Automatic tray-stacking mechanism and device

Abstract

This utility model discloses an automatic tray-stacking mechanism and device, relating to the field of material tray-stacking technology. It comprises a frame, a flexible vibration mechanism, a vision imaging component, a feeding mechanism, and a material transfer mechanism. The frame has feeding and discharging positions spaced apart along a first direction. The flexible vibration mechanism is installed at the feeding position, and the vision imaging component is installed above it. The feeding mechanism is installed at the top of the frame, and the material transfer mechanism is installed at the discharging position. This allows the feeding mechanism to move along the first direction between the feeding and discharging positions. Simultaneously, the flexible vibration mechanism vibrates the material, ensuring it is placed on the flexible vibration mechanism in a uniform posture. Once the material is placed in the same posture, the feeding mechanism transfers the material from the flexible vibration mechanism to the discharging position along the first direction, thus achieving the functions of material transfer and placement. This reduces the difficulty of material transfer and improves material transfer efficiency.

Description

Technical Field

[0001] This utility model relates to the field of material tray placement technology, and in particular to an automatic tray placement mechanism and device. Background Technology

[0002] With the rapid development of modern manufacturing and the continuous improvement of industrial automation, automatic material handling technology, as an important component of production line automation, has undergone a technological development process from manual operation to semi-automation and then to full automation. Early material handling operations relied mainly on manual labor. With advancements in mechanical and control technologies, semi-automatic material handling equipment based on mechanical transmission gradually developed, and further evolved into fully automatic material handling systems integrating sensor technology, visual recognition technology, and intelligent control technology. This technological development path reflects the manufacturing industry's urgent need to improve production efficiency, reduce labor costs, and ensure consistent product quality.

[0003] However, existing automated material handling technology usually requires transfer equipment and related control algorithms to transfer materials. However, during the transfer process, the difficulty of material transfer increases due to the different placement positions and postures of the materials, which affects the transfer efficiency. Utility Model Content

[0004] The main purpose of this utility model is to propose an automatic tray-loading mechanism and device, which aims to solve the technical problem that the difficulty of material transfer and the impact on transfer efficiency are increased due to the different placement positions and postures of materials during the transfer process.

[0005] To achieve the above objectives, this utility model proposes an automatic tray-stacking mechanism, comprising:

[0006] The frame has feeding positions and discharging positions spaced apart along a first direction on its top.

[0007] A flexible vibration mechanism is installed at the feeding position, on which material to be transferred to the discharging position is placed. The flexible vibration mechanism has a discharge port on one side facing the discharging position. A visual imaging component is installed above the flexible vibration mechanism, which can capture and record the quantity of the material.

[0008] A feeding mechanism, installed at the discharge position, capable of holding the material transferred from the flexible vibration mechanism, extending out of the frame in a second direction, and capable of conveying the material outside the frame in the second direction; and...

[0009] A material transfer mechanism is installed on the top of the frame. The material transfer mechanism can move between the feeding position and the discharging position to transfer the material placed at the feeding position through the discharge port along the first direction and place it at the discharging position.

[0010] In one embodiment, the material transfer mechanism includes:

[0011] Two guide rails are spaced apart on the top of the frame along the second direction, and both guide rails extend along the first direction.

[0012] A walking assembly, which spans across the two guide rails in a second direction, with both ends of the walking assembly slidingly engaged with the two guide rails;

[0013] A travel drive assembly, mounted on one side of one of the guide rails, connected to the travel assembly, capable of driving the travel assembly to travel along the first direction between the feeding position and the discharging position; and...

[0014] A material transfer assembly is slidably mounted on the walking assembly, and the material transfer assembly can travel along the second direction on the walking assembly and move to clamp the material placed on the flexible vibration mechanism.

[0015] In one embodiment, the material transfer assembly includes:

[0016] A first driving member, which is slidably engaged with the walking assembly, is capable of sliding along the second direction on the walking assembly; and...

[0017] A material transfer component is installed at the output end of the first drive component, and the first drive component can drive the material transfer component to clamp or release the material.

[0018] In one embodiment, the walking component includes:

[0019] A crossbeam spans two guide rails along a second direction, and a first slider is mounted at each end of the crossbeam along the second direction. The first slider slides against the corresponding guide rail and is connected to the walking drive assembly on the same side. A slide rail extending along the second direction is mounted on the crossbeam, and a second slider slides against the slide rail. A first drive component is mounted on the second slider. The walking drive assembly drives the first slider on the corresponding side to slide the crossbeam along the guide rails, so that the crossbeam can move the material transfer component mounted at the output end of the first drive component along the first direction between the feeding position and the discharging position; and...

[0020] The second driving member is mounted on the crossbeam and connected to the second slider. The second driving member can drive the second slider to slide along the second direction on the slide rail, so that the first driving member can drive the material transfer member to slide along the second direction.

[0021] In one embodiment, the walking drive assembly includes a third drive member, which is mounted on one side of one of the guide rails and connected to the first slider on the corresponding side. The third drive member can drive the first slider on the corresponding side to slide along the guide rail on the corresponding side, thereby causing the crossbeam to slide along the first direction between the feeding position and the discharging position.

[0022] In one embodiment, the flexible vibration mechanism includes:

[0023] A flexible vibration assembly, wherein the flexible vibration assembly is installed at the feeding position, and the end of the flexible vibration assembly facing the discharging position forms the discharge port; and...

[0024] A feeding assembly is installed on the side of the flexible vibrating assembly away from the material feeding position, and the feeding assembly is located above the flexible vibrating assembly. The feeding assembly can feed the material to be vibrated into the flexible vibrating assembly.

[0025] In one embodiment, the flexible vibration component includes:

[0026] A vibrator is mounted on the frame, with its output end facing upwards and located at the feeding position.

[0027] A vibrating plate, the vibrating plate being mounted at the output end of the vibrator and positioned above the frame; and,

[0028] A loading frame is installed on top of the vibrating plate and located below the feeding assembly. The loading frame contains the material to be vibrated, and the end of the loading frame facing the material discharge position forms the discharge port.

[0029] In one embodiment, the feeding assembly includes:

[0030] A storage frame, wherein a storage trough is formed within the storage frame and is inclined toward the carrying frame along the first direction; and an opening is formed on the side of the storage frame near the carrying frame; the material to be vibrated is placed in the storage trough; and...

[0031] A baffle, which is rotatably mounted on the opening and can open or close the opening.

[0032] In one embodiment, the visual imaging component includes a visual camera and a light source, the lens of the visual camera being positioned facing the object frame, the light source being mounted below the lens of the visual camera, and the light source being located above the object frame; and / or,

[0033] An operating terminal is also installed on the rack.

