Material tray loading and unloading device and receiving machine

Abstract

This utility model discloses a tray loading and unloading device and a receiving machine, relating to the field of SMT equipment technology. The tray loading and unloading device includes a mounting frame, a push-pull motor, a pull plate, a rotary motor, and a material threading shaft. One side of the mounting frame has a baffle. The push-pull motor is connected to the mounting frame. The pull plate is driven by the push-pull motor, and the push-pull motor drives the pull plate to move relative to the baffle, thereby changing the distance between the pull plate and the baffle, thus clamping and releasing the tray. The rotary motor is connected to the mounting frame. The material threading shaft is driven by the rotary motor and extends towards the pull plate to pass through the central hole of the tray. The rotation of the rotary motor drives the material threading shaft to rotate, thereby rotating the tray. The technical solution provided by this utility model is used to match material boxes with side openings to pull the tray out laterally.

Description

Technical Field

[0001] This utility model relates to the field of SMT equipment technology, and in particular to a tray loading and unloading device and a receiving machine using the tray loading and unloading device. Background Technology

[0002] In fields such as electronic component manufacturing and SMT assembly that rely on tray feeding, the receiving machine is a key piece of equipment to ensure continuous material supply on the production line. Its core operation process is as follows: first, the old tray (the tray with insufficient material tape) is taken out of the tray and transferred to the receiving station to complete the connection of the remaining material tape with the new tray. Finally, the new tray with the connection completed needs to be sent back to the tray where the old tray was located to maintain the continuity of subsequent material supply.

[0003] Existing material receiving machines generally use top-opening material boxes for storing material trays. In actual use, as the material strip on the tray gradually decreases, the weight and diameter of the tray itself decrease simultaneously, leading to a decrease in the fit between the tray and the material box and a weakening of constraint stability. This can result in the tray not rotating smoothly within the material box, affecting the subsequent gripping accuracy of the robotic arm; or even causing the tray to detach from the material box, shift out of the box, or even fall out, directly interrupting the material receiving process and reducing equipment reliability and production efficiency.

[0004] To address the shortcomings of the existing structure, our company has designed a novel "side-opening" material box. This box, by optimizing the opening position, provides new possibilities for the tray removal path. Therefore, there is an urgent need for a tray handling device adapted to this novel side-opening material box, replacing the traditional "upward lifting" removal method with a "lateral pulling" mechanism. This would achieve stable and efficient tray removal from the box, thus matching the structural advantages of the new material box and further improving the overall operational performance of the receiving machine. Utility Model Content

[0005] The main purpose of this invention is to provide a material tray loading and unloading device and a material receiving machine, which aims to solve the above-mentioned problems.

[0006] To achieve the above objectives, the present invention proposes a material tray picking and placing device for mounting on a robotic arm to pick up and place material trays. The device includes a mounting frame, a push-pull motor, a pull plate, a rotary motor, and a material threading shaft. One side of the mounting frame has a baffle. The push-pull motor is connected to the mounting frame. The pull plate is driven by the push-pull motor, which moves the pull plate relative to the baffle to change the distance between the pull plate and the baffle, thereby clamping and releasing the material tray. The rotary motor is connected to the mounting frame. The material threading shaft is driven by the rotary motor and extends towards the pull plate to pass through the central hole of the material tray. The rotation of the rotary motor drives the material threading shaft to rotate, thereby rotating the material tray.

[0007] In one embodiment, the pull plate is U-shaped and includes a first plate, a first connecting plate, and a second plate connected in sequence. The first plate is disposed close to the baffle, and the second plate is parallel to the baffle. The first plate is drivenly connected to the push-pull motor. The second plate and the baffle are used to clamp and release the material tray.

[0008] In one embodiment, the baffle has a first through-hole through which the first plate passes.

[0009] In one embodiment, the width of the second plate is greater than the width of the first plate, and the width of the second plate is greater than the width of the first through opening.

[0010] In one embodiment, both the first plate and the second plate are provided with a second through opening at the position corresponding to the material threading shaft.

[0011] In one embodiment, a card is provided on the feeding shaft, the card being used to position the radial displacement of the feeding tray.

[0012] In one embodiment, the mounting bracket further includes a second connecting plate and two spaced-apart support plates, one end of each support plate being connected to the baffle, and the other end of each support plate being connected to the second connecting plate.

[0013] In one embodiment, the rotary motor is slidably connected to the support plate, and the sliding direction is parallel to the axis of the material threading shaft and the direction of movement of the pull plate; the push-pull motor is fixedly installed on the rotary motor.

