Tray pick-and-place mechanism

Abstract

This utility model belongs to the field of surface mount technology and provides a material tray picking and placing mechanism, which includes a driving part, a base, a picking part, and a limiting part. The fixed end of the driving part is set on the machine platform, and the driving end of the driving part is connected to the base. The driving part is configured to drive the base to move. The picking part is set on the base and is configured to pick up or release a new material tray after receiving the material. The picking part is also configured to drive the picked-up new material tray to rotate so as to wind up the material strip between the new material tray after receiving the material and the feeding trolley. The limiting part is set on the base and is configured to limit the material strip on the periphery of the new material tray when the new material tray is being wound up. By setting the limiting part on the base, the material strip is limited on the periphery of the new material tray when the receiving part winds up the material strip of the new material tray, which effectively prevents the material strip from coming off the tray during the winding process and ensures smooth and stable material receiving.

Description

Technical Field

[0001] This utility model belongs to the field of surface mount technology (SMT), and particularly relates to a tray loading and unloading mechanism. Background Technology

[0002] SMT (Surface Mount Technology) is a core technology in modern electronics manufacturing, widely used in consumer electronics, communication equipment, automotive electronics, and other fields. The core equipment for SMT is the pick-and-place machine. A pick-and-place machine is a device that accurately places surface mount components onto PCB pads by moving a placement head. A pick-and-place machine requires multiple feed trolleys to supply the material tape. Each feed trolley has multiple cassettes for holding the material tape. Typically, when the material tape in the pick-and-place machine is about to run out, a splicer is used to connect the beginning of a new tape to the end of the old tape. After splicing, the new tape is placed into the corresponding cassette on the feed trolley.

[0003] During the operation of the material strip splicer, the old material strip needs to be removed from the material box on the feeding trolley and the new material strip after splicing needs to be placed in the material box on the feeding trolley through the material strip pick-and-place mechanism. The material strip between the new material strip after splicing and the feeding trolley is relatively long, so the material strip needs to be wound up before placing the new material strip on the feeding trolley. However, when winding up the material strip, the material strip is easy to roll outside the material strip, which affects the subsequent placement of the new material strip on the feeding trolley. Utility Model Content

[0004] The purpose of this invention is to provide a material tray loading and unloading mechanism to solve the problem in the prior art that the material strip easily rolls outside the material tray when it is being wound up.

[0005] To achieve this objective, the present invention adopts the following technical solution: This utility model provides a tray picking and placing mechanism, which includes a driving part, a base, a picking part, and a limiting part, wherein: The fixed end of the drive unit is mounted on the equipment platform, and the drive end of the drive unit is connected to the base. The drive unit is configured to drive the base to move. The pickup unit is mounted on the base and is configured to pick up or release a new material tray after receiving the material. The pickup unit is also configured to drive the picked-up new material tray to rotate so as to rewind the material strip between the new material tray after receiving the material and the feeding trolley. The limiting part is provided on the base and is configured to limit the material strip at the periphery of the new material tray when the new material tray is being wound.

[0006] Optionally, the limiting part includes a driving component and a limiting block. The driving component is disposed on the base, and the driving end of the driving component is connected to the limiting block. The driving component is at least configured to drive the limiting block to move closer to or away from the material tray in a first horizontal direction. The driving component drives the limiting block to move closer to the material tray in the first horizontal direction so that the limiting block reaches the periphery of the material tray to limit the wound material strip.

[0007] Optionally, the drive assembly includes a mounting bracket, a transverse base, a first motor, a first ball screw, and a first screw nut. The mounting bracket is mounted on a base. The transverse base is movably mounted on the mounting bracket in a first horizontal direction. The first ball screw is rotatably mounted on the transverse base in the first horizontal direction along its own axis. The transverse base is fixedly connected to a limiting block. The first screw nut is fixedly connected to the transverse base. The fixed end of the first motor is mounted on the mounting bracket. The rotating shaft of the first motor is coaxially fixedly connected to the first ball screw. The first motor is configured to drive the first ball screw to rotate along its own axis. The first motor drives the first ball screw to rotate, thereby causing the first screw nut to move along the axis of the first ball screw, and then driving the limiting block to move synchronously and in the same direction through the transverse base.

