阅读说明：本技术 一种不停机托盘上下料设备 (Unloading equipment on tray does not shut down ) 是由 闫朝鹏 郭印 柯江 白雪松 于 2021-07-30 设计创作，主要内容包括：本发明属于车间存储设备技术领域,涉及一种不停机托盘上下料设备,包括机架、并排位于机架前部的第一料仓和第二料仓、设于机架上并在第一料仓和第二料仓之间移载托盘的托盘移载机构,第一料仓和第二料仓设有结构相同的托盘缓存机构,托盘缓存机构包括抽拉组件和升降组件,抽拉组件包括底座和通过滑轨部件滑动设于底座上方的托盘底板；升降组件包括升降模组、由升降模组驱动的连接板以及位于连接板左右两侧的夹爪机构,夹爪机构具有水平驱动件和由水平驱动件带动的夹爪,两个夹爪在水平驱动件的驱动下能够从托盘底板上夹取托盘,第一料仓或第二料仓的上部设有用于夹持定位托盘的托盘定位机构。本设备能够实现用托盘不停机供应产品。(The invention belongs to the technical field of workshop storage equipment, and relates to a non-stop tray loading and unloading device which comprises a rack, a first bin and a second bin which are positioned at the front part of the rack side by side, and a tray transfer mechanism which is arranged on the rack and transfers trays between the first bin and the second bin, wherein the first bin and the second bin are provided with tray cache mechanisms with the same structure, each tray cache mechanism comprises a drawing component and a lifting component, and each drawing component comprises a base and a tray bottom plate which is arranged above the base in a sliding manner through a slide rail part; the lifting component comprises a lifting module, a connecting plate driven by the lifting module and clamping jaw mechanisms located on the left side and the right side of the connecting plate, the clamping jaw mechanisms are provided with horizontal driving pieces and clamping jaws driven by the horizontal driving pieces, the two clamping jaws can clamp a tray from a tray bottom plate under the driving of the horizontal driving pieces, and the upper portion of the first bin or the second bin is provided with a tray positioning mechanism used for clamping and positioning the tray. The equipment can supply products without stopping the tray.)

1. The utility model provides a unloading equipment on tray does not shut down which characterized in that: the tray transfer mechanism comprises a rack (1), a first bin (11) and a second bin (12) which are positioned in front of the rack (1) side by side, and a tray transfer mechanism (2) which is arranged on the rack (1) and transfers trays (6) between the first bin (11) and the second bin (12), wherein the first bin (11) and the second bin (12) are provided with tray buffer mechanisms (4a and 4b) with the same structure, the tray buffer mechanisms (4a and 4b) comprise a drawing assembly (41) and a lifting assembly (42), and the drawing assembly (41) comprises a base (413) and a tray bottom plate (411) which is arranged above the base (413) in a sliding manner through a sliding rail part (412); lifting unit (42) include lifting module (421), by lifting module (421) driven connecting plate (422) and be located the clamping jaw mechanism (423a, 423b) of connecting plate (422) left and right sides, clamping jaw mechanism (423a, 423b) have horizontal drive piece (4231) and by clamping jaw (4232) that horizontal drive piece (4231) drove, two clamping jaw (4232) are in can follow under horizontal drive piece's the drive the tray (6) are got to last clamp of tray bottom plate (411), first feed bin (12) or the upper portion of second feed bin (12) is equipped with tray positioning mechanism (5) that are used for centre gripping location tray (6).

2. The non-stop tray loading and unloading device as claimed in claim 1, wherein: the clamping jaw (4232) comprises a horizontal clamping block (42321) extending to the side of the tray bottom plate (411), a supporting plate (42322) located below the horizontal clamping block (42321) and a reinforcing block (42323) fixed to the inner side of an included angle between the horizontal clamping block (42321) and the supporting plate (42322), two sides of the base (413) are provided with vertical rods (43) in the left direction and the right direction of the tray bottom plate (411), and the horizontal clamping block (42321) is provided with a notch (42324) for avoiding the vertical rod (43).

3. The non-stop tray loading and unloading device as claimed in claim 1, wherein: the connecting plate (422) is provided with a pair of guide rails (4221), the clamping jaws (4232) are connected to a sliding plate (4233) capable of moving along the guide rails (4221), and the horizontal driving piece (4231) drives a fixed block (42331) connected to the sliding plate (4233).

