CN215625357U - Charging tray feeding equipment - Google Patents

Abstract

The utility model discloses a charging tray feeding device which comprises a rack, wherein the rack is provided with a conveying platform, a full charging tray stacking device positioned at one end of the conveying platform, an empty charging tray stacking device positioned below the full charging tray stacking device, a tray taking device used for taking out a full charging tray at the bottom from the full charging tray stacking device, and a tray moving device used for moving the full charging tray on the tray taking device to the conveying platform. According to the charging tray feeding equipment, the charging trays are stacked before being transmitted and after being transmitted, and the stacking structures before being transmitted and after being transmitted are arranged at the same end of the conveying platform from top to bottom, so that the occupied area and the occupied space are reduced, the use of a production field is reduced, and the production cost is reduced.

Description

Charging tray feeding equipment

Technical Field

The utility model relates to the technical field of mechanical equipment, in particular to charging tray feeding equipment.

Background

In order to meet the requirement of high-yield production of products, in an automatic production line, for some miniaturized workpieces of the products, batch loading is generally performed through material trays, and the material trays are conveyed to perform loading.

At present, in automation line, a transport mechanism for transmitting the charging tray, be sharp shape or U-shaped overall arrangement usually, a plurality of full charging trays are introduced into in proper order and are arranged from transport mechanism's one end and wait the material loading, after with work piece material loading, the empty charging tray that forms spreads from transport mechanism's the other end in proper order, the whole area occupied of mechanism is big, occupation space is big, has increased the demand to production place to a certain extent, has increased manufacturing cost, influences producer's benefit.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a charging tray feeding device, and aims to solve the technical problems that the existing charging tray feeding device is large in occupied area and large in occupied space.

In order to achieve the purpose, the utility model provides a material tray feeding device which comprises a rack, wherein a conveying platform, a full material tray stacking device positioned at one end of the conveying platform, an empty material tray stacking device positioned below the full material tray stacking device, a material taking device used for taking out a full material tray at the bottom from the full material tray stacking device, and a material moving device used for moving the full material tray on the material taking device to the conveying platform are arranged on the rack.

Preferably, the full tray stacking device comprises a plurality of supporting plates for supporting the full trays and a first driving mechanism for driving the supporting plates to horizontally move.

Preferably, the full charging tray stacking device further comprises a plurality of vertically arranged limiting frames, and the limiting frames surround to form a stacking space for stacking the full charging trays.

Preferably, the disc taking device comprises two opposite disc clamping seats and a second driving mechanism for driving the disc clamping seats to move, and the disc clamping seats are provided with clamping grooves for clamping the edges of full discs.

Preferably, the chuck base is further provided with a supporting part which is positioned below the clamping groove and used for supporting the empty tray delivered by the conveying platform.

Preferably, the second driving mechanism comprises a lifting frame, a first driving assembly for driving the lifting frame to lift and two second driving assemblies which are arranged on the lifting frame and used for respectively driving the two chuck bases to move in opposite directions or in back directions.

Preferably, the conveying platform comprises two parallel conveying belts arranged at intervals, and the tray moving device comprises a hook member positioned between the two conveying belts and used for hooking and holding the full tray and a third driving mechanism used for driving the hook member to move.

Preferably, the tray feeding device further comprises a sensing device arranged at the conveying platform and used for sensing the full tray.

Preferably, still be equipped with in the frame and be used for right on the transfer platform full charging tray advances line location's positioner, positioner is including locating relatively the fixed splint and the removal splint of transfer platform both sides and being used for driving the removal splint are towards or are dorsad the fourth actuating mechanism that the fixed splint removed.

Preferably, the empty tray stacking device comprises a carrier for stacking empty trays and a fifth driving mechanism for driving the carrier to ascend and descend.

Compared with the prior art, the technical scheme of the embodiment of the utility model has the beneficial effects that:

the material tray feeding equipment takes out full material trays at the bottom of the full material tray stacking device from the full material tray stacking device through the material taking device, the full material trays on the material taking device are moved to the conveying platform through the material taking device, the conveying platform forwards transmits the full material trays to a preset position for feeding, and after workpieces are fed, the conveying platform reversely transmits formed empty material trays to the empty material tray stacking device for stacking, so that the material tray feeding is circularly realized; the charging tray in the charging tray feeding equipment adopts a stacking mode before being transmitted and after being transmitted, and the stacking structure before being transmitted and after being transmitted is arranged at the same end of the conveying platform from top to bottom, so that the occupied area and the occupied space are reduced, the use of a production field is reduced, and the production cost is reduced.

