Crystal racking machine

Abstract

The invention discloses a crystal racking machine which comprises a rack as well as a first feeding mechanism, a second feeding mechanism, a third feeding mechanism, a fourth feeding mechanism, a first manipulator, a second manipulator, a turnover platform mechanism and a pushing mechanism which are arranged on the rack, the second feeding mechanism is used for conveying a crystal carrier and is vertically inserted into the base carrier to assemble a combined carrier in a vertical posture, the third feeding mechanism is used for conveying the combined carrier, the fourth feeding mechanism is used for conveying a crystal in a flat posture, and the overturning platform mechanism is used for adjusting the crystal from the flat posture to the vertical posture. The second mechanical arm takes out the crystal in the standing posture and inserts the crystal downwards into the crystal carrier, the pushing mechanism pushes the crystal on the crystal carrier downwards, the combined carrier in the standing posture is adopted, the crystal is inserted into the combined carrier in the standing posture, and the lower end of the crystal is kept abutting against the upper end of the base.

Description

Technical Field

[0001] The invention relates to the technical field of quartz crystal oscillator production equipment, and in particular to a crystal racking machine. Background Art

[0002] The full name of quartz crystal oscillator is quartz crystal resonator, which is an electronic device that generates resonant frequency and is widely used in various electronic products. Quartz crystal oscillator mainly consists of three parts: base, crystal and shell. There are two pins arranged side by side on the base. One end of the crystal is welded to the base so that the crystal is electrically connected to the two pins. The shell is covered outside the base to seal the crystal inside the shell.

[0003] At present, a combination carrier in a flat position is used to position the crystal and the base. The combination carrier in a flat position includes a base carrier and a crystal carrier, wherein the base carrier is provided with a plurality of slots for the pins on the base to be inserted, and the crystal carrier is provided with a guide hole for positioning the crystal. During production, a crystal loading machine is used to horizontally assemble the crystal carrier to one side of the base carrier to form a combination carrier in a flat position, and the crystal is pushed into the guide hole in a flat position so that one end of the crystal abuts against the base, and finally the combination carrier is transported to the welding equipment to weld the crystal and the base. However, during the transportation of the combination carrier in a flat position, the crystal is easily vibrated and moved horizontally, causing the crystal to separate from the base and poor positioning. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a crystal loading machine which adopts a combination carrier in an upright posture. The crystal is inserted into the combination carrier in an upright posture, and the crystal's own gravity is used to keep the lower end of the crystal in contact with the upper end of the base, thereby preventing the crystal from detaching from the base and achieving better positioning.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A crystal loading machine comprises a frame, and a first loading mechanism, a second loading mechanism, a third loading mechanism, a fourth loading mechanism, a first manipulator, a second manipulator, a turning platform mechanism, and a pushing mechanism arranged on the frame;

[0007] The first feeding mechanism has a first conveying trough, and the first conveying trough is used to convey the base carrier;

[0008] The second loading mechanism has a second conveying trough, the second conveying trough is used to convey the crystal carrier, and the first manipulator can take the crystal carrier out of the second conveying trough and vertically plug it into the base carrier to assemble a combined carrier in a standing posture;

[0009] The third loading mechanism has a third conveying trough, the combined carrier can be transferred from the first conveying trough to the third conveying trough, and the third conveying trough is used to convey the combined carrier;

[0010] The fourth loading mechanism has at least one row of conveying components, and the conveying components have a plurality of fourth conveying troughs arranged side by side, and each of the fourth conveying troughs can convey the crystal in a lying posture;

[0011] The flip platform mechanism comprises a flip seat and a flip driving unit, the flip seat is provided with a plurality of receiving slots corresponding to the fourth conveying slots one by one, the flip driving unit drives the flip seat to flip so that the receiving slots switch between a lying posture and a standing posture, when the receiving slots are in a lying posture, the second manipulator can put the crystals in the fourth conveying slots into the receiving slots in a lying posture, when the flip seat flips so that the receiving slots are in a standing posture, the crystals in the receiving slots are adjusted from a lying posture to a standing posture, and the second manipulator can take out the crystals in the standing posture in the receiving slots and insert them downward into the crystal carrier on the combined carrier;

[0012] The pushing mechanism comprises a pushing driving device, at least one pushing seat and a plurality of pushing pieces arranged on the pushing seat at intervals. The pushing driving device can drive the pushing seat to move up and down, so that the pushing seat drives the pushing pieces to push the crystal on the crystal carrier downward, and the lower end of the pushed crystal abuts against the upper end of the base.

[0013] As a preferred embodiment, one side of the receiving tank is provided with an inlet for transferring the crystal to the receiving tank in a lying position. When the receiving tank is in a lying position, the opening of the inlet faces upward, and the depth h1 of the receiving tank is less than the height h2 of the crystal, so that when the crystal is placed in the receiving tank in a lying position, one end of the crystal extends out of the receiving tank.

[0014] As a preferred solution, a material blocking assembly is provided on the flip seat, and the material blocking assembly has a movable baffle and a material blocking drive unit, and the material blocking drive unit can drive the movable baffle to move relative to the feed inlet so that the movable baffle blocks the feed inlet or exposes the feed inlet.

[0015] As a preferred solution, an air hole is provided in the accommodating groove, and the air hole is connected to the positive pressure device and the negative pressure device.

[0016] As a preferred solution, the second robot has a first material picking module and a second material picking module. The first material picking module can place the crystals in the fourth conveying slot into the receiving slot in a lying position, and the second material picking module takes out the crystals in an upright position in the receiving slot and inserts them downward into the crystal carrier on the combined carrier.

[0017] As a preferred solution, the second material picking module has a second driving module, a second material picking seat and at least one second material picking head. The second driving module can drive the second material picking seat to move back and forth between the flipping platform mechanism and the third conveying trough. The second material picking head is arranged on the second material picking seat, and the second material picking head is provided with a plurality of second material picking parts arranged side by side.

[0018] As a preferred solution, the second material taking part is an adsorption chamber arranged at the lower end of the second material taking head, the adsorption chamber allows the upper end of the crystal to extend upward, a positioning block is provided at the top of the adsorption chamber, the positioning block limits the upward movement of the crystal, and the adsorption chamber is provided with a suction hole that can absorb the crystal.

