Automatic conveyor assembly machine that conveys and installs sensors into the bottom shell of an electronic scale

Abstract

The present invention relates to an automatic conveying and assembly machine for conveying and loading sensors into the bottom shell of an electronic scale. The machine comprises a loading conveyor line and an assembly conveyor line; the loading conveyor line is used to convey a carrier, which is provided with a shelf; a sensor loading station, a sensor seat loading station, and a sensor assembly transfer station are sequentially provided along the conveying direction of the loading conveyor line; the assembly conveyor line is used to convey sensor assemblies; a shifting station and a loading station are sequentially provided along the conveying direction of the assembly conveyor line; the assembly conveyor line includes a first conveying mechanism for conveying sensor assemblies from the sensor assembly transfer station of the loading conveyor line to the shifting station; and the loading station is used to load the sensor assemblies into the bottom shell of the electronic scale. The present invention enables assembly line assembly, achieving orderly arrangement of sensor assemblies with the aid of the carrier, saving manual sorting time and effectively improving assembly efficiency.

Description

Technical Field

[0001] The invention relates to an automatic conveying and assembling machine for conveying and installing sensors into a bottom shell of an electronic scale. Background Art

[0002] like Figures 1 to 4 As shown, the existing electronic scale includes an electronic scale bottom shell 100, and the four corner positions of the electronic scale bottom shell 100 are respectively provided with a sensor installation position 200, each sensor installation position 200 is used to install a sensor assembly 900, and each sensor assembly 900 includes a sensor seat 300 and a sensor 400.

[0003] The sensor base 300 is provided with a first snap-fit ​​structure 500 for mounting the sensor 400 . When the sensor 400 is pressed into the sensor base 300 , the first snap-fit ​​structure 500 snaps together to lock the sensor 400 on the sensor base 300 , thereby assembling the sensor 400 and the sensor base 300 .

[0004] The sensor base 300 is also provided with a second snap-fit ​​structure 600 for mounting the sensor assembly 900 at the sensor mounting position 200 of the electronic scale bottom housing. When the sensor assembly 900 is pressed into the sensor mounting position 200, the second snap-fit ​​structure 600 engages to lock the sensor assembly 900 at the sensor mounting position 200, thereby completing the assembly of the sensor assembly with the electronic scale bottom housing 100. Both the first snap-fit ​​structure 500 and the second snap-fit ​​structure 600 are prior art.

[0005] The existing assembly process for the electronic scale bottom shell, sensor base, and sensor is as follows: the sensor and sensor base are first assembled into a sensor assembly. A large number of unorganized sensor assemblies are then stored together. Once a certain number of sensor assemblies are assembled, the assembled sensor assemblies are moved to a predetermined location. Finally, the sensor assemblies are manually sorted and individually installed into the sensor mounting locations on the electronic scale bottom shell. This assembly method results in low production efficiency. Summary of the Invention

[0006] The object of the present invention is to provide an automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale, wherein the bottom shell of the electronic scale is provided with four sensor installation positions;

[0007] Including loading conveyor line and assembly conveyor line;

[0008] The loading conveyor line is used to transport a carrier, and the carrier is provided with four shelves arranged side by side in a straight line;

[0009] Along the conveying direction of the feeding conveyor line, there are sensor feeding stations, sensor seat feeding stations and sensor component transfer stations.

[0010] The sensor loading station is used to place a sensor on each shelf of the object carrier;

[0011] The sensor seat loading station is used to install a sensor seat on each sensor on the object carrier, so that the sensor and the sensor seat form an integrated sensor assembly;

[0012] The assembly conveyor line is used to transport sensor components;

[0013] Along the conveying direction of the assembly conveyor line, there are shifting stations and loading stations in sequence;

[0014] The assembly conveyor line includes a first conveying mechanism for conveying the sensor assembly from the sensor assembly transfer station of the loading conveyor line to the moving station;

[0015] The shifting station is used to arrange the four side-by-side sensor assemblies into a predetermined first shape, which is the same as the arrangement shape of the four sensor installation positions on the bottom shell of the electronic scale;

[0016] The loading station is used to load the sensor assembly into the bottom shell of the electronic scale, wherein each sensor installation position is loaded with a sensor assembly.

[0017] The present invention can realize assembly line assembly, realize orderly arrangement of sensor components by means of the object carrier, save the time of manual sorting, and effectively improve the assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Shows a perspective view of a sensor assembly according to the present invention and the prior art;

[0019] Figure 2 Shown Figure 1 3D exploded view of

[0020] Figure 3 Shows the Figure 1 The sensor assembly shown is installed behind the bottom shell of the electronic scale;

[0021] Figure 4 Shown in Figure 3 Schematic diagram of separating the sensor assembly from the bottom shell of the electronic scale;

[0022] Figure 5 Shown is a perspective view of the present invention;

[0023] Figure 6 shows a top view of the present invention;

[0024] Figure 7 Shows a perspective view of the loading conveyor line of the present invention;

[0025] Figure 8 Shows a top view of the loading conveyor line of the present invention;

[0026] Figure 9 A partial schematic diagram of the tail end of the left belt conveyor line of the present invention is shown;

[0027] Figure 10 A partial schematic diagram of the front end of the left belt conveyor line of the present invention is shown;

[0028] Figure 11 shows a perspective view of a third transport mechanism of the present invention;

[0029] Figure 12 shows an exploded perspective view of a third transport mechanism of the present invention;

[0030] Figure 13 A perspective view of the sensor holder loading mechanism of the present invention is shown;

[0031] Figure 14 Shows a perspective exploded view of the sensor holder feeding mechanism of the present invention;

[0032] Figure 15 A perspective view of the fourth pick-and-place mechanism of the sensor holder loading mechanism of the present invention is shown;

[0033] Figure 16 Shown Figure 15 3D exploded view of

[0034] Figure 17 shows a front view of a fourth catch and release mechanism of the present invention;

[0035] Figure 18 Shown in Figure 17 A schematic diagram of driving the fourth pushing block to descend on the basis to push the sensor assembly;

[0036] Figure 19 A schematic diagram showing the arrival of a carrier carrying four sensors at the sensor carrier loading station;

[0037] Figure 20 Shown in Figure 19 Schematic diagram of driving the loading slide frame to slide along the Y axis toward the sensor base loading station;

