A feeding device for a loudspeaker dust cap

Abstract

The present invention discloses a feeding device for dust caps of loudspeakers, comprising a storage mechanism, a picking mechanism and a dividing mechanism; wherein: the storage mechanism comprises at least one silo for storing a plurality of dust caps stacked up and down, the upper end of the silo is open; the picking mechanism comprises a movable picking assembly for picking up the upper dust cap from the silo; the dividing mechanism comprises at least one receiving tray for holding the dust caps transported by the picking assembly for feeding, the dividing mechanism has a dividing state, and when the dividing mechanism is in the dividing state, the receiving tray has a negative pressure for adsorbing the dust caps. The feeding device for dust caps of loudspeakers can realize the separate feeding of the dust caps of loudspeakers one by one.

Description

Technical Field

[0001] The invention relates to loudspeaker manufacturing equipment, in particular to a feeding device for a loudspeaker dust cap. Background Art

[0002] A loudspeaker, also known as a "horn", is a device that can convert electrical signals into sound signals. Speakers are usually equipped with dust caps. The dust cap is usually glued to the speaker's paper cone and covered on the voice coil to prevent dust from entering the voice coil and magnetic circuit components in the speaker. At present, in the speaker assembly line, the loading of the speaker dust cap is mainly achieved manually, and the assembly efficiency is low. In addition, the dust caps are usually stacked together and stored in stacks. When loading, the stacked dust caps need to be separated one by one, and the speaker dust caps are usually thin and light, which greatly increases the difficulty of operation and requires a high level of proficiency of the operator. Summary of the invention

[0003] In view of the above problems, the present invention provides a feeding device for loudspeaker dust caps, which can realize the separate feeding of loudspeaker dust caps one by one.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A feeding device for a loudspeaker dust cap comprises a material storage mechanism, a material taking mechanism and a material dividing mechanism; wherein:

[0006] The material storage mechanism comprises at least one material bin for storing a plurality of dust caps stacked up and down, and the upper end of the material bin is open;

[0007] The material taking mechanism comprises a movable material taking component for taking the upper dust cap from the silo;

[0008] The material dividing mechanism comprises at least one material receiving tray for receiving the dust cap conveyed by the material taking component for loading, and the material dividing mechanism has a material dividing state. When the material dividing mechanism is in the material dividing state, the material receiving tray has a negative pressure for adsorbing the dust cap.

[0009] In one embodiment, the material distribution mechanism includes at least two material receiving trays placed in parallel, and the material taking component has at least two working positions correspondingly, and each of the working positions is located above the corresponding material receiving tray.

[0010] In a preferred embodiment, the material dividing mechanism includes a first material receiving tray and a second material receiving tray, and the material picking assembly includes a first material dividing robot and a second material dividing robot. When the material picking assembly is in a first working position, the first material dividing robot is located above the material bin or in the material bin, and the second material dividing robot is located above the first material receiving tray; when the material picking assembly is in a second working position, the first material dividing robot is located above the first material receiving tray, and the second material dividing robot is located above the second material receiving tray.

[0011] In one embodiment, the material storage mechanism comprises a turntable rotatably arranged on a frame, and the number of the material bins is multiple, and the multiple material bins are fixedly arranged on the turntable and spaced apart along the circumferential direction of the turntable. By storing the stacked dust caps through multiple material bins, the storage amount is large.

[0012] In a preferred embodiment, the loading device also includes a lifting mechanism for lifting the dust cap in the silo, the lifting mechanism includes a lifting rod slidably arranged on the frame in the up and down directions, a through hole is provided at the bottom of each silo, and a corresponding through hole is provided on the turntable, the through holes on the turntable and the through holes in the silo correspond one by one and are aligned with each other to allow the lifting rod to pass through or out of the silo.

[0013] More preferably, the number of the lifting mechanisms is one, and the material storage system has a first state and a second state. When the material storage system is in the first state, the lifting rod penetrates into the silo located above it to lift the dust cap; when the material storage system is in the second state, the lifting rod is detached from the silo and is located below the turntable to allow the turntable to rotate. The silo is driven through the lifting mechanism by the rotation of the turntable, and the dust caps in the silo can be conveniently lifted by the lifting mechanism, so that each of the dust caps can reach the material retrieval height that can be reached by the material retrieval mechanism (such as a material retrieval robot) one by one, so as to facilitate loading. And the empty silo can be moved out of the lifting mechanism, so as to facilitate loading.

