CN219448093U

CN219448093U - Electronic device charging tray is got and is put device

Info

Publication number: CN219448093U
Application number: CN202320750372.0U
Authority: CN
Inventors: 黄春机; 王灏
Original assignee: Fujian Star Wise Intelligent Technology Co ltd
Current assignee: Fujian Star Wise Intelligent Technology Co ltd
Priority date: 2023-04-07
Filing date: 2023-04-07
Publication date: 2023-08-01
Anticipated expiration: 2033-04-07

Abstract

The utility model discloses an electronic device tray picking and placing device, which comprises: a tray gripper and a tray gripper; the tray claw is used for pushing and pulling a tray on the goods shelf so that the tray extends out of the goods shelf; the tray gripper is used for clamping the electronic device tray from the tray or placing the electronic device tray into the tray. According to the electronic device tray taking and placing device, the trays in any storage groove on the tray can be clamped without adjusting the positions of the trays, so that the tray taking and placing steps are simplified, and the tray taking and placing efficiency is improved. And in addition, the electronic device charging tray is placed on the tray for storage, so that the chuck during storage caused by deformation of the electronic device charging tray can be avoided.

Description

Electronic device charging tray is got and is put device

Technical Field

The application relates to the technical field of electronic device storage, in particular to an electronic device tray picking and placing device.

Background

Traditional electronic product manufacturers, electronic device trays are usually managed by warehouse material personnel, and when material is taken or fed, personnel are required to take and place on the shelf of the electronic device tray. After the electronic device warehouse is introduced into the warehouse management system, the electronic device warehouse is in butt joint with the electronic device tray automatic material cabinet, and the electronic device tray automatic material cabinet automatically completes the material taking and storing processes according to the received tray information to be accessed. The automatic material cabinet for the electronic device material trays solves the problem of automatic taking and placing of the material trays, replaces manual material taking and material storing of a warehouse, improves the management efficiency to a certain extent, and does not complete automation.

The electronic device tray automatic material cabinet is generally composed of a goods shelf and an electronic device tray taking and placing device. A shelf is arranged in the cabinet and used for storing the material tray, and the material tray is directly transversely placed on a storage position of the shelf. In order to save space, the distance between the upper storage position and the lower storage position of the goods shelf is usually smaller, and meanwhile, the storage positions have a certain depth, so that a plurality of trays can be placed in one storage position. The cabinet is internally provided with a channel of the electronic device tray taking and placing device, the electronic device tray taking and placing device has the capability of moving up and down and back and forth in the channel, and can move to the position of the designated storage position of the goods shelf for taking and placing the trays.

The existing storage mode of the electronic device stock disc has the following problems:

1. a plurality of charging trays are arranged side by side on one storage position, and when the electronic device charging trays are arranged outside the storage position, the electronic device charging tray taking and placing device cannot directly take and place the charging trays positioned on the inner side. In order to take the innermost electronic device material trays, the electronic device material tray taking and placing device needs to lift and take out the outer material trays together, the innermost material trays are taken out and placed to the discharging position, the material trays taken out together are placed back to the original storing position, then the outer material trays are placed deep by performing a motion again, the outer material trays are emptied, and then new material trays can be stored. Therefore, the material taking process is complex in action, the moving distance of the electronic device tray taking and placing device is long, and the taking and placing efficiency is low.

2. Because the depth of the storage position is deeper, the upper space and the lower space are smaller, and the hand claw for taking and placing needs to extend into the storage position to take materials, the hand claw also needs to be of a flat structure. When deviation occurs in the position of the electronic device material disc taking and placing device, the condition that the material disc in the storage position is stamped by the paw is easy to cause.

3. When getting the blowing tray, electronic device charging tray gets clamping jaw of putting device can't fix the charging tray, just holds the charging tray. In order to prevent the tray from falling, the electronic device tray taking and placing device cannot move rapidly, so that the material taking efficiency is affected. And when the material tray is placed on the storage position for a long time, deformation easily occurs, and interference and clamping easily occur with a goods shelf structure after the material tray is deformed, so that the taking and placing failure is caused.