[0019] As a preferred solution, the pusher is slidably connected to the pusher seat up and down, and the pusher seat is provided with a buffer spring corresponding to the pusher one-to-one. The buffer spring makes the pusher always have a tendency to move downward, and the pusher seat is provided with a detection device for detecting whether the pusher pushes the crystal into place.

[0020] As a preferred embodiment, the pushing mechanism also has at least one guide seat, the driving end of the pushing drive device is connected to a guide column, the guide column is connected to the pushing seat, the guide column can drive the pushing seat to move up and down, the pushing seat is installed on the guide seat by sliding up and down through the guide column, and the guide seat is provided with guide grooves corresponding to the pushing pieces one by one, and the pushing pieces slide up and down and pass through the corresponding guide grooves.

[0021] As a preferred solution, the third loading mechanism also has a support seat and a material shifting assembly, a positioning assembly, and a defective product removing assembly arranged on the support seat. The third conveying trough is arranged on the support seat. The material shifting assembly can move the combined carrier in the third conveying trough, the positioning assembly can position the combined carrier in the third conveying trough, and the defective product removing assembly is used to remove the combined carrier containing defective products in the third conveying trough.

[0022] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, by setting a first feeding mechanism, a second feeding mechanism, a third feeding mechanism, a fourth feeding mechanism, a first manipulator, a second manipulator, a flip platform mechanism, and a pushing mechanism, during production, the first feeding mechanism conveys a base carrier, the second feeding mechanism conveys a crystal carrier, the first manipulator vertically plugs the crystal carrier into the base carrier to assemble a combined carrier in a standing posture, the third feeding mechanism conveys the combined carrier, and the fourth feeding mechanism conveys the combined carrier in a lying posture. Crystal, the second manipulator transfers the crystal in a lying position to the flip platform mechanism to adjust the crystal to an upright position, then takes out the crystal in an upright position and inserts it downward into the crystal carrier on the combined carrier, and uses the pushing mechanism to push the crystal downward so that the lower end of the pushed crystal abuts against the upper end of the base to complete the crystal loading, thereby adopting a combined carrier in an upright position, and the crystal is inserted into the combined carrier in an upright position, and the crystal's own gravity is used to keep the lower end of the crystal abutted against the upper end of the base, which can prevent the crystal from detaching from the base and achieve better positioning.

[0023] In order to more clearly explain the structural features, technical means and specific purposes and functions achieved by the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the assembly structure of an embodiment of the present invention;

[0025] Figure 2 It is a schematic top view of the working state of an embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the assembly of the first feeding mechanism, the second feeding mechanism, the third feeding mechanism, and the transfer mechanism of an embodiment of the present invention;

[0027] Figure 4 It is a schematic diagram of the assembly structure of the third feeding mechanism of the embodiment of the present invention;

[0028] Figure 5 It is an exploded schematic diagram of a third feeding mechanism according to an embodiment of the present invention;

[0029] Figure 6 It is a structural schematic diagram of a defective product removal assembly without a tray according to an embodiment of the present invention;

[0030] Figure 7 Schematic diagram of the working state of the third feeding mechanism of the embodiment of the present invention;

[0031] Figure 8 yes Figure 7 A partial enlarged schematic diagram of part A;

[0032] Fig. 9It is a schematic diagram of a first working state of a turning platform mechanism according to an embodiment of the present invention;

[0033] Fig.10 is a cross-sectional schematic diagram of a flip seat in which the receiving tank is in a flat position according to an embodiment of the present invention;

[0034] Fig.11 yes Fig.10 A partial enlarged schematic diagram of part B;

[0035] Fig.12 It is a schematic diagram of the second working state of the turning platform mechanism of the embodiment of the present invention;

[0036] Fig.13 is a schematic structural diagram of a second manipulator according to an embodiment of the present invention;

[0037] Fig.14 It is a cross-sectional schematic diagram of the working state of the first material taking head of an embodiment of the present invention;

[0038] Fig.15 It is a cross-sectional schematic diagram of the working state of the second material taking head of the embodiment of the present invention;

[0039] Fig.16 yes Fig.14 A partial enlarged schematic diagram of part C in the middle;

[0040] Fig.17 yes Fig.15 A partial enlarged schematic diagram of part D in the middle;

[0041] Fig.18 Schematic diagram of the structure of the material pushing mechanism of an embodiment of the present invention;

[0042] Fig.19 2 is an exploded schematic diagram of a material pushing mechanism according to an embodiment of the present invention;

[0043] Fig. 20 It is a cross-sectional schematic diagram of a first working state of a material pushing mechanism according to an embodiment of the present invention;

[0044] Fig.21 It is a cross-sectional schematic diagram of the second working state of the pusher mechanism of an embodiment of the present invention.

[0045] Description of the accompanying drawings:

[0046] 10-first feeding mechanism; 11-first conveying trough; 12-transfer mechanism; 20-second feeding mechanism; 21-second conveying trough; 30-third feeding mechanism; 301-first station; 302-second station; 31-third conveying trough; 311-defective product outlet; 32-support seat; 321-second groove; 33-material shifting assembly; 331-material shifting drive device; 332-material shifting seat; 333-first material shifting drive unit; 334-second material shifting drive unit; 335-drive motor; 336-material shifting member; 337-material shifting rod; 338-material shifting space; 34-positioning assembly; 341-positioning member; 342-positioning drive device; 343-movable seat; 344-positioning drive unit; 345-pressing member ;35-defective product removal assembly;351-removal member;352-first groove;353-removal hook;354-removal drive device;355-first removal drive unit;356-second removal drive unit;357-tray;358-third groove;40-fourth loading mechanism;41-conveying assembly;42-fourth conveying trough;43-vibrating plate;50-first manipulator;51-Y-axis drive assembly;52-Z-axis drive assembly;53-material picking assembly;60-second manipulator;61-first material picking module;62-second material picking module;63-first drive module;631-Y-axis drive module;632-Z-axis drive module;64-first material picking seat;65-first material picking head;651-suction rod;6 52-suction nozzle; 653-first negative pressure chamber; 66-second drive module; 67-second material picker; 68-second material picker head; 681-adsorption chamber; 682-suction hole; 683-positioning block; 684-second negative pressure chamber; 685-negative pressure channel; 686-installation slot; 687-installation plate; 70-turning platform mechanism; 71-turning seat; 72-turning drive unit; 73-accommodating slot; 74-feeding port; 75-blocking assembly; 751-movable baffle; 752-blocking drive unit; 753-piston head; 76-air hole; 80-pushing mechanism; 81-pushing drive device; 811-guide column; 812-lifting seat; 82-pushing seat; 821-first avoidance hole; 83-pushing member; 831-installation Rod; 832-push rod; 84-second buffer spring; 85-detection device; 851-first sensor; 852-second sensor; 853-detection area; 86-guide seat; 861-guide slot; 862-guide sleeve; 863-limit pin; 864-block; 87-reset spring; 88-limit member; 881-limit column; 882-limit block; 89-clamping assembly; 891-block; 8911-connecting hole; 8912-locking member; 892-card slot; 90-base carrier; 901-slot; 91-crystal carrier; 911-guide hole; 92-combination carrier; 921-pin hole; 93-base; 94-crystal; 941-notch; 100-frame; 101-second avoidance hole. DETAILED DESCRIPTION

[0047] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operated in specific directions. Therefore, they should not be understood as limitations on the present invention.