[0034] Based on the same technical concept, in a second aspect, this utility model also proposes an automatic tray-setting device, comprising:

[0035] The outer shell; and,

[0036] The automatic tray-stacking mechanism described in the first aspect includes an outer casing covering the automatic tray-stacking mechanism, and a working space being formed between the outer casing and the top of the frame. The vision imaging component is mounted on the outer casing and is housed within the working space. A pick-up and drop-off port is formed above the outer casing near the material feeding position, and a folding plate is provided on the pick-up and drop-off port, which can open or close the pick-up and drop-off port.

[0037] This utility model proposes an automatic tray-stacking mechanism and device. By setting up a frame, a flexible vibration mechanism, a visual imaging component, a feeding mechanism, and a material transfer mechanism, in use, a feeding position and a discharging position are spaced apart along a first direction on the frame. The flexible vibration mechanism is installed at the feeding position, and the visual imaging component is installed above the flexible vibration mechanism. The feeding mechanism is installed at the top of the frame, and the material transfer mechanism is installed at the discharging position. This allows the feeding mechanism to move along the first direction between the feeding and discharging positions. Simultaneously, the flexible vibration mechanism vibrates the material, ensuring it is placed on the flexible vibration mechanism in a uniform posture. Once the material is placed on the flexible vibration mechanism in a uniform posture, the feeding mechanism transfers the material from the flexible vibration mechanism to the discharging position along the first direction, thus realizing the material transfer and placement functions, reducing the difficulty of material transfer, and improving material transfer efficiency. Attached Figure Description

[0038] 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.

[0039] Figure 1 A schematic diagram of the automatic tray-stacking mechanism provided by this utility model;

[0040] Figure 2 for Figure 1 A schematic diagram of the structure of the visual imaging component in the example;

[0041] Figure 3 for Figure 1 A schematic diagram of the flexible vibration mechanism in the example;

[0042] Figure 4 for Figure 1 The example shows a schematic diagram of the feeding mechanism.

[0043] Figure 5 This is a schematic diagram of the automatic tray-stacking device provided by this utility model.

[0044] Explanation of icon numbers:

[0045] 100. Frame; 110. Feeding position; 120. Discharging position; 200. Soft vibration mechanism; 240. Discharge port; 300. Vision imaging component; 400. Feeding mechanism; 500. Material transfer mechanism; 510. Guide rail; 520. Traveling component; 530. Traveling drive component; 540. Material transfer component; 541. First drive component; 542. Material transfer component; 521. Crossbeam; 522. First slider; 523. Slide rail; 5 24. Second slider; 525. Second drive unit; 531. Third drive unit; 210. Flexible vibration assembly; 220. Feeding assembly; 211. Vibrator; 212. Vibrating plate; 213. Loading frame; 221. Storage frame; 222. Storage trough; 223. Opening; 224. Baffle; 310. Vision camera; 320. Light source; 10. Automatic tray-setting mechanism; 20. Housing; 30. Pick-up and drop-off port; 40. Folding plate; 600. Operation terminal.

[0046] 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

[0047] 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.

[0048] 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.

[0049] 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.

[0050] With the rapid development of modern manufacturing and the continuous improvement of industrial automation, automatic material handling technology, as an important component of production line automation, has undergone a technological development process from manual operation to semi-automation and then to full automation. Early material handling operations relied mainly on manual labor. With advancements in mechanical and control technologies, semi-automatic material handling equipment based on mechanical transmission gradually developed, and further evolved into fully automatic material handling systems integrating sensor technology, visual recognition technology, and intelligent control technology. This technological development path reflects the manufacturing industry's urgent need to improve production efficiency, reduce labor costs, and ensure consistent product quality.

[0051] However, the applicant's research found that existing automated material tray technology usually requires transfer equipment in conjunction with related control algorithms to achieve material transfer operations. However, during the transfer process, the difficulty of material transfer increases due to the different placement positions and postures of the materials, which affects the transfer efficiency.

[0052] This utility model proposes an automatic tray-stacking mechanism and device.

[0053] Please see Figures 1 to 5In one embodiment of this utility model, the automatic tray-loading mechanism includes a frame 100, a vibrating mechanism 200, a feeding mechanism 400, and a material transfer mechanism 500. The top of the frame 100 has feeding positions 110 and discharging positions 120 spaced apart along a first direction. The vibrating mechanism 200 is installed at the feeding position 110, and material to be transferred to the discharging position 120 is placed on the vibrating mechanism 200. The vibrating mechanism 200 has a discharge port 240 on its side facing the discharging position 120. A visual imaging component 300 is installed above the vibrating mechanism. The device can photograph and record the quantity of materials. The feeding mechanism 400 is installed at the discharge position 120. The feeding mechanism 400 can hold materials transferred from the flexible vibration mechanism 200. The feeding mechanism 400 extends out of the frame 100 in the second direction. The feeding mechanism 400 can transport materials to the outside of the frame 100 in the second direction. The material transfer mechanism 500 is installed on the top of the frame 100. The material transfer mechanism 500 can move between the feeding position 110 and the discharge position 120 to transfer the material placed at the feeding position 110 through the discharge port 240 in the first direction and place it at the discharge position 120.

[0054] Specifically, the frame 100 has a rectangular frame structure. Feeding positions 110 and discharging positions 120 are spaced apart along a first direction (horizontal direction) on the top of the frame 100. The feeding position 110 is located at one end of the frame 100, and the discharging position 120 is located at the other end, forming a material transfer channel between the two positions. A flexible vibration mechanism 200 is installed and fixed at the feeding position 110. The flexible vibration mechanism 200 includes a vibrating disc body and a vibrating motor that drives the vibrating disc body. The interior of the vibrating disc body forms a receiving cavity for placing the material to be transferred. A discharge port 240 is opened on the side wall of the vibrating disc body facing the discharging position 120, and the discharge port 240 communicates with the receiving cavity. A visual imaging component 300 is installed above the flexible vibration mechanism 200. The visual imaging component 300 includes a camera and an image processing unit. The camera's field of view covers the receiving cavity of the flexible vibration mechanism 200, enabling real-time imaging and identification of the quantity and distribution of materials within the receiving cavity. The image processing unit analyzes and processes the captured images, counts the material quantity, and transmits the data to the control system. A feeding mechanism 400 is installed at the discharge position 120. The feeding mechanism 400 includes a conveyor belt and a drive motor for driving the conveyor belt. The conveyor belt extends out of the frame 100 along a second direction (perpendicular to the first direction). The upper surface of the conveyor belt forms a material bearing surface, which can bear the material transferred from the flexible vibration mechanism 200 and transport it to the target position outside the frame 100. A material transfer mechanism 500 is installed on a guide rail 510 at the top of the frame 100. The material transfer mechanism 500 includes a moving platform, a robotic arm mounted on the moving platform, and a drive device for driving the moving platform to move along the guide rail 510. The end of the robotic arm is equipped with a gripper adapted to the shape of the material. The material transfer mechanism 500 can reciprocate between the feeding position 110 and the discharge position 120. Through the gripping action of the robotic arm, the material is grabbed from the discharge port 240 of the flexible vibration mechanism 200 and transferred and placed onto the bearing surface of the feeding mechanism 400.

