CN217707976U

CN217707976U - Automatic pile up neatly device of tearing open of transporting tray

Info

Publication number: CN217707976U
Application number: CN202221911545.4U
Authority: CN
Inventors: 卢卓鹄; 谢磊; 周志康; 周茂林
Original assignee: Chongqing Dongju Metal Products Co ltd
Current assignee: Chongqing Dongju Metal Products Co ltd
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2022-11-01
Anticipated expiration: 2032-07-21

Abstract

The utility model discloses an automatic unstacking and stacking device of transportation tray, be in including base and setting a feed mechanism and an discharging mechanism on the base, a marching type feedstock channel who is formed in feed mechanism, a marching type discharging channel who is formed in discharging mechanism, install a feeding detection mechanism and a feeding stop gear in the marching type feedstock channel, install a ejection of compact stop gear and an ejection of compact detection mechanism and one in the marching type discharging channel are located and will be transported the tray and transfer the shifting mechanism to the feed end of marching type discharging channel from the discharge end of marching type feedstock channel between feed mechanism and the discharging mechanism to through feed mechanism, shifting mechanism and discharging mechanism's cooperation, realize transporting the automatic of tray and tear pile up neatly open, simple structure and convenient operation.

Description

Automatic pile up neatly device of tearing open of transporting tray

Technical Field

The utility model relates to a transport tray and tear open a yard buttress technical field, especially relate to an automatic tear a yard recovery unit open of transporting tray.

Background

For improving the transfer efficiency of work piece in the workshop, adopt the transportation tray to hold the work piece usually in the transportation, will transport to next production line after transporting the tray pile up neatly again, and then improve conveying efficiency. Because the work piece often contains the multichannel process in the course of working, when processing, need take out the processing of current process to single work piece after breaking a jam with the transportation tray that the multilayer was placed, when processing the completion after, need again to transport the tray and pile up neatly again to the transportation tray to facilitate the transportation.

At present, to the pile up neatly of breaking out of code of the transportation tray of large-scale work piece, cooperate the realization with transporting the tray mostly with fork truck, nevertheless because fork truck's fork is great and single structure usually, be unfavorable for the pile up neatly of breaking out of the transportation tray of small-size work piece and the transportation tray that the structure is complicated, and to the pile up neatly of breaking out of code of the transportation tray of small-size work piece, carry out the pile up neatly again after breaking out the pile up neatly with the manual work usually, waste time and energy and efficiency are lower.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing an automatic pile up neatly device of tearing open of transporting tray to solve the lower problem of efficiency that manual pile up neatly leads to of tearing open among the prior art.

In order to achieve the above object, the utility model provides an automatic destacking and stacking device of transporting tray, be in including base and setting a feed mechanism and an discharge mechanism on the base, a marching type feedstock channel who forms in feed mechanism, a marching type discharging channel who forms in discharge mechanism, install a feeding detection mechanism and a feeding stop gear in the marching type feedstock channel, install a ejection of compact stop gear and an ejection of compact detection mechanism and one in the marching type discharging channel are located and will transport the tray and transfer the material moving mechanism to the feed end of marching type discharging channel from the discharge end of marching type feedstock channel between feed mechanism and the discharge mechanism.

Further, the feeding mechanism comprises a horizontal feeding channel, a horizontal feeding unit which is arranged on the base and is used for conveying the transfer tray from the feeding end of the horizontal feeding channel to the discharging end of the horizontal feeding channel, a vertical feeding channel which is formed at the discharging end of the horizontal feeding channel, a feeding frame which can vertically lift along the vertical feeding channel, and a vertical feeding driving unit which drives the feeding frame to lift along the vertical feeding channel; the discharge end of the horizontal feeding channel is communicated with the feed end of the vertical feeding channel to form the stepping feeding channel, the feeding detection mechanism is installed in the horizontal feeding channel and the vertical feeding channel, and the feeding limiting mechanism is installed in the vertical feeding channel.

Furthermore, a first feeding mounting seat and a second feeding mounting seat which are oppositely arranged are fixed on the base corresponding to the feeding end of the horizontal feeding channel, a first feeding mounting plate and a second feeding mounting plate which are oppositely arranged are vertically arranged on the base corresponding to the discharging end of the horizontal feeding channel, the horizontal feeding unit comprises a first feeding transmission assembly and a second feeding transmission assembly, the first feeding transmission assembly is arranged between the first feeding mounting seat and the second feeding mounting seat, the second feeding transmission assembly is arranged between the first feeding mounting plate and the second feeding mounting plate, the first feeding transmission assembly and the second feeding transmission assembly are sequentially arranged along the feeding direction of the horizontal feeding channel, and the transfer tray sequentially transmits the feeding materials along the first feeding transmission assembly and the second feeding transmission assembly;

the first feeding conveying assembly comprises at least two feeding rollers which are arranged between the first feeding mounting seat and the second feeding mounting seat along the feeding direction of the horizontal feeding channel and are rotationally connected with the first feeding mounting seat and the second feeding mounting seat, at least one feeding supporting plate which is fixedly arranged between the first feeding mounting seat and the second feeding mounting seat and is positioned between two adjacent feeding rollers, a first feeding conveying belt which is wound on the outer sides of the feeding rollers and the feeding supporting plate and is tensioned with the feeding rollers, and a first feeding driving motor which is fixedly arranged on the first feeding mounting seat or the second feeding mounting seat and is fixedly connected with a rotating shaft of at least one feeding roller;

the second feeding conveying assembly comprises feeding conveying modules which are symmetrically arranged on the inner sides of the first feeding mounting plate and the second feeding mounting plate; the feeding conveying module comprises at least two feeding rollers which are arranged on the inner side of the corresponding side feeding mounting plate along the feeding direction of the horizontal feeding channel and are rotationally connected with the feeding mounting plate, at least one feeding support bar which is fixed on the feeding mounting plate and is positioned between two adjacent feeding rollers, a second feeding conveying belt which is wound on the feeding rollers and the outer side of the feeding support bar, and a second feeding driving motor which is fixedly arranged on the corresponding side feeding mounting plate and is fixedly connected with the rotating shaft of at least one feeding roller.

Furthermore, a feeding back plate is vertically arranged on one side of the base, which is far away from the feeding end of the horizontal feeding channel, and the first feeding mounting plate, the second feeding mounting plate and the feeding back plate surround to form the vertical feeding channel;

the vertical feeding driving unit comprises a feeding rack fixedly arranged on the feeding back plate along the feeding direction of the vertical feeding channel, a feeding gear meshed with the feeding rack, at least one feeding guide rail arranged on the feeding back plate in parallel relative to the feeding rack, a feeding frame mounting plate arranged on the feeding guide rail in a sliding mode, and a third feeding driving motor fixedly arranged on the feeding frame mounting plate, wherein the output shaft of the third feeding driving motor is coaxially and fixedly connected with the feeding gear, and the feeding frame is fixedly arranged on the feeding frame mounting plate.

Furthermore, the feeding detection mechanism comprises a material receiving level detection unit, a material waiting level detection unit, a horizontal feeding in-place detection unit and a vertical feeding in-place detection unit, wherein the material receiving level detection unit, the horizontal feeding in-place detection unit and the vertical feeding in-place detection unit are sequentially arranged in the horizontal feeding channel along the feeding direction of the horizontal feeding channel; the feeding limiting mechanism is a vertical feeding limiting detection unit which is arranged in the vertical feeding channel and corresponds to the position of the discharging end and the feeding end of the vertical feeding channel.

Furthermore, the discharging mechanism comprises a vertical discharging channel, a discharging frame capable of vertically lifting along the vertical discharging channel, a vertical discharging driving unit for driving the discharging frame to lift along the vertical discharging channel, a horizontal discharging channel formed at the discharging end of the vertical discharging channel, and a horizontal discharging unit which is arranged on the base and is used for conveying the transfer tray from the feeding end of the horizontal discharging channel to the discharging end of the horizontal discharging channel; the discharge end of the vertical discharge channel is communicated with the feed end of the horizontal discharge channel to form the stepping discharge channel, the discharge limiting mechanism is installed in the vertical discharge channel, and the discharge detection mechanism is installed in the horizontal discharge channel and the vertical discharge channel.