[0014] In one embodiment, a slide rail is installed on the inner side of the support plate, the rotary motor is connected to the slide rail via a slider, and a plurality of elastic elements are provided between the slider and the mounting bracket. The elastic elements are in a stretched state and are used to pull the slider toward the side closer to the pull plate.

[0015] This utility model also proposes a receiving machine, including the above-mentioned tray picking and placing device.

[0016] The technical solution of this utility model is used to match the side-opening material box so that the material tray can be pulled out of the material box laterally. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the material tray state in an embodiment of the material tray picking and placing device provided by this utility model;

[0019] Figure 2 A schematic diagram of the structure of an embodiment of the material tray loading and unloading device provided by this utility model from one perspective;

[0020] Figure 3 A schematic diagram of the structure of another embodiment of the tray loading and unloading device provided by this utility model;

[0021] Figure 4 This is a partial structural schematic diagram of an embodiment of the material tray picking and placing device provided by this utility model.

[0022] Explanation of icon numbers:

[0023] 100. Material tray loading and unloading device; 10. Mounting frame; 11. Baffle; 111. First through-hole; 12. Second connecting plate; 13. Support plate; 14. Slide rail; 15. Slider; 20. Push-pull motor; 30. Pull plate; 31. First plate; 32. First connecting plate; 33. Second plate; 34. Second through-hole; 40. Rotary motor; 50. Material threading shaft; 51. Card; 60. Elastic element; 200. Material box; 201. Center positioning shaft; 300. Material tray.

[0024] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0026] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0027] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0028] This utility model proposes a material tray picking and placing device.

[0029] Please see Figures 1 to 4 In one embodiment of this utility model, the tray loading and unloading device 100 includes a mounting frame 10, a push-pull motor 20, a pull plate 30, a rotary motor 40, and a material threading shaft 50. One side of the mounting frame 10 has a baffle 11. The push-pull motor 20 is connected to the mounting frame 10, and the pull plate 30 is driven by the push-pull motor 20. The push-pull motor 20 drives the pull plate 30 to move relative to the baffle 11, thereby changing the distance between the pull plate 30 and the baffle 11, thus clamping and releasing the tray 300. The rotary motor 40 is connected to the mounting frame 10; the material threading shaft 50 is driven by the rotary motor 40 and extends towards the pull plate 30 to pass through the central hole of the tray 300. The rotation of the rotary motor 40 drives the material threading shaft 50 to rotate, thereby causing the tray 300 to rotate.

[0030] Specifically, in this embodiment, the mounting frame 10 serves as the fixing and support base for the entire device, possessing a stable frame structure. One side of the mounting frame 10 has a baffle 11, the surface of which must be kept flat to ensure the reference accuracy when the tray 300 is positioned. A pull plate 30 and a push-pull motor 20 are located on opposite sides of the baffle 11. The push-pull motor 20 is the drive source for clamping and releasing the tray 300; it is a linear drive motor, and its output end is directly or indirectly connected to the pull plate 30, providing controllable stroke accuracy and driving force adjustment capability. When driven by the push-pull motor 20, the pull plate 30 can move closer to or further away from the baffle 11. During movement, the pull plate 30 first pushes the tray 300 out of the material box 200 and onto the material threading shaft 50. A rotary motor 40 is connected to the mounting frame 10 and provides power for the rotation of the tray 300. The material threading shaft 50 has a cylindrical structure, and its diameter matches the central hole of the tray 300. One end of the material threading shaft 50 is connected to the rotary motor 40 for transmission, and the other end extends toward the pull plate 30. It should be noted that when the baffle 11 and the pull plate 30 clamp the material tray 300, there can be a gap between the baffle 11 and the pull plate 30.

[0031] The operation process of this device is described below:

[0032] The entire device is first moved to the material box 200 by the robot arm, and then moves downward from the top of the material box 200 until the material threading shaft 50 is aligned with the center positioning shaft 201 of the material box 200. At this time, the end of the material threading shaft 50 is in contact with the center positioning shaft 201 to ensure that the material tray 300 can be transferred smoothly. Then the push-pull motor 20 is started, driving the pull plate 30 to move towards the baffle 11. After the pull plate 30 contacts one side of the material tray 300, by continuously applying the pulling force, the pull plate 30 drives the material tray 300 to slide along the axis of the center positioning shaft 201 towards the material threading shaft 50 until the material tray 300 is completely separated from the center positioning shaft 201 and is completely sleeved on the material threading shaft 50, completing the transfer of the material tray 300 from the center positioning shaft 201 to the material threading shaft 50. After the material tray 300 is transferred to the material threading shaft 50, the push-pull motor 20 continues to drive the pull plate 30 to move towards the baffle 11 until the pull plate 30 and the baffle 11 together clamp the material tray 300, realizing a continuous action of transfer and clamping, ensuring that the material tray 300 is stable and does not loosen during subsequent transfer. After the material tray 300 is transferred from the central positioning shaft 201 to the material threading shaft 50 and clamped, the rotary motor 40 drives the material tray 300 to rotate through the material threading shaft 50, adjusting the material belt to adapt to the requirements of the receiving station.