There is a need for improvements in existing electronic component inventory storage devices and approaches.

Disclosure of Invention

In view of the above problems, the present application provides an electronic device tray picking and placing device, which is used for solving the technical problems of low efficiency and easy failure of the above electronic device tray storage system.

To achieve the above object, the present inventors provide an electronic device tray picking and placing device, where the electronic device tray picking and placing device is capable of walking and is disposed in a storage space and is used for picking and placing an electronic device tray on a shelf in the storage space, and the electronic device tray picking and placing device includes: the tray comprises a travelling mechanism, a tray paw and a tray paw;

the travelling mechanism is used for driving the electronic device tray taking and placing device to travel to different shelves in a storage space where a plurality of shelves are placed;

the tray claw is used for pushing and pulling a tray on the goods shelf so that the tray extends out of the goods shelf;

the tray gripper is used for clamping the electronic device tray from the tray or placing the electronic device tray into the tray.

In some technical solutions, the electronic device tray pick-and-place device further includes: lifting the train set;

the lifting car set can vertically lift along, the tray hand claw with the charging tray hand claw set up in on the lifting car set, the lifting car set is used for driving the tray hand claw with the charging tray hand claw goes up and down to not co-altitude and carries out the electronic device charging tray to get and put.

In some aspects, the tray gripper is located below the tray gripper;

the tray paw pushes and pulls the tray along the horizontal direction;

the tray gripper is used for grabbing the electronic device tray from the tray in the vertical direction or placing the electronic device tray into the tray.

In some aspects, the tray gripper comprises a clamping mechanism, a push-pull mechanism, and a rotating mechanism;

the clamping mechanism is used for clamping the tray; the pushing and pulling mechanism is connected with the clamping mechanism and used for driving the clamping mechanism to push and pull the tray along the horizontal direction;

the rotating mechanism is connected with the clamping mechanism and used for adjusting the orientation of the clamping mechanism, so that the clamping mechanism can be used for clamping and pushing and pulling the trays on the shelves at two sides of the electronic device tray taking and placing device.

In some technical schemes, the push-pull mechanism comprises a horizontal sliding rail and a sliding block capable of sliding along the horizontal sliding rail, the rotating mechanism is arranged on the sliding block, and the rotating mechanism comprises a rotating cylinder and a turntable;

the rotary table is horizontally arranged, and the clamping mechanism is arranged on the rotary table; the rotary cylinder is connected with the turntable and used for driving the turntable to rotate.

In some technical schemes, the electronic device tray picking and placing device is provided with two tray claws, the two tray claws are positioned at two sides of the electronic device tray picking and placing device and are respectively used for picking and placing the electronic device trays on the trays at the corresponding sides.

In some embodiments, the tray gripper comprises: the claw body lifting mechanism, the rotating arm and the claw body are arranged at the tail end of the rotating arm and used for clamping the electronic device tray;

the front end of the rotating arm is connected with a rotary driving mechanism, and the rotary driving mechanism drives the tail end of the rotating arm to rotate along the horizontal direction to be close to or far away from the tray; the claw body lifting mechanism is used for driving the claw body to vertically approach or separate from the tray.

In some technical schemes, the claw body comprises a driving device and more than two claw sheets, wherein each claw sheet comprises a protruding part for being inserted into a central hole in the middle of the electronic device tray and a limiting sheet which is connected above the protruding part and is used for being abutted against the upper surface of the electronic device tray;

the driving device is used for driving the claw sheets to open outwards so as to clamp the electronic device tray.

In some technical schemes, the claw body lifting mechanism comprises a lifting cylinder and a lifting sliding block, wherein the lifting cylinder is used for driving the lifting sliding block to lift along the vertical direction; the rotary driving mechanism and the rotary arm are arranged on the lifting sliding block.