[0048] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] like Figure 1-21 As shown, the present invention discloses a crystal loading machine, including a frame 100, and a first loading mechanism 10, a second loading mechanism 20, a third loading mechanism 30, a fourth loading mechanism 40, a first manipulator 50, a second manipulator 60, a flip platform mechanism 70, and a pushing mechanism 80 arranged on the frame 100.

[0050] The first loading mechanism 10 has a first conveying groove 11, which is used to convey the base carrier 90 in an upright posture, wherein the posture of the base carrier 90 when the opening of the slot 901 on the base carrier 90 faces upward is defined as the upright posture of the base carrier 90.

[0051] The second loading mechanism 20 has a second conveying trough 21, and the second conveying trough 21 is used to convey the crystal carrier 91 in an upright posture. The first manipulator 50 can take the crystal carrier 91 out of the second conveying trough 21 and vertically insert it into the base carrier 90 to assemble a combined carrier 92 in an upright posture, wherein the posture of the crystal carrier 91 when the opening of the guide hole 911 on the crystal carrier 91 faces upward is defined as the upright posture of the crystal carrier 91. The first conveying trough 11 and the second conveying trough 21 are both provided with a driving member (not shown) that can drive the base carrier 90 / crystal carrier 91 to move. The driving member is a conveyor belt or a pusher block. When a conveyor belt is used, it is used in conjunction with a conveying motor, and when a pusher block is used, it is used in conjunction with multiple cylinders.

[0052] The third loading mechanism 30 has a third conveying trough 31 . The combined carrier 92 can be transferred from the first conveying trough 11 to the third conveying trough 31 . The third conveying trough 31 is used to convey the combined carrier 92 .

[0053] The fourth loading mechanism 40 has at least one row of conveying components 41, and the conveying components 41 have multiple fourth conveying troughs 42 arranged side by side. Each of the fourth conveying troughs 42 can convey the crystal 94 in a lying posture. Specifically, the conveying components 41 are provided with two groups, which are respectively distributed along the X-axis direction. The fourth conveying troughs 42 are connected to vibration plates 43, and the vibration plates 43 can convey the crystal 94 in a lying posture to the fourth conveying troughs 42. Among them, the fourth conveying troughs 42 and the vibration plates 43 are both existing mature technologies, so they are not repeated here.

[0054] The flip platform mechanism 70 has a flip seat 71 and a flip drive unit 72. The flip drive unit 72 can be a rotating cylinder or a rotating motor. The flip seat 71 is provided with a plurality of receiving grooves 73 corresponding to the fourth conveying groove 42. The flip drive unit 72 drives the flip seat 71 to flip so that the receiving groove 73 switches between a lying posture and a standing posture. When the receiving groove 73 is in a lying posture, the second manipulator 60 can place the crystal 94 in the fourth conveying groove 42 into the receiving groove 73 in a lying posture. When the flip seat 71 flips so that the receiving groove 73 is in a standing posture, the crystal 94 in the receiving groove 73 is adjusted from a lying posture to a standing posture. The second manipulator 60 can take out the crystal 94 in the standing posture in the receiving groove 73 and insert it downward into the crystal carrier 91 on the combination carrier 92, wherein the combination carrier 92 into which the crystal 94 is inserted is located in the third conveying groove 31.

[0055] The pushing mechanism 80 has a pushing driving device 81, at least one pushing seat 82 and a plurality of pushing members 83 arranged on the pushing seat 82 at intervals. Exemplarily, there are two pushing seats 82, and the two pushing seats 82 are distributed along the X-axis direction. The pushing driving device 81 can drive the pushing seat 82 to move up and down, so that the pushing seat 82 drives the pushing member 83 to push the crystal 94 on the crystal carrier 91 downward, and make the lower end of the pushed crystal 94 abut against the upper end of the base 93.

[0056] A transfer mechanism 12 is provided between the first conveying trough 11 and the third conveying trough 31, and the transfer mechanism 12 can transfer the base carrier 90 from the first conveying trough 11 to the third conveying trough 31. The first conveying trough 11 is connected to the third conveying trough 31, and a push plate and a material pushing drive unit are provided on the transfer mechanism 12. The material pushing drive unit drives the push plate to push the base carrier 90 from the first conveying trough 11 to the third conveying trough 31; the transfer mechanism 12 can also be a transfer robot, and the transfer robot directly takes out the base carrier 90 in the first conveying trough 11 and transfers it to the third conveying trough 31; in addition, the first conveying trough 11 and the third conveying trough 31 can also adopt a head-to-tail connected structure, so that the first conveying trough 11 can directly convey the base carrier 90 to the third conveying trough 31. This method can omit the transfer mechanism 12.

[0057] It should be noted that the crystal carrier 91 may be first inserted into the base carrier 90 in the first conveying slot 11 by the first robot 50 to assemble into a combined carrier 92 , and then the combined carrier 92 may be transferred from the first conveying slot 11 to the third conveying slot 31 by the transfer mechanism 12 .

[0058] The first manipulator 50 has a Y-axis drive component 51, a Z-axis drive component 52 and at least one material picking component 53. The Y-axis drive component 51 can drive the Z-axis drive component 52 to move back and forth between the first conveying slot 11 and the second conveying slot 21, and the Z-axis drive component 52 can drive the material picking component 53 to move up and down, so that the material picking component 53 takes out the crystal carrier 91 from the second conveying slot 21 and vertically inserts it into the base carrier 90 in the third conveying slot 31. Two material picking components 53 are arranged side by side, so that the first manipulator 50 can take out two crystal carriers 91 at one time. The Y-axis drive component 51 and the Z-axis drive component 52 can both use cylinders. The material picking component 53 can use a clamping component, and the clamping component has a clamping claw. It can be understood that the material picking component 53 can also use a suction component, and the suction component has a suction cup.