[0038] Figure 21 Shown in Figure 20 A schematic diagram of driving the loading lifting frame to descend to a predetermined position based on the above;

[0039] Figure 22 Shows a perspective view of the assembly conveyor line of the present invention;

[0040] Figure 23Shows a left side view of the assembly conveyor line of the present invention;

[0041] Figure 24 shows a perspective view of a first transport mechanism of the present invention;

[0042] Figure 25 shows an exploded perspective view of the first transport mechanism of the present invention;

[0043] Figure 26 shows a perspective view of a first catch-and-release mechanism of the present invention;

[0044] Figure 27 shows a perspective exploded view of a first pick-and-place mechanism of the present invention;

[0045] Figure 28 shows a front view of a first catch and release mechanism of the present invention;

[0046] Figure 29 Shown in Figure 28 A schematic diagram of driving the first grab and place movable frame to rotate to a predetermined angle position based on the above;

[0047] Figure 30 A perspective view of the shifting mechanism of the present invention is shown, wherein four shifting bearing components are arranged side by side in a straight line;

[0048] Figure 31 Shown Figure 30 A top view of

[0049] Figure 32 Shows a perspective exploded view of the shifting mechanism of the present invention;

[0050] Figure 33 Shown in Figure 30 Schematic diagram of moving four transfer bearing components from being arranged in a straight line to being arranged in a square;

[0051] Figure 34 Shown Figure 33 A top view of

[0052] Figure 35 A perspective view of the transfer bearing assembly of the present invention is shown;

[0053] Figure 36 Shown Figure 35 Left view of;

[0054] Figure 37 Shows a perspective exploded view of the transfer load-bearing assembly of the present invention;

[0055] Figure 38 shows a perspective view of a second transport mechanism of the present invention;

[0056] Figure 39shows an exploded perspective view of the second transport mechanism of the present invention;

[0057] Figure 40 shows a perspective view of a second transport crane;

[0058] Figure 41 A perspective view of the second transport lift from another angle is shown;

[0059] Figure 42 shows a perspective view of a second pick-and-place mechanism of the present invention;

[0060] Figure 43 shows an exploded perspective view of the second pick-and-place mechanism of the present invention;

[0061] Figure 44 Shown Figure 42 Right view;

[0062] Figure 45 Shown in Figure 44 A schematic diagram of a first pushing block descending to push the sensor assembly;

[0063] Figure 46 A schematic diagram showing the shifting bearing components of the shifting mechanism being arranged side by side on a straight line parallel to the X-axis;

[0064] Figure 47 Shown in Figure 46 A schematic diagram of driving the first transport lifting frame to descend to a predetermined position based on the above;

[0065] Figure 48 Shown in Figure 47 A schematic diagram of driving the first transport lifting frame to rise and reset based on the above;

[0066] Figure 49 Shown in Figure 48 A schematic diagram of the first transport sliding frame being driven to slide along the Y-axis toward the shifting mechanism;

[0067] Figure 50 Shown in Figure 49 A schematic diagram of driving the first grab and place movable frame to rotate to a predetermined angular position based on the above;

[0068] Figure 51 Shown in Figure 50 A schematic diagram of driving the first transport lifting frame to descend to a predetermined position based on the above;

[0069] Figure 52 Shown in Figure 51 A schematic diagram of the four first pick-and-place components releasing the sensor assembly based on the embodiment of the present invention;

[0070] Figure 53A schematic diagram showing the shifting mechanisms arranged side by side on a straight line parallel to the X-axis;

[0071] Figure 54 Shown in Figure 53 A schematic diagram of driving the main sliding frame to move backward based on the above;

[0072] Figure 55 Shown in Figure 54 A schematic diagram of driving the supporting platform of the sensor assembly to rotate based on the above;

[0073] Figure 56 A schematic diagram showing the bottom shell of the electronic scale being placed at the loading station E is shown;

[0074] Figure 57 Shown in Figure 56 A schematic diagram of driving the second transport lifting frame to descend to a predetermined position based on the above;

[0075] Figure 58 Shown in Figure 57 Schematic diagram of driving the second transport lifting frame to rise and reset based on the above;

[0076] Figure 59 Shown in Figure 58 A schematic diagram of the second transport slide being driven to slide along the Y axis toward the loading station E based on the above;

[0077] Figure 60 Shown in Figure 59 A schematic diagram of driving the second transport lifting frame to descend to another predetermined position based on the above;

[0078] Figure 61 Shown Figure 60 a schematic diagram of a second catch-and-release mechanism;

[0079] Figure 62 Shown Figure 61 The main view;

[0080] Figure 63 Shown in Figure 61 A schematic diagram of the first pushing block being driven downward on the basis of FIG.

[0081] Figure 64 Shown Figure 63 main view.

[0082] Figure Number:

[0083] A sensor loading station, B sensor seat loading station, C sensor component transfer station, D transfer station, E loading station;

[0084] 100 electronic scale bottom shell, 200 sensor installation position, 300 sensor seat, 400 sensor, 500 first snap-fit ​​structure, 600 second snap-fit ​​structure, 700 feeding conveyor line, 800 assembly conveyor line, 900 sensor assembly;

[0085] 10 loading seats, 101 shelf;

[0086] 20 first transport mechanism, 201 first transport frame, 202 first transport sliding frame, 203 first transport lifting frame, 204 first grab and place mechanism, 205 first grab and place fixed frame, 206 first grab and place movable frame, first grab and place component, 207 first cylinder, 209 limit stop rod;

[0087] 30 Moving mechanism, 301 Moving frame, 302 Moving main sliding frame, 303 Moving first auxiliary sliding frame, 304 Moving second auxiliary sliding frame, 305 Moving bearing assembly, 306 Carrying platform, 307 Moving rotation driving mechanism, 308 First vacuum suction cup, 309 Carrying surface, 310 Protruding stop;

[0088] 40 second transport mechanism, 401 second transport frame, 402 second transport sliding frame, 403 second transport lifting frame, 404 second grab and release mechanism, 405 second grab and release component, 406 first pushing block, 407 first pushing drive mechanism, 408 positioning surface;

[0089] 50 left belt conveyor line, 501 front end of left belt conveyor line, 502 tail end of left belt conveyor line, 503 third transport mechanism, 504 fourth transport mechanism, 505 third transport frame, 506 third transport sliding frame, 507 third transport lifting frame, 508 third pick-and-place mechanism;

[0090] 60 right belt conveyor line, the beginning of 601 right belt conveyor line, and the end of 602 right belt conveyor line;

[0091] 70 sensor seat feeding mechanism, 701 feeding frame, 702 feeding slide frame, 703 feeding lifting frame, 704 fourth grab and release mechanism, 705 fourth grab and release component, 706 fourth pushing block, 707 fourth pushing drive mechanism. DETAILED DESCRIPTION

[0092] The present application scheme is further described below in conjunction with the accompanying drawings.