[0055] During operation, the material to be transferred is first placed in the receiving cavity of the flexible vibration mechanism 200. The flexible vibration mechanism 200 uses vibration to arrange the material in an orderly manner within the receiving cavity, reducing stacking and entanglement, thus creating favorable conditions for subsequent transfer operations. The vision imaging component 300 monitors the material status within the receiving cavity in real time, accurately identifying the quantity and location information of the material, providing precise grasping target data for the material transfer mechanism 500. Based on the information provided by the vision imaging component 300, the material transfer mechanism 500 drives the robotic arm to move to the designated position, accurately grasps the material at the feeding port 240 using the gripper, and then moves it along the first direction to the discharging position 120, precisely placing the material on the bearing surface of the feeding mechanism 400. After receiving the placed material, the feeding mechanism 400 uses the operation of the conveyor belt to transport the material along the second direction to the subsequent workstation outside the frame 100.

[0056] The flexible vibration mechanism 200 uses the periodic vibration of the vibrating disc to induce regular movement of the material within the receiving cavity. Under the influence of vibration, the material gradually adjusts to a relatively uniform orientation, reducing random distribution. The discharge port 240 ensures that the vibrated material flows out of the flexible vibration mechanism 200 in a predetermined direction and orientation, providing a standardized material state for the material transfer mechanism 500's grasping operation. Compared to traditional static feeding methods, the flexible vibration mechanism 200 of this application can actively adjust the material's orientation, significantly reducing the difficulty of material transfer and improving transfer efficiency and success rate.

[0057] In one specific embodiment, the visual imaging component 300 further includes a light source 320 device, which is installed below the camera to provide uniform illumination for the imaging area, ensuring clear material images can be obtained under different ambient lighting conditions. The image processing unit uses deep learning algorithms to analyze the captured images in real time, not only counting the quantity of materials but also identifying the specific position coordinates and orientation angles of the materials, providing more accurate grasping parameters for the material transfer mechanism 500. Through real-time monitoring by the visual imaging component 300, the material transfer strategy can be dynamically adjusted. When insufficient material is detected, the material supply is automatically replenished; when abnormal material placement is detected, the vibration parameters of the flexible vibration mechanism 200 are adjusted in a timely manner, realizing intelligent control of the tray placement operation.

[0058] In this embodiment, by setting up a frame 100, a flexible vibration mechanism 200, a visual imaging component 300, a feeding mechanism 400, and a material transfer mechanism 500, in use, by setting feeding positions 110 and discharging positions 120 spaced apart along a first direction on the frame 100, the flexible vibration mechanism 200 is installed at the feeding position 110, and the visual imaging component 300 is installed above the flexible vibration mechanism 200, the feeding mechanism 400 is installed on the top of the frame 100, and the material transfer mechanism 500 is installed at the discharging position. 120, which allows the feeding mechanism 400 to move along the first direction between the feeding position 110 and the discharging position 120. At the same time, the flexible vibration mechanism 200 is used to vibrate the material, so that the material can be placed on the flexible vibration mechanism 200 in the same posture. After the material is placed on the flexible vibration mechanism 200 in the same posture, the feeding mechanism 400 is used to transfer the material on the flexible vibration mechanism 200 to the discharging position 120 along the first direction, realizing the function of material transfer and placement, reducing the difficulty of material transfer and improving the efficiency of material transfer.

[0059] In one embodiment, the material transfer mechanism 500 includes two guide rails 510, a walking component 520, a walking drive component 530, and a material transfer component 540. The two guide rails 510 are spaced apart on the top of the frame 100 along a second direction, and both guide rails 510 extend along a first direction. The walking component 520 spans across the two guide rails 510 along the second direction, and both ends of the walking component 520 are slidably engaged with the two guide rails 510. The walking drive component 530 is installed on one side of one of the guide rails 510 and is connected to the walking component 520. The walking drive component 530 can drive the walking component 520 to walk along the first direction between the feeding position 110 and the discharging position 120. The material transfer component 540 is slidably installed on the walking component 520 and can walk along the second direction on the walking component 520 and move to pick up the material placed on the flexible vibration mechanism 200.

[0060] Specifically, the spacing between the two guide rails 510 along the second direction is determined according to the span dimension of the traveling component 520, ensuring that the traveling component 520 can stably span between the two guide rails 510. Each guide rail 510 adopts a precision linear guide rail structure, and the surface of the guide rail 510 is precision machined to have good straightness and surface roughness, providing a smooth movement trajectory for the traveling component 520. The traveling component 520 includes a crossbeam 521 structure and sliding seats installed at both ends of the crossbeam 521. The sliding seats are equipped with rolling bearings or linear bearings that cooperate with the guide rails 510. The sliding seats form a sliding fit relationship with the guide rails 510 through the bearings, enabling the traveling component 520 to move smoothly on the guide rails 510 along the first direction. The walking drive assembly 530 is mounted on the side of one of the guide rails 510. The walking drive assembly 530 includes a servo motor, a reducer and a transmission mechanism. The transmission mechanism adopts a gear and rack transmission or a ball screw transmission. The servo motor drives the transmission mechanism through the reducer. The transmission mechanism is connected to the sliding seat of the walking assembly 520, thereby driving the entire walking assembly 520 to move along the guide rail 510.

[0061] The material transfer assembly 540 is slidably mounted on the crossbeam 521 of the traveling assembly 520. The material transfer assembly 540 includes a sliding platform, a drive device, and a gripping device. The sliding platform is connected to the crossbeam 521 of the traveling assembly 520 via a linear guide rail 510 and can slide along the crossbeam 521 in a second direction. The drive device includes a stepper motor and a transmission mechanism. The stepper motor is mounted on the crossbeam 521 and drives the sliding platform to move in the second direction via the transmission mechanism. The gripping device is mounted on the sliding platform and includes a lifting mechanism and a clamping mechanism. The lifting mechanism controls the vertical lifting movement of the clamping mechanism, and the clamping mechanism includes a gripper and a gripper driver. The gripper can adjust its clamping state according to the shape and size of the material. Combined with the flexible vibration mechanism 200 in the preceding independent claim, the material transfer assembly 540 can accurately position itself at the outlet 240 of the flexible vibration mechanism 200 through movement in the second direction, and the gripping device can accurately grasp the material flowing out of the outlet 240.

[0062] In this embodiment, high-precision positioning and flexible operation of material transfer are achieved through the combination of the dual guide rail 510 structure and two-dimensional motion. The movement of the walking component 520 along the first direction covers the entire transfer path from the feeding position 110 to the discharging position 120, while the movement of the material transfer component 540 along the second direction provides lateral positioning adjustment capability. The combination of the two movement directions enables the gripping device to reach any position within the working area, thereby improving the flexibility and adaptability of material transfer and enabling it to handle material gripping tasks in different positions and postures.

