CN114772311A - Material tray discharging device - Google Patents

Abstract

The invention discloses a charging tray discharging device which comprises a main body frame, a walking assembly and a clamping arm assembly, wherein the walking assembly comprises a walking mechanism and a clamping arm; the main body framework comprises a rack, a walking slide rail and a walking driving device; the walking assembly comprises a walking fixing frame and a lifting cylinder; the arm lock subassembly includes arm lock mount, two arm lock that set up in opposite directions, two tongs that can overturn and adjust, and the arm lock mount passes through the vertical sliding connection of lift slide subassembly and walking mount, and the vertical direction lift displacement of lift cylinder drive arm lock mount, arm lock fixed in arm lock mount lower part, and the interval of two arm lock is adjustable, is fixed with a tongs on every arm lock, and two tongs cooperations are in order to snatch and control the work piece upset. The material tray discharging device can realize mechanical automatic overturning and discharging so as to reduce time cost and labor intensity.

Description

Tray unloading device

technical field

The invention relates to the field of feed processing equipment, in particular, to a feeding tray discharge device.

Background technique

The processing of high protein feeds involves drainage. After the material is placed in the tray and drained, it is sent to the pouring process, and the tray is turned over and poured to collect the material. The existing material pouring process usually adopts the manual overturning and pouring operation method, which is low in efficiency and powerful, which is not conducive to reducing time cost and labor intensity, and it is necessary to improve it.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a tray unloading device that can automatically pour the material, so as to reduce the time cost and manpower intensity, and has high efficiency.

Above-mentioned purpose of the present invention is achieved through the following technical solutions:

A material tray unloading device includes a main frame, a walking assembly and a clamping arm assembly; the main frame includes a frame, a walking slide rail and a walking driving device fixed on the frame;

The walking assembly includes a walking fixing frame and a lifting cylinder, the walking fixing frame is slidably connected to the walking rail, the walking fixing frame is driven by a walking driving device to move along the walking rail, and the lifting cylinder is fixed on the walking rail. on the frame and its piston rod extends and retracts in the vertical direction;

The clip arm assembly includes a clip arm fixing frame, two oppositely arranged clip arms, and two flip-adjustable grippers. The piston rod of the lifting cylinder is fixed with the clamping arm fixing frame to drive the vertical direction lifting and displacement of the clamping arm fixing frame. The clamping arm is fixed at the lower part of the clamping arm fixing frame, and the distance between the two clamping arms is adjustable. A gripper is fixed on the clamping arm, and the two grippers cooperate to grasp and control the turning of the workpiece.

By adopting the above technical solution, the clamping arm is lowered and the material tray is clamped by controlling the distance between the clamping arms. After clamping the material tray, the clamped material tray is lifted up by the lifting cylinder, and driven by the walking component to the inverted position. Then, the clamping arm controls the feeding, and the empty feeding tray after feeding is moved to the feeding tray placement area by the traveling mechanism. In the whole feeding process, there is no need to manually lift and reclaim the material, which saves manpower and has high efficiency.

In a preferred example of the present invention, it can be further configured as follows: the traveling drive device includes a motor, a first synchronous belt, and two first synchronous wheels, the motor is fixed on the frame, and the two first synchronous wheels They are respectively fixed on both ends of the frame, the motor drives a first synchronous wheel to rotate, the first synchronous belt is sleeved on the two first synchronous wheels to make the two rotate synchronously, the transmission of the first synchronous belt The direction is parallel to the direction of the walking slide rail, and the first synchronous belt is fixed to the walking fixed frame through the first synchronous belt connecting block to drive the walking fixed frame to walk.

By adopting the above technical solution, the motor drives the first synchronizing wheel to rotate, and the first synchronizing belt drives and drives the traveling fixed frame fixed to it to move laterally along the traveling slide rail to realize the conversion of different stations.

In a preferred example of the present invention, it can be further configured as follows: a clip arm slide rail assembly is fixed on the clip arm holder, and at least one of the clip arms is slidably connected to the clip arm holder through the clip arm slide rail assembly, so A clamping arm adjusting cylinder connected with the clamping arm is fixed on the clamping arm fixing frame, and the clamping arm adjusting cylinder drives the clamping arm displacement.

