Material tray conveying device

Abstract

This utility model discloses a tray handling device, relating to the field of chip mounting equipment technology. The tray handling device includes a mounting base, a tray gripper assembly, a strip gripper assembly, an X-axis moving assembly, a Y-axis moving assembly, and a Z-axis moving assembly. The tray gripper assembly is connected to the mounting base and is used to grip the tray. The strip gripper assembly is connected to the mounting base and is used to grip the strip extending from the tray. The X-axis moving assembly, Y-axis moving assembly, and Z-axis moving assembly are used to drive the mounting base to move in the X, Y, and Z axes. The tray gripper assembly includes an upper tray gripper and a lower tray gripper arranged vertically opposite each other, both extending horizontally outward from the mounting base. The upper tray gripper is slidably connected to the mounting base and moves relative to the lower tray gripper to grip the horizontally placed tray. The technical solution provided by this utility model is adapted to a material box with a horizontally placed tray.

Description

Technical Field

[0001] This utility model relates to the field of chip mounting equipment technology, and in particular to a tray handling device. Background Technology

[0002] In modern manufacturing fields such as electronic component assembly and precision parts machining, the receiving machine is a core piece of equipment that ensures a continuous supply of materials to the production line. Its operating efficiency and the accuracy of material handling directly determine the overall production rhythm. As a key carrier of materials, the material tray needs to be orderly removed from the material box and transported to the receiving machine's working position by the handling components. Therefore, the compatibility between the material tray handling components and the material box has become one of the core factors affecting the smoothness of the automated production process.

[0003] Currently, most mainstream receiving machines on the market use a vertically stacked tray design, where trays are stacked layer by layer inside the tray with their surfaces perpendicular to the ground. The corresponding tray handling components are also developed around this tray placement method. Our company has designed a tray with horizontally placed trays; however, this type of tray is incompatible with existing tray handling devices. Therefore, to match this new type of tray, we have designed a tray handling device that can accommodate horizontally placed trays. Utility Model Content

[0004] The main purpose of this invention is to provide a material tray handling device, designed to match a material box with a horizontally placed material tray.

[0005] To achieve the above objectives, the present invention proposes a material tray conveying device, which includes a mounting base, a material tray gripper assembly, a material strip gripper assembly, an X-axis moving assembly, a Y-axis moving assembly, and a Z-axis moving assembly. The material tray gripper assembly is connected to the mounting base and is used to grip the material tray; the material strip gripper assembly is connected to the mounting base and is located on one side of the material tray gripper assembly, and is used to grip the material strip extending from the material tray; the X-axis moving assembly, the Y-axis moving assembly, and the Z-axis moving assembly are all connected to the mounting base for driving the mounting base to move in the three directions of X-axis, Y-axis, and Z-axis. The tray gripper assembly includes an upper tray gripper and a lower tray gripper arranged opposite each other. Both the upper and lower tray grippers extend outward from the mounting base in a horizontal direction. The upper tray gripper is slidably connected to the mounting base and moves relative to the lower tray gripper to clamp the horizontally placed tray.

[0006] In one embodiment, the material tray conveying device further includes a sliding assembly, which includes a first motor and a first movable plate. The first motor is mounted on the mounting base and is drivenly connected to the first movable plate. The grippers on the material tray are fixedly connected to the first movable plate, and the first movable plate is vertically slidably connected to the mounting base. The first motor is used to drive the first movable plate to move in the vertical direction.

[0007] In one embodiment, the strip gripper assembly includes a first connecting frame, an upper strip gripper and a lower strip gripper connected to the first connecting frame; the upper strip gripper and the lower strip gripper are slidably disposed vertically to grip the strip.

[0008] In one embodiment, the strip clamping assembly further includes a strip pressing block; at least one end of the upper strip clamping jaw and the lower strip clamping jaw is bent toward the other to form a positioning wall, and the strip pressing block is movably disposed relative to the positioning wall to clamp the strip between the positioning wall and the strip pressing block.

[0009] In one embodiment, the strip gripper assembly further includes a second motor and a second movable plate connected by a transmission connection. The second movable plate is connected by a transmission connection to the upper gripper and the lower gripper of the strip. The second motor drives the second movable plate to slide, thereby causing the upper gripper and the lower gripper of the strip to slide up and down.

[0010] In one embodiment, both the upper gripper and the lower gripper of the material strip are fixed with transmission bolts at one end near the second movable plate. The second movable plate is provided with a first track groove and a second track groove at positions corresponding to the two transmission bolts, respectively. The first track groove is used for sliding the transmission bolts on the upper gripper of the material strip, and the second track groove is used for sliding the transmission bolts on the lower gripper of the material strip. The first track groove includes a first straight section and a first inclined section that are connected to each other. The second track groove includes a second inclined section and a second straight section that are connected to each other.