[0008] Optionally, the drive assembly is also configured to drive the limit block to rise and fall, and to move the limit block laterally and vertically toward the material tray. The drive assembly also includes a second motor, a second ball screw, and a second screw nut. The second ball screw is rotatably mounted vertically on the mounting frame along its own axis. The second screw nut is sleeved on the second ball screw and is fixedly connected to the mounting frame. The fixed end of the second motor is mounted on the base, and the rotating shaft of the second motor is coaxially fixedly connected to the second ball screw. The second motor is configured to drive the second ball screw to rotate along its own axis. The second motor drives the second ball screw to rotate, thereby causing the second screw nut to move vertically, which in turn causes the mounting frame to move synchronously vertically, thereby causing the limit block to move radially toward or away from the material tray.

[0009] Optionally, the limiting block extends in a horizontal direction, and the side of the limiting block near the material tray has a first limiting surface extending in a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction, the width of the first limiting surface being not less than the width of the material strip, and the first limiting surface being used to limit the material strip in the radial direction. The outer side of the limiting block is provided with a boss extending close to the material tray, and the inner side of the boss has a second limiting surface extending along the second horizontal direction. The second limiting surface is used to limit the material strip along the first horizontal direction.

[0010] Optionally, the limiting part further includes at least one guide block. The transverse seat includes a transverse block and at least one guide rod. The guide rod is arranged along the axis of the first ball screw. The two ends of the guide rod are respectively fixedly connected to the transverse block and the limiting block. The guide block is fixedly installed on the mounting bracket and can slide and fit against the guide rod.

[0011] Optionally, the limiting part also includes at least one set of sliding guide pairs, each set of sliding guide pairs including a linear guide rail and a slider. The linear guide rail is fixedly mounted on the mounting bracket extending in the vertical direction, and the slider is fixedly mounted on the base and sleeved on the linear guide rail. Alternatively, the linear guide rail can be fixedly installed on the base along the vertical direction, and the slider can be fixedly installed on the mounting bracket and sleeved on the linear guide rail.

[0012] Optionally, the picking unit includes a material pulling component, which is mounted on the base. The outer side of the target material box on the feeding trolley is provided with a material pulling part that cooperates with the material pulling component, and each target material box corresponds to a material tray. The drive unit drives the base to move so that the pulling component and the pulling part interfere with each other. The drive unit then drives the mounting frame to move away from the target box so that the target box can be pulled out of the feeding trolley through the cooperation of the pulling component and the pulling part. Alternatively, the drive unit drives the base to move closer to the target box so that the target box can be pushed into the feeding trolley through the cooperation of the pulling component and the pulling part.

[0013] Optionally, the feeding trolley is equipped with a calibration plate, and the tray loading and unloading mechanism also includes a camera assembly, wherein: The camera components are all mounted on the base. The calibration plate has several first identification codes, each corresponding to a target material box. The camera components take pictures of the calibration plate or scan the first identification codes to obtain the position of the target material box.

[0014] Optionally, the pickup unit includes a first drive assembly, a second drive assembly, and a tensioning shaft, wherein: The material tray is provided with a second identification code, and the camera component is also configured to take pictures of the second identification code on the material tray to obtain the position of the center hole of the material tray. The drive end of the first drive component is connected to the tension shaft, and the first drive component is configured to drive the tension shaft to expand outward or contract inward. The drive unit drives the tensioning shaft to move according to the position of the center hole of the tray obtained by the camera assembly, so that the tensioning shaft passes through the center hole of the tray. The first drive assembly drives the tensioning shaft that passes through the center hole to expand outward, so as to fix the tray relative to the tensioning shaft. The tensioning shaft can rotate along its own axis. The drive end of the second drive assembly is connected to the tensioning shaft. The second drive assembly is configured to drive the tensioning shaft to rotate along its own axis, thereby causing the material tray on the tensioning shaft to rotate.

