A double beam inserter apparatus

Abstract

The application discloses a double-beam plug-in machine device and relates to the technical field of automatic component installation. The device adopts an independent driving double-horizontal-beam and double-working-head parallel operation architecture, can fundamentally break through the work beat bottleneck of a traditional single-beam structure, enables two working heads to respectively take materials in front and rear material loading areas and simultaneously perform plug-in operations on a PCB board located in the center of a conveying mechanism, realizes highly overlapped and parallel operation of material taking, moving and plug-in processes, and can improve the theoretical maximum beat by nearly one time compared with a single-beam single-head or single-beam double-working-head device. Since the movement stroke and load of each working head are relatively reduced, the speed and acceleration requirements of a single movement shaft are reduced, mechanical vibration, wear and noise can be effectively reduced, positioning accuracy and long-term operation stability of the device can be ensured while efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of automatic component installation technology, and more particularly to a double-beam insertion machine. Background Technology

[0002] In the field of printed circuit board assembly and manufacturing, automated insertion equipment has become the core equipment for improving production efficiency, ensuring product quality, and reducing labor costs. By automatically picking up electronic components and accurately inserting them into the preset holes on the PCB board through robotic arms or special working heads, the standardization and cycle time of production can be significantly improved.

[0003] As electronic products iterate at an accelerated pace and market competition intensifies, manufacturers are placing higher demands on the production efficiency of insertion machines. This means that the equipment needs to complete more insertion actions per unit time, which translates to a higher production cycle time. Currently, mainstream non-standard insertion machines on the market typically adopt a single-beam single-working-head or single-beam double-working-head configuration. The main way to improve the cycle time is to continuously optimize motion control algorithms and increase the maximum operating speed and acceleration of servo motors and linear modules. However, this technical approach is gradually approaching physical limits. The performance limits of core motion components such as servo motors and lead screws constitute a rigid bottleneck for further improving the machine's cycle time. Simply relying on increasing the speed of a single motion axis will not only bring greater mechanical vibration, wear, and noise, but also affect positioning accuracy and equipment lifespan, thus reducing the marginal benefits of improving the cycle time.

[0004] Therefore, a double-beam insertion machine is proposed to solve some of the problems existing in the above-mentioned prior art. Summary of the Invention

[0005] The purpose of this invention is to solve the problem that the working efficiency of the insertion machine in the prior art is difficult to improve due to the influence of the conventional single beam structure. Therefore, a double beam insertion machine is proposed.

[0006] To address the problems existing in the prior art, the present invention adopts the following technical solution: A double-beam insertion machine includes a machine body, a processing table inside the machine body, a conveying mechanism on the processing table, a double-beam insertion mechanism mounted above the conveying mechanism inside the machine body, and the double-beam insertion mechanism including two symmetrically arranged longitudinal frames, two symmetrically arranged crossbeams slidably connected between the two longitudinal frames, a longitudinally arranged first screw rotatably mounted on each of the left and right longitudinal frames, and a first servo motor fixedly mounted for driving the corresponding first screw to rotate, the left first screw threadedly connected to the rear crossbeam, the right first screw threadedly connected to the front crossbeam, a first slide table slidably connected to each of the front and rear crossbeams, a transversely arranged second screw rotatably mounted inside each of the front and rear crossbeams, and a second servo motor fixedly mounted for driving the corresponding second screw to rotate, the second screw threadedly connected to the corresponding first slide table, a working head fixedly mounted on each of the front and rear first slide tables, and a feeding area fixedly mounted on the front and rear sides of the processing table inside the machine body, a feeding tray on each of the front and rear feeding areas, and a throwing box corresponding to the feeding tray.

[0007] Preferably, the conveying mechanism includes a conveyor frame that is horizontally fixed on the processing table, and symmetrically arranged conveyor belts are rotatably installed on the inner walls of the front and rear sides of the conveyor frame.

[0008] Preferably, a limiting plate is fixedly installed at the top center of the conveyor frame, which is located above the conveyor belt. Multiple vertically arranged top columns are slidably installed on the inner walls of the front and rear sides of the conveyor frame. A vertically arranged cylinder is fixedly installed at the center of the processing table, and a top plate located below the top column is fixedly installed on the telescopic end of the cylinder.