[0063] In one embodiment, the material transfer assembly 540 includes a first drive member 541 and a material transfer member 542. The first drive member 541 is slidably engaged with the walking assembly 520 and can slide along the walking assembly 520 in a second direction. The material transfer member 542 is installed at the output end of the first drive member 541 and can drive the material transfer member 542 to clamp or release materials.

[0064] Specifically, the first driving component 541 includes a sliding platform, a drive motor, and a transmission device. The sliding platform is connected to the crossbeam 521 of the traveling assembly 520 via a linear guide rail 510. The linear guide rail 510 is arranged along a second direction, providing a precise linear motion trajectory for the first driving component 541. The drive motor is mounted on the crossbeam 521 of the traveling assembly 520 and is connected to the sliding platform via a transmission device. The transmission device adopts a combination structure of a ball screw and a nut. The rotational motion of the drive motor is converted into the linear motion of the sliding platform through the ball screw, thereby realizing the sliding motion of the first driving component 541 along the second direction on the traveling assembly 520. The material transfer component 542 is installed at the output end of the first driving component 541, i.e., at the front end of the sliding platform. The material transfer component 542 includes a lifting mechanism and a clamping mechanism. The lifting mechanism can control the vertical movement of the clamping mechanism, which includes a gripper and a gripper driver.

[0065] The sliding engagement between the first drive component 541 and the traveling component 520 enables the material transfer component 540 to move independently laterally on the motion platform provided by the traveling component 520. The second-direction sliding motion of the first drive component 541 and the first-direction traveling motion of the traveling component 520 form a two-dimensional motion combination, allowing the material transfer component 542 to reach any designated position within the working area. The drive motor of the first drive component 541 is a servo motor equipped with a high-precision encoder, enabling precise position and speed control, meeting the technical requirements of precision tray operation.

[0066] The material transfer component 542 performs the functions of clamping and placing materials through the driving action of the first driving component 541. Preferably, the material transfer component 542 has a gripper structure, and the gripper's actuator is pneumatic or electric, capable of adjusting the opening angle and clamping force according to the shape and size of the material. The lifting mechanism is driven by a linear motor or cylinder, enabling precise vertical movement of the clamping mechanism to achieve the gripping and placing of materials.

[0067] In this embodiment, the material transfer assembly 540 achieves a functional division of motion control and operation execution through the separation structure of the first drive member 541 and the material transfer member 542. The first drive member 541 is specifically responsible for the position adjustment of the material transfer member 542, providing precise lateral positioning capability, while the material transfer member 542 is specifically responsible for the clamping and unloading of materials. The coordinated cooperation between the two makes the entire material transfer process more accurate and reliable.

[0068] In one embodiment, the walking assembly 520 includes a crossbeam 521 and a second drive member 525. The crossbeam 521 spans two guide rails 510 along a second direction, and a first slider 522 is respectively installed at both ends of the crossbeam 521 along the second direction. The first slider 522 is slidably engaged with the guide rail 510 on the corresponding side, and the first slider 522, which is located on the same side as the walking drive assembly 530, is connected to the walking drive assembly 530. A slide rail 523 extending along the second direction is installed on the crossbeam 521, and a second slider 524 is slidably engaged on the slide rail 523. The first drive member 541 is installed on the second slider 524. 4. The walking drive assembly 530 can drive the first slider 522 on the corresponding side to drive the crossbeam 521 to slide along the guide rail 510, so that the crossbeam 521 can drive the material transfer component 542 installed at the output end of the first drive component 541 to move between the feeding position 110 and the discharging position 120 along the first direction. The second drive component 525 is installed on the crossbeam 521 and is connected to the second slider 524. The second drive component 525 can drive the second slider 524 to slide along the slide rail 523 along the second direction, so that the first drive component 541 can drive the material transfer component 542 to slide along the second direction.

[0069] Specifically, the length of the crossbeam 521 along the second direction covers the span between the two guide rails 510. First sliders 522 are installed at both ends of the crossbeam 521. Each first slider 522 contains a linear bearing or a rolling bearing, and the first slider 522 forms a sliding fit with the corresponding guide rail 510 through the bearing. The first slider 522 located on the same side as the walking drive assembly 530 is connected to the transmission mechanism of the walking drive assembly 530 via a connector. When the servo motor of the walking drive assembly 530 starts, the transmission mechanism drives the first slider 522 on that side to move along the guide rail 510. Due to the rigid connection of the crossbeam 521, the first slider 522 on the other side moves synchronously, thereby achieving smooth movement of the entire crossbeam 521 along the first direction.

[0070] A slide rail 523 extending in the second direction is mounted on the upper surface of the crossbeam 521. The slide rail 523 adopts a precision linear guide rail 510 structure, and its length is determined according to the working stroke requirements of the material transfer assembly 540. A second slider 524 is slidably fitted on the slide rail 523. The second slider 524 is internally provided with a ball bearing that mates with the slide rail 523, ensuring that the second slider 524 can slide smoothly on the slide rail 523. Combined with the structure of the first driving member 541 in the preceding claims, the first driving member 541 is mounted on the upper surface of the second slider 524, and the sliding platform of the first driving member 541 is fixed to the second slider 524 by bolts, forming an integrated moving unit. The second driving component 525 is installed on the side or bottom of the crossbeam 521. The second driving component 525 includes a drive motor, a reducer and a transmission device. The transmission device adopts a gear rack or ball screw structure. The output end of the second driving component 525 is connected to the second slider 524, which can drive the second slider 524 to perform precise linear motion along the slide rail 523.

[0071] When the walking drive assembly 530 is activated, its transmission mechanism drives the first slider 522 connected to it to slide along the guide rail 510. The crossbeam 521, as a rigid connecting body, drives the first slider 522 on the other side to move synchronously. The entire crossbeam 521 moves between the feeding position 110 and the discharging position 120 along the first direction. The drive motor of the second drive component 525 is a servo motor equipped with a high-resolution encoder, which can achieve precise position control. When the second drive component 525 is activated, its transmission device drives the second slider 524 to slide along the slide rail 523. The second slider 524 drives the first drive component 541 mounted on it to move together. The first drive component 541 then drives the material transfer component 542 to move along the second direction, thereby enabling the material transfer component 542 to achieve precise positioning in a two-dimensional plane and adapt to the material gripping needs of different positions.

[0072] In this embodiment, the two-dimensional motion control function of the material transfer mechanism 500 is realized by setting up a combined structure of crossbeam 521 and second drive member 525. Crossbeam 521 provides a motion platform in the first direction, and second drive member 525 provides motion drive in the second direction. The two motion directions are independent of each other but coordinated, enabling the material transfer member 542 to reach any designated position within the working area.

[0073] In one embodiment, the walking drive assembly 530 includes a third drive member 531, which is mounted on one side of one of the guide rails 510 and is connected to a first slider 522 on the corresponding side. The third drive member 531 can drive the first slider 522 on the corresponding side to slide along the guide rail 510 on the corresponding side, so as to drive the crossbeam 521 to slide in the first direction between the feeding position 110 and the discharging position 120.

