SMT full-automatic unmanned material receiving and feeding system

Abstract

The invention discloses an SMT full-automatic unmanned material receiving and feeding system, and the system comprises a material taking unit which is used for discharging borne new material trays with different sizes to a secondary telescoping material receiving unit according to a process progress; the secondary telescopic material receiving unit is arranged below the material taking unit and is used for receiving a new discharged material tray at a discharging station; the feeding unit is also used for feeding a material belt of a new material tray into the belt receiving unit at the material receiving station; the belt connecting unit is arranged at the material connecting station and is used for connecting material heads of the material belts of the new material disc and the material belts of the old material disc; the grabbing unit is used for connecting a material head of a material belt of the old material disc into the belt connecting unit; the feeding unit is further used for placing the new material tray after material rolling is completed into the old material tray storage unit and placing the old material tray after material rolling is completed into the empty material tray recycling unit; the empty tray recycling unit is used for storing empty trays; the old tray storage unit is used for storing old trays; and the material storage box unit is used for collecting the excess materials of the old material disc and winding the excess materials of the old material disc into the new material disc after belt splicing is completed.

Description

Technical Field

[0001] The invention belongs to the technical field of SMT, and in particular relates to an SMT full-automatic unmanned material receiving and feeding system. Background Art

[0002] In recent years, the SMT (surface mount technology) industry has developed rapidly in China. With the continuous increase in labor costs and the market's increasingly high quality requirements, factory production links are gradually using automated equipment to replace labor, and unmanned workshops will appear in the near future; with the gradual maturity of intelligent equipment technology, the current SMT material strip automatic receiving equipment will move towards reducing labor costs. In response to the demand for improving quality and production efficiency, SMT fully automatic unmanned receiving and loading equipment (automatic measurement and error prevention + receiving + automatic material removal) came into being.

[0003] At present, the material receiving equipment launched on the market requires the operator to place the new material tray on the left side on the left material receiving mechanism and perform operations such as cutting off the excess material heads and scanning barcodes. At the same time, the old material tray that is about to be used up on the right SMT feeder must be taken out, and the actions on the left material tray must be repeated. The material heads on both sides of the material strips must be placed into the belt inlets on both sides of the material receiving machine before the material receiving equipment can complete the subsequent material receiving work. Such an operating process requires the operator to have relevant professional knowledge, which increases the entry threshold for workers to use the equipment, and the work efficiency is greatly limited by human factors. Summary of the invention

[0004] In view of this, the main purpose of the present invention is to provide a fully automatic SMT unmanned material receiving and loading system.

[0005] To achieve the above object, the technical solution of the present invention is implemented as follows:

[0006] The embodiment of the present invention provides an SMT fully automatic unmanned material receiving and loading system, characterized in that the system includes a material taking unit, a secondary telescopic material receiving unit, a belt receiving unit, a gripping unit, an empty material tray recovery unit, an old material tray storage unit, and a material storage box unit;

[0007] The material taking unit is used to discharge the new material trays of different sizes carried by the material to the secondary telescopic material receiving unit according to the process progress;

[0008] The secondary telescopic material receiving unit is arranged below the material taking unit, and is used to adjust the width according to the size of the new material tray at the material discharging station, so as to accurately receive the new material tray discharged; and is also used to connect the material belt of the new material tray to the belt receiving unit at the material receiving station;

[0009] The tape splicing unit is arranged at the material splicing station and is located below the secondary telescopic material splicing unit, and is used to splice the material head of the material tape of the new material tray and the material tape of the old material tray;

[0010] The grabbing unit is used to connect the material head of the material belt of the old material tray stored in the old material tray storage unit to the belt connecting unit; it is also used to put the new material tray after the material is rolled into the old material tray storage unit, and put the old material tray after the material is rolled into the empty material tray recovery unit;

[0011] The empty tray recovery unit is used to store empty trays;

[0012] The old material tray storage unit is used to store old material trays;

[0013] The material storage box unit is used to collect the remaining materials of the old material tray and roll the remaining materials of the old material tray into the new material tray after the splicing is completed.

[0014] In the above scheme, the system also includes a fixed bracket; the fixed bracket is used to carry a material picking unit, a secondary telescopic material receiving unit, a belt connecting unit, a grabbing unit, an empty material tray recovery unit, an old material tray storage unit, and a material storage box unit.

[0015] In the above solution, the system further comprises a moving unit, which is arranged at the bottom of the fixed bracket and is used to drive the entire system to move.

[0016] In the above solution, the material taking unit includes a silo transverse moving mechanism and a manipulator; the manipulator is arranged on one side of the silo transverse moving mechanism.

[0017] In the above scheme, the silo transverse movement mechanism includes a transverse driving mechanism, a fixed component, and a sliding component; the sliding component is slidably arranged on the fixed component to carry the silo; the transverse driving mechanism is arranged on one side of the fixed component and is connected to the sliding component to drive the sliding component to reciprocate in the transverse direction.

[0018] In the above scheme, the secondary telescopic material receiving unit includes a width adjustment and alignment mechanism, a material belt driving mechanism and a third supporting assembly, and the material belt driving mechanism and the width adjustment and alignment mechanism are arranged on the third supporting assembly opposite to each other.

[0019] In the above scheme, the width adjustment and alignment mechanism includes a first supporting assembly, a width adjustment driving assembly and a material strip alignment assembly, and the material strip alignment assembly includes a first alignment member and a second alignment member;

[0020] The first alignment member and the second alignment member are arranged on the first support assembly relatively to each other, and are used to abut against two sides of the material tray of the material belt to position the material belt; the width adjustment drive assembly is arranged on the first support assembly, and is drivingly connected to at least one of the first alignment member and the second alignment member;

[0021] The first alignment member is fixedly arranged on the first supporting assembly, and the width adjustment driving assembly is drivingly connected to the second alignment member and can drive the second alignment member to move in a direction close to or away from the first alignment member.

[0022] In the above scheme, the material storage box unit includes a driving mechanism, a moving part, a box body with a material belt inlet, a rotating wheel mechanism, a wheel mechanism and a clamping mechanism, the box body includes a fixed side wall and a movable side wall, the fixed side wall and the movable side wall are located on opposite sides of the material belt inlet, the driving mechanism is connected to the moving part, the moving part is fixedly connected to the movable side wall, the driving mechanism drives the moving part to move back and forth, and then drives the movable side wall to move in a direction close to or away from the fixed side wall, so as to adjust the width of the material belt inlet; the rotating wheel mechanism and the wheel mechanism are arranged at both ends of the material belt inlet, for introducing the material belt into the box body, the clamping mechanism is arranged above the box body, and the output end of the clamping mechanism cooperates with the rotating wheel mechanism and the wheel mechanism to clamp the material belt.

[0023] In the above scheme, the grabbing unit includes a material strip extraction mechanism, a lifting mechanism, and a rotating mechanism;

[0024] The material strip extraction mechanism comprises a material threading rod mechanism, a workpiece support extraction mechanism and a second support assembly, wherein the material threading rod mechanism and the workpiece support extraction mechanism are respectively arranged on the second support assembly;

[0025] The lifting mechanism comprises a lifting guide, a lifting moving part and a lifting driving component.

[0026] The lifting guide is arranged in the vertical direction; the lifting moving member is movably arranged on the lifting guide, and the second supporting assembly is fixedly arranged on the lifting moving member; the lifting driving assembly is connected to the lifting moving member, and can drive the lifting moving member and the workpiece extracting device to move synchronously along the lifting guide;

[0027] The rotating mechanism is arranged on the lifting guide member.

[0028] In the above scheme, the belt connecting unit includes a main frame, a lifting frame, a material connecting assembly, a driving mechanism and a conveyor belt. The driving mechanism is fixed to the main frame and is transmission-connected to the lifting frame for driving the lifting frame to rise and fall along the main frame. The lifting frame is rotatably connected to at least two pulleys, and the pulleys rise and fall synchronously with the lifting frame. The conveyor belt is wound around at least two of the pulleys. The conveyor belt is fixedly connected to the main frame and the material connecting assembly. Specifically, a part of one side of the conveyor belt is fixedly connected to the main frame, and a part of the other side of the conveyor belt is fixedly connected to the material connecting assembly.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention significantly reduces the proportion of manual operation through a fully automated material picking, material connection, and material loading process, thereby greatly improving production efficiency; it also reduces the possibility of human operational errors, such as repeated material connection caused by taking the wrong material belt, and further improves the stability and reliability of the production line; it also reduces damage and waste of the material belt during the material connection process through precise docking, further reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to disclose a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0032] Figure 1 An angle structural schematic diagram of an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0033] Figure 2 Another structural schematic diagram of an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0034] Figure 3 A structural schematic diagram of a material picking unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0035] Figure 4 A structural schematic diagram of a silo lateral moving mechanism of a material picking unit in an SMT fully automatic unmanned material receiving and loading system is provided in an embodiment of the present invention;

[0036] Figure 5 A structural schematic diagram of a secondary telescopic material receiving unit in an SMT fully automatic unmanned material receiving and feeding system is provided for an embodiment of the present invention;

[0037] Figure 6 An angle structural schematic diagram of a width adjustment and alignment mechanism of a secondary telescopic material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0038] Figure 7 Another angle structural schematic diagram of a width adjustment and alignment mechanism of a secondary telescopic material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0039] Figure 8 for Figure 7 A magnified view of part A in FIG.