[0014] More preferably, the lifting rod is a lead screw driven to move by a stepper motor, and the stepper motor is mounted on the frame.

[0015] In one embodiment, the silo is hollow and cylindrical with an open upper end, and a notch extending in the up-down direction is provided on the side wall of the silo, and the storage mechanism includes a first detection switch that can be aligned with the notch to detect whether there is material in the silo.

[0016] In one embodiment, the silo includes a hollow body and a hollow upper section, the upper section is detachably connected to the body, and the inner diameter of the upper section is smaller than the inner diameter of the body. The inner diameter of the body is larger than the outer diameter of the dust cap to be loaded, so as to facilitate material addition; the inner diameter of the upper section is smaller than the inner diameter of the body and slightly larger than or equal to the outer diameter of the dust cap, so as to facilitate material distribution.

[0017] In one embodiment, the material picking assembly includes a material dispensing robot, and the material dispensing robot has a concave curved surface that matches the outer surface of the dust cap, and a suction port with negative pressure is provided on the concave curved surface.

[0018] In one embodiment, the material picking mechanism also includes a horizontal guide rail extending in the horizontal direction and a vertical guide rail extending in the vertical direction, the horizontal guide rail is fixedly set on the frame and passes through the material bin and the material support, the vertical guide rail can be slidably set on the horizontal guide rail, and the material picking assembly can be slidably set on the vertical guide rail.

[0019] In one embodiment, the material receiving tray has an outer convex curved surface that matches the inner surface of the dust cap, and the outer convex curved surface is provided with one or more negative pressure holes that can be connected to the negative pressure source.

[0020] The present invention adopts the above solution, which has the following advantages compared with the prior art:

[0021] The feeding device of the present invention can realize the distribution of the dust caps of the loudspeakers and realize the feeding of the dust caps one by one, thus avoiding the overlapping of multiple dust caps during feeding, improving the efficiency and the assembly yield of the loudspeakers and reducing the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0023] Figure 1 It is a three-dimensional schematic diagram of an automatic feeding device for speaker dust caps according to an embodiment of the present invention;

[0024] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0025] Figure 3 for Figure 1 A schematic diagram of the structure of the first material dividing robot;

[0026] Figure 4 for Figure 1A schematic structural diagram of the first material support in FIG.

[0027] Figure 5 is a structural schematic diagram of a lifting mechanism according to an embodiment of the present invention;

[0028] Figure 6 for Figure 1 A top view of the feeding device shown;

[0029] Figure 7 for Figure 1 A side view of the loading device shown.

[0030] In the above figures,

[0031] 1. material storage mechanism; 11. material bin; 110. notch; 111. body; 112. upper section; 12. turntable; 120. through hole; 13. rotating motor; 14. first detection switch;

[0032] 2. Material picking mechanism; 20. Material picking assembly; 21. First material dispensing manipulator; 22. Second material dispensing manipulator; 201. Concave surface; 202. Negative pressure source interface; 23. Horizontal guide rail; 24. Vertical guide rail; 25. First cylinder; 26. Second cylinder; 27. Second detection switch;

[0033] 3. Material distribution mechanism; 31. First material receiving tray; 32. Second material receiving tray; 33. Outer convex surface; 34. Hole; 35. Waste material inlet; 36. Waste material outlet; 37. Third detection switch;

[0034] 4. Rack;

[0035] 5. Lifting mechanism; 51. Lifting rod; 52. Stepping motor. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0037] The upper and lower parts mentioned in the present invention are defined according to the habits of general consumers. When consumers face the front of the feeding device, Figure 7 In the side view shown, the upper side of the paper is “up” and the lower side of the paper is “down”.