By adopting the above technical solution, the clamping arm adjusting cylinder can drive the clamping arm connected with the clamping arm slide rail assembly to walk, so as to adjust the distance between the two clamping arms and realize the material reclaiming or discharging operation.

In a preferred example of the present invention, it can be further configured that: the clamp arm includes a vertical support seat, a turning cylinder, and two second synchronizing wheels, the vertical support seat is fixed on the clamp arm fixing frame, and the two first Two synchronizing wheels are rotatably fixed on the vertical support base, two second synchronizing wheels are sleeved together with a second synchronizing belt, and the second synchronizing belt is fixed with a second synchronizing belt connecting block;

The inversion cylinder is fixed on the vertical support base and is connected with the second synchronous belt through the second synchronous belt connecting block. The inversion cylinder drives the displacement of the second synchronous belt to drive the second synchronous wheel to rotate, and one of the second synchronous The gripper is driven to turn over by the second synchronizing wheel.

By adopting the above technical solution, the turning cylinder drives the synchronous belt to move up and down, thereby driving the second synchronizing wheel to rotate, and the second synchronizing wheel is fixed to the gripper to rotate accordingly, so that the material tray held by the gripper can be turned over and discharged.

In a preferred example of the present invention, it can be further configured as follows: a synchronous belt slide rail parallel to the transmission direction of the second synchronous belt is fixed on the vertical support base, and a synchronous belt slider is fixed on the second synchronous connection block, so The synchronous belt slider is slidably connected to the synchronous belt slide rail.

By adopting the above technical solution, the arrangement of the synchronous belt slide rail and the synchronous belt slider can improve the rotation stability of the synchronous belt, reduce the possibility of its bending, and improve the precision of its control of the overturning operation of the clamping arm.

In a preferred example of the present invention, it can be further configured that: the end of the synchronous belt slide rail far from the turning cylinder is provided with an oil pressure buffer, and the oil pressure buffer is matched with the second synchronous belt connecting block or the synchronous belt slider.

By adopting the above technical solution, the hydraulic buffer is used to reduce vibration and noise, effectively stop the object in balance during the movement, improve the stability of the turning operation, and limit the maximum angle of turning.

In a preferred example of the present invention, it can be further configured as follows: the two second synchronizing wheels are distributed up and down and fixed on the vertical support base, the vertical transmission of the second synchronizing belt, the second synchronizing wheel and the catch The hands are respectively arranged on opposite sides of the vertical support base, the second synchronizing wheels at the middle and bottom of the gripper are fixed by a rotating shaft, and the rotating shaft and the vertical support base are rotatably connected.

In a preferred example of the present invention, it can be further configured as follows: a shield is fixed outside the vertical support base, the second synchronous wheel, the second synchronous belt, the second synchronous belt connecting block, the synchronous belt slide rail, the synchronous belt slide The block is housed in the shroud.

By adopting the above technical solution, the shield is provided to protect the internal components and prevent dust and impurities from affecting the normal operation.

In a preferred example of the present invention, it can be further configured as follows: buffers are fixed on both ends of the walking fixing frame in the running direction, and buffer adjusting members matched with the buffers are fixed on both ends of the frame in the running direction. .

By adopting the above technical solution, the buffer is provided for stop, preventing overtravel operation, and at the same time reducing vibration and noise.

In a preferred example of the present invention, it can be further configured as follows: the rack is provided with a reclaiming station, an unloading station, and a disk placing station, and the rack is fixed with the reclaiming station, the unloading station The photoelectric switch of the station corresponding to the position and the placing station is fixed, and the induction plate matched with the photoelectric switch of the station is fixed on the walking fixing frame.

By adopting the above technical solution, the photoelectric switch of the station cooperates with the induction plate to realize the action of the walking fixed frame in different stations, and the reclaiming station drives the material tray and the walking fixed frame to the reverse position through the gripper. The material station is turned over and poured, and then the empty material tray is driven by the walking fixed frame to the plate placement station to place the plate for unloading. In the whole process, there is no need for manual handling and pouring, saving manpower and high efficiency.