[0009] Preferably, the working head has multiple splined rods arranged side by side installed in a lifting manner, and a pneumatic gripper is fixedly installed at the lower end of the splined rods. The working head also has a lead screw assembly corresponding to the multiple splined rods, and the moving end of the lead screw assembly is connected to the splined rod. A third servo motor for driving the corresponding lead screw assembly is also fixedly installed inside the working head.

[0010] Preferably, a spline sleeve is rotatably mounted inside the working head and sleeved on the outside of the spline rod, and the spline sleeve is slidably connected to the spline rod. A fourth servo motor for driving the rotation of the spline sleeve is fixedly mounted inside the working head.

[0011] Preferably, a vertically positioned Mark spot camera is fixedly installed inside the working head, and a Mark spot light source is fixedly installed below the Mark spot camera. A flying light source is fixedly installed inside the working head and positioned below multiple pneumatic grippers.

[0012] Preferably, a horizontally arranged horizontal rail is fixedly installed on the feeding area, and a second slide table is slidably installed on the horizontal rail. A horizontally arranged third screw is rotatably installed inside the horizontal rail, and the third screw is threadedly connected to the second slide table. The feeding tray is fixedly installed on the second slide table, and a transmission mechanism is installed between the second screw and the corresponding third screw.

[0013] Preferably, the transmission mechanism includes a splined shaft rotatably mounted above the longitudinal frame, a splined cylinder rotatably mounted at the end of the crossbeam and slidably sleeved on the outside of the splined shaft, a first bevel gear meshing with each other fixedly mounted on the splined cylinder and the corresponding second screw, a first shaft coaxially connected to the third screw rotatably mounted inside the cross rail, a second shaft parallel to the corresponding splined shaft rotatably mounted inside the cross rail, a second bevel gear meshing with each other fixedly mounted on the first shaft and the corresponding second shaft, and a transmission belt drivingly connecting the second shaft and the corresponding splined shaft.

[0014] Preferably, a fifth servo motor for driving the third screw to rotate is fixedly installed inside the horizontal rail, a first magnetic connector is installed between the drive shaft of the fifth servo motor and the third screw, and a second magnetic connector is installed between the third screw and the first shaft.

