Material assembly equipment

Abstract

The present application discloses a material assembly device, comprising a material transfer mechanism, a material storage component, a first material picking member and a second material picking member; a first material receiving position and a second material receiving position are provided on a side of the material transfer mechanism facing the material storage component, and the first material receiving position and the second material receiving position are arranged along a first direction; the material storage component is provided with a material inlet and outlet; when the material transfer mechanism moves to a first position along the first direction, the first material receiving position matches the position of the material inlet and outlet, the second material receiving position matches the position of the second material picking member, and the first material picking member matches the position of the first target assembly position; when the material transfer mechanism moves to a second position along the first direction, the second material receiving position matches the position of the material inlet and outlet, the first material receiving position matches the position of the first material picking member, and the second material picking member matches the position of the second target assembly position. The material assembly device of the present application can significantly improve the assembly efficiency of the target materials to be assembled.

Description

Technical Field

[0001] The present application relates to the field of assembly technology, and in particular to a material assembly device. Background Art

[0002] In today's society, automation technology is becoming increasingly advanced, and automated assembly technology is also widely used in various fields, such as the production of consumer electronics, communication electronics and computer-related products. Automated assembly technology is especially suitable for the assembly of small or fragile materials.

[0003] At present, the production fields of consumer electronic products, communication electronic products and computer-related products have increasingly higher requirements for automated assembly efficiency. However, most existing technologies adopt the single-pick-and-install assembly method. Obviously, the single-pick-and-install assembly efficiency is low and seriously fails to meet the industry's requirements for assembly efficiency. Summary of the Invention

[0004] The present application provides a material assembly device that can significantly improve the assembly efficiency of target materials to be assembled.

[0005] The present application provides a material assembly device, comprising a material transfer mechanism, a material storage component, a first material picking component and a second material picking component;

[0006] The material storage assembly, the first material picking member and the second material picking member are arranged on the same side of the material transfer mechanism, and the material transfer mechanism can move along a first direction relative to the material storage assembly;

[0007] The material transfer mechanism is provided with a first material receiving position and a second material receiving position on one side facing the material storage component, and the first material receiving position and the second material receiving position are arranged along the first direction;

[0008] The material storage assembly can accommodate a plurality of target materials to be assembled, and the material storage assembly is provided with a material inlet and outlet;

[0009] When the material transfer mechanism moves to the first position along the first direction, the first material receiving position matches the position of the material inlet and outlet, the second material receiving position matches the position of the second material picking member, and the first material picking member matches the position of the first target assembly position;

[0010] When the material transfer mechanism moves to the second position along the first direction, the second material receiving position matches the position of the material entrance and exit, the first material receiving position matches the position of the first material picking piece, and the second material picking piece matches the position of the second target assembly position.

[0011] Furthermore, the first material picking member and the second material picking member are arranged on both sides of the material storage component along the first direction.

[0012] Furthermore, the material transfer mechanism is provided with an inlet and outlet abutment position on one side facing the material storage assembly, and the inlet and outlet abutment position is provided between the first material receiving position and the second material receiving position, and the position of the inlet and outlet abutment position is higher than the first material receiving position and the second material receiving position;

[0013] During the movement of the material transfer mechanism between the first position and the second position, the inlet and outlet abutment position abuts against the material inlet and outlet.

[0014] Furthermore, the material assembly equipment further includes a first drive device and a second drive device;

[0015] The first driving device is elastically connected to the first material taking member, and the elastic force direction of the elastic connection is consistent with the second direction;

[0016] The second driving device is elastically connected to the second material picking member, and the direction of the elastic force of the elastic connection between the second driving device and the second material picking member is consistent with the second direction.

[0017] Furthermore, the material assembly equipment further comprises an assembly base, and the material transfer mechanism is arranged between the assembly base and the material storage assembly;

[0018] The material transfer mechanism is slidably connected to the assembly base along the first direction.

[0019] Furthermore, the material assembly equipment further includes a material limiting mechanism, which is arranged on a side of the material transfer mechanism facing the material storage assembly, and is fixedly connected to the assembly base;

[0020] A material limiting guide groove is provided on a side of the material limiting mechanism facing the material transfer mechanism, and the material transfer mechanism can slide in the material limiting guide groove.

[0021] Furthermore, the material assembly equipment further comprises a material pressing rod, and the material pressing rod is slidably connected to the material storage assembly along the second direction;

[0022] A material storage cavity is provided in the material storage assembly, and the material inlet and outlet are provided at one end of the material storage cavity close to the material transfer mechanism;

[0023] The material pressing rod extends into the material storage cavity, and the material pressing rod can move relative to the material storage assembly along the second direction toward or away from the material inlet and outlet.

[0024] Furthermore, the material assembly equipment further includes a first material detection device and a second material detection device;

[0025] The first picking member can move in a second direction in coordination with the target material to be assembled, and when the first picking member moves to the first material detection position, the target material to be assembled can enter the first material detection area of ​​the first material detection device;

[0026] The second picking member can move along the second direction in conjunction with the target material to be assembled. When the second picking member moves to the second material checking position, the target material to be assembled can enter the second material detection area of ​​the second material detection device.

[0027] Furthermore, the material assembly equipment further includes a third driving device, the third driving device is slidably connected to the assembly base along the first direction, and the third driving device is fixedly connected to the material transfer mechanism;

[0028] The third driving device can drive the material transfer mechanism to move along the first direction, so that the material transfer mechanism moves to the first position or the second position.

[0029] Furthermore, the material assembly equipment further comprises a material guiding mechanism, which is arranged on a side of the material transfer mechanism away from the material storage assembly, and is fixedly connected to the assembly base;

[0030] The material guiding mechanism is provided with a first limiting slide and a second limiting slide penetrating along the second direction;

[0031] The first picking member can move in the first limiting slide to approach or move away from the first target assembly position; the second picking member can move in the second limiting slide to approach or move away from the second target assembly position.

[0032] The material assembly equipment provided in this application has the following beneficial effects:

[0033] The material assembly equipment of the present application includes a material transfer mechanism, a material storage component, a first material picking piece and a second material picking piece; the material storage component, the first material picking piece and the second material picking piece are arranged on the same side of the material transfer mechanism, and the material transfer mechanism can move along a first direction relative to the material storage component; a first material receiving position and a second material receiving position are arranged on one side of the material transfer mechanism facing the material storage component, and the first material receiving position and the second material receiving position are arranged along the first direction; the material storage component is provided with a material inlet and outlet; when the material transfer mechanism moves to a first position along the first direction, the first material receiving position matches the position of the material inlet and outlet, the second material receiving position matches the position of the second material picking piece, and the first material picking piece matches the position of the first target assembly position; when the material transfer mechanism moves to a second position along the first direction, the second material receiving position matches the position of the material inlet and outlet, the first material receiving position matches the position of the first material picking piece, and the second material picking piece matches the position of the second target assembly position. In this way, the assembly efficiency of the target material to be assembled can be significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 A schematic structural diagram of a material assembly device provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the partial structure of a material assembly device provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of a partial structure of a material assembly device provided by an embodiment of the present application, in which a material transfer mechanism is located at a second position;

[0038] Figure 4 A schematic diagram of a partial structure of a material assembly device provided by an embodiment of the present application, in which a material transfer mechanism is located at a first position;

[0039] Figure 5 A schematic structural diagram of a material transfer mechanism provided in an embodiment of the present application;

[0040] Figure 6 A schematic structural diagram of a first driving device and a first material picking member provided in an embodiment of the present application;

[0041] Figure 7 A schematic structural diagram of a second driving device and a second material-removing member provided in an embodiment of the present application;

[0042] Figure 8 A schematic structural diagram of a material pressure rod, a pressure rod support seat and a material storage assembly provided in an embodiment of the present application;

[0043] Figure 9 A schematic structural diagram of a third drive device, an assembly base, and a material transfer mechanism provided in an embodiment of the present application;

[0044] Figure 10 A schematic structural diagram of a first material picking member, a second material picking member, and a material transfer mechanism provided in an embodiment of the present application;

[0045] Figure 11 A schematic structural diagram of a first driving device provided in an embodiment of the present application;

[0046] Figure 12 A schematic structural diagram of a second driving device provided in an embodiment of the present application;

[0047] Figure 13 A schematic diagram of the partial structure of a material assembly device provided in an embodiment of the present application.