[0033] The tray loading and unloading device 100 of this application is designed to match the material box 200 with a side opening. The tray 30 is pulled out from the side of the material box 200 by moving the pull plate 30 relative to the baffle 11. As the pull plate 30 moves inward, the tray 300 is taken out of the material box 200. As the distance between the pull plate 30 and the baffle 11 gets closer and closer, the material shaft 50 is inserted into the central hole of the material box 200 to achieve the center positioning of the tray 300 and ensure that the tray 300 will not be radially offset during rotation and transfer.

[0034] A clip 51 is provided on the feed shaft 50, which acts as a positioning pin. It mates with a slot on the material tray 300 to ensure positioning between the feed shaft 50 and the material tray 300. The clip 51 is fixedly mounted on the outer circumference of the feed shaft 50 (e.g., by welding or bolting), and is protruding in shape. Its shape and size perfectly match the pre-set slot inside the shaft hole of the material tray 300 (e.g., rectangular, semi-circular), ensuring precise insertion. The mating of the clip 51 with the slot completely prevents circumferential rotational offset or axial movement of the material tray 300 when it is fitted onto the feed shaft 50. Especially when the rotary motor 40 drives the feed shaft 50 to adjust the angle of the material tray 300 (e.g., aligning the material strip during receiving), it ensures synchronous movement between the material tray 300 and the feed shaft 50, improving angle adjustment accuracy and preventing material strip misalignment.

[0035] Installation position: The installation position should correspond to the position of the slot when the material tray 300 is inserted into the material threading shaft 50, so that when the material tray 300 slides along the material threading shaft 50 to the target position, the card 51 can be aligned with the slot and embedded to achieve instant positioning.

[0036] Furthermore, the pull plate 30 is U-shaped and includes a first plate 31, a first connecting plate 32, and a second plate 33 connected in sequence. The first plate 31 is located close to the baffle 11, and both the first plate 31 and the second plate 33 are parallel to the baffle 11. The first plate 31 is connected to the push-pull motor 20 for transmission. The second plate 33 and the baffle 11 are used to clamp and release the material tray 300, and can also block the material belt to prevent the material belt from coming off.

[0037] Specifically, in this embodiment, the pull plate 30 is U-shaped, with the first plate 31 and the second plate 33 arranged parallel and spaced apart. The two ends of the first connecting plate 32 are respectively connected to the same end of the first plate 31 and the second plate 33. The push-pull motor 20 is located near the first connecting plate 32, and the rotary motor 40 is located at the end of the first plate 31 and the second plate 33 away from the first connecting plate 32. The push-pull motor 20 outputs bidirectional driving force through forward and reverse rotation. When the push-pull motor 20 drives forward, the pull plate 30 gradually moves closer to the baffle 11, and the second plate 33 contacts the surface of the material tray 300 away from the material threading shaft 50, thereby pulling the material tray 300 out of the material box 200 and inserting it into the material threading shaft 50. When the push-pull motor 20 is driven in reverse, the pull plate 30 gradually moves away from the baffle 11. As the baffle 11 separates from the material tray 300, the first plate 31 will contact the surface of the material tray 300 near the material threading shaft 50, thereby pulling the material tray 300 out of the material threading shaft 50 and placing the connected new material tray 300 into the material box 200.

[0038] The first plate 31 and the second plate 33 correspond to the two core actions of pulling out the material tray 300 and loading the material tray 300, respectively. The "insertion-disengagement" closed-loop operation of the material tray 300 and the material threading shaft 50 can be completed without replacing any additional parts. This avoids the cumbersome process of adjusting the posture of the traditional pull plate 30 to achieve bidirectional movement, shortens the single operation cycle, and adapts to the continuous operation requirements of the production line. The U-shaped pull plate 30 has a simple structure, which simplifies the overall structure of the device, reduces the space occupied during installation, and improves the compactness of the equipment.