[0015] Preferably, the first magnetic connector includes a first contact plate coaxially fixed on the drive shaft of the fifth servo motor, a third screw with a splined structure at one end near the first contact plate, a second contact plate slidably sleeved at one end of the third screw near the first contact plate, and a first spring for elastically supporting the second contact plate mounted on the third screw. The second magnetic connector includes a third contact plate coaxially fixed on the other end of the first contact plate, a first shaft with a splined structure at one end near the third contact plate, a fourth contact plate slidably sleeved at one end of the first shaft near the third contact plate, a second spring for elastically supporting the fourth contact plate mounted on the first shaft, electromagnets installed in the first and third contact plates, and magnets installed in the second and fourth contact plates.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. In this invention, by adopting an independently driven dual-beam and dual-working-head parallel operation architecture, the bottleneck of the working cycle of the traditional single-beam structure can be fundamentally broken through. This allows the two working heads to pick up materials in the front and rear feeding areas respectively, and simultaneously perform insertion operations on the PCB board located in the center of the conveying mechanism. This achieves a high degree of overlap and parallel operation of the material picking, moving, and insertion processes. Compared with single-beam single-head or single-beam dual-working-head equipment, this equipment can increase the theoretical maximum cycle time by nearly 100%. Furthermore, since the movement stroke and load of each working head are relatively reduced, the speed and acceleration requirements of a single motion axis are reduced. This not only effectively reduces mechanical vibration, wear, and noise, but also ensures positioning accuracy and long-term stability of the equipment while improving efficiency. 2. In this invention, a transmission mechanism is set up between the movement of the crossbeam and the lateral movement of the loading pallet to achieve mechanical linkage. With the help of a combination of spline shaft, bevel gear set and transmission belt, the rotational power of the second screw that drives the working head to move laterally in the crossbeam is synchronously transmitted to the third screw on the corresponding side, thereby driving the loading pallet and the working head to move synchronously in the lateral direction. This design allows the loading pallet below the working head to follow synchronously when the working head moves laterally to any material picking position. The pneumatic gripper can accurately pick up materials without making large-scale alignment adjustments in the lateral dimension, which greatly shortens the idle waiting and alignment time in the material picking process and helps to further optimize the working cycle. 3. In this invention, by equipping each working head with an independent Mark point camera and flying light source, the reference points and components of the PCB board can be visually positioned and corrected during operation, which helps to ensure the accuracy of the insertion. At the same time, the drive system of the loading area adopts a magnetic connector controlled by electromagnets and magnets, which can realize the rapid and lossless switching of the third screw power source between "from the crossbeam linkage" and "from the independent servo motor". This allows the equipment to enjoy the high-efficiency synchronous material picking advantage brought by linkage, and can also be driven independently without linkage when the tray position needs to be adjusted separately. This greatly enhances the flexibility and intelligence of equipment operation and maintenance, and helps to further improve production efficiency. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a perspective view of the internal structure of the body of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 3 For the present invention Figure 1 Enlarged view of point B in the middle; Figure 4 This is a perspective view of the present invention; Figure 5 This is a perspective view of the conveying mechanism of the present invention; Figure 6 This is a front cross-sectional view of the conveying mechanism of the present invention; Figure 7 This is a perspective view of the rear crossbeam and cross rail of the present invention; Figure 8 This is a perspective view of multiple pneumatic grippers installed inside the working head according to the present invention; Figure 9 This is a perspective view of the Mark spot-taking camera of the present invention installed inside the working head; Figure 10 This is a perspective view of the first magnetic connector and the second magnetic connector of the present invention.

[0018] In the picture: 1. Machine body; 11. Processing table; 2. Conveyor frame; 21. Conveyor belt; 22. Limiting plate; 23. Top column; 24. Cylinder; 25. Top plate; 3. Longitudinal frame; 31. Crossbeam; 32. First screw; 33. First servo motor; 34. First slide table; 35. Second screw; 36. Second servo motor; 4. Working head; 41. Splined rod; 42. Pneumatic gripper; 43. Lead screw assembly; 44. Third servo motor; 45. Splined sleeve; 46. Fourth servo motor; 47. Mark spot shooting camera; 48. Mark spot shooting light source; 49. Flying shooting light source; 5. Loading area; 51. Loading tray; 52. Disposal box; 6. Horizontal rail; 61. Second slide; 62. Third screw; 63. Fifth servo motor; 7. Splined shaft; 71. Splined cylinder; 72. First bevel gear; 73. First shaft; 74. Second shaft; 75. Second bevel gear; 76. Drive belt; 8. First magnetic connector; 801. First contact plate; 802. Second contact plate; 803. First spring; 81. Second magnetic connector; 811. Third contact plate; 812. Fourth contact plate; 813. Second spring. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Example: This example provides a double-beam insertion machine. See [link to example]. Figure 1 - Figure 10 Specifically, the machine includes a body 1, a processing table 11 inside the body 1, and a conveying mechanism on the processing table 11. The conveying mechanism includes a conveyor frame 2 horizontally fixedly installed on the processing table 11, and symmetrically arranged conveyor belts 21 rotatably installed on the inner walls of the front and rear sides of the conveyor frame 2. A limiting plate 22 is fixedly installed at the top center of the conveyor frame 2, and multiple vertically arranged top columns 23 are slidably installed on the inner walls of the front and rear sides of the conveyor frame 2. A vertically arranged cylinder 24 is fixedly installed at the center of the processing table 11, and a top plate 25 located below the top columns 23 is fixedly installed on the telescopic end of the cylinder 24. A double beam insertion mechanism located above the conveying mechanism is installed inside the body 1.