[0015] Compared with the prior art, the material tray loading and unloading mechanism proposed in this utility model has the following advantages: 1) The limiting part limits the material strip on the outside of the new material tray when the receiving part is winding the material strip, effectively preventing the material strip from coming off the tray during the winding process and ensuring smooth and stable material receiving; 2) The drive component drives the limit block to move closer to or further away from the new material tray along the first horizontal direction. It can flexibly switch the limit block to the avoidance state and the limit state, adapt to the material tray rotation and material picking and unloading conditions, avoid interference with the equipment, and facilitate the picking and releasing of the material tray. 3) The cooperation of the second motor, the second ball screw and the second screw nut makes it easy to adjust the radial distance between the limit block and the new material tray to adapt to material trays of different diameters, thus improving the applicability of the mechanism. Attached Figure Description

[0016] To more clearly illustrate and understand the technical solutions in the embodiments of this utility model, the accompanying drawings used in the background technology and embodiment description of this utility model will be briefly introduced below. Obviously, the accompanying 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 content of the embodiments of this utility model and these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of the material tray picking and placing mechanism provided in this embodiment of the utility model; Figure 2 This is a three-dimensional structural diagram of the picking part of the tray picking and placing mechanism provided in this embodiment of the utility model; Figure 3 This is a schematic diagram of the disassembled structure of the picking part of the tray picking and placing mechanism provided in this embodiment of the utility model; Figure 4 yes Figure 3 Enlarged structural diagram at point A; Figure 5 yes Figure 3 Enlarged structural diagram at point B; Figure 6 yes Figure 3 Enlarged structural diagram at point C; Figure 7 This is a side view of the picking part of the tray picking and placing mechanism provided in this embodiment of the utility model. Detailed Implementation

[0018] To facilitate understanding of this utility model, a more complete description of it will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model. It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of this utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0019] Please see Figures 1 to 7 As shown in the figure, the present invention provides a material tray picking and placing mechanism, which includes a driving part 10, a base 20, a picking part 30, and a limiting part 40. The fixed end of the driving part 10 is disposed on the machine platform, and the driving end of the driving part 10 is connected to the base 20. The driving part 10 is configured to drive the base 20 to move. The picking part 30 is disposed on the base 20 and is configured to pick up or release a new material tray 50 after receiving the material. The picking part 30 is also configured to drive the picked-up new material tray 50 to rotate so as to wind up the material strip between the new material tray 50 after receiving the material and the feeding trolley (not shown in the figure). The limiting part 40 is disposed on the base 20 and is configured to limit the material strip on the periphery of the new material tray 50 when the new material tray 50 is being wound up, so as to prevent the material strip from moving out of the tray during winding.

[0020] Specifically, the drive unit 10 includes a six-axis robotic arm, the fixed end of which is mounted on the equipment platform, and the drive end of which is connected to the base 20.

[0021] By setting a limiting part 40 on the base 20, the material receiving part limits the material strip at the periphery of the new material tray 50 when the material receiving part is winding the material strip of the new material tray 50, effectively preventing the material strip from coming off the tray during the winding process and ensuring smooth and stable material receiving.

[0022] In one embodiment, the limiting portion 40 includes a driving component 41 and a limiting block 42. The fixed end of the driving component 41 is disposed on the base 20, and the driving end of the driving component 41 is connected to the limiting block 42. The driving component 41 is configured at least to drive the limiting block 42 along a first horizontal direction. Figure 2 The drive assembly 41 drives the limiting block 42 to move closer to or away from the tray in the first horizontal direction, so that the limiting block 42 moves to the periphery of the tray to limit the winding of the strip.

[0023] The drive component 41 drives the limit block 42 to approach or move away from the new material tray 50 in the first horizontal direction. The limit block 42 can be flexibly switched between the avoidance state and the limit state to adapt to the material tray rotation and material collection conditions, which facilitates the picking up and releasing of the material tray.

[0024] In one embodiment, the drive assembly 41 includes a mounting bracket 410, a transverse slide block 411, a first motor 412, a first ball screw 413, and a first screw nut 414. The mounting bracket 410 is mounted on the base 20. The transverse slide block 411 is movably mounted on the mounting bracket 410 in a first horizontal direction. The first ball screw 413 is rotatably mounted on the transverse slide block 411 in the first horizontal direction. The transverse slide block 411 is fixedly connected to the limiting block 42. The first screw nut 414 is fixedly connected to the transverse slide block 412. The moving seat 411 is fixedly connected, and the fixed end of the first motor 412 is mounted on the mounting bracket 410. The rotating shaft of the first motor 412 is coaxially fixedly connected to the first ball screw 413. The first motor 412 is configured to drive the first ball screw 413 to rotate along its own axis. The first motor 412 drives the first ball screw 413 to rotate, thereby driving the first screw nut 414 to move along the axis of the first ball screw 413, and then driving the limit block 42 to move synchronously and in the same direction through the moving seat 411.

