Vibration feeding, cutting and implanting device

Abstract

The application relates to the technical field of acoustic loudspeaker accessory processing, in particular to a vibration feeding, cutting and implanting equipment which solves the problems existing in the prior art, and comprises a machine box, a material disc feeding rack assembly, a camera assembly, a terminal carrying module assembly and a terminal carrying module assembly, the material disc feeding rack assembly and the terminal carrying module assembly are arranged on one side area of the machine box in an integrated mode to form a terminal lug feeding channel, the terminal carrying module assembly is arranged on the other side area of the machine box to form a terminal lug feeding channel, the two feeding channels are arranged in a left-right separation and physical isolation mode in space and converge at the end to the same mechanical hand taking area, the application realizes high-precision, high-efficiency and high-consistency feeding of the terminal lug and the terminal lug through visual closed loop orientation, dynamic posture correction, feeding-cutting linkage closed loop control and double-channel asynchronous parallel feeding mechanism, and the assembly yield and the changeover efficiency are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of acoustic loudspeaker component processing technology, and in particular to a vibration feeding, cutting and implantation device. Background Technology

[0002] In the automated assembly of precision components such as electronic connectors for acoustic loudspeakers, efficient and high-precision feeding of washers and irregularly shaped small parts such as solder pads is a key link in ensuring the quality and efficiency of the entire assembly line. Traditional equipment usually uses a vibratory feeder in conjunction with a simple robotic arm for feeding. However, due to the poor symmetry, easy flipping, and random posture of washers, subsequent implantation failures often occur due to incorrect orientation or positional deviations. Solder pads, on the other hand, have high requirements for dimensional consistency and are easily affected by tension fluctuations during feeding and cutting, resulting in length deviations or even breakage.

[0003] In existing technologies, most equipment lacks the ability to identify and dynamically correct the posture of materials in real time. Furthermore, the feeding channels of washers and solder pads often adopt a series structure or share some mechanisms, which not only limits the cycle time but also easily reduces the stability of the system due to motion interference.

[0004] Furthermore, traditional cutting mechanisms rely heavily on fixed-stroke feeding, making it difficult to adjust based on actual cutting results. This results in the weld piece length tolerance being difficult to control within the assembly tolerance range. Although some equipment has introduced vision inspection modules, these are typically only used for post-processing judgment and cannot form a closed-loop control system to drive the actuator to adjust the material posture in real time. Additionally, existing equipment requires significant manual intervention during product changeovers, has low modularity, and requires long debugging times, making it difficult to meet the needs of flexible manufacturing.

[0005] Therefore, there is an urgent need for a vibration feeding, cutting and implantation equipment that integrates high-precision visual recognition, dynamic posture compensation, dual-channel parallel feeding and closed-loop feeding and cutting to solve key technical problems such as inaccurate material orientation, slow feeding cycle, poor dimensional consistency and low changeover efficiency, thereby improving the overall yield and production efficiency of automated assembly of electronic connectors.

[0006] Therefore, it is necessary to provide a vibratory feeding, cutting, and implantation device to solve the problems mentioned above. Summary of the Invention

[0007] The purpose of this invention is to provide a vibration feeding, cutting, and implantation device to solve the problems mentioned in the background art.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0009] A vibration feeding, cutting, and implantation device includes a chassis, a material tray feeding rack assembly, a camera assembly, a washer handling module assembly, and a terminal handling module assembly. The material tray feeding rack assembly and the terminal handling module assembly are integrated and arranged in one side area of ​​the chassis to form a solder sheet feeding channel. The washer handling module assembly is arranged in the other side area of ​​the chassis to form a washer feeding channel. The two feeding channels are spatially separated and physically isolated, and converge at the same robotic arm picking area at the end.

[0010] The washer handling module assembly includes a fixed platform, a shaping module assembly, and a transfer module. The transfer module reciprocates between the fixed platform and the shaping module assembly. The camera assembly is vertically mounted directly above the fixed platform to collect washer angle deviation values.

[0011] The transfer module is equipped with a composite actuator, which integrates a Z-axis lifting servo unit and a θ-axis rotation servo unit. A vacuum nozzle is provided at the end of the composite actuator. During the process of transferring the washer to the shaping module assembly, the transfer module synchronously drives the θ-axis rotation servo unit to perform aerial attitude compensation of the washer according to the angle deviation value.