Different from the prior art, the electronic device tray picking and placing device comprises a tray claw and a tray claw, wherein the tray claw is used for pushing and pulling a tray on a goods shelf so that the tray extends out of the goods shelf; the tray gripper is used for clamping the electronic device tray from the tray or placing the electronic device tray into the tray. Therefore, the electronic device tray taking and placing device can clamp the trays in any storage groove on the tray without adjusting the positions of the trays, so that the tray taking steps are simplified, and the tray taking efficiency is improved. And in addition, the electronic device charging tray is placed on the tray for storage, so that the chuck during storage caused by deformation of the electronic device charging tray can be avoided. In addition, the claws of the electronic device tray taking and placing device do not need to extend into the storage position when taking materials, the situation that the trays are damaged due to inaccurate feeding of the trays can be avoided, and the adaptability and the reliability of the device are improved. And the claws do not need to enter the storage position, the length of the tray claws along the depth direction of the storage position is smaller, the width of a passage where the electronic device tray taking and placing device walks in the middle of the goods shelf is narrower, and the space utilization rate of the storage space can be improved.

The foregoing summary is merely an overview of the present application, and is provided to enable one of ordinary skill in the art to make more clear the present application and to be practiced according to the teachings of the present application and to make more readily understood the above-described and other objects, features and advantages of the present application, as well as by reference to the following detailed description and accompanying drawings.

Drawings

The drawings are only for purposes of illustrating the principles, implementations, applications, features, and effects of the present utility model and are not to be construed as limiting the application.

In the drawings of the specification:

fig. 1 is a schematic structural diagram of an electronic device tray pick-and-place device according to an embodiment;

fig. 2 is a schematic diagram of an electronic device tray pick-and-place device in a warehouse space according to an embodiment;

FIG. 3 is a schematic view of a tray gripper and a tray gripper according to an embodiment;

FIG. 4 is an enlarged view of a portion B of FIG. 3;

FIG. 5 is a schematic view of a tray gripper according to an embodiment;

FIG. 6 is a schematic view illustrating a structure of a tray gripper according to an embodiment in a obliquely upward view;

fig. 7 is a schematic structural diagram of the electronic device tray according to the embodiment;

reference numerals referred to in the above drawings are explained as follows:

1. a storage space;

11. a goods shelf; 111. storing the position; 112. a tray; 1121. a storage tank;

2. the electronic device charging tray taking and placing device;

21. a base; 211. a walking driving device; 22. a bracket; 221. lifting rails; 222. a lifting driving device;

23. lifting the train set; 231. tray gripper; 2311. a clamping mechanism; 2312. a turntable;

2313. a rotary cylinder; 2314. a slide block; 2315. sliding rail;

232. tray gripper; 2321. a claw body; 2322. a rotating arm; 2323. a rotary driving mechanism;

2324. a claw body lifting mechanism; 23211. a limiting piece; 23212. a protruding portion;

3. a discharging device;

4. an electronic device tray;

41. a panel; 42. a central bore; 43. a clamping groove;

Detailed Description

In order to describe the possible application scenarios, technical principles, practical embodiments, and the like of the present application in detail, the following description is made with reference to the specific embodiments and the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples and are not intended to limit the scope of protection of the present application.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of the phrase "in various places in the specification are not necessarily all referring to the same embodiment, nor are they particularly limited to independence or relevance from other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the technical features mentioned in the embodiments may be combined in any manner to form a corresponding implementable technical solution.

Unless defined otherwise, technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application pertains; the use of related terms herein is for the description of specific embodiments only and is not intended to limit the present application.

In the description of the present application, the term "and/or" is a representation for describing a logical relationship between objects, which means that there may be three relationships, e.g., a and/or B, representing: there are three cases, a, B, and both a and B. In addition, the character "/" herein generally indicates that the front-to-back associated object is an "or" logical relationship.

In this application, terms such as "first" and "second" are used merely to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual number, order, or sequence of such entities or operations.

Without further limitation, the use of the terms "comprising," "including," "having," or other like open-ended terms in this application are intended to cover a non-exclusive inclusion, such that a process, method, or article of manufacture that comprises a list of elements does not include additional elements in the process, method, or article of manufacture, but may include other elements not expressly listed or inherent to such process, method, or article of manufacture.