[0025] By combining the mounting bracket 410, the transverse slide seat 411, the first motor 412, the first ball screw 413, and the first screw nut 414, a drive assembly 41 with a compact structure, high drive efficiency, high drive precision, and low noise is provided.

[0026] In one embodiment, the drive assembly 41 is further configured to drive the limit block 42 to move up and down. The drive assembly 41 drives the limit block 42 to move laterally and up and down towards the material tray. The drive assembly 41 also includes a second motor 415, a second ball screw 416, and a second screw nut 417. The second ball screw 416 is rotatably mounted on the mounting frame 410 in the vertical direction along its own axis. The second screw nut 417 is sleeved on the second ball screw 416 and is fixedly connected to the mounting frame 410. The fixed end of the second motor 415 is mounted on the base 20. The rotating shaft of the second motor 415 is coaxially fixedly connected to the second ball screw 416. The second motor 415 is configured to drive the second ball screw 416 to rotate along its own axis. The second motor 415 drives the second ball screw 416 to rotate, thereby driving the second screw nut 417 to move in the vertical direction, and then driving the mounting frame 410 to move synchronously in the vertical direction, so as to drive the limit block 42 to move radially closer to or away from the material tray.

[0027] The cooperation of the second motor 415, the second ball screw 416, and the second screw nut 417 facilitates the adjustment of the radial distance between the limit block 42 and the new material tray 50, so as to adapt to material trays of different diameters and improve the applicability of the mechanism.

[0028] In one embodiment, the limiting block 42 is along the second horizontal direction ( Figure 2 Extending in the direction of Y, the first horizontal direction is perpendicular to the second horizontal direction. The limiting block 42 has a first limiting surface 420 extending along the second horizontal direction on the side near the material tray. The width of the first limiting surface 420 is not less than the width of the material strip. The first limiting surface 420 is used to limit the material strip in the radial direction. A boss 421 extending near the material tray is provided on the outer side of the limiting block 42. The inner side of the boss 421 has a second limiting surface 422 extending along the second horizontal direction. The second limiting surface 422 is used to limit the material strip along the first horizontal direction.

[0029] By cooperating with the first limiting surface 420 and the second limiting surface 422, the material strip is simultaneously limited along the radial direction of the material tray and the width direction of the material strip during winding, thereby improving the reliability of the material strip limiting.

[0030] In one embodiment, the limiting part 40 further includes at least one guide block 43, the transverse seat 411 includes a transverse block 4110 and at least one guide rod 4111, the guide rod 4111 is arranged along the axis of the first ball screw 413, the two ends of the guide rod 4111 are respectively fixedly connected to the transverse block 4110 and the limiting block 42, and the guide block 43 is fixedly installed on the mounting bracket 410 and can slide and fit against the guide rod 4111.

[0031] Specifically, there are two guide rods 4111 and two guide blocks 43.

[0032] By being fixedly installed on the mounting bracket 410 and slidably fitted onto the corresponding guide rod 4111, the limit block 42 is guided when the transverse shift seat 411 drives the limit block 42 to move in the direction of the axis where the new material tray 50 is located, so as to ensure that the limit block 42 moves smoothly and accurately.

[0033] In one embodiment, the limiting part 40 further includes at least one set of sliding guide pairs 44. Each set of sliding guide pairs 44 includes a linear guide rail 440 and a slider 441. The linear guide rail 440 is fixedly mounted on the mounting bracket 410 extending in the vertical direction, and the slider 441 is fixedly mounted on the base 20 and sleeved on the linear guide rail 440; or the linear guide rail 440 is fixedly mounted on the base 20 extending in the vertical direction, and the slider 441 is fixedly mounted on the mounting bracket 410 and sleeved on the linear guide rail 440.

[0034] Specifically, there are two sliding guide pairs 44.

[0035] The linear guide rail 440 and the slider 441 work together to make the mounting bracket 410 move up and down on the base 20 accurately and smoothly, and further ensure that the limit block 42 moves accurately and stably towards or away from the new material tray 50 in the vertical direction.