[0012] The shaping module assembly includes a shaping platform, two sets of symmetrically arranged shaping parts, and a translation component driven by a cylinder. The shaping platform is provided with a positioning groove. The shaping parts move synchronously towards the center under the oblique push of the cylinder, and the washer is self-centered and centered.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0014] Through closed-loop linkage between visual recognition and an aerial theta-axis rotary actuator, the orientation pass rate of the washer has been improved to over 99.8%, and the repeatability accuracy has reached within ±0.03mm. The cutting length of the weld piece is stably controlled within ±0.02mm through a closed-loop correction mechanism based on encoder feedback, effectively suppressing length deviations caused by material tension fluctuations. The dual-channel physical isolation and asynchronous triggering mechanism eliminates the need for the robot to wait for both materials to be ready simultaneously, reducing the overall production line cycle time by more than 35%. The standardized quick-change interface design reduces the core module changeover time to within 15 minutes, significantly improving the production line's adaptability to multi-variety, small-batch production. In addition, the dual quality assurance chain—the washer's three-level correction chain and the closed-loop cutting control of the weld piece—works together to reduce the defect rate of the downstream implantation process, greatly improving product yield and production stability. Attached Figure Description

[0015] The technical solution and other beneficial effects of this application will become apparent from the following detailed description of specific embodiments in conjunction with the accompanying drawings.

[0016] In the attached diagram:

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall assembly of the washer handling module of the present invention;

[0019] Figure 3 This is a schematic diagram of the overall structure of the vibratory feeder assembly of the present invention;

[0020] Figure 4 This is a schematic diagram of the fixed platform of the present invention;

[0021] Figure 5 This is a schematic diagram of the overall assembly of the shaping module of the present invention;

[0022] Figure 6 This is a schematic diagram of the overall assembly of the platform transfer module of the present invention;

[0023] Figure 7 This is a schematic diagram of the washer handling module of the present invention;

[0024] Figure 8 This is a schematic diagram of the transfer module of the present invention;

[0025] Figure 9 This is a schematic diagram of the overall structure of the terminal handling module of the present invention;

[0026] Figure 10 This is a schematic diagram of the structure of the platform transfer module assembly II of the present invention;

[0027] Figure 11 This is a schematic diagram of the solder pad of the present invention;

[0028] Figure 12 This is a schematic diagram of the terminal feeding and cutting assembly of the present invention;

[0029] Figure 13 This is a schematic diagram of the terminal handling module of the present invention.

[0030] In the diagram: 1. Chassis; 2. Material tray loading rack assembly; 3. Camera assembly; 4. Washer conveying module assembly; 41. Vibratory feeder assembly; 411. Vibratory feeder frame; 412. Vibratory feeder; 413. Feeding guide rail; 42. Fixed platform; 43. Shaping module assembly; 431. Shaping platform; 432. Shaping component; 433. Translation component; 44. Platform transfer module assembly one; 441. Moving platform one; 442. Linear guide module one; 45. Washer conveying module; 451. 452. Pick-up module; 46. Linear guide module II; 47. Transfer module; 48. Composite actuator; 49. Linear guide module III; 50. Terminal handling module assembly; 51. Platform transfer module assembly II; 52. Linear guide module IV; 53. Moving platform II; 54. Welding sheet; 55. Terminal feeding and cutting assembly; 56. Feeding ratchet module; 57. Cutting frame; 58. Terminal handling module; 59. Linear guide module V; 50. Variable pitch suction cup. Detailed Implementation

[0031] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0032] like Figure 1 As shown, the present invention provides a vibration feeding, cutting, and implantation device, which is installed on a chassis 1. The chassis 1 serves as a rigid support base for the entire machine, and its top plane provides an installation benchmark and positioning reference for each functional module. This top plane is precision milled, and its flatness is controlled within ±0.02mm. A material tray feeding rack assembly 2 is fixedly installed on one side of the area above the chassis 1 and docks with the terminal feeding and cutting assembly 53. The material tray feeding rack assembly 2 adopts a wheel-type structure and is driven by a motor. The two are docked through a guide slide to form a feeding channel for welding pieces 52. By controlling the rotation of the wheel, the welding pieces 52 are released sequentially from the outlet and enter the terminal feeding and cutting assembly 53 on one side along the guide slide, realizing the continuous release and directional conveying of the welding pieces 52. On the other side of the chassis 1, a washer handling module assembly 4 is arranged to form a washer feeding channel. The two channels are symmetrical and physically isolated to avoid motion interference and converge at the same robotic arm working area at the end, forming a "dual-source single-convergence" topology.