As in the understanding of the "examination guideline," the expressions "greater than", "less than", "exceeding", and the like are understood to exclude the present number in this application; the expressions "above", "below", "within" and the like are understood to include this number. Furthermore, in the description of the embodiments of the present application, the meaning of "a plurality of" is two or more (including two), and similarly, the expression "a plurality of" is also to be understood as such, for example, "a plurality of groups", "a plurality of" and the like, unless specifically defined otherwise.

In the description of the embodiments of the present application, spatially relative terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counter-clockwise," "axial," "radial," "circumferential," etc., are used herein as terms of orientation or positional relationship based on the specific embodiments or figures, and are merely for convenience of description of the specific embodiments of the present application or ease of understanding of the reader, and do not indicate or imply that the devices or components referred to must have a particular position, a particular orientation, or be configured or operated in a particular orientation, and therefore are not to be construed as limiting of the embodiments of the present application.

Unless specifically stated or limited otherwise, in the description of the embodiments of the present application, the terms "mounted," "connected," "affixed," "disposed," and the like are to be construed broadly. For example, the "connection" may be a fixed connection, a detachable connection, or an integral arrangement; the device can be mechanically connected, electrically connected and communicated; it can be directly connected or indirectly connected through an intermediate medium; which may be a communication between two elements or an interaction between two elements. The specific meanings of the above terms in the embodiments of the present application can be understood by those skilled in the art to which the present application pertains according to the specific circumstances.

Referring to fig. 1 to 7, the present embodiment discloses a device for picking and placing a tray of an electronic device. The device and the method for picking and placing the electronic device trays can be applied to the scenes of storage and warehouse-in and warehouse-out management of the electronic device trays required by electronic device manufacturers, electronic device sellers and the like. The electronic device may be resistor, inductor, capacitor, triode, diode, other electronic devices, etc., and the electronic device may be SMT (surface mount technology) package or plug-in package. The electronic device trays can be 7 inches, 13 inches, 15 inches, and other different dimensions.

As shown in fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of an electronic device tray pick-and-place device according to an embodiment. The electronic components charging tray gets puts device 2 gets in getting and puts the electronic components charging tray 4 on goods shelves 11, electronic components charging tray gets puts device includes: tray gripper 231 and tray gripper 232. The tray claw 231 is used for pushing and pulling the tray 112 on the shelf 11 so that the tray 112 extends out of the shelf 11; the tray gripper 232 is used to grip electronic device trays from within the tray 112 or to deposit electronic device trays into the tray 112.

As shown in fig. 2, the storage rack 11 is disposed in the storage space 1, a plurality of storage racks 11 may be disposed in the storage space 1, and the electronic device tray pick-and-place device 2 may be moved to different storage racks in the storage space 1 for operation.

A plurality of storage locations 111 are arranged on the goods shelf 11; a tray 112 capable of sliding along the depth direction is arranged in the storage position 111, a storage groove 1121 for placing the electronic device tray 4 is arranged on the tray 112, and the tray is limited after being placed in the storage groove of the tray, so that the position of the tray is fixed relatively. The depth of the storage groove can be larger than the thickness of the electronic device tray, the depth of the storage groove can also be smaller than or equal to the thickness of the electronic device tray, and the electronic device tray can be stably placed in the storage groove.

The storage space can be a room, a warehouse and the like in a building, and can also be a container or similar container with storage function and the like. The goods shelf can be made of metal materials such as steel, aluminum alloy and the like and comprises a structural frame, and side plates and back plates which are arranged on the structural frame.

The tray 112 may be a rectangular plate structure adapted to the storage position, the tray 112 is provided with a plurality of storage slots 1121 along the length direction (i.e. the depth direction), the storage slots 1121 are formed by downwardly concave upper surfaces of the tray 112, the electronic device trays 4 are placed in the storage slots 1121, the storage slots can well support the bottoms of the electronic device trays 4, and deformation caused by long-term suspended placement of the electronic device trays is avoided.