[0074] Specifically, the third drive unit 531 is mounted on the side of one of the guide rails 510. The third drive unit 531 includes a servo motor, a reducer, and a transmission device. The servo motor is an AC servo motor equipped with a high-resolution encoder, enabling precise position and speed control. The reducer is a planetary gear reducer, with the reduction ratio determined according to load requirements and motion accuracy requirements, ensuring sufficient output torque while maintaining good dynamic response characteristics. The transmission device adopts a combination structure of a ball screw and a nut. The ball screw is installed parallel to the guide rail 510, and the nut is fixedly connected to the first slider 522 on the corresponding side. When the servo motor drives the ball screw to rotate through the reducer, the nut moves axially along the ball screw, thereby driving the first slider 522 to slide along the guide rail 510.

[0075] The connection between the third driving component 531 and the corresponding first slider 522 enables precise motion transmission. The third driving component 531 directly drives one of the first sliders 522, which in turn drives the other first slider 522 to move synchronously via a rigid connection with the crossbeam 521. The connecting component is made of high-strength alloy steel. One end of the connecting component is fixedly connected to the nut of the ball screw, and the other end is fixedly connected to the connecting seat of the first slider 522. The design of the connecting component takes into account the force analysis during the movement process, ensuring that the reliability of the connection can be maintained even under maximum load conditions. The linear bearing inside the first slider 522 forms a precision fit with the guide rail 510. The bearing is a high-precision ball bearing, capable of withstanding radial loads and a certain axial load, ensuring the smooth sliding of the first slider 522 on the guide rail 510.

[0076] The driving process of the third driving component 531 enables precise movement control of the crossbeam 521 along the first direction. When the control system issues a motion command, the servo motor starts and runs according to a preset speed curve. The rotational motion of the motor is transmitted to the ball screw after being amplified and reduced in torque by the reducer. The rotational motion of the ball screw is converted into the linear motion of the nut. The nut drives the connecting component and the first slider 522 to slide along the guide rail 510. Due to the rigid connection of the crossbeam 521, when the first slider 522 on the driven side moves, the first slider 522 on the other side passively follows the movement, and the entire crossbeam 521 remains horizontal and moves along the first direction.

[0077] In this embodiment, the synchronous motion control of the crossbeam 521 is achieved through the single-sided drive structure of the third drive component 531. Compared to the complex structure of the double-sided drive, the single-sided drive structure simplifies the control system and reduces costs, while the rigid connection of the crossbeam 521 ensures the synchronicity of the motion. The encoder equipped with the servo motor of the third drive component 531 can provide real-time feedback of position information. The control system performs closed-loop control based on the feedback information to ensure the accuracy and repeatability of the crossbeam 521's motion. Ball screw drives have the characteristics of high transmission efficiency, high precision, and long service life, which can meet the technical requirements of frequent starts and stops and high-precision positioning.

[0078] In one embodiment, the flexible vibration mechanism 200 includes a flexible vibration component 210 and a feeding component 220. The flexible vibration component 210 is installed at the feeding position 110, and an outlet 240 is formed at one end of the flexible vibration component 210 facing the discharge position 120. The feeding component 220 is installed on the side of the flexible vibration component 210 away from the discharge position 120, and the feeding component 220 is located above the flexible vibration component 210. The feeding component 220 can feed the material to be vibrated into the flexible vibration component 210.

[0079] Specifically, the vibratory feeder adopts a circular or elliptical structure, with an internal cavity for holding materials. The bottom surface of the cavity is designed with spiral or wavy guide grooves extending from the center to the outer edge, guiding the material to flow orderly under vibration. The flexible vibration assembly 210 has a discharge port 240 on its side wall facing the feeding mechanism 400, at the discharge position 120. The discharge port 240 connects to the end of the guide groove in the cavity, forming a material outflow channel. The vibratory motor is installed inside the support base. The eccentric wheel of the vibratory motor is connected to the vibratory feeder via a connecting rod. When the vibratory motor starts, the rotational motion of the eccentric wheel is converted into periodic vibration of the vibratory feeder. The vibration frequency and amplitude can be controlled by adjusting the speed of the vibratory motor and the eccentricity of the eccentric wheel.

[0080] The feeding assembly 220 is installed on the side of the flexible vibrating assembly 210 opposite to the discharge position 120, that is, behind the flexible vibrating assembly 210, and above the flexible vibrating assembly 210, forming a hierarchical arrangement. The feeding assembly 220 includes a hopper, a conveying device, and a control valve. The hopper is used to store the material to be processed, and its capacity is determined according to production needs. An adjustable control valve is provided at the bottom of the hopper. The conveying device includes a screw conveyor or a vibrating feeder, installed at the discharge port 240 of the hopper, which can convey the material in the hopper to the receiving cavity of the flexible vibrating assembly 210 according to a set flow rate. The control valve works in coordination with the conveying device, and by adjusting the valve opening and the operating parameters of the conveying device, precise control of the feeding quantity and feeding speed can be achieved.

[0081] The coordinated relationship between the flexible vibration assembly 210 and the feeding assembly 220 enables continuous material supply and orderly arrangement. The feeding assembly 220 extracts material from the hopper via a conveying device. After flow regulation by a control valve, the material falls from above into the receiving cavity of the flexible vibration assembly 210. When the visual imaging assembly 300 detects insufficient material in the receiving cavity, the control system automatically activates the feeding assembly 220 to replenish an appropriate amount of material. Upon receiving the material, the flexible vibration assembly 210 uses a vibration motor to drive the vibrating disc to generate periodic vibrations. Under the influence of the vibration, the material moves orderly along the guide groove, gradually adjusting to a relatively uniform placement posture, and finally flows out from the discharge port 240, providing a standardized material state for subsequent material transfer operations.

[0082] In this embodiment, the separate structure of the flexible vibration component 210 and the feeding component 220 enables independent control of material supply and material sorting functions. The feeding component 220 is specifically responsible for material storage and quantitative supply, ensuring that the flexible vibration component 210 always has sufficient material for vibration sorting, thus avoiding production interruptions due to insufficient material. The flexible vibration component 210 is specifically responsible for the vibration sorting of materials. Through precise vibration parameter control, it enables the material to move regularly within the receiving cavity, effectively solving the technical problem of inconsistent material placement position and posture.

[0083] In one embodiment, the flexible vibration assembly 210 includes a vibrator 211, a vibrating plate 212, and a loading frame 213. The vibrator 211 is mounted on the frame 100, with its output end facing upwards and located at the feeding position 110. The vibrating plate 212 is mounted on the output end of the vibrator 211 and located above the frame 100. The loading frame 213 is mounted on top of the vibrating plate 212 and located below the feeding assembly 220. The loading frame 213 contains the material to be vibrated, and one end of the loading frame 213 facing the discharge position 120 forms a discharge port 240.