[0011] In one embodiment, the strip gripper assembly further includes a toggle component connected to the first connecting frame, which is used to pry open the clamping blocks on the material box so that the strip on the material tray on the material box can be taken out of the material box.

[0012] In one embodiment, the actuating assembly includes an actuating block, a third movable block, a third motor, and a second connecting frame; the second connecting frame is fixedly connected to the first connecting frame, the third motor is mounted on the second connecting frame, the actuating block is fixedly connected to the third movable block, and the third motor is drivenly connected to the third movable block to drive the third movable block and the actuating block to move in the vertical direction.

[0013] In one embodiment, the material tray conveying device further includes a third connecting frame and a first photoelectric sensor mounted on the third connecting frame; the third connecting frame is connected to the second connecting frame, and the first photoelectric sensor is used to detect whether there is material between the upper gripper and the lower gripper of the material strip.

[0014] In one embodiment, a second photoelectric sensor and a third photoelectric sensor are provided on opposite sides of the upper and lower grippers of the material tray. The second and third photoelectric sensors are used to detect whether there is a material tray between the upper and lower grippers of the material tray.

[0015] The technical solution of this utility model is used to match the material box with horizontally arranged material trays. Attached Figure Description

[0016] 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.

[0017] Figure 1 A schematic diagram of the material box that matches the material tray handling device provided by this utility model; Figure 2 A schematic diagram of a perspective structure of an embodiment of the material tray handling device provided by this utility model; Figure 3 Another structural schematic diagram of an embodiment of the material tray handling device provided by this utility model; Figure 4 for Figure 3 Enlarged view of a portion of the embodiment; Figure 5 A partial structural schematic diagram from one perspective of an embodiment of the material tray handling device provided by this utility model; Figure 6 A schematic diagram of a portion of the structure of an embodiment of the material tray handling device provided by this utility model from another perspective; Figure 7 An exploded view of another part of the structure of an embodiment of the material tray handling device provided by this utility model. Figure 8 An exploded view of another part of the structure of an embodiment of the material tray handling device provided by this utility model. Figure 9 A schematic diagram of the structure of the second movable plate in an embodiment of the material tray handling device provided by this utility model.

[0018] Explanation of icon numbers: 100. Tray handling device; 10. Mounting base; 20. Tray gripper assembly; 21. Upper gripper of tray; 22. Lower gripper of tray; 30. Belt gripper assembly; 31. First connecting frame; 32. Upper gripper of belt; 321. Positioning wall; 33. Lower gripper of belt; 34. Belt pressing block; 35. Second motor; 36. Second movable plate; 361. First track groove; 3611. First straight section; 3612. First inclined section; 362. Second track groove; 3621. Two straight segments; 3622, second inclined segment; 37, transmission bolt; 38, actuating assembly; 381, actuating block; 382, ​​third movable block; 383, third motor; 384, second connecting frame; 40, X-axis moving assembly; 50, Y-axis moving assembly; 60, Z-axis moving assembly; 70, sliding assembly; 71, first motor; 72, first movable plate; 80, third connecting frame; 81, first photoelectric sensor; 200, material box; 201, material tray; 202, material belt.

[0019] 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

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Please refer to Figures 1 to 3 As shown, this utility model proposes a material tray 201 conveying device 100 for use in a receiving machine to match a material box 200 with the material tray 201 placed horizontally, so as to remove the material tray 201 from the material box 200. The material trays 201 inside the material box are placed horizontally and spaced vertically. The material head portion of the material strip 202 of each material tray 201 is locked by a clamping block 203. The clamping block 203 can be pried open under the action of external force, so that the material tray 201 can be removed from the material box.

[0024] Please see Figures 2 to 9 In one embodiment of this utility model, the material tray 201 conveying device 100 includes a mounting base 10, a material tray gripper assembly 20, a material strip gripper assembly 30, an X-axis moving assembly 40, a Y-axis moving assembly 50, and a Z-axis moving assembly 60. The material tray gripper assembly 20 is connected to the mounting base 10 and is used to grip the material tray 201. The material strip gripper assembly 30 is connected to the mounting base 10 and is located on one side of the material tray gripper assembly 20, and is used to grip the material strip 202 extending from the material tray 201. The X-axis moving assembly 40, Y-axis moving assembly 50, and Z-axis moving assembly 60 are all connected to the mounting base 10 for driving the mounting base 10 to move in the three directions of X-axis, Y-axis, and Z-axis. The material tray clamping jaw assembly 20 includes an upper material tray clamping jaw 21 and a lower material tray clamping jaw 22 arranged opposite each other. Both the upper material tray clamping jaw 21 and the lower material tray clamping jaw 22 extend outward from the mounting base 10 in a horizontal direction. The upper material tray clamping jaw 21 is slidably connected to the mounting base 10 and moves relative to the lower material tray clamping jaw 22 to clamp the horizontally placed material tray 201.