A plurality of rows of storage locations are arranged on the goods shelf 11 along the horizontal direction, and a plurality of layers of storage locations are arranged on each row along the vertical direction, and each storage location is provided with a space for accommodating the tray and bearing sliding rails contacted with two sides of the bottom of the tray. The depth direction of the storage position is parallel to the direction of the bearing sliding rail of the storage position. The two sides of the bottom of the tray 112 are slidably connected with the bearing slide rail, and when the tray 112 is pushed and pulled along the bearing slide rail, the tray 112 can be pulled out of or pushed into the storage position. When the tray is pushed and pulled, the bottom of the tray can directly slide with the bearing sliding rail. In some embodiments, rollers may be disposed at the bottom of the tray and in rolling contact with the bearing slide rail; or in some embodiments, a sliding block matched with the cross section shape of the sliding rail is arranged at the bottom of the tray and connected with the sliding rail.

When the electronic device trays on the tray 112 need to be taken out, the electronic device tray taking and placing device 2 pulls the tray 112 out of the storage position along the depth direction, and then takes out the electronic device trays from the storage groove; similarly, when the electronic component tray needs to be placed in the tray, the electronic component tray pick-and-place device 2 also needs to pull the tray out of the storage position first, and push the tray 112 back into the storage position after the electronic component tray is placed.

In this embodiment, a tray 112 capable of being pushed and pulled along the depth direction is disposed in the storage location 111 of the shelf 11, a storage slot 1121 for storing electronic device trays is disposed on the tray 112, and the electronic device tray picking and placing device 2 is used for pushing and pulling the tray 112, and then picking and placing the electronic device trays 4 from the storage slot 1121. When taking materials, the electronic device material tray 4 is positioned on the tray when being pulled out of the storage position along with the tray 112, so that the electronic device material tray taking and placing device 2 can clamp the material tray in any storage groove on the tray without adjusting the position of the material tray, thereby simplifying the material tray taking steps and improving the material tray taking efficiency. Further, in this embodiment, a manner of pushing and pulling the tray is adopted, and the electronic device tray is placed on the tray for storage, so that deformation caused by long-term suspension storage of the electronic device tray can be avoided, and the deformation can cause the chuck when the electronic device tray is accessed. Therefore, the embodiment can avoid the chuck during the storage and the taking of the tray. In this embodiment, pull out the storage with the tray and get the blowing tray again, consequently mechanical access device's paw need not to stretch into the storage inside when getting the material, can avoid because of the condition that the tray hand is walked the position and is not quasi with the tray and stab, improve the adaptability and the reliability of equipment. And the claw does not need to enter the storage position, the length of the material tray claw along the depth direction of the storage position is smaller, the width of the aisle where the mechanical storage and retrieval device walks in the middle of the goods shelf is narrower, and the space utilization rate of the storage space can be improved.

In this embodiment, the electronic device tray picking and placing device 2 further includes a lifting car set 23 and a travelling mechanism. The travelling mechanism is used for driving the electronic device tray taking and placing device 2 to travel to different shelves 11 in the storage space 1 where a plurality of shelves are placed.

As shown in fig. 2, a rail 113 is provided on the ground of the storage space 1, the rail 113 may extend from one end to the other end of the storage space, and a plurality of shelves 11 are provided along both sides of the rail. The racks on both sides of the rail 113 can be operated by one of the electronic component tray pick-and-place devices 2. One end of the storage space is provided with a discharging device 3, and the tray taken down by the mechanical access device 2 is transferred to the discharging device 3 for discharging. The travelling mechanism comprises a base 21 and a travelling driving device 211 arranged on the base 21, and the travelling driving device 211 drives the electronic device tray taking and placing device 2 to travel on the track 113. The running driving device 211 may be any one of a roller type running driving device, a crawler type running driving device, a transmission belt running driving device or a rack type running driving device. Preferably, the traveling driving device 211 in this embodiment is a rack-type traveling driving device, a rack parallel to the track 113 is disposed on the ground of the storage space 1, and a gear engaged with the rack is disposed on the base 21, and the gear is connected with a traveling driving motor. When the walking driving motor rotates forwards or reversely, the electronic device tray taking and placing device 2 is driven to advance or retreat along the track.