[0084] In this embodiment, the vibratory motor is a three-phase asynchronous motor or a brushless DC motor, and the motor power is determined according to the weight of the loading frame 213 and the material load. An eccentric wheel is mounted on the output shaft of the vibratory motor, and the eccentricity of the eccentric wheel is adjustable, allowing for adjustment of the vibration amplitude. A connecting shaft transmits the rotational motion of the eccentric wheel to the vibrating plate 212. The connecting shaft is made of high-strength alloy steel, with one end connected to the eccentric wheel and the other end serving as the output end of the vibrator 211, pointing upwards to provide vibration driving force to the vibrating plate 212. The vibrator 211 is mounted on the frame 100 via damping pads made of rubber or polyurethane material, which isolate the vibration generated by the vibrator 211 during operation from being transmitted to the frame 100, preventing interference with the normal operation of other components.

[0085] A vibrating plate 212 is installed at the output end of the vibrator 211, positioned above the frame 100 to form a suspended vibration platform. The vibrating plate 212 is made of high-strength aluminum alloy or steel plate, with a flat surface and sufficient rigidity to withstand the weight of the load frame 213 and the material. The vibrating plate 212 is connected to the output end of the vibrator 211 via a flange connector, which is bolted for a secure and reliable connection.

[0086] The loading frame 213 is installed on top of the vibrating plate 212, below the feeding assembly 220, forming a hierarchical material flow relationship. The loading frame 213 is made of stainless steel or food-grade plastic, with a smooth, burr-free inner surface for easy material flow and cleaning. The loading frame 213 is rectangular or circular in shape, with its internal volume determined by the material throughput, accommodating sufficient material while facilitating material flow under vibration. The bottom surface of the loading frame 213 is designed with a guide structure, including spiral grooves, corrugated grooves, or stepped grooves. This guide structure extends from the center of the loading frame 213 towards the discharge port 240, guiding the material to move orderly under vibration. The loading frame 213 is fixed to the vibrating plate 212 with bolts or clips, ensuring precise positioning and synchronous vibration between the loading frame 213 and the vibrating plate 212.

[0087] The end of the carrying frame 213 facing the material feeding position 120 forms a discharge port 240, which is connected to the guide structure inside the carrying frame 213. Considering the arrangement of the material feeding position 120 and the feeding mechanism 400 in the preceding claims, the discharge port 240 points towards the material feeding position 120 where the feeding mechanism 400 is located, facilitating the gripping operation of the material transfer mechanism 500. The size of the discharge port 240 is determined according to the shape and size of the material, ensuring smooth material flow while controlling the flow rate. The discharge port 240 is equipped with an adjustable baffle 224, which can adjust the effective opening of the discharge port 240 to control the flow rate and speed of the material. The baffle 224 is adjusted via bolts or a handle adjustment mechanism.

[0088] In this embodiment, by setting up a layered structure of vibrator 211, vibrating plate 212, and carrying frame 213, the effective vibration sorting function of materials is realized. Vibrator 211 provides a stable and adjustable vibration source, vibrating plate 212 acts as a vibration transmission platform to uniformly transmit vibration force to carrying frame 213, and carrying frame 213 acts as a material container to carry materials and guide the orderly flow of materials. When vibrator 211 is started, the rotation of eccentric wheel generates periodic unbalanced force, which is transmitted to vibrating plate 212 through connecting shaft. Vibrating plate 212 drives carrying frame 213 to generate composite vibration in the vertical and horizontal directions.

[0089] Compared to traditional static material containers, the flexible vibration assembly 210 of this application can actively adjust the material state, effectively solving the technical problem of inconsistent material placement position and posture. Vibration parameters can be precisely controlled by adjusting the speed of the vibration motor and the eccentricity of the eccentric wheel, adapting to the vibration processing needs of different types of materials.

[0090] In one embodiment, the feeding assembly 220 includes a storage frame 221 and a baffle 224. The storage frame 221 has a storage trough 222 that is inclined in the direction of the first direction toward the carrying frame 213. An opening 223 is formed on the side of the storage frame 221 near the carrying frame 213. The storage trough 222 contains material to be vibrated. The baffle 224 is rotatably installed on the opening 223 and can open or close the opening 223.

[0091] Specifically, the storage frame 221 has a rectangular or trapezoidal shape, and its volume is determined according to production needs to ensure sufficient material can be stored for continuous production. Inside the storage frame 221, a storage trough 222 is formed at an angle towards the carrying frame 213 along the first direction. The angle of inclination is chosen considering the material's flowability and angle of accumulation, ensuring that the material flows naturally to the opening 223 under gravity. The bottom surface of the storage trough 222 has a smooth surface treatment to reduce frictional resistance during material flow. The height of the side walls of the storage trough 222 is determined according to the material's accumulation characteristics to prevent overflow during flow.

[0092] An opening 223 is formed on the side of the storage frame 221 near the loading frame 213. The opening 223 is located at the lowest end of the storage trough 222, and its position corresponds to the feeding area of ​​the loading frame 213. The size of the opening 223 is determined according to the shape of the material and the required feeding speed, and the height of the opening 223 is determined according to the maximum size of the material, ensuring that the material can smoothly pass through the opening 223 and fall into the loading frame 213. The edges of the opening 223 are rounded to prevent the material from getting stuck or damaged during passage.

[0093] A baffle 224 is rotatably mounted on an opening 223 and can open or close the opening 223. The baffle 224 is made of lightweight, high-strength materials, such as aluminum alloy or engineering plastics. The baffle 224 is mounted on the upper edge of the opening 223 via a hinge connector made of stainless steel, which has good wear resistance and corrosion resistance. The baffle 224 is slightly larger than the opening 223 to ensure that it completely covers the opening 223 when closed, preventing accidental material leakage. The baffle 224 is equipped with a drive unit, which includes a stepper motor, a reducer, and a transmission mechanism. The stepper motor drives the transmission mechanism through the reducer, and the transmission mechanism drives the baffle 224 to rotate, achieving automatic control of the opening degree of the baffle 224.

[0094] The fit between the baffle 224 and the opening 223 enables precise control of material supply. When the baffle 224 is closed, the opening 223 is completely sealed, preventing material from flowing out of the storage tank 222, and the material remains stationary within the storage tank 222. When material needs to be supplied to the loading frame 213, the control system issues a command, the drive unit starts, and the stepper motor rotates at a preset angle, causing the baffle 224 to gradually open the opening 223. The opening degree of the baffle 224 directly affects the material outflow rate; the larger the opening degree, the faster the material outflow rate. By precisely controlling the opening degree of the baffle 224, precise adjustment of the supply quantity and supply speed can be achieved.

[0095] In this embodiment, the combined structure of the storage frame 221 and the baffle 224 achieves automated material supply and precise control. The inclined structure of the storage trough 222 utilizes gravity to achieve natural material flow, eliminating the need for additional conveying devices, thus simplifying the structure and reducing costs. The adjustable opening function of the baffle 224 enables precise control of the material supply, avoiding the problem of difficult-to-control material supply in the traditional fixed-opening 223 feeding method.