To sum up, the present invention includes at least one of the following beneficial technical effects:

1. The main frame, the walking assembly and the clamping arm assembly are adopted. The walking assembly is horizontally displaced on the main frame to realize the walking conversion between different stations. Placing action, the whole process adopts automatic control, no manual feeding is required, automatic production is realized, production efficiency is high, and manpower is saved;

2. The walking assembly includes a walking fixed frame, the walking frame is driven by the motor synchronous belt, and the main frame is provided with a walking slide rail assembly that slides with the walking fixed frame, and each station is provided with a station for controlling the stop action of the motor The photoelectric switch realizes the precise control of the action position of reclaiming, flipping and unloading and placing;

3. The clamping arm assembly includes a clamping arm fixing frame and a clamping arm. The clamping arm fixing frame and the walking fixing frame are connected vertically by the lifting slide rail, and the lifting and lowering of the cylinder are controlled to realize the lowering and grabbing of the material tray, The operation of walking after rising; the distance between the two clamping arms can be adjusted through the clamping arm slide rail assembly to realize the clamping of the material tray; the gripper is turned over by the overturning cylinder, the second synchronous belt and the second synchronous wheel to complete the overturning. material; the overall structure is simple, easy to manufacture, and has a wide range of applications.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a partial structural schematic diagram of the present invention for reflecting the connection relationship between the frame and the walking fixture.

FIG. 3 is a schematic structural diagram of the present invention for reflecting the connection relationship between the walking assembly and the clamping arm assembly.

FIG. 4 is a schematic structural diagram of the walking assembly of the present invention.

FIG. 5 is a schematic view of the structure of the clamp arm assembly of the present invention.

In the figure, 1. Rack; 11. Reclaiming station; 12. Feeding station; 13. Placing station; 14. Buffer adjustment part; 15. Station photoelectric switch; 2. Walking rail; 21. Walking Slider; 3. Traveling drive device; 31. Motor; 32. The first synchronous belt; 33. The first synchronous wheel; 331, Bearing fixing frame; Timing belt pressure plate; 343, Timing belt pressure plate spacer; 4. Walking fixing frame; 41. Buffer; 42. Induction plate; 43. Cylinder fixing plate; 5. Lifting cylinder; 6. Clamping arm fixing frame; Rail assembly; 62, clamp arm slide rail assembly; 621, clamp arm slide rail; 622, clamp arm slider; 63, clamp arm adjusting cylinder; 64, connecting plate; 7, clamp arm; 71, vertical support seat; 72, Turning cylinder; 73, second synchronous wheel; 731, rotating shaft; 732, synchronous wheel fixing block; 74, second synchronous belt; 75, synchronous belt connecting block two; 76, synchronous belt slide rail; 77, synchronous belt slider ; 78, hydraulic buffer; 79, shield; 8, gripper.

Detailed ways

The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and only illustrates the basic structure of the present invention in a schematic manner, so it only shows the structure related to the present invention.

Referring to FIG. 1 and FIG. 2 , it is a material tray unloading device disclosed in the present invention, which includes a main frame, a walking assembly and a clamping arm assembly.

The main frame includes a frame 1 , a running rail 2 and a running driving device 3 fixed on the frame 1 . The walking assembly includes a walking fixing frame 4 and a lifting cylinder 5. The walking fixing frame 4 is slidably connected to the walking rail 2. The walking fixing frame 4 is driven by the walking driving device 3 to move along the walking rail 2. The lifting cylinder 5 is fixed on the walking rail 2. on the frame 4 and its piston rod extends and retracts in the vertical direction. The clip arm assembly includes a clip arm fixing frame 6, two oppositely arranged clip arms 7, and two flip-adjustable grippers 8. The clip arm fixing frame 6 is vertically slidably connected to the walking fixing frame 4 through the lifting slide rail assembly 61, The piston rod of the lift cylinder 5 is fixed with the clamp arm holder 6 to drive the clamp arm holder 6 to lift and displace in the vertical direction, the clamp arm 7 is fixed at the lower part of the clamp arm holder 6, and the distance between the two clamp arms 7 is adjustable. A gripper 8 is fixed on each of the clamping arms 7 , and the two grippers 8 cooperate to grasp and control the turning of the workpiece.