As shown in fig. 3, the lifting unit 23 may be lifted vertically, the tray gripper 231 and the tray gripper 232 are disposed on the lifting unit 23, and the lifting unit 23 is used for driving the tray gripper 231 and the tray gripper 232 to lift to different heights for picking and placing electronic device trays.

As shown in fig. 1 and 3, the tray gripper 231 and the tray gripper 232 are disposed on the elevator car set 23, and the tray gripper 231 is located below the tray gripper 232. The tray claw 231 pushes and pulls the tray 112 in a horizontal direction; the tray gripper 232 grips or deposits electronic component trays from or into the tray 112 in a vertical direction.

The electronic device tray taking and placing device 2 is provided with a support 22, the support 22 is fixedly installed on the base 21, a lifting rail 221 is arranged on the support 22, the lifting car set 23 is connected with the lifting rail 221, and the lifting car set can be driven by a lifting driving device 222 to lift along the lifting rail. The lifting car set 23 and the lifting driving device 222 can be connected through gear and rack transmission, or connected through a transmission belt, or connected through transmission chain transmission, or connected through other transmission modes. The lift drive 222 may be a servo motor drive, a cylinder drive, or the like.

In this embodiment, the lifting of the tray gripper 231 and the tray gripper 232 to different heights can be controlled by the lifting gear set, so as to push and pull trays 112 with different heights on the shelf 11 and grasp the electronic component trays 4 therein. The tray 112 can slide on the storage position of the shelf 11, the tray claw 231 only needs to pull out the tray, the tray claw 232 can take out the tray, and the claw does not need to extend into the storage position.

As shown in fig. 3 and 4, the tray gripper 231 includes a clamping mechanism 2311, a push-pull mechanism, and a rotating mechanism. Wherein the clamping mechanism 2311 is used for clamping the tray 112; the pushing and pulling mechanism is connected with the clamping mechanism and used for driving the clamping mechanism to push and pull the tray along the depth direction; the rotating mechanism is connected with the push-pull mechanism and is used for adjusting the orientation of the clamping mechanism so that the clamping mechanism is used for clamping and pushing and pulling the trays on the shelves on the two sides of the track. The tray gripper 231 is further provided with left and right limiting rails, the limiting rails are horizontally arranged on two sides of the tray pull-out path, a supporting rail is arranged below the tray after the tray is pulled out, and the left and right limiting rails of the tray are horizontally limited, so that the pushing precision of the tray is improved, and the tray gripper is convenient to grasp the electronic device tray.

As shown in fig. 3 and 4, the push-pull mechanism includes a push-pull sliding rail 2315 and a sliding block 2314; the push-pull sliding rail 2315 is horizontally arranged (i.e. in the same direction as the depth direction of the storage position), the sliding block 2314 is slidably arranged on the push-pull sliding rail, the rotating mechanism is arranged on the sliding block 2314, and the clamping mechanism 2311 is arranged on the rotating mechanism. The slider 2314 may be driven by a servo motor to slide along the push-pull slide 2315 to push and pull the tray. The clamping mechanism 2311 comprises two clamping jaws which are oppositely arranged, and the two clamping jaws are connected to driving devices such as an air cylinder, an electromagnetic valve and a servo motor to drive the two clamping jaws to clamp and unclamp. In some embodiments, the rotation mechanism includes a rotation cylinder 2313 and a turntable 2312; the turntable 2312 is horizontally arranged, and the clamping mechanism is arranged on the turntable; the rotary cylinder is connected with the turntable and used for driving the turntable to rotate. In other embodiments, the turntable may be replaced with a bracket or base, rotating arm, or similar structure that may mount and rotate the clamping mechanism. And the rotary cylinder 2313 may be replaced with a power unit capable of providing rotary driving, such as a servo motor.