[0021] In this device, the PCB board to be processed is transported to the middle position of the conveyor frame 2 by the conveyor belt 21 in the conveyor mechanism. The top plate 25 is controlled by the cylinder 24 to drive multiple top columns 23 to rise. With the help of the limiting plate 22, the PCB board is firmly positioned in the middle position of the conveyor frame 2. In this state, the PCB board is separated from the top of the conveyor belt 21, so that the conveyor mechanism can transport and move other PCB boards, thereby realizing the assembly line feeding and processing of PCB boards, improving the overall production efficiency. The PCB board, after being lifted and fixed, provides a stable and precise working plane for the double beam insertion mechanism.

[0022] In the specific implementation process, such as Figure 1 and Figure 7 As shown, the double-beam insertion mechanism includes two symmetrically arranged longitudinal frames 3. Two symmetrically arranged crossbeams 31 are slidably connected between the two longitudinal frames 3. A first screw 32 is rotatably mounted on each of the left and right longitudinal frames 3, and a first servo motor 33 for driving the corresponding first screw 32 to rotate is fixedly mounted on each of the two longitudinal frames 3. The first screw 32 on the left is threadedly connected to the rear crossbeam 31, and the first screw 32 on the right is threadedly connected to the front crossbeam 31. A first slide table 34 is slidably connected on each of the two crossbeams 31. A second screw 35 is rotatably mounted in each of the two crossbeams 31, and a second servo motor 36 for driving the corresponding second screw 35 to rotate is fixedly mounted on each of the two crossbeams 31. The second screw 35 is threadedly connected to the corresponding first slide table 34. A working head 4 is fixedly mounted on each of the two first slide tables 34.

[0023] In this device, two first servo motors 33 drive the first screws 32 on the left and right sides to rotate, which can independently control the longitudinal (Y-axis) movement of the two crossbeams 31 on the longitudinal frame 3. The second servo motor 36 on each crossbeam 31 drives the second screw 35 to rotate, which can control the first slide 34 and the working head 4 on the crossbeam 31 to move laterally (X-axis). Thus, the two working heads 4 have two completely independent and non-interfering motion systems in the XY plane, which can plan the optimal path and execute different material picking or insertion tasks at the same time, realizing true spatial parallel operation.

[0024] In the specific implementation process, such as Figure 8 and Figure 9As shown, multiple splined rods 41 are installed side by side inside the working head 4, and pneumatic grippers 42 are fixedly installed at the lower end of the splined rods 41. Screw assemblies 43 corresponding to the multiple splined rods 41 are fixedly installed inside the working head 4, and the moving end of the screw assembly 43 is connected to the splined rods 41. A third servo motor 44 for driving the corresponding screw assembly 43 is fixedly installed inside the working head 4. A spline sleeve 45 sleeved on the outside of the splined rods 41 is rotatably installed inside the working head 4, and the spline sleeve 45 is slidably connected to the splined rods 41. A fourth servo motor 46 for driving the spline sleeve 45 to rotate is fixedly installed inside the working head 4. Loading areas 5 located on the front and rear sides of the processing table 11 are fixedly installed inside the machine body 1. Loading trays 51 and throwing boxes 52 corresponding to the loading trays 51 are provided on both the front and rear loading areas 5.

[0025] In this device, the third servo motor 44 drives the lead screw assembly 43, which can precisely control the lifting (Z-axis movement) of a single spline rod 41 and its end pneumatic gripper 42, facilitating the picking and insertion of components. The fourth servo motor 46 drives the spline sleeve 45 to rotate, which in turn drives the spline rod 41 and the pneumatic gripper 42 to rotate, thereby adjusting the angle of the components (R-axis movement) to meet the insertion requirements of components with different polarities or directions. The two loading areas 5 and their loading trays 51 and throwing boxes 52 provide component supply and defective product disposal stations for the two working heads 4, forming a complete material flow closed loop.

[0026] A vertically positioned Mark camera 47 is fixedly installed inside the working head 4, and a Mark light source 48 is fixedly installed below the Mark camera 47. A flying light source 49 is fixedly installed inside the working head 4 and positioned below multiple pneumatic grippers 42. In this device, the Mark camera 47, with the assistance of the Mark light source 48, performs image positioning on the PCB board reference point fixed on the processing table 11, providing a coordinate reference for the entire insertion process. The flying light source 49 is the vision system of the working head 4. During the movement, it provides illumination for rapid visual positioning of the components held by the pneumatic grippers 42 to correct material handling deviations and ensure accurate insertion position.