4. The non-stop tray loading and unloading device as claimed in claim 1, wherein: the slide rail component (412) comprises two inner slide rails (4121) fixed with the base (413) and two outer slide rails (4122) sliding along the inner slide rails (4121), and sliding blocks (4123) capable of sliding along the two outer slide rails (4122) are arranged at the lower part of the tray bottom plate (411).

5. The non-stop tray loading and unloading device as claimed in claim 1, wherein: the tray positioning mechanism (5) comprises a front push block mechanism (51) which is arranged close to the tray transfer mechanism (2), side push block mechanisms (52a, 52b) which are arranged at two sides of the first storage bin, and a reference vertical plate (52) which is positioned at the relative position of the front push block mechanism (51), a sensor (53) for sensing whether the tray (6) is lifted to a specified position is arranged at the side of the tray positioning mechanism (5), the front push block mechanism (51) is provided with a push plate (512) driven by a front cylinder (511), the two side push block mechanisms (51 and 52a) are respectively provided with a push block (522) driven by a side cylinder (521), and a controller controls the actions of the front cylinder (511) and the two side cylinders (521) by utilizing signals obtained by the inductor (53), the push block (522) is provided with an upper notch (5221) which avoids the detection range of the sensor (53).

6. The non-stop tray loading and unloading device as claimed in claim 5, wherein: the side push block (522) is provided with a plurality of clamping claws (5222) on one side facing the tray (6), the clamping claws form a horizontal groove (5223) for clamping the side edge of the tray (6), and the side push block mechanisms (52a and 52b) further comprise a bracket (523) fixed on the rack (1), a vertical adjusting block (524) for adjusting the vertical position of the side cylinder (521) relative to the bracket (523), and a horizontal adjusting block (525) for adjusting the horizontal position of the side cylinder (521) relative to the bracket (523).

7. The non-stop tray loading and unloading device as claimed in claim 1, wherein: the tray transferring mechanism (2) comprises a portal frame (21) positioned behind the first storage bin (11) and the second storage bin (12), a transferring module (22) positioned on the portal frame (21), a transferring frame (23) driven by the transferring module (22) to move horizontally, and a plurality of vacuum suction heads (24) positioned on the transferring frame (23); the transfer module (22) comprises a driving wheel (222) driven by a stepping motor (221), two idler wheels (223a, 223b) rotationally connected to the portal frame (21), a synchronous belt (224) bypassing the driving wheel (222) and the two idler wheels (223a, 223b), and a tension wheel (225) used for controlling tension of the synchronous belt (224), wherein the transfer frame (23) comprises a horizontal mounting plate (2311) fixed on the synchronous belt (224), a load guide rail (211) is arranged on the portal frame (21), a sliding block (23111) matched with the load guide rail (211) is arranged at the bottom of the horizontal mounting plate (2311), and buffer mechanisms (212) used for preventing the transfer frame (23) from colliding with the idler wheels (223a, 223b) are further arranged on two sides of the portal frame (21).

8. The non-stop tray loading and unloading device according to claim 7, wherein: the moving frame (23) comprises a sliding part (231) and a hanging part (232), the sliding part (231) comprises a horizontal mounting plate (2311), a first vertical plate (2312) fixed on the horizontal mounting plate (2311) and a plurality of reinforcing ribs (2313) connected in an included angle between the horizontal mounting plate (2311) and the first vertical plate (2312), a lifting driving mechanism (233) is arranged between the first vertical plate (2312) and the hanging part (232), and the vacuum suction head (24) is mounted at the edge of the hanging part (232); the suspension part (232) comprises a second vertical plate (2321) connected to the lifting driving mechanism (233), a seat plate (2322) connected to the second vertical plate (2321) in a suspension mode, and a reinforcing structure (2323) for fixing the second vertical plate (2321) and the seat plate (2322).

9. The non-stop tray loading and unloading device according to claim 8, wherein: the seat plate (2322) is divided into a plurality of fixed parts, each fixed part is provided with an adjusting plate (2324), and the vacuum suction head (24) is adjustably fixed on the adjusting plate (2324); the front side and the rear side of the seat plate (2322) are respectively provided with a hook mechanism (2325a, 2325b), and the hook mechanism (2325a, 2325b) comprises a driving cylinder (23252), a hook (23251) which is driven by the driving cylinder (23252) and can hook the bottom surface of the tray (6), and a slide rail slider component which enables the hook (23251) to move below the seat plate (2322).