In this embodiment, the clamping mechanism 2311 can be driven by the rotating mechanism to push and pull the tray towards the shelf on one side of the track 113; when the tray on the shelf on the other side of the track needs to be pushed and pulled, the clamping mechanism 2311 is driven to rotate 180 degrees only by the rotating mechanism, so that the clamping mechanism faces the shelf on the other side.

In other embodiments, two pallet fingers may be provided on each of the elevator car sets 23 for pushing and pulling pallets on the corresponding side racks, respectively.

As shown in fig. 5 and 6, the tray gripper 232 includes: the device comprises a claw body lifting mechanism 2324, a rotating arm 2322 and a claw body 2321, wherein the claw body 2321 is arranged at the tail end of the rotating arm and used for clamping the electronic device tray; the front end of the rotating arm 2322 is connected with a rotation driving mechanism 2323, and the rotation driving mechanism 2323 drives the tail end of the rotating arm 2322 to rotate along the horizontal direction to be close to or far away from the tray; the claw body lifting mechanism is used for driving the claw body to vertically approach or separate from the tray. The claw body lifting mechanism 2324 comprises a lifting cylinder and a lifting sliding block, wherein the lifting cylinder is used for driving the lifting sliding block to lift vertically; the rotary driving mechanism and the rotary arm are arranged on the lifting sliding block. In the grabbing process, when the claw body 2321 at the tail end of the rotating arm 2322 rotates to the position above the electronic device tray, the lifting cylinder controls the rotating arm 2322 and the claw body to descend to the electronic device tray.

In this embodiment, the electronic device tray pick-and-place device 2 is provided with two tray claws 232, where one tray claw is located at one side of the track and the other tray claw is located at the other side of the track; the tray claws are respectively used for taking and placing the electronic device trays on the trays at the corresponding sides.

In some embodiments, the electronic device tray picking and placing device 2 is provided with only one tray gripper, and the tray gripper is adjusted to two sides of the lifting unit by the rotating mechanism so as to grasp the electronic device trays on the corresponding side shelves. Namely, only one tray gripper and one tray gripper are arranged in the electronic device tray picking and placing device 2, and the tray gripper are respectively provided with a rotating mechanism so that the tray gripper and the tray gripper can respectively push and pull the tray and grasp the tray towards two sides of the track 113.

After the tray is pulled out of the storage position, the rotation driving mechanism 2323 drives the rotation arm 2322 to rotate along the horizontal direction, so that the claw body 2321 at the tail end of the rotation arm 2322 rotates to the upper portion of the electronic device tray, then drives the claw body to descend and grasp the electronic device tray, and finally drives the rotation arm 2323 to rotate in the opposite direction, so that the claw body and the grasped electronic device tray leave the tray. The electronic device trays grasped by the tray grippers 232 may be placed in the electronic device tray picking and placing device 2, and when the grasped electronic device trays reach a certain number, the electronic device trays are transferred to the outside of the storage space by the electronic device tray picking and placing device 2. Or the electronic device trays grasped by the tray gripper 232 may be directly transferred to the outside of the warehouse space by the transfer mechanism.

In other embodiments, the pawl lifting mechanism may be disposed at the end of the rotating arm 2322, and then the pawl is directly disposed on the lifting cylinder, so that the lifting cylinder only drives the pawl to lift, and does not need to drive the rotating arm and the rotation driving mechanism to lift together. In other embodiments, a lift motor or other lift drive mechanism may be used in place of the lift cylinder.