Furthermore, a discharging back plate, a first discharging mounting plate and a second discharging mounting plate which are positioned on two opposite sides of the discharging back plate are vertically arranged on the base corresponding to the feeding end of the horizontal discharging channel, and the discharging back plate, the first discharging mounting plate and the second discharging mounting plate surround to form the vertical discharging channel;

the vertical discharging driving unit comprises a discharging rack fixedly arranged on the discharging back plate along the discharging direction of the vertical discharging channel, a discharging gear meshed with the discharging rack, at least one discharging guide rail arranged on the discharging back plate in parallel relative to the discharging rack, a discharging frame mounting plate arranged on the discharging guide rail in a sliding mode, and a first discharging driving motor fixedly arranged on the discharging frame mounting plate, wherein the output shaft of the first discharging driving motor is coaxially and fixedly connected with the discharging gear, and the discharging frame is fixedly arranged on the discharging frame mounting plate.

Furthermore, a first discharging mounting plate and a second discharging mounting plate which are oppositely arranged are fixed on the base corresponding to the discharging end of the horizontal discharging channel, the horizontal discharging unit comprises a first discharging conveying assembly arranged between the first discharging mounting plate and the second discharging mounting plate and a second discharging conveying assembly arranged between the first discharging mounting seat and the second discharging mounting seat, the first discharging mounting assembly and the second discharging conveying assembly are sequentially arranged along the discharging direction of the horizontal discharging channel, and the transferring tray sequentially conveys discharging materials along the first discharging conveying assembly and the second discharging conveying assembly;

the first discharging conveying assembly comprises discharging conveying modules symmetrically arranged on the inner sides of the first discharging mounting plate and the second discharging mounting plate; the discharging conveying module comprises at least two discharging rollers which are arranged on the inner side of the discharging mounting plate on the corresponding side along the discharging direction of the horizontal discharging channel and are rotatably connected with the discharging mounting plate, at least one discharging support bar which is fixed on the discharging mounting plate and is positioned between the two adjacent discharging rollers, a first discharging conveying belt which is wound on the discharging rollers and the outer side of the discharging support bar, and a second discharging driving motor which is fixedly arranged on the discharging mounting plate on the corresponding side and is fixedly connected with a rotating shaft of at least one discharging roller;

the second discharging conveying assembly comprises at least two discharging roller shafts which are arranged between the first discharging mounting seat and the second discharging mounting seat along the discharging direction of the horizontal discharging channel and are rotatably connected with the first discharging mounting seat and the second discharging mounting seat, at least one discharging support plate which is fixedly arranged between the first discharging mounting seat and the second discharging mounting seat and is positioned between the two adjacent discharging roller shafts, a second discharging conveyor belt which is wound on the outer sides of the discharging roller shafts and the discharging support plate and tensioned with the discharging roller shafts, and a third discharging driving motor which is fixedly arranged on the first discharging mounting seat or the second discharging mounting seat and is fixedly connected with the rotating shaft of the at least one discharging roller shaft.

Furthermore, the discharging detection mechanism comprises a discharging material detection sensor arranged at the feeding end of the vertical discharging channel, and a vertical discharging in-place detection sensor, a discharging process detection sensor and a horizontal discharging in-place detection sensor which are sequentially arranged in the horizontal discharging channel along the discharging direction of the horizontal discharging channel; the discharging limiting mechanism is a vertical discharging limiting detection unit which is arranged in the vertical discharging channel and corresponds to the discharging end and the feeding end of the vertical discharging channel.

Furthermore, the material moving mechanism comprises a material moving top plate which is fixedly arranged between the discharge end of the stepping type feeding channel and the feed end of the stepping type discharging channel and corresponds to one transverse side, a material moving guide rail which is fixedly arranged on the material moving top plate along the length direction of the material moving top plate, a clamping jaw sliding seat which is slidably arranged on the material moving guide rail, a clamping jaw assembly which is fixedly arranged on the clamping jaw sliding seat, and a material moving driving cylinder which is fixedly arranged on the material moving top plate and drives the clamping jaw sliding seat to slide along the material moving guide rail;

the clamping jaw assembly comprises a mounting bracket fixedly arranged on the clamping jaw sliding seat, a clamping jaw capable of vertically lifting along the tail end of the mounting bracket to be close to or far away from the discharge end of the stepping type feeding channel or the feed end of the stepping type discharging channel, and a clamping jaw lifting driving cylinder fixedly arranged at the tail end of the mounting bracket and driving the clamping jaw to lift;

the clamping jaw comprises a lifting plate fixedly arranged on an output shaft of the clamping jaw lifting driving cylinder, a transverse plate fixedly arranged at the bottom of the lifting plate, clamping cylinders symmetrically arranged at two ends of the transverse plate and clamping blocks fixedly arranged on the output shaft of the clamping cylinders.

The utility model discloses a set up feed mechanism and marching type feedstock channel and discharge mechanism and marching type discharging channel of mutually supporting, can be with piling up the transportation tray of placing with step-by-step mode feeding layer upon layer, snatch the work piece in transporting the tray with supplying the robot, it transports to carry out the pile up neatly in the marching type discharging channel after moving the idle running tray of material device in to marching type feedstock channel with one after snatching, the work piece that makes the robot will process the completion can prevent in idle running tray, again with the discharge mechanism with step-by-step mode ejection of compact layer upon layer, and then realize transporting the automatic pile up neatly of tearing open of tray, and tear the pile up neatly and process in step, the efficiency of processing and pile up neatly of breaking out has been improved greatly.

Drawings

Fig. 1 is the structure of the automatic pallet-dismantling device of the transfer tray of the present invention is a schematic view.

Fig. 2 is another schematic structural diagram of fig. 1.

Fig. 3 is a schematic view of another structure of fig. 1.

Fig. 4 is a schematic structural view of the first feeding conveying assembly.

FIG. 5 is a schematic diagram of a feed transport module.

Fig. 6 is a schematic view of the structure of the vertical feed driving unit.

Fig. 7 is another schematic view of the vertical feed drive unit.

FIG. 8 is a schematic structural diagram of a vertical discharge driving unit.

FIG. 9 is another schematic view of the vertical take-off drive unit.

FIG. 10 is a schematic diagram of an outfeed transfer module.

FIG. 11 is a schematic view of a second outfeed conveyor assembly.

Fig. 12 is a schematic structural diagram of the material moving mechanism.

Fig. 13 is a schematic structural view of the positioning mechanism.

The specification reference numbers:

the transfer tray 100, the base 1, the first feeding mounting seat 111, the second feeding mounting seat 112, the first feeding mounting plate 121, the first feeding mounting plate 122, the feeding back plate 13, the first discharging mounting plate 141, the second discharging mounting plate 142, the first discharging mounting seat 151, the second discharging mounting seat 152, the discharging back plate 16, the feeding mechanism 2, the horizontal feeding unit 21, the first feeding conveying assembly 211, the feeding roller 2111, the feeding support plate 2112, the first feeding conveyor belt 2113, the second feeding conveying assembly 212, the feeding conveying module 212A, the feeding roller 2121, the first feeding roller 2121a, the second feeding roller 2121B, the third feeding roller 2121a, the feeding support strip 2122, the second feeding conveyor belt 2123, the second feeding driving motor 2124, the feeding frame 22, the vertical feeding driving unit 23, the feeding rack 231, the feeding gear 232, the feeding guide rail 233, the feeding frame mounting plate 234 a third feeding driving motor 235, a feeding level detection unit 2A, a waiting level detection unit 2B, a horizontal feeding in-place detection unit 2C, a vertical feeding in-place detection unit 2D, a vertical feeding limit detection unit 2E, a discharging mechanism 3, a discharging frame 31, a vertical discharging driving unit 32, a discharging rack 321, a discharging gear 322, a discharging guide rail 323, a discharging frame mounting plate 324, a first discharging driving motor 325, a horizontal discharging unit 33, a discharging unit a first discharging transmission component 331, a discharging transmission module 331a, a discharging roller 3311, a discharging support bar 3312, a first discharging conveyor belt 3313, a second discharging driving motor 3314, a second discharging transmission component 332, a discharging roller 3321, a discharging support plate 3322, a second discharging conveyor belt 3323, a discharging material detection sensor 3A, a vertical discharging in-place detection sensor 3B, a discharging process detection sensor 3C, a horizontal discharging in-place detection sensor 3D, a discharging roller 3312, the device comprises a vertical discharging limit detection unit 3E, a stepping feeding channel 4, a stepping discharging channel 5, a material moving mechanism 6, a material moving top plate 61, a material moving guide rail 62, a clamping jaw sliding seat 63, a clamping jaw assembly 64, an installation support 641, a clamping jaw 642, a lifting plate 6421, a transverse plate 6422, a clamping cylinder 6423, a clamping block 6424, a clamping jaw lifting driving cylinder 643, a material moving driving cylinder 65, a buffer 66, a third proximity sensor 67, a warning mechanism 7, a positioning mechanism 8, a positioning installation plate 81, a first fixed positioning block 82, a first movable positioning block 83, a transverse positioning driving cylinder 84, a second fixed positioning block 85, a second movable positioning block 86 and a longitudinal positioning driving cylinder 87.

Detailed Description

The following is further detailed by way of specific embodiments:

examples

The automatic unstacking and stacking device for transferring the trays can be used for automatically unstacking and stacking the transferring trays 100 for accommodating workpieces, the transferring trays 100 for notebook computer shells are taken as an example for explanation in the embodiment, but it can be understood that the automatic unstacking and stacking device for transferring the trays is not limited to the unstacking and stacking of the transferring trays 100 for the notebook computer shells, and can also be used for the unstacking and stacking of the transferring trays 100 for other plate-shaped or non-plate-shaped workpieces which need to be transported by the transferring trays 100 in the processing and transferring processes.

As shown in fig. 1 to 3, the automatic pallet unstacking device for transferring pallets of this embodiment includes a base 1, a feeding mechanism 2 and a discharging mechanism 3 disposed on the base 1, a stepping feeding channel 4 formed in the discharging mechanism 3, a feeding detection mechanism and a feeding limit mechanism installed in the stepping feeding channel 4, a stepping discharging channel 5 formed in the discharging mechanism 3, a discharging detection mechanism and a discharging limit mechanism installed in the stepping discharging channel 5, and a material moving mechanism 6 disposed between the discharging mechanism 3 and the feeding mechanism 2 and used for moving the transferring pallet 100 from the discharging end of the stepping feeding channel 4 to the feeding end of the stepping discharging channel 5. During feeding, the stacked transfer trays 100 are placed at the feeding end of the stepping feeding channel 4, incoming materials (namely, the stacked transfer trays 100 are placed) are detected by the feeding detection mechanism, when the incoming materials exist, the feeding mechanism 2 transports the transfer trays 100 inwards and horizontally to a proper position, and then the feeding mechanism 2 feeds the incoming materials in a vertical stepping mode according to the height of the single transfer tray 100; every feeding transfer tray 100, the robot or the workman on the processing position take out the back with notebook computer shell from transferring tray 100, move material mechanism 6 and take off empty transfer tray 100 from the transport tray 100 that piles up and destack transfer tray 100, simultaneously, along with every step of feeding, the whole height of upwards stepping one transfer tray 100 of below, the transport tray 100 in marching type feedstock channel 4 constantly reduces, when feeding stop gear detected the last transfer tray 100 in marching type feedstock channel 4 bottom, feed mechanism 2 stops the ascending feeding in the vertical direction. When the materials are moved, the material moving mechanism 6 moves the taken-down transfer tray 100 from the discharge end of the stepping type feeding channel 4 to the feed end of the stepping type discharging channel 5, and then the transfer tray 100 is stacked on the transfer tray 100 of the stepping type discharging channel 5 to stack the transfer tray 100. During discharging, a robot or a worker replaces the processed notebook computer shell into the original transfer tray 100 (namely, the notebook computer shell is transferred into the empty transfer tray 100 at the top of the stepping type discharging channel 5), and step-by-step discharging is performed downwards according to the height of a single transfer tray 100 through the discharging mechanism 3, along with each step of discharging, the whole stacked transfer trays 100 step downwards by the height of one transfer tray 100, the transfer trays 100 in the stepping type discharging channel 5 are continuously increased, until the discharging limiting mechanism detects the transfer tray 100 at the bottom in the stepping type discharging channel 5, the discharging mechanism 3 stops downward discharging in the vertical direction, meanwhile, the discharging detection mechanism detects the stack of the transfer trays 100, the stack stops after the discharging mechanism 3 horizontally discharges outwards in place, the transfer tray 100 is moved away by the worker, automatic stacking and dismantling in the processing process are further realized, and the automation degree of the device is improved.

A set of first feeding mount pad 111 and second feeding mount pad 112 and a set of first feeding mounting panel 121 and second feeding mount pad 112 have been arranged in proper order along the horizontal feeding direction of transporting tray 100 on base 1, first feeding mount pad 111 and the head end of second feeding mount pad 112 relative arrangement in horizontal feeding direction, first feeding mounting panel 121 and second feeding mounting panel 122 relative arrangement are at the end of horizontal feeding direction, first feeding mount pad 111, second feeding mount pad 112, first feeding mounting panel 121 and the cooperation installation of second feeding mounting panel 122 feed mechanism 2. In addition, a feeding back plate 13 connected with the first feeding mounting plate 121 and the second feeding mounting plate 122 is vertically arranged on the base 1 corresponding to one side of the first feeding mounting plate 121 and the second feeding mounting plate 122 away from the first feeding mounting seat 111 and the second feeding mounting seat 112, and the base 1, the first feeding mounting seat 111, the second feeding mounting seat 112, the first feeding mounting plate 121, the second feeding mounting plate 122 and the feeding back plate 13 surround to form a stepping feeding channel 4 in an L-shaped structure, so that horizontal feeding and stepping vertical upward feeding of the transfer tray 100 are realized. A set of first ejection of compact mounting panel 141 and second ejection of compact mounting panel 142 and a set of first ejection of compact mount pad 151 and second ejection of compact mount pad 152 have been arranged in proper order along the horizontal ejection of compact direction of transporting tray 100 on base 1, first ejection of compact mounting panel 141 and second ejection of compact mounting panel 142 relative arrangement are at the head end of horizontal ejection of compact direction, first ejection of compact mount pad 151 and second ejection of compact mount pad 152 relative arrangement are at the end of horizontal ejection of compact direction, first ejection of compact mounting panel 141, second ejection of compact mounting panel 142, first ejection of compact mount pad 151 and the cooperation installation of second ejection of compact mount pad 152 discharge mechanism 3. In addition, a discharging back plate 16 connected with the first discharging mounting plate 141 and the second discharging mounting plate 142 is vertically arranged on one side of the base 1, which is far away from the first discharging mounting plate 151 and the second discharging mounting plate 152, corresponding to the first discharging mounting plate 141 and the second discharging mounting plate 142, and the base 1, the first discharging mounting plate 141, the second discharging mounting plate 142, the first discharging mounting plate 151, the second discharging mounting plate 152 and the discharging back plate 16 surround to form a stepping feeding channel 4 with an L-shaped structure, so that the stepping vertical downward discharging and horizontal discharging of the transfer tray 100 are realized.