[0093] like Figures 1 to 64 The figure shows an automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale. The bottom shell 100 of the electronic scale is provided with four sensor installation positions 200;

[0094] It includes a loading conveyor line 700 and an assembly conveyor line 800;

[0095] The loading conveyor line 700 is used to transport the carrier 10, and the carrier 10 is provided with four shelves 101 arranged side by side in a straight line. In this embodiment, the four shelves 101 are arranged in a straight line at intervals;

[0096] Along the conveying direction of the loading conveyor line 700, there are successively provided a sensor loading station A, a sensor seat loading station B and a sensor assembly transfer station C, wherein:

[0097] The sensor loading station A is used to place a sensor 400 on each shelf 101 of the object carrier 10. The sensor 400 in this embodiment may be a weighing sensor.

[0098] The sensor base loading station B is used to install a sensor base 300 on each sensor 400 on the object carrier 10, so that the sensor 400 and the sensor base 300 form an integrated sensor assembly 900;

[0099] The assembly conveyor line 800 is used to transport the sensor assembly 900;

[0100] Along the conveying direction of the assembly conveyor line 800, there are successively provided a shifting station D and a loading station E. The loading station E is where the electronic scale bottom shell 100 on which the sensor assembly needs to be installed is placed.

[0101] The assembly conveyor line 800 includes a first conveying mechanism 20 for conveying the sensor assembly 900 from the sensor assembly transfer station C of the loading conveyor line 700 to the moving station D;

[0102] The shifting station D is used to arrange the four side-by-side sensor assemblies 900 into a predetermined first shape. The first shape is the same as the arrangement shape of the four sensor mounting positions 200 on the electronic scale bottom shell 100, so that each sensor assembly corresponds to a sensor mounting position 200 on the electronic scale bottom shell 100 after being transported from the shifting station D to the loading station E. In this embodiment, the sensor mounting positions 200 on the electronic scale bottom shell 100 are distributed at the four corners of the electronic scale bottom shell, and the four sensor mounting positions 200 are arranged in a square. Therefore, the four sensor assemblies on the shifting station D are arranged in a square after being shifted, that is, the first shape is a square. Of course, the arrangement shape of the sensor mounting positions 200 on the electronic scale bottom shell 100 and the first shape can also be circular.

[0103] The loading station E is used to load the sensor assembly 900 into the bottom shell 100 of the electronic scale, wherein each sensor installation position 200 is loaded with one sensor assembly 900.

[0104] This technical solution can realize assembly line assembly and achieve orderly arrangement of sensor components with the help of the carrier, saving time for manual sorting and effectively improving assembly efficiency.

[0105] The assembly conveyor line 800 further includes a shifting mechanism 30 provided at a shifting station D;

[0106] like Figures 30 to 37 As shown, the shifting mechanism 30 includes a shifting frame 301, a shifting main sliding frame 302, a shifting first auxiliary sliding frame 303, a shifting second auxiliary sliding frame 304, and four shifting bearing components 305;

[0107] The main moving slide 302 is mounted on the moving frame 301 so as to slide along the Y-axis, and a first driving mechanism for driving the main moving slide 302 to slide is provided between the main moving slide 302 and the moving frame 301. In this embodiment, a first guiding mechanism for guiding the main moving slide 302 to slide along the Y-axis is also provided between the main moving slide 302 and the moving frame 301.

[0108] The first shifting auxiliary sliding frame 303 and the second shifting auxiliary sliding frame 304 are both mounted on the shifting main sliding frame 302 so as to slide along the X axis;

[0109] A second driving mechanism is provided between the first sub-sliding frame 303 and the main sliding frame 302 for driving the first sub-sliding frame 303 to slide. In this embodiment, a second guiding mechanism is further provided between the first sub-sliding frame 303 and the main sliding frame 302 for guiding the first sub-sliding frame 303 to slide along the X-axis.

[0110] A third driving mechanism is provided between the second sub-sliding frame 304 and the main sliding frame 302 for driving the second sub-sliding frame 304 to slide. In this embodiment, a third guiding mechanism is further provided between the second sub-sliding frame 304 and the main sliding frame 302 for guiding the second sub-sliding frame 304 to slide along the X-axis.

[0111] Each transfer carrying assembly 305 is configured to receive a sensor assembly 900 from the first transport mechanism 20;

[0112] Of the four transfer bearing assemblies 305 , two are mounted on the transfer frame 301 , one is mounted on the transfer first sub-sliding frame 303 , and one is mounted on the transfer second sub-sliding frame 304 ;

[0113] When the main moving slide frame 302 slides along the Y axis, the four moving bearing assemblies 305 can be selectively arranged side by side on a straight line parallel to the X axis;

[0114] The X-axis and the Y-axis are perpendicular to each other.

[0115] This technical solution uses a shifting mechanism to automatically arrange the four sensor components from a straight line to a first shape to adapt to the arrangement of the four sensor installation positions of the electronic scale bottom shell. This not only saves labor, but also facilitates the subsequent installation of the four sensor components in the electronic scale bottom shell.

[0116] The transfer and carrying assembly 305 includes a carrying platform 306 that rotates about the Z-axis and a transfer and rotation driving mechanism 307 for driving the carrying platform 306 to rotate. In this embodiment, the transfer and rotation driving mechanism 307 can be a motor. The carrying platform 306 is mounted on the output shaft of the transfer and rotation driving mechanism 307. The carrying platform 306 is used to place the sensor assembly 900. The carrying platform 306 is provided with a first vacuum suction cup 308 for adsorbing the sensor assembly 900 placed on the carrying platform. In this embodiment, the first vacuum suction cup 308 is connected to a vacuum generator (not shown) via a pipeline.

[0117] The X-axis, the Y-axis, and the Z-axis are perpendicular to each other and form a spatial rectangular coordinate system.