10. The non-stop tray loading and unloading device as claimed in claim 1, wherein: and a manipulator (3) is arranged above the tray transfer mechanism (2), and the manipulator (3) is provided with a pickup device (31) for picking up the products (7) from the tray (6).

Technical Field

The invention relates to the technical field of workshop storage equipment, in particular to a tray feeding and discharging device without stopping.

Background

The feeding and discharging equipment in the mainstream in the market at present is mixed with fish and dragon, the standard is not standard, the function is not clear, and the fatal shortcoming of this type of equipment has two main types: one is that the space for caching the trays is lacked, and only one stack of trays can be used each time; secondly, the feeding and discharging process needs to be stopped for maintenance, the frequency is 2min for stopping every 10-15min (namely one feeding and discharging period), and the method is not timely for the urgent production period of a factory.

Therefore, a new storage structure for loading and unloading equipment is needed to avoid the above problems.

Disclosure of Invention

The invention mainly aims to provide a non-stop tray feeding and discharging device which can reserve enough buffer space for operators and achieve the purpose of feeding products by using trays under the condition of no stop.

The invention realizes the purpose through the following technical scheme: a non-stop tray loading and unloading device comprises a rack, a first bin and a second bin which are positioned in front of the rack side by side, and a tray transfer mechanism which is arranged on the rack and transfers trays between the first bin and the second bin, wherein the first bin and the second bin are provided with tray caching mechanisms with the same structure, each tray caching mechanism comprises a drawing component and a lifting component, and each drawing component comprises a base and a tray bottom plate which is arranged above the base in a sliding manner through a slide rail part; lifting unit includes the lift module, by lift module driven connecting plate and being located the clamping jaw mechanism of the connecting plate left and right sides, clamping jaw mechanism have horizontal drive spare and by the clamping jaw that horizontal drive spare drove, two the clamping jaw is in can follow under horizontal drive spare's the drive the tray is got to last clamp of tray bottom plate, first feed bin or the upper portion of second feed bin is equipped with the tray positioning mechanism who is used for centre gripping location tray.

The clamping jaw comprises a horizontal clamping block extending to the side of the tray bottom plate, a supporting plate located below the horizontal clamping block and a reinforcing block fixed to the inner side of an included angle of the supporting plate, wherein two sides of the base are provided with vertical rods in two directions around the tray bottom plate, and the horizontal clamping block is provided with a gap for avoiding the vertical rod.

Specifically, the connecting plate is provided with a pair of guide rails, the clamping jaw is connected to a sliding plate capable of moving along the guide rails, and the driving piece drives a fixed block connected to the sliding plate.

Specifically, the slide rail part includes with two interior slide rails that the base is fixed, respectively along two outer slide rails that interior slide rail slided, the lower part of tray bottom plate is equipped with respectively along two the gliding sliding block of outer slide rail.

The tray positioning mechanism comprises a front push block mechanism close to the tray transfer mechanism, a side push block mechanism arranged on two sides of the first bin and a reference vertical plate located at the relative position of the front push block mechanism, a sensor used for sensing whether the tray ascends to a specified position is arranged on one side of the tray positioning mechanism, the front push block mechanism is provided with a push plate driven by a front cylinder, the side push block mechanism is provided with a push block driven by a side cylinder, a controller utilizes a signal obtained by the sensor to control the front cylinder and the side cylinder to act, and an upper notch in the push block for avoiding the detection range of the sensor is formed.

Furthermore, the side push block is provided with a plurality of clamping jaws on one side facing the tray, the clamping jaws form a horizontal groove for clamping the side edge of the tray, and the side push block mechanism further comprises a support fixed on the rack, a vertical adjusting block for adjusting the vertical position of the side cylinder relative to the support, and a horizontal adjusting block for adjusting the horizontal position of the side cylinder relative to the support.