Drawings

FIG. 1 is a schematic structural diagram of a tray loading apparatus with full trays and empty trays stacked in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a tray according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a tray loading apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a disk taking device of the tray loading device in FIG. 3;

fig. 5 is a schematic structural diagram of a chuck holder of the disk taking device of the tray loading device in fig. 4.

Detailed Description

In the following, the embodiments of the present invention will be described in detail with reference to the drawings in the following, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model provides a tray feeding device, and referring to fig. 1, the tray feeding device comprises a rack 100, wherein a conveying platform 200, a full tray stacking device 300 positioned at one end of the conveying platform 200, an empty tray stacking device 400 positioned below the full tray stacking device 300, a tray taking device 500 used for taking out a full tray at the bottom from the full tray stacking device 300, and a tray moving device 600 used for moving the full tray on the tray taking device 500 to the conveying platform 200 are arranged on the rack 100.

The tray loading apparatus of the present embodiment loads workpieces by transferring trays 10 for loading workpieces in batches, referring to fig. 2, the trays 10 may be square trays, the trays 10 have a plurality of bins for placing the workpieces therein, the peripheral sides of the trays 10 have clamping edges 10a extending outward, and the workpieces may be of various types, such as electronic device cables, etc., including but not limited thereto. Specifically, referring to fig. 1 and 3, the tray feeding apparatus mainly comprises a rack 100, a conveying platform 200, a full tray stacking device 300, an empty tray stacking device 400, a tray taking device 500, and a tray moving device 600, wherein the rack 100 is used as a structural foundation for installing other devices of the tray feeding apparatus, so as to realize structural integration arrangement, and the shape of the rack is set according to actual conditions.

The full material tray stacking device 300 is used for stacking full material trays, a plurality of full material trays loaded with workpieces are stacked on the full material tray stacking device 300 from bottom to top in sequence, the structural form of the full material tray stacking device 300 can be various, for example, the full material tray stacking device 300 comprises two clamping blocks and a driving mechanism used for driving the two clamping blocks to move in opposite directions or in opposite directions, the two clamping blocks are oppositely arranged along the directions of two sides of the conveying platform 200, the driving mechanism can be two driving cylinders arranged corresponding to the two clamping blocks, clamping grooves matched with the clamping edges of the material trays are arranged on opposite surfaces of the two clamping blocks, the two clamping blocks move in opposite directions under the driving of the two driving cylinders to stretch out the clamping edges 10a which clamp two opposite sides of the material tray 10, so that the full material trays can be clamped, and other full material trays are stacked on the full material trays clamped by the two clamping blocks.

The disc taking device 500 is used for taking out a full disc located at the bottommost part from the full disc stacking device 300, the disc taking device 500 is located between the full disc stacking device 300 and the empty disc stacking device 400, and the structural form of the disc taking device 500 can be various, for example, the disc taking device 500 includes two holding blocks and a driving mechanism for driving the two holding blocks to move up and down in the opposite direction or in the back direction, the two holding blocks are oppositely arranged along the two side directions of the conveying platform 200 and avoid the positions of the two clamping blocks, the driving mechanism can adopt a conventional driving structure in the field, as long as the driving of the two holding blocks in the opposite direction or in the back direction and in the up and down direction can be realized, and the description is not excessive. The disc taking process of the disc taking device comprises the following steps: under the drive of the driving mechanism, the two holding blocks reach the lower part of the full tray at the bottommost on the full tray stacking device 300 and hold the full tray, then the two clamping blocks retract, the whole full tray group is held by the two holding blocks, then the two holding blocks move downwards, so that the second full tray stacked on the full tray at the bottommost in the full tray group reaches the clamping position of the two clamping blocks, the two clamping blocks move towards each other to stretch out and clamp the clamping edges 10a at the two opposite sides of the second full tray, at this time, the two holding blocks continue to descend, the full tray at the bottommost is separated from the full tray on the full tray group, and therefore the full tray at the bottom of the full tray stacking device 300 is taken out.