[0048] The following is a supplementary description of the accompanying drawings:

[0049] 10-Material transfer mechanism; 11-First material receiving position; 12-Second material receiving position; 13-Entrance and exit abutment position; 14-Loading slide; 15-Avoidance slide; 20-Material storage assembly; 21-Material entrance and exit; 22-Material storage chamber; 30-First material picking member; 31-First material suction end; 40-Second material picking member; 41-Second material suction end; 51-First cylinder; 52-Second cylinder; 61-Third cylinder; 62-Fourth cylinder; 70-Assembly base; 80-Material limiting mechanism; 81-Material limiting guide groove; 82-First material limiting member; 83-Second material limiting member; 90-Material pressure rod; 91-Material pushing end ;100-first material detection device;110-second material detection device;120-third driving device;121-third output end;130-material guiding mechanism;140-first elastic element;150-second elastic element;160-pressure rod support seat;170-first guide slider;180-second guide slider;190-first in-place detection device;200-second in-place detection device;210-third in-place detection device;220-first positioning mechanism;230-fourth in-place detection device;240-fifth in-place detection device;250-sixth in-place detection device;260-second positioning mechanism. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0051] References to "one embodiment" or "embodiment" herein refer to specific features, structures, or characteristics that may be included in at least one implementation of the present application. Throughout the description of this application, it should be understood that the terms "upper," "lower," "top," and "bottom," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplification. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Thus, a feature designated "first" or "second" may explicitly or implicitly include one or more of such features. Furthermore, the terms "first," "second," etc. are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential sequence. It should be understood that such terms are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0052] The following describes a material assembly device provided in an embodiment of the present application in conjunction with the accompanying drawings. The material assembly device of the present application is particularly suitable for assembly scenarios where the target material to be assembled is a tiny material or a brittle small material. For example, the target material to be assembled can be a tiny rectangular magnet with a length, width and height of 3mm*1mm*1mm.

[0053] See Figures 1-13, the material assembly equipment provided by the embodiment of the present application includes a material transfer mechanism 10, a material storage component 20, a first material picking component 30 and a second material picking component 40; the material storage component 20, the first material picking component 30 and the second material picking component 40 are arranged on the same side of the material transfer mechanism 10, and the material transfer mechanism 10 can move along a first direction relative to the material storage component 20; the material transfer mechanism 10 is provided with a first material receiving position 11 and a second material receiving position 12 on the side facing the material storage component 20, and the first material receiving position 11 and the second material receiving position 12 are arranged along the first direction; the material storage component 20 can accommodate multiple target materials to be assembled, and the material storage component 20 can accommodate multiple target materials to be assembled. The part 20 is provided with a material entrance and exit 21; when the material transfer mechanism 10 moves to the first position along the first direction, the first material receiving position 11 matches the position of the material entrance and exit 21, the second material receiving position 12 matches the position of the second material picking part 40, and the first material picking part 30 matches the position of the first target assembly position; when the material transfer mechanism 10 moves to the second position along the first direction, the second material receiving position 12 matches the position of the material entrance and exit 21, the first material receiving position 11 matches the position of the first material picking part 30, and the second material picking part 40 matches the position of the second target assembly position.

[0054] In some embodiments, the material storage component 20, the first material picking component 30 and the second material picking component 40 are all arranged above the material transfer mechanism 10, and the material storage component 20, the first material picking component 30 and the second material picking component 40 are arranged along the first direction, and their relative positions in the first direction are fixed.

[0055] In some embodiments, the material storage component 20 can accommodate multiple target materials to be assembled, and the target materials to be assembled can be dropped from the material inlet and outlet 21 to the first material receiving position 11 or the second material receiving position 12; the first material receiving position 11 and the second material receiving position 12 are both used to carry a single target material to be assembled.

[0056] In some embodiments, when the material transfer mechanism 10 moves to the first position along the first direction relative to the material storage component 20, the first material picking member 30 and the second material picking member 40, the first material receiving position 11 matches the position of the material inlet and outlet 21, the second material receiving position 12 matches the position of the second material picking member 40, and the first material picking member 30 matches the position of the first target assembly position. At this time, the target material to be assembled can be dropped from the material storage component 20 to the first material receiving position 11, the second material picking member 40 can pick up the material from the second material receiving position 12, and the first material picking member 30 can coordinate the target material to be assembled to move toward the first target assembly position, so that the target material to be assembled and the target body to be assembled are pre-assembled. In this way, dropping, picking up by the second material picking member 40 and assembling by the first material picking member 30 are carried out simultaneously, which can reduce the assembly time of the material assembly equipment and thereby improve the assembly efficiency of the material assembly equipment.

[0057] Among them, the first direction is the reciprocating motion direction of the material transfer mechanism 10; the first position is a working position that can simultaneously realize the target material to be assembled in the storage component 20 falling to the first material receiving position 11, the second material picking part 40 picking up the material from the second material receiving position 12, and the first material picking part 30 coordinating the target material to be assembled to move toward the first target assembly position.

[0058] In some embodiments, when the material transfer mechanism 10 moves to the second position along the first direction relative to the material storage component 20, the first material picking member 30 and the second material picking member 40, the second material receiving position 12 matches the position of the material inlet and outlet 21, the first material receiving position 11 matches the position of the first material picking member 30, and the second material picking member 40 matches the position of the second target assembly position. At this time, the target material to be assembled can be dropped from the material storage component 20 to the second material receiving position 12, the first material picking member 30 can pick up the material from the first material picking position 11, and the second material picking member 40 can coordinate with the target material to be assembled to move toward the second target assembly position, so that the target material to be assembled and the target body to be assembled are pre-assembled. In this way, dropping, picking up by the first material picking member 30 and assembling by the second material picking member 40 are carried out simultaneously, which can reduce the assembly time of the material assembly equipment and thereby improve the assembly efficiency of the material assembly equipment.

[0059] Among them, the second position is a working position that can simultaneously realize the target material to be assembled in the storage component 20 falling into the second material receiving position 12, the first material picking part 30 picking up the material from the first material receiving position 11, and the second material picking part 40 coordinating the target material to be assembled to move toward the second target assembly position.

[0060] Furthermore, the material transfer mechanism 10 can reciprocate between the first position and the second position along the first direction, thereby further significantly improving the assembly efficiency of the material assembly equipment.

[0061] In some embodiments, the material assembly equipment also includes a first adsorption device, which includes a first power device and a first adsorption pipe that are connected; a first material suction end 31 is provided at one end of the first material picking member 30 close to the material transfer mechanism 10, and the first material suction end 31 is sealed and connected to the first adsorption pipe.

[0062] Furthermore, under the first power of the first power device, the first suction end 31 can absorb the target material to be assembled, thereby realizing the material picking of the first picking member 30; when the first power device is turned off, the first suction end 31 can suck and release the target material to be assembled.

[0063] In some embodiments, the material assembly equipment further includes a second adsorption device, which includes a second power device and a second adsorption pipe that are connected; a second material suction end 41 is provided at one end of the second material picking member 40 close to the material transfer mechanism 10, and the second material suction end 41 is sealed and connected to the second adsorption pipe.

[0064] Furthermore, under the second power of the second power device, the second suction end 41 can absorb the target material to be assembled, thereby realizing the material picking of the second picking member 40; when the second power device is turned off, the second suction end 41 can suck and release the target material to be assembled.

[0065] The material assembly equipment of the present application includes a material transfer mechanism 10, a material storage component 20, a first material picking component 30 and a second material picking component 40; the material storage component 20, the first material picking component 30 and the second material picking component 40 are arranged on the same side of the material transfer mechanism 10, and the material transfer mechanism 10 can move along a first direction relative to the material storage component 20; the material transfer mechanism 10 is provided with a first material receiving position 11 and a second material receiving position 12 on one side facing the material storage component 20, and the first material receiving position 11 and the second material receiving position 12 are arranged along the first direction; the material storage component 20 is provided with a material inlet and outlet 21 When the material transfer mechanism 10 moves along the first direction to the first position, the first material receiving position 11 matches the position of the material inlet and outlet 21, the second material receiving position 12 matches the position of the second material picking member 40, and the first material picking member 30 matches the position of the first target assembly position; when the material transfer mechanism 10 moves along the first direction to the second position, the second material receiving position 12 matches the position of the material inlet and outlet 21, the first material receiving position 11 matches the position of the first material picking member 30, and the second material picking member 40 matches the position of the second target assembly position. In this way, the assembly efficiency of the target material to be assembled can be significantly improved.

[0066] In the examples of this application, please see Figure 2-Figure 4 The first material picking member 30 and the second material picking member 40 are arranged on both sides of the material storage component 20 along the first direction. In this way, the reciprocating motion stroke of the material transfer mechanism 10 is optimal, which can further improve the assembly efficiency of the target material to be assembled.

[0067] In some embodiments, the first picking member 30 and the second picking member 40 are symmetrically disposed on two sides of the storage assembly 20 along the first direction.

[0068] In the examples of this application, please see Figure 5 The material transfer mechanism 10 is provided with an inlet and outlet abutment position 13 on the side facing the material storage assembly 20. The inlet and outlet abutment position 13 is provided between the first material receiving position 11 and the second material receiving position 12, and is positioned higher than the first material receiving position 11 and the second material receiving position 12. When the material transfer mechanism 10 moves between the first position and the second position, the inlet and outlet abutment position 13 abuts against the material inlet and outlet 21. This prevents the target material to be assembled in the material storage assembly 20 from falling out during the reciprocating movement of the material transfer mechanism 10 between the first position and the second position.

[0069] Furthermore, when the material transfer mechanism 10 initially moves from the first position to the second position, or initially moves from the second position to the first position, the entrance and exit abutment position 13 can realize cutting of the target material to be assembled. In this way, the functionality of the material transfer mechanism 10 can be increased, thereby simplifying the structure of the material assembly equipment.

[0070] In an embodiment of the present application, the material assembly equipment also includes a first driving device and a second driving device; the first driving device is elastically connected to the first material picking part 30, and the direction of the elastic force of the elastic connection is consistent with the second direction; the second driving device is elastically connected to the second material picking part 40, and the direction of the elastic force of the second driving device and the second material picking part 40 is consistent with the second direction.

[0071] The second direction is the movement direction of the first picking component 30 and the second picking component 40 in coordination with the target material to be assembled.

[0072] In some embodiments, the first fixed end of the first driving device is relatively fixed to the material storage assembly 20 , and the first output end of the first driving device is elastically connected to the first material picking member 30 along the second direction.

[0073] Furthermore, in the process of the first output end driving the first material picking part 30 to move toward the first target assembly position, the first material picking part 30 can move away from the first target assembly position, that is, the first material picking part 30 can rebound in a small range. In this way, the first material picking part 30 can be prevented from damaging the target material to be assembled due to overpressure during assembly.

[0074] For some examples, see Figure 6 The material assembly device further includes a first elastic element 140, one end of which abuts the first output end, and the other end of which abuts the first material picker 30. The elastic force of the first elastic element 140 is directed in the same direction as the second direction. This elastic connection between the first drive device and the first material picker 30 prevents the first material picker 30 from damaging the target material due to overpressure during assembly.

[0075] Furthermore, the first driving device is used to drive the first picking member 30 to move in the second direction relative to the material transfer mechanism 10, so that the first picking member 30 moves to the first picking position, the first material checking position, or the first target assembly position. When the first material receiving position 11 matches the position of the first picking member 30 and the first picking member 30 moves to the first picking position, the first picking member 30 can pick up materials from the first material receiving position 11; when the first picking member 30 moves to the first material checking position, it is convenient to perform material inspection on the target material to be assembled adsorbed by the first picking member 30 to determine whether the first picking member 30 has successfully picked up the material; when the first picking member 30 moves to the first target assembly position, the target material to be assembled can be pre-assembled with the target body to be assembled.

[0076] Among them, the first material picking position is a working position that can realize the material picking of the first material picking part 30; the first material inspection position is a working position that can perform material detection on the target material to be assembled adsorbed by the first material picking part 30 to determine whether the material picking by the first material picking part 30 is successful or not; the first target assembly position is a working position that can realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0077] For some examples, see Figure 11 The first driving device includes a first cylinder 51 and a second cylinder 52. The first cylinder fixed end of the first cylinder 51 is fixed relative to the position of the material storage assembly 20. The first cylinder output end of the first cylinder 51 is fixedly connected to the second cylinder fixed end of the second cylinder 52. The second cylinder output end of the second cylinder 52 is elastically connected to the first material picking member 30. The first cylinder output end and the first cylinder fixed end are capable of relative movement in the second direction, and the second cylinder output end and the second cylinder fixed end are capable of relative movement in the second direction.

[0078] Furthermore, the first cylinder 51 and the second cylinder 52 can perform different combined movements, so that the output end of the second cylinder can drive the first picking member 30 to move to the first picking position, the first checking position or the first target assembly position.

[0079] Illustratively, the output end of the first cylinder can drive the second cylinder 52 and the first material picking part 30 to move along the second direction toward the first target assembly position, so that the first material picking part 30 moves to the first material picking position; the output end of the first cylinder can drive the second cylinder 52 and the first material picking part 30 to move along the second direction away from the first target assembly position, so that the first material picking part 30 moves to the first material picking position; the output end of the second cylinder can drive the first material picking part 30 toward the first target assembly position, so that the first material picking part 30 moves to the first target assembly position.

[0080] In some embodiments, the second fixed end of the second driving device is fixed relative to the material storage assembly 20 , and the second output end of the second driving device is elastically connected to the second material picking member 40 along the second direction.

[0081] Furthermore, in the process of the second output end driving the second material picking part 40 to move toward the second target assembly position, the second material picking part 40 can move away from the second target assembly position, that is, the second material picking part 40 can rebound in a small range. In this way, the second material picking part 40 can be prevented from damaging the target material to be assembled due to overpressure during assembly.

[0082] For some examples, see Figure 7The material assembly device further includes a second elastic element 150, one end of which abuts the second output end, and the other end of which abuts the second material picking member 40. The elastic force of the second elastic element 150 is directed in the same direction as the second direction. This elastic connection between the second drive device and the second material picking member 40 prevents the second material picking member 40 from damaging the target material due to overpressure during assembly.

[0083] Furthermore, the second driving device is used to drive the second picking member 40 to move in the second direction relative to the material transfer mechanism 10, so that the second picking member 40 moves to the second picking position, the second material checking position or the second target assembly position. When the second material receiving position 12 matches the position of the second picking member 40 and the second picking member 40 moves to the second picking position, the second picking member 40 can pick up materials from the second material receiving position 12; when the second picking member 40 moves to the second material checking position, it is convenient to perform material detection on the target material to be assembled adsorbed by the second picking member 40 to determine whether the second picking member 40 has successfully picked up the material; when the second picking member 40 moves to the second target assembly position, the target material to be assembled can be pre-assembled with the target body to be assembled.

[0084] Among them, the second material picking position is a working position that can realize the material picking of the second material picking part 40; the second material inspection position is a working position that can perform material detection on the target material to be assembled adsorbed by the second material picking part 40 to determine whether the material picking by the second material picking part 40 is successful or not; the second target assembly position is a working position that can realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0085] For some examples, see Figure 12 The second driving device includes a third cylinder 61 and a fourth cylinder 62. The third cylinder fixed end of the third cylinder 61 is fixed relative to the position of the material storage assembly 20. The third cylinder output end of the third cylinder 61 is fixedly connected to the fourth cylinder fixed end of the fourth cylinder 62. The fourth cylinder output end of the fourth cylinder 62 is elastically connected to the second material picking member 40. The third cylinder output end and the third cylinder fixed end can move relative to each other in the second direction, and the fourth cylinder output end and the fourth cylinder fixed end can move relative to each other in the second direction.

[0086] Furthermore, the third cylinder 61 and the fourth cylinder 62 can perform different combined movements, so that the output end of the fourth cylinder can drive the second picking member 40 to move to the second picking position, the second checking position or the second target assembly position.

[0087] Illustratively, the output end of the third cylinder can drive the fourth cylinder 62 and the second material picking part 40 to move along the second direction toward the second target assembly position, so that the second material picking part 40 moves to the second material picking position; the output end of the third cylinder can drive the fourth cylinder 62 and the second material picking part 40 to move along the second direction away from the second target assembly position, so that the second material picking part 40 moves to the second material picking position; the output end of the fourth cylinder can drive the second material picking part 40 toward the second target assembly position, so that the second material picking part 40 moves to the second target assembly position.

[0088] In the embodiment of the present application, the material assembly equipment further includes an assembly base 70, and the material transfer mechanism 10 is arranged between the assembly base 70 and the material storage assembly 20; the material transfer mechanism 10 is slidably connected to the assembly base 70 along a first direction.

[0089] In some embodiments, a guide groove is provided on the side of the assembly base 70 facing the material transfer mechanism 10, and a sliding protrusion adapted to the guide groove is provided on the side of the material transfer mechanism 10 facing the assembly base 70. The sliding protrusion can slide in the guide groove, thereby realizing a sliding connection between the assembly base 70 and the material transfer mechanism 10.

[0090] In some embodiments, the material storage component 20, the first fixed end and the second fixed end are all relatively fixed to the position of the assembly base 70, and the first material picking component 30 and the second material picking component 40 are both relatively fixed to the position of the assembly base 70 in the first direction. In this way, the structure of the material assembly equipment can be simplified while ensuring the assembly efficiency of the material assembly equipment.

[0091] In the examples of this application, please see Figure 2-4 The material assembly equipment also includes a material limiting mechanism 80, which is arranged on the side of the material transfer mechanism 10 facing the material storage component 20, and the material limiting mechanism 80 is fixedly connected to the assembly base 70; a material limiting guide groove 81 is provided on the side of the material limiting mechanism 80 facing the material transfer mechanism 10, and the material transfer mechanism 10 can slide in the material limiting guide groove 81.

[0092] In this way, during the reciprocating movement of the material transfer mechanism 10 between the first position and the second position, it can prevent the target material to be assembled in the first material receiving position 11 or the second material receiving position 12 from falling off or shifting, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0093] For some examples, see Figure 2The material limiting mechanism 80 includes a first material limiting member 82 and a second material limiting member 83. The first material limiting member 82 is provided with a first material limiting guide on the side facing the material transfer mechanism 10, and the second material limiting member 83 is provided with a second material limiting guide on the side facing the material transfer mechanism 10. A material limiting guide groove 81 is formed between the first material limiting guide and the second material limiting guide. When the target material to be assembled is carried on the first material receiving position 11 or the second material receiving position 12, the material transfer mechanism 10 can cooperate with the target material to be assembled to slide within the material limiting guide groove 81. In this way, the target material to be assembled in the first material receiving position 11 or the second material receiving position 12 can be prevented from falling off or shifting, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0094] In the examples of this application, please see Figure 2-4 The material assembly equipment also includes a material pressing rod 90, which is slidably connected to the material storage component 20 along the second direction; a storage cavity 22 is provided in the material storage component 20, and a material inlet and outlet 21 is provided at one end of the storage cavity 22 close to the material transfer mechanism 10; the material pressing rod 90 extends into the storage cavity 22, and the material pressing rod 90 can move toward or away from the material inlet and outlet 21 along the second direction relative to the material storage component 20.

[0095] Furthermore, the storage chamber 22 is used to accommodate multiple target materials to be assembled, and a material pushing end 91 is provided at one end of the material pressing rod 90 facing the material inlet and outlet 21, and the material pushing end 91 extends into the storage chamber 22; when the first material receiving position 11 or the second material receiving position 12 matches the position of the material inlet and outlet 21, the material pressing rod 90 can push the target material to be assembled toward the first material receiving position 11 or the second material receiving position 12 through the material pushing end 91, so that a single target material to be assembled is dropped to the first material receiving position 11 or the second material receiving position 12, thereby realizing the dropping of a single target material to be assembled.

[0096] Furthermore, the material assembly equipment also includes a pressure rod support seat 160 , the positions of the pressure rod support seat 160 and the material storage assembly 20 are relatively fixed, and the pressure rod support seat 160 is slidably connected to the material pressure rod 90 .

[0097] In some embodiments, a first guide rail is provided on the side of the pressure rod support seat 160 facing the material pressure rod 90, and a first guide slider 170 adapted to the first guide rail is fixedly provided on the side of the material pressure rod 90 facing the pressure rod support seat 160. The first guide slider 170 can slide on the first guide rail, so that a sliding connection between the pressure rod support seat 160 and the material pressure rod 90 can be realized.

[0098] In other embodiments, two first guide sliders 170 are fixedly provided on one side of the material pressure rod 90 facing the pressure rod support seat 160. In this way, the verticality of the material pressure rod 90 can be improved, thereby improving the smoothness of the movement of the material pressure rod 90 in the material storage assembly 20, thereby further improving the assembly efficiency of the material assembly equipment.

[0099] In the examples of this application, please see Figure 13 The material assembly equipment also includes a material guiding mechanism 130, which is arranged on the side of the material transfer mechanism 10 away from the material storage component 20, and the material guiding mechanism 130 is fixedly connected to the assembly base 70; the material guiding mechanism 130 is provided with a first limiting slide and a second limiting slide that penetrate along the second direction; the first material picking member 30 can move along the second direction in the first limiting slide to approach or move away from the first target assembly position; the second material picking member 40 can move along the second direction in the second limiting slide to approach or move away from the second target assembly position.

[0100] In some embodiments, a first guide slide is provided at one end of the first limiting slide near the first material picking member 30. Along the movement direction of the first material picking member 30 toward the first target assembly position, the cross-sectional area of ​​the first guide slide gradually decreases until it is adapted to the target material to be assembled. In this way, the first limiting slide can adjust the posture of the target material to be assembled, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0101] When the position of the first material picking part 30 matches the first target assembly position, the first driving device can drive the first material picking part 30 and the target material to be assembled to move toward the first target assembly position in the first limiting slide. In this way, the first limiting slide can adjust the posture of the target material to be assembled, and can prevent the first material picking part 30 from coordinating with the target material to be assembled to move toward the first target assembly position, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0102] In some embodiments, a second guide slide is provided at one end of the second limiting slide near the second material picking member 40. Along the movement direction of the second material picking member 40 toward the second target assembly position, the cross-sectional area of ​​the second guide slide gradually decreases until it is adapted to the target material to be assembled. In this way, the second limiting slide can adjust the posture of the target material to be assembled, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0103] When the position of the second material picking part 40 matches the second target assembly position, the second driving device can drive the second material picking part 40 and the target material to be assembled to move toward the second target assembly position in the second limiting slide. In this way, the second limiting slide can adjust the posture of the target material to be assembled, and can prevent the second material picking part 40 from coordinating with the target material to be assembled to move toward the second target assembly position, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0104] In the examples of this application, please see Figure 2-4 The material assembly equipment also includes a first material detection device 100 and a second material detection device 110; the first material picking part 30 can cooperate with the target material to be assembled to move along the second direction, and when the first material picking part 30 moves to the first material detection position, the target material to be assembled can enter the first material detection area of ​​the first material detection device 100; the second material picking part 40 can cooperate with the target material to be assembled to move along the second direction, and when the second material picking part 40 moves to the second material detection position, the target material to be assembled can enter the second material detection area of ​​the second material detection device 110.

[0105] Furthermore, the material assembly equipment also includes a control device, which is electrically connected to the first material detection device 100 and the first drive device respectively. The first material detection device 100 is used to detect whether the first material picking member 30 has successfully picked up the material. When the target material to be assembled enters the first material detection area of ​​the first material detection device 100, the first material detection device 100 outputs a first material picking success signal to the control device, and the first material picking success signal indicates that the first material picking member 30 has successfully picked up the material. Based on the first material picking success signal, the control device can control the first drive device to drive the first material picking member 30 and the target material to be assembled toward the first target assembly position to achieve the preset assembly of the target material to be assembled and the target body to be assembled.

[0106] Furthermore, the control device is electrically connected to the second material detection device 110 and the second drive device, respectively. The second material detection device 110 is used to detect whether the second material picking member 40 has successfully picked up the material. When the target material to be assembled enters the second material detection area of ​​the second material detection device 110, the second material detection device 110 outputs a second material picking success signal to the control device, indicating that the second material picking member 40 has successfully picked up the material. Based on the second material picking success signal, the control device can control the second drive device to drive the second material picking member 40 and the target material to be assembled toward the second target assembly position, thereby achieving the preset assembly of the target material to be assembled with the target body to be assembled.

[0107] In some embodiments, the first material detection device 100 is fixedly connected to the assembly base 70 and may be a first through-beam sensing device; the second material detection device 110 is fixedly connected to the assembly base 70 and may be a second through-beam sensing device.

[0108] For some examples, see Figure 11 The material assembly equipment also includes a first in-place detection device 190, a second in-place detection device 200 and a third in-place detection device 210. The first in-place detection device 190, the second in-place detection device 200 and the third in-place detection device 210 are all electrically connected to the control device, and the first adsorption device is electrically connected to the control device.

[0109] A first positioning mechanism 220 is fixedly provided on the first output end. When the first driving device drives the first material picking member 30 to move to the first material picking position, the first positioning mechanism 220 can be located in the first target detection area of ​​the first in-place detection device 190. The first in-place detection device 190 can transmit a first in-place signal to the control device. The first in-place signal indicates that the first material picking member 30 has moved to the first material picking position. Based on the first in-place signal, the control device can control the first power device to start. Under the action of the first power of the first power device, the first suction end 31 can adsorb the target material to be assembled. When the first suction end 31 adsorbs the target material to be assembled, the first driving device can drive the first material picking member 30 to move to the first material checking position. At this time, the first positioning mechanism 220 can be located in the second target detection area of ​​the second in-place detection device 200. The second in-place detection device 200 can transmit a second in-place signal to the control device. The second in-place signal indicates that the first material picking member 30 has moved to the first material picking position. Material checking position, based on the second in-place signal, the control device can control the first material detection device 100 to detect whether the first material picking part 30 picks up the material successfully or not; when the first material picking part 30 picks up the material successfully, the first material detection device 100 can transmit the first material picking success signal to the control device, based on the first material picking success signal, the control device can control the first driving device to drive the first material picking part 30 and the target material to be assembled to the first target assembly position, when the first material picking part 30 moves to the first target assembly position, the first positioning mechanism 220 can be located in the third target detection area of ​​the third in-place detection device 210, the third in-place detection device 210 can transmit the third in-place signal to the control device, the third in-place signal indicates that the first material picking part 30 moves to the first target assembly position, based on the third in-place signal, the control device can control the first power device to shut down, and the first suction end 31 can release the target material to be assembled, so as to realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0110] Specifically, the first in-position detection device 190 , the second in-position detection device 200 , and the third in-position detection device 210 may all be slot-type photoelectric sensors.

[0111] For some examples, see Figure 12 The material assembly equipment also includes a fourth in-place detection device 230, a fifth in-place detection device 240 and a sixth in-place detection device 250. The fourth in-place detection device 230, the fifth in-place detection device 240 and the sixth in-place detection device 250 are all electrically connected to the control device, and the second adsorption device is electrically connected to the control device.

[0112] A second positioning mechanism 260 is fixedly provided on the first output end. When the second driving device drives the second material picking member 40 to move to the second material picking position, the second positioning mechanism 260 can be located in the fourth target detection area of ​​the fourth in-place detection device 230. The fourth in-place detection device 230 can transmit a fourth in-place signal to the control device. The fourth in-place signal indicates that the second material picking member 40 has moved to the second material picking position. Based on the fourth in-place signal, the control device can control the second power device to start. Under the second power action of the second power device, the second suction end 41 can adsorb the target material to be assembled. When the second suction end 41 adsorbs the target material to be assembled, the second driving device can drive the second material picking member 40 to move to the second material checking position. At this time, the second positioning mechanism 260 can be located in the fifth target detection area of ​​the fifth in-place detection device 240. The fifth in-place detection device 240 can transmit a fifth in-place signal to the control device. The fifth in-place signal indicates that the second material picking member 40 has moved to the second material picking position. Material inspection position, based on the fifth in-place signal, the control device can control the second material detection device 110 to detect whether the second material picking part 40 has picked up the material successfully or not; when the second material picking part 40 picks up the material successfully, the second material detection device 110 can transmit the second material picking success signal to the control device, based on the second material picking success signal, the control device can control the second driving device to drive the second material picking part 40 and the target material to be assembled to move to the second target assembly position, when the second material picking part 40 moves to the second target assembly position, the second positioning mechanism 260 can be located in the sixth target detection area of ​​the sixth in-place detection device 250, the sixth in-place detection device 250 can transmit the sixth in-place signal to the control device, the sixth in-place signal indicates that the second material picking part 40 has moved to the second target assembly position, based on the sixth in-place signal, the control device can control the second power device to shut down, and the second suction end 41 can release the target material to be assembled, so as to realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0113] Specifically, the fourth in-place detection device 230 , the fifth in-place detection device 240 , and the sixth in-place detection device 250 may all be slot-type photoelectric sensors.

[0114] In the examples of this application, please see Figure 9 The material assembly equipment also includes a third driving device 120, which is slidingly connected to the assembly base 70 along the first direction, and the third driving device 120 is fixedly connected to the material transfer mechanism 10; the third driving device 120 can drive the material transfer mechanism 10 to move along the first direction, so that the material transfer mechanism 10 moves to the first position or the second position.

[0115] Furthermore, the third output end 121 of the third driving device 120 is slidably connected to the assembly base 70 along the first direction, and the third output end 121 is fixedly connected to the material transfer mechanism 10 .

[0116] In some embodiments, a second guide rail is provided on the side of the assembly base 70 facing the third output end 121, and a second guide slider 180 adapted to the second guide rail is fixedly provided on the side of the third output end 121 facing the assembly base 70. The second guide slider 180 can slide on the second guide rail, so that a sliding connection between the third output end 121 and the assembly base 70 can be achieved.

[0117] In other embodiments, two second guide sliders 180 are fixedly provided on one side of the third output end 121 facing the assembly base 70. In this way, the straightness of the material transfer mechanism 10 can be improved, thereby improving the smoothness of the movement of the material transfer mechanism 10 in the assembly base 70, and further improving the assembly efficiency of the material assembly equipment.

[0118] In some embodiments, the material assembly equipment also includes a material drop detection device, which is electrically connected to the control device; a material drop positioning member is fixedly provided on the material pressure rod 90, and each time the material pressure rod 90 drops a single material level height along the second direction, the material drop positioning member drops a single material level height. At this time, the material drop detection device outputs a material drop signal to the control device.

[0119] Furthermore, the third drive device 120 is electrically connected to the control device. Based on the second in-place signal, the sixth in-place signal and the material drop signal, the control device can control the third drive device 120 to drive the material transfer mechanism 10 to move to the first position; based on the fifth in-place signal, the third in-place signal and the material drop signal, the control device can control the third drive device 120 to drive the material transfer mechanism 10 to move to the second position.

[0120] For some examples, see Figure 5 The material transfer mechanism 10 is provided with a loading chute 14 running through the second direction. When the material transfer mechanism 10 moves to the third position along the first direction, the positions of the loading chute 14 and the material entrance and exit 21 match, thereby facilitating the loading of multiple target materials to be assembled.

[0121] For some examples, see Figure 5 The material transfer mechanism 10 is provided with an avoidance slide 15 running through the second direction. When the material transfer mechanism 10 moves to the second position along the first direction, the avoidance slide 15 matches the position of the second material picking component 40. In this way, the second material picking component 40 can cooperate with the target material to be assembled to pass through the avoidance slide 15 and move toward the second target assembly position.

[0122] In some embodiments, the material assembly equipment also includes a pressure rod detection device, which is electrically connected to the control device; a pressure rod positioning piece is fixedly provided on the material pressure rod 90, and when the material pressure rod 90 moves to the extreme position toward the material inlet and outlet 21, the pressure rod positioning piece enters the target pressure rod detection area of ​​the pressure rod detection device. At this time, the pressure rod detection device transmits an empty material signal to the control device, and the empty material signal indicates that all target materials to be assembled in the storage chamber 22 have been dropped; based on the empty material signal, the control device can control the third drive device 120 to drive the material transfer mechanism 10 to move to the third position, so that the loading of multiple target materials to be assembled can be realized.

[0123] The following describes the working process of material assembly equipment in combination with specific application scenarios, including examples:

[0124] 1. The material transfer mechanism 10 performs material dropping, material picking and assembly simultaneously in the first position:

[0125] 1) Based on the material drop signal, the first material picking success signal, and the fifth arrival signal, the control device controls the third drive device 120 to drive the material transfer mechanism 10 to move to the first position. At this time, the first material receiving position 11 matches the position of the material inlet and outlet 21, the second material receiving position 12 matches the position of the second material picking member 40, and the first material picking member 30 matches the position of the first target assembly position;

[0126] 2) The target material to be assembled is dropped from the material storage assembly 20 to the first material receiving position 11, and the drop detection device outputs a drop signal to the control device;

[0127] 3) The second driving device drives the second picking member 40 to move along the second direction to the second picking position. At this time, the fourth in-place detection device 230 transmits a fourth in-place signal to the control device. Based on the fourth in-place signal, the control device controls the second power device to start. Under the action of the second power of the second power device, the second suction end 41 absorbs the target material to be assembled. When the second suction end 41 absorbs the target material to be assembled, the control device controls the second driving device to drive the second picking member 40 and the target material to be assembled to the second material checking position. At this time, the fifth in-place detection device 240 can transmit a fifth in-place signal to the control device.

[0128] 4) Based on the fifth arrival signal, the control device can control the second material detection device 110 to detect whether the second material picking member 40 has successfully picked up the material; if the second material picking member 40 has successfully picked up the material, the second material detection device 110 can transmit a second material picking success signal to the control device;

[0129] 5) When the first material detection device 100 transmits a first material picking success signal to the control device, the control device controls the first driving device to drive the first material picking member 30 and the target material to be assembled to the first target assembly position. At this time, the third in-position detection device 210 transmits a third in-position signal to the control device.

[0130] 6) Based on the third in-place signal, the control device controls the first power device to shut down, and the first suction end 31 releases the target material to be assembled to achieve the preset assembly of the target material to be assembled and the target body to be assembled; the control device controls the first driving device to drive the first material picking part 30 to move to the first material inspection position. At this time, the second in-place detection device 200 transmits the second in-place signal to the control device.

[0131] 2. The material transfer mechanism 10 performs material dropping, material picking and assembly simultaneously at the second position:

[0132] 1) Based on the material drop signal, the second material picking success signal, and the second arrival signal, the control device controls the third drive device 120 to drive the material transfer mechanism 10 to move to the second position. At this time, the second material receiving position 12 matches the position of the material inlet and outlet 21, the first material receiving position 11 matches the position of the first material picking member 30, and the second material picking member 40 matches the second target assembly position and the position of the avoidance slide 15;

[0133] 2) The target material to be assembled is dropped from the material storage assembly 20 to the second material receiving position 12, and the drop detection device outputs a drop signal to the control device;

[0134] 3) The first driving device drives the first picking member 30 to move along the second direction to the first picking position. At this time, the first in-place detection device 190 transmits a first in-place signal to the control device. Based on the first in-place signal, the control device controls the first power device to start. Under the action of the first power of the first power device, the first suction end 31 absorbs the target material to be assembled. When the first suction end 31 absorbs the target material to be assembled, the control device controls the first driving device to drive the first picking member 30 and the target material to be assembled to the first material checking position. At this time, the second in-place detection device 200 can transmit a second in-place signal to the control device.

[0135] 4) Based on the second arrival signal, the control device can control the first material detection device 100 to detect whether the first material picking member 30 has successfully picked up the material; if the first material picking member 30 has successfully picked up the material, the first material detection device 100 can transmit a first material picking success signal to the control device;

[0136] 5) When the second material detection device 110 transmits a second material picking success signal to the control device, the control device controls the second driving device to drive the second material picking member 40 and the target material to be assembled to the second target assembly position. At this time, the sixth in-position detection device 250 transmits a sixth in-position signal to the control device.

[0137] 6) Based on the sixth in-place signal, the control device controls the second power device to shut down, and the second suction end 41 releases the target material to be assembled to achieve the preset assembly of the target material to be assembled and the target body to be assembled; the control device controls the second driving device to drive the second material picking part 40 to move to the second material inspection position. At this time, the fifth in-place detection device 240 transmits the fifth in-place signal to the control device.

[0138] The material assembly equipment in the embodiment of the present application can significantly improve the assembly efficiency of the target material to be assembled.

[0139] The following describes specific embodiments of the present application based on the above technical solutions.

[0140] Example 1

[0141] See Figures 1 to 13 , embodiment 1 provides a material assembly device, the material assembly device includes a material transfer mechanism 10, a material storage component 20, a first material picking component 30 and a second material picking component 40; the material storage component 20, the first material picking component 30 and the second material picking component 40 are arranged on the same side of the material transfer mechanism 10, and the material transfer mechanism 10 can move along a first direction relative to the material storage component 20; the material transfer mechanism 10 is provided with a first material receiving position 11 and a second material receiving position 12 on one side facing the material storage component 20, and the first material receiving position 11 and the second material receiving position 12 are arranged along the first direction; the material storage component 20 is provided with a material receiving position 11 and a second material receiving position 12. Material inlet and outlet 21; when the material transfer mechanism 10 moves to the first position along the first direction, the first material receiving position 11 matches the position of the material inlet and outlet 21, the second material receiving position 12 matches the position of the second material picking part 40, and the first material picking part 30 matches the position of the first target assembly position; when the material transfer mechanism 10 moves to the second position along the first direction, the second material receiving position 12 matches the position of the material inlet and outlet 21, the first material receiving position 11 matches the position of the first material picking part 30, and the second material picking part 40 matches the position of the second target assembly position.

[0142] The material transfer mechanism 10 is provided with an inlet and outlet abutment position 13 on the side facing the material storage assembly 20. The inlet and outlet abutment position 13 is provided between the first material receiving position 11 and the second material receiving position 12, and is positioned higher than the first material receiving position 11 and the second material receiving position 12. When the material transfer mechanism 10 moves between the first position and the second position, the inlet and outlet abutment position 13 abuts against the material inlet and outlet 21. This prevents the target material to be assembled in the material storage assembly 20 from falling out during the reciprocating movement of the material transfer mechanism 10 between the first position and the second position.

[0143] When the material transfer mechanism 10 initially moves from the first position to the second position, or initially moves from the second position to the first position, the entrance and exit abutment position 13 can realize cutting of the target material to be assembled. In this way, the functionality of the material transfer mechanism 10 can be increased, thereby simplifying the structure of the material assembly equipment.

[0144] The material transfer mechanism 10 is provided with a loading chute 14 running through along the second direction. When the material transfer mechanism 10 moves to the third position along the first direction, the positions of the loading chute 14 and the material entrance and exit 21 match, thereby facilitating the loading of multiple target materials to be assembled.

[0145] The material transfer mechanism 10 is provided with an avoidance slide 15 running through the second direction. When the material transfer mechanism 10 moves to the second position along the first direction, the avoidance slide 15 matches the position of the second material picking component 40. In this way, the second material picking component 40 cooperates with the target material to be assembled to pass through the avoidance slide 15 and move toward the second target assembly position.

[0146] The material assembly equipment also includes an assembly base 70, and the material transfer mechanism 10 is arranged between the assembly base 70 and the material storage assembly 20. A guide groove is provided on the side of the assembly base 70 facing the material transfer mechanism 10, and a sliding protrusion adapted to the guide groove is provided on the side of the material transfer mechanism 10 facing the assembly base 70. The sliding protrusion can slide in the guide groove, thereby realizing a sliding connection between the assembly base 70 and the material transfer mechanism 10.

[0147] The material storage component 20, the first material picking component 30 and the second material picking component 40 are all arranged above the material transfer mechanism 10, and the position of the material storage component 20 and the assembly base 70 is relatively fixed. The material storage component 20, the first material picking component 30 and the second material picking component 40 are arranged along the first direction, and the relative positions in the first direction are fixed; the first material picking component 30 and the second material picking component 40 are symmetrically arranged on both sides of the material storage component 20 along the first direction.

[0148] The material assembly equipment also includes a third driving device 120, the third output end 121 of the third driving device 120 is fixedly connected to the material transfer mechanism 10, and a second guide rail is provided on the side of the assembly base 70 facing the third output end 121, and a second guide slider 180 adapted to the second guide rail is fixedly provided on the side of the third output end 121 facing the assembly base 70, and the second guide slider 180 can slide on the second guide rail, so that a sliding connection between the third output end 121 and the assembly base 70 can be realized.

[0149] The third output end 121 can drive the material transfer mechanism 10 to move along the first direction relative to the assembly base 70 , so that the material transfer mechanism 10 moves to the first position or the second position.

[0150] When the material transfer mechanism 10 moves to the first position along the first direction relative to the assembly base 70, the first material receiving position 11 matches the position of the material inlet and outlet 21, the second material receiving position 12 matches the position of the second material picking member 40, and the first material picking member 30 matches the position of the first target assembly position. At this time, the target material to be assembled can be dropped from the storage component 20 to the first material receiving position 11, the second material picking member 40 can pick up the material from the second material receiving position 12, and the first material picking member 30 can coordinate with the target material to be assembled to move toward the first target assembly position, so that the target material to be assembled and the target body to be assembled are pre-assembled. In this way, dropping, picking up by the second material picking member 40, and assembling by the first material picking member 30 are carried out simultaneously, which can reduce the assembly time of the material assembly equipment and thereby improve the assembly efficiency of the material assembly equipment.

[0151] When the material transfer mechanism 10 moves to the second position along the first direction relative to the assembly base 70, the second material receiving position 12 matches the position of the material inlet and outlet 21, the first material receiving position 11 matches the position of the first material picking member 30, and the second material picking member 40 matches the position of the avoidance slide 15 and the second target assembly position. At this time, the target material to be assembled can be dropped from the storage component 20 to the second material receiving position 12, the first material picking member 30 can pick up the material from the first material receiving position 11, and the second material picking member 40 can cooperate with the target material to be assembled to move toward the second target assembly position, so that the target material to be assembled and the target body to be assembled are pre-assembled. In this way, dropping, picking up by the first material picking member 30 and assembling by the second material picking member 40 are carried out simultaneously, which can reduce the assembly time of the material assembly equipment and thereby improve the assembly efficiency of the material assembly equipment.

[0152] The material transfer mechanism 10 can reciprocate between the first position and the second position along the first direction, thereby further significantly improving the assembly efficiency of the material assembly equipment.

[0153] The material assembly equipment also includes a first material limiter 82 and a second material limiter 83. The first material limiter 82 and the second material limiter 83 are arranged on the side of the material transfer mechanism 10 facing the material storage assembly 20. The first material limiter 82 and the second material limiter 83 are fixedly connected to the assembly base 70. The first material limiter 82 is provided with a first material limiter guide on the side facing the material transfer mechanism 10, and the second material limiter 83 is provided with a second material limiter guide on the side facing the material transfer mechanism 10. A material limiter guide groove 81 is formed between the first material limiter guide and the second material limiter guide. The material transfer mechanism 10 can slide in the material limiter guide groove 81. In this way, the target material to be assembled in the first material receiving position 11 or the second material receiving position 12 can be prevented from falling off or shifting, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0154] The material assembly equipment also includes a material guiding mechanism 130, which is arranged on the side of the material transfer mechanism 10 away from the material storage component 20, and the material guiding mechanism 130 is fixedly connected to the assembly base 70; the material guiding mechanism 130 is provided with a first limiting slide and a second limiting slide that penetrate along the second direction.

[0155] A first guide slide is provided at one end of the first limiting slide close to the first material picking member 30, and along the movement direction of the first material picking member 30 toward the first target assembly position, the cross-sectional area of ​​the first guide slide gradually decreases until it is adapted to the target material to be assembled; when the position of the first material picking member 30 matches the first target assembly position, the first material picking member 30 and the target material to be assembled can move toward the first target assembly position in the first limiting slide, so that the first limiting slide can adjust the posture of the target material to be assembled, and can prevent the displacement of the target material to be assembled during the movement of the first material picking member 30 and the target material to be assembled toward the first target assembly position, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0156] The second limiting slide is provided with a second guide slide at one end close to the second material picking member 40, and along the movement direction of the second material picking member 40 toward the second target assembly position, the cross-sectional area of ​​the second guide slide gradually decreases until it is adapted to the target material to be assembled; when the position of the second material picking member 40 matches the second target assembly position, the second material picking member 40 and the target material to be assembled can move toward the second target assembly position in the second limiting slide, so that the second limiting slide can adjust the posture of the target material to be assembled, and can prevent the displacement of the target material to be assembled during the movement of the second material picking member 40 and the target material to be assembled toward the second target assembly position, thereby improving the assembly efficiency and assembly accuracy of the material assembly equipment.

[0157] The material assembly equipment also includes a material pressure rod 90, which is slidably connected to the material storage component 20 along the second direction; a storage cavity 22 is provided in the material storage component 20, and the storage cavity 22 is used to accommodate multiple target materials to be assembled, and the material inlet and outlet 21 is provided at one end of the storage cavity 22 close to the material transfer mechanism 10; the material pressure rod 90 extends into the storage cavity 22, and the material pressure rod 90 can move toward or away from the material inlet and outlet 21 along the second direction relative to the material storage component 20.

[0158] A material pushing end 91 is provided at one end of the material pressing rod 90 facing the material inlet and outlet 21, and the material pushing end 91 extends into the material storage chamber 22; when the first material receiving position 11 or the second material receiving position 12 matches the position of the material inlet and outlet 21, the material pressing rod 90 can push the target material to be assembled toward the first material receiving position 11 or the second material receiving position 12 through the material pushing end 91, so that a single target material to be assembled falls to the first material receiving position 11 or the second material receiving position 12, thereby realizing the falling of a single target material to be assembled.