[0025] Specifically, in this embodiment, the material tray 201 handling device 100 includes a mounting base 10, a material tray gripper assembly 20, a material strip gripper assembly 30, and an X-axis moving assembly 40, a Y-axis moving assembly 50, and a Z-axis moving assembly 60. These components are connected to form a collaborative working system. The material tray gripper assembly 20 adopts an upper and lower opposing design, comprising an upper gripper 21 and a lower gripper 22. Both are flat structures and extend horizontally outward from the mounting base 10, ensuring a fit with the horizontally placed material tray 201 surface. They can clamp the upper and lower surfaces of the material tray 201 from the top and bottom. The upper gripper 21 has sliding freedom and can move relative to the fixed lower gripper 22, forming an openable clamping structure. The material strip gripper assembly 30 is connected to the mounting base 10 in a lateral layout and is positioned on the same side as the material tray gripper assembly 20. Its clamping end is adapted to the material strip 202 extending from the material tray 201. The X-axis moving assembly 40, Y-axis moving assembly 50, and Z-axis moving assembly 60 are all connected to the mounting base 10. The three components independently achieve linear motion along their respective coordinate axes, and together provide the mounting base 10 with displacement driving capability in three-dimensional space.

[0026] Mounting base 10 serves as the carrier of the device, connecting various functional components to form a collaborative operating system. The material tray gripper assembly 20 and the material belt gripper assembly 30 are connected to mounting base 10, forming a same-side layout of "main gripper (for gripping material tray 201) + auxiliary gripper (for gripping material belt 202)". The three-way moving assembly is rigidly connected to mounting base 10 through a transmission mechanism (such as a lead screw, synchronous belt, etc.) to ensure that the moving power can be accurately transmitted to mounting base 10 and the gripper assembly it carries. The upper and lower opposing structure and horizontal extension design of the material tray gripper assembly 20 directly match the force requirements of the horizontally placed material tray 201. The sliding displacement of the gripper 21 on the material tray can be flexibly adjusted according to the thickness of the material tray 201 to achieve stable clamping. The lateral setting of the strip gripper assembly 30 enables it to simultaneously position the strip 202 extending from the material tray 201 while the material tray 201 is being clamped, forming an integrated gripping mode of "material tray 201 + strip 202". This avoids the strip 202 from scattering or being damaged during transportation and positions the strip 202 to facilitate the alignment of the strip 202 with the strip 202 in subsequent processes, as well as the movement and alignment of the strip 202 with the new and old strips after cutting.

[0027] In this embodiment, the horizontal extension design and the vertically opposed clamping structure of the material tray gripper assembly 20 perfectly match the material box 200 with the new horizontally placed material tray 201. The sliding adjustment function of the gripper 21 on the material tray can clamp the material tray 201 and can adapt to horizontal material trays 201 of different thicknesses, ensuring uniform distribution of clamping force and preventing the material tray 201 from tilting or falling off during the gripping process; at the same time, the synchronous gripping design of the material strip gripper assembly 30 effectively fixes the material strip 202, preventing it from getting tangled during transportation and ensuring the position of the material strip 202 to adapt to subsequent processes. The linkage design of the three-way moving components realizes the integrated continuous action of the material tray 201 from being taken out of the material box 200 to being placed in the working position. All components are integrated around the mounting base 10, with the gripper assembly set on the same side and the moving components directly connected to the mounting base 10, making the entire device compact in structure, occupying little space, and easy to adapt to and install with receiving machines of different specifications and the new horizontal material box 200, thus having a wider range of applications.

[0028] Furthermore, the material tray 201 conveying device 100 also includes a sliding component 70, which includes a first motor 71 and a first movable plate 72. The first motor 71 is mounted on the mounting base 10 and is connected to the first movable plate 72 in a transmission manner. The gripper 21 on the material tray is fixedly connected to the first movable plate 72, and the first movable plate 72 is vertically slidably connected to the mounting base 10. The first motor 71 is used to drive the first movable plate 72 to move in the vertical direction.