The function of the tray moving device 600 is to move the full trays taken out by the tray taking device 500 from the full tray stacking device 300 to the conveying platform 200, the structural form of the tray moving device 600 may be various, for example, the tray moving device 600 includes a push block and a driving mechanism, the driving mechanism may include a driving cylinder, a piston rod of the driving cylinder is horizontally arranged, the push block is connected with the piston rod of the driving cylinder, the push block is located on the opposite side of the tray taking device 500 relative to the conveying platform 200, after the full trays are taken from the tray taking device 500 and are butted with the conveying platform 200, the push block horizontally moves to push the trays on the tray moving device 600 to the conveying platform 200 through the driving of the driving mechanism. Of course, the above-mentioned structure of the tray moving device 600 is only exemplary, not restrictive, and other structures are also possible.

The conveying platform 200 is used for receiving full trays, positively conveying the full trays to a preset position for workpiece feeding, and reversely conveying empty trays after the feeding. The structure of the transfer platform 200 may be various, such as a transfer belt, a transfer pallet, etc., including but not limited to.

The empty tray stacking device 400 is used for stacking empty trays, a plurality of empty trays not loaded with workpieces are sequentially stacked on the empty tray stacking device 400 from bottom to top, and the structure of the empty tray stacking device 400 is as simple as that of the full tray stacking device 300, and the structure thereof corresponds to that of the full tray stacking device 300, which is not described herein again. Wherein, stack empty charging tray through empty charging tray and stack device 400, be convenient for empty charging tray's batch recovery.

The working principle of the charging device for the charging tray is as follows: the tray taking device 500 takes full trays at the bottom of the full tray stacking device 300 out of the full tray stacking device 300, the tray moving device 600 moves the full trays on the tray taking device 500 to the conveying platform 200, the conveying platform 200 forwards the full trays to a preset position for feeding, and after workpieces are fed, the conveying platform 200 reversely sends out formed empty trays to the empty tray stacking device 400 for stacking, so that the feeding of the trays is circularly realized.

In the charging tray feeding device of the embodiment, the charging tray 10 is stacked before being transferred in and after being transferred out, and the stacking structures before being transferred in and after being transferred out are arranged at the same end of the conveying platform 200 from top to bottom.

In a preferred embodiment, referring to fig. 3, the full tray stacking apparatus 300 includes a plurality of trays 310 for holding full trays and a first driving mechanism 320 for driving the trays 310 to move horizontally. In this embodiment, the plurality of supporting plates 310 are arranged along the periphery of the full trays, and the full tray stacking apparatus 300 supports the edges of the full trays around the full trays through the plurality of supporting plates 310, so as to realize the placement of the full trays, and other full trays are sequentially stacked from bottom to top on the full trays supported by the supporting plates 310. And, under the driving of the first driving mechanism 320, the plurality of supporting plates 310 can perform a synchronous motion of extending or retracting so as to realize the holding of the full trays stacked thereon. Specifically, the first driving mechanism 320 includes a driving cylinder provided corresponding to each supporting plate 310, a cylinder body of the driving cylinder is fixed on the frame 100, the supporting plate 310 is fixedly connected to a piston rod of the driving cylinder, and the driving cylinder is preferably a multi-rod cylinder. In actual setting, the supporting plate 310 is provided with four, the driving cylinders are correspondingly set to be four, and the four supporting plates 310 are opposite in pairs and are respectively arranged at four corner positions of the full material tray to jointly support the full material tray. Of course, besides the above-mentioned form that each supporting plate 310 is configured with an air cylinder independently, the supporting plates 310 located on the same side may be set to be driven by the same driving air cylinder, that is, the same power source is adopted, so as to improve the synchronization degree of the actions of the supporting plates 310, and the specific structure may be set according to the actual situation.

In a preferred embodiment, referring to fig. 3, the full tray stacking apparatus 300 further includes a plurality of vertically disposed position-limiting frames 330, and the position-limiting frames 330 enclose a stacking space for stacking full trays. In this embodiment, the plurality of limiting frames 330 are disposed on the rack 100 and enclose a stacking space, full trays on the supporting plate 310 are sequentially stacked from bottom to top in the stacking space, and the full trays are stacked neatly under the limitation of the plurality of limiting frames 330, so that the tray taking device 500 can conveniently take trays. Wherein, the height of the limiting frame 330 is set according to the actual situation. In actual setting, the limiting frames 330 are L-shaped and four, and the four limiting frames 330 correspond to four corner positions of the full tray, so as to limit the full tray stacked on the supporting plate 310. Of course, the number and arrangement positions of the position limiting frames 330 are only exemplary and not restrictive.