[0118] Since the orientations of the four sensor assemblies assembled on the bottom shell of the electronic scale are different, in this embodiment, the orientation of the sensor assembly is adjusted by rotating the sensor assembly around the Z axis to adapt to the actual orientation of the sensor assembly assembled on the bottom shell of the electronic scale. This not only ensures the accuracy of assembly but also improves the efficiency of assembly.

[0119] The assembly conveyor line 800 further includes a second transport mechanism 40 for transporting the sensor assembly 900 that has arrived at the transfer station D to the loading station E. In this embodiment, the electronic scale bottom shell 100 is placed at the loading station E.

[0120] like Figures 38 to 45 As shown, the second transport mechanism 40 includes a second transport frame 401, a second transport sliding frame 402, a second transport lifting frame 403 and four second grab and place mechanisms 404;

[0121] The second transport slide 402 is slidably mounted on the second transport frame 401 along the Y-axis. A tenth driving mechanism for driving the second transport slide 402 to slide is provided between the second transport slide 402 and the second transport frame 401. In this embodiment, a tenth guide mechanism for guiding the second transport slide to slide along the Y-axis is further provided between the second transport slide and the second transport frame.

[0122] The second transport lift 403 is mounted on the second transport slide 402 so as to be lifted up and down along the Z-axis. An eleventh driving mechanism is provided between the second transport lift 403 and the second transport slide 402 for driving the second transport lift 403 to slide. In this embodiment, an eleventh guide mechanism is further provided between the second transport lift and the second transport slide for guiding the second transport lift to be lifted up and down along the Z-axis.

[0123] The four second grabbing and placing mechanisms 404 are installed on the second transport lifting frame 403, and the four second grabbing and placing mechanisms 404 are arranged in a first shape, that is, the four second grabbing and placing mechanisms 404 are arranged in a square;

[0124] Each second grabbing and placing mechanism 404 includes a second grabbing and placing component 405 for grabbing and placing the sensor assembly 900 and a first pushing mechanism for pressing the sensor assembly 900 on the second grabbing and placing component 405 into the sensor mounting position 200 of the bottom shell of the electronic scale. After being moved by the moving mechanism 30 on the moving station D, the four sensor assemblies 900 arranged in the first shape (i.e., a square) are respectively grabbed by a second grabbing and placing component 405.

[0125] This technical solution can automatically and synchronously install the four sensor assemblies into the bottom shell of the electronic scale by providing a second transport mechanism, further improving production efficiency. The first pushing mechanism can press the sensor assembly into the sensor installation position to achieve the fastening of the second snap structure.

[0126] The first pushing mechanism includes a first pushing block 406 and a first pushing driving mechanism 407 provided on the second transport lifting frame 403 for driving the first pushing block 406 to move up and down along the Z axis;

[0127] When the first pushing block 406 descends, it pushes the sensor assembly 900 on the second grab and release component 405 into the sensor installation position 200 of the bottom shell of the electronic scale;

[0128] The second pick-and-place component 405 includes a second vacuum suction cup. In this embodiment, the second vacuum suction cup is also connected to a vacuum generator (not shown) via a pipeline. The first pushing mechanism disclosed in this technical solution is rationally designed, simple in structure, and easy to implement.

[0129] like Figures 24 to 29 As shown, the first transport mechanism 20 includes a first transport frame 201, a first transport sliding frame 202, a first transport lifting frame 203 and four first grab and place mechanisms 204;

[0130] The first transport slide 202 is slidably mounted on the first transport frame 201 along the Y-axis. A fourth driving mechanism for driving the first transport slide 202 to slide is provided between the first transport slide 202 and the first transport frame 201. In this embodiment, a fourth guide mechanism for guiding the first transport slide 202 to slide along the Y-axis is further provided between the first transport slide 202 and the first transport frame 201.

[0131] The first transport lift 203 is slidably mounted on the first transport slide 202 along the Z-axis. A fifth driving mechanism is provided between the first transport lift 203 and the first transport slide 202 for driving the first transport lift 203 to slide. In this embodiment, a fifth guide mechanism is further provided between the first transport lift 203 and the first transport slide 202 for guiding the first transport lift 203 to slide along the Z-axis.

[0132] The four first grasping and placing mechanisms 204 are installed on the first transport lifting frame 203 and arranged side by side in a straight line. The four sensor assemblies 900 arranged side by side in a straight line at the sensor assembly transfer station C are each grasped by a first grasping and placing mechanism 204.

[0133] Each first pick-and-place mechanism 204 includes a first pick-and-place fixed frame 205, a first pick-and-place movable frame 206, and a first pick-and-place component 207 for picking up and placing the sensor assembly 900;

[0134] The first pick-and-place fixing frame 205 is fixedly mounted on the first transport lifting frame 203;

[0135] The first grab and place movable frame 206 is rotatably mounted on the first grab and place fixed frame 205 around the Y axis;

[0136] The first pick-and-place fixed frame 205 is provided with an angle adjustment driving mechanism for driving the first pick-and-place movable frame 206 to rotate;

[0137] The first grabbing and placing component 207 is installed on the first grabbing and placing movable frame 206;

[0138] The carrying platform 306 of the moving carrying assembly is provided with a carrying surface 309 for carrying the sensor assembly 900, and the carrying surface 309 is inclined;

[0139] Each second pick-and-place mechanism 404 further includes a positioning surface 408 parallel to the carrying surface 309;

[0140] The sensor assembly 900, grasped by the second grasping and releasing mechanism 404, rests against the positioning surface 408, allowing the sensor assembly 900 to be tilted into the sensor mounting position 200 of the electronic scale bottom housing, facilitating engagement of the second snap structure. This technical solution facilitates the installation of the sensor assembly into the sensor mounting position, particularly the engagement of the sensor base with the second snap structure at the sensor mounting position. This tilted press-fit installation method is similar to the installation method of dry cell batteries.

[0141] In this embodiment, the tilt angle of the supporting surface 309 (ie, the angle between the supporting surface 309 and the horizontal plane) is 10 to 25 degrees, in particular, 15 degrees.