[0040] Fig. 9 A structural schematic diagram of a material belt driving mechanism of a secondary telescopic material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0041] Fig.10 A side view schematic diagram of a belt driving mechanism of a secondary telescopic material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0042] Fig.11 An angle structural schematic diagram of a material storage box unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0043] Fig.12 Another perspective structural schematic diagram of a material storage box unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0044] Fig.13 An angle structural schematic diagram of a box body of a material storage box unit in an SMT fully automatic unmanned material receiving and feeding system is provided for an embodiment of the present invention;

[0045] Fig.14 Another perspective structural schematic diagram of a box body of a material storage box unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0046] Fig.15 An angle structural schematic diagram of a clamping mechanism of a material storage box unit in an SMT fully automatic unmanned material receiving and feeding system is provided for an embodiment of the present invention;

[0047] Fig.16 Another perspective structural schematic diagram of a clamping mechanism of a material storage box unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0048] Fig.17 A structural schematic diagram of a positioning mechanism and a belt mechanism of a material storage box unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0049] Fig.18 A structural schematic diagram of a grabbing unit in an SMT fully automatic unmanned material receiving and feeding system is provided for an embodiment of the present invention;

[0050] Fig.19 An angle structural schematic diagram of a material strip extraction mechanism of a grabbing unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0051] Fig. 20 for Fig.19 A magnified view of part B in FIG.

[0052] Fig.21 Another perspective structural schematic diagram of a material strip extraction mechanism of a grabbing unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0053] Fig. 22 An angle structural schematic diagram of a material threading rod mechanism of a grabbing unit in an SMT fully automatic unmanned material receiving and feeding system is provided for an embodiment of the present invention;

[0054] Fig.23 Another perspective structural diagram of a material threading rod mechanism of a grabbing unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0055] Fig.24 An angular structural schematic diagram of a workpiece rod mechanism (excluding a coil assembly) of a grabbing unit in an SMT fully automatic unmanned material receiving and feeding system is provided for an embodiment of the present invention;

[0056] Fig.25 for Fig.24 The enlarged view of the C part in FIG.

[0057] Fig.26 Another perspective structural schematic diagram of a workpiece rod mechanism (excluding a coil assembly) of a gripping unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0058] Fig. 27 for Fig.26 Enlarged view of part D in .

[0059] Fig.28 An angle structural schematic diagram of a material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0060] Fig.29 Another perspective structural schematic diagram of a material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0061] Fig.30 A schematic diagram of the connection between a driving mechanism and a lifting frame of a material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0062] Fig.31 A schematic diagram of a main frame and a driving mechanism of a material receiving unit in an SMT fully automatic unmanned material receiving and loading system is provided for an embodiment of the present invention;

[0063] Fig.32 A structural schematic diagram of a material receiving component of a material receiving unit in an SMT fully automatic unmanned material receiving and loading system after an alignment plate is hidden is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0065] The same or similar numbers in the drawings of this embodiment correspond to the same or similar parts; in the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the terms can be understood according to specific circumstances.

[0066] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, article or device. In the absence of more restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, article or device including the element.

[0067] The embodiment of the present invention provides a fully automatic SMT unmanned material receiving and feeding system, such as Figure 1 , 2 As shown, the system includes a material taking unit 1, a secondary telescopic material receiving unit 2, a belt receiving unit 3, a grabbing unit 4, an empty material tray recovery unit 5, an old material tray storage unit 6, and a material storage box unit 7;

[0068] The material taking unit 1 is used to discharge the new material trays of different sizes carried by the material to the secondary telescopic material receiving unit 2 according to the process;

[0069] The secondary telescopic receiving unit 2 is arranged below the material taking unit 1, and is used to adjust the width according to the size of the new material tray at the material discharging station, so as to accurately receive the new material tray discharged; and is also used to connect the material belt of the new material tray to the belt connecting unit 3 at the material receiving station;

[0070] The tape splicing unit 3 is arranged at the material splicing station and is located below the secondary telescopic material splicing unit 2, and is used to splice the material head of the material tape of the new material tray and the material tape of the old material tray;

[0071] The grabbing unit 4 is used to connect the material head of the material belt of the old material tray stored in the old material tray storage unit 6 to the tape connection unit 3; it is also used to put the new material tray after the material is rolled into the old material tray storage unit 6, and put the old material tray after the material is rolled into the empty material tray recovery unit 5;

[0072] The empty tray recovery unit 5 is used to store empty trays;

[0073] The old material tray storage unit 6 is used to store old material trays;

[0074] The material storage box unit 7 is used to collect the remaining materials of the old material tray and roll the remaining materials of the old material tray into the new material tray after the splicing is completed.

[0075] Furthermore, the system also includes a fixed bracket 8; the fixed bracket 8 is used to carry the material picking unit 1, the secondary telescopic material receiving unit 2, the belt connecting unit 3, the grabbing unit 4, the empty material tray recovery unit 5, the old material tray storage unit 6, and the material storage box unit 7.

[0076] Furthermore, the system further comprises a moving unit 9, which is arranged at the bottom of the fixed bracket 8 and is used to drive the entire system to move.

[0077] In some implementations, the mobile unit 9 includes a transport trolley 91 and a trolley rail 92. The trolley rail 92 is set on the ground according to the needs of the driving trajectory. The transport trolley 91 and the trolley rail 92 are arranged in coordination and are located at the bottom of the fixed bracket 8. In this way, the material receiving needs of the production line or batch placement machine equipment can be met at the same time, thereby improving the activity and maneuverability of the equipment.

[0078] The present invention significantly reduces the proportion of manual operation through a fully automated material picking, material connection, and material loading process, thereby greatly improving production efficiency; it also reduces the possibility of human operational errors, such as repeated material connection caused by taking the wrong material belt, and further improves the stability and reliability of the production line; it also reduces damage and waste of the material belt during the material connection process through precise docking, further reducing production costs.

[0079] like Figure 3 , 4 As shown, the material taking unit 1 includes a silo transverse moving mechanism 11 and a manipulator 12 ; the manipulator 12 is arranged on one side of the silo transverse moving mechanism 11 .

[0080] Specifically, the silo transverse movement mechanism 11 includes a transverse driving mechanism 111, a fixed component 112, and a sliding component 113; the sliding component 113 is slidably arranged on the fixed component 112, and is used to carry the silo 114; the transverse driving mechanism 111 is arranged on one side of the fixed component 112, and is connected to the sliding component 113, and is used to drive the sliding component 113 to reciprocate in the transverse direction.

[0081] The material picking unit 1 realizes the lateral movement of the material bin 114 through the coordinated arrangement of the lateral drive mechanism 111, the sliding component 113 and the fixed component 112, so that the position of the material bin 114 can be flexibly adjusted, meeting the different requirements of different production lines or process steps for the material position, and improving the flexibility and adaptability of the production line.

[0082] Furthermore, the fixing assembly 112 is composed of at least two fixing assemblies 112 respectively matched with the silos 114 .

[0083] Specifically, since the silo 114 can be of different sizes, each silo 114 is matched with the corresponding fixing component 112, so that the material in the silo 114 can be discharged naturally by gravity and directly discharged from the gap of the fixing component 112.

[0084] The length of each fixing assembly 112 along the second direction matches the corresponding material bin 114 , so as to cooperate with the corresponding material bin 114 to discharge materials by natural gravity.

[0085] That is to say, the width or longitudinal length of each fixing component 112 matches the silo 114 , so that when the material in the silo 114 is discharged by natural gravity, it can be directly discharged from the gap in the width or longitudinal length of the fixing component 112 .

[0086] Furthermore, at least two of the fixing components 112 are sequentially connected along the second direction, and slide rails 11211 are provided on the edges of the fixing components 112 on both sides; the slide rails 11211 are provided in cooperation with the sliding component 113 .

[0087] Specifically, at least two fixed components 112 are sequentially connected along the second direction to form an integral fixed structure. Slide rails 11211 are arranged at the edges of the fixed components 112 on both sides, and these slide rails 11211 are arranged in cooperation with the sliding components 113 so that the sliding components 113 can slide smoothly on the fixed components 112.

[0088] Of course, a plurality of slide rails 11211 may be evenly arranged according to the sizes of the fixed component 112 and the sliding component 113 , so that the sliding component 113 can slide smoothly on the fixed component 112 .

[0089] Furthermore, the silo 114 includes a first silo 1141 and a second silo 1142 , and the size of the first silo 1141 is larger than the size of the second silo 1142 .

[0090] The first silo 1141 and the second silo 1142 are of different sizes to meet the requirements of carrying different materials.

[0091] For example, the first silo 1141 can carry 13-inch trays, and the second silo 1142 can carry 7-inch trays.

[0092] Furthermore, the sliding assembly 113 includes a sliding frame 1131 , the sliding frame 1131 matches the size of all the fixing assemblies 112 , and a matching opening is provided at a position corresponding to each fixing assembly 112 .

[0093] Slide blocks 1111 cooperating with the slide rails 11211 are disposed on both sides of the slide frame 1131 , so that the slide blocks 1111 ensure that the slide frame 1131 can slide smoothly and accurately on the slide rails 11211 .