[0096] The material in the storage tank 222 flows naturally to the opening 223 under the action of gravity. The baffle 224 controls the outflow of material to ensure that there is always an appropriate amount of material in the carrying frame 213 for vibration and sorting. After the material flows from the storage tank 222 into the carrying frame 213, it moves along the guide structure in the carrying frame 213 under the action of vibration, gradually adjusting to a relatively uniform placement posture, and finally flows out in an orderly manner from the discharge port 240, providing a standardized material state for the gripping operation of the material transfer mechanism 500.

[0097] In one embodiment, the visual imaging assembly 300 includes a visual camera 310 and a light source 320. The lens of the visual camera 310 is positioned facing the loading frame 213, and the light source 320 is mounted below the lens of the visual camera 310 and above the loading frame 213; and / or,

[0098] An operating terminal 600 is also installed on rack 100.

[0099] Specifically, the lens of the vision camera 310 is positioned facing the container 213, with the lens optical axis perpendicular to the bottom surface of the container 213. The shooting angle is a top-down angle, allowing for a comprehensive observation of the distribution and arrangement of materials within the container 213. The vision camera 310 is mounted via an adjustable bracket, which allows the camera to be adjusted in height and angle within a certain range to accommodate the shooting needs of containers 213 of different sizes.

[0100] The light source 320 is mounted below the lens of the vision camera 310, forming a hierarchical arrangement with the vision camera 310. The light source 320 is either an LED ring light source 320 or a strip light source 320. LED light sources 320 are characterized by high brightness, long lifespan, and low heat generation, making them suitable for industrial vision applications. The ring light source 320, mounted around the lens of the vision camera 310, provides uniform ring illumination, eliminating shadows on material surfaces and improving image contrast and clarity. The strip light source 320, composed of multiple arranged LED beads, is mounted directly below the lens of the vision camera 310, providing directional illumination.

[0101] The light source 320 is positioned above the carrying frame 213, maintaining an appropriate distance from it. The installation position of the light source 320 is precisely calculated to ensure that the illumination light can evenly cover the entire area of ​​the carrying frame 213, avoiding blind spots or overexposed areas. The light source 320 employs diffused illumination, converting direct light into soft, diffused light through a diffuser or reflector, reducing reflections and glare on the material surface and improving image quality.

[0102] When the vision imaging component 300 is operational, the light source 320 first activates to provide stable illumination. The activation time of the light source 320 is typically in the millisecond range, ensuring rapid and stable illumination. The vision camera 310 begins image acquisition after the light source 320 stabilizes. The camera's exposure time is automatically adjusted based on the brightness of the light source 320 and the material characteristics, ensuring image clarity while avoiding motion blur. The images acquired by the vision camera 310 are transmitted to the image processing system via a data cable. The image processing system performs real-time analysis of the images, identifying information such as the quantity, position, and orientation of the material within the carrying frame 213.

[0103] The vision camera 310 provides high-precision image acquisition capabilities, while the light source 320 provides stable and uniform illumination; together, they ensure reliable image quality. Compared to traditional manual observation, the vision imaging component 300 can continuously monitor the material status, promptly detecting problems such as uneven material distribution, insufficient quantity, or abnormal posture. The high-resolution image acquisition capability of the vision camera 310 enables the system to identify subtle features of the material, providing precise location information for subsequent material transfer operations. The adjustable brightness function of the light source 320 adapts to different working environments and material characteristics, ensuring clear images under various conditions.

[0104] The vision camera 310 monitors the material status at the discharge port 240 of the loading frame 213 in real time. When the system detects that the material is in a suitable gripping position and posture, it instructs the material transfer mechanism 500 to perform a gripping action. The vision imaging component 300 can also detect the success or failure of the gripping process. When a gripping failure is detected, the system can automatically retry or adjust the gripping strategy. Through visual feedback control, the success rate and accuracy of material transfer are significantly improved.

[0105] Based on the same technical concept, in a second aspect, this utility model also proposes an automatic tray-stacking device, including a housing 20 and an automatic tray-stacking mechanism 10 of the first aspect. The housing 20 covers the automatic tray-stacking mechanism 10, and a working space is formed between the housing 20 and the top of the frame 100. A vision imaging component 300 is installed on the housing 20 and is contained within the working space. A pick-up and drop-off port 30 is formed above the housing 20 near the material feeding position 120. A folding plate 40 is provided on the pick-up and drop-off port 30, which can open or close the pick-up and drop-off port 30.

[0106] Specifically, the outer casing 20 has a rectangular frame structure. Its length, width, and height are determined by the dimensions of the automatic tray-stacking mechanism 10, ensuring that the mechanism is fully housed within it. The outer casing 20 covers the automatic tray-stacking mechanism 10, forming a complete enclosed structure. The bottom of the outer casing 20 is fixedly connected to the base of the frame 100 using bolts or welding, ensuring that the outer casing 20 and the automatic tray-stacking mechanism 10 form an integrated structure. The sides and top of the outer casing 20 use removable panels, secured with quick-release fasteners or bolts for easy disassembly during maintenance and repair.

[0107] A working space is formed between the outer casing 20 and the top of the frame 100, providing the necessary operating area for the automatic tray-stacking mechanism 10. The working space maintains a clean environment, and the inner surface of the outer casing 20 has a smooth finish for easy cleaning and maintenance. The working space is equipped with lighting devices, using LED light strips or panel lights, to provide ample illumination for the working area, facilitating observation and maintenance operations.

[0108] The vision imaging component 300 is mounted on the housing 20 and housed within the workspace, achieving integrated visual monitoring functionality. The vision camera 310 is mounted on the top inner side of the housing 20 via a dedicated bracket. The bracket is adjustable, allowing the vision camera 310 to be adjusted in position and angle within a certain range. The vision camera 310 is positioned directly above the carrying frame 213, ensuring comprehensive monitoring of the material status within the carrying frame 213. The light source 320 is also mounted on the top inner side of the housing 20, forming a coordinated arrangement with the vision camera 310. The power and data cables of the vision imaging component 300 are led out through cable channels on the housing 20, connecting to external control and power systems. The cable channels are sealed to prevent dust and foreign objects from entering the workspace.

[0109] An access port 30 is formed above the outer casing 20 near the material discharge position 120, providing a passage for operators or automated equipment to access the material discharge position 120. The edges of the access port 30 are rounded to prevent scratches during operation. Safety protection devices, including photoelectric sensors or proximity switches, are installed around the access port 30. When a person or object is detected approaching the access port 30, the system automatically stops operating to ensure operational safety.