[0059] The third loading mechanism 30 also has a support seat 32 and a material shifting assembly 33, a positioning assembly 34, and a defective product removing assembly 35 arranged on the support seat 32. The support seat 32 is connected to the frame 100. The third conveying trough 31 is arranged on the support seat 32. The material shifting assembly 33 is arranged on one side of the third conveying trough 31. The positioning assembly 34 and the defective product removing assembly 35 are both arranged on the other side of the third conveying trough 31. The defective product removing assembly 35 is close to the output end of the third conveying trough 31. The material shifting assembly 33 can shift the combined carrier 92 in the third conveying trough 31 to pass through the positioning assembly 34 and the defective product removing assembly 35 in sequence. The positioning assembly 34 can position the combined carrier 92. The defective product removing assembly 35 is used to remove the combined carrier 92 containing defective products.

[0060] The material digging assembly 33 has a material digging drive device 331 and a material digging piece 336. The material digging drive device 331 has a material digging seat 332, a first material digging drive unit 333 and a second material digging drive unit 334. The first material digging drive unit 333 drives the material digging seat 332 to move along the conveying direction of the third conveying groove 31. The second material digging drive unit 334 and the material digging piece 336 are both arranged on the material digging seat 332. The second material digging drive unit 334 drives the material digging piece 336 to move closer to or away from the third conveying groove 31. Specifically, the material digging piece 336 is located above the third conveying groove 31. The material digging piece 336 is a plurality of material digging rods 337 arranged at intervals. Exemplarily, the number of the material digging rods 337 is four, and two adjacent material digging rods 337 are arranged at intervals. A material dispensing space 338 that can accommodate at least one combination carrier 92 is formed between the material dispensing rods 337. Exemplarily, the material dispensing space 338 can accommodate two combination carriers 92. During operation, the material dispensing seat 332 drives the material dispensing rod 337 to move, and the material dispensing rod 337 drives the combination carrier 92 to move in the third conveying trough 31, and the combination carrier 92 will remain in the material dispensing space 338 when moving. The first material dispensing drive unit 333 is a screw rod, and the screw rod is connected to a drive motor 335. The screw rod is threadedly connected to the material dispensing seat 332. The number of the second material dispensing drive units 334 is the same as the number of the material dispensing rods 337. The second material dispensing drive unit 334 is a telescopic cylinder, and the cylinder body of the telescopic cylinder is integrally formed with the material dispensing seat 332.

[0061] It should be noted that the present invention uses the material shifting assembly 33 to drive the combined carrier 92 to move in the third conveying trough 31 , and a conveyor belt may also be provided in the third conveying trough 31 to drive the combined carrier 92 to move.

[0062] The positioning assembly 34 has a positioning member 341 and a positioning drive device 342. The positioning drive device 342 has a movable seat 343 and a positioning drive unit 344. The positioning member 341 is arranged on the movable seat 343. The positioning drive unit 344 drives the movable seat 343 to move so that the positioning member 341 extends into the third conveying groove 31 to position the combined carrier 92. Specifically, the movable seat 343 is connected to the support seat 32 for sliding up and down. The positioning member 341 is located above the third conveying groove 31. The positioning member 341 is a plurality of positioning pins arranged at intervals. Pin holes 921 are provided at both ends of the combined carrier 92. The positioning drive unit 344 drives the movable seat 343 to move up and down so that the positioning pins are inserted into the pin holes 921 to position the combined carrier 92. The positioning drive unit 344 is a positioning cylinder. When working, every two positioning pins position a combined carrier 92.

[0063] The movable seat 343 is also provided with a clamping assembly for pressing the combined carrier 92 in the third conveying groove 31, and the clamping assembly has a clamping piece 345 and a first buffer spring (not shown). The clamping piece 345 is linearly slidably arranged on the movable seat 343, and the first buffer spring makes the clamping piece 345 always have a tendency to move toward the direction close to the third conveying groove 31. Specifically, the clamping piece 345 is a plurality of clamping rods arranged at intervals, and the axis of the clamping rod extends along the Z-axis direction. The first buffer spring is sleeved on the outside of the clamping rod, one end of the first buffer spring abuts against the clamping rod, and the other end of the first buffer spring abuts against the movable seat 343. When working, every two clamping rods respectively clamp the two ends of a combined carrier 92.

[0064] The defective product removal assembly 35 has at least one removal piece 351 and at least one removal drive device 354, and the removal drive device 354 drives the removal piece 351 to move so that the removal piece 351 removes the combination carrier 92 containing defective products in the third output slot, wherein the defective product refers to the pushing piece 83 not pushing the crystal 94 into place, for example: the crystal 94 is stuck in the crystal carrier 91, resulting in the lower end of the crystal 94 not being in contact with the base 93, and the crystal 94 in this case is a defective product.

[0065] A defective product outlet 311 is provided at one side of the third conveying trough 31, and a tray 357 is provided at the defective product outlet 311. A first groove 352 is provided on the removal member 351 for the combination carrier 92 to pass through, and a second groove 321 is provided on the support seat 32 for the removal member 351 to move, and the second groove 321 is communicated with the defective product outlet 311. The removal drive device 354 drives the removal member 351 to move relative to the third conveying trough 31, so that the removal member 351 moves the combination carrier 92 containing defective products in the third conveying trough 31 from the defective product outlet 311 to the tray 357. Specifically, the removal drive device 354 has a first removal drive unit 355 and a second removal drive unit 356. The first removal drive unit 355 and the second removal drive unit 356 are both removal cylinders. The driving end of the removal drive unit 355 is connected to the second removal drive unit 356, and the driving end of the second removal drive unit 356 is connected to the removal piece 351. The first removal drive unit 355 drives the second removal drive unit 356 to move closer to or away from the third conveying groove 31, and the second removal drive unit 356 drives the removal piece 351 to move up and down. The removal piece 351 is two removal hooks 353 set at a distance, and the removal hook 353 is provided with the first groove 352, and the opening of the first groove 352 is set upward. The tray 357 is provided with a third groove 358 corresponding to the second groove 321, and the third groove 358 can be used for the removal piece 351 to move. It can be understood that the opening of the first groove 352 can also be set downward. In this case, the third groove 358 on the tray 357 can be omitted.