[0036] In one embodiment, the picking unit 30 includes a pulling member 31, which is disposed on the base 20. The outer side of the target material box on the feeding trolley is provided with a pulling part that cooperates with the pulling member 31. Each target material box corresponds to a material tray. The driving unit 10 drives the base 20 to move so that the pulling member 31 and the pulling part interfere with each other. The driving unit 10 then drives the mounting frame 410 to move away from the target material box so that the target material box can be pulled out of the feeding trolley by the cooperation of the pulling member 31 and the pulling part. Alternatively, the driving unit 10 drives the base 20 to move closer to the target material box so that the target material box can be pushed into the feeding trolley by the cooperation of the pulling member 31 and the pulling part.

[0037] Specifically, the material pulling component 31 is a first material pulling rod, and the material pulling part includes a second material pulling rod. The first material pulling rod and the second material pulling rod can interfere with each other in the direction of movement of the target material box.

[0038] Through the cooperation of the material pulling component 31 and the material pulling part, on the one hand, the material box can be pulled out or pushed in from the feeding trolley, which facilitates the picking and placing of the material tray. On the other hand, the automated operation speeds up the material changing speed and improves production efficiency.

[0039] Specifically, the tray picking and placing mechanism also includes a distance sensor 70, which is used to measure the height of the calibration plate to cooperate with the drive unit 10 to drive the mounting frame to a preset position, so as to facilitate the accurate picking and placing of the tray in the target material box on the material rack trolley.

[0040] In one embodiment, a calibration plate (not shown in the figure) is provided on the feeding trolley, and the material tray picking and placing mechanism also includes a camera assembly 60. The camera assembly 60 is all set on the base 20. A plurality of first identification codes are provided on the calibration plate, and each first identification code corresponds to a target material box. The camera assembly 60 takes pictures of the calibration plate or scans the first identification codes to obtain the position of the target material box.

[0041] Specifically, camera assembly 60 includes camera 61 and light source 62.

[0042] Specifically, the first identification code is used to identify the position information of the corresponding material box in the X and Y directions.

[0043] Specifically, both the first and second identification codes can be barcodes or QR codes.

[0044] Specifically, the first identification code is set on the calibration plate by printing or engraving.

[0045] Specifically, the first identification code is set on the label, which is affixed to the top surface of the calibration plate to facilitate the replacement of the first identification code.

[0046] The location of the corresponding material box can be obtained by taking a picture or scanning the first identification code, which facilitates the control of the drive unit 10 to cooperate with the picking unit 30 to smoothly pick up and put down the material tray.

[0047] In one embodiment, the pickup unit 30 includes a first drive assembly 32, a second drive assembly 33, and a tensioning shaft 34. A second identification code is provided on the tray. The camera assembly 60 is also configured to take a picture of the second identification code on the tray to obtain the position of the center hole of the tray. The drive end of the first drive assembly 32 is connected to the tensioning shaft 34. The first drive assembly 32 is configured to drive the tensioning shaft 34 to expand outward or contract inward. The drive unit 10 drives the tensioning shaft 34 to move according to the position of the center hole of the tray obtained by the camera assembly 60, so that the tensioning shaft 34 passes through the center hole of the tray. The first drive assembly 32 drives the tensioning shaft 34, which passes through the center hole, to expand outward to fix the tray relative to the tensioning shaft 34. The tensioning shaft 34 can rotate along its own axis. The drive end of the second drive assembly 33 is connected to the tensioning shaft 34. The second drive assembly 33 is configured to drive the tensioning shaft 34 to rotate along its own axis to drive the tray on the tensioning shaft 34 to rotate.

[0048] Specifically, the first drive assembly 32 includes a third motor 320, a fixed base 321, and a first transmission assembly (not shown in the figure). The drive end of the third motor 320 is connected to the first transmission assembly, and the third motor 320 drives the tensioning shaft 34 to expand outward or contract inward on the fixed base 321 through the first transmission assembly. The second drive assembly 33 includes a fourth motor 330 and a second transmission assembly 331. The drive end of the fourth motor 330 is connected to the second transmission assembly 331, and the fourth motor 330 drives the tensioning shaft 34 to rotate along its own axis through the second transmission assembly 331.

[0049] Specifically, the first transmission assembly includes a coupling, a spring, a transmission screw, a screw nut, a conical top block, a guide sleeve, and a pusher block. The third motor 320 rotates and drives the transmission screw to rotate through the coupling. The screw nut is sleeved on the transmission screw and slides linearly back and forth to drive the conical top block to move axially. The conical surface presses against the pusher block 441 inside the tensioning shaft 34, converting the axial linear motion into the radial expansion motion of the tensioning shaft 34. The third motor 320 reverses and works with the transmission screw and screw nut to drive the conical block to retract. The tensioning shaft 34 retracts inward and resets by relying on the spring.