[0142] In this embodiment, after the first pick-and-place component 207 grasps the sensor assembly 900, the angle adjustment drive mechanism drives the first pick-and-place movable frame 206 to rotate relative to the first pick-and-place fixed frame 205 to a predetermined angular position. This predetermined angular position is set so that the sensor assembly is parallel to the supporting surface 309. As a result, when the first pick-and-place component 207 reaches the supporting platform 306 for moving the supporting assembly and releases the grasped sensor assembly 900, it can adapt to the tilt angle of the supporting surface 309, so that the sensor assembly 900 can land smoothly on the supporting surface 309. In this embodiment, a protruding stop 310 protruding from the supporting surface 309 is provided on the supporting platform 306 to prevent the sensor assembly 900 from sliding off.

[0143] The angle adjustment drive mechanism includes a first cylinder 208;

[0144] The cylinder body of the first cylinder 208 is hinged on the first pick-and-place fixing frame 205;

[0145] The piston rod of the first cylinder 208 is hinged to the first grab and place movable frame 206;

[0146] The first gripping and placing component 207 is a pneumatic gripper;

[0147] The first pick-and-place fixed frame 205 is provided with a limit stopper 209. The limit stopper 209 is located on the path of rotation of the first pick-and-place movable frame 206 relative to the first pick-and-place fixed frame 205. This ensures that the first pick-and-place movable frame 206 reaches a predetermined angular position when it rotates to abut against the limit stopper 209. The limit stopper allows for more accurate angle adjustment. This technical solution has a simple structure and is easy to implement.

[0148] The pneumatic gripper can be made of existing technology and is typically composed of a cylinder and two jaws. The cylinder drives the two jaws to close or open to grip or release the sensor assembly. Of course, in addition to using pneumatic grippers, the first gripping and placing component can also be a vacuum suction cup to grip and place the sensor assembly.

[0149] like Figure 7 and Figure 8 As shown, the loading conveyor line includes a left belt conveyor line 50 and a right belt conveyor line 60 which are parallel to each other and convey in opposite directions;

[0150] The conveying direction of the left belt conveyor line 50 is from the front end 501 of the left belt conveyor line to the rear end 502 of the left belt conveyor line. In this embodiment, the conveying direction of the left belt conveyor line 50 is parallel to the X-axis;

[0151] The conveying direction of the right belt conveyor line 60 is from the head end 601 of the right belt conveyor line to the tail end 602 of the right belt conveyor line, wherein,

[0152] The front end 501 of the left belt conveyor line is opposite to the rear end 602 of the right belt conveyor line;

[0153] The tail end 502 of the left belt conveyor line is opposite to the head end 601 of the right belt conveyor line;

[0154] A third transport mechanism 503 is provided at the front end 501 of the left belt conveyor line for transporting the carrier 10 arriving at the tail end 602 of the right belt conveyor line to the front end 501 of the left belt conveyor line;

[0155] A fourth transport mechanism 504 is provided at the tail end 502 of the left belt conveyor line for transporting the object carrier 10 arriving at the tail end 502 of the left belt conveyor line to the head end 601 of the right belt conveyor line;

[0156] The left belt conveyor line 50 and the right belt conveyor line 60 are connected to form a circular conveying path via a third conveying mechanism 503 and a fourth conveying mechanism 504;

[0157] The conveying direction of the feeding conveying line is formed from the front end 501 of the left belt conveyor line, the tail end 502 of the left belt conveyor line, the tail end 602 of the right belt conveyor line to the head end 601 of the right belt conveyor line;

[0158] This technical solution uses two belt conveyor lines to form a circular conveying path, which can save space;

[0159] The sensor loading station A is provided on the left belt conveyor line 50. In this embodiment, the sensor loading station is located in the middle of the left belt conveyor line;

[0160] The sensor seat loading station B and the sensor assembly transfer station C are both located on the right belt conveyor line 60. In this embodiment, the sensor seat loading station B is close to the head end 601 of the right belt conveyor line, while the sensor assembly transfer station C is close to the tail end 602 of the right belt conveyor line.

[0161] The assembly conveyor line 800 is arranged on one side of the right belt conveyor line 60 .

[0162] In this embodiment, the third transport mechanism 503 and the fourth transport mechanism 504 have the same structure, including a third transport frame 505, a third transport sliding frame 506, a third transport lifting frame 507 and a third pick-and-place mechanism 508 for picking up and placing the object carrier 10;

[0163] The third transport slide 506 is slidably mounted on the third transport frame 505 along the Y-axis. A sixth driving mechanism for driving the third transport slide 506 to slide is provided between the third transport slide 506 and the third transport frame 505. In this embodiment, a sixth guide mechanism for guiding the third transport slide 506 to slide along the Y-axis is further provided between the third transport slide 506 and the third transport frame 505.

[0164] The third transport lift 507 is slidably mounted on the third transport slide 506 along the Z-axis. A seventh driving mechanism is provided between the third transport lift 507 and the third transport slide 506 for driving the third transport lift 507 to slide. In this embodiment, a seventh guide mechanism is further provided between the third transport lift 507 and the third transport slide 506 for guiding the third transport lift 507 to slide along the Z-axis.

[0165] The third pick-and-place mechanism 508 is installed on the third transport lifting frame 507 . In this embodiment, the third pick-and-place mechanism 508 also uses pneumatic grippers.

[0166] like Figure 5 and Figure 6 As shown, a sensor seat loading mechanism 70 is also provided on one side of the right belt conveyor line 60;

[0167] In this embodiment, the sensor seat loading mechanism 70 and the assembly conveyor line 800 are located on the same side of the right belt conveyor line 60, and the sensor seat loading mechanism 70 is close to the sensor seat loading station B, and the assembly conveyor line 800 is close to the sensor assembly transfer station C;

[0168] The sensor base feeding mechanism 70 includes a feeding frame 701, a feeding sliding frame 702, a feeding lifting frame 703 and four fourth grabbing and releasing mechanisms 704;

[0169] The loading slide 702 is slidably mounted on the loading frame 701 along the Y axis. An eighth driving mechanism for driving the loading slide 702 to slide is provided between the loading slide 702 and the loading frame 701. In this embodiment, an eighth guide mechanism for guiding the loading slide 702 to slide along the Y axis is further provided between the loading slide 702 and the loading frame 701.

[0170] The loading lifting frame 703 is mounted on the loading slide 702 so as to be lifted up and down along the Z axis. A ninth driving mechanism for driving the loading lifting frame 703 to slide is provided between the loading lifting frame 703 and the loading slide 702. In this embodiment, a ninth guiding mechanism for guiding the loading lifting frame 703 to be lifted up and down along the Z axis is further provided between the loading lifting frame 703 and the loading slide 702.