[0038] Reference Figures 1 to 7As shown, this embodiment provides a feeding device for speaker dust caps, which mainly includes a storage mechanism 1, a picking mechanism 2 and a dividing mechanism 3. Among them, the storage mechanism 1 is used to store dust caps placed in stacks, including at least one silo 11 for storing multiple dust caps stacked up and down, and the upper end of the silo 11 is open. The picking mechanism 2 is used to always move the dust caps on the upper layer of the storage mechanism 1 to the dividing mechanism 3, including a movable picking assembly 20 for taking the upper dust caps from the silo 11. Ideally, the picking assembly 20 takes one dust cap from the silo 11 each time, but because the dust caps are light and thin, and are stacked together, the actual situation is that two or even three stacked dust caps are often taken at a time when picking up the materials; the above-mentioned dividing mechanism 3 is used to separate the two stacked dust caps, so that the feeding robot can place the dust caps one by one on the speaker assembly line. The material distribution mechanism 3 includes at least one material receiving tray for receiving the dust caps delivered by the material taking component 20 for loading, and the material distribution mechanism 3 has a material distribution state. When the number of dust caps taken out from the material bin 11 by the material taking component 20 is more than one, the material distribution mechanism 3 is switched to the material distribution state, in which the material receiving tray has a negative pressure for adsorbing the dust caps.

[0039] Specifically, a hole 34 is provided on the material receiving tray, and the hole 34 is connected to a negative pressure source through a pipeline. When the material dispensing mechanism 3 is in a material dispensing state, the hole 34 is connected to the negative pressure source so as to have a negative pressure. The material taking component 20 has a suction port with negative pressure for sucking the dust cap. Similarly, the suction port is connected to the negative pressure source through a pipeline. The negative pressure source can be a vacuum pump.

[0040] Combination Figure 1 , Figure 6 and Figure 7 As shown, there are multiple silos 11. The storage mechanism 1 further includes a turntable 12 rotatably disposed on the frame 4, and multiple silos 11 are fixedly disposed on the turntable 12 and spaced apart along the circumferential direction of the turntable 12. In this embodiment, the number of silos 11 is specifically eight, and the eight silos 11 are equally spaced apart at the edge of the turntable 12, and the central angle between two adjacent silos 11 is 45 degrees.

[0041] The material storage mechanism 1 further includes a driving mechanism for driving the rotating disk 12 to rotate. In this embodiment, the driving mechanism specifically includes a rotating motor 13, which drives a rotating shaft to rotate. The axis of the rotating shaft extends in the up-down direction. The rotating shaft can be rotatably arranged around its own axis on the frame 4, and the rotating disk 12 is fixedly arranged on the upper end of the rotating shaft. Figure 6As shown, when the dust caps in the silo 11 at position a are used up, the rotating motor 13 drives the turntable 12 to rotate 45 degrees, and the next silo 11 equipped with dust caps is moved to position a. The above-mentioned position a is specifically a material taking position that the material taking component 20 can reach, and the material taking component 20 can move to the top of position a to take materials.

[0042] The feeding device further includes a lifting mechanism 5 for lifting the dust cap in the silo 11. In this embodiment, the number of the lifting mechanism 5 is only one. Figure 5 , Figure 6 and Figure 7 As shown, the lifting mechanism 5 is arranged at position a. The lifting mechanism 5 specifically includes a lifting rod 51 movably arranged on the frame 4 in the up-down direction, and the lifting rod 51 extends in the up-down direction. The lower end of each of the silos is open or a through hole is provided at the bottom, and a through hole 120 is correspondingly provided on the turntable 12. The through hole 120 on the turntable 12 and the lower end or through hole of the silo 11 correspond one to one and are aligned with each other so that the lifting rod 51 can penetrate into or out of the silo 11. In this embodiment, the lifting rod 51 is a lead screw driven to move by a stepper motor 52, and the stepper motor 52 is installed on the frame 4. In other embodiments, the number of the lifting mechanism 5 can be multiple.

[0043] The material storage system has a first state and a second state. When the material storage system is in the first state, the lifting rod 51 penetrates into the silo 11 located above it (i.e., the silo at position a) to lift the dust cap; when the material storage system is in the second state, the lifting rod 51 is disengaged from the silo 11 and is located below the turntable 12 to allow the turntable 12 to rotate, thereby moving the empty silo 11 at the current position a out for adding material, and feeding the next silo equipped with a dust cap as in position a.