The feeding mechanism 2 includes a horizontal feeding path 2a, a horizontal feeding unit 21 mounted on the base 1, a vertical feeding path 2b formed at a discharge end of the horizontal feeding path 2a, a feeding frame 22 capable of vertically moving along the vertical feeding path 2b, and a vertical feeding driving unit 23 for driving the feeding frame 22 to move up and down along the vertical feeding path 2 b. The horizontal feeding channel 2a is formed on the horizontal feeding unit 21 along the horizontal direction, the vertical feeding channel 2b is formed on the discharging end of the horizontal feeding channel 2a along the vertical direction, the discharging end of the horizontal feeding channel 2a is communicated with the feeding end of the vertical feeding channel 2b (the feeding end of the vertical feeding channel 2b is located below the discharging end) to form the L-shaped step feeding channel 4, a plurality of stacked transfer trays 100 are transported to the vertical feeding channel 2b along the horizontal direction in the horizontal feeding channel 2a, and step feeding is performed in the vertical feeding channel 2b along the vertical direction with the height of one transfer tray 100 as a reference. The feeding frame 22 is located in the vertical feeding path 2b for supporting the stacked transfer trays 100 and feeding stepwise upward by the vertical feeding driving unit 23. In this embodiment, the stacked transfer trays 100 are placed on the horizontal feeding unit 21 at the side of the feeding end corresponding to the horizontal feeding channel 2a, and are horizontally conveyed to the discharging end of the horizontal feeding channel 2a from the feeding end of the horizontal feeding channel 2a through the horizontal feeding unit 21, and then enter the vertical feeding channel 2b and are supported on the feeding frame 22, the vertical feeding driving unit 23 drives the feeding frame 22 to step up the feeding frame 22 according to the height of the single transfer tray 100, and the feeding frame 22 synchronously drives the transfer trays 100 supported thereon to step up for the robot or the work to grasp/take the workpiece.

The horizontal feeding unit 21 includes a first feeding transfer assembly 211 disposed between the first feeding mount 111 and the second feeding mount 112 and a second feeding transfer assembly 212 disposed between the first feeding mount plate 121 and the second feeding mount plate 122. The first feed conveyor assembly 211 and the second feed conveyor assembly 212 are arranged in sequence along the feeding direction of the horizontal feeding path 2a, and the first feed conveyor assembly 211 and the second feed conveyor assembly 212 can be conveyed simultaneously, so that the transfer tray 100 can convey the feeding in sequence along the first feed conveyor assembly 211 and the second feed conveyor assembly 212. In this embodiment, the feeding direction of the horizontal feeding path 2a is from outside to inside along the horizontal feeding path 2a, i.e. towards the direction close to the vertical feeding path 2 b.

As shown in fig. 4, the first feeding conveying assembly 211 includes at least two feeding rollers 2111 rotatably disposed between the first feeding mounting seat 111 and the second feeding mounting seat 112 along the feeding direction of the horizontal feeding passage 2a, at least one feeding supporting plate 2112 fixedly disposed between the first feeding mounting seat 111 and the second feeding mounting seat 112, a first feeding conveying belt 2113 wound around the feeding rollers 2111 and the feeding supporting plate 2112, and a first feeding driving motor (not shown) for driving the feeding rollers 2111. In this embodiment, two feeding rollers 2111 are disposed between the first feeding mounting seat 111 and the second feeding mounting seat 112, the two feeding rollers 2111 are disposed in parallel between the first feeding mounting seat 111 and the second feeding mounting seat 112, and two ends of each of the two feeding rollers 2111 are rotatably connected to corresponding positions of the first feeding mounting seat 111 and the second feeding mounting seat 112, respectively, and an axis of the feeding roller 2111 is orthogonal to a horizontal feeding direction, so as to ensure a feeding direction of the transfer tray 100; the first feeding conveyor belt 2113 is tensioned with the outer surfaces of the two feeding rollers 2111, an output shaft of the first feeding driving motor is fixedly connected with at least a rotating shaft of one of the feeding rollers 2111 to drive the feeding rollers 2111 to rotate, and meanwhile, the first feeding conveyor belt 2113 is driven to move through friction between the outer surface of the feeding roller 2111 and the first feeding conveyor belt 2113, so that the transfer tray 100 placed on the first feeding conveyor belt 2113 is fed inwards. The upper surface of the feeding support plate 2112 is tangent to the surface of the feeding roller 2111 on the corresponding side, so as to support the transfer tray 100 and ensure that the transfer tray 100 is stably fed inwards. In this embodiment, a feed support plate 2112 is provided depending on the number of feed rollers 2111, the feed support plate 2112 being provided between two feed rollers 2111; it is understood that, in some other embodiments, when the number of the feeding rollers 2111 is multiple, the number of the feeding supporting plates 2112 may also be correspondingly increased and arranged at intervals with the feeding rollers 2111, so as to stably support the transfer tray 100 during the feeding process, and avoid the first feeding conveying belt 2113 from being damaged due to pressing down the first feeding conveying belt 2113 when the transfer tray 100 is too heavy.

The second feed delivery assembly 212 includes feed delivery modules 212a symmetrically disposed inside the first feed mounting plate 121 and the second feed mounting plate 122. In this embodiment, the distance between the two feeding conveying modules 212a is at least smaller than the length of the long side of the transfer tray 100, so that when the transfer tray 100 is conveyed inwards to the second feeding conveying assembly 212, the two opposite sides of the transfer tray 100 can be respectively supported on the feeding conveying modules 212a of the corresponding sides, and the transfer tray 100 can be conveyed to a position along the horizontal feeding direction under the synchronous action of the two feeding conveying modules 212a and the cooperation of the first feeding conveying assembly 211.

As shown in fig. 5, the feeding conveyor module 212a includes at least two feeding rollers 2121 disposed inside the corresponding side feeding mounting plate along the feeding direction of the horizontal feeding passage 2a, at least one feeding support strip 2122 fixed on the corresponding side feeding mounting plate, a second feeding conveyor 2123 wound around the feeding rollers 2121 and the feeding support strip 2122, and a second feeding driving motor 2124 for driving the feeding rollers 2121. In this embodiment, two first feeding rollers 2121a and a second feeding roller 2121b are disposed on the inner side of the feeding mounting plate in parallel along the feeding direction of the horizontal feeding passage 2a, the second feeding roller 2121b is disposed below the two first feeding rollers 2121a, the second feeding roller is wound around the outer sides of the first feeding roller 2121a and the second feeding roller 2121b and tensioned with each of the feeding rollers 2121, an output shaft of the second feeding driving motor 2124 is fixed to a rotating shaft of the second feeding roller 2121b to drive the second feeding roller 2121b to rotate, and the second feeding belt 2123 is driven to move by friction between the second feeding belt 2123 and the outer surfaces of the first feeding roller 2121a and the second feeding roller 2121b, so as to drive the transfer tray 100 disposed on the two second feeding belts 2123 to feed inward. Preferably, this embodiment may further include a third feeding roller 2121a rotatably disposed on the corresponding side feeding mounting plate corresponding to between the first feeding roller 2121a and the second feeding roller 2121b, and an outer surface of the second feeding conveyor belt 2123 is tensioned with a surface of the third feeding roller 2121a to increase a friction force between the feeding roller 2121 and the second feeding conveyor belt 2123, so as to prevent the second feeding conveyor belt 2123 from slipping, thereby stably conveying the transfer tray 100 inward. It is understood that in some other embodiments, only two feeding rollers 2121 may be provided, and the specific arrangement may refer to the arrangement of the feeding rollers 2111 in the first feeding conveying assembly 211, which is not described herein again. The feeding support strips 2122 are disposed between the first feeding rollers 2121a, and the upper surfaces thereof are tangent to the surface of the first feeding rollers 2121a, so as to support the transfer tray 100 and ensure stable conveyance of the transfer tray 100. In this embodiment, a feeding support strip 2122 is provided according to the number of the first feeding rollers 2121a, and the feeding support strip 2122 is disposed between the two first feeding rollers 2121 a; it is understood that in other embodiments, when the number of the first feeding rollers 2121a is multiple, the number of the feeding support strips 2122 may also be correspondingly increased and arranged at intervals with the first feeding rollers 2121a to achieve stable support of the transfer tray 100 during feeding, so as to avoid the second feeding conveyor belt 2123 from being damaged due to pressing down the second feeding conveyor belt 2123 when the transfer tray 100 is too heavy.