[0066] The defective product removal assembly 35 may also be replaced by a defective product removal robot, which can directly remove the combined carrier 92 containing defective products from the third output slot.

[0067] A feeding port 74 is provided on one side of the receiving groove 73 for the crystal 94 to be transferred to the receiving groove 73 in a lying position. When the receiving groove 73 is in a lying position, the opening of the feeding port 74 faces upward, and the depth h1 of the receiving groove 73 is less than the height h2 of the crystal 94, so that when the crystal 94 is placed in the receiving groove 73 in a lying position, one end of the crystal 94 extends out of the receiving groove 73; by providing the feeding port 74 on one side of the receiving groove 73, it is convenient for the second manipulator 60 to place the crystal 94 in the receiving groove 73 in a lying position, and the depth h1 of the receiving groove 73 is set to be less than the height h2 of the crystal 94, so that when the crystal 94 is placed in the receiving groove 73 in a lying position, one end of the crystal 94 extends out of the receiving groove 73, and it is convenient for the second manipulator 60 to take out the crystal 94 after the crystal 94 is adjusted to an upright position.

[0068] The turning seat 71 is provided with a material blocking assembly 75, and the material blocking assembly 75 has a movable baffle 751 and a material blocking driving unit 752. The material blocking driving unit 752 can drive the movable baffle 751 to move relative to the feed port 74, so that the movable baffle 751 blocks the feed port 74 or exposes the feed port 74. When the feed port 74 is exposed, it is used to place the crystal 94 into the accommodating groove 73. When the feed port 74 is blocked, it is used to prevent the crystal 94 in the accommodating groove 73 from falling from the feed port 74 during the posture adjustment process.

[0069] The movable baffle 751 is linearly slidably connected to the flip seat 71, and the material blocking driving unit 752 can drive the movable baffle 751 to telescopically move, so that the movable baffle 751 blocks the feed port 74 or exposes the feed port 74. It can be understood that the movable baffle 751 can also be rotatably connected to the flip seat 71. When the movable baffle 751 rotates forward, the movable baffle 751 blocks the feed port 74. When the movable baffle 751 rotates reversely, the movable baffle 751 exposes the feed port 74. The movable baffle 751 adopts a telescopic method and occupies a small space.

[0070] The material blocking driving unit 752 is a material blocking cylinder, and the piston head 753 of the material blocking cylinder is connected to the movable baffle 751. It can be understood that the material blocking cylinder can also be replaced by a linear motor.

[0071] The receiving groove 73 is provided with an air hole 76, and the air hole 76 connects the positive pressure device and the negative pressure device. When the negative pressure device is started and the positive pressure device is closed, the air hole 76 absorbs the crystal 94 in the flat position in the receiving groove 73. If the negative pressure value of the air hole 76 deviates from the normal value by a large margin, it is judged that the receiving groove 73 corresponding to the air hole 76 lacks the crystal 94. At this time, the negative pressure device is closed and the positive pressure device is started, and all the air holes 76 blow air into the corresponding receiving groove 73, and all the crystals 94 in the flat position in the receiving groove 73 are blown out to the recovery box, and then new crystals 94 are placed in the receiving groove 73.

[0072] It should be noted that since the air hole 76 has the function of adsorbing the crystal 94 in the accommodating groove 73, it can also prevent the crystal 94 from falling off when the flip seat 71 adjusts the crystal 94 from a lying position to an upright position, that is, the adsorption effect of the air hole 76 is equivalent to the limiting effect of the movable baffle 751, so the blocking assembly 75 can be selectively removed.

[0073] The second manipulator 60 has a first material picking module 61 and a second material picking module 62. The first material picking module 61 can place the crystal 94 in the fourth conveying slot 42 into the receiving slot 73 in a lying posture, and the second material picking module 62 takes out the crystal 94 in an upright posture in the receiving slot 73 and inserts it downward into the crystal carrier 91 on the combined carrier 92; by arranging the first material picking module 61 and the second material picking module 62 on the second manipulator 60, the first material picking module 61 can place the crystal 94 in the fourth conveying slot 42 into the receiving slot 73 in a lying posture, and the second material picking module 62 takes out the crystal 94 in an upright posture in the receiving slot 73 and inserts it downward into the crystal carrier 91 in the third conveying slot 31. The first material picking module 61 and the second material picking module 62 can act synchronously, so that the loading and insertion production efficiency of the crystal 94 is higher.

[0074] It should be noted that the second robot 60 may also be removed from the second material taking module 62 . In this embodiment, the actions of transferring the crystal 94 from the fourth conveying slot 42 and the containing slot 73 to the crystal carrier 91 are all completed by the first material taking module 61 .

[0075] The first material picking module 61 has a first driving module 63, a first material picking seat 64 and at least one first material picking head 65. The first driving module 63 can drive the first material picking seat 64 to move back and forth between the fourth conveying trough 42 and the turning platform mechanism 70. The first material picking head 65 is arranged on the first material picking seat 64. The first material picking head 65 is provided with a plurality of first material picking parts arranged side by side. Specifically, two first material picking heads 65 are arranged side by side along the X-axis direction on the first material picking seat 64. The first material picking part is a suction rod 651. The lower end of the suction rod 651 is provided with a suction nozzle 652 for adsorbing the crystal 94. A first negative pressure chamber 653 is provided inside the first material picking head 65. The suction nozzle 652 is connected to the negative pressure chamber, and the negative pressure chamber is connected to an external negative pressure device. It can be understood that the first material picking part can also adopt a clamp, which can clamp the crystal 94.

[0076] The first driving module 63 has a Y-axis driving module 631 and a Z-axis driving module 632. The driving end of the Y-axis driving module 631 is connected to the Z-axis driving module 632. The driving end of the Z-axis driving module 632 is connected to the first material picking seat 64. Both the Y-axis driving module 631 and the Z-axis driving module 632 can adopt the driving method of screw rod + motor, or can adopt cylinder.

[0077] The second material picking module 62 has a second driving module 66, a second material picking seat 67 and at least one second material picking head 68. The second driving module 66 can drive the second material picking seat 67 to move back and forth between the flip platform mechanism 70 and the third conveying trough 31. The second material picking head 68 is arranged on the second material picking seat 67. The second material picking head 68 is provided with a plurality of second material picking parts arranged side by side. Specifically, two second material picking heads 68 are arranged side by side along the X-axis direction on the first material picking seat 64. The structure and principle of the second driving module 66 are the same as those of the first driving module 63, so they are not repeated here.