[0044] like Figure 2 As shown, each of the silos 11 is in a hollow cylindrical shape as a whole, the upper end of the silo 11 is open, the lower end of the silo 11 is open or has a through hole for the lifting rod 51 to be inserted, and the bottom of the silo 11 is fixed on the turntable 12 (such as fixed by screws). Each silo 11 includes a hollow body 111 and a hollow upper section 112, the upper section 112 is detachably connected to the body 111 (such as detachably connected by bolts), and the inner diameter of the upper section 112 is smaller than the inner diameter of the body 111. Among them, the inner diameter of the body 111 is larger than the outer diameter of the dust cap to be loaded, so as to facilitate feeding; the inner diameter of the upper section 112 is smaller than the inner diameter of the body 111 and slightly larger than or equal to the outer diameter of the dust cap, so as to facilitate material distribution. A notch 110 extending in the up and down direction is opened on the side wall of each silo 11, and the notch 110 extends from the upper end to the lower end of the silo 11.

[0045] The storage mechanism 1 includes a first detection switch 14 that can be aligned with the notch 110 to detect whether there is material in the silo. Figure 6 As shown, the first detection switch 14 is directly opposite to the gap 110 of the silo 11 at position a, so as to detect whether there is a dust cap in the silo 11; if there is no dust cap in the current silo 11, the first detection switch 14 is triggered and sends a first detection signal, and the controller of the feeding device is electrically connected to the first detection switch 14 and the above-mentioned rotating motor 13 respectively. After receiving the first detection signal, the controller sends a running signal to the rotating motor 13. In response to the running signal, the rotating motor 13 starts and drives the turntable 12 to rotate 45 degrees, and the empty silo 11 is moved out of position a for re-adding, and the full silo 11 is moved to position a for the material taking mechanism 2 to take the material. The first detection switch 14 is specifically a photoelectric detection switch.

[0046] Combination Figure 2 and Figure 6 As shown, the material distributing mechanism 3 includes at least two material receiving trays placed in parallel, and the material picking assembly 20 has at least two corresponding working positions, each of which is respectively located above the corresponding material receiving tray. Specifically in this embodiment, the material distributing mechanism 3 includes a first material receiving tray 31 and a second material receiving tray 32, and the material picking assembly 20 includes a first material distributing manipulator 21 and a second material distributing manipulator 22. When the material picking assembly 20 is in the first working position, the first material distributing manipulator 21 is inserted into the material bin 11 at position a to absorb the dust cap or is located above the material bin 11, and the second material distributing manipulator 22 is located above the first material receiving tray 31; when the material picking assembly 20 is in the second working position, the first material distributing manipulator 21 is located above the first material receiving tray 31, and the second material distributing manipulator 22 is located above the second material receiving tray 32.

[0047] Combination Figure 2 and Figure 3 As shown, the first material distributing manipulator 21 and the second material distributing manipulator 22 respectively have a concave curved surface 201 that matches the outer surface of the dust cap, and the concave curved surface 201 faces downward. Specifically, the lower end of the first material distributing manipulator 21 and the second material distributing manipulator 22 is trumpet-shaped, and the above-mentioned concave curved surface 201 is the inner surface of the trumpet. The suction port is arranged on the concave curved surface 201. The upper ends of the first material distributing manipulator 21 and the second material distributing manipulator 22 are respectively provided with a negative pressure source interface 202 for connecting a gas pipeline, and the first material distributing manipulator 21 and the second material distributing manipulator 22 are respectively provided with a gas channel.

[0048] like Figure 2As shown, the material taking mechanism 2 further includes a horizontal guide rail 23 extending in the horizontal direction and a vertical guide rail 24 extending in the vertical direction, the horizontal guide rail 23 is fixedly arranged on the frame 4 and passes through the material bin 11 and the material support, the vertical guide rail 24 is slidably arranged on the horizontal guide rail 23, and the material taking assembly 20 is slidably arranged on the vertical guide rail 24. The material taking mechanism 2 further includes a first cylinder 25 for driving the vertical guide rail 24 to move horizontally along the horizontal guide rail 23 and a second cylinder 26 for driving the material taking assembly 20 to move up and down along the vertical guide rail 24.