[0094] The sliding block 1111 is fixed to the sliding frame 1131 via a fixing assembly to enhance the structural stability of the entire sliding assembly 113 .

[0095] In some embodiments, the transverse drive mechanism 111 includes a first drive motor 1111 and a synchronous belt 1112. The first drive motor 1111 is arranged on one side of the fixed component 112, and both sides of the synchronous belt 1112 are mounted on synchronous wheels. The first drive motor 1111 is connected to one of the synchronous wheels, and the sliding component 113 is connected to the synchronous belt 1112 for reciprocating motion with the movement of the synchronous belt 1112.

[0096] Of course, the transverse driving mechanism 111 can also use a screw module, a gear rack drive to achieve the linear motion of the present invention.

[0097] After the transverse driving mechanism 111 is started, it drives the sliding component 113 to move along the fixed component 112. Since a material bin 114 is placed on the sliding component 113, the material bin 114 is moved horizontally to the corresponding position, and then the corresponding material bin 114 is opened by the manipulator 12. When the material in the material bin 114 is discharged by natural falling due to gravity, it can be directly discharged from the gap in the width or longitudinal length of the fixed component 112, thereby completing the discharge.

[0098] like Figure 5-10As shown, the secondary telescopic material receiving unit 2 includes a width adjustment and alignment mechanism 21, a material belt driving mechanism 22, and a third supporting assembly 24. The material belt driving mechanism 22 and the width adjustment and alignment mechanism 21 are arranged on the third supporting assembly 24 opposite to each other.

[0099] Specifically, the width adjustment and alignment mechanism 21 includes a first supporting component 211, a width adjustment driving component 212 and a material strip alignment component 213, and the material strip alignment component 213 includes a first alignment member 2131 and a second alignment member 2132;

[0100] The first alignment member 2131 and the second alignment member 2132 are arranged on the first support assembly 211 to be opposite to each other, and are used to abut against two sides of the material tray of the material belt to position the material belt; the width adjustment drive assembly 212 is arranged on the first support assembly 211, and is drivingly connected to at least one of the first alignment member 2131 and the second alignment member 2132;

[0101] The first alignment member 2131 is fixedly disposed on the first supporting assembly 211 . The width adjustment driving assembly 212 is drivingly connected to the second alignment member 2132 and can drive the second alignment member 2132 to move toward or away from the first alignment member 2131 .

[0102] When searching for the material head, the material belt driving mechanism 22 is connected to the material belt driving mechanism 22 located between the first alignment member 2131 and the second alignment member 2132, and the material belt on the material tray is driven to rotate, thereby realizing the material head search.

[0103] In some embodiments, the first alignment member 2131 is fixedly disposed on the first supporting assembly 211 , and the width adjustment driving assembly 212 is drivingly connected to the second alignment member 2132 and can drive the second alignment member 2132 to move toward or away from the first alignment member 2131 .

[0104] In this way, the first alignment member 2131 is a fixed alignment member, and the second alignment member 2132 is a movable alignment member, and the spacing can be adjusted by driving the second alignment member 2132 to move.

[0105] In some embodiments, the width adjustment alignment mechanism 21 includes a width adjustment guide assembly 214 , and the width adjustment guide assembly 214 includes a width adjustment guide member 2141 and a width adjustment moving member 2142 .

[0106] The width-adjusting guide member 2141 is fixedly disposed on the first supporting assembly 211 ; the width-adjusting movable member 2142 is fixedly disposed on the second alignment member 2132 and slidably cooperates with the width-adjusting guide member 2141 .

[0107] The width adjustment guide member 2141 and the width adjustment movable member 2142 cooperate with each other, and can effectively limit the moving track of the second alignment member 2132, thereby ensuring the stability of the spacing adjustment process and ensuring the spacing adjustment effect.

[0108] Specifically, the width adjustment guide member 2141 is configured as a guide rail, and the width adjustment movable member 2142 is configured as a slider, and the slider is connected to the second alignment member 2132 via a connecting member. To further ensure the stability of movement, the number of the sliders is configured to be multiple.

[0109] In some embodiments, the first alignment member 2131 includes a first guide segment 1311 and a first connecting segment 1312 that are fixedly connected in sequence. The first guide segment 1311 is inclined relative to the symmetry line of the first alignment member 2131 and the second alignment member 2132. Along the direction away from the first connecting segment 1312, the distance between the first guide segment 1311 and the second alignment member 2132 gradually increases; in this way, the feeding of the material strip is facilitated.

[0110] In some embodiments, the second alignment member 2132 includes a second guide segment 21321 and a second connecting segment 21322 fixedly connected in sequence, and the second guide segment 21321 is inclined relative to the symmetry line of the first alignment member 2131 and the second alignment member 2132, and the distance between the second guide segment 21321 and the first alignment member 2131 gradually increases in a direction away from the second connecting segment 21322.

[0111] The first guide section 1311 corresponds to the second guide section 21321, the first connecting section 1312 corresponds to the second connecting section 21322, and the first alignment member 2131 and the second alignment member 2132 are symmetrically arranged, so that the guide sections form an angle structure, and the material strip feeding effect is significant.

[0112] In some embodiments, the width adjustment drive assembly 212 adopts an electric drive mechanism, preferably a bidirectional screw motor. Furthermore, the screw of the screw motor adopts a three-section structure, including a first threaded segment, an interval connecting segment and a second threaded segment arranged in sequence. The first threaded segment is connected to the motor, and a threaded hole is provided on the connecting member connected to the width adjustment movable member 2142. The second threaded segment passes through the threaded hole and is threadedly matched with the threaded hole.

[0113] In this way, the screw of the screw motor rotates to drive the second alignment member 2132 to move.

[0114] In some embodiments, the material belt driving mechanism 22 includes a second supporting component 222 , a material belt power component 221 and a rotating member 223 .

[0115] The material belt power assembly 221 is fixedly disposed on the second support assembly 222 . The output end of the material belt power assembly 221 is connected to the rotating member 223 and can drive the rotating member 223 to rotate. The rotating member 223 is provided with meshing teeth.

[0116] When searching for the material head, when the first alignment member 2131 and the second alignment member 2132 are against the two sides of the material tray, the meshing teeth engage with the opening of the material belt. At this time, the material belt power assembly 221 provides power for the material belt movement, and the rotating member 223 can stably transmit the rotational power output by the material belt power assembly 221 to the material belt.

[0117] Specifically, the material belt power assembly 221 adopts a rotating motor, and the rotating member 223 is configured as a rotating gear.

[0118] In some embodiments, the material belt drive mechanism 22 includes a position detection component 224, and the position detection component 224 includes a fiber optic head, which is arranged between the first alignment member 2131 and the second alignment member 2132. During the rotation of the material belt, when the material head moves to the fiber optic head, the fiber optic head can detect its relative position, thereby controlling the material belt power component 221 to stop.

[0119] In some embodiments, the secondary telescopic material connection unit 2 includes a material strip clamping mechanism 23 , and at least one of the first support component 211 and the second support component 222 is connected to the material strip clamping mechanism 23 .

[0120] In this way, the distance between the first supporting assembly 211 and the second supporting assembly 222 can be adjusted.

[0121] In some embodiments, the strip clamping mechanism 23 includes a first clamping member 231 and a second clamping member 232 . The first clamping member 231 is fixedly disposed on the first supporting assembly 211 ; the second clamping member 232 is fixedly disposed on the second supporting assembly 222 and is positioned opposite to the first clamping member 231 .

[0122] When searching for the material head, the first clamping member 231 and the second clamping member 232 clamp the material tray of the material belt between the first alignment member 2131 and the second alignment member 2132 along the front-to-back direction, and the first alignment member 2131 and the second alignment member 2132 abut against both sides of the material tray of the material belt along the left-to-right direction.

[0123] During the process, the first clamping member 231 and the second clamping member 232 stably clamp the material tray of the material belt to avoid slipping, thereby effectively ensuring the movement effect of the material belt.

[0124] The first alignment member 2131 and the second alignment member 2132 effectively limit the position of the material tray to avoid deviation, thereby ensuring that the material belt and the rotating member 223 are aligned.

[0125] In some embodiments, the material strip clamping mechanism 23 further includes a buffer guide 233, a buffer movable member 234 and an elastic member 235, the buffer guide 233 is configured as a guide rail, the buffer movable member 234 is configured as a slider, and the elastic member 235 is a spring.

[0126] The buffer guide member 233 is fixedly disposed on the second supporting assembly 222; the buffer movable member 234 is fixedly disposed on the second clamping member 232 and slidably cooperates with the buffer guide member 233; both ends of the elastic member 235 are respectively connected to the second clamping member 232 and the second supporting assembly 222.

[0127] When the first clamping member 231 and the second clamping member 232 clamp the material tray of the material belt, the elastic member 235 is deformed.

[0128] On the one hand, the elastic member 235 has a buffering effect, allowing the first clamping member 231 and the second clamping member 232 to firmly clamp the material tray. On the other hand, it has a returning effect. When the material head is found, the clamping force is eliminated, and the elastic member 235 provides elastic restoring force to return the second clamping member 232.