In a preferred embodiment, referring to fig. 3 to 5, the disc taking device 500 includes two opposite chuck holders 510, each of which is provided with a clamping groove 511 for clamping the edge of a full disc, and a second driving mechanism 520 for driving the chuck holders 510 to move. In this embodiment, the chuck base 510 may be an integrally formed structure or may be assembled by a plurality of components, and the second driving mechanism 520 may be configured in various forms, which will be described in detail in the following embodiments. Specifically, the two chuck holders 510 are respectively located in the area between the two supporting plates 310 on the same side, and the two chuck holders 510 of the disk taking device 500 can be driven by the second driving mechanism 520 to move horizontally, oppositely, backwards and vertically up and down to hold the bottommost full disk of the full disk group stacked on the supporting plate 310, and the full disk is taken out by the action of the supporting plate 310.

The specific process comprises the following steps: the two chuck bases 510 are driven by the second driving mechanism 520 to perform synchronous ascending and moving towards each other, the two chuck slots 511 clamp the two opposite sides (specifically, the clamping edge 10a mentioned above) of the bottommost full tray of the full tray set, and after the full-tray set is clamped in place, the supporting plate 310 retracts under the driving of the first driving mechanism, at this time, the full tray set is temporarily placed due to the clamping of the two chuck bases 510 to the bottommost full tray, then the two chuck bases 510 descend synchronously, the full tray set moves downwards integrally, so that the second full tray stacked on the bottommost full tray in the full tray set reaches the supporting height of the supporting plate 310, the supporting plate 310 extends out under the driving of the first driving mechanism 320, so as to support the second full tray in the full tray set and the full tray stacked thereon, at this time, the two chuck bases 510 continue descending, and the bottommost full tray is separated from the full tray thereon, thereby realizing the taking-out of the bottom full tray on the full tray stacking device 300. After the full magazine is taken out, the two chuck holders 510 are lowered by a predetermined height so that the chuck slots 511 reach the height position of the transfer platform 200 and abut against the transfer platform 200, so that the tray transfer device 600 performs the tray transfer operation.

Further, referring to fig. 5, the chuck base 510 is further provided with a holding portion 512 located below the clamping groove 511 for receiving an empty tray transferred from the transfer platform 200. In this embodiment, driven by the second driving mechanism 520, in the process of clamping the full tray and descending, the two tray clamping bases 510 firstly make the supporting portions 512 thereof reach the height position of the conveying platform 200 and butt with the conveying platform 200, so as to jointly receive the empty tray delivered from the conveying platform 200; then, the two chuck bases 510 continuously descend to enable the clamping grooves 511 to reach the height position of the conveying platform 200 to be in butt joint with the conveying platform 200, and after the tray moving device 600 moves the full trays clamped by the two chuck bases 510 onto the conveying platform 200, the two chuck bases 510 horizontally move back to back, and the empty trays held by the two chuck bases automatically separate and fall onto the empty tray stacking device 400 for stacking.

In a preferred embodiment, referring to fig. 4, the second driving mechanism 520 includes a lifting frame 521, a first driving assembly 522 for driving the lifting frame 521 to lift, and two second driving assemblies 523 disposed on the lifting frame 521 for driving the two chuck bases 510 to move toward or away from each other. In this embodiment, the two chuck bases 510 can move horizontally (including moving towards or away from each other) under the driving of the second driving components 523 correspondingly disposed respectively; and is driven by the first driving assembly 522 to lift the lifting frame 521 so as to correspondingly move vertically. Specifically, the lifting frame 521 is a U-shaped frame body, the first driving assembly 522 is arranged at the lower part of the lifting frame 521, the first driving assembly 521 comprises a vertically arranged screw rod, a driving motor for driving the screw rod of the screw rod to rotate, a vertically arranged guide post and a guide rod inserted in the guide post, and the lifting frame is respectively and fixedly connected with a nut seat of the screw rod and the guide rod; the two second driving assemblies 523 are respectively arranged at two ends of the upper part of the lifting frame 521, the second driving assemblies 523 comprise driving cylinders, piston rods of the driving cylinders are horizontally arranged, cylinder bodies of the driving cylinders are fixed on the lifting frame 521, and the chuck bases 510 are fixedly connected with the piston rods of the driving cylinders. Of course, the above-mentioned configurations of the first driving assembly 522 and the second driving assembly 523 are only exemplary, not limiting, and include but not limited thereto.