[0050] Specifically, the fourth motor 330 is mounted at the bottom of the third motor 320.

[0051] Specifically, the second transmission assembly 331 includes a driving wheel, a driven wheel 3310, and a synchronous belt 3311. The driving wheel is coaxially and fixedly connected to the drive end of the fourth motor 330. The driven wheel 3310 is coaxially and fixedly connected to the tensioning shaft 34. The driving wheel and the driven wheel 3310 are spaced apart in the vertical direction. The synchronous belt 3311 is sleeved on the driving wheel and the driven wheel 3310. The fourth motor 330 drives the driving wheel to rotate, which in turn drives the tensioning shaft 34 to rotate through the driven wheel 3310.

[0052] The cooperation of the camera assembly 60, the first drive assembly 32 and the tensioning shaft 34 not only realizes the stable automatic fixing or release of the material tray, improving the stability of the material changing operation, but also can adapt to the center hole of different sizes or types of material trays, increasing the system's compatibility; the cooperation of the second drive assembly 33 and the tensioning shaft 34 realizes the automatic rotation and posture adjustment of the material tray, realizing the automatic winding of the material strip.

[0053] The general working principle of the above-mentioned material tray loading and unloading mechanism is as follows: S1, the camera assembly 60 takes a picture of the new material tray 50 to obtain the position of the new material tray 50, the picking unit 30 picks up the new material tray 50 after receiving the material according to the position of the new material tray 50, the first drive assembly 32 drives the limiting block 42 to move to the periphery of the new material tray 50, and the second drive assembly 33 drives the limiting block 42 to approach the new material tray 50 in the vertical direction. S2, while the drive unit 10 drives the limit block 42 to move toward the target material box of the feeding trolley, the pickup unit 30 drives the new material tray 50 to rotate to collect the material. S3, the camera assembly 60 takes a picture of the QR code on the calibration plate to obtain the position of the target material box, and the drive unit 10, together with the pickup unit 30, places the new material tray 50 into the corresponding target material box.

[0054] The above embodiments merely illustrate the basic principles and characteristics of this utility model. This utility model is not limited to the above examples. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A material tray loading and unloading mechanism, characterized in that, The tray picking and placing mechanism includes a drive unit, a base, a picking unit, and a limiting unit, wherein: The fixed end of the drive unit is mounted on the equipment platform, and the drive end of the drive unit is connected to the base. The drive unit is configured to drive the base to move. The pickup unit is disposed on the base and is configured to pick up or release a new material tray after receiving the material. The pickup unit is also configured to drive the picked-up new material tray to rotate so as to wind up the material strip between the new material tray after receiving the material and the feeding trolley. The limiting part is disposed on the base, and the limiting part is configured to limit the material strip at the periphery of the new material tray when the new material tray is being wound.

2. The material tray loading and unloading mechanism according to claim 1, characterized in that, The limiting part includes a driving component and a limiting block. The driving component is disposed on the base, and the driving end of the driving component is connected to the limiting block. The driving component is at least configured to drive the limiting block to move closer to or away from the material tray along a first horizontal direction. The driving component drives the limiting block to move closer to the material tray along the first horizontal direction, so that the limiting block moves to the periphery of the material tray to limit the winding material strip.

3. The material tray picking and placing mechanism according to claim 2, characterized in that, The drive assembly includes a mounting bracket, a transverse base, a first motor, a first ball screw, and a first screw nut. The mounting bracket is mounted on the base. The transverse base is movably mounted on the mounting bracket along the first horizontal direction. The first ball screw is rotatably mounted on the transverse base along its own axis along the first horizontal direction. The transverse base is fixedly connected to the limiting block. The first screw nut is fixedly connected to the transverse base. The fixed end of the first motor is mounted on the mounting bracket. The rotating shaft of the first motor is coaxially fixedly connected to the first ball screw. The first motor is configured to drive the first ball screw to rotate along its own axis. The first motor drives the first ball screw to rotate, thereby causing the first screw nut to move along the axis of the first ball screw, and then driving the limiting block to move synchronously and in the same direction through the transverse base.