[0029] Specifically, the sliding assembly 70 is used to drive the gripper 21 on the material tray to move vertically. The sliding assembly 70, as the driving core of the material tray gripper assembly 20, includes a first motor 71 and a first movable plate 72. The first motor 71 is fixedly installed and rigidly connected to the mounting base 10. The output end of the first motor 71 establishes a power transmission relationship with the first movable plate 72 through a transmission structure (such as a lead screw and nut pair). The first movable plate 72 is a plate-shaped structure, vertically positioned. One side of the first movable plate 72 forms a vertical sliding engagement with the mounting base 10 through guide structures such as slide rails and sliders, allowing it to reciprocate linearly only along the vertical direction of the mounting base 10. The gripper 21 on the material tray is fixedly connected to the side of the first movable plate 72 away from the mounting base 10 by bolts or other means. Its position is adjusted synchronously with the vertical movement of the first movable plate 72, and the horizontal extension direction of the gripper 21 on the material tray is perpendicular to the sliding direction (vertical) of the first movable plate 72. The lower gripper 22 of the material tray is fixedly connected to the mounting base 10. Its horizontal extension direction is consistent with that of the upper gripper 21 of the material tray, and the two are arranged opposite each other, forming an opening and closing clamping structure with the first movable plate 72 as the driving core.

[0030] In this embodiment, the first movable plate 72 drives the upper gripper 21 of the material tray to move vertically closer to or further away from the fixed lower gripper 22 of the material tray. When the first motor 71 drives the first movable plate 72 to move downward, the distance between the upper gripper 21 and the lower gripper 22 of the material tray decreases, thus clamping the horizontal material tray 201. When the first motor 71 drives the first movable plate 72 to move upward, the distance increases, completing the adjustment of the material tray 201 from being released or ready to be gripped. The vertical opening and closing action is perfectly matched with the horizontally placed tray surface of the material tray 201, avoiding lateral compression of the material tray 201 or the material during the clamping process. The first movable plate 72 forms a constraint with the mounting base 10 through the guide structure, ensuring that it can only move in the vertical direction, preventing the upper gripper 21 of the material tray from shifting horizontally during the movement, ensuring the relative positional accuracy of the upper gripper 21 and the lower gripper 22 of the material tray, and thus improving the alignment of the material tray 201 clamping. The vertical drive function of the sliding component 70 complements that of the Z-axis moving component 60. The Z-axis moving component 60 drives the entire mounting base 10 and gripper assembly to achieve a large range of vertical lifting (such as adjusting the height of the material picking position of the material box 200 and the working position of the receiving machine), while the sliding component 70 drives the gripper 21 on the material tray to achieve a small range of high-precision vertical displacement (such as adjusting the clamping distance according to the thickness of the material tray 201). The two work together to meet the vertical position requirements in different scenarios and improve the overall handling flexibility.

[0031] Furthermore, the strip gripper assembly 30 includes a first connecting frame 31, an upper strip gripper 32 and a lower strip gripper 33 connected to the first connecting frame 31; the upper strip gripper 32 and the lower strip gripper 33 are slidably arranged up and down to grip the strip 202.

[0032] Specifically, the strip gripper assembly 30, as a key structure for synchronously gripping the strip 202, uses the first connecting frame 31 as its basic carrier and is equipped with upper strip gripper 32 and lower strip gripper 33. The first connecting frame 31 is a rigid frame structure, fixed to the mounting base 10 by bolts, welding, or other methods, and its installation position is located on one side of the strip gripper assembly 20, ensuring that its gripping range precisely corresponds to the position of the strip 202 extending from the strip 201. The upper strip gripper 32 and lower strip gripper 33 are plate-shaped or claw-shaped structures adapted to the width of the strip 202. They are arranged vertically opposite each other and both form a sliding fit with the first connecting frame 31. For example, through the constraint of structures such as slide rails, guide posts, etc., they can only perform reciprocating linear motion in the vertical direction of the connecting frame to achieve the opening and closing action. The sliding direction and gripping surface of the upper strip gripper 32 and lower strip gripper 33 are perpendicular to the extension direction of the strip 202. Mounting base 10 still serves as the overall load-bearing reference, synchronously connecting the tray gripper assembly 20, sliding assembly 70, three-way moving assembly, and strip gripper assembly 30. These components form a collaborative operating system around mounting base 10, consisting of "tray 201 clamping + strip 202 clamping." While the sliding assembly 70 drives the gripper 21 on the tray to move vertically to clamp the tray 201, the strip gripper assembly 30 can independently perform the clamping action of the strip 202. The two actions do not interfere with each other and can be triggered synchronously, ensuring integrated handling of the tray 201 and strip 202.