[0078] The second material picking part is an adsorption chamber 681 arranged at the lower end of the second material picking head 68, and the adsorption chamber 681 allows the upper end of the crystal 94 to extend upward, and a suction hole 682 is provided in the adsorption chamber 681 for sucking the crystal 94, and a positioning block 683 is provided on the top of the adsorption chamber 681, and the positioning block 683 limits the upward movement of the crystal 94; by setting the second material picking part as the adsorption chamber 681, the adsorption chamber 681 allows the upper end of the crystal 94 to extend upward so as to suck the crystal 94, and the top of the adsorption chamber 681 is provided with a positioning block 683, when the crystal 94 is inserted into the crystal carrier 91, the positioning block 683 can prevent the crystal 94 from moving upward, so that the crystal 94 can be stably inserted into the crystal carrier 91.

[0079] The opening of the suction hole 682 faces downward, and the positioning block 683 is arranged on one side of the suction hole 682. The lower end of the positioning block 683 can block the gap 941 on the crystal 94; the lower end of the positioning block 683 blocks the gap 941 on the crystal 94, so that the suction hole 682 absorbs the crystal 94 and causes the gap 941 to leak.

[0080] A second negative pressure chamber 684 connected to an external negative pressure device is provided in the second material taking head 68, a negative pressure channel 685 is provided between the second negative pressure chamber 684 and the suction hole 682, and the second negative pressure chamber 684, the negative pressure channel 685, the suction hole 682, and the adsorption chamber 681 are connected in sequence.

[0081] The lower part of the second negative pressure chamber 684 is connected to a mounting groove 686, and a detachable mounting plate 687 is provided in the mounting groove 686. Specifically, the mounting plate 687 is detachably mounted in the mounting groove 686 by pins or screws, and the negative pressure channel 685, suction hole 682, and adsorption chamber 681 are sequentially arranged on the mounting plate 687 from top to bottom; by providing a detachable mounting plate 687, the negative pressure channel 685, suction hole 682, and adsorption chamber 681 are all arranged on the mounting plate 687, so that the negative pressure channel 685, suction hole 682, and adsorption chamber 681 can be pre-processed on the mounting plate 687, and then the mounting plate 687 can be assembled into the mounting groove 686, which is convenient for processing and manufacturing, and convenient for assembly and disassembly.

[0082] The pusher 83 is connected to the pusher seat 82 for sliding up and down. The pusher seat 82 is provided with a second buffer spring 84 corresponding to the pusher 83. The second buffer spring 84 makes the pusher 83 always have a tendency to move downward. The pusher seat 82 is provided with a detection device 85 for detecting whether the pusher 83 pushes the crystal 94 in place. By arranging the second buffer spring 84 corresponding to the pusher 83 on the pusher seat 82 and the detection device 85, the second buffer spring 84 makes the pusher 83 always have a tendency to move downward. The pusher 83 always has a downward movement tendency, and the pusher seat 82 drives the pusher 83 to move downward so that the pusher 83 pushes the crystal 94 downward. When the pusher 83 pushes the crystal 94 normally, the pusher 83 and the pusher seat 82 are relatively stationary. When the pusher 83 pushes the crystal 94 abnormally (for example, the crystal 94 is stuck in the crystal carrier 91 and cannot move further downward), the pusher 83 moves upward relative to the pusher seat 82 to generate displacement. The detection device 85 detects the upward displacement of the pusher 83 to determine that the crystal 94 is not pushed into place.

[0083] The detection device 85 comprises a first sensor 851 and a second sensor 852 cooperating with the first sensor 851. Exemplarily, the first sensor 851 and the second sensor 852 are both optical fiber sensors. A detection area 853 is formed between the first sensor 851 and the second sensor 852, into which the upper end of the pusher 83 can extend upward. The pusher 83 is arranged directly below the detection area 853. When working, the pusher seat 82 drives the pusher 83 to move downward. If the crystal 94 is stuck, On the crystal carrier 91, the pusher 83 will be unable to push the crystal 94 downward. When the pusher seat 82 continues to move downward, the crystal 94 acts in the opposite direction on the pusher 83 so that the upper end of the pusher 83 extends upward into the detection area 853. At this time, the detection device 85 detects the upper end of the pusher 83, which indicates that the pusher 83 does not push the crystal 94 into place, and the corresponding combination carrier 92 contains defective products; if the upper end of the pusher 83 does not extend into the detection area 853, it indicates that the pusher 83 pushes the crystal 94 into place.

[0084] The pushing piece 83 is provided with an upwardly extending mounting rod 831 and a downwardly extending pushing rod 832. The mounting rod 831 is located in the pushing seat 82. The upper end of the pushing seat 82 is provided with a first avoidance hole 821 for the mounting rod 831 to pass upward and extend into the detection area 853. The second buffer spring 84 is sleeved on the outer side of the mounting rod 831. The upper end of the second buffer spring 84 abuts against the pushing seat 82. The lower end of the second buffer spring 84 abuts against the pushing piece 83. The lower end of the pushing rod 832 passes through the pushing seat 82 and extends downward. When working, the pushing rod 832 is inserted into the guide hole 911 on the crystal carrier 91 to push the crystal 94 downward.

[0085] The pushing mechanism 80 also has at least one guide seat. Exemplarily, the number of the guide seats is two, and the two guide seats correspond to the pushing seats 82 one by one. The driving end of the pushing drive device 81 is connected to a guide column 811, and the guide column 811 is connected to the pushing seat 82. The guide column 811 can drive the pushing seat 82 to move up and down. The pushing seat 82 is slidably installed on the guide seat up and down through the guide column 811. The guide seat is provided with a guide groove corresponding to the pushing member 83 one by one. The pushing member 83 slides up and down and penetrates the corresponding guide groove. Specifically, the pushing The material rod 832 slides up and down and passes through the corresponding guide groove. The guide seat is provided with a guide sleeve corresponding to the guide column 811. The guide column 811 is slidably sleeved in the guide sleeve. The upper end of the guide column 811 is connected with a lifting seat 812, and the lifting seat 812 is connected to the driving end of the pushing drive device 81. By setting the guide seat, the pushing seat 82 is slidably installed on the guide seat using the guide rod, and the pushing piece 83 slides up and down and passes through the guide groove on the guide seat, so that the pushing seat 82 and the pushing piece 83 remain stable when moving up and down, thereby improving the pushing effect of the crystal 94.