[0129] Specifically, the elastic member 235 is a tension spring, and when the first clamping member 231 and the second clamping member 232 clamp the material tray, tension deformation occurs; in actual application, a compression spring can also be used, and when the material tray is clamped, compression deformation occurs.

[0130] In some embodiments, the material strip clamping mechanism 23 includes a first clamping movable member 238, a clamping guide member 237 and a first clamping drive assembly 236. The first clamping movable member 238 is fixedly disposed on the first support assembly 211 and slidably cooperates with the clamping guide member 237. The first clamping drive assembly 236 is drivingly connected to the first support assembly 211 and can drive the first support assembly 211 and the first clamping movable member 238 to move synchronously along the clamping guide member 237; in this way, the width adjustment and alignment mechanism 21 can move independently.

[0131] Specifically, the first clamping drive component 236 adopts a screw drive mechanism 73, which is arranged on the lower side of the third support component 24. The clamping guide 237 is a slide rail, which is arranged on the upper side of the third support component 24. The first clamping movable member 238 is a movable block, which is slidably arranged on the slide rail. A guide groove is arranged on the third support component 24 parallel to the clamping guide 237. A sliding adapter block is arranged at the moving end of the first clamping drive component 236. The sliding adapter block passes through the guide groove and is fixedly connected to the first support component 211, and the sliding adapter block slides in cooperation with the guide groove.

[0132] In some embodiments, the material strip clamping mechanism 23 includes a second clamping movable member 231 and a second clamping driving assembly 232. The second clamping movable member 231 is fixedly disposed on the second supporting assembly 222 and slidingly cooperates with the clamping guide 237. The second clamping driving assembly 232 is drivingly connected to the second supporting assembly 222 and can drive the second supporting assembly 222 and the second clamping movable member 231 to move synchronously along the clamping guide 237; in this way, the material strip driving mechanism 732 can move independently.

[0133] The second clamping movable member 231 has a similar structure to the first clamping movable member 238 , and the second clamping driving assembly 232 has a similar structure to the first clamping driving assembly 236 .

[0134] The working process of the secondary telescopic material receiving unit 2 is as follows:

[0135] First, the first clamping drive component 236 and the second clamping drive component 232 are actuated to make the width adjustment alignment mechanism 21 and the material belt drive mechanism 732 move relative to each other, and the second clamping member 232 pushes the material tray to between the first alignment member 2131 and the second alignment member 2132, and cooperates with the first clamping member 231 to clamp the material tray. Then, the width adjustment drive component 212 is actuated to drive the second alignment member 2132 to move toward the first alignment member 2131, so that the left and right sides of the material tray are against the first alignment member 2131 and the second alignment member 2132, to achieve alignment with the rotating member 223. At this time, the meshing teeth of the rotating member 223 are meshed with the opening of the material belt, and the rotation of the rotating member 223 drives the material belt to move relative to its material tray, thereby finding the material head.

[0136] like Figure 11-17 As shown, the material storage box unit 7 includes a driving mechanism 73, a moving part 72, a box body 71 with a material belt inlet 713, a rotating wheel mechanism 76, a wheel mechanism 75 and a clamping mechanism 74. The box body 71 includes a fixed side wall 711 and a movable side wall 712. The fixed side wall 711 and the movable side wall 712 are located on opposite sides of the material belt inlet 713. The driving mechanism 73 is drivingly connected to the movable part 72, and the movable part 72 is fixedly connected to the movable side wall 712. The mechanism 73 drives the moving part 72 to move back and forth, and then drives the movable side wall 712 to move in a direction close to or away from the fixed side wall 711, so as to adjust the width of the material belt entrance 713; the rotating wheel mechanism 76 and the wheel mechanism 75 are arranged at both ends of the material belt entrance 713, and are used to introduce the material belt into the box body 71, and the clamping mechanism 74 is arranged above the box body 71, and the output end of the clamping mechanism 74 cooperates with the rotating wheel mechanism 76 and the wheel mechanism 75 to clamp the material belt.

[0137] The movable side wall 712 is driven by the driving mechanism 73 to move in a direction close to or away from the fixed side wall 711, thereby changing the distance between the fixed side wall 711 and the movable side wall 712, so that the width of the material strip inlet 713 is compatible with the required width of the imported material strip, and can cache material strips of multiple specifications and widths, thereby improving compatibility and adaptability.

[0138] In some embodiments, the movable part 72 includes a screw rod 721, a bearing 722 and a width-adjusting slider 723, the bearing 722 and the width-adjusting slider 723 are respectively fixed on the fixed side wall 711 and the movable side wall 712, one end of the screw rod 721 is connected to the bearing 722 and is transmission-connected to the driving mechanism 73, the fixed end of the driving mechanism 73 is fixedly connected to the fixed side wall 711, and the other end of the screw rod 721 and the width-adjusting slider 723 form a ball screw pair, the driving mechanism 73 drives the screw rod 721 to rotate, thereby driving the width-adjusting slider 723 to translate along the screw rod 721, and then driving the movable side wall 712 to move synchronously, so that the width of the material belt entrance 713 changes to adapt to the required width of the material belt to be stored.

[0139] The driving mechanism 73 includes a width adjustment motor 731, a transmission belt 732 and a transmission wheel 733. There are multiple movable parts 72. The width adjustment motor 731 drives all the movable parts 72 to move synchronously through the transmission belt 732 and the transmission wheel 733. Specifically, multiple movable parts 72 are arranged on the edge of the box body 71, and one end of the screw rod 721 of each movable part 72 is provided with the transmission wheel 733. The transmission belt 732 is wound around all the transmission wheels 733. The power output shaft of the width adjustment motor 731 is connected to one of the screw rods 721, so that the width adjustment sliders 723 on all the screw rods 721 move synchronously, thereby driving the edge positions of the fixed side wall 711 and the movable side wall 712 to move synchronously, ensuring that the width of each position is equal.

[0140] In some embodiments, the rotating wheel mechanism 76 and the wheel mechanism 75 are arranged at both ends of the material belt entrance 713, and are used to introduce the material belt into the box body 71. The clamping mechanism 74 is arranged above the box body 71, and the output end of the clamping mechanism 74 cooperates with the rotating wheel mechanism 76 and the wheel mechanism 75 to clamp the material belt. The free end of the material belt is clamped and fixed by the clamping mechanism 74 and the wheel mechanism 75, and the end of the material belt connected to the material tray is clamped and fixed by the clamping mechanism 74 and the rotating mechanism. During operation, a robotic arm is used to lay the material belt flat on the rotating wheel mechanism 76 and the wheel mechanism 75, and the clamping mechanism 74 cooperates with the rotating wheel mechanism 76 and the wheel mechanism 75 to clamp the material belt, and the rotating wheel mechanism 76 is rotated to make the material belt concave in the direction of the material belt entrance 713. As the rotating wheel mechanism 76 rotates continuously, the material belt in the material tray is continuously introduced into the box body 71.

[0141] Specifically, the rotating wheel mechanism 76 includes a rotating wheel motor 761, a driving wheel 762 and a limiting wheel 763. The rotating wheel motor 761 is fixed on the fixed side wall 711, the driving wheel 762 is fixed on the power output shaft of the rotating wheel motor 761, and the limiting wheel 763 is fixed on the movable side wall 712 and is coaxially aligned with the driving wheel 762. There is a spacing between the driving wheel 762 and the limiting wheel 763. The movable side wall 712 is adjusted by the driving mechanism 73 and the moving part 72, so as to change the spacing distance between the driving wheel 762 and the limiting wheel 763 to match the required width of the imported material belt, so that the material belt is overlapped on the driving wheel 762 and the limiting wheel 763. As an optimization, the outer edge of the driving wheel 762 is evenly provided with a plurality of convex points, and the convex points match the concave points on the material belt. The driving wheel 762 rotates, and the material belt is driven to move by the cooperation of the convex points and the concave points.

[0142] Furthermore, the wheel mechanism 75 includes a first wheel 751 and a second wheel 752, wherein the first wheel 751 is fixed on the fixed side wall 711, and the second wheel 752 is fixed on the movable side wall 712 and is coaxially aligned with the first wheel 751, and there is a spacing between the first wheel 751 and the second wheel 752, and a round table 753 is provided on the side opposite to the first wheel 751 and the second wheel 752, and the round table 753 is used to receive the material belt, and the driving mechanism 73 and the moving part 72 are used to adjust the rotation of the first wheel 751 and the second wheel 752. The movable side wall 712 changes the spacing between the first wheel disc 751 and the second wheel disc 752 to match the width of the material belt, so that the material belt is placed on the truncated table 753 and is clamped from both sides by the first wheel disc 751 and the second wheel disc 752. At the same time, the clamping mechanism 74 cooperates with the first wheel disc 751 and the second wheel disc 752 to clamp the free end of the material belt so that the free end of the material belt is anchored, which facilitates the material belt in the material tray to continuously enter the box body 71 through the material belt entrance 713 under the drive of the rotating wheel mechanism 76.