[0033] Furthermore, the strip clamping assembly 30 also includes a strip pressing block 34; at least one of the upper strip clamping claw 32 and the lower strip clamping claw 33 has its end bent toward the other to form a positioning wall 321, and the strip pressing block 34 is movably disposed relative to the positioning wall 321 to clamp the strip 202 between the positioning wall 321 and the strip pressing block 34.

[0034] Specifically, in this embodiment, in addition to the original solution where the upper clamping claw 32 and the lower clamping claw 33 clamp the two ends of the material strip 202 in the width direction, a new material strip clamping block 34 is added to clamp the two ends of the material strip 202 in the thickness direction, thereby ensuring the positioning effect of the material strip 202.

[0035] At least one of the upper gripper 32 and the lower gripper 33 of the strip is bent at its end toward the other to form a positioning wall 321. The positioning wall 321 is vertically arranged to ensure that it is in contact with one surface of the strip 202 in the thickness direction. The strip 202 clamping block cooperates with the positioning wall 321 to clamp both sides of the strip 202 in the thickness direction. The upper gripper 32 and the lower gripper 33 remain slidably arranged in a vertically opposite position. The formation of the positioning wall 321 does not change the original vertical sliding opening and closing function of the upper gripper 32 and the lower gripper 33. The positioning structure is only added to the ends of the grippers, so that the grippers have the dual functions of "gripping in the width direction" and "gripping in the thickness direction" to accurately position the strip 202.

[0036] In use, when the upper clamping jaws 32 and lower clamping jaws 33 of the material strip close vertically, clamping both ends of the material strip 202 in the width direction, the material strip clamping block 34 moves towards the positioning wall 321 until the material strip 202 is clamped between the positioning wall 321 and the material strip clamping block 34, forming a double fixing structure both vertically and horizontally. This double fixing structure ensures complete positioning of the material head of the material strip 202, laying the foundation for accurate operation of subsequent processes.

[0037] It should be noted that in this embodiment, the positioning wall 321 is integrally formed with the upper clamping claw 32 or the lower clamping claw 33 of the material strip. Alternatively, the positioning wall 321 can be set as a separate component to be fixedly installed on the upper clamping claw 32 or the lower clamping claw 33 of the material strip.

[0038] In some embodiments, the end of the material strip clamping block 34 is also provided with a flexible buffer layer (such as a rubber pad, silicone sticker, etc.) to avoid squeezing damage to the surface of the material strip 202 while forming a positioning.

[0039] Furthermore, the material strip gripper assembly 30 also includes a second motor 35 and a second movable plate 36 connected by transmission. The second movable plate 36 is connected by transmission to the upper gripper 32 and the lower gripper 33 of the material strip. The second motor 35 drives the second movable plate 36 to slide, so as to drive the upper gripper 32 and the lower gripper 33 of the material strip to slide up and down.

[0040] Specifically, the second motor 35, as the core component for power output, possesses stable speed regulation capabilities and torque output characteristics, providing precise and controllable driving force to meet the up-and-down sliding motion requirements of the material strip 202 grippers, serving as the power source for automated gripper operation. The second movable plate 36, as an intermediate connecting component for power transmission, adopts a rigid structural design (such as metal sheet or high-strength engineering plastic material), possessing good structural stability. It can smoothly slide along a preset trajectory under driving force, acting as a bridge connecting the power source and the actuator. The second movable plate 36 and the second motor 35 can be connected via a screw and nut pair structure for transmission. In this embodiment, the controllable power provided by the second motor 35 drives the second movable plate 36 to move, thereby causing the upper gripper 32 and lower gripper 33 of the material strip to slide up and down, clamping both ends of the material strip 202 in the width direction. The upper gripper 32 and lower gripper 33 can be adjusted according to different dimensions of the material strip 202, thus adapting to different widths of the material strip 202.

[0041] Furthermore, both the upper gripper 32 and the lower gripper 33 of the conveyor belt are fixed with transmission bolts 37 at one end near the second movable plate 36. The second movable plate 36 is provided with a first track groove 361 and a second track groove 362 at the positions corresponding to the two transmission bolts 37. The first track groove 361 is used for the transmission bolts 37 on the upper gripper 32 of the conveyor belt to slide, and the second track groove 362 is used for the transmission bolts 37 on the lower gripper 33 of the conveyor belt to slide. The first track groove 361 includes a first straight section 3611 and a first inclined section 3612 that are connected. The second track groove 362 includes a second inclined section 3622 and a second straight section 3621 that are connected.

[0042] Specifically, the transmission bolt 37 serves as the connection carrier between the upper and lower grippers 32 and the track groove. One transmission bolt 37 is fixed to one end of each of the upper and lower grippers 33 near the second movable plate 36. These bolts are made of high-strength metal (such as stainless steel) and possess excellent wear resistance and shear resistance. The transmission bolt 37 can be fixed to the upper or lower gripper 32 via a threaded connection. The diameter of the shank of the transmission bolt 37 precisely matches the width of the track groove, ensuring no significant wobbling during sliding and forming a stable limiting sliding structure. The first track groove 361 (fitting the upper gripper 32) is located on the second movable plate 36 at the position corresponding to the transmission bolt 37 of the upper gripper 32. It has an overall "zigzag" structure, consisting of a first straight segment 3611 and a first inclined segment 3612 connected together. The first straight segment 3611 extends horizontally along the second movable plate 36. The first inclined segment 3612 slopes from the first straight segment 3611 toward the second track groove 362. The slope angle (angle with the vertical direction) is designed according to the opening and closing requirements of the gripper. The connection between the two segments is rounded to avoid jamming when the bolt slides. The second track groove 362 (adapted to the lower gripper 33 of the material belt) corresponds to the position of the transmission bolt 37 of the lower gripper 33 of the material belt. It also has a "zigzag" structure, including the second inclined segment 3622 and the second straight segment 3621. The second straight segment 3621 extends horizontally along the second movable plate 36, parallel to the first straight segment 3611, and corresponds to the first inclined segment 3612. The second inclined segment 3622 slopes from the second straight segment 3621 away from the first track groove 361. The connection between the two segments is also rounded. The second inclined segment 3622 corresponds to the first straight segment 3611. Both the first track groove 361 and the second track groove 362 extend from the side of the second motor 35 toward the material belt 202, and the width between the first track groove 361 and the second track groove 362 decreases in the direction from the second motor 35 to the material belt 202. The first straight segment in the first track groove 361 is located on the side closer to the second motor 35, and the first inclined segment 3612 in the second track groove 362 is located on the side closer to the second motor 35.

[0043] Initially, both transmission bolts 37 are located at the ends closest to the second motor 35 (i.e., the distance between the upper clamp 32 and the lower clamp 33 of the conveyor belt is the greatest). Subsequently, the second motor 35 drives the second movable plate 36 to move horizontally, and the second movable plate 36 moves from the side away from the second motor 35 to the side closer to the second motor 35. At this time, the transmission bolt 37 located in the first track groove 361 first moves in the first straight section 3611. Since the first straight section 3611 is horizontal, the upper clamp 32 of the conveyor belt does not move. The transmission bolt 37 in the second track groove 362 first slides in the second inclined section 3622. Due to the setting of the second inclined section 3622, the inner wall of the second inclined section 3622 will squeeze the transmission bolt 37, causing the transmission bolt 37 and the lower clamp 33 of the conveyor belt to move in the vertical direction, thereby approaching the upper clamp 32 of the conveyor belt. Subsequently, the transmission bolt 37 in the first track groove 361 moves into the first inclined section 3612, and the inner wall of the second inclined section 3622 presses against the transmission bolt 37, causing the transmission bolt 37 and the upper clamping jaw 32 of the material strip to move downwards towards the lower clamping jaw 33 of the material strip; at the same time, the transmission bolt 37 in the second track groove 362 moves into the second straight section 3621, at which point the lower clamping jaw 33 of the material strip remains stationary. In this embodiment, the lower clamping jaw 33 of the material strip first contacts the lower end of the width direction of the material strip 202, and then the lower clamping jaw 33 remains stationary while the upper clamping jaw 32 of the material strip moves, thereby contacting the upper end of the width direction of the material strip 202. This design can prevent uneven initial pressure during bidirectional synchronous extrusion from damaging the edge of the material strip 202 and can reduce the deformation rate of the material strip 202.

[0044] Furthermore, the material strip gripper assembly 30 also includes a toggle assembly 38, which is connected to the first connecting frame 31 and is used to pry open the clamping block 203 on the material box 200 so that the material strip 202 on the material tray 201 on the material box 200 can be taken out from the material box 200.