[0086] The guide seat is connected to the frame 100 for sliding up and down, and a limit piece 88 for limiting the downward movement of the guide seat is connected between the guide seat and the frame 100. A return spring 87 and a clamping assembly 89 are provided between the guide seat and the pusher seat 82. The upper end of the return spring 87 abuts against the pusher seat 82, and the lower end of the return spring 87 abuts against the guide seat. The pusher seat 82 can drive the guide seat to move up through the return spring 87, and the guide seat drives the guide seat to move up through the clamping assembly 89. By setting the guide seat and the frame 100 for sliding up and down, a limit piece 88 is connected between the guide seat and the frame 100, and the guide seat and the pusher seat are connected. A return spring 87 and a clamping assembly 89 are provided between the seats 82, and the limit piece 88 limits the maximum downward travel of the guide seat. The return spring 87 enables the push seat 82 to drive the guide seat to move upward, and the clamping assembly 89 enables the push seat 82 to drive the guide seat to move upward. The downward movement of the guide seat can lower the height of the guide groove, which can reach the upper end surface of the crystal carrier 91 at the lowest, so that the guide groove keeps guiding the push piece 83 during the process of passing through the guide groove and inserting downward into the crystal carrier 91, thereby making the push piece 83 push the crystal 94 downward more smoothly and stably. In addition, the return spring 87 also has a buffering effect to prevent the push piece 83 from damaging the crystal 94.

[0087] The limiting member 88 has a limiting column 881 and a limiting block 882, the lower end of the limiting column 881 is connected to the guide seat, the limiting column 881 can move up and down with the guide seat, the upper end of the limiting column 881 passes through the second avoidance hole 101 on the frame 100 and extends upward to connect to the limiting block 882, the limiting block 882 abuts against the upper edge of the second avoidance hole 101 to limit the downward movement of the guide seat, specifically, the limiting column 881 is a limiting bolt, the lower end of the limiting bolt is threadedly connected to the guide seat, and the limiting block 882 is a bolt head provided on the limiting bolt.

[0088] The clamping assembly 89 is composed of a clamping block 891 and a clamping slot 892. The clamping block 891 is arranged on the pushing seat 82, and the clamping slot 892 is arranged on the guide seat. The clamping block 891 is movably arranged in the clamping slot 892 up and down. The clamping block 891 abuts against the inner top wall of the clamping slot 892, so that the pushing seat 82 drives the guide seat to move upward. The guide column 811 is passed through the connecting hole 8911 on the clamping block 891. The clamping block 891 is provided with a locking piece 8912 that extends into the connecting hole 8911 to lock the guide column 811. Specifically, the clamping slot 892 passes through the two sides of the guide seat along the Y-axis direction to form a hollow groove. The locking piece 8912 is a locking screw. One end of the locking screw extends into the connecting hole 8911 and abuts against the outer wall of the guide column 811, so that the guide column 811 is locked with the pushing seat 82.

[0089] The guide seat is provided with a limit pin, the return spring 87 is sleeved on the outside of the limit pin, and the pusher seat 82 is provided with a third avoidance hole (not shown) for the limit pin to pass upward.

[0090] The lower end of the guide seat is laterally protruded to form a stopper 864, and the stopper 864 is located directly below the pushing seat 82. The stopper 864 limits the pushing seat 82 from moving downward relative to the guide seat, and the guide slot passes through the stopper 864 downward; during operation, the pushing drive device 81 drives the pushing seat 82 to move downward for the first time, and the pushing seat 82 drives the pushing piece 83 to move downward, and the pushing seat 82 pushes the reset spring 87 so that the reset spring 87 pushes the guide seat to move downward. When the limit member 88 abuts against the frame 100, the guide seat stops moving downward, and the pushing drive device 81 drives the pushing seat 82 to move downward for the second time, and the pushing seat 82 drives the pushing piece 83 to move downward, so that the pushing rod 832 on the pushing piece 83 passes through the guide slot and is downwardly inserted into the crystal carrier 91, and when the lower surface of the pushing seat 82 abuts against the stopper 864, the pushing seat 82 stops moving downward. During resetting, the pushing seat 82 first moves up a distance and then drives the guide seat to move up.

[0091] Working principle of the present invention:

[0092] Carrier loading assembly: the first conveying trough 11 conveys the base carrier 90 carrying the base 93 to the transfer mechanism 12, the transfer mechanism 12 pushes the base carrier 90 to the third conveying trough 31, the second conveying trough 21 conveys the crystal carrier 91 to the first manipulator 50, the first manipulator 50 takes the base carrier 90 out of the second conveying trough 21 and vertically inserts it onto the base carrier 90 to assemble into a combined carrier 92;

[0093] Material shifting and positioning of the combined carrier 92: the material shifting assembly 33 shifts the combined carrier 92 along the third conveying trough 31 to the first station 301, and the positioning assembly 34 positions the combined carrier 92 at the first station 301;

[0094] Loading of crystal 94: the fourth conveying trough 42 conveys the crystal 94 to the end of the fourth conveying trough 42 in a lying position, the first material taking module 61 on the second manipulator 60 puts the crystal 94 in the fourth conveying trough 42 into the receiving trough 73 in a lying position, the flip drive unit 72 drives the flip seat 71 to flip 90 degrees clockwise, and adjusts the crystal 94 in the receiving trough 73 from a lying position to a standing position, the second material taking module 62 on the second manipulator 60 takes out the crystal 94 in the standing position in the receiving trough 73 and inserts it downward into the guide hole 911 on the crystal carrier 91 in the third conveying trough 31;

[0095] Crystal 94 pushes material: the material shifting assembly 33 shifts the combined carrier 92 with the crystal 94 inserted therein to move from the first station 301 to the second station 302, the positioning assembly 34 positions the combined carrier 92 at the second station 302, the material pushing driving device 81 drives the material pushing seat 82 to move down for the first time, the material pushing seat 82 drives the material pushing piece 83 to move down, and the material pushing seat 82 drives the guide seat to move down a certain distance, and the guide seat stops moving down when the limit block 882 on the limit rod abuts against the frame 100, and the material pushing driving device 81 drives the material pushing seat 82 to move down for the second time again, the material pushing seat 82 drives the material pushing piece 83 to move down, at this time the material pushing seat 82 compresses the reset spring 87, and the material pushing piece 83 is inserted into the crystal carrier 91 to push the crystal 94 downward, so that the lower end of the crystal 94 abuts against the upper end of the base 93 to complete the assembly of the crystal 94 and the base 93, and then the material pushing seat 82 moves up a certain distance and then drives the guide seat to move up and reset;

[0096] The combined carrier 92 unloads the material: the material shifting component 33 shifts the combined carrier 92 that has completed the assembly of the crystal 94 and the base 93 to move along the third conveying groove 31 and unload the material. If the detection device 85 on the pushing mechanism 80 detects that it contains defective products, the defective product removing mechanism will move the combined carrier 92 containing the defective products out to the tray 357.