[0171] The four fourth grasping and placing mechanisms 704 are installed on the loading lifting frame 703, and the four fourth grasping and placing mechanisms 704 are arranged side by side in a straight line;

[0172] Each fourth pick-and-place mechanism 704 includes a fourth pick-and-place component 705 for picking up and placing a sensor holder 300 and a fourth pressing mechanism for pressing the sensor holder 300 on the fourth pick-and-place component 705 onto the sensor 400 on the object carrier 10. The sensor holders 300 picked up by the four fourth pick-and-place components 705 are pressed onto a sensor 400 on the object carrier 10 that has arrived at the sensor holder loading station B.

[0173] This technical solution can automatically and synchronously load the four sensor holders into the four sensors on the loading base by setting up a sensor holder feeding mechanism, further improving production efficiency. The fourth pushing mechanism can press the sensor holder onto the sensor to achieve the fastening of the first snap structure.

[0174] The fourth pushing mechanism includes a fourth pushing block 706 and a fourth pushing driving mechanism 707 provided on the loading lifting frame 703 for driving the fourth pushing block 706 to move up and down along the Z axis;

[0175] When the fourth pushing block 706 descends, it pushes the sensor base 300 on the fourth pick-and-place component 705 to press onto the sensor 400 on the object carrier 10 .

[0176] The fourth gripping and placing component 705 is also a pneumatic gripper.

[0177] The fourth pushing mechanism disclosed in this technical solution has a reasonable design, a simple structure and is easy to implement.

[0178] In this embodiment, the first to eleventh driving mechanisms, the first pushing driving mechanism and the fourth pushing driving mechanism can be motors, cylinders, electric push rods, etc., and the first to eleventh guiding mechanisms can be conventional guide rail structures.

[0179] The working principle of the present invention is as follows:

[0180] 1. Sensor loading

[0181] like Figure 8As shown, when the empty carrier arrives at the sensor loading station A, a sensor 400 is placed on each of the four placement platforms 101 of the carrier 10. The sensors can be placed manually.

[0182] 2. Move the carrier with the sensor from the left belt conveyor line to the right belt conveyor line

[0183] like Figure 9 As shown, after the carrier 10 carrying the sensor 400 reaches the tail end 502 of the left belt conveyor line, the carrier 10 is transported to the head end 601 of the right belt conveyor line by the third transport mechanism 503 .

[0184] 3. Loading the sensor seat

[0185] like Figure 19 As shown, the carrier 10 carrying four sensors 400 arrives at the sensor base loading station B, and the four fourth grabbing and placing mechanisms 704 of the sensor base loading mechanism 70 each grabs one sensor base 300;

[0186] like Figure 20 As shown, in Figure 19 On this basis, the loading slide 702 is driven to slide along the Y axis toward the sensor base loading station B, and the four fourth pick-and-place mechanisms 704 are made to reach just above the object carrier 10;

[0187] like Figure 21 As shown, in Figure 20 On this basis, the loading lifting frame 703 is first lowered to a predetermined position so that the sensor holders 300 grasped by the four fourth grasping and releasing mechanisms 704 are respectively attached to a sensor 400 on the loading base 10, and then each fourth grasping and releasing mechanism 704 drives its fourth pushing block 706 to descend, and the fourth grasping and releasing component 705 releases the sensor holder 300 it grasped, so that the fourth pushing block 706 can press the sensor holder 300 onto the sensor 400, thereby realizing the installation of the sensor holder 300 on the sensor 400.

[0188] After the installation of the sensor holder 300 is completed, the loading lifting frame 703 is driven to rise.

[0189] 4. Move the sensor assembly from the right belt conveyor line to the transfer mechanism

[0190] like Figure 46 As shown, the transfer carrying components 305 of the transfer mechanism 30 are arranged side by side on a straight line parallel to the X-axis. The carrier 10 carrying the four sensor assemblies 900 arrives at the sensor assembly transfer station C. The first transport slide 202 of the first transport mechanism is driven to slide along the Y-axis toward the sensor assembly transfer station C, and the four first pick-and-place mechanisms 204 are positioned directly above the carrier 10.

[0191] like Figure 47 As shown, in Figure 46 On the basis of the above, the first transport lifting frame 203 is first lowered to a predetermined position so that the four first grabbing and placing components 207 are respectively attached to a sensor assembly 900 on the carrier 10, and then each first grabbing and placing component 207 grabs the sensor assembly 900 it is attached to.

[0192] like Figure 48 As shown, in Figure 47 On this basis, the first transport lift 203 is first lifted and reset, so that the sensor assembly 900 grasped by the four first grasping and placing components 207 is separated from the object carrier 10.

[0193] like Figure 49 As shown, in Figure 48 On this basis, the first transport sliding frame 202 is driven to slide along the Y-axis toward the shifting mechanism 30 , so that the four first grabbing and placing components 207 arrive right above the four shifting carrying components 305 .

[0194] like Figure 50 As shown, in Figure 49 On this basis, the first grabbing and placing movable frame 206 is driven to rotate to a predetermined angular position, so that the first grabbing and placing component 207 grabs the sensor assembly 900 parallel to the carrying surface 309 .

[0195] like Figure 51 As shown, in Figure 50 On this basis, the first transport lifting frame 203 is driven to descend to a predetermined position so that the sensor components 900 grasped by the four first grasping and placing components 207 are respectively placed against the bearing surface 309 of a bearing platform of a moving bearing component 305.

[0196] like Figure 52 As shown, in Figure 51 On the basis of this, the four first grasping and releasing components 207 release the sensor assembly 900, so that the sensor assembly 900 falls on the carrying surface 309 and is supported by the carrying surface 309, and then the first transport lifting frame 203 is driven to rise and reset, thereby completing the transportation of the sensor assembly 900 from the sensor assembly transfer station C of the right belt conveyor line to the moving mechanism.

[0197] 5. Move the sensor assembly

[0198] like Figure 53 As shown, the shifting mechanisms are arranged side by side on a straight line parallel to the X-axis, and the shifting carrying assembly 305 receives the sensor assembly 900 from the first transport mechanism 20 .

[0199] like Figure 54 As shown, in Figure 53On the basis of this, the main sliding frame 302 is first moved backward, and then the first sub-sliding frame 303 and the second sub-sliding frame 304 are driven to move relatively away from each other, thereby arranging the four moving bearing components 305 into a first shape (ie, a square).