Specifically, the tray transferring mechanism comprises a portal frame positioned behind the first bin and the second bin, a transferring module positioned on the portal frame, a transferring frame driven by the transferring module to move horizontally, and a plurality of vacuum suction heads positioned on the transferring frame; the shifting module comprises a driving wheel driven by a stepping motor, two idler wheels rotationally connected to the portal frame, a synchronous belt bypassing the driving wheel and the two idler wheels, and a tension wheel used for controlling tension of the synchronous belt, the shifting frame comprises a horizontal mounting plate fixed on the synchronous belt, a load guide rail is arranged on the portal frame, a sliding block matched with the load guide rail is arranged at the bottom of the horizontal mounting plate, and buffer mechanisms used for preventing the shifting frame from colliding with the idler wheels are further arranged on two sides of the portal frame.

Further, the moving and carrying frame comprises a sliding part and a hanging part, the sliding part comprises the horizontal mounting plate, a first vertical plate fixed on the horizontal mounting plate and a plurality of reinforcing ribs connected in an included angle between the horizontal mounting plate and the first vertical plate, a lifting driving mechanism is arranged between the first vertical plate and the hanging part, the vacuum suction head is installed at the edge of the hanging part, and the hanging part comprises a second vertical plate connected to the lifting driving mechanism, a seat plate connected to the second vertical plate in a hanging manner and a reinforcing structure for fixing the second vertical plate and the seat plate.

Further, the bedplate divide into a plurality of fixed parts, all is equipped with an regulating plate on every fixed part, vacuum suction head is adjustable to be fixed in on the regulating plate, both sides respectively are equipped with one around the bedplate and collude claw mechanism, collude claw mechanism including the claw that colludes that can collude the tray bottom surface, collude claw mechanism including drive actuating cylinder, by drive actuating cylinder drive and can collude the claw that colludes of tray bottom surface and let collude the claw and be in the slide rail slider part of bedplate below motion.

Specifically, a manipulator is arranged above the tray transfer mechanism, and the manipulator is provided with a picking device for picking products from the trays.

The technical scheme of the invention has the beneficial effects that:

this equipment makes the space that the tray business turn over material has the buffer memory to reserve for operating personnel through tray buffer memory mechanism, and shifting out of product is gone on in the frame top, does not influence the unloading of lower part on, so reached and carried out the purpose of product pay-off with the tray under the circumstances of not shutting down, had wide application prospect.

Drawings

FIG. 1 is a perspective view of a tray loading and unloading apparatus during operation in accordance with an embodiment;

FIG. 2 is a perspective view of the tray buffer mechanism when storing full trays;

FIG. 3 is a perspective view of the lift assembly;

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

FIG. 5 is a front view of the drawer assembly with the tray floor fully pulled out;

FIG. 6 is a perspective view of the tray positioning mechanism;

FIG. 7 is a perspective view of a side pusher mechanism;

fig. 8 is a perspective view of the tray transfer mechanism.

The figures in the drawings represent:

1-a frame, 11-a first bin, 12-a second bin;

2-tray transferring mechanism, 21-portal frame, 211-load guide rail, 212 a-buffer mechanism (left), 212 b-buffer mechanism (right), 22-transferring module, 221-stepping motor, 222-driving wheel, 223 a-idle wheel (left), 223 b-idle wheel (right), 224-synchronous belt, 225-tension wheel, 23-transferring frame, 231-sliding part, 2311-horizontal mounting plate, 23111-sliding block, 2312-first vertical plate, 2313-reinforcing rib, 232-hanging part, 2321-second vertical plate, 2322-seat plate, 2323-reinforcing structure, 2324-adjusting plate, 2325 a-claw-hooking mechanism (front), 2325 b-claw-hooking mechanism (back), 23251-claw, 233-lifting driving mechanism and 24-vacuum suction head;

3-robot, 31-pick-up device;

4 a-tray buffer memory mechanism (feeding), 4 b-tray buffer memory mechanism (blanking), 41-drawing component, 411-tray bottom plate, 412-slide rail component, 4121-inner slide rail, 4122-outer slide rail, 4123-sliding block, 413-base, 42-lifting component, 421-lifting module, 422-connecting plate, 4221-guide rail, 423 a-clamping jaw mechanism (left), 423 b-clamping jaw mechanism (right), 4231-horizontal driving piece, 4232-clamping jaw, 42321-horizontal clamping block, 42322-supporting plate, 42323-reinforcing block, 42324-notch, 4233-sliding plate, 42331-fixing block and 43-vertical rod;

5-a tray positioning mechanism, 51-a front push block mechanism, 511-a front cylinder, 512-a push plate, 52 a-a side push block mechanism (left), 52 b-a side push block mechanism (right), 521-a side cylinder, 522-a push block, 5221-an upper notch, 5222-a jaw, 523-a support, 524-a vertical adjusting plate, 525-a horizontal adjusting plate, 53-a reference vertical plate and 54-a sensor;

6-a tray;

7-products.