[0033] like Figure 2-8As shown, a washer transport module assembly 4 is arranged on the other side of the chassis 1, which includes a vibratory feeder assembly 41, a fixed platform 42, a shaping module assembly 43, a platform transfer module assembly 44, a washer transport module 45, and a transfer module 46.

[0034] The vibratory feeder assembly 41 includes two vibratory feeders 412 arranged side by side. Each vibratory feeder 412 is rigidly fixed to the side of the machine housing 1 by a vibratory frame 411. It has an internal spiral ascending track and an outlet connected to a linear feed guide rail 413, the end of which faces the center of the fixed platform 42. The fixed platform 42 is a planar metal platform with a vacuum adsorption hole array on its surface, connected to a negative pressure generator. After the washer is output from the vibratory feeder assembly 41 and falls onto its surface, it is temporarily fixed by negative pressure to prevent displacement during subsequent visual recognition. The camera assembly 3 is vertically mounted above the fixed platform 42 via a column, with its lens optical axis perpendicular to the surface of the fixed platform 42. It is equipped with a 5-megapixel industrial camera and a ring LED light source, forming an independent visual inspection station. When the washer falls onto the fixed platform 42, the camera assembly 3 starts shooting, acquiring the contour image of the washer, and transmitting the image to the image processing unit for analysis to identify the front and back of the washer and its current angular deviation. The image processing unit calculates the deviation value Δθ between the current angle of the washer and the standard orientation based on the template matching algorithm. The matching tolerance is set to ±0.5°. If it exceeds this value, it is judged as reverse or damaged, triggering a rejection signal.

[0035] The transfer module 46 is arranged in the lateral space between the fixed platform 42 and the shaping module assembly 43 via the linear guide module 3 462. Its robotic arm end is equipped with a Z-axis (i.e., along...) Figure 8 The vertical height movement shown is relative to the θ axis (i.e., along the vertical height direction). Figure 8 A composite actuator 461, with a vertical central axis rotation (as shown), has a vacuum nozzle at its end. After the camera assembly 3 completes recognition and outputs Δθ, the control system drives the composite actuator 461 to descend and pick up the washer. Subsequently, during the Z-axis ascent, it synchronously drives the θ-axis servo motor to rotate by an angle Δθ, achieving dynamic mid-air correction. The entire process takes ≤25ms without adding extra time. Then, the transfer module 46 transfers the oriented washer to the shaping module assembly 43.

[0036] The shaping module assembly 43 includes a shaping platform 431, shaping parts 432 (two sets symmetrically arranged), and a translation component 433. The shaping module assembly 43 is located near the discharge port of the vibratory feeder assembly 41. The shaping module assembly 43 is mounted on the housing 1 via the shaping platform 431. The translation component 433, which moves linearly back and forth via a tank chain, is also mounted on the shaping platform 431. Two sets of shaping parts 432 are mounted on the translation component 433. Multiple positioning grooves are linearly arranged on the upper surface of the shaping platform 431 between the two sets of shaping parts 432. The positioning grooves match the outer diameter tolerance of the washer. When the washer is picked up and placed into the corresponding positioning groove, the shaping parts 432 on both sides move closer together under the oblique pushing action of the cylinder to center and align the washer. After the transfer module 46 places the washer into the positioning fixture, the cylinders on both sides are activated to push the washer to adjust and complete the centering alignment operation, ensuring the consistency of the washer's position during the subsequent transfer process.

[0037] The platform transfer module assembly 44 is located on one side of the shaping module assembly 43. Its structure includes a moving platform 441, a linear guide module 442, and a servo motor drive unit. The moving platform 441 is equipped with multiple equidistantly arranged bearing positions for washers, each bearing position corresponding to a washeder that has been shaped. After receiving the washeder from the shaping module assembly 43, the platform transfer module assembly 44 transports it in a straight line along a tank chain to the designated picking position in the robot's work area.