[0027] In the specific implementation process, such as Figure 1 - Figure 3 , Figure 7 and Figure 10As shown, a transversely arranged horizontal rail 6 is fixedly installed on the feeding area 5, and a second slide table 61 is slidably installed on the horizontal rail 6. A transversely arranged third screw 62 is rotatably installed inside the horizontal rail 6, and the third screw 62 is threadedly connected to the second slide table 61. The feeding tray 51 is fixedly installed on the second slide table 61. A transmission mechanism is installed between the second screw 35 and the corresponding third screw 62. The transmission mechanism includes a splined shaft 7 rotatably installed above the longitudinal frame 3, and a sliding sleeve is rotatably installed at the end of the crossbeam 31. The splined cylinder 71 is located outside the splined shaft 7. A first bevel gear 72 that meshes with each other is fixedly installed on the splined cylinder 71 and the corresponding second screw 35. A first shaft 73 that is coaxially connected to the third screw 62 is rotatably installed inside the horizontal rail 6. A second shaft 74 that is parallel to the corresponding splined shaft 7 is rotatably installed inside the horizontal rail 6. A second bevel gear 75 that meshes with each other is fixedly installed on the first shaft 73 and the corresponding second shaft 74. A transmission belt 76 is used to drive the second shaft 74 and the corresponding splined shaft 7.

[0028] In this device, the second screw 35 inside the front crossbeam 31 is connected to the right spline shaft 7 through the meshing of two first bevel gears 72 on the right side. The right spline shaft 7 is then connected to the third screw 62 inside the front cross rail 6 through a corresponding transmission mechanism. Similarly, the second screw 35 inside the rear crossbeam 31 is connected to the left spline shaft 7 through the meshing of two first bevel gears 72 on the left side. The left spline shaft 7 is then connected to the third screw 62 inside the rear cross rail 6 through a corresponding transmission mechanism. This allows the feeding tray 51 to move laterally synchronously with the corresponding working head 4 under the drive of the second slide table 61, achieving precise "movement-to-movement" following between the working head 4 and the material source, greatly improving the material handling efficiency.

[0029] In the specific implementation process, such as Figure 7 and Figure 10As shown, a fifth servo motor 63 for driving the third screw 62 to rotate is fixedly installed inside the horizontal rail 6. A first magnetic connector 8 is installed between the drive shaft of the fifth servo motor 63 and the third screw 62. A second magnetic connector 81 is installed between the third screw 62 and the first shaft 73. The first magnetic connector 8 includes a first contact plate 801 coaxially fixed on the drive shaft of the fifth servo motor 63. The end of the third screw 62 near the first contact plate 801 is configured with a spline structure. The end of the third screw 62 near the first contact plate 801 is slidably sleeved with a second contact plate 802. A device for driving the third screw 62 to rotate is installed on the third screw 62. The first spring 803 provides elastic support for the second contact plate 802. The second magnetic connector 81 includes a third contact plate 811 coaxially fixed to the other end of the first contact plate 801. The end of the first shaft 73 near the third contact plate 811 is configured with a spline structure. The end of the first shaft 73 near the third contact plate 811 is slidably sleeved with a fourth contact plate 812. A second spring 813 for elastically supporting the fourth contact plate 812 is installed on the first shaft 73. Electromagnets are installed in the first contact plate 801 and the third contact plate 811. Magnets are installed in the second contact plate 802 and the fourth contact plate 812.

[0030] In this device, the second slide table 61 can not only be driven synchronously by the rotation of the second screw 35 through the transmission connection of the transmission mechanism, but can also be driven independently by the fifth servo motor 63. During operation, power interruption and connection control are required through the first magnetic connector 8 and the second magnetic connector 81. When the second screw 35 drives the corresponding third screw 62 to rotate, the first contact plate 801 and the second contact plate 802 in the corresponding first magnetic connector 8 separate, and the third contact plate 811 and the fourth contact plate 812 in the second magnetic connector 81 fit tightly together. In this state, the rotation power of the third screw 62 comes from the rotation of the second screw 35, realizing the linkage between the working head 4 and the corresponding loading tray 51.