Detailed Description

The present invention will be described in further detail with reference to specific examples.

Example (b):

as shown in fig. 1 and fig. 2, the non-stop tray loading and unloading apparatus of the present invention includes a frame 1, a first bin 11 and a second bin 12 located at the front of the frame 1 side by side, and a tray transfer mechanism 2 located above the frame 1, wherein the first bin 11 and the second bin 12 are provided with tray buffer mechanisms 4a and 4b having the same structure, the upper portion of the first bin 11 is provided with a tray positioning mechanism 5, the tray buffer mechanisms 4a and 4b include a drawing component 41 and a lifting component 42, the drawing component 41 includes a tray bottom plate 411 and a slide rail component 412 for guiding the movement of the tray bottom plate 411; the lifting assembly 42 comprises a lifting module 421, a connecting plate 422 driven by the lifting module 421, and clamping jaw mechanisms 423a and 423b located on the left and right sides of the connecting plate 422, the clamping jaw mechanisms 423a and 423b are provided with a horizontal driving member 4231 and clamping jaws 4232 driven by the horizontal driving member 4231, the two clamping jaws 4232 can clamp the tray 6 from the tray bottom plate 411 under the driving of the horizontal driving member 4231, and the upper part of the first bin 12 is provided with a tray positioning mechanism 5 for clamping and positioning the tray 6. The drawing assembly 41 is used for manual loading and unloading, i.e. the tray bottom plate 411 of the tray buffer mechanism 4a is drawn out from the equipment, and the slide rail part 412 enables the tray bottom plate 411 to move out of the first bin 11. After the tray 6 is stacked on the tray bottom plate 411, the tray bottom plate 411 is pushed back into the second storage bin 11, the clamping jaws 4232 can clamp the fully loaded tray 6 to convey upwards, and then the tray 6 is positioned under the action of the tray positioning mechanism 5; when discharging, the action of the tray buffer mechanism 4b is opposite, the empty tray 6 is stacked on the clamping jaw 4232 and then conveyed downwards, and is placed on the tray bottom plate 411, then the worker draws the tray bottom plate 411 out of the second storage bin 12, and then takes the stacked empty tray 6 away. During operation, the carrier moving frame 23 firstly avoids the upper part of the tray 6, the tray 6 carrying the products 7 is stacked in the tray caching mechanism 4a, then the tray caching mechanism 4a is responsible for lifting the tray 6 to the operation range of the tray moving mechanism 2, and the tray positioning mechanism 5 can adjust the tray 6 to a proper position; other devices on the production line take away the products 7 from the tray 6 until the tray 6 is emptied, and the tray transferring mechanism 2 places the empty tray 6 on the tray caching mechanism 4b and stacks the empty tray; the tray buffer mechanism 4b moves down the stacked empty trays 6 and then sends out the trays from the front. The tray buffer mechanisms 4a and 4b enable the space for the buffer storage of the tray 6 to be reserved for operators, the product 7 is moved out above the rack 1, and the feeding and discharging of the lower part are not affected, so that the purpose of feeding the product by using the tray under the condition of no shutdown is achieved, and the tray buffer mechanisms have wide application prospect. In this embodiment, the first bin 12 is used for loading, and the second bin 13 is used for unloading, so the tray positioning mechanism 5 is arranged above the first bin 12; if the second magazine 13 is used for loading and the first magazine 13 is used for unloading, the tray positioning mechanism 5 may be detachably fixed above the second magazine 13. Thus, the station exchange can be conveniently carried out.

As shown in fig. 3 and 4, the clamping jaw 4232 includes a horizontal clamping block 42321 extending to the side of the tray bottom plate 411, a supporting plate 42322 located below the horizontal clamping block 42321, and a reinforcing block 42323 fixed at the inner side of an included angle between the horizontal clamping block 42321 and the supporting plate 42322, two sides of the base 413 are provided with vertical rods 43 blocking the tray bottom plate 411 in the left and right directions, and the horizontal clamping block 42321 is provided with a notch 42324 avoiding the vertical rod 43. Such a jaw 4232 may be loaded with a large weight and not be easily deformed. The tray 6 that piles up has certain risk of empting in the removal, and pole setting 43 can play the guard action but also need not hug closely tray 6 side to the left and right sides of tray 6, can avoid the product to drop along with tray 6 and cause the damage problem of scrapping. The clamping jaws 4232 are required to clamp the tray 6 from the left and right sides of the tray 6, so that the notches 42324 are required to avoid the position of the upright 43.