As shown in fig. 5, 6 and 7, the electronic device tray is in a circular disc shape, and includes two opposite panels 41, a clamping slot 43 between the two panels 41 is used for winding the electronic device, and a central hole is provided in the middle of the panels 41 to fixedly connect the two panels. In the above embodiment, the claw body 2321 of the tray claw 232 may be an insertion type claw body, where the claw body 2321 includes a plurality of claw pieces capable of gathering and spreading toward the center, and the claw body 2321 is inserted into the center hole 42 and spreads outward to clamp the tray. The claw body 2321 comprises a driving device and more than two claw sheets, wherein each claw sheet comprises a protruding part 23212 for being inserted into the central hole 42 in the middle of the electronic device tray, and a limiting sheet 23211 which is connected above the protruding part and is used for being abutted against the upper surface of the electronic device tray; the driving device is used for driving the claw sheets to open outwards so as to clamp the electronic device tray 4. The number of the claw pieces may be two, three or more, and the protruding portion 23212 and the limiting piece 23211 may be an integrally formed structure of a metal material. When the jaws are brought together toward the center, the projections 23212 form a cylindrical or conical structure and have a diameter smaller than the diameter of the central bore 42 so that the projections 23212 can be inserted into the central bore 42. The limiting pieces 23211 are parallel to the panel 41 of the electronic device tray, when the claw 2321 moves downwards, the protruding portions 23212 are inserted into the central holes, and the limiting pieces 23211 are abutted against the panel 41, so that the displacement of the electronic device tray can be limited, and the grabbing reliability of the electronic device tray can be improved. In other embodiments, the gripper body of the tray gripper may also be a suction-type gripper body, or a gripper body similar to the gripper mechanism 2311 described above. In this embodiment, the claw body 2321 of the tray claw 232 is an insertion-type claw body, so that the volume of the claw body can be reduced, and the stability of the tray clamping can be improved.

Finally, it should be noted that, although the foregoing embodiments have been described in the text and the accompanying drawings of the present application, the scope of the patent protection of the present application is not limited thereby. All technical schemes generated by replacing or modifying equivalent structures or equivalent flows based on the essential idea of the application and by utilizing the contents recorded in the text and the drawings of the application, and the technical schemes of the embodiments are directly or indirectly implemented in other related technical fields, and the like, are included in the patent protection scope of the application.

Claims

1. The utility model provides an electronic device charging tray gets puts device, electronic device charging tray gets and puts device walking set up in the storage space for get and put the electronic device charging tray on the goods shelves in the storage space, its characterized in that, electronic device charging tray gets and puts device includes: the tray comprises a travelling mechanism, a tray paw and a tray paw;

2. The electronic device tray pick-and-place apparatus of claim 1, wherein the electronic device tray pick-and-place apparatus further comprises: lifting the train set;

3. The electronic device tray pick-and-place apparatus of claim 2, wherein the tray gripper is located below the tray gripper;

the tray paw pushes and pulls the tray along the horizontal direction;

4. A device according to any one of claims 1 to 3, wherein the tray gripper comprises a clamping mechanism, a push-pull mechanism and a rotating mechanism;

5. The electronic device tray picking and placing device according to claim 4, wherein the push-pull mechanism comprises a horizontal sliding rail and a sliding block capable of sliding along the horizontal sliding rail, the rotating mechanism is arranged on the sliding block, and the rotating mechanism comprises a rotating cylinder and a rotating disc;

6. An electronic device tray picking and placing device according to any one of claims 1 to 3, wherein the electronic device tray picking and placing device is provided with two tray claws, the two tray claws are located at two sides of the electronic device tray picking and placing device and are respectively used for picking and placing the electronic device trays on the trays at the corresponding sides.

7. A device for picking and placing electronic device trays according to any one of claims 1 to 3, wherein the tray gripper comprises: the claw body lifting mechanism, the rotating arm and the claw body are arranged at the tail end of the rotating arm and used for clamping the electronic device tray;

8. The electronic device tray picking and placing device according to claim 7, wherein the claw body comprises a driving device and more than two claw sheets, the claw sheets comprise a protruding part for being inserted into a central hole in the middle of the electronic device tray, and a limiting sheet connected above the protruding part for being propped against the upper surface of the electronic device tray;

9. The electronic device tray pick-and-place apparatus according to claim 7, wherein the claw body lifting mechanism comprises a lifting cylinder and a lifting slider, the lifting cylinder is used for driving the lifting slider to lift in a vertical direction; the rotary driving mechanism and the rotary arm are arranged on the lifting sliding block.