[0143] Specifically, the clamping mechanism 74 includes a frame 741, a first fixed plate 742, a second fixed plate 743, a first clamping wheel 745, a second clamping wheel 746 and a pressure plate 747. The box body 71 and the first fixed plate 742 are fixed on the frame 741. The second fixed plate 743 is slidably connected to the first fixed plate 742 and is movable along the Y-axis direction. The pressure plate 747 is slidably connected to the second fixed plate 743 and is movable along the Z-axis direction. With this arrangement, the spatial position of the pressure plate 747 can be adjusted so that it can align with the rotating wheel mechanism 76, the wheel mechanism 75 and the material belt inlet 713. The first clamping wheel 745 and the second clamping wheel 746 are respectively arranged at both ends of the pressure plate 747, and are respectively aligned with the rotating wheel mechanism 76 and the wheel mechanism 75 in the Z-axis direction. The disc mechanism 75, the middle part of the pressure plate 747 is aligned with the material belt entrance 713. When in use, the material disc is first passed over the wheel mechanism 76 and the disc mechanism 75 by the mechanical arm, so that the material belt is spread flat on the wheel mechanism 76 and the disc mechanism 75, and then the position of the clamping mechanism 74 is adjusted to move the clamping mechanism 74 and align it with the wheel mechanism 76 and the disc mechanism 75, so that the first clamping wheel 745 is aligned with the wheel mechanism 76, and the second clamping wheel 746 is aligned with the disc mechanism 75, thereby clamping the material belt. At this time, the bottom of the pressure plate 747 is aligned with the material belt entrance 713, and the wheel mechanism 76 is rotated. The pressure plate 747 can prevent the material belt from bending upwards, ensuring that the material belt bends in the direction of the material belt entrance 713, so that it is continuously introduced into the box body 71.

[0144] In some embodiments, it also includes a first telescopic motor 748, a slide plate 749 and a first guide rail 7410. The first telescopic motor 748, the slide plate 749 and the first guide rail 7410 are used to move the second fixed plate 743 along the Y-axis direction. Specifically, the first guide rail 7410 is arranged on the first fixed plate 742 along the Y-axis direction, the first telescopic motor 748 is arranged at one end of the first guide rail 7410, and the first guide rail 7410 is provided with a first slider 74101. The first slider 74101 is fixedly connected to the slide plate 749, one end of the slide plate 749 is connected to the output shaft of the first telescopic motor 748, and the other end of the slide plate 749 is vertically connected to the second fixed plate 743. The slide plate 749 is pushed by the first telescopic motor 748 to move along the Y-axis direction, thereby driving the second fixed plate 743 to move, so that the pressure plate 747, the first clamping wheel 745 and the second clamping wheel 746 on the second fixed plate 743 are respectively aligned with the material belt entrance 713, the rotating wheel mechanism 76 and the wheel mechanism 75 in the Z-axis direction.

[0145] Furthermore, it also includes a second telescopic motor 7411, a connecting plate 7412 and a second guide rail 37413, the second telescopic motor 7411, the connecting plate 7412 and the second guide rail 37413 are used to move the pressing plate 747 along the Z-axis direction. Specifically, the second guide rail 37413 is arranged on the second fixed plate 743 along the Z-axis direction, the second telescopic motor 7411 is arranged on the top of the second guide rail 37413, the second guide rail 37413 is provided with a second slider 74131, the second slider 74131 is fixedly connected to the pressing plate 747, and one end of the connecting plate 7412 is connected to the The output shaft of the second telescopic motor 7411, the other end of the connecting plate 7412 is connected to the pressing plate 747, and the connecting plate 7412 is pushed to move along the Z-axis direction by the second telescopic motor 7411, thereby driving the pressing plate 747 to move, so that the pressing plate 747, the first clamping wheel 745 and the second clamping wheel 746 can clamp the material belt. It is worth noting that the first clamping wheel 745 and the second clamping wheel 746 can be installed on both ends of the pressing plate 747 through a telescopic mechanism, so that the clamping degree of the first clamping wheel 745 and the second clamping wheel 746 and the rotating wheel mechanism 76 and the wheel mechanism 75 can be manually adjusted.

[0146] In this embodiment, a positioning mechanism 77 is also included. The positioning mechanism 77 is slidably connected to the frame 741 and is movably arranged along the Z-axis direction. The positioning mechanism 77 is used to position the material belt on the Y-axis so that the material belt can be aligned and laid flat on the rotating wheel mechanism 76 and the wheel mechanism 75.

[0147] Specifically, the positioning mechanism 77 includes a third telescopic motor 771, a positioning plate 772, a positioning seat 773 and a cushion block 774. The positioning seat 773 can be lifted and lowered along the frame 741. A third guide rail 7731 is provided on the positioning seat 773. The third telescopic motor 771 is arranged at one end of the third guide rail 7731. A third slider 7732 is slidably connected to the third guide rail 7731. One end of the third slider 7732 is connected to the output shaft of the third telescopic motor 771, and the other end of the third slider 7732 is connected to the positioning plate 772. The positioning plate 772 is used to adjust the material belt to align with the rotating wheel mechanism 76 and the wheel mechanism 75. A pad 774 is arranged at one end of the box body 71, and the pad 774 is aligned with the positioning seat 773 in the Z-axis direction. When in use, the free end of the material belt passes through between the pad 774 and the positioning seat 773 and extends to the top of the rotating wheel mechanism 76 and the wheel mechanism 75. The side edge of the material belt contacts the positioning plate 772, and the third telescopic motor 771 pushes the positioning plate 772 to move, thereby driving the material belt to translate along the third guide rail 7731 until the material belt is aligned with the rotating wheel mechanism 76, the wheel mechanism 75 and the material belt entrance 713 in the X-axis direction. At this time, the positioning mechanism 77 is lowered to make the positioning seat 773 press against the pad 774, thereby fixing the material belt.

[0148] In this embodiment, the frame 741 is provided with a fourth guide rail 7411 along the vertical direction, the positioning seat 773 is slidably connected to the fourth guide rail 7411, and also includes a belt mechanism 78 for lifting the positioning mechanism 77, and the belt mechanism 78 is installed on one side of the fourth guide rail 7411.

[0149] The belt mechanism 78 includes a second driving motor 781, a driving wheel 782, a driven wheel 783 and a belt body 784. The driving wheel 782 and the driven wheel 783 are rotatably connected to the frame 741. The belt body 784 is wound around the driving wheel 782 and the driven wheel 783. The output shaft of the second driving motor 781 is connected to the driving wheel 782. The positioning seat 773 is fixedly connected to the belt body 784. The belt body 784 is driven by the second driving motor 781 to rotate around the driving wheel 782 and the driven wheel 783, thereby driving the positioning seat 773 to rise and fall along the fourth guide rail 7411.

[0150] The robotic arm grabs the material tray and connects the free end of the material belt to the instrument of the previous process. The robotic arm makes the material belt pass between the positioning seat 773 and the cushion block 774. The positioning mechanism 77 adjusts the position of the material belt in the X-axis direction through the positioning plate 772 so that it is aligned with the rotating wheel mechanism 76, the wheel mechanism 75 and the material belt entrance 713. The positioning mechanism 77 is lowered so that the positioning seat 773 and the cushion block 774 clamp the material belt. The robotic arm extends the material belt and lays it flat on the rotating wheel mechanism 76, the wheel mechanism 75 and the material belt entrance 713. The width adjustment motor 731 drives the screw rod 721 to rotate, driving the movable side wall 712 to translate, so that the width of the material belt entrance 713 fits the width of the material belt entrance 713. The width of the material belt is combined, and then the first telescopic motor 748 is used to adjust the pressure plate 747 to align the material belt in the Z-axis direction. The second telescopic motor 7411 adjusts the pressure plate 747 to descend, so that the first clamping wheel 745 and the second clamping wheel 746 press the material belt against the rotating wheel mechanism 76 and the disk mechanism 75, and the rotating wheel motor 761 is started to drive the driving wheel 762 to rotate, so that the material belt clamped between the driving wheel 762 and the first clamping wheel 745 moves toward the direction of the disk mechanism 75, and the pressure plate 747 blocks the material belt at the top, so that the material belt bends and extends downward, that is, in the direction of the material belt inlet 713, so as to be gradually introduced into the box body 71.

[0151] like Figure 18-27 As shown, the grabbing unit 4 includes a material strip extracting mechanism 41, a lifting mechanism 42, and a rotating mechanism 43;

[0152] The material strip extraction mechanism 41 includes a material threading rod mechanism 411, a workpiece support extraction mechanism 412 and a fourth support assembly 413, wherein the material threading rod mechanism 411 and the workpiece support extraction mechanism 412 are respectively arranged on the fourth support assembly 413;

[0153] The lifting mechanism 42 includes a lifting guide member 422 , a lifting moving member 423 and a lifting driving assembly 421 .

[0154] The lifting guide member 422 is arranged in the vertical direction; the lifting moving member 423 is movably arranged on the lifting guide member 422, and the fourth support assembly 413 is fixedly arranged on the lifting moving member 423; the lifting driving assembly 421 is connected to the lifting moving member 423, and can drive the lifting moving member 423 and the workpiece extraction device to move synchronously along the lifting guide member 422;

[0155] The rotating mechanism 43 is disposed on the lifting guide member 422 .

[0156] During operation, the workpiece holder extracting mechanism 412 first extracts the workpiece holder for placing the material tray, and then the material rod mechanism 411 extracts the material tray.