In a preferred embodiment, referring to fig. 3, the conveying platform 200 comprises two parallel spaced conveying belts 210, and the tray moving device 600 comprises a hook 610 for hooking the full tray and a third driving mechanism 620 for driving the hook 610 to move, which are located between the two conveying belts 210. In this embodiment, the hook 610 is a member having a hook portion at one end, and is connected to the output actuating end of the third driving mechanism 620, and can be moved in the vertical direction and the horizontal direction, respectively, by the driving of the third driving mechanism 620. This third actuating mechanism 620's structural style can be multiple, and the third actuating mechanism 620 of this embodiment includes linear guide, synchronous pulley subassembly, is used for driving synchronous pulley subassembly moving driving motor, the mounting bracket of being connected with this linear guide's slider and the vertical cylinder that drives that sets up on this mounting bracket, hook piece 610 and this piston rod fixed connection who drives the cylinder. Wherein, linear guide and hold in range wheel subassembly are along the direction of transfer level setting of conveying platform 200, and the hold in range of hold in range wheel subassembly is connected with linear guide's slider, and the piston rod that drives actuating cylinder is vertical upwards to be arranged, promptly under the drive of hold in range subassembly and drive actuating cylinder, hook member 610 can move along conveying platform 200's horizontal direction and vertical direction respectively. Specifically, under the driving of the third driving mechanism 620, the hook 610 may first move horizontally to a position below the full magazine taken out by the magazine taking device, then move upward to hook the full magazine by the hook portion, and then move horizontally to drag the full magazine onto the two conveyor belts 210 of the conveying platform 200, where two opposite sides of the full magazine are respectively mounted on the two conveyor belts 210, and the conveying platform 200 synchronously operates by the two conveyor belts 210 to forward convey the full magazine.

In a preferred embodiment, the tray loading apparatus further comprises a sensing device disposed at the conveying platform 200 for sensing a full tray. In this embodiment, the sensing device is used for sensing whether the tray moving device 600 moves a full tray to the conveying platform 200, and the sensing device is disposed at one end of the conveying platform 200 where the full tray stacking device 300 and the empty tray stacking device 400 are located, that is, the tray transferring end. Preferably, the sensing device is a proximity switch. When the sensing device senses that the tray moving device 600 moves a full tray onto the transferring platform 200, the transferring platform 200 operates to transfer the full tray.

In a preferred embodiment, referring to fig. 3, the rack 100 is further provided with a positioning device 700 for positioning the full tray on the conveying platform 200, and the positioning device 700 includes a fixed clamp plate 710 and a movable clamp plate 720 which are oppositely arranged on both sides of the conveying platform 200, and a fourth driving mechanism 730 for driving the movable clamp plate 720 to move towards or away from the fixed clamp plate 710. In this embodiment, the positioning device 700 is disposed at the feeding station of the conveying platform 200, the fixing clamp 710 and the moving clamp 720 are plate-shaped bodies with a certain length, the fourth driving mechanism 730 includes a driving cylinder disposed horizontally, and the moving clamp 720 is fixedly connected to a piston rod of the driving cylinder. Under the drive of the fourth driving mechanism 730, the movable clamping plate 720 can move towards the fixed clamping plate 710 to clamp and position the full tray therebetween, so that the feeding manipulator can grab the workpieces in the full tray, and accurate feeding is realized.