[0049] Combination Figure 2 , Figure 4 and Figure 6 As shown, the first material receiving tray 31 and the second material receiving tray 32 are arranged at intervals along the moving direction of the material taking component 20. The first material receiving tray 31 and the second material receiving tray 32 respectively have a convex surface 33 that matches the inner surface of the dust cap, and the convex surface 33 faces upward. The above-mentioned hole 34 is opened on the convex surface 33, and the number of the holes 34 is preferably multiple.

[0050] The above-mentioned material distribution mechanism 3 also includes a waste channel arranged on the frame 4. The waste channel has a waste inlet 35 and a waste outlet 36, such as Figure 1 , Figure 2 and Figure 6 The waste channel is preferably a chute, and the waste inlet 35 is preferably opened between the first material receiving tray 31 and the second material receiving tray 32. When the number of dust caps placed on the first material receiving tray 31 by the first material distributing robot 21 is more than one, the second material distributing robot 22 can move the extra dust caps to the top of the waste inlet 35 and make them fall into the waste inlet 35. The extra dust caps slide down along the waste channel and fall out from the waste outlet 36 opened on the lower part of the frame 4.

[0051] like Figure 2 and Figure 6As shown, the material picking mechanism 2 also includes a second detection switch 27, which is correspondingly arranged near the first material receiving tray 31, so as to detect whether there are dust caps on the first material distributing manipulator 21 and the second material distributing manipulator 22, and detect the thickness of the dust caps sucked by them, so as to judge the number of dust caps taken according to the thickness. The material distributing mechanism 3 also includes two third detection switches 37, which are respectively correspondingly arranged at the first material receiving tray 31 and the second material receiving tray 32, so as to detect whether there are dust caps on the first material receiving tray 31 and the second material receiving tray 32. The second detection switch 27 and the third detection switch 37 are photoelectric detection switches respectively, and are electrically connected to the above-mentioned controller respectively. The above-mentioned controller is also electrically connected to the control valves of the first cylinder 25 and the second cylinder 26. The above-mentioned controller is also used to control the presence or absence of negative pressure on the first material dividing robot 21, the second material dividing robot 22, the first material receiving tray 31 and the second material receiving tray 32, specifically to control the opening and closing of the discharge ports of the first material dividing robot 21 and the second material dividing robot 22 and the negative pressure source, and to control the opening and closing of the holes 34 on the first material receiving tray 31 and the second material receiving tray 32 and the negative pressure source.

[0052] The feeding device also includes a movable feeding robot for moving the dust cap on the second material receiving tray 32 to the speaker assembly line.

[0053] The working principle of the feeding device is as follows:

[0054] The silo 11 equipped with dust caps is rotated in sequence to the position a that the first material distributing robot 21 can reach. The first material distributing robot 21 absorbs and removes the dust cap of the uppermost layer. The lifting rod 51 of the lifting mechanism 5 penetrates into the silo 11 at the position a and always pushes the dust cap of the uppermost layer to the height that the first material distributing robot 21 can reach for easy absorption. When the first detection switch 14 detects that there is no dust cap in the current silo 11 at the position a through the notch 110 on the side of the silo 11, the lifting rod 51 of the lifting mechanism 5 is lowered (until the top of the lifting rod 51 is located below the turntable 12), and the rotating motor 13 drives the turntable 12 to rotate 45 degrees, and the next silo 11 equipped with a dust cap is rotated to the position a, and the empty silo 11 is moved out of the position a to facilitate feeding.

[0055] The material picking assembly 20 moves to the top of the material bin 11 and descends, and the first material distributing manipulator 21 absorbs the dust cap of the upper layer in the material bin 11; the material picking assembly 20 moves horizontally to the top of the material distributing mechanism 3 and descends, and the dust cap on the first material distributing manipulator 21 falls on the first material receiving tray 31; the material picking assembly 20 repeats the above process, and the second material distributing manipulator 22 moves the dust cap on the first material receiving tray 31 to the second material receiving tray 32, and the first material distributing manipulator 21 absorbs the new dust cap and places it on the first material receiving tray 31; in this process, the second detection switch 27 is used to detect the thickness of the dust cap absorbed by the first material distributing manipulator 21. If the thickness is greater than the thickness of a single dust cap, then after the dust cap is placed on the first material receiving tray 31, the hole 34 on the first material receiving tray 31 is connected to the negative pressure source to absorb the dust cap of the lower layer, and the second material distributing manipulator 22 takes the dust cap of the upper layer and puts it on the second material receiving tray 32 or throws it into the waste material inlet 35 to achieve material distributing;

[0056] Finally, the loading robot moves the separated single dust cap (ie, the dust cap on the second material receiving tray 32) to the loudspeaker assembly line.