[0110] A folding plate 40 is provided on the loading / unloading port 30, which can open or close the loading / unloading port 30, realizing flexible control of the loading / unloading port 30. The folding plate 40 is made of lightweight, high-strength materials, such as aluminum alloy plate or composite material plate, which ensures sufficient strength while controlling weight. In the closed state, the folding plate 40 is flush with the top surface of the outer shell 20, forming a complete closed structure. In the open state, the folding plate 40 flips up to expose the loading / unloading port 30. The folding plate 40 is equipped with a driving device, including an electric push rod or a cylinder, which can realize the automatic opening and closing of the folding plate 40.

[0111] The cooperation between the folding plate 40 and the pick-up / placement port 30 achieves both sealing and opening of the working space. When the folding plate 40 is closed, the pick-up / placement port 30 is completely sealed, isolating the working space from the external environment and preventing dust, foreign objects, and external light from interfering with the normal operation of the automatic tray-loading mechanism 10. A sealing strip made of rubber or silicone is provided between the edges of the folding plate 40 and the pick-up / placement port 30 to ensure a good seal when closed. When material pick-up / placement or maintenance operations are required, the control system issues a command, the drive device starts, and the folding plate 40 automatically opens, exposing the pick-up / placement port 30. Operators or automated equipment can access the material placement position 120 through the pick-up / placement port 30. Combined with the continuous conveying function of the feeding mechanism 400 in the preceding claims, when the feeding mechanism 400 needs to replace the tray or perform maintenance, the folding plate 40 automatically opens for easy operation.

[0112] In this embodiment, the combined structure of the outer casing 20 and the folding plate 40 achieves complete encapsulation and flexible operation of the automatic tray-stacking mechanism 10. The outer casing 20 provides a good protective environment, protecting the internal mechanism from the influence of the external environment, while also providing a stable mounting platform for the vision imaging component 300. The enclosed environment of the outer casing 20 provides stable working conditions for the vision imaging component 300, avoiding the impact of external light changes on visual recognition accuracy. The automatic control function of the folding plate 40 is coordinated with the automatic control of the entire system. When the system detects the need for manual intervention or maintenance, the folding plate 40 automatically opens, reminding the operator to perform the corresponding operation.

[0113] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope 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 patent protection scope of the present utility model.

Claims

1. An automatic tray placing mechanism characterized by comprising: include: The frame has feeding positions and discharging positions spaced apart along a first direction on its top. A flexible vibration mechanism is installed at the feeding position, on which material to be transferred to the discharging position is placed. The flexible vibration mechanism has a discharge port on one side facing the discharging position. A visual imaging component is installed above the flexible vibration mechanism, which can capture and record the quantity of the material. A feeding mechanism is installed at the material dispensing position. The feeding mechanism can hold the material transferred from the flexible vibration mechanism. The feeding mechanism extends out of the frame in a second direction and can transport the material outside the frame in the second direction. as well as, A material transfer mechanism is installed on the top of the frame. The material transfer mechanism can move between the feeding position and the discharging position to transfer the material placed at the feeding position through the discharge port along the first direction and place it at the discharging position.

2. The automatic tray placing mechanism according to claim 1, wherein The material transfer mechanism includes: Two guide rails are spaced apart on the top of the frame along the second direction, and both guide rails extend along the first direction. A walking assembly, which spans across the two guide rails in a second direction, with both ends of the walking assembly slidingly engaged with the two guide rails; A travel drive assembly, mounted on one side of one of the guide rails, connected to the travel assembly, capable of driving the travel assembly to travel along the first direction between the feeding position and the discharging position; and... A material transfer assembly is slidably mounted on the walking assembly, and the material transfer assembly can travel along the second direction on the walking assembly and move to clamp the material placed on the flexible vibration mechanism.

3. The automatic tray placing mechanism according to claim 2, wherein The material transfer component includes: A first driving member, which is slidably engaged with the walking assembly, is capable of sliding along the second direction on the walking assembly; and... A material transfer component is installed at the output end of the first drive component, and the first drive component can drive the material transfer component to clamp or release the material.

4. The automatic tray placing mechanism according to claim 3, wherein The walking component includes: A crossbeam spans two guide rails along a second direction, and a first slider is mounted at each end of the crossbeam along the second direction. The first slider slides against the corresponding guide rail and is connected to the walking drive assembly on the same side. A slide rail extending along the second direction is mounted on the crossbeam, and a second slider slides against the slide rail. A first drive component is mounted on the second slider. The walking drive assembly drives the first slider on the corresponding side to slide the crossbeam along the guide rails, so that the crossbeam can move the material transfer component mounted at the output end of the first drive component along the first direction between the feeding position and the discharging position; and... The second driving member is mounted on the crossbeam and connected to the second slider. The second driving member can drive the second slider to slide along the second direction on the slide rail, so that the first driving member can drive the material transfer member to slide along the second direction.

5. The automatic tray placing mechanism according to claim 4, wherein The walking drive assembly includes a third drive member, which is mounted on one side of one of the guide rails and connected to the first slider on the corresponding side. The third drive member can drive the first slider on the corresponding side to slide along the guide rail on the corresponding side, thereby causing the crossbeam to slide along the first direction between the feeding position and the discharging position.

6. The automatic tray placing mechanism according to claim 1, wherein The flexible vibration mechanism includes: A flexible vibration assembly, wherein the flexible vibration assembly is installed at the feeding position, and the end of the flexible vibration assembly facing the discharging position forms the discharge port; and... A feeding assembly is installed on the side of the flexible vibrating assembly away from the material feeding position, and the feeding assembly is located above the flexible vibrating assembly. The feeding assembly can feed the material to be vibrated into the flexible vibrating assembly.

7. The automatic tray placing mechanism according to claim 6, wherein The flexible vibration component includes: A vibrator is mounted on the frame, with its output end facing upwards and located at the feeding position. A vibrating plate, the vibrating plate being mounted at the output end of the vibrator and positioned above the frame; and, A loading frame is installed on top of the vibrating plate and located below the feeding assembly. The loading frame contains the material to be vibrated, and the end of the loading frame facing the material discharge position forms the discharge port.

8. The automatic tray placing mechanism according to claim 7, wherein The feeding assembly includes: A storage frame, wherein a storage trough is formed within the storage frame and is inclined toward the carrying frame along the first direction; and an opening is formed on the side of the storage frame near the carrying frame; the material to be vibrated is placed in the storage trough; and... A baffle, which is rotatably mounted on the opening and can open or close the opening.

9. The automatic tray placing mechanism according to claim 8, wherein The visual imaging component includes a visual camera and a light source. The lens of the visual camera is positioned facing the object frame, and the light source is mounted below the lens of the visual camera and above the object frame; and / or, An operating terminal is also installed on the rack.

10. An automatic tray placing device characterized by comprising: include: shell; as well as, According to any one of claims 1 to 9, the automatic tray-setting mechanism is covered by the outer shell, and a working space is formed between the outer shell and the top of the frame. The vision imaging component is mounted on the outer shell and is housed within the working space. A pick-up and drop-off port is formed above the outer shell near the material feeding position. A folding plate is provided on the pick-up and drop-off port, and the folding plate can open or close the pick-up and drop-off port.

Images