[0097] It is particularly noted that each mechanism in the present invention adopts a dual-station working mode, for example: the transfer mechanism 12 pushes the two base carriers 90 to move each time, the first manipulator 50 takes two crystal carriers 91 each time and vertically inserts them into the corresponding base carriers 90 respectively, the second manipulator 60 takes two rows of crystals 94 each time and inserts them into the corresponding crystal carriers 91, and the pushing mechanism 80 pushes the crystals 94 on the two crystal carriers 91 each time. The dual-station mode doubles the efficiency compared to the single-station mode.

[0098] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made to the above embodiment based on the technical practice of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A crystal loading machine, characterized in that: It includes a frame, and a first feeding mechanism, a second feeding mechanism, a third feeding mechanism, a fourth feeding mechanism, a first manipulator, a second manipulator, a turning platform mechanism, and a pushing mechanism arranged on the frame; The first feeding mechanism has a first conveying trough, and the first conveying trough is used to convey the base carrier; The second loading mechanism has a second conveying trough, the second conveying trough is used to convey the crystal carrier, and the first manipulator can take the crystal carrier out of the second conveying trough and vertically plug it into the base carrier to assemble a combined carrier in a standing posture; The third loading mechanism has a third conveying trough, the combined carrier can be transferred from the first conveying trough to the third conveying trough, and the third conveying trough is used to convey the combined carrier; The fourth loading mechanism has at least one row of conveying components, and the conveying components have a plurality of fourth conveying troughs arranged side by side, and each of the fourth conveying troughs can convey the crystal in a lying posture; The flip platform mechanism comprises a flip seat and a flip driving unit, the flip seat is provided with a plurality of receiving slots corresponding to the fourth conveying slots one by one, the flip driving unit drives the flip seat to flip so that the receiving slots switch between a lying posture and a standing posture, when the receiving slots are in a lying posture, the second manipulator can put the crystals in the fourth conveying slots into the receiving slots in a lying posture, when the flip seat flips so that the receiving slots are in a standing posture, the crystals in the receiving slots are adjusted from a lying posture to a standing posture, and the second manipulator can take out the crystals in the standing posture in the receiving slots and insert them downward into the crystal carrier on the combined carrier; The pushing mechanism comprises a pushing driving device, at least one pushing seat and a plurality of pushing pieces arranged on the pushing seat at intervals. The pushing driving device can drive the pushing seat to move up and down, so that the pushing seat drives the pushing pieces to push the crystal on the crystal carrier downward, and the lower end of the pushed crystal abuts against the upper end of the base.

2. The crystal loading machine according to claim 1, characterized in that: One side of the receiving tank is provided with an inlet for transferring the crystal to the receiving tank in a lying position. When the receiving tank is in a lying position, the opening of the inlet faces upward, and the depth h1 of the receiving tank is less than the height h2 of the crystal, so that when the crystal is placed in the receiving tank in a lying position, one end of the crystal extends out of the receiving tank.

3. The crystal loading machine according to claim 2, characterized in that: The turning seat is provided with a material blocking assembly, which has a movable baffle and a material blocking driving unit. The material blocking driving unit can drive the movable baffle to move relative to the feed inlet so that the movable baffle blocks the feed inlet or exposes the feed inlet.

4. The crystal loading machine according to claim 2, characterized in that: An air hole is arranged in the accommodating groove, and the air hole is connected with the positive pressure device and the negative pressure device.

5. The crystal loading machine according to claim 1, characterized in that: The second robot has a first material picking module and a second material picking module. The first material picking module can place the crystals in the fourth conveying slot into the receiving slot in a lying position, and the second material picking module can take out the crystals in an upright position in the receiving slot and insert them downward into the crystal carrier on the combined carrier.

6. The crystal loading machine according to claim 5, characterized in that: The second material picking module has a second driving module, a second material picking seat and at least one second material picking head. The second driving module can drive the second material picking seat to move back and forth between the flip platform mechanism and the third conveying trough. The second material picking head is arranged on the second material picking seat, and the second material picking head is provided with a plurality of second material picking parts arranged side by side.

7. The crystal loading machine according to claim 6, characterized in that: The second material taking part is an adsorption chamber arranged at the lower end of the second material taking head, the adsorption chamber allows the upper end of the crystal to extend upward, a positioning block is provided on the top of the adsorption chamber, the positioning block limits the upward movement of the crystal, and a suction hole is provided in the adsorption chamber to absorb the crystal.

8. The crystal loading machine according to claim 1, characterized in that: The pusher is connected to the pusher seat in an up-and-down sliding manner. The pusher seat is provided with a buffer spring corresponding to the pusher one-to-one. The buffer spring makes the pusher always have a tendency to move downward. The pusher seat is provided with a detection device for detecting whether the pusher pushes the crystal into place.

9. The crystal loading machine according to claim 8, characterized in that: The pushing mechanism also has at least one guide seat, the driving end of the pushing drive device is connected to a guide column, the guide column is connected to the pushing seat, the guide column can drive the pushing seat to move up and down, the pushing seat is installed on the guide seat by sliding up and down through the guide column, the guide seat is provided with guide grooves corresponding to the pushing pieces one by one, and the pushing pieces slide up and down and pass through the corresponding guide grooves.

10. The crystal loading machine according to any one of claims 1 to 9, characterized in that: The third loading mechanism also has a support seat and a material shifting assembly, a positioning assembly, and a defective product removing assembly arranged on the support seat. The third conveying trough is arranged on the support seat. The material shifting assembly can shift the combined carrier to move in the third conveying trough. The positioning assembly can position the combined carrier in the third conveying trough. The defective product removing assembly is used to remove the combined carrier containing defective products in the third conveying trough.

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