The rack 1 is provided with a material reclaiming station 11 , a material unloading station 12 and a disk placing station 13 . The frame 1 is fixed with photoelectric switches 15 corresponding to the reclaiming station 11 , the discharging station 12 , and the disk placing station 13 . The station photoelectric switch 15 is set as a slot photoelectricity, which cooperates with the induction plate 42 to realize the action of the walking fixed frame 4 in different stations. The fixed frame 4 drives it to the discharging station 12 for overturning and discharging, and then the vacant trays are driven by the walking fixing frame 4 to the tray placing station 13 for discharging and discharging. In the whole process, there is no need for manual handling and pouring, saving manpower and high efficiency.

2 and 4 , the running rails 2 of the main frame are fixed on both sides in the length direction of the top of the rack 1 , and the running components are slidably connected to the rack 1 through the running rails 2 on both sides.

The traveling drive device 3 includes a motor 31 , a first synchronous belt 32 , and two first synchronous wheels 33 . The motor 31 is fixed on the top of the right end of the frame 1 in the length direction. The two first synchronizing wheels 33 are respectively fixed to the tops of the left and right ends of the frame 1, and are located at one end of the frame 1 in the width direction, which is the front end side in the figure. The output shaft of the motor 31 is fixed coaxially with the first synchronizing wheel 33 at the right end, so that the motor 31 drives the first synchronizing wheel 33 to rotate, and the first synchronizing wheel 33 at the left end is fixed on the frame 1 through the bearing fixing frame 331. The axial directions of the synchronous wheels are parallel to each other, and the two first synchronous wheels 33 are driven by a first synchronous belt 32 . The transmission direction of the first synchronous belt 32 is parallel to the direction of the traveling slide rail 2 , and the first synchronous belt 32 is fixed to the traveling fixed frame 4 through the first synchronous belt connecting block 34 to drive the traveling fixed frame 4 to travel. The timing belt connecting block 1 34 includes a timing belt groove plate 341 with an opening downward, and a timing belt pressure plate 342 located at the bottom of the timing belt groove plate 341. The first timing belt 32 is clamped and fixed by the timing belt pressure plate 342 and the timing belt groove plate 341. , the two ends of the synchronous belt groove plate 341 are fixed with the top wall of the traveling fixed frame 4 through the synchronous belt pressure plate cushion block 343 .

Referring to FIG. 4 , the traveling fixing frame 4 of the traveling assembly includes a square profile frame, the two ends of which are respectively slidably connected to the traveling slide rail 2 through the traveling slider 21 . The traveling fixed frame 4 is driven by the traveling driving device 3 to move along the traveling sliding rail 2 . The lifting cylinder 5 is vertically fixed on the upper and middle part of the walking fixing frame 4 through the cylinder fixing plate 43, the piston rod of the lifting cylinder 5 is retracted downward, the piston rod passes through the cylinder fixing plate 43 and is fixed with the clamping arm fixing frame 6 to drive the clamping arm The fixed frame 6 moves up and down to move up and down.

Both ends of the traveling fixing frame 4 in the traveling direction are fixed with buffers 41 , and the two ends of the frame 1 in the traveling direction are fixed with buffer adjusting members 14 matched with the buffers 41 . The setting of the buffer 41 is used for stop, preventing overtravel operation, and at the same time reducing vibration and noise.

5 , the clamp arm fixing frame 6 of the clamp arm assembly includes a cuboid frame, and the inner sides of its vertical edges are respectively connected to the walking fixing frame 4 in vertical sliding through a lifting slide rail assembly 61. The clamping arm fixing frame 6 A connecting plate 64 is fixed at the lower part, and the connecting plate 64 is used for fixing with the piston rod end of the lifting cylinder 5, so as to realize the purpose that the lifting cylinder 5 drives the clamping arm fixing frame 6 to lift and lower, and the clamping arm fixing frame 6 slides stably and vertically along the lifting slide rail. .