[0038] The washer transport module 45 is a picking unit fixed above the end of the platform transfer module assembly 44. Its structure is a picking module 451 with a Z-axis lifting cylinder. A vacuum suction head assembly is provided on the picking surface of the picking module 451. When the shaping module assembly 43 sends the centered washer to the side below the washer transport module 45, the washer transport module 45 is activated. The picking module 451 lifts the washer from the shaping module assembly 43 and keeps it in a suspended state. After transferring it to the top of the moving platform 441, it is lowered to the bearing position on its top. Then, the tank chain continues to send the washer on the bearing position to the workstation where the robot arm can easily grasp it.

[0039] like Figure 9-13 As shown, the terminal handling module assembly 5 includes a platform transfer module assembly 51, a terminal feeding and cutting assembly 53, and a terminal handling module 54.

[0040] The terminal feeding and cutting assembly 53 is mounted on the chassis 1 adjacent to the tray feeding rack assembly 2. Its input end is connected to the discharge slide of the tray feeding rack assembly 2 to receive the continuously output solder pieces 52. The cutting frame 532 of the terminal feeding and cutting assembly 53 is equipped with a feeding ratchet module 531 and a punching die. The feeding ratchet module 531 is driven by a servo motor to pull the solder pieces 52 forward at a constant speed. Each time the tray feeding rack assembly 2 completes a release action, it sends a "release" pulse signal to the main control system, triggering the feeding ratchet module 531 to advance a preset length L_target (e.g., 10.00 mm). After punching is completed, the system reads the actual displacement L_actual fed back by the encoder of the feeding servo motor. If |L_actual - L_target| > 0.02 mm, the stroke is corrected in the next feeding. The correction amount ΔL = K × (L_target - L_actual), where K is the compensation coefficient, preferably 0.8-1.0, used for dynamic compensation based on the elastic modulus of the material, ultimately forming a closed-loop control. The cut welding sheet 52 falls into the receiving groove on the top surface of the cutting frame 532.

[0041] The terminal handling module 54 is located between the terminal feeding and cutting assembly 53 and the platform transfer module assembly 51. Its structure is that of a Cartesian coordinate robot, equipped with a variable-pitch suction cup 542 at its end for picking up the cut solder pieces 52 from the receiving slot and transferring them to the starting position of the platform transfer module assembly 51. The platform transfer module assembly 51 is located below the terminal feeding and cutting assembly 53. Its structure includes a linear guide module 511, a moving platform 512, and a servo motor drive unit. The moving platform 512 has a positioning groove 2 for positioning the solder pieces 52, ensuring that the solder pieces 52 maintain axial alignment during transport. The linear guide module 4 511 has an unfoldable and foldable guide plate in the middle (it can be laid flat when fully unfolded, and is triangular when folded). A hollow rotating platform is also connected in the middle of the guide plate (the angle and direction can be adjusted during movement). The moving platform 2 512 is installed above the hollow rotating platform. The platform transfer module assembly 2 51 transports the welding sheet 52 in a straight line to the robot's working area opposite to the washer. Its endpoint is on the same horizontal plane and adjacent coordinates as the endpoint of the platform transfer module assembly 1 44, so that the robot can grab the washer and the welding sheet 52 in the same work cycle.

[0042] In actual operation, the washer handling module assembly 4 and the terminal handling module assembly 5 form a dual-channel parallel processing architecture. The two channels are spatially located on the left and right sides of the chassis 1, physically isolated to avoid motion interference. In terms of control logic, each channel is configured with an independent PLC subroutine, equipped with independent position sensors, cycle timers, and fault alarm interfaces. At the output end, the transfer endpoints of the two channels share the same robotic arm picking area, which has a unified coordinate system origin. The final positional error between the washer and the solder sheet 52 is controlled within ±0.05mm. The dual channels support asynchronous operation mode, meaning that the robotic arm can be triggered immediately after either channel completes feeding, without waiting for the other channel to be ready, thus shortening the overall cycle time. Simultaneously, the process parameters of the two channels (such as vibration frequency, cutting length, and transfer speed) can be independently set through the HMI interface, enabling rapid product changeover.