[0157] The material strip extraction mechanism 41 also includes a horizontal guide assembly 414, which includes a horizontal guide member 4141 and a horizontal moving member 4142. The horizontal guide member 4141 is configured as a guide rail, and the horizontal moving member 4142 is configured as a slider. The horizontal guide member 4141 is fixedly disposed on the fourth support assembly 413; the horizontal moving member 4142 is fixedly disposed on the fifth support assembly 4111, and is slidably matched with the horizontal guide member 4141.

[0158] The horizontal guide member 4141 and the horizontal moving member 4142 cooperate with each other to effectively limit the moving trajectory of the fifth supporting assembly 4111 relative to the fourth supporting assembly 413 .

[0159] In some embodiments, the workpiece support extraction mechanism 412 includes a push-pull claw 4121 and a push-pull drive assembly 4122. The push-pull drive assembly 4122 preferably uses a screw motor, and its screw nut is fixedly set on the fifth support assembly 4111. When the screw of the push-pull drive assembly 4122 rotates, the screw nut and the fifth support assembly 4111 move along the axis of the screw.

[0160] The push-pull claw 4121 is fixedly disposed on the fifth supporting assembly 4111 ; the push-pull driving assembly 4122 is fixedly disposed on the fourth supporting assembly 413 .

[0161] When extracting the workpiece support, the push-pull driving assembly 4122 drives the fifth supporting assembly 4111 to move, and the push-pull claw 4121 moves synchronously. After the push-pull claw 4121 hooks the work support, the push-pull driving assembly 4122 drives the fifth supporting assembly 4111 to move in the opposite direction, and the push-pull claw 4121 moves in the opposite direction synchronously, thereby hooking the work support and moving.

[0162] The workpiece support extraction mechanism 412 and the material penetration rod mechanism 411 cooperate with each other, and the material tray extraction effect is significant.

[0163] Furthermore, the material strip extraction mechanism 41 also includes a push detection component for detecting the moving position of the push-pull claw 4121 , and the push detection component includes a photoelectric switch fixedly arranged on the fourth support component 413 and a sensor sheet fixedly arranged on the fifth support component 4111 .

[0164] The threading rod mechanism 411 includes a fifth supporting assembly 4111 , an expansion shaft driving assembly 4112 , an expansion shaft body 4113 and an expansion shaft pulling rod 4114 .

[0165] The expansion shaft driving assembly 4112, the expansion shaft body 4113 and the expansion shaft pull rod 4114 are all arranged on the fifth support assembly 4111, the expansion shaft body 4113 is sleeved outside the expansion shaft pull rod 4114, the expansion shaft pull rod 4114 can move axially along the expansion shaft body 4113, the expansion shaft driving assembly 4112 is driven and connected to the expansion shaft pull rod 4114, and the expansion shaft body 4113 has an open state and a closed state.

[0166] When not working, the expansion shaft body 4113 is in a closed state.

[0167] During operation, the expansion shaft body 4113 is inserted into the center hole of the material tray, and the expansion shaft driving assembly 4112 drives the expansion shaft pull rod 4114 to move axially in the positive direction along the expansion shaft body 4113, so that the expansion shaft body 4113 opens, thereby tightening the center hole of the material tray, thereby fixing the material tray.

[0168] When the material tray is transferred, the expansion shaft driving assembly 4112 drives the expansion shaft pull rod 4114 to move in the opposite axial direction along the expansion shaft body 4113. At this time, the expansion shaft body 4113 recovers from the open state to the closed state, thereby releasing the material tray.

[0169] During the process, the expansion shaft drive assembly 4112, the expansion shaft body 4113 and the expansion shaft pull rod 4114 cooperate with each other to realize the extraction and transfer of the material tray by inserting and tightening the center hole of the material tray. Not only is the transfer effect significant, but it can also adapt to material trays with different width specifications. It has a wide range of applications and strong compatibility, which is conducive to the compatibility development of the overall material receiving equipment.

[0170] The expansion shaft body 4113 includes a connecting section and an expansion section which are integrally arranged, and the expansion shaft pull rod 4114 includes a pull rod body and a pull rod head 41141 which is integrally arranged at the end of the pull rod body.

[0171] The connecting section is drivingly connected to the expansion shaft driving assembly 4112, and the tightening section includes unit tightening pieces 41131 evenly distributed along the circumferential direction, and the unit tightening pieces 41131 are elastic.

[0172] In the initial state, the pull rod head 41141 is located outside the expansion section, and all unit expansion pieces 41131 are in a closed state.

[0173] During operation, the expansion shaft pull rod 4114 moves in the positive axial direction along the expansion shaft body 4113 under the drive of the expansion shaft driving assembly 4112, the pull rod head 41141 moves into the expansion section, and pushes the unit expansion piece 41131 to move in the direction away from the axis of the expansion shaft body 4113, thereby putting the expansion shaft body 4113 in an open state.

[0174] When the material tray is transferred, the expansion shaft driving assembly 4112 drives the expansion shaft pull rod 4114 to move in the opposite direction, and the pull rod head 41141 moves to the outside of the expansion section. At this time, the unit expansion piece 41131 returns to its initial state under the action of its own elastic force.

[0175] The pull rod head 41141 is provided with a conical surface, so that even if the apertures of the center holes of the material trays are inconsistent, the pull rod head 41141 can still expand and tighten the material trays, further improving its scope of application.

[0176] The expansion shaft drive assembly 4112 adopts a pneumatic drive assembly, an electric drive assembly or a hydraulic drive assembly. Preferably, the expansion shaft drive assembly 4112 adopts a screw motor, specifically a bidirectional screw motor, and its telescopic end is connected to the expansion shaft pull rod 4114.

[0177] In some embodiments, the threading rod mechanism 411 includes a coil assembly 4115 , and the coil assembly 4115 includes a coil driving assembly 41151 and a rotating member 41152 .

[0178] The coil driving assembly 41151 is connected to the rotating member 41152 and can drive the rotating member 41152 to rotate. The rotating member 41152 is fixedly sleeved on the outer side of the expansion shaft body 4113 and rotates synchronously with the expansion shaft body 4113.

[0179] When the material is coiled, the coiling driving assembly 41151 drives the rotating member 41152 to rotate, and the expansion shaft body 4113 rotates synchronously. At this time, since the expansion shaft body 4113 expands the material tray, the material tray rotates synchronously therewith, thereby realizing the coiling function.

[0180] Preferably, the coil drive assembly 41151 adopts a rotating motor, an output gear is provided at its output end, and the rotating member 41152 is configured as a rotating gear, the rotating gear is meshed with the output gear, and a gear transmission structure is adopted, which has a simple structure and a stable transmission process.

[0181] In some embodiments, the coil assembly 4115 includes a damper 41153, which is connected to a transmission gear, and the rotating gear is meshed with the transmission gear. The damper 41153 adopts a permanent magnet damper, which has no friction and wear, no pollution, a large damping range, and an adjustable damping coefficient.

[0182] In some embodiments, the expansion shaft pull rod 4114 is connected to the output end of the expansion shaft drive assembly 4112 through a connector 4116, and the threading rod mechanism 411 includes an anti-deviation limiter 4117, which slides with the connector 4116 along the axial direction of the expansion shaft pull rod 4114.

[0183] In this way, the connecting member 4116 has a transmission connection function on the one hand, which can effectively transmit the telescopic action of the expansion shaft driving assembly 4112 to the expansion shaft pull rod 4114; on the other hand, it has a limiting function in conjunction with the anti-deviation limiter 4117, which can effectively limit the moving trajectory of the expansion shaft pull rod 4114 and prevent it from deviating during movement.

[0184] Specifically, the anti-deviating limiter 4117 is configured as a limiter rod, and the connecting member 4116 is provided with a limiter hole through which the limiter rod passes through the limiter hole and is slidably engaged with the limiter hole.

[0185] In some embodiments, the threading rod mechanism 411 further includes a position detection assembly 4118 , which is disposed on the fifth support assembly 4111 and is used to detect the position of the expansion shaft pull rod 4114 relative to the expansion shaft body 4113 .

[0186] The position detection component 4118 includes a photoelectric switch 41181 and a sensor sheet 41182. The photoelectric switch 41181 is fixedly disposed on the fifth support component 4111, and the sensor sheet 41182 is fixedly disposed on the connecting member 4116 and moves synchronously with the connecting member 4116. The photoelectric switch 41181 can detect the position of the sensor sheet 41182, thereby realizing the position detection of the connecting member 4116, and further realizing the position detection of the expansion shaft body 4113.

[0187] The lifting mechanism 42 includes a lifting guide member 422 , a lifting moving member 423 and a lifting driving assembly 421 .

[0188] The lifting guide member 422 is arranged along the vertical direction; the lifting movable member 423 is movably arranged on the lifting guide member 422, and the workpiece extraction device is fixedly arranged on the lifting movable member 423; the lifting drive assembly 421 is connected to the lifting movable member 423, and can drive the lifting movable member 423 and the workpiece extraction device to move synchronously along the lifting guide member 422.

[0189] The lifting mechanism 42 can adopt a ball screw linear module, a gear rack linear module, a linear motor module or a synchronous belt linear module, etc., and preferably adopts a synchronous belt linear module.

[0190] Furthermore, the lifting mechanism 42 also includes a lifting detection device for detecting the moving position of the lifting movable member 423 , and the lifting detection core device includes a photoelectric switch fixedly arranged on the lifting guide member 422 and a sensor sheet fixedly arranged on the lifting movable member 423 .

[0191] The rotating mechanism 43 includes a rotating platform assembly 432 and a rotating driving assembly 431 .

[0192] The rotating table assembly 432 is fixedly connected to the lifting guide member 422 of the lifting mechanism 42; the rotating driving assembly 431 is connected to the rotating table assembly 432 and can drive the rotating table assembly 432 and the lifting mechanism 42 to rotate synchronously.

[0193] The rotating mechanism 43 adopts an electric rotating device, which is a prior art and will not be described in detail.

[0194] First, the rotating drive assembly 431 drives the rotating table assembly 432 to rotate and adjusts the lifting mechanism 42 to the specified angle. The lifting drive assembly 421 drives the lifting moving part 423 to move along the lifting guide part 422 to the position of the workpiece support. At this time, the push-pull drive assembly 4122 drives the fifth support assembly 4111 and the push-pull claw 4121 to move, hook the workpiece support, and insert the expansion shaft body 4113 into the center hole of the material tray. Then the expansion shaft drive assembly 4112 drives the expansion shaft pull rod 4114 to move axially along the expansion shaft body 4113, so that the expansion shaft body 4113 expands and fixes the material tray. After that, the winding drive assembly 41151 drives the rotating part 41152 and the expansion shaft body 4113 to rotate synchronously to realize winding.

[0195] like Figure 28-32 As shown, the belt splicing unit 3 includes a main frame 31, a lifting frame 32, a material splicing assembly, a driving mechanism and a conveyor belt 33;

[0196] Specifically, the driving mechanism is fixed on the main frame 31 and is in transmission connection with the lifting frame 32, and is used to drive the lifting frame 32 to rise and fall along the main frame 31. The lifting frame 32 is rotatably connected with at least two pulleys 34, preferably idler pulleys;

[0197] The pulleys 34 are raised and lowered synchronously with the lifting frame 32, and the conveyor belt 33 is wound around at least two of the pulleys 34, and the conveyor belt 33 is fixedly connected to the main frame 31 and the material receiving assembly;

[0198] Specifically, a portion of one side of the conveyor belt 33 is fixedly connected to the main frame 31 , and a portion of the other side of the conveyor belt 33 is fixedly connected to the material receiving assembly.

[0199] With this structure, the lifting frame 32 is driven by the driving mechanism to move along the main frame 31, driving the pulley 34 to rise and fall synchronously and rotate, so that the conveyor belt 33 can drive the material receiving assembly to move twice the distance along the lifting frame 32. When the lifting frame 32 moves a single distance, the material receiving assembly is driven by the pulley 34 and the conveyor belt 33 to move twice the distance, thereby realizing a multiple movement. A longer moving distance of the material receiving assembly can be completed with a shorter driving stroke, saving height space and facilitating the replacement of the material belt on the SMT.

[0200] In some embodiments, the main frame 31 is provided with a first guide rail 35 in the vertical direction, and the first guide rail 35 is used to lift the lifting frame 32. The lifting frame 32 is provided with at least two first sliders 36 on the side facing the main frame 31. The sliders are slidably connected to the first guide rail 35. The provision of at least two first sliders 36 can provide sufficient supporting force for the lifting frame 32, so that the lifting frame 32 maintains balance, thereby smoothly lifting and lowering along the first guide rail 35.

[0201] Furthermore, two second guide rails 37 are provided on the side of the lifting frame 32 facing away from the main frame 31, and the two second guide rails 37 are parallel and spaced apart in the vertical direction. The second guide rail 37 is used to lift the material receiving assembly, and the material receiving assembly is provided with at least two second sliders 38, and the two second sliders 38 are respectively slidably connected to the second guide rails 37, wherein the two second guide rails 37 are parallel to the first guide rail 35, and the first guide rail 35 is located at the center between the two second guide rails 37 in the vertical direction, that is, the two second guide rails 37 are symmetrically arranged on both sides of the first guide rail 35, thereby ensuring that the material receiving assembly can be smoothly lifted and lowered along the second guide rails 37.

[0202] In some embodiments, the driving mechanism includes a driving motor 39, a screw rod 310 and a third slider 311;

[0203] Specifically, the drive motor 39 is fixed on the main frame 31, specifically located at the bottom of the main frame 31 and at one side of the first guide rail 35 and the lifting frame 32, for providing power for lifting the lifting frame 32, one end of the screw rod 310 is connected to the power output shaft of the drive motor 39, and the other end of the screw rod 310 is rotatably connected to the main frame 31 through a bearing, the screw rod 310 is arranged parallel to the first guide rail 35, the third slider 311 and the screw rod 310 constitute a ball screw 310 pair, the third slider 311 is fixedly connected to the lifting frame 32, the drive motor 39 drives the screw rod 310 to rotate, so that the third slider 311 is lifted and lowered along the screw rod 310, thereby driving the lifting frame 32 to lift and lower along the first guide rail 35, thereby realizing a single stroke of the lifting frame 32.

[0204] In some embodiments, the material receiving assembly includes a fixed plate 312, an alignment plate 313, a support shaft 314 and an adjustment mechanism. Specifically, the adjustment mechanism is arranged on the fixed plate 312, and the alignment plate 313 is arranged on the side of the fixed plate 312 away from the main frame 31 through the adjustment mechanism. There is a distance between the alignment plate 313 and the fixed plate 312, and the distance is used to receive the material tray. The adjustment mechanism is used to adjust the distance between the alignment plate 313 and the fixed plate 312 so as to adaptively fix material trays of different widths. Multiple support shafts 314 are vertically fixed on the fixed plate 312 to support the material tray.

[0205] When in use, the material receiving assembly is moved to a suitable height, and a robotic arm is used to place the material tray within the gap between the alignment plate 313 and the fixed plate 312, so that the material tray falls on the support shaft 314, and then the material receiving assembly is moved again, thereby transferring the material to the target position for the next step of the process.

[0206] In some embodiments, the adjustment mechanism includes a first telescopic motor 315, a first L-shaped plate 316 and a second L-shaped plate 317, wherein the first L-shaped plate 316 and the second L-shaped plate 317 are used to connect the fixing plate 312 and the alignment plate 313;

[0207] Specifically, the first telescopic motor 315 is fixed to one end of the fixed plate 312, the vertical sections of the first L-shaped plate 316 and the second L-shaped plate 317 are respectively fixed to the two ends of the alignment plate 313, the output shaft of the first telescopic motor 315 is vertically connected to the vertical section of the first L-shaped plate 316, the horizontal sections of the first L-shaped plate 316 and the second L-shaped plate 317 are respectively provided with a third guide rail 318 and a fourth guide rail 319, the third guide rail 318 and the fourth guide rail 319 are respectively slidably connected with a fourth slider 320 and a fifth slider 321, the fourth slider 320 is fixedly connected to the first telescopic motor 315, and the fifth slider 321 is fixedly connected to the other end of the fixed plate 312.

[0208] When in use, the first telescopic motor 315 pushes the first L-shaped plate 316, so that the horizontal sections of the first L-shaped plate 316 and the second L-shaped plate 317 move synchronously along the third guide rail 318 and the fourth guide rail 319 respectively, thereby changing the spacing width between the alignment plate 313 and the fixed plate 312 to achieve the placement and fixation of the material tray, wherein the ends of the third guide rail 318 and the fourth guide rail 319 facing away from the alignment plate 313 are both provided with blocks that serve as a limit.

[0209] Furthermore, it also includes a supporting plate 322, a fifth guide rail 323, a sixth slider 324, a connecting plate 325 and a second telescopic motor 326, wherein the second telescopic motor 326 is fixed to the bottom of the fixing plate 312, the two fifth guide rails 323 are arranged on the side of the fixing plate 312 away from the main frame 31 in the vertical direction, the two sixth sliders 324 are respectively slidably connected to the two fifth guide rails 323, the two ends of the connecting plate 325 are respectively fixed to the two fifth sliders 321, the output shaft of the second telescopic motor 326 is connected to the middle part of the connecting plate 325 to drive the connecting plate 325 to move up and down along the fifth guide rail 323, and the two The support plates 322 are respectively fixed vertically at both ends of the connecting plate 325. The arrangement enables the second telescopic motor 326 to push the support plate 322 to rise and fall along the fifth guide rail 323 through the connecting plate 325, so that the support plate 322 can be raised and lowered in the gap between the fixed plate 312 and the alignment plate 313. Before placing the material tray, the support plate 322 is first raised to the top of the fifth guide rail 323. After the material tray enters the gap, it is first supported by the two support plates 322. At this time, the support plate 322 is lowered at a uniform speed by the second telescopic motor 326, so that the material tray can stably enter the gap and finally fall on the support shaft 314 to prevent the material tray from falling too fast and being damaged.

[0210] In some embodiments, the centers of the plurality of support shafts 314 are located on the same arc, and are used to jointly support the material tray. Specifically, the number of the support shafts 314 is four, and two of the support shafts 314 are located close to the bottom of the fixed plate 312, and are used to support material trays with smaller diameters. The other two are located higher, at both ends of the fixed plate 312, and are used to support material trays with larger diameters. The surfaces of the support shafts 314 are provided with rubber sleeves, which play a role in buffering and shock absorption to avoid hard contact with the material tray. The two support shafts 314 located close to the bottom of the fixed plate 312 are located below the connecting plate 325, and are used to limit the lowest descending position of the connecting plate 325.

[0211] In some embodiments, it also includes a entrainment mechanism 327, and the entrainment mechanism 327 is used to fix the conveyor belt 33. The number of the entrainment mechanisms 327 is two, and the two entrainment mechanisms 327 are respectively fixed on the main frame 31 and the material receiving assembly. Specifically, the two pulleys 34 are arranged one above and one below on the lifting frame 32, one entrainment mechanism 327 is fixed on the main frame 31 near the upper pulley 34, and the other entrainment mechanism 327 is fixed on the fixed plate 312 near the lower pulley 34. Specifically, the entrainment mechanism 327 includes a clamping plate and a pressing plate, and the conveyor belt 33 passes through the clamping plate and the pressing plate, and the clamping plate and the pressing plate are fixed by bolts to clamp the conveyor belt 33.

[0212] Working process of the present invention:

[0213] Step 101: the grabbing unit 4 grabs the old material tray that is about to be used up from the old material tray storage unit 6.

[0214] Step 102: Transport the old tray to the identification camera station, upload the data and compare it with the system data to ensure correctness.

[0215] Step 103: After the comparison is correct, the old material tray is sent to the material storage box unit 7, and the remaining material on it is collected.

[0216] Step 104: Insert the material head of the old material tray into the right feeding track of the material receiving mechanism.

[0217] Step 105 : The empty tray then falls to the empty tray recovery unit 5 .

[0218] Step 106: the material taking unit 1 discharges a new material tray by natural gravity dropping;

[0219] Step 107: The secondary telescopic material receiving unit 2 receives the falling new material tray.

[0220] Step 108: The tape splicing unit 3 tears off the head of the new tape and transports it to the recognition camera station to take a photo and upload it to the system, and compare it with the system data to ensure correctness.

[0221] Step 109: After the comparison is correct, the belt splicing unit 3 moves the new material tray from the material taking station to the docking station.

[0222] Step 110 : Insert the material head of the new material tray into the left feeding track of the splicing unit 3 .

[0223] Step 111: Measure the new material tape, compare the silk screen, and check with the system data to ensure that there are no errors before connecting the tape.

[0224] Step 112: The grabbing unit 4 that discards the empty tray inserts the new tray into the penetration rod.

[0225] Step 113: After the material belts are docked, the grabbing unit 4 rolls the remaining material from the old tray collected in the material storage box unit 7 into the new tray.

[0226] Step 114: The grabbing unit 4 places the new tray that has been received and filled into the old tray storage unit 6 (which is now used as a new tray).

[0227] Step 115: The above process is repeated in a cycle, realizing the automatic switching of the new and old material trays and the unmanned automatic material loading and unloading.

[0228] The present invention also uses a ground rail design so that the equipment can simultaneously meet the material connection requirements of a production line or batch placement machine equipment, thereby improving the dynamism and maneuverability of the material connection method.

[0229] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A fully automatic SMT unmanned material receiving and feeding system, characterized in that: The system includes a material taking unit, a secondary telescopic material receiving unit, a belt receiving unit, a grabbing unit, an empty material tray recovery unit, an old material tray storage unit, and a material storage box unit; The material taking unit is used to discharge the new material trays of different sizes carried by the material to the secondary telescopic material receiving unit according to the process progress; The secondary telescopic material receiving unit is arranged below the material taking unit, and is used to adjust the width according to the size of the new material tray at the material discharging station, so as to accurately receive the new material tray discharged; and is also used to connect the material belt of the new material tray to the belt receiving unit at the material receiving station; The tape splicing unit is arranged at the material splicing station and is located below the secondary telescopic material splicing unit, and is used to splice the material head of the material tape of the new material tray and the material tape of the old material tray; The grabbing unit is used to connect the material head of the material belt of the old material tray stored in the old material tray storage unit to the belt connecting unit; it is also used to put the new material tray after the material is rolled into the old material tray storage unit, and put the old material tray after the material is rolled into the empty material tray recovery unit; The empty tray recovery unit is used to store empty trays; The old material tray storage unit is used to store old material trays; The material storage box unit is used to collect the remaining materials of the old material tray and roll the remaining materials of the old material tray into the new material tray after the splicing is completed.

2. The SMT fully automatic unmanned material receiving and feeding system according to claim 1 is characterized in that: The system also includes a fixed bracket, which is used to carry a material picking unit, a secondary telescopic material receiving unit, a belt receiving unit, a grabbing unit, an empty material tray recovery unit, an old material tray storage unit, and a material storage box unit.

3. The SMT fully automatic unmanned material receiving and feeding system according to claim 2 is characterized in that: The system further comprises a moving unit, which is arranged at the bottom of the fixed support and is used for driving the entire system to move.

4. The SMT fully automatic unmanned material receiving and feeding system according to any one of claims 1 to 3, characterized in that: The material taking unit comprises a silo transverse moving mechanism and a manipulator; the manipulator is arranged on one side of the silo transverse moving mechanism.

5. The SMT fully automatic unmanned material receiving and feeding system according to claim 4 is characterized in that: The silo transverse movement mechanism includes a transverse driving mechanism, a fixed component, and a sliding component; the sliding component is slidably arranged on the fixed component to carry the silo; the transverse driving mechanism is arranged on one side of the fixed component and is connected to the sliding component to drive the sliding component to reciprocate in the transverse direction.

6. The SMT fully automatic unmanned material receiving and feeding system according to claim 5 is characterized in that: The secondary telescopic material receiving unit comprises a width adjustment and alignment mechanism, a material belt driving mechanism, and a third supporting assembly. The material belt driving mechanism and the width adjustment and alignment mechanism are arranged on the third supporting assembly opposite to each other.

7. The SMT fully automatic unmanned material receiving and feeding system according to claim 6 is characterized in that: The width adjustment and alignment mechanism comprises a first supporting assembly, a width adjustment driving assembly and a material strip alignment assembly, and the material strip alignment assembly comprises a first alignment member and a second alignment member; The first alignment member and the second alignment member are arranged on the first support assembly relatively to each other, and are used to abut against two sides of the material tray of the material belt to position the material belt; the width adjustment drive assembly is arranged on the first support assembly, and is drivingly connected to at least one of the first alignment member and the second alignment member; The first alignment member is fixedly arranged on the first supporting assembly, and the width adjustment driving assembly is drivingly connected to the second alignment member and can drive the second alignment member to move in a direction close to or away from the first alignment member.

8. The SMT fully automatic unmanned material receiving and feeding system according to claim 7 is characterized in that: The material storage box unit includes a driving mechanism, a moving part, a box body with a material belt entrance, a rotating wheel mechanism, a wheel mechanism and a clamping mechanism, the box body includes a fixed side wall and a movable side wall, the fixed side wall and the movable side wall are located on opposite sides of the material belt entrance, the driving mechanism is connected to the moving part in driving manner, the moving part is fixedly connected to the movable side wall, the driving mechanism drives the moving part to move back and forth, and then drives the movable side wall to move in a direction close to or away from the fixed side wall, so as to adjust the width of the material belt entrance; the rotating wheel mechanism and the wheel mechanism are arranged at both ends of the material belt entrance, for introducing the material belt into the box body, the clamping mechanism is arranged above the box body, and the output end of the clamping mechanism cooperates with the rotating wheel mechanism and the wheel mechanism to clamp the material belt.

9. The SMT fully automatic unmanned material receiving and feeding system according to claim 8 is characterized in that: The grabbing unit includes a material strip extraction mechanism, a lifting mechanism, and a rotating mechanism; The material strip extraction mechanism comprises a material threading rod mechanism, a workpiece support extraction mechanism and a fourth support assembly, wherein the material threading rod mechanism and the workpiece support extraction mechanism are respectively arranged on the fourth support assembly; The lifting mechanism comprises a lifting guide member, a lifting moving member and a lifting driving assembly. The lifting guide is arranged in the vertical direction; the lifting moving member is movably arranged on the lifting guide, and the fourth support assembly is fixedly arranged on the lifting moving member; the lifting driving assembly is connected to the lifting moving member, and can drive the lifting moving member and the workpiece extracting device to move synchronously along the lifting guide; The rotating mechanism is arranged on the lifting guide member.

10. The SMT fully automatic unmanned material receiving and feeding system according to claim 9 is characterized in that: The belt-joining unit comprises a main frame, a lifting frame, a material-joining assembly, a driving mechanism and a conveyor belt. The driving mechanism is fixed to the main frame and is transmission-connected to the lifting frame for driving the lifting frame to rise and fall along the main frame. The lifting frame is rotationally connected to at least two pulleys, and the pulleys rise and fall synchronously with the lifting frame. The conveyor belt is wound around at least two of the pulleys. The conveyor belt is fixedly connected to the main frame and the material-joining assembly. Specifically, a part of one side of the conveyor belt is fixedly connected to the main frame, and a part of the other side of the conveyor belt is fixedly connected to the material-joining assembly.

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