[0039] It should be noted that the first plate 31, the second plate 33, and the first connecting plate 32 in the pull plate 30 can be an integral structure, such as being made from a single plate through machining. The pull plate 30 can also be an assembled structural component, in which the first plate 31, the second plate 33, and the first connecting plate 32 are three different parts, which are assembled to form the pull plate 30.

[0040] Furthermore, the baffle 11 has a first through opening 111 through which the first plate 31 passes.

[0041] Specifically, the first through-hole 111 on the baffle 11 is a key structure for adapting the movement of the first plate 31. The size of the through-hole is larger than the outer dimensions of the first plate 31, so that the first plate 31 can move smoothly through the first through-hole. When the device is in the initial state, the first plate 31 and the second plate 33 are both located outside the baffle 11. The push-pull motor 20 drives the first plate 31 and the second plate 33 to approach the baffle 11 until the first plate 31 passes through the first through-hole 111 and the distance between the baffle 11 and the second plate 33 decreases, thereby clamping the material tray 300 through the baffle 11 and the second plate 33.

[0042] The first through-hole 111 provided on the baffle 11 provides a passage for the first plate 31 to pass through, breaking the spatial restriction of the baffle 11 on the movement of the first plate 31, and supporting the second plate 33 to complete the pulling operation of the material tray 300.

[0043] Furthermore, the width of the second plate 33 is greater than the width of the first plate 31, and the width of the second plate 33 is greater than the width of the first through opening 111.

[0044] Specifically, in this embodiment, the width of the second plate 33 is the largest of the three, greater than the width of the first plate 31 and also greater than the width of the first through-hole 111. The width of the first plate 31 is smaller than the width of the second plate 33, and it is adapted to the width of the first through-hole 111 (allowing it to pass through smoothly). The width of the first through-hole 111 is smaller than the width of the second plate 33, allowing only the first plate 31 to pass through, but not the second plate 33. Because the width of the second plate 33 is greater than the width of the first through-hole 111, the second plate 33 is always restricted to the side of the baffle 11 near the material feeding shaft 50 (unable to pass through the through-hole), ensuring that it can cooperate with the baffle 11 to clamp the material tray 300; while the width of the first plate 31 is adapted to the through-hole, allowing it to pass through normally to complete the material pulling action, and the two have a clear division of labor and do not interfere with each other.

[0045] In this embodiment, the second plate 33 cannot pass through the first through-hole 111 to prevent it from passing through the baffle 11 when it moves with the first plate 31, ensuring that it always functions on the side of the material tray 300 and avoiding conflict with the outer components of the baffle 11. The larger width of the second plate 33 increases the contact area with the material tray 300, resulting in more even force distribution during clamping, reducing the tilt of the material tray 300, and preventing damage to the material tray 300 due to concentrated clamping force caused by excessive width. The narrow width of the first plate 31 is adapted to the through-hole, reducing frictional resistance when passing through, while not affecting power transmission and ensuring smooth material pulling.

[0046] Furthermore, the first plate 31 and the second plate 33 are each provided with a second through opening 34 at the position corresponding to the material threading shaft 50.

[0047] Specifically, the second through-holes 34 are respectively opened on the first plate 31 and the second plate 33, and each corresponds to the spatial position of the material-passing shaft 50, ensuring that the material-passing shaft 50 can pass through the two plates. The size of the second through-hole 34 is larger than the diameter of the material-passing shaft 50, with a reasonable gap reserved. This allows the material-passing shaft 50 to pass through smoothly, and also provides a small amount of room for the two plates to move with the push-pull motor 20, avoiding movement jamming due to excessive tightness. The second through-hole 34 provides a spacious passage for the material-passing shaft 50 to pass through the plates. When the material-passing shaft 50 passes through the two plates, it does not obstruct the movement of the two plates in their own direction of movement (such as the first plate 31 passing through the baffle 11 and the second plate 33 clamping the material tray 300). At the same time, it does not affect the core function of the material-passing shaft 50 passing through the shaft hole of the material tray 300. The gap design can also accommodate component installation errors.

[0048] Furthermore, the mounting bracket 10 also includes a second connecting plate 12 and two spaced-apart support plates 13, one end of each support plate 13 being connected to the baffle 11, and the other end of each support plate 13 being connected to the second connecting plate 12.