[0045] Specifically, the actuating component 38, as the part that actively performs the "unlocking" action, is made of a rigid material (such as a metal rod or an engineering plastic paddle) and has a specific actuating end (such as an arc-shaped end or an L-shaped end)—the end shape is adapted to the clamping block 203 of the material box 200, which can stably apply force upon contact to actuate the clamping block 203 of the material box 200, thereby allowing the material tray 201 to be removed from the material box 200. The first connecting frame 31 serves as the mounting and positioning carrier for the actuating component 38, possessing sufficient structural strength to support the action force of the actuating component 38, while reserving precise mounting holes or grooves for fixing the actuating component 38 and limiting its movement trajectory. The clamping block 203 of the material box 200 is a "locking" component built into the material box 200. It is a resettable buckle that clamps and limits the material strip 202 in the initial state to prevent the material strip 202 from shaking or falling off. Its structural design needs to be adapted to the end of the actuating component 38 to ensure that it can be smoothly disengaged when actuated, thus releasing the locking state of the material strip 202. Furthermore, the actuating assembly 38 includes an actuating block 381, a third movable block 382, ​​a third motor 383, and a second connecting frame 384. The second connecting frame 384 is fixedly connected to the first connecting frame 31, the third motor 383 is mounted on the second connecting frame 384, the actuating block 381 is fixedly connected to the third movable block 382, ​​and the third motor 383 is drively connected to the third movable block 382 to drive the movable block and the actuating block 381 to move in the vertical direction.

[0046] Specifically, in this embodiment, the actuating block 381, serving as the actuating end of the clamping block 203 that directly contacts the material box 200, is made of a wear-resistant and resilient material (such as nylon, hard rubber, or metal). The overall size of the actuating block 381 is customized according to the size of the clamping block to ensure structural stability when force is applied. The third movable block 382, ​​serving as the mounting carrier and power transmission medium for the actuating block 381, is made of a metal material (such as aluminum alloy or stainless steel) with pre-drilled bolt holes or snap-fit ​​positions on its surface for rigid fixation to the actuating block 381. Simultaneously, the third movable block 382 is fixed to the slider, which is adapted to the slide rail mounted on the second connecting frame 384, ensuring that it can only move vertically and avoiding unlocking misalignment caused by horizontal deviation. The third motor 383, serving as the power source for the actuating assembly 38, is a micro motor (such as a stepper motor or servo motor) with precise speed control and torque output, and its output shaft is adapted to a transmission structure (such as a lead screw, gear, or synchronous pulley). The second connecting frame 384 serves as the mounting support structure for the third motor 383 and the third movable block 382, ​​and is made of metal sheet bending or CNC machining.

[0047] Furthermore, the material tray 201 conveying device 100 also includes a third connecting frame 80 and a first photoelectric sensor 81 installed on the third connecting frame 80; the third connecting frame 80 is connected to the second connecting frame 384, and the first photoelectric sensor 81 is used to detect whether there is material strip 202 between the upper gripper 32 and the lower gripper 33 of the material strip.

[0048] Specifically, in this embodiment, the material tray 201 conveying device 100 adds a first photoelectric sensor 81, which serves as the detection and execution component for the presence or absence of the material strip 202. The first photoelectric sensor 81 has a fast response capability, can output an electrical signal indicating "material present" or "material absent" in real time, and has dust-resistant and interference-resistant protective performance, making it suitable for industrial production environments. The third connecting frame 80 serves as the mounting and positioning carrier for the first photoelectric sensor 81. It is made of lightweight metal material (such as aluminum alloy) or high-strength engineering plastic, and its structural form can be flexibly designed according to the position of the second connecting frame 384 and the clamping groove (such as "rod-shaped", "sheet-shaped", or "small frame-shaped"). Its surface has precisely reserved mounting holes or adjustment grooves, which can both fix the photoelectric sensor and finely adjust the detection angle and height of the sensor; at the same time, it has sufficient structural strength to ensure that the photoelectric sensor will not shift its position during equipment operation (such as gripper movement or vibration), thus ensuring detection stability.

[0049] Furthermore, a second photoelectric sensor (not shown in the figure) and a third photoelectric sensor (not shown in the figure) are provided on the opposite sides of the upper gripper 21 and the lower gripper 22 of the material tray. The second photoelectric sensor and the third photoelectric sensor are used to detect whether there is a material tray 201 between the upper gripper 21 and the lower gripper 22 of the material tray.

[0050] Specifically, the second photoelectric sensor, serving as the transmitter or receiver for detection by the tray 201, is installed on the side of the upper gripper 21 facing the lower gripper 22 of the tray. It uses an industrial-grade through-beam photoelectric sensor transmitter or receiver module (adapted to the detection logic). The third photoelectric sensor forms a paired detection system with the second photoelectric sensor, installed on the side of the lower gripper 22 facing the upper gripper 21 of the tray, and vertically aligned with the second photoelectric sensor. If the second photoelectric sensor is the transmitter module, the third photoelectric sensor is the receiver module, and vice versa. The installation positions of the second and third photoelectric sensors are adapted to the gripping stroke of the grippers: when the upper gripper 21 and lower gripper 22 close to hold the tray 201, the tray 201 is positioned between the two sensors, precisely blocking the light path between them; when the grippers open to pick up or drop the tray 201, the light path is restored. This compatibility ensures that the sensor can accurately capture the switching between the two states of "gripper holding tray 201" and "gripper unloaded", and the detection effect will not be affected by the change of the opening and closing range of the gripper. Whether the gripper is holding a large or small tray 201, as long as the tray 201 is in the normal gripping position, it can stably block the light and achieve reliable detection.