[0159] The material assembly equipment also includes a pressure rod support seat 160. The positions of the pressure rod support seat 160 and the material storage assembly 20 are relatively fixed. A first guide rail is provided on the side of the pressure rod support seat 160 facing the material pressure rod 90. A first guide slider 170 adapted to the first guide rail is fixedly provided on the side of the material pressure rod 90 facing the pressure rod support seat 160. The first guide slider 170 can slide on the first guide rail, so that a sliding connection between the pressure rod support seat 160 and the material pressure rod 90 can be realized.

[0160] The material assembly equipment also includes a first suction device, comprising a first power unit and a first suction pipe in communication. A first suction end 31 is provided at the end of the first material picker 30, located near the material transfer mechanism 10. This end is sealed and connected to the first suction pipe. Under the action of the first power unit, the first suction end 31 can absorb the target material to be assembled, thereby enabling the first material picker 30 to retrieve the material. When the first power unit is deactivated, the first suction end 31 can then suck and release the target material to be assembled.

[0161] The material assembly equipment also includes a second suction device, comprising a second power unit and a second suction conduit. A second suction end 41 is provided at the end of the second material picker 40, located near the material transfer mechanism 10. This second suction end 41 is in sealed communication with the second suction conduit. Under the action of the second power unit, the second suction end 41 can suck the target material to be assembled, thereby enabling the second material picker 40 to retrieve the material. When the second power unit is deactivated, the second suction end 41 can suck and release the target material to be assembled.

[0162] The material assembly equipment further includes a first cylinder 51, a second cylinder 52, and a first elastic element 140. The first cylinder fixed end of the first cylinder 51 is relatively fixed to the position of the material storage assembly 20. The first cylinder output end of the first cylinder 51 is fixedly connected to the second cylinder fixed end of the second cylinder 52. The second cylinder output end of the second cylinder 52 abuts against one end of the first elastic element 140, and the other end of the first elastic element 140 abuts against the first material picking member 30. The first cylinder output end and the first cylinder fixed end are capable of relative movement along the second direction, and the second cylinder output end and the second cylinder fixed end are capable of relative movement along the second direction.

[0163] The elastic force direction of the first elastic element 140 is consistent with the second direction. In the process of the second cylinder output end driving the first material picking part 30 to move toward the first target assembly position, the first material picking part 30 can move away from the first target assembly position, that is, the first material picking part 30 can rebound in a small range. In this way, the elastic connection between the second cylinder output end and the first material picking part 30 is realized, which can prevent the first material picking part 30 from damaging the target material to be assembled due to overpressure during assembly.

[0164] The output end of the second cylinder can drive the first picking member 30 to move in the second direction relative to the material transfer mechanism 10, so that the first picking member 30 moves to the first picking position, the first material checking position or the first target assembly position. When the first material receiving position 11 matches the position of the first picking member 30 and the first picking member 30 moves to the first picking position, the first picking member 30 can absorb and pick up materials from the first material receiving position 11; when the first picking member 30 moves to the first material checking position, it is convenient to perform material inspection on the target material to be assembled absorbed by the first picking member 30 to determine whether the first picking member 30 has successfully picked up the material; when the first picking member 30 moves to the first target assembly position, the target material to be assembled can be pre-assembled with the target body to be assembled.

[0165] The first cylinder 51 and the second cylinder 52 can perform different combined movements, so that the output end of the second cylinder can drive the first picking member 30 to move to the first picking position, the first checking position or the first target assembly position.

[0166] The material assembly equipment further includes a third cylinder 61, a fourth cylinder 62, and a second elastic element 150. The third cylinder fixed end of the third cylinder 61 is relatively fixed to the position of the material storage assembly 20. The third cylinder output end of the third cylinder 61 is fixedly connected to the fourth cylinder fixed end of the fourth cylinder 62. The fourth cylinder output end of the fourth cylinder 62 abuts against one end of the second elastic element 150, and the other end of the second elastic element 150 abuts against the second material picking member 40. The third cylinder output end and the third cylinder fixed end are capable of relative movement along the second direction, and the fourth cylinder output end and the fourth cylinder fixed end are capable of relative movement along the second direction.

[0167] The elastic direction of the second elastic element 150 is consistent with the second direction. In the process of the fourth cylinder output end driving the second material picking part 40 to move toward the second target assembly position, the second material picking part 40 can move away from the second target assembly position, that is, the second material picking part 40 can rebound in a small range. In this way, the fourth cylinder output end and the second material picking part 40 are elastically connected, which can prevent the second material picking part 40 from damaging the target material to be assembled due to overpressure during assembly.

[0168] The output end of the fourth cylinder can drive the second picking member 40 to move in the second direction relative to the material transfer mechanism 10, so that the second picking member 40 moves to the second picking position, the second material checking position, or the second target assembly position. When the second material receiving position 12 matches the position of the second picking member 40 and the second picking member 40 moves to the second picking position, the second picking member 40 can absorb and pick up materials from the second material receiving position 12; when the second picking member 40 moves to the second material checking position, it is convenient to perform material inspection on the target material to be assembled absorbed by the second picking member 40 to determine whether the second picking member 40 has successfully picked up the material; when the second picking member 40 moves to the second target assembly position, the target material to be assembled can be pre-assembled with the target body to be assembled.

[0169] The third cylinder 61 and the fourth cylinder 62 can perform different combined movements, so that the output end of the fourth cylinder can drive the second picking member 40 to move to the second picking position, the second checking position or the second target assembly position.

[0170] The material assembly equipment further includes a first material detection device 100 , a second material detection device 110 and a control device. The first material detection device 100 and the second material detection device 110 are fixedly connected to the assembly base 70 , respectively.

[0171] When the first material picking part 30 moves to the first material inspection position, the target material to be assembled can enter the first material detection area of ​​the first material detection device 100. At this time, the first material detection device 100 outputs a first material picking success signal to the control device, and the first material picking success signal indicates that the first material picking part 30 has picked up the material successfully; based on the first material picking success signal, the control device can control the second cylinder 52 to drive the first material picking part 30 and the target material to be assembled to move toward the first target assembly position, so as to realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0172] When the second material picking part 40 moves to the second material inspection position, the target material to be assembled can enter the second material detection area of ​​the second material detection device 110. At this time, the second material detection device 110 outputs a second material picking success signal to the control device, and the second material picking success signal indicates that the second material picking part 40 has picked up the material successfully; based on the second material picking success signal, the control device can control the fourth cylinder 62 to drive the second material picking part 40 and the target material to be assembled to move toward the second target assembly position, so as to realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0173] The material assembly equipment also includes a material drop detection device, which is electrically connected to the control device; a material drop positioning piece is fixedly provided on the material pressure rod 90, and each time the material pressure rod 90 drops a single material level height along the second direction, the material drop positioning piece drops a single material level height. At this time, the material drop detection device outputs a material drop signal to the control device.

[0174] The material assembly equipment also includes a pressure rod detection device, which is electrically connected to the control device; a pressure rod positioning piece is fixedly provided on the material pressure rod 90, and when the material pressure rod 90 moves to the extreme position toward the material inlet and outlet 21, the pressure rod positioning piece enters the target pressure rod detection area of ​​the pressure rod detection device. At this time, the pressure rod detection device transmits an empty material signal to the control device, and the empty material signal indicates that all the target materials to be assembled in the storage chamber 22 have been dropped; based on the empty material signal, the control device can control the third drive device 120 to drive the material transfer mechanism 10 to move to the third position, so that the loading of multiple target materials to be assembled can be realized.

[0175] The material assembly equipment also includes a first in-place detection device 190, a second in-place detection device 200 and a third in-place detection device 210. The first in-place detection device 190, the second in-place detection device 200 and the third in-place detection device 210 are all electrically connected to the control device, and the first adsorption device is electrically connected to the control device.

[0176] A first positioning mechanism 220 is fixedly provided on the first output end. When the first driving device drives the first material picking member 30 to move to the first material picking position, the first positioning mechanism 220 can be located in the first target detection area of ​​the first in-place detection device 190. The first in-place detection device 190 can transmit a first in-place signal to the control device. The first in-place signal indicates that the first material picking member 30 has moved to the first material picking position. Based on the first in-place signal, the control device can control the first power device to start. Under the action of the first power of the first power device, the first suction end 31 can adsorb the target material to be assembled. When the first suction end 31 adsorbs the target material to be assembled, the first driving device can drive the first material picking member 30 to move to the first material checking position. At this time, the first positioning mechanism 220 can be located in the second target detection area of ​​the second in-place detection device 200. The second in-place detection device 200 can transmit a second in-place signal to the control device. The second in-place signal indicates that the first material picking member 30 has moved to the first material picking position. Material checking position, based on the second in-place signal, the control device can control the first material detection device 100 to detect whether the first material picking part 30 picks up the material successfully or not; when the first material picking part 30 picks up the material successfully, the first material detection device 100 can transmit the first material picking success signal to the control device, based on the first material picking success signal, the control device can control the first driving device to drive the first material picking part 30 and the target material to be assembled to the first target assembly position, when the first material picking part 30 moves to the first target assembly position, the first positioning mechanism 220 can be located in the third target detection area of ​​the third in-place detection device 210, the third in-place detection device 210 can transmit the third in-place signal to the control device, the third in-place signal indicates that the first material picking part 30 moves to the first target assembly position, based on the third in-place signal, the control device can control the first power device to shut down, and the first suction end 31 can release the target material to be assembled, so as to realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0177] The material assembly equipment also includes a fourth in-place detection device 230, a fifth in-place detection device 240 and a sixth in-place detection device 250. The fourth in-place detection device 230, the fifth in-place detection device 240 and the sixth in-place detection device 250 are all electrically connected to the control device, and the second adsorption device is electrically connected to the control device.

[0178] A second positioning mechanism 260 is fixedly provided on the first output end. When the second driving device drives the second material picking member 40 to move to the second material picking position, the second positioning mechanism 260 can be located in the fourth target detection area of ​​the fourth in-place detection device 230. The fourth in-place detection device 230 can transmit a fourth in-place signal to the control device. The fourth in-place signal indicates that the second material picking member 40 has moved to the second material picking position. Based on the fourth in-place signal, the control device can control the second power device to start. Under the second power action of the second power device, the second suction end 41 can adsorb the target material to be assembled. When the second suction end 41 adsorbs the target material to be assembled, the second driving device can drive the second material picking member 40 to move to the second material checking position. At this time, the second positioning mechanism 260 can be located in the fifth target detection area of ​​the fifth in-place detection device 240. The fifth in-place detection device 240 can transmit a fifth in-place signal to the control device. The fifth in-place signal indicates that the second material picking member 40 has moved to the second material picking position. Material inspection position, based on the fifth in-place signal, the control device can control the second material detection device 110 to detect whether the second material picking part 40 has picked up the material successfully or not; when the second material picking part 40 picks up the material successfully, the second material detection device 110 can transmit the second material picking success signal to the control device, based on the second material picking success signal, the control device can control the second driving device to drive the second material picking part 40 and the target material to be assembled to move to the second target assembly position, when the second material picking part 40 moves to the second target assembly position, the second positioning mechanism 260 can be located in the sixth target detection area of ​​the sixth in-place detection device 250, the sixth in-place detection device 250 can transmit the sixth in-place signal to the control device, the sixth in-place signal indicates that the second material picking part 40 has moved to the second target assembly position, based on the sixth in-place signal, the control device can control the second power device to shut down, and the second suction end 41 can release the target material to be assembled, so as to realize the preset assembly of the target material to be assembled and the target body to be assembled.

[0179] The third drive device 120 is electrically connected to the control device. Based on the second in-place signal, the sixth in-place signal and the material drop signal, the control device can control the third drive device 120 to drive the material transfer mechanism 10 to move to the first position; based on the fifth in-place signal, the third in-place signal and the material drop signal, the control device can control the third drive device 120 to drive the material transfer mechanism 10 to move to the second position.

[0180] The material assembly equipment in Example 1 can significantly improve the assembly efficiency of the target material to be assembled.

[0181] Example 2

[0182] See Figures 1 to 13The difference between Example 2 and Example 1 lies in the sliding connection setting between the third drive device 120 and the assembly base 70, and the sliding connection setting between the material pressure rod 90 and the pressure rod support seat 160. The similarities between Example 2 and Example 1 will not be repeated here, and only the differences between Example 2 and Example 1 will be described.

[0183] Two second guide sliders 180 are fixedly provided on the side of the third output end 121 of the third driving device 120 facing the assembly base 70. In this way, the straightness of the material transfer mechanism 10 can be improved, thereby improving the smoothness of the movement of the material transfer mechanism 10 in the assembly base 70, and further improving the assembly efficiency of the material assembly equipment.

[0184] Two first guide sliders 170 are fixedly provided on one side of the material pressing rod 90 facing the pressing rod support seat 160. In this way, the verticality of the material pressing rod 90 can be improved, thereby improving the smoothness of the movement of the material pressing rod 90 in the material storage assembly 20, thereby further improving the assembly efficiency of the material assembly equipment.

[0185] The material assembly equipment in Example 2 can significantly improve the assembly efficiency of the target material to be assembled.

[0186] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A material assembly device, characterized in that: It comprises a material transfer mechanism (10), a material storage assembly (20), an assembly base (70), a material guide mechanism (130), a first material picking member (30) and a second material picking member (40); The material storage assembly (20), the first material picking member (30) and the second material picking member (40) are arranged on the same side of the material transfer mechanism (10), and the material transfer mechanism (10) can move in a first direction relative to the material storage assembly (20); The material transfer mechanism (10) is provided with a first material receiving position (11) and a second material receiving position (12) on one side facing the material storage component (20), and the first material receiving position (11) and the second material receiving position (12) are arranged along the first direction; The material storage assembly (20) is capable of accommodating a plurality of target materials to be assembled, and the material storage assembly (20) is provided with a material inlet and outlet (21); When the material transfer mechanism (10) moves to the first position along the first direction, the first material receiving position (11) matches the position of the material inlet and outlet (21), the second material receiving position (12) matches the position of the second material picking member (40), and the first material picking member (30) matches the position of the first target assembly position; When the material transfer mechanism (10) moves to the second position along the first direction, the second material receiving position (12) matches the position of the material inlet and outlet (21), the first material receiving position (11) matches the position of the first material picking member (30), and the second material picking member (40) matches the position of the second target assembly position; The material transfer mechanism (10) is arranged between the assembly base (70) and the material storage assembly (20); the material transfer mechanism (10) is slidably connected to the assembly base (70) along the first direction; The material storage component (20), the first material picking component (30) and the second material picking component (40) are all arranged above the material transfer mechanism (10); the positions of the material storage component (20) and the assembly base (70) are relatively fixed; the material storage component (20), the first material picking component (30) and the second material picking component (40) are arranged along a first direction, and their relative positions in the first direction are fixed; the first material picking component (30) and the second material picking component (40) are arranged on both sides of the material storage component (20) along the first direction; The material guide mechanism (130) is arranged on a side of the material transfer mechanism (10) away from the material storage assembly (20), and the material guide mechanism (130) is fixedly connected to the assembly base (70); The material guiding mechanism (130) is provided with a first limiting slide and a second limiting slide penetrating along a second direction; the first material picking member (30) can move along the second direction in the first limiting slide to approach or move away from the first target assembly position; the second material picking member (40) can move along the second direction in the second limiting slide to approach or move away from the second target assembly position.

2. The material assembly equipment according to claim 1, characterized in that: The material transfer mechanism (10) is provided with an inlet and outlet abutment position (13) on one side facing the material storage assembly (20), and the inlet and outlet abutment position (13) is provided between the first material receiving position (11) and the second material receiving position (12), and the position of the inlet and outlet abutment position (13) is higher than the first material receiving position (11) and the second material receiving position (12); During the movement of the material transfer mechanism (10) between the first position and the second position, the inlet and outlet abutment position (13) abuts against the material inlet and outlet (21).

3. The material assembly equipment according to claim 1, characterized in that: Also includes a first drive device and a second drive device; The first driving device is elastically connected to the first material taking member (30), and the elastic force direction of the elastic connection is consistent with the second direction; The second driving device is elastically connected to the second material picking member (40), and the direction of the elastic force of the elastic connection between the second driving device and the second material picking member (40) is consistent with the second direction.

4. The material assembly equipment according to claim 1, characterized in that: It also includes a material limiting mechanism (80), which is arranged on a side of the material transfer mechanism (10) facing the material storage assembly (20), and the material limiting mechanism (80) is fixedly connected to the assembly base (70); A material limiting guide groove (81) is provided on one side of the material limiting mechanism (80) facing the material transfer mechanism (10), and the material transfer mechanism (10) can slide in the material limiting guide groove (81).

5. The material assembly equipment according to any one of claims 1 to 4, characterized in that: The material storage assembly (20) further comprises a material pressing rod (90), wherein the material pressing rod (90) is slidably connected to the material storage assembly (20) along a second direction; a material storage cavity (22) is provided in the material storage assembly (20), and the material inlet and outlet (21) is provided at one end of the material storage cavity (22) close to the material transfer mechanism (10); The material pressing rod (90) extends into the material storage cavity (22), and the material pressing rod (90) can move relative to the material storage assembly (20) along the second direction toward or away from the material inlet and outlet (21).

6. The material assembly equipment according to any one of claims 1 to 4, characterized in that: It also includes a first material detection device (100) and a second material detection device (110); The first material picking member (30) can move in a second direction in coordination with the target material to be assembled, and when the first material picking member (30) moves to the first material detection position, the target material to be assembled can enter the first material detection area of ​​the first material detection device (100); The second material picking member (40) can cooperate with the target material to be assembled to move along the second direction. When the second material picking member (40) moves to the second material picking position, the target material to be assembled can enter the second material detection area of ​​the second material detection device (110).

7. The material assembly equipment according to any one of claims 1 to 4, characterized in that: It also includes a third driving device (120), the third driving device (120) is slidably connected to the assembly base (70) along the first direction, and the third driving device (120) is fixedly connected to the material transfer mechanism (10); The third driving device (120) is capable of driving the material transfer mechanism (10) to move along the first direction, so as to move the material transfer mechanism (10) to the first position or the second position.

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