[0031] When the fifth servo motor 63 drives the corresponding third screw 62 to rotate, the first contact plate 801 and the second contact plate 802 in the corresponding first magnetic connector 8 are tightly fitted together, and the third contact plate 811 and the fourth contact plate 812 in the second magnetic connector 81 are separated. In this state, the rotational power of the third screw 62 comes from the rotation of the drive shaft of the fifth servo motor 63, realizing independent drive adjustment of the loading tray 51. This design realizes a smooth, fast and non-contact switching between the two drive modes.

[0032] Specifically, the working principle of this invention is as follows: After the equipment starts, the conveyor mechanism transports the PCB board to the processing position and lifts and fixes it. The two working heads 4 start running according to the preset program, driven by their respective independent motion systems. During operation, one working head 4 can move to its loading area 5. At this time, the side transmission mechanism is in a linked state, and the loading tray 51 moves laterally synchronously with the working head 4. One working head 4 accurately picks up components from the loading tray 51 through its vision system and multi-axis adjustment function. At the same time, the other working head 4 can perform insertion work above the PCB board. After one working head 4 finishes picking up the components, it quickly moves to the PCB board. Above the corresponding hole on the board, the final correction is performed through visual positioning. Then, the pneumatic gripper 42 is driven to descend and rotate to the correct angle to insert the component into the PCB board. The two working heads 4 alternately perform material picking, moving, positioning, and insertion actions in this cycle. Due to the parallel architecture of the double beam and double head and the linkage design between the working head 4 and the loading tray 51, the material picking and insertion processes are highly overlapped in time and space, which greatly improves the overall utilization rate of the equipment and thus doubles the production cycle. During the production process, the transmission linkage can also be cut off through the magnetic connector, and the fifth servo motor 63 can independently drive the loading tray 51 to move and adjust its position.

[0033] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A double-beam insertion machine, comprising a machine body (1), characterized in that: The machine body (1) is provided with a processing table (11), and a conveying mechanism is provided on the processing table (11). The machine body (1) is equipped with a double beam insertion mechanism located above the conveying mechanism. The double beam insertion mechanism includes two longitudinal frames (3) arranged symmetrically on the left and right. Two crossbeams (31) arranged symmetrically on the front and back are slidably connected between the two longitudinal frames (3). A first screw (32) arranged longitudinally is rotatably installed on both the left and right longitudinal frames (3), and a first servo motor (33) for driving the corresponding first screw (32) to rotate is fixedly installed. The first screw (32) on the left is threadedly connected to the crossbeam (31) behind. The first screw (32) on the right side is threadedly connected to the front crossbeam (31). The front and rear crossbeams (31) are slidably connected to the first slides (34). The front and rear crossbeams (31) are rotatably installed with the second screw (35) arranged horizontally. The second servo motor (36) for driving the corresponding second screw (35) to rotate is fixedly installed. The second screw (35) is threadedly connected to the corresponding first slide (34). The front and rear first slides (34) are fixedly installed with the working head (4). The machine body (1) is fixedly installed with the loading area (5) located on the front and rear sides of the processing table (11). Both the front and rear feeding areas (5) are provided with feeding trays (51) and throwing boxes (52) corresponding to the feeding trays (51). A horizontal rail (6) is fixedly installed on the feeding area (5), and a second slide (61) is slidably installed on the horizontal rail (6). A third screw (62) is rotatably installed inside the horizontal rail (6), and the third screw (62) is threadedly connected to the second slide (61). The feeding tray (51) is fixedly installed on the second slide (61). A transmission mechanism is installed between the second screw (35) and the corresponding third screw (62). Through the transmission connection of the transmission mechanism, the feeding tray (51) and the working head (4) can be accurately followed. The transmission mechanism includes a spline shaft (7) rotatably mounted above the longitudinal frame (3), a spline cylinder (71) rotatably mounted at the end of the crossbeam (31) and slidably sleeved on the outside of the spline shaft (7), a first bevel gear (72) meshing with each other fixedly mounted on the spline cylinder (71) and the corresponding second screw (35), a first shaft (73) coaxially connected to the third screw (62) rotatably mounted in the cross rail (6), a second shaft (74) parallel to the corresponding spline shaft (7) rotatably mounted in the cross rail (6), a second bevel gear (75) meshing with each other fixedly mounted on the first shaft (73) and the corresponding second shaft (74), and a transmission belt (76) drivingly connecting the second shaft (74) and the corresponding spline shaft (7). A fifth servo motor (63) for driving the third screw (62) to rotate is fixedly installed inside the horizontal rail (6). A first magnetic connector (8) is installed between the drive shaft of the fifth servo motor (63) and the third screw (62). A second magnetic connector (81) is installed between the third screw (62) and the first shaft (73). The interruption and connection control of the transmission between the fifth servo motor (63), the third screw (62) and the transmission mechanism are realized through the control of the first magnetic connector (8) and the second magnetic connector (81), so as to realize the operation of the loading tray (51) driven by the fifth servo motor (63) to move independently of the working head (4).