[0200] like Figure 55 As shown, in Figure 54 Based on the orientation requirement of the sensor assembly to be installed on the bottom shell of the electronic scale, the supporting platform 306 of the sensor assembly that needs to be adjusted is driven to rotate, so as to achieve the purpose of adjusting the direction of the sensor assembly.

[0201] 6. Install the sensor assembly into the bottom shell of the electronic scale

[0202] like Figure 56 As shown, the electronic scale bottom shell is placed at the loading station E, driving the second transport slide 402 of the second transport mechanism to slide along the Y axis toward the transfer mechanism 30 at the transfer station D, and causing the four second pick-and-place mechanisms 404 to reach directly above the four transfer bearing assemblies 305;

[0203] like Figure 57 As shown, in Figure 56 On this basis, the second transport lifting frame 403 is first lowered to a predetermined position so that the four second grabbing and placing components 405 are respectively attached to a sensor component 900 of a carrying platform of the moving carrying component 305, and then the second grabbing and placing components 405 adsorb the sensor component 900, so that the adsorbed sensor component 900 can be attached to the positioning surface 408.

[0204] like Figure 58 As shown, in Figure 57 On this basis, the second transport lifting frame 403 is driven to rise and reset, so that the sensor assembly 900 adsorbed by the second pick-and-place component 405 is separated from the carrying platform 306.

[0205] like Figure 59 As shown, in Figure 58 On this basis, the second transport sliding frame 402 is driven to slide along the Y axis toward the loading station E, and the four second pick-and-place mechanisms 404 are made to arrive just above the four sensor installation positions 200 of the bottom shell of the electronic scale.

[0206] like Figure 60 As shown, in Figure 59 On this basis, the second transport lifting frame 403 is driven to descend to another predetermined position, so that the sensor components 900 adsorbed by the four second pick-and-place components 405 respectively enter one sensor installation position 200.

[0207] Figure 61 Shown Figure 60The schematic diagram of a second pick-and-place mechanism 404 is shown in FIG. 4 , wherein the sensor assembly 900 adsorbed by the second pick-and-place component 405 enters the sensor installation position 200 in an inclined state. Figure 62 Shown Figure 61 main view.

[0208] like Figure 63 As shown, in Figure 61 On the basis of driving the first pushing block 406 downward to push the sensor assembly 900 on the second pick-and-place component 405 into the sensor installation position 200 of the bottom shell of the electronic scale, wherein Figure 64 Shown Figure 63 main view.

[0209] In this way, the sensor assembly can be installed in the sensor installation position 200 of the bottom shell of the electronic scale.

[0210] 7. Move the empty carrier from the right belt conveyor line back to the left belt conveyor line

[0211] like Figure 10 As shown, after the empty carrier 10 reaches the tail end 602 of the right belt conveyor line, the carrier 10 is transported to the front end 501 of the left belt conveyor line by the fourth transport mechanism 504 .

Claims

1. An automatic conveying and assembly machine for conveying and installing sensors into the bottom shell of an electronic scale, wherein the bottom shell of the electronic scale is provided with four sensor installation positions, characterized in that: Including loading conveyor line and assembly conveyor line; The loading conveyor line is used to transport a carrier, and the carrier is provided with four shelves arranged side by side in a straight line; Along the conveying direction of the feeding conveyor line, there are sensor feeding stations, sensor seat feeding stations and sensor component transfer stations. The sensor loading station is used to place a sensor on each shelf of the object carrier; The sensor seat loading station is used to install a sensor seat on each sensor on the object carrier, so that the sensor and the sensor seat form an integrated sensor assembly; The assembly conveyor line is used to transport sensor components; Along the conveying direction of the assembly conveyor line, there are shifting stations and loading stations in sequence; The assembly conveyor line includes a first conveying mechanism for conveying the sensor assembly from the sensor assembly transfer station of the loading conveyor line to the moving station; The shifting station is used to arrange the four side-by-side sensor assemblies into a predetermined first shape, which is the same as the arrangement shape of the four sensor installation positions on the bottom shell of the electronic scale; The loading station is used to load the sensor assembly into the bottom shell of the electronic scale, wherein each sensor installation position is loaded with a sensor assembly; The assembly conveyor line further comprises a shifting mechanism provided at the shifting station; The shifting mechanism includes a shifting frame, a shifting main sliding frame, a shifting first auxiliary sliding frame, a shifting second auxiliary sliding frame, and four shifting bearing components; The main moving slide frame is mounted on the moving frame in a sliding manner along the Y axis, and a first driving mechanism for driving the main moving slide frame to slide is provided between the main moving slide frame and the moving frame; The first shifting auxiliary sliding frame and the second shifting auxiliary sliding frame are both mounted on the shifting main sliding frame in a sliding manner along the X-axis; A second driving mechanism for driving the first shifting auxiliary sliding frame to slide is provided between the shifting first auxiliary sliding frame and the shifting main sliding frame; A third driving mechanism is provided between the second shifting auxiliary sliding frame and the main shifting sliding frame for driving the second shifting auxiliary sliding frame to slide; Each transfer carrying assembly is configured to receive a sensor assembly from the first transport mechanism; Of the four transfer bearing components, two are mounted on the transfer frame, one is mounted on the first transfer sliding frame, and one is mounted on the second transfer sliding frame; When the main moving sliding frame slides along the Y axis, the four moving bearing components can be arranged side by side on a straight line parallel to the X axis; The X-axis and Y-axis are perpendicular to each other; The transfer bearing assembly includes a bearing platform that rotates about the Z axis and a transfer rotation drive mechanism for driving the bearing platform to rotate. The bearing platform is used to place the sensor assembly. The bearing platform is provided with a first vacuum suction cup for adsorbing the sensor assembly placed on the bearing platform. The X-axis, the Y-axis, and the Z-axis are perpendicular to each other and form a spatial rectangular coordinate system.