In this embodiment, the upper surfaces of the two feeding conveyor modules 212a (i.e. the second feeding conveyor belts 2123) are located at the same level to avoid tilting and even collapsing when the transfer trays 100 are stacked too much and conveyed on the second feeding conveyor group; preferably, the upper surface of the feeding conveying module 212a is located at the same level as the upper surface of the first feeding conveying assembly 211, so as to prevent the transfer tray 100 from toppling over due to a height difference when the transfer tray 100 is transported between the first feeding conveying assembly 211 and the second feeding conveying assembly 212. It will be appreciated that in other embodiments, the coplanarity between the upper surface of the first feed conveyor assembly 211 and the upper surface of the second feed conveyor assembly 212 is not necessary, and when the size of the transfer tray 100 is large, a certain height difference between the two has little influence on the transfer tray 100, and is allowed.

As shown in fig. 6 to 7, the vertical feeding driving unit 23 includes a feeding rack 231 fixed on the feeding back plate 13 along the feeding direction of the vertical feeding path 2b, a feeding gear 232 engaged with the feeding rack 231, at least one feeding rail 233 arranged on the feeding back plate 13 in parallel with the feeding rack 231, a feeding frame 22 mounting plate slidably arranged on the feeding rail 233, and a third feeding driving motor 235 fixed on the feeding frame 22 mounting plate. The output shaft of the third feeding driving motor 235 is coaxially and fixedly connected with the feeding gear 232, when the third feeding driving motor 235 acts, the feeding gear 232 can be driven to synchronously rotate, and due to the matching of the feeding gear 232 and the feeding rack 231, the third feeding driving motor 235 and the feeding frame 22 mounting plate can climb or descend along the feeding rack 231 along with the rotation of the feeding gear 232, so that the third feeding driving motor 235 and the feeding frame 22 mounting plate are driven to integrally slide upwards or downwards along the feeding guide rail 233, and the feeding frame 22 fixedly arranged on the feeding frame 22 mounting plate is driven to synchronously move upwards or downwards, so that the upward stepping feeding of the transfer tray 100 supported on the feeding frame 22 in the direction vertical to the feeding channel 2b and the downward feeding of the empty feeding frame 22 are realized.

Referring back to fig. 1, 2 and 3, the feeding detection mechanism is installed in the horizontal feeding path 2a and the vertical feeding path 2b to detect whether there is incoming material at the feeding end of the horizontal feeding path 2a and whether the transfer tray 100 is horizontally transported inward in the horizontal feeding path 2a and vertically transported in the vertical feeding path 2 b; the feeding limiting mechanism is arranged in the vertical feeding channel 2b and corresponds to the positions of the discharging end and the feeding end of the vertical feeding channel 2b so as to limit the range of the feeding frame 22 moving up and down.

The feeding detection mechanism comprises a material level detection unit 2A, a material level detection unit 2B, a horizontal feeding in-place detection unit 2C and a vertical feeding in-place detection unit 2D, wherein the material level detection unit 2A, the material level detection unit 2B and the horizontal feeding in-place detection unit 2C are sequentially arranged in the horizontal feeding channel 2A along the feeding direction of the horizontal feeding channel 2A, and the vertical feeding in-place detection unit 2D is arranged at the discharging end of the vertical feeding channel 2B. In this embodiment, the incoming material level detection unit 2A, the waiting material level detection unit 2B, the horizontal feeding in-place detection unit 2C, and the vertical feeding in-place detection unit 2D are all implemented by using a set of infrared generator and infrared receiver. Specifically, the first infrared generator and the first infrared receiver corresponding to the incoming material level detection unit 2A are respectively disposed on the first feeding mounting seat 111 and the second feeding mounting seat 112 and correspond to one side far away from the second feeding conveying assembly 212, so as to detect whether the incoming material level has the transfer tray 100. Treat that material level detection unit 2B corresponds second infrared generator and second infrared receiver divide locate first feeding mount pad 111 and second feeding mount pad 112 on and be close to one side of second feeding conveying subassembly 212 to whether there is the transportation tray 100 of material level to the detection feeding is treated. The third infrared generator and the third infrared receiver corresponding to the horizontal feeding in-place detection unit 2C are respectively disposed at the bottom of the first feeding mounting plate 121 and the second feeding mounting plate 122 and correspond to the side far away from the first feeding conveying assembly 211, so as to detect whether the transfer tray 100 is horizontally conveyed inwards. The fourth infrared generator and the fourth infrared receiver corresponding to the vertical feeding in-place detection unit 2D are respectively disposed on the tops of the first feeding mounting plate 121 and the second feeding mounting plate 122 to detect whether the transfer tray 100 is in place in each step of vertical upward stepping transfer and whether the last transfer tray 100 at the bottom of the stacked transfer trays 100 is in place, thereby determining whether all the transfer trays 100 are transferred completely. The feeding limiting mechanism is a vertical feeding limiting detection unit 2E which is arranged in the vertical feeding channel 2b and corresponds to the position of the discharging end and the feeding end of the vertical feeding channel 2 b. In this embodiment, the vertical feeding limit detection unit 2E is implemented by a proximity sensor, and a first proximity sensor corresponding to the vertical feeding limit detection unit 2E is installed at a position on the feeding back plate 13 corresponding to the discharging end and the feeding end of the vertical feeding channel 2b to detect the moving distance of the feeding frame 22 and limit the moving range of the feeding frame 22.

The discharging mechanism 3 comprises a vertical discharging channel 3a, a discharging frame 31 capable of vertically lifting along the vertical discharging channel 3a, a vertical discharging driving unit 32 for driving the discharging frame 31 to vertically lift along the vertical discharging channel 3a, a horizontal discharging channel 3b formed at the discharging end of the vertical discharging channel 3a, and a horizontal discharging unit 33 installed on the base 1. The horizontal discharging channel 3b is formed on the horizontal discharging unit 33 along the horizontal direction, the vertical discharging channel 3a is formed at the feeding end of the horizontal discharging channel 3b along the vertical direction, and the feeding end of the horizontal feeding channel 2a is communicated with the discharging end of the vertical discharging channel 3a (the discharging end of the vertical discharging channel 3a is positioned below the feeding end) to form the L-shaped stepping feeding channel 4. Discharging frame 31 is located perpendicular discharging channel 3a, transport tray 100 that comes is transported by perpendicular feedstock channel 2 b's discharge end and piles up on discharging frame 31 at perpendicular discharging channel 3 a's discharge end, and use the downward step-by-step ejection of compact of a height of transporting tray 100 as the benchmark layer along perpendicular discharging channel 3a, after the last tray 100 ejection of compact of transporting in bottom put in place on discharging frame 31, the pile of transportation tray 100 pile up neatly is accomplished, will transport the outside horizontal ejection of compact of tray 100 along horizontal discharging channel 3b by horizontal discharging unit 33 again, in order to supply the workman to remove it from.

As shown in fig. 8 to 9, the vertical discharging driving unit 32 includes a discharging rack 321 fixed on the discharging back plate 16 along the discharging direction of the vertical discharging channel 3a, a discharging gear 322 engaged with the discharging rack 321, at least one discharging guide rail 323 arranged on the discharging back plate 16 in parallel with the discharging rack 321, a discharging frame 31 mounting plate slidably arranged on the discharging guide rail 323, and a first discharging driving motor 325 fixed on the discharging frame 31 mounting plate. The output shaft of the first discharging driving motor 325 is coaxially and fixedly connected with the discharging gear 322, when the first discharging driving motor 325 acts, the discharging gear 322 can be driven to synchronously rotate, because the discharging gear 322 is matched with the discharging rack 321, along with the rotation of the discharging gear 322, the discharging rack 321 can descend or climb, and then the first discharging driving motor 325 and the discharging frame 31 mounting plate are driven to integrally slide downwards or upwards along the discharging guide rail 323, so that the discharging frame 31 fixedly arranged on the discharging frame 31 mounting plate is driven to synchronously move downwards or upwards, and the downward stepping discharging of the transfer tray 100 supported on the discharging frame 31 in the direction perpendicular to the discharging channel 3a and the upward re-receiving of the empty discharging frame 31 are realized.

The horizontal discharging unit 33 includes a first discharging transfer unit 331 disposed between the first discharging mounting plate 141 and the second discharging mounting plate 142, and a second discharging transfer unit 332 disposed between the first discharging mounting base 151 and the second discharging mounting base 152. The first discharging installation component and the second discharging conveying component 332 are sequentially arranged along the discharging direction of the horizontal discharging channel 3b, and the first discharging conveying component 331 and the second discharging conveying component 332 can synchronously convey, so that the transfer tray 100 can sequentially convey discharging along the first discharging conveying component 331 and the second discharging conveying component 332. In this embodiment, the discharge direction of the horizontal discharge channel 3b is directed along the horizontal discharge channel 3b from the inside to the outside, i.e. away from the vertical discharge channel 3 a.

The first discharging conveying assembly 331 includes discharging conveying modules 331a symmetrically disposed inside the first discharging mounting plate 141 and the second discharging mounting plate 142. In this embodiment, the distance between the two discharging transport modules 331a is at least smaller than the length of the long side of the transfer tray 100, so that when the transfer tray 100 is transported outward to the second discharging transport assembly 332, the two opposite sides of the transfer tray 100 can be respectively supported on the discharging transport modules 331a of the corresponding sides, and the transfer tray 100 is transported to a position along the horizontal discharging direction under the synchronous action of the two discharging transport modules 331a and the cooperation of the second discharging transport assembly 332.

As shown in fig. 10, the discharging conveying module 331a includes at least two discharging rollers 3311 disposed in parallel along the discharging direction of the horizontal discharging channel 3b on the inner side of the discharging mounting plate on the corresponding side and rotatably connected to the discharging mounting plate, at least one discharging support bar 3312 fixed on the discharging mounting plate and located between two adjacent discharging rollers 3311, a first discharging conveyor belt 3313 wound around the discharging rollers 3311 and the discharging support bar 3312, and a second discharging driving motor 3314 fixed on the discharging mounting plate on the corresponding side and fixedly connected to the rotating shaft of at least one discharging roller 3311. In this embodiment, the arrangement of the discharging roller 3311, the discharging support strip 3312, the first discharging conveyor belt 3313, and the second discharging drive motor 3314 in the discharging conveyor module 331a is the same as the arrangement of the feeding roller 2121, the feeding support strip 2122, the second feeding conveyor belt 2123, and the first discharging drive motor 325 in the feeding conveyor module 212a, and the number and the positions of the discharging roller 3311 and the discharging support strip 3312 may also be adjusted according to actual conditions, and the discharging conveyor module 331a is different from the feeding conveyor module 212a in that the rotating direction of the discharging roller 3311 during discharging is opposite to the rotating direction of the feeding roller 2121 during feeding to achieve outward conveying and discharging of the transfer tray 100, and therefore, the specific arrangement manner of the discharging conveyor module 331a may refer to the arrangement manner of the feeding conveyor module 212a, and will not be described herein.

As shown in fig. 11, the second discharging conveying assembly 332 includes at least two discharging rollers 3321 disposed between the first discharging mounting seat 151 and the second discharging mounting seat 152 along the discharging direction of the horizontal discharging channel 3b and rotatably connected to the first discharging mounting seat 151 and the second discharging mounting seat 152, at least one discharging support plate 3322 fixedly disposed between the first discharging mounting seat 151 and the second discharging mounting seat 152 and located between two adjacent discharging rollers 3321, a second discharging conveyor belt 3323 wound around the discharging rollers 3321 and the discharging support plate 3322 and tensioned with the discharging rollers 3321, and a third discharging driving motor (not shown) fixedly disposed on the first discharging mounting seat 151 or the second discharging mounting seat 152 and fixedly connected to the rotating shaft of at least one discharging roller 3321. In this embodiment, the arrangement of the discharging roller 3321, the discharging support plate 3322, the second discharging conveyor belt 3323, and the third discharging driving motor in the second discharging conveying assembly 332 is the same as the arrangement of the feeding roller 2111, the feeding support plate 2112, the first feeding conveyor belt 2113, and the first feeding driving motor in the first feeding conveying assembly 211, and meanwhile, the number of the discharging roller 3321 and the discharging support plate 3322 may also be adjusted according to actual conditions, and the second discharging conveying assembly 332 is different from the first feeding conveying assembly 211 in that the rotating direction of the discharging roller 3321 during discharging is opposite to the rotating direction of the feeding roller 2111 during feeding to achieve outward conveying and discharging of the transfer tray 100, and therefore, the specific arrangement mode of the second discharging conveying assembly 332 may refer to the arrangement mode of the first feeding conveying assembly 211, which will not be described herein.

Referring back to fig. 1, 2 and 3, the discharging detection mechanism is installed in the vertical discharging channel 3a and the horizontal discharging channel 3b to detect whether the feeding end of the vertical discharging channel 3a is fed in place and whether the transfer tray 100 is transported horizontally outward in the horizontal discharging channel 3b in place; the discharging limiting mechanism is arranged in the vertical discharging channel 3a and corresponds to the discharging end of the vertical discharging channel 3a so as to limit the up-and-down moving range of the discharging frame 31.

In this embodiment, the discharging detection mechanism comprises a discharging material detection sensor 3A arranged at the feeding end of the vertical discharging channel 3A, and a vertical discharging in-place detection sensor 3B, a discharging process detection sensor 3C and a horizontal discharging in-place detection sensor 3D which are sequentially arranged in the horizontal discharging channel 3B along the discharging direction of the horizontal discharging channel 3B. In this embodiment, the discharged material detection sensor 3A, the vertical discharge in-place detection sensor 3B, the discharge process detection sensor 3C, and the horizontal discharge in-place detection sensor 3D are also implemented by using a set of infrared generator and infrared receiver. Specifically, a fifth infrared generator and a fifth infrared receiver corresponding to the discharged material detection sensor 3A are respectively disposed on the tops of the first discharged material mounting plate 141 and the second discharged material mounting plate 142, so as to detect whether the step-by-step transmission of each step vertically downward of the transfer tray 100 is in place. The sixth infrared generator and the sixth infrared receiver corresponding to the vertical discharging in-place detection sensor 3B are respectively arranged at the bottom of the first discharging mounting plate 141 and the second discharging mounting plate 142 and corresponding to one side far away from the second discharging conveying component 332, so as to detect whether the material level has the transfer tray 100 or not and detect whether the last transfer tray 100 at the bottom of the stacked transfer trays 100 is transferred in place or not, thereby determining whether the transfer tray 100 is horizontally transferred outwards or not. Seventh infrared generator and seventh infrared receiver that ejection of compact process detection sensor 3C corresponds are located on first ejection of compact mount pad 151 and the second ejection of compact mount pad 152 and are close to one side of first ejection of compact conveying subassembly 331 respectively to detect the ejection of compact and treat the material level and whether have transportation tray 100. The horizontal ejection of compact detection sensor 3D that targets in place eighth infrared generator and the eighth infrared receiver branch that locates on first ejection of compact mount pad 151 and the second ejection of compact mount pad 152 corresponding to the one side of keeping away from first ejection of compact conveying component 331 to whether the horizontal ejection of compact that detects transport tray 100 targets in place. The discharging limiting mechanism is a vertical discharging limiting detection unit 3E which is arranged in the vertical discharging channel 3a and corresponds to the discharging end and the feeding end of the vertical discharging channel 3 a. In this embodiment, the vertical discharging detection unit is also implemented by using a proximity sensor, and the second proximity sensor corresponding to the vertical discharging limit detection unit 3E is installed at the position corresponding to the discharging end and the feeding end of the vertical discharging channel 3a on the discharging back plate 16 to detect the moving distance of the discharging frame 32 and limit the moving range of the discharging frame 31.