As shown in fig. 4, the coupling plate 422 is provided with a pair of guide rails 4221, the jaws 4232 are coupled to a slide plate 4233 movable along the guide rails 4221, and a horizontal driving member 4231 drives a fixed block 42331 coupled to the slide plate 4233. The guide rail 4221 can limit the parallelism of the movement of the gripping jaw 4232, and the movement accuracy is further improved. The horizontal driving unit 4231 may be an electric cylinder, or a member having a linear driving function such as an air cylinder or an oil cylinder.

As shown in fig. 5, the slide rail member 412 includes two inner slide rails 4121 fixed to the base 413 and two outer slide rails 4122 respectively sliding along the inner slide rails 4121, and a slide block 4123 respectively sliding along the two outer slide rails 4122 is provided at a lower portion of the tray bottom plate 411. Compared with a single-slide rail component, the tray bottom plate 411 can be pulled out for a larger stroke, and can even completely leave the upper part of the base 413, so that the lifted tray can be prevented from influencing the putting in of a new tray.

As shown in fig. 6, the tray positioning mechanism 5 includes a front push block mechanism 51 provided near the tray transfer mechanism 2, side push block mechanisms 52a and 52b provided on both sides of the first magazine 11, and a reference vertical plate 53 located at a position opposite to the front push block mechanism 51, a sensor 54 for sensing whether or not the tray 6 is lifted to a predetermined position is provided on a side of the tray positioning mechanism 5, the front push block mechanism 51 includes a push plate 512 driven by a front cylinder 511, both the side push block mechanisms 51 and 52a include a push block 522 driven by a side cylinder 521, and the controller controls the operations of the front cylinder 511 and the two side cylinders 521 by using a signal obtained by the sensor 54. The reference vertical plate 53 is a rigid surface fixed to the front of the first bin 11. When the tray 6 is positioned, the push plate 512 pushes the entire stack of trays 6 forward to contact the reference vertical plate 53, and the side push block mechanisms 52a and 52b clamp the left and right sides of the tray 6 toward the middle, thereby completing the positioning of the tray 6. Thus, the reference edge and the symmetry axis can be found when the sizes of the trays 6 are different, and the tray transfer mechanism 2 can find the positions of the trays 6. The front push block mechanism 51 and the two side push block mechanisms 52a and 52b both adopt a cylinder driving mode to push the push plate 6 to a specified position, and the three cylinders can synchronously act by utilizing branched air paths. After the tray 6 is lifted to the right position, the sensor 54 can automatically sense the position and complete the positioning, so that the operation times of workers are reduced, and the automation level is improved.

As shown in fig. 7, the push block 522 is provided with a plurality of claws 5222 on a side facing the tray 6, the claws 5222 form a horizontal slot for clamping the side of the tray 6, and the side push block mechanisms 52a and 52b further include a bracket 523 fixed to the frame 1, a vertical adjusting block 524 for adjusting the vertical position of the side cylinder 521 relative to the bracket 523, and a horizontal adjusting block 525 for adjusting the horizontal position of the side cylinder 521 relative to the bracket 523. The latch 5222 can be latched to the bottom of the tray 6 to prevent the tray 6 from falling. The side cylinder 521 can be fixed on the horizontal adjusting block 525 and then fixed on the vertical adjusting block 524, or can be fixed on the vertical adjusting block 524 and then fixed on the horizontal adjusting block 525, so that the position of the pushing block 522 can be better adapted to the position of the tray 6. The adjustment can adopt a mode that a waist-shaped hole is matched with a bolt, and the like.

As shown in fig. 8, the pallet transfer mechanism 2 includes a gantry 21 located behind the first bin 11 and the second bin 12, a transfer module 22 located on the gantry 21, a transfer frame 23 horizontally moved by the transfer module 22, and a plurality of vacuum suction heads 24 located on the transfer frame 23. When the tray 6 is emptied, the transfer module 22 drives the transfer carriage 23 to move above the first bin 11, and the vacuum suction head 24 sucks the empty tray 6 and moves to the second bin 12.