In a preferred embodiment, referring to fig. 3, the empty tray stacking apparatus 400 includes a carrier 410 for stacking empty trays and a fifth driving mechanism 420 for driving the carrier 410 to ascend and descend. In this embodiment, the carrier 410 is adapted to the size of the tray and is used for stacking the empty tray from the conveying platform 200, and the carrier 410 can be driven by the fifth driving mechanism 420 to move up and down to receive the empty tray from the conveying platform 200 and adapt to the stacking height of the empty tray. This fifth actuating mechanism 420's structural style can be multiple, and the fifth actuating mechanism 420 of this embodiment includes vertical linear guide, the synchronous pulley subassembly that sets up side by side and is used for driving the driving motor of synchronous pulley subassembly operation, bears the frame 410 respectively with linear guide's slider and synchronous belt fixed connection of synchronous pulley subassembly, under synchronous pulley subassembly's drive promptly, bears the frame 410 and can follow linear guide and go up and down. Wherein, in order to facilitate taking of the tray above the bearing frame, the linear guide rail, the synchronous pulley component and other structures of the fifth driving mechanism 420 are arranged on one side close to the conveying platform 200, so as to realize the optimization of the structural layout.

Based on the tray feeding device described in the above embodiment, it is easy to understand that, according to its structural composition, it can also be used as a tray feeding device, specifically, its full tray stacking device 300 and empty tray stacking device 400 are functionally interchanged and are respectively used for stacking empty trays and full trays, that is, the tray taking device 500 takes out a bottom empty tray from the empty tray stacking device 400 (now full tray stacking device 300), the tray moving device 600 moves an empty tray on the tray taking device 500 onto the transfer platform 200, the transfer platform 200 forwards transfers an empty tray to a preset position for feeding, and after a workpiece is fed to an empty tray, the transfer platform 200 reversely transfers the formed full tray to the full tray stacking device 300 (now empty tray stacking device 400), so as to realize feeding by this circular operation. In addition, it can also be used as a tray loading and unloading device, that is, after the unprocessed workpieces in a full tray are taken out from the conveying platform 200 for loading, the processed workpieces are placed on the full tray for unloading.

The above description is only a part of or preferred embodiments of the present invention, and neither the text nor the drawings should be construed as limiting the scope of the present invention, and all equivalent structural changes, which are made by using the contents of the present specification and the drawings, or any other related technical fields, are included in the scope of the present invention.

Claims (10)

1. The utility model provides a charging tray charging equipment, its characterized in that, includes the frame, be equipped with conveying platform in the frame, be located full charging tray stacking device, the position of conveying platform one end are in empty charging tray stacking device of full charging tray stacking device below, be used for following take out the device of getting of the full charging tray of bottom on the full charging tray stacking device and be used for with full charging tray on the device of getting moves to move a set device on the conveying platform.

2. The tray loading apparatus according to claim 1, wherein the full tray stacking device comprises a plurality of pallets for holding full trays and a first driving mechanism for driving the pallets to move horizontally.

3. The tray feeding device according to claim 2, wherein the full tray stacking apparatus further comprises a plurality of vertically arranged limiting frames, and the limiting frames enclose a stacking space for stacking the full trays.

4. The tray loading device according to claim 2, wherein the taking device comprises two opposite tray clamping seats and a second driving mechanism for driving the tray clamping seats to move, and the tray clamping seats are provided with clamping grooves for clamping the edges of the full trays.

5. The tray loading device according to claim 4, wherein the tray clamping base is further provided with a holding part which is positioned below the clamping groove and used for receiving the empty tray conveyed by the conveying platform.

6. The tray feeding device according to claim 4, wherein the second driving mechanism comprises a lifting frame, a first driving assembly for driving the lifting frame to lift, and two second driving assemblies arranged on the lifting frame and used for respectively driving the two clamping tray seats to move towards or away from each other.

7. The tray feeding device according to claim 1, wherein the conveying platform comprises two parallel and spaced conveying belts, and the tray moving device comprises a hook member positioned between the two conveying belts and used for hooking the full tray and a third driving mechanism used for driving the hook member to move.

8. The tray loading apparatus of claim 7, further comprising sensing means disposed at the transfer platform for sensing the full tray.

9. The tray feeding apparatus according to claim 7, wherein the rack further comprises a positioning device for positioning the full tray on the conveying platform, and the positioning device comprises a fixed clamping plate and a movable clamping plate which are oppositely arranged on two sides of the conveying platform, and a fourth driving mechanism for driving the movable clamping plate to move towards or away from the fixed clamping plate.

10. The tray loading apparatus according to claim 1, wherein the empty tray stacking device includes a carrier for stacking empty trays and a fifth driving mechanism for driving the carrier to ascend and descend.

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