (121). The first guide strip (111) and the second guide strip (121) are respectively used to restrict the material tray side edge of the corresponding side from moving along the length direction of the frame (1).

8. The double-disc gripper feeding and stacking device according to claim 1, characterized in that: The stacking assembly (3) includes a guide mechanism (31) for guiding the multi-layer trays, and a tray separating mechanism (32) for separating the bottom tray.

9. The double-disc gripper feeding and stacking device according to claim 1, characterized in that: The lifting assembly (2) includes a fixed plate (21) fixed to the bottom of the frame (1), a lifting plate (25) is provided on the upper side of the fixed plate (21), the lifting plate (25) slides relative to the fixed plate (21) in the vertical direction, and a lifting drive mechanism is provided between the lifting plate (25) and the fixed plate (21).

10. A double-disc gripper feeding and stacking device according to any one of claims 1-9, characterized in that: It also includes a control component. The frame (1) is provided with an existence detection component (15) for detecting whether the gripper assembly (4) is holding a material tray at its initial position, an exit detection component (16) for detecting the bottommost material tray of the stack leaving the loading station, and a front detection component (17) and a rear detection component (18) for detecting the front and rear ends of the material tray reaching the handling station (300) respectively. The existence detection component (15), exit detection component (16), front detection component (17) and rear detection component (18) are all electrically connected to the control component. The two reciprocating drive components (5) are also electrically connected to the control component.

Images