In order to realize that the distance between the two clamping arms 7 can be adjusted so as to grasp the clamping material tray: at least one clamping arm 7 is slidably connected to the clamping arm fixing frame 6 through the clamping arm sliding rail assembly 62 . In this embodiment, one clamping arm 7 is fixed, and one clamping arm 7 is adjustable. A clip arm slide rail assembly 62 is respectively fixed on both ends of the bottom wall of the clip arm holder 6, the clip arm 7 at the right end is directly fixed on the bottom wall of the clip arm holder 6, and the clip arm 7 at the left end passes through the clip arm slide rail assembly 62 and the clip arm The fixing frame 6 is slidingly connected. The clamp arm slide rail assembly 62 includes clamp arm slide rails 621 fixed on both sides of the bottom wall of the clamp arm fixing frame 6 in the length direction. The direction of the clamp arm slide rail 621 is the same as that of the walking slide rail 2. The clip arm slider 622, the top of the clip arm 7 at the left end is fixedly connected to the clip arm slider 622. In order to drive the clamping arm 7 to slide on the clamping arm sliding rail 621, the clamping arm fixing frame 6 is fixed with a clamping arm adjusting cylinder 63, the cylinder body of the clamping arm adjusting cylinder 63 is fixed with the clamping arm fixing frame 6, and the piston telescopic rod and the clamping arm are fixed. 7 is connected, the direction of the telescopic action of the clamp arm adjusting cylinder 63 is parallel to the direction of the clamp arm slide rail 621, and the clamp arm adjusting cylinder 63 drives the left end clamp arm 7 to move closer to or away from the right end clamp arm 7, so as to realize the gripper 8 to grip or put down the material plate.

The clamp arm 7 includes a vertical support base 71 , a turning cylinder 72 , and two second synchronizing wheels 73 . The clamp arm 7 at the right end is directly fixed on the clamp arm fixing frame 6 through the vertical support seat 71 , and the clamp arm 7 at the left end is slidably connected to the clamp arm fixing frame 6 through the vertical support base 71 . The outer side of the vertical support base 71 is connected to the second synchronizing wheel 73 , and the inner side is connected to the gripper 8 . The two clamping arms 7 have the same structure.

The two second synchronizing wheels 73 are rotatably fixed on the vertical support base 71, and the second synchronizing wheels 73 are connected to the vertical supporting plate through the synchronizing wheel fixing block 732: the center of the second synchronizing wheel 73 is fixed with a rotating shaft 731, and the synchronizing wheel is fixed The block 732 is fixed on the vertical support plate, and the rotating shaft 731 is rotatably connected to the synchronizing wheel fixing block 732 through the deep groove ball bearing. The two second synchronizing wheels 73 are jointly sleeved with a second synchronizing belt 74 , and the inner side of the second synchronizing belt 74 is provided with teeth meshing with the second synchronizing pulley 73 . Preferably, the two second synchronizing wheels 73 are distributed up and down and fixed on the vertical support base 71, and the second synchronizing belt 74 is vertically driven. The gripper 8 and the second synchronizing wheel 73 are respectively arranged on both sides of the vertical support base 71 .

The second synchronous belt connecting block 75 is fixed on the second synchronous belt 74 , and the structure of the second synchronous belt connecting block 75 is the same as that of the first synchronous belt connecting block 34 . The turning cylinder 72 is vertically fixed on the vertical support base 71 and is connected to the second timing belt 74 through the second timing belt connecting block 75 . A timing belt slide rail 76 parallel to the transmission direction of the second timing belt 74 is fixed on the outer side wall of the vertical support base 71 , a timing belt slider 77 is fixed on the second timing belt connecting block 75 , and the timing belt slider 77 is slidably connected to the timing belt on rail 76. The turning cylinder 72 is fixed on the top of the vertical support base 71, and its piston rod telescopic direction is parallel to the direction of the synchronous belt slide rail 76. The end of the piston rod of the turning cylinder 72 is fixed with the second synchronous belt connecting block 75, and the second synchronous belt connecting block 75 is connected with the second synchronous belt connecting block 75. The timing belt slider 77 is fixed.