2. The double-beam insertion machine according to claim 1, characterized in that: The conveying mechanism includes a conveyor frame (2) that is fixedly mounted laterally on the processing table (11), and symmetrically arranged conveyor belts (21) are rotatably mounted on the inner walls of the front and rear sides of the conveyor frame (2).

3. The double-beam insertion machine according to claim 2, characterized in that: A limiting plate (22) is fixedly installed at the top middle position of the conveyor frame (2) above the conveyor belt (21). Multiple vertically arranged top columns (23) are slidably installed on the inner walls of the front and rear sides of the conveyor frame (2). A vertically arranged cylinder (24) is fixedly installed at the middle position of the processing table (11), and a top plate (25) located below the top column (23) is fixedly installed on the telescopic end of the cylinder (24).

4. The double-beam insertion machine according to claim 1, characterized in that: The working head (4) is equipped with multiple spline rods (41) arranged side by side, and a pneumatic gripper (42) is fixedly installed at the lower end of the spline rod (41). The working head (4) is also equipped with a lead screw assembly (43) corresponding to the multiple spline rods (41), and the moving end of the lead screw assembly (43) is connected to the spline rod (41). The working head (4) is also equipped with a third servo motor (44) for driving the corresponding lead screw assembly (43).

5. The double-beam insertion machine according to claim 4, characterized in that: The working head (4) is rotatably mounted with a spline sleeve (45) sleeved on the outside of the spline rod (41), and the spline sleeve (45) is slidably connected to the spline rod (41). The working head (4) is fixedly mounted with a fourth servo motor (46) for driving the spline sleeve (45) to rotate.

6. The double-beam insertion machine according to claim 4, characterized in that: The working head (4) is fixedly installed with a vertically arranged Mark spot camera (47), and a Mark spot light source (48) is fixedly installed below the Mark spot camera (47). The working head (4) is fixedly installed with a flying light source (49) arranged below multiple pneumatic grippers (42).

7. The double-beam insertion machine according to claim 1, characterized in that: The first magnetic connector (8) includes a first contact plate (801) coaxially fixed on the drive shaft of the fifth servo motor (63). The end of the third screw (62) near the first contact plate (801) is configured with a spline structure. A second contact plate (802) is slidably sleeved on the end of the third screw (62) near the first contact plate (801). A first spring (803) is mounted on the third screw (62) for elastic support of the second contact plate (802). The second magnetic connector (81) includes a first contact plate (801) coaxially fixed on the first contact plate (801). The third contact plate (811) at one end, the first shaft (73) near the third contact plate (811) is set with a spline structure, the first shaft (73) near the third contact plate (811) is slidably sleeved with a fourth contact plate (812), a second spring (813) for elastic support of the fourth contact plate (812) is installed on the first shaft (73), an electromagnet is installed in the first contact plate (801) and the third contact plate (811), and a magnet is installed in the second contact plate (802) and the fourth contact plate (812).

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