[0057] The feeding device can realize the distribution of the loudspeaker dust caps and the feeding of the dust caps one by one, thus avoiding the overlapping of multiple dust caps during feeding, improving the efficiency and the assembly yield of the loudspeaker and reducing the labor cost.

[0058] The above embodiment is only for illustrating the technical concept and features of the present invention, and is a preferred embodiment. Its purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention.

Claims

1. A feeding device for a speaker dust cap, characterized in that: It includes material storage mechanism, material taking mechanism and material distribution mechanism; among which: The material storage mechanism comprises at least one material bin for storing a plurality of dust caps stacked up and down, and the upper end of the material bin is open; The material taking mechanism comprises a movable material taking component for taking the upper dust cap from the silo; The material distributing mechanism comprises at least one material receiving tray for receiving and placing the dust cap conveyed by the material taking component for feeding, and the material distributing mechanism has a material distributing state. When the material distributing mechanism is in the material distributing state, the material receiving tray has a negative pressure for adsorbing the dust cap; The material distributing mechanism comprises at least two material receiving trays placed in parallel, and the material taking component has at least two corresponding working positions, each of which is respectively located above the corresponding material receiving tray; the material distributing mechanism comprises a first material receiving tray and a second material receiving tray, and the material taking component comprises a first material distributing manipulator and a second material distributing manipulator, when the material taking component is in the first working position, the first material distributing manipulator is located above the material bin or in the material bin, and the second material distributing manipulator is located above the first material receiving tray; when the material taking component is in the second working position, the first material distributing manipulator is located above the first material receiving tray, and the second material distributing manipulator is located above the second material receiving tray; The material storage mechanism includes a turntable rotatably arranged on a frame, and the material bin is arranged on the turntable; the feeding device also includes a lifting mechanism for lifting the dust cap in the material bin, and the lifting mechanism includes a lifting rod slidably arranged on the frame in an up-and-down direction, a through hole is opened at the bottom of the material bin, and a through hole is correspondingly opened on the turntable, and the through holes on the turntable and the through holes in the material bin correspond to each other and are aligned with each other so that the lifting rod can pass through or pass through the material bin; The silo is hollow and cylindrical with an open upper end, and a notch extending in the up-down direction is provided on the side wall of the silo, and the storage mechanism includes a first detection switch that can be aligned with the notch to detect whether there is material in the silo; The material taking assembly comprises a material distributing manipulator, the material distributing manipulator has an inner concave surface matched with the outer surface of the dust cap, and a material suction port with negative pressure is provided on the inner concave surface; The material receiving tray has an outer convex curved surface matched with the inner surface of the dust cap, and one or more negative pressure holes that can be connected to the negative pressure source are arranged on the outer convex curved surface.

2. The feeding device according to claim 1, characterized in that: There are multiple material bins, and the multiple material bins are fixedly arranged on the turntable and spaced apart along the circumferential direction of the turntable.

3. The feeding device according to claim 1, characterized in that: The lifting rod is a lead screw driven by a stepper motor, and the stepper motor is installed on the frame.

4. The feeding device according to claim 1, characterized in that: The silo comprises a hollow body and a hollow upper section, wherein the upper section is detachably connected to the body, and an inner diameter of the upper section is smaller than an inner diameter of the body.

5. The feeding device according to claim 1, characterized in that: The material picking mechanism also includes a horizontal guide rail extending in the horizontal direction and a vertical guide rail extending in the vertical direction. The horizontal guide rail is fixedly arranged on the frame and passes through the material bin and the material receiving tray. The vertical guide rail can be slidably arranged on the horizontal guide rail, and the material picking assembly can be slidably arranged on the vertical guide rail.

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