[0049] Specifically, in this embodiment, there are two support plates 13, arranged in parallel at intervals (the interval is adapted to the installation space of components such as the material threading shaft 50 and the pull plate 30). They are elongated plate structures with sufficient structural strength to support the weight of the device components. The second connecting plate 12 is a plate structure, its size adapted to the interval between the two support plates 13, used to connect the two support plates 13 to form a stable frame. One end of each support plate 13 is fixedly connected to the baffle 11 (e.g., by bolting or welding), and the other end is fixedly connected to the second connecting plate 12. The two support plates 13 are symmetrically distributed between the baffle 11 and the second connecting plate 12, forming a frame structure of "baffle 11 - two support plates 13 - second connecting plate 12". The two support plates 13 and the second connecting plate 12 serve as extended support structures of the mounting frame 10, together with the original baffle 11, forming a complete mounting frame, providing additional mounting references for components such as the push-pull motor 20 and the rotary motor 40. The spacing between the two support plates 13 provides ample space for the installation and movement of components such as the material threading shaft 50 and the U-shaped pull plate 30. At the same time, the second connecting plate 12 can serve as a mounting carrier for components such as motors, making the structure of the device more regular.

[0050] Furthermore, the rotary motor 40 is slidably connected to the support plate 13, and the sliding direction is parallel to the axis of the rotating shaft and the direction of movement of the pull plate 30; the push-pull motor 20 is fixedly installed on the rotary motor 40.

[0051] Specifically, the rotary motor 40 is connected between two spaced support plates 13 via a sliding structure. The sliding direction must be parallel to both the axis of rotation of the rotary motor 40 and the moving direction of the pull plate 30 to ensure that it does not deviate from the core axis of the material tray 300 during sliding. The push-pull motor 20 is fixedly installed on the housing or mounting base of the rotary motor 40 (e.g., bolted connection) and slides synchronously with the rotary motor 40 along the support plate 13, serving as the power source for the sliding of the rotary motor 40.

[0052] In this embodiment, the push-pull motor 20 drives the rotary motor 40 to slide, which can flexibly adjust the distance between the material threading shaft 50 and the material tray 300, ensuring that the material threading shaft 50 is accurately aligned with the center positioning shaft 201 of the material box 200, or adjust its position when picking up or placing the material tray 300, to adapt to the picking and placing needs of different sized material trays 300. The sliding direction is consistent with the moving direction of the pull plate 30, so that the position adjustment of the material threading shaft 50 is synchronized with the clamping / pulling action of the pull plate 30, avoiding misalignment of the material tray 300 due to directional deviation, and improving the smoothness of the picking and placing process. The push-pull motor 20 and the rotary motor 40 are installed as a single unit, eliminating the need for an additional independent sliding drive mechanism, saving installation space between the support plates 13, and relying on the support plate 13 for support, reducing the shaking of the motor during sliding and ensuring operating accuracy.

[0053] Furthermore, a slide rail 14 is installed on the inner side of the support plate 13, and the rotary motor 40 is connected to the slide rail 14 through the slider 15. A plurality of elastic elements 60 are also provided between the slider 15 and the mounting bracket 10. The elastic elements 60 are in a stretched state and are used to bring the slider 15 closer to the side of the pull plate 30.

[0054] Specifically, a slide rail 14 is fixedly installed on the inner side of the support plate 13. The extension direction of the slide rail 14 is parallel to the axis of the material threading shaft and the moving direction of the pull plate 30 (i.e., parallel to the axis of the central positioning shaft 201 of the material box 200). During assembly, the entire device is offset towards the material box 200, so that the initial position of the material threading shaft 50 is close to the material box 200, ensuring that the material threading shaft 50 can directly abut against the central positioning shaft 201 of the material box 200, thereby reducing the foundation for gaps in the layout. The rotary motor 40 is slidably engaged with the slide rail 14 through the slider 15. The slider 15 can drive the rotary motor 40 (and the connected material threading shaft 50 and push-pull motor 20) to slide slightly outward along the slide rail 14 (away from the direction of the material box 200). The rotary motor 40 and the push-pull motor 20 are linked (e.g., indirectly connected through the mounting base), so when the rotary motor 40 slides outward, it can synchronously drive the push-pull motor 20 to move slightly. Multiple elastic elements 60 (such as tension springs) are provided between the slider 15 and the mounting bracket 10 (support plate 13 or second connecting plate 12). The elastic elements 60 are always in a stretched state, with the tension direction pointing towards the material box 200 (consistent with the overall offset direction). This provides the rotary motor 40 and push-pull motor 20 with a reset force towards the material box 200, while allowing both to slide slightly outward when needed. The push-pull motor 20 is fixed to the rotary motor 40 and slides synchronously along the slide rail 14 with the rotary motor 40. Its function is to drive the rotary motor 40 to overcome the tension of the elastic elements 60 and slide slightly outward when the material threading shaft 50 needs to disengage from the central positioning shaft 201 (such as after material removal and reset), adapting to the position adjustment requirements under the overall offset layout.