[0051] The above description is merely an exemplary embodiment of the present utility model and does not limit the scope of protection of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present utility model.

Claims

1. A tray conveying device for removing a tray from a hopper; characterized in that, include: Mounting base, A tray gripper assembly, connected to the mounting base, is used to grip the tray; A strip gripper assembly is connected to the mounting base and located on one side of the tray gripper assembly, for gripping the strip extending from the tray; The X-axis moving component, Y-axis moving component, and Z-axis moving component are all connected to the mounting base for driving the mounting base to move in the three directions of X-axis, Y-axis, and Z-axis. The tray gripper assembly includes an upper tray gripper and a lower tray gripper arranged opposite each other. Both the upper and lower tray grippers extend outward from the mounting base in a horizontal direction. The upper tray gripper is slidably connected to the mounting base and moves relative to the lower tray gripper to clamp the horizontally placed tray.

2. The material tray conveying device as described in claim 1, characterized in that, The material tray conveying device further includes a sliding assembly, which includes a first motor and a first movable plate. The first motor is mounted on the mounting base and is connected to the first movable plate in a transmission manner. The grippers on the material tray are fixedly connected to the first movable plate, and the first movable plate is vertically slidably connected to the mounting base. The first motor is used to drive the first movable plate to move in the vertical direction.

3. The material tray conveying device as described in claim 1, characterized in that, The material strip clamping claw assembly includes a first connecting frame, an upper material strip clamping claw and a lower material strip clamping claw connected to the first connecting frame; the upper material strip clamping claw and the lower material strip clamping claw are slidably arranged vertically to clamp the material strip.

4. The material tray conveying device as described in claim 3, characterized in that, The strip clamping assembly further includes a strip pressing block; at least one of the upper strip clamping claw and the lower strip clamping claw has its end bent toward the other to form a positioning wall, and the strip pressing block is movably disposed relative to the positioning wall to clamp the strip between the positioning wall and the strip pressing block.

5. The material tray conveying device as described in claim 3, characterized in that, The material strip gripper assembly also includes a second motor and a second movable plate connected by a transmission connection. The second movable plate is connected by a transmission connection to the upper gripper and the lower gripper of the material strip. The second motor drives the second movable plate to slide, thereby causing the upper gripper and the lower gripper of the material strip to slide up and down.

6. The material tray conveying device as described in claim 5, characterized in that, Both the upper and lower grippers of the conveyor belt are fixed with transmission bolts at their ends near the second movable plate. The second movable plate is provided with a first track groove and a second track groove at positions corresponding to the two transmission bolts, respectively. The first track groove is used for sliding the transmission bolts on the upper grippers of the conveyor belt, and the second track groove is used for sliding the transmission bolts on the lower grippers of the conveyor belt. The first track groove includes a first straight section and a first inclined section that are connected to each other. The second track groove includes a second inclined section and a second straight section that are connected to each other.

7. The material tray conveying device as described in claim 3, characterized in that, The strip gripper assembly also includes a toggle component connected to the first connecting frame, which is used to pry open the clamping blocks on the material box so that the strip on the material tray on the material box can be taken out of the material box.

8. The material tray conveying device as described in claim 7, characterized in that, The actuation assembly includes an actuating block, a third movable block, a third motor, and a second connecting frame; the second connecting frame is fixedly connected to the first connecting frame, the third motor is mounted on the second connecting frame, the actuating block is fixedly connected to the third movable block, and the third motor is drivenly connected to the third movable block to drive the third movable block and the actuating block to move in the vertical direction.

9. The tray conveying device as described in claim 8, characterized in that, The material tray conveying device further includes a third connecting frame and a first photoelectric sensor installed on the third connecting frame; the third connecting frame is connected to the second connecting frame, and the first photoelectric sensor is used to detect whether there is material strip between the upper gripper and the lower gripper of the material strip.

10. The material tray conveying device as described in claim 2, characterized in that, A second photoelectric sensor and a third photoelectric sensor are provided on the opposite sides of the upper and lower grippers of the material tray. The second and third photoelectric sensors are used to detect whether there is a material tray between the upper and lower grippers of the material tray.

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