As shown in fig. 12, the material moving mechanism 6 includes a material moving top plate 61 fixed between the discharging end of the step-type feeding channel 4 and the feeding end of the step-type discharging channel 5, a material moving guide rail 62 fixed on the material moving top plate 61 along the length direction of the material moving top plate 61, a clamping jaw sliding seat 63 slidably disposed on the material moving guide rail 62, a clamping jaw assembly 64 fixed on the clamping jaw sliding seat 63, and a material moving driving cylinder 65 fixed on the material moving top plate 61 and driving the clamping jaw sliding seat 63 to slide along the material moving guide rail 62. In this embodiment, the clamping jaw assembly 64 can grab and release the transfer tray 100, the material moving driving cylinder 65 drives the clamping jaw sliding seat 63 to horizontally slide along the material moving guide rail 62 in a reciprocating manner, so that the clamping jaw assembly 64 can reciprocate at the discharge end of the vertical feeding channel 2b and the feed end of the vertical discharging channel 3a, and the grabbed transfer tray 100 can be transferred from the discharge end of the vertical feeding channel 2b to the feed end of the vertical discharging channel 3 a.

As a preferable mode of this embodiment, a buffer 66 and a third proximity sensor 67 that can contact with the jaw sliding seat 63 are fixed at both ends of the material transferring guide rail 62, and the buffer 66 can buffer the jaw sliding seat 63 when the jaw sliding seat 63 approaches, so as to prevent the transfer tray 100 from falling off from the jaw assembly 64 due to the too high speed of the jaw sliding seat 63; meanwhile, the third proximity sensor 67 can recognize the approach of the jaw sliding base 63, so as to control the jaw sliding base 63 to stop after moving to the two ends along the material moving guide rail 62.

The clamping jaw assembly 64 includes a mounting bracket 641 fixed to the clamping jaw sliding base 63, a clamping jaw 642 capable of vertically moving along the end of the mounting bracket 641 to approach or separate from the discharging end of the step-feed channel 4 or the feeding end of the step-feed channel 5, and a clamping jaw moving driving cylinder 643 for driving the clamping jaw 642 to move up and down. In this embodiment, the clamping jaw lifting driving cylinder 643 is fixed at the end of the mounting bracket 641, and the clamping jaw 642 is fixed on the output shaft of the clamping jaw lifting driving cylinder 643, so that the output shaft of the clamping jaw lifting driving cylinder 643 can drive the clamping jaw 642 to vertically lift when extending or retracting, and further, the clamping jaw lifting driving cylinder 643 can move downwards or downwards to be close to or far from the discharging end of the vertical feeding channel 2b and the feeding end of the vertical discharging channel 3 a.

The clamping jaw 642 comprises a lifting plate 6421 fixed on the output shaft of the clamping jaw lifting driving cylinder 643, a horizontal plate 6422 fixed at the bottom of the lifting plate 6421, clamping cylinders 6423 symmetrically arranged at two ends of the horizontal plate 6422 and clamping blocks 6424 fixed on the output shaft of the clamping cylinders 6423. In this embodiment, when the output shaft of the clamping cylinder 6423 extends and contracts, the clamping blocks 6424 at two ends of the transverse plate 6422 can be driven to move close to or away from each other, so as to realize the grabbing and releasing of the transfer tray 100.

Referring back to fig. 1, as a preferred mode of the present embodiment, the automatic unstacking device further includes a warning mechanism 7, and the warning mechanism 7 preferably employs a three-color warning lamp to prompt and/or alarm the working status (such as feeding, material handling, failure, etc.) of the automatic unstacking device.

As shown in fig. 13, as a preferable mode of this embodiment, the automatic unstacking device further includes a positioning mechanism 8 fixed on the base 1; because the notebook computer housing in the transfer tray 100 can shift during the transportation process, the positioning mechanism 8 is required to adjust and position the notebook computer housing in the transfer tray 100 after the feeding process, so that the subsequent robot can process the notebook computer housing.

Specifically, the positioning mechanism 8 includes a positioning mounting plate 81 fixedly disposed on the base 1, at least one first fixed positioning block 82 fixedly disposed on one lateral side of the positioning mounting plate 81, a first movable positioning block 83 slidably disposed on the other lateral side of the positioning mounting plate 81, a transverse positioning driving cylinder 84 fixedly disposed on the positioning mounting plate 81 and driving the first movable positioning block 83 to transversely move along the positioning mounting plate 81, at least one second fixed positioning block 85 fixedly disposed on one longitudinal side of the positioning mounting plate 81, a second movable positioning block 86 fixedly disposed on the other longitudinal side of the positioning mounting plate 81, and a longitudinal positioning driving cylinder 87 fixedly disposed on the positioning mounting plate 81 and driving the second movable positioning block 86 to longitudinally move along the positioning mounting plate 81, and the housing is positioned between the first fixed positioning block 82, the first movable positioning block 83, the second fixed positioning block 85, and the second movable positioning block 86. In this embodiment, the transverse positioning driving cylinder 84 can drive the first movable positioning block 83 to approach or leave the first fixed positioning block 82, and the longitudinal positioning driving cylinder 87 can drive the second movable positioning block 86 to approach or leave the second fixed positioning block 85, so as to push the notebook computer housing placed between the first fixed positioning block 82, the first movable positioning block 83, the second fixed positioning block 85 and the second movable positioning block 86 towards the directions of the first fixed positioning block 82 and the second fixed positioning block 85, thereby realizing position adjustment of the notebook computer housing and facilitating subsequent robot grasping.

When the utility model is used, firstly, a stack of transfer trays 100 is placed on the first feeding conveyor 2113, the supplied materials are detected as the detection unit to transfer the tray 100, the first feeding drive motor and the second feeding drive motor 2124 are started, the transfer tray 100 is conveyed on the first feeding conveyor 2113 and the second feeding conveyor 2123 along the horizontal feeding channel 2A in sequence, and in the conveying process, when the supplied material level detection unit 2A and the material level detection unit 2B can not detect the transfer tray 100 and the horizontal feeding in-place detection unit 2C detects the transfer tray 100, the first feeding drive motor and the second feeding drive motor 2124 are controlled to stop; then, the third feeding driving motor 235 is started, the feeding frame 22 is driven to support the transfer tray 100 to move upwards under the matching of the feeding gear 232 and the feeding rack 231, when the vertical feeding in-place detection unit 2D detects the transfer tray 100, the third feeding driving motor 235 is stopped, and at the moment, the feeding frame 22 moves upwards by a distance equal to the height of the transfer tray 100; then, after the standby robot grabs the notebook computer housing, the clamping jaw lifting driving cylinder 643 drives the indirect driving clamping block 6424 to move downward to be close to the transferring tray 100, the clamping cylinder 6423 drives the clamping block 6424 to grab the transferring tray 100 and then drives the transferring tray 100 to move upward to be far away from the discharging end of the vertical feeding channel 2b, at this time, the material transferring driving cylinder 65 starts to drive the clamping jaw assembly 64 grabbing the transferring tray 100 to move to the feeding end of the vertical discharging channel 3A, the clamping jaw lifting driving cylinder 643 drives the clamping block 6424 to move downward to be close to the feeding end of the vertical discharging channel 3A, the clamping cylinder 6423 drives the clamping block 6424 to release the transferring tray 100 to the discharging frame 31, then the feeding end far away from the vertical discharging channel 3A upward and reset to the discharging end of the vertical feeding channel 2b, after the transferring tray 100 is released, the discharging material detection sensor 3A detects the transferring tray 100, the first discharging driving motor 325 is started, the discharging gear 322 and the discharging rack 321 is matched to drive the discharging frame 31 to move downward to the discharging tray 100 a, and when the first discharging drive motor is not stopped to detect the discharging tray 100 a discharging frame; meanwhile, after the transfer tray 100 is clamped, if the vertical feeding in-place detection unit 2D cannot detect the transfer tray 100, the third feeding driving motor 235 is started, and the third feeding driving motor 235 moves upward again by matching with the feeding gear 232 and the feeding rack 231 by the height of one transfer tray 100 until the vertical feeding in-place detection unit 2D detects the transfer tray 100, and the process is repeated; finally, as the transportation tray 100 on the discharging frame 31 is piled more and more, the vertical discharging in-place detection sensor 3B detects the transportation tray 100, the first discharging driving motor 325 is stopped and the second discharging driving motor 3314 and the third discharging driving motor are started, the transportation tray 100 is conveyed outwards on the first discharging conveyor belt 3313 and the second discharging conveyor belt 3323 along the horizontal discharging channel 3B, in the process, when the vertical discharging in-place detection sensor 3B and the discharging process detection sensor 3C do not detect the transportation tray 100 and the horizontal discharging in-place detection sensor 3D detects the transportation tray 100, the second discharging driving motor 3314 and the third discharging driving motor are stopped, the worker moves the transportation tray 100 away, and then the automatic pile removing and pile up neatening in the processing process is realized, the operation is convenient, and the practicability is strong.