The gripper 8 is connected to the second synchronizing wheel 73 at the bottom of the vertical support base 71 , the rotating shaft 731 of the second synchronizing wheel 73 at the bottom extends out of the vertical support base 71 and is fixed to the middle of the gripper 8 , and the second synchronizing wheel 73 passes through the rotating shaft 731 drives the gripper 8 to rotate. The turning cylinder 72 drives the synchronous belt 2 to move up and down, thereby driving the second synchronizing wheel 73 to rotate, and the second synchronizing wheel 73 is fixed on the gripper 8 to rotate accordingly, so that the material tray held by the gripper 8 is turned over and discharged.

An oil pressure buffer 78 is provided at the end of the synchronous belt slide rail 76 away from the turning cylinder 72. The oil pressure buffer 78 is matched with the second synchronous belt connecting block 75 or the bottom end of the synchronous belt slider 77, which is connected with the synchronous belt in this embodiment. The bottom end of the second block 75 is matched, and when the bottom end of the synchronous belt connecting block is pressed against the oil pressure buffer 78, the rotation angle of the second synchronous wheel 73 is greater than or equal to 360 degrees.

A shield 79 is fixed outside the vertical support base 71 , and the second synchronous wheel 73 , the second synchronous belt 74 , the second synchronous belt connecting block 75 , the synchronous belt slide rail 76 , the synchronous belt slider 77 and the hydraulic buffer 78 are all covered. Inside the shield 79, dust and impurities are prevented from affecting the normal operation.

The working process of the present invention:

The motor 31 drives the first synchronizing wheel 33 at the right end to rotate, and is driven by the first synchronizing belt 32 to realize the displacement of the traveling fixed frame 4 on the frame 1 along the traveling slide rail 2 . When it is displaced to the 11 point of the reclaiming station, the induction plate 42 cooperates with the photoelectric switch 15 of the station to control the motor 31 to stop. The lifting cylinder 5 controls the clamping arm fixing frame 6 to descend to a specified height (which can be achieved by limiting the stroke of the cylinder or the stroke of the lifting slide rail); the clamping arm adjusting cylinder 63 controls the left end clamping arm 7 to move towards the right end clamping arm 7 until the two The gripper 8 holds the material tray tightly; it is then adjusted by the lifting cylinder 5 to drive the material tray to rise and separate from the material table.

The motor 31 drives the walking fixing frame 4 to move to the reloading station 12 , and the station induction switch cooperates with the induction plate 42 to control the motor 31 to stop. The lifting cylinder 5 adjusts and controls the height of the tray to a specified height; the turning cylinder 72 drives the gripper 8 to rotate through the second synchronous belt 74 and the second synchronizing wheel 73, so as to realize the inversion of the tray.

After the material is poured, the motor 31 continues to drive the walking fixing frame 4 to walk to the tray placing station 13, the lifting cylinder 5 adjusts the height, the clamping arm adjusting cylinder 63 controls the distance between the two clamping arms 7 to increase, and the gripper 8 loosens the clamping of the tray. , the material tray is placed on the tray placement station 13 for recycling. At this point, a flipping and pouring is completed.

The embodiments of this specific embodiment are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore: all equivalent changes made according to the structure, shape and principle of the present invention should be covered in within the protection scope of the present invention.