4. The material tray picking and placing mechanism according to claim 3, characterized in that, The drive assembly is further configured to drive the limit block to move up and down. The drive assembly drives the limit block to move laterally and up and down towards the material tray. The drive assembly also includes a second motor, a second ball screw, and a second screw nut. The second ball screw is rotatably mounted vertically on the mounting frame along its own axis. The second screw nut is sleeved on the second ball screw and is fixedly connected to the mounting frame. The fixed end of the second motor is mounted on the base. The rotating shaft of the second motor is coaxially fixedly connected to the second ball screw. The second motor is configured to drive the second ball screw to rotate along its own axis. The second motor drives the second ball screw to rotate, thereby causing the second screw nut to move vertically, which in turn causes the mounting frame to move synchronously vertically, thereby causing the limit block to move radially closer to or away from the material tray.

5. The material tray loading and unloading mechanism according to claim 2, characterized in that, The limiting block extends along a second horizontal direction, the first horizontal direction being perpendicular to the second horizontal direction. The limiting block has a first limiting surface extending along the second horizontal direction on the side near the material tray. The width of the first limiting surface is not less than the width of the material strip. The first limiting surface is used to limit the material strip radially. The limiting block has a boss extending close to the material tray on its outer side, and the inner side of the boss has a second limiting surface extending along the second horizontal direction. The second limiting surface is used to limit the material strip along the first horizontal direction.

6. The material tray picking and placing mechanism according to claim 3, characterized in that, The limiting part further includes at least one guide block. The transverse seat includes a transverse block and at least one guide rod. The guide rod is arranged along the axis of the first ball screw. The two ends of the guide rod are respectively fixedly connected to the transverse block and the limiting block. The guide block is fixedly installed on the mounting bracket and can slide and fit against the guide rod.

7. The material tray picking and placing mechanism according to claim 4, characterized in that, The limiting part further includes at least one set of sliding guide pairs. Each set of sliding guide pairs includes a linear guide rail and a slider. The linear guide rail is fixedly installed on the mounting bracket extending in a vertical direction, and the slider is fixedly installed on the base and sleeved on the linear guide rail. Alternatively, the linear guide rail is fixedly installed on the base in a vertical direction, and the slider is fixedly installed on the mounting bracket and sleeved on the linear guide rail.

8. The material tray picking and placing mechanism according to claim 3, characterized in that, The picking unit includes a material pulling component, which is disposed on the base. The outer side of the target material box on the feeding trolley is provided with a material pulling part that cooperates with the material pulling component. Each target material box corresponds to one material tray. The drive unit drives the base to move so that the pulling member and the pulling part interfere with each other. The drive unit then drives the mounting bracket to move away from the target material box so that the target material box is pulled out of the feeding trolley through the cooperation of the pulling member and the pulling part. Alternatively, the drive unit drives the base to move closer to the target material box so that the target material box is pushed into the feeding trolley through the cooperation of the pulling member and the pulling part.

9. The material tray loading and unloading mechanism according to claim 8, characterized in that, The feeding trolley is equipped with a calibration plate, and the tray loading and unloading mechanism further includes a camera assembly, wherein: The camera components are all mounted on the base. The calibration plate is provided with a number of first identification codes, each of which corresponds to a target material box. The camera components take pictures of the calibration plate or scan the first identification codes to obtain the position of the target material box.

10. The material tray loading and unloading mechanism according to claim 9, characterized in that, The pickup unit includes a first drive assembly, a second drive assembly, and a tensioning shaft, wherein: The material tray is provided with a second identification code, and the camera component is also configured to take a picture of the second identification code on the material tray to obtain the position of the center hole of the material tray. The drive end of the first drive component is connected to the tension shaft, and the first drive component is configured to drive the tension shaft to expand outward or contract inward. The drive unit drives the tensioning shaft to move according to the position of the center hole of the tray obtained by the camera assembly, so that the tensioning shaft passes through the center hole of the tray, and the first drive assembly drives the tensioning shaft that passes through the center hole to expand outward, so as to fix the tray relative to the tensioning shaft. The tensioning shaft is rotatable along its own axis. The drive end of the second drive assembly is connected to the tensioning shaft. The second drive assembly is configured to drive the tensioning shaft to rotate along its own axis, thereby causing the material tray on the tensioning shaft to rotate.

Images