Claims

1. The utility model provides a transport automatic unstacking and stacking device of tray, includes the base, its characterized in that: still including setting up a feed mechanism and an discharging mechanism on the base, a marching type feedstock channel who is formed in feed mechanism, a marching type discharging channel who is formed in discharging mechanism, install a feeding detection mechanism and a feeding stop gear in the marching type feedstock channel, install a ejection of compact stop gear and an ejection of compact detection mechanism and one in the marching type discharging channel are located between feed mechanism and the discharging mechanism and will be transported the tray and transfer the material moving mechanism to marching type discharging channel's feed end from marching type feedstock channel's discharge end.

2. The automatic destacking and stacking device for transfer trays as claimed in claim 1, wherein: the feeding mechanism comprises a horizontal feeding channel, a horizontal feeding unit which is arranged on the base and used for conveying the transfer tray from the feeding end of the horizontal feeding channel to the discharging end of the horizontal feeding channel, a vertical feeding channel which is formed at the discharging end of the horizontal feeding channel, a feeding frame which can vertically lift along the vertical feeding channel, and a vertical feeding driving unit which drives the feeding frame to lift along the vertical feeding channel; the discharge end of the horizontal feeding channel is communicated with the feed end of the vertical feeding channel to form the stepping feeding channel, the feeding detection mechanism is installed in the horizontal feeding channel and the vertical feeding channel, and the feeding limiting mechanism is installed in the vertical feeding channel.

3. The automatic unstacking and stacking device for transferring pallets as claimed in claim 2, wherein: the horizontal feeding unit comprises a first feeding conveying assembly and a second feeding conveying assembly, the first feeding conveying assembly and the second feeding conveying assembly are arranged between the first feeding mounting seat and the second feeding mounting seat, the second feeding conveying assembly is arranged between the first feeding mounting plate and the second feeding mounting plate, the first feeding conveying assembly and the second feeding conveying assembly are sequentially arranged along the feeding direction of the horizontal feeding channel, and the transfer tray sequentially conveys feeding materials along the first feeding conveying assembly and the second feeding conveying assembly;

4. An automatic destacking and stacking device for transfer pallets as claimed in claim 3, wherein: a feeding back plate is vertically arranged on one side of the base, which is far away from the feeding end of the horizontal feeding channel, and the first feeding mounting plate, the second feeding mounting plate and the feeding back plate are encircled to form the vertical feeding channel;

5. The automatic unstacking and stacking device for transferring pallets as claimed in claim 2, wherein: the feeding detection mechanism comprises a material receiving level detection unit, a material waiting level detection unit, a horizontal feeding in-place detection unit and a vertical feeding in-place detection unit, wherein the material receiving level detection unit, the material waiting level detection unit and the horizontal feeding in-place detection unit are sequentially arranged in the horizontal feeding channel along the feeding direction of the horizontal feeding channel, and the vertical feeding in-place detection unit is arranged at the discharge end of the vertical feeding channel; the feeding limiting mechanism is a vertical feeding limiting detection unit which is arranged in the vertical feeding channel and corresponds to the positions of the discharging end and the feeding end of the vertical feeding channel.

6. The automatic destacking and stacking device for transfer trays as claimed in claim 1, wherein: the discharging mechanism comprises a vertical discharging channel, a discharging frame capable of vertically lifting along the vertical discharging channel, a vertical discharging driving unit for driving the discharging frame to lift along the vertical discharging channel, a horizontal discharging channel formed at the discharging end of the vertical discharging channel and a horizontal discharging unit which is arranged on the base and is used for conveying the transfer tray from the feeding end of the horizontal discharging channel to the discharging end of the horizontal discharging channel; the discharge end of the vertical discharge channel is communicated with the feed end of the horizontal discharge channel to form the stepping discharge channel, the discharge limiting mechanism is installed in the vertical discharge channel, and the discharge detection mechanism is installed in the horizontal discharge channel and the vertical discharge channel.

7. The automatic destacking and stacking device for transfer trays of claim 6, wherein: a discharging back plate, a first discharging mounting plate and a second discharging mounting plate are vertically arranged on the base corresponding to the feeding end of the horizontal discharging channel, the first discharging mounting plate and the second discharging mounting plate are positioned on the opposite sides of the discharging back plate, and the discharging back plate, the first discharging mounting plate and the second discharging mounting plate surround to form the vertical discharging channel;

8. The automatic destacking and stacking device for transfer trays of claim 7, wherein: the horizontal discharging unit comprises a first discharging conveying assembly and a second discharging conveying assembly, the first discharging conveying assembly is arranged between the first discharging mounting plate and the second discharging mounting plate, the second discharging conveying assembly is arranged between the first discharging mounting plate and the second discharging mounting plate, the first discharging mounting assembly and the second discharging conveying assembly are sequentially arranged along the discharging direction of the horizontal discharging channel, and the transferring tray sequentially conveys discharging materials along the first discharging conveying assembly and the second discharging conveying assembly;

the second discharging conveying assembly comprises at least two discharging rolling shafts which are arranged between the first discharging mounting seat and the second discharging mounting seat along the discharging direction of the horizontal discharging channel and are rotationally connected with the first discharging mounting seat and the second discharging mounting seat, at least one discharging supporting plate which is fixedly arranged between the first discharging mounting seat and the second discharging mounting seat and is positioned between the two adjacent discharging rolling shafts, a second discharging conveying belt which is wound outside the discharging rolling shafts and the discharging supporting plate and is tensioned with the discharging rolling shafts, and a third discharging driving motor which is fixedly arranged on the first discharging mounting seat or the second discharging mounting seat and is fixedly connected with the rotating shaft of the at least one discharging rolling shaft.

9. The automatic destacking and stacking device for transfer trays of claim 6, wherein: the discharge detection mechanism comprises a discharge material detection sensor arranged at the feed end of the vertical discharge channel, and a vertical discharge in-place detection sensor, a discharge process detection sensor and a horizontal discharge in-place detection sensor which are sequentially arranged in the horizontal discharge channel along the discharge direction of the horizontal discharge channel; the discharging limiting mechanism is a vertical discharging limiting detection unit which is arranged in the vertical discharging channel and corresponds to the discharging end of the vertical discharging channel and the position of the discharging end.

10. The automatic destacking and stacking device for transfer trays as claimed in claim 1, wherein: the material moving mechanism comprises a material moving top plate which is fixedly arranged between the discharge end of the stepping type feeding channel and the feed end of the stepping type discharging channel and corresponds to one transverse side, a material moving guide rail which is fixedly arranged on the material moving top plate along the length direction of the material moving top plate, a clamping jaw sliding seat which is slidably arranged on the material moving guide rail, a clamping jaw assembly which is fixedly arranged on the clamping jaw sliding seat, and a material moving driving cylinder which is fixedly arranged on the material moving top plate and drives the clamping jaw sliding seat to slide along the material moving guide rail;