Claims (10)

1. A material tray unloading device, characterized in that: it comprises a main body frame, a walking assembly and a clamping arm assembly; the main body frame comprises a frame, and is fixed on a walking slide rail and a walking driving device on the frame; The walking assembly includes a walking fixing frame and a lifting cylinder, the walking fixing frame is slidably connected to the walking rail, the walking fixing frame is driven by a walking driving device to move along the walking rail, and the lifting cylinder is fixed on the walking rail. on the frame and its piston rod extends and retracts in the vertical direction; The clip arm assembly includes a clip arm fixing frame, two oppositely arranged clip arms, and two flip-adjustable grippers. The piston rod of the lifting cylinder is fixed with the clamping arm fixing frame to drive the vertical direction lifting and displacement of the clamping arm fixing frame. The clamping arm is fixed at the lower part of the clamping arm fixing frame, and the distance between the two clamping arms is adjustable. A gripper is fixed on the clamping arm, and the two grippers cooperate to grasp and control the turning of the workpiece. 2. The tray unloading device according to claim 1, wherein the traveling drive device comprises a motor, a first synchronous belt, and two first synchronous wheels, the motor is fixed on the frame, and the two The first synchronizing wheels are respectively fixed on both ends of the frame, the motor drives one first synchronizing wheel to rotate, the first synchronizing belt is sleeved on the two first synchronizing wheels to make them rotate synchronously, the The transmission direction of the first synchronous belt is parallel to the direction of the traveling slide rail, and the first synchronous belt is fixed to the traveling fixed frame through the first synchronous belt connecting block, so as to drive the traveling fixed frame to travel. 3. The tray unloading device according to claim 1, characterized in that: a clamp arm slide rail assembly is fixed on the clamp arm fixing frame, and at least one of the clamp arms is slidably connected to the clamp arm through the clamp arm slide rail assembly. On the arm fixing frame, a clamping arm adjusting cylinder connected with the clamping arm is fixed on the clamping arm fixing frame, and the clamping arm adjusting cylinder drives the displacement of the clamping arm. 4 . The tray unloading device according to claim 3 , wherein the clamping arm comprises a vertical support seat, an overturning cylinder, and two second synchronizing wheels, and the vertical support seat is fixed on the clamping arm fixing frame. 5 . , the two second synchronizing wheels are rotatably fixed on the vertical support base, the two second synchronizing wheels are jointly sleeved with a second synchronizing belt, and the synchronizing belt connecting block is fixed on the second synchronizing belt two; The inversion cylinder is fixed on the vertical support base and is connected with the second synchronous belt through the second synchronous belt connecting block. The inversion cylinder drives the displacement of the second synchronous belt to drive the second synchronous wheel to rotate, and one of the second synchronous The gripper is driven to turn over by the second synchronizing wheel. 5 . The tray unloading device according to claim 4 , wherein a synchronous belt slide rail parallel to the transmission direction of the second synchronous belt is fixed on the vertical support base, and the second synchronous connection block is fixed with a synchronous belt slide rail. 6 . The synchronous belt slider is slidably connected to the synchronous belt slide rail. 6 . The tray unloading device according to claim 5 , wherein the end of the synchronous belt slide rail away from the overturning cylinder is provided with an oil pressure buffer, and the oil pressure buffer is connected to the synchronous belt connecting block two or Synchronized belt slider. 7 . The tray unloading device according to claim 5 , wherein the two second synchronizing wheels are distributed up and down and fixed on the vertical support base, and the vertical transmission of the second synchronizing belt, the The second synchronizing wheel and the gripper are respectively disposed on opposite sides of the vertical support base, the second synchronizing wheel at the middle and bottom of the gripper is fixed by a rotating shaft, and the rotating shaft and the vertical support base are rotatably connected. 8 . The tray unloading device according to claim 7 , wherein a shield is fixed outside the vertical support base, the second synchronous wheel, the second synchronous belt, the second synchronous belt connecting block, the synchronous belt The slide rail and the synchronous belt slider are covered in the shield. 9 . The tray unloading device according to claim 1 , wherein buffers are fixed on both ends of the walking fixing frame in the walking direction, and buffers are fixed on both ends of the frame in the walking direction. 10 . The buffer adjuster matched with the device. 10. The tray unloading device according to claim 1, characterized in that: the rack is provided with a reclaiming station, an unloading station, and a disk placing station, and the rack is fixed with a reclaiming station The photoelectric switches of the stations corresponding to the station, the material feeding station and the placing station are fixed on the walking fixing frame, and the induction plate matched with the photoelectric switches of the stations is fixed.

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