2. The automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale according to claim 1, characterized in that: The assembly conveyor line further includes a second transport mechanism for transporting the sensor assembly arriving at the shifting station to the loading station; The second transport mechanism includes a second transport frame, a second transport sliding frame, a second transport lifting frame and four second pick-and-place mechanisms; The second transport slide is slidably mounted on the second transport frame along the Y axis, and a tenth driving mechanism for driving the second transport slide to slide is provided between the second transport slide and the second transport frame; The second transport lifting frame is installed on the second transport sliding frame so as to be lifted up and down along the Z axis, and an eleventh driving mechanism for driving the second transport lifting frame to slide is provided between the second transport lifting frame and the second transport sliding frame; The four second grabbing and placing mechanisms are installed on the second transport lifting frame, and the four second grabbing and placing mechanisms are arranged in a first shape; Each second grabbing and placing mechanism includes a second grabbing and placing component for grabbing and placing the sensor assembly and a first pushing mechanism for pressing the sensor assembly on the second grabbing and placing component into the sensor mounting position of the bottom shell of the electronic scale. The four sensor assemblies arranged in the first shape on the moving station are respectively grabbed by a second grabbing and placing component.

3. The automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale according to claim 2, characterized in that: The first pushing mechanism includes a first pushing block and a first pushing driving mechanism provided on the second transport lifting frame for driving the first pushing block to move up and down along the Z axis; When the first pushing block descends, it pushes the sensor assembly on the second grab and release component into the sensor installation position of the bottom shell of the electronic scale; The second pick-and-place component includes a second vacuum suction cup.

4. The automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale according to claim 3, characterized in that: The first transport mechanism includes a first transport frame, a first transport sliding frame, a first transport lifting frame and four first grab and place mechanisms; The first transport slide is slidably mounted on the first transport frame along the Y axis, and a fourth driving mechanism for driving the first transport slide to slide is provided between the first transport slide and the first transport frame; The first transport lifting frame is slidably mounted on the first transport sliding frame along the Z axis, and a fifth driving mechanism for driving the first transport lifting frame to slide is provided between the first transport lifting frame and the first transport sliding frame; The four first grasping and placing mechanisms are installed on the first transport lifting frame, and the four first grasping and placing mechanisms are arranged side by side in a straight line. The four sensor assemblies arranged side by side in a straight line at the sensor assembly transfer station are respectively grasped by one first grasping and placing mechanism; Each first pick-and-place mechanism includes a first pick-and-place fixed frame, a first pick-and-place movable frame, and a first pick-and-place component for picking up and placing the sensor assembly; The first pick-and-place fixing frame is fixedly mounted on the first transport lifting frame; The first pick-and-place movable frame is rotatably mounted on the first pick-and-place fixed frame around the Y axis; The first pick-and-place fixed frame is provided with an angle adjustment driving mechanism for driving the first pick-and-place movable frame to rotate; The first grabbing and placing component is installed on the first grabbing and placing movable frame; The carrying platform of the shifting carrying assembly is provided with a carrying surface for carrying the sensor assembly, and the carrying surface is inclined; Each second pick-and-place mechanism further includes a positioning surface parallel to the carrying surface; The sensor assembly grasped by the second grasping and placing mechanism abuts against the positioning surface.

5. The automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale according to claim 4, characterized in that: The angle adjustment drive mechanism includes a first cylinder; The cylinder body of the first cylinder is hinged on the first catch-and-place fixing frame; The piston rod of the first cylinder is hinged to the first grab and place movable frame; The first gripping and placing component is a pneumatic gripper; The first grab and place fixed frame is provided with a limit stop bar, which is located on the path of the first grab and place movable frame rotating relative to the first grab and place fixed frame, so that the first grab and place movable frame reaches a predetermined angular position when it rotates to abut against the limit stop bar.

6. The automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale according to any one of claims 1 to 5, characterized in that: The feeding conveyor line includes a left belt conveyor line and a right belt conveyor line which are parallel to each other and convey in opposite directions; The conveying direction of the left belt conveyor line is from the head end of the left belt conveyor line to the tail end of the left belt conveyor line; The conveying direction of the right belt conveyor line is from the head end of the right belt conveyor line to the tail end of the right belt conveyor line, wherein, The head end of the left belt conveyor line is opposite to the tail end of the right belt conveyor line; The tail end of the left belt conveyor line is opposite to the head end of the right belt conveyor line; A third transport mechanism is provided at the head end of the left belt conveyor line for transporting the object carrier arriving at the tail end of the right belt conveyor line to the head end of the left belt conveyor line; A fourth transport mechanism is provided at the tail end of the left belt conveyor line for transporting the object carrier arriving at the tail end of the left belt conveyor line to the head end of the right belt conveyor line; The left belt conveyor line and the right belt conveyor line are connected to form a circular conveying path via a third conveying mechanism and a fourth conveying mechanism; The conveying direction of the feeding conveyor line is formed from the starting end of the left belt conveyor line, the tail end of the left belt conveyor line, the starting end of the right belt conveyor line to the tail end of the right belt conveyor line; The sensor loading station is located on the left belt conveyor line; The sensor seat loading station and the sensor assembly transfer station are both located on the right belt conveyor line; The assembly conveyor line is arranged on one side of the right belt conveyor line.

7. The automatic conveying and assembling machine for conveying and installing sensors into the bottom shell of an electronic scale according to claim 6, characterized in that: A sensor seat loading mechanism is also provided on one side of the right belt conveyor line; The sensor seat feeding mechanism includes a feeding frame, a feeding sliding frame, a feeding lifting frame and four fourth grabbing and releasing mechanisms; The loading slide is slidably mounted on the loading frame along the Y axis, and an eighth driving mechanism for driving the loading slide to slide is provided between the loading slide and the loading frame; The loading lifting frame is installed on the loading sliding frame so as to be lifted up and down along the Z axis, and a ninth driving mechanism for driving the loading lifting frame to slide is provided between the loading lifting frame and the loading sliding frame; The four fourth grasping and placing mechanisms are installed on the loading lifting frame, and the four fourth grasping and placing mechanisms are arranged side by side in a straight line; Each fourth pick-and-place mechanism includes a fourth pick-and-place component for picking up and placing a sensor seat and a fourth pushing mechanism for pressing the sensor seat on the fourth pick-and-place component into the sensor on the object carrier. The sensor seats picked up by the four fourth pick-and-place components are respectively pressed into a sensor on the object carrier that arrives at the sensor seat loading station. The fourth pushing mechanism includes a fourth pushing block and a fourth pushing driving mechanism provided on the loading lifting frame for driving the fourth pushing block to move up and down along the Z axis; When the fourth pushing block descends, it pushes the sensor seat on the fourth grabbing and placing component to press onto the sensor of the object carrier.

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