As shown in fig. 8, the transferring module 22 includes a driving wheel 222 driven by a stepping motor 221, two idle wheels 223a, 223b rotatably connected to the gantry 21, a timing belt 224 passing around the driving wheel 222 and the two idle wheels 223a, 223b, and a tension wheel 225 for controlling tension of the timing belt 224, the transferring frame 23 includes a horizontal mounting plate 2311 fixed on the timing belt 224, the gantry 21 is provided with a load guide rail 211, a slide block 23111 matching the load guide rail 211 is provided at the bottom of the horizontal mounting plate 2311, and buffer mechanisms 212a, 212b for preventing the transferring frame 23 from colliding with the idle wheels 223a, 223b are further provided at both sides of the gantry 21. Since the carriage 23 is of cantilevered construction, both a certain load and resistance to rotational deformation due to moments are required. The load rail 211 may serve to support and guide the movement while the timing belt 224 translates with the carriage 23 substantially free of vertical forces. The stepping motor 221 controls the left and right movement of the carriage 23 by forward and reverse rotation. The tension pulley 225 will control the timing belt 224 to be always in a tight state. The buffer mechanisms 212a and 212b protect the two idler wheels 223a and 223b, and limit the moving range of the transfer rack 23, so that the transfer rack 23 can move back and forth within the suitable range of the first bin 11 and the second bin 12.

As shown in fig. 8, the transfer rack 23 includes a sliding portion 231 and a hanging portion 232, the sliding portion 231 includes a horizontal mounting plate 2311, a first vertical plate 2312 fixed on the horizontal mounting plate 2311, and a plurality of ribs 2313 connected in an included angle between the horizontal mounting plate 2311 and the first vertical plate 2312, a lifting driving mechanism 233 is disposed between the first vertical plate 2312 and the hanging portion 232, and the vacuum suction head 24 is mounted on an edge of the hanging portion 232. The sliding part 231 has a stable structure, and prevents the occurrence of too much shaking during operation. A small lifting movement is required during the suction of the tray 6 by the vacuum nozzle 24, which otherwise might hit the tray 6 during the translation of the carriage 23, so that such a small lifting movement needs to be performed by the lifting drive mechanism 233. The lifting driving mechanism 233 may be an air cylinder, and the first vertical plate 2312 has a slide rail slider member for vertically moving the hanging portion 232.

As shown in fig. 8, the hanging part 232 includes a second vertical plate 2321 connected to the lifting driving mechanism 233, a seat plate 2322 hung and connected to the second vertical plate 2321, and a reinforcing structure 2323 for fixing the second vertical plate 2321 and the seat plate 2322. Thus, the structure of the hanging portion 232 is stable, and the shaking of the working process can be avoided.

As shown in FIG. 8, the base plate 2322 is divided into a plurality of fixed portions, each of which is provided with an adjustment plate 2324, and the vacuum nozzle 24 is adjustably fixed to the adjustment plate 2324. Since the size of the tray 6 that the apparatus faces may be large, it is desirable that the position of the vacuum cleaner head 24 is adapted to the extent of the tray 6. The adjustment plate 2324 may be provided with a kidney-shaped hole, an arc-shaped hole, etc. to allow the position of the vacuum nozzle 24 to be varied within a certain range.

As shown in fig. 8, the front and rear sides of the seat plate 2322 are respectively provided with a hook mechanism 2325a, 2325b, and the hook mechanism 2325a, 2325b includes a driving cylinder 23252, a hook 23251 driven by the driving cylinder 23252 and capable of hooking the bottom surface of the tray 6, and a slide slider member for moving the hook 23251 under the seat plate 2322. There is still a relatively large risk of the vacuum nozzle 24 hitting the tray 6 after suction, so that the tray 6 can be securely integrated with the transfer carriage 23 by hooking the hook 23251 of the tray 6 during transfer of the tray 6.

As shown in fig. 1, a robot 3 is provided above the tray transfer mechanism 2, and the robot 3 has a pickup device 31 for picking up the product 7 from the tray 6. The apparatus may be provided with a robot 3 which in operation will pick the product 7 off the raised tray 6 and then transfer it to another location on the production line by the pick-up device 31.

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.