[0055] Due to assembly and production errors, there may theoretically be a slight gap between the material threading shaft 50 and the central positioning shaft 201. However, the overall design of the device, which is biased towards the material box 200, ensures that the material threading shaft 50 directly abuts against the central positioning shaft 201 in its initial state, thus avoiding gaps from a layout perspective. When excessive local force occurs due to errors during the abutment process (such as slight tightness between the material threading shaft 50 and the central positioning shaft 201), the rotary motor 40 can slide slightly outward along the slide rail 14 via the slider 15, while simultaneously driving the push-pull motor 20 to move slightly in sync, avoiding damage to components due to hard clamping. At this time, the stretched state of the elastic element 60 provides a continuous restoring force. After the force is relieved, the rotary motor 40 and the push-pull motor 20 are pulled to reset, ensuring that the material threading shaft 50 always remains in contact with the central positioning shaft 201 without gaps, thereby preventing jamming when the material tray 300 is transferred from the material box 200 to the material threading shaft 50 and improving the smoothness of material handling.

[0056] In this embodiment, a fixing member can be provided on the baffle 11 or the support plate 13, and another fixing member can be provided on the slider 15. One end of an elastic member 60 is fixed to the fixing member on the baffle 11 or the support plate 13, and the other end of the elastic member 60 is fixed to the fixing member on the slider 15, so that the elastic member 60 is in a stretched state, thereby making the slider 15 always close to the baffle 11 (that is, the rotary motor 40, the push-pull motor 20, and the material threading shaft 50 are always closest to the pull plate 30).

[0057] This utility model also proposes a receiving machine, which includes the above-mentioned tray picking and placing device 100. The specific structure of the tray picking and placing device 100 is as described in the above embodiments. Since this receiving machine adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0058] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A tray picking and placing device, used for mounting on a robotic arm to pick and place trays, characterized in that, include: Mounting bracket, one side of which has a baffle; A push-pull motor is connected to the mounting bracket; A pull plate is connected to the push-pull motor for transmission. The push-pull motor drives the pull plate to move relative to the baffle to change the distance between the pull plate and the baffle, thereby clamping and releasing the material tray. A rotary motor is connected to the mounting bracket; A material threading shaft is connected to the rotary motor and extends toward the pull plate to thread through the central hole of the material tray. The rotation of the rotary motor drives the material threading shaft to rotate, thereby driving the material tray to rotate.

2. The tray handling device as described in claim 1, characterized in that, The pull plate is U-shaped and includes a first plate, a first connecting plate, and a second plate connected in sequence. The first plate is located close to the baffle, and the second plate is parallel to the baffle. The first plate is driven by the push-pull motor. The second plate and the baffle are used to clamp and release the material tray.

3. The tray loading and unloading device as described in claim 2, characterized in that, The baffle has a first through-hole through which the first plate passes.

4. The tray handling device as described in claim 3, characterized in that, The width of the second plate is greater than the width of the first plate, and the width of the second plate is greater than the width of the first through opening.

5. The tray handling device as described in claim 4, characterized in that, Both the first plate and the second plate are provided with a second through opening at the position corresponding to the material threading shaft.

6. The tray loading and unloading device as described in claim 1, characterized in that, The feeding shaft is equipped with a card, which is used to position the radial displacement of the feeding tray.

7. The tray handling device as described in claim 2, characterized in that, The mounting bracket also includes a second connecting plate and two spaced-apart support plates, one end of each support plate being connected to the baffle, and the other end of each support plate being connected to the second connecting plate.

8. The tray handling device as described in claim 7, characterized in that, The rotary motor is slidably connected to the support plate, and the sliding direction is parallel to the axis of the material threading shaft and the direction of movement of the pull plate; the push-pull motor is fixedly installed on the rotary motor.

9. The tray handling device as described in claim 8, characterized in that, A slide rail is installed on the inner side of the support plate. The rotary motor is connected to the slide rail through a slider. A plurality of elastic elements are also provided between the slider and the mounting bracket. The elastic elements are in a stretched state and are used to pull the slider toward the side closer to the pull plate.

10. A receiving machine, characterized in that, Includes the tray loading and unloading device as described in any one of claims 1 to 9.

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