[0043] Specifically, during system operation, the following process is executed:

[0044] S1, the vibratory feeder assembly 41 sends a single washer to the fixed platform 42 via the linear feeding guide rail 413, and vacuum adsorption is started;

[0045] S2, the camera assembly 3 captures an image, calculates Δθ, and transmits it to the transfer module 46;

[0046] S3, the composite actuator 461 picks up the washer and rotates the θ axis to complete the correction while the Z axis rises;

[0047] S4, the washer is placed in the positioning slot of the shaping platform 431, and the shaping part 432 is obliquely pushed and clamped to achieve centering;

[0048] S5, the platform transfer module assembly 44 will move the washer to the first coordinate position;

[0049] S6, the material tray unloading rack assembly 2 releases the welding piece 52, the feeding ratchet module 531 pulls it to the target position, and the punching die cuts it;

[0050] S7, the system corrects the current feeding stroke based on the previous cutting deviation;

[0051] S8, the terminal handling module 54 grabs the solder sheet 52 and places it on the second moving platform 512. After being constrained by the second positioning groove, it is moved to the second coordinate position.

[0052] S9. Once any material is in place, the photoelectric sensor of the corresponding channel sends a signal, and the main control system immediately sends a material picking request to the robot. The robot then picks up the welding sheet 52 and the washer and completes the implantation.

[0053] Furthermore, a linkage control mechanism is established between the material tray unloading rack assembly 2 and the terminal feeding and cutting assembly 53: the feeding ratchet module 531 located on the outlet side of the material tray unloading rack assembly 2 operates periodically, sending a "release" signal to the terminal feeding and cutting assembly 53; upon receiving the signal, the terminal feeding and cutting assembly 53 pulls forward and feeds out a pre-set length of solder sheet 52, triggering a punching action upon reaching the target position; after cutting, the system records the actual length of this cut and compares it with the theoretical value. If the deviation exceeds the threshold, the system automatically adjusts the next clamping stroke, achieving a closed-loop control of the consistent length of the solder sheet 52. This linkage mechanism ensures that the feeding cycle and the cutting action are strictly synchronized, preventing the solder sheet 52 from accumulating or breaking, while ensuring that the dimensional tolerance of each solder sheet 52 meets the downstream assembly requirements.

[0054] In summary, through the synergistic cooperation of the aforementioned structure and control logic, this invention enables high-precision, high-efficiency, and high-consistency feeding of two types of irregularly shaped small parts, washers and solder pads (52), in actual automated assembly lines for electronic connectors. After being output from the vibratory feeder assembly 41, the washer undergoes four consecutive processes: temporary fixing on the fixed platform 42, visual recognition by the camera assembly 3, dynamic rotation correction by the transfer module 46, and centering alignment by the shaping module assembly 43. This forms a complete orientation-correction-positioning link, ensuring that the orientation qualification rate of the washer entering the robotic arm's material handling area reaches over 99.8%, with a repeatability accuracy better than ±0.03mm. The washer channel and solder pad channel adopt a physically separated but convergent dual-channel architecture. The two channels operate independently with their endpoints sharing the same plane and area, enabling the robotic arm to... It can continuously grab two types of materials within one work cycle, reducing the overall production line cycle time by more than 35%. Each functional module adopts a standardized interface design. Core units such as the vibratory feeder assembly 41, the shaping module assembly 43, and the terminal feeding and cutting assembly 53 can be completely disassembled and replaced, with product changeover time controlled within 15 minutes. The visual closed-loop orientation mechanism and the cutting-feed linkage control control key dimensions and postures from the source, reducing the defect rate of downstream implantation processes from 2.1% of traditional equipment to below 0.3%, significantly improving product yield and production stability.

[0055] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection, the internal communication between two components, or the interaction between two components. Those skilled in the art can understand the meaning of the above terms in this application according to the specific circumstances.

[0056] The above provides a detailed description of a vibration feeding, cutting, and implantation device provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the technical solutions and core ideas of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A vibratory feeding, cutting, and implantation device, characterized in that, The assembly includes a chassis (1), a tray feeding rack assembly (2), a camera assembly (3), a washer handling module assembly (4), and a terminal handling module assembly (5). The tray feeding rack assembly (2) and the terminal handling module assembly (5) are integrated and arranged on one side of the chassis (1) to form a solder sheet feeding channel. The washer handling module assembly (4) is arranged on the other side of the chassis (1) to form a washer feeding channel. The two feeding channels are spatially separated and physically isolated, and converge at the same robotic arm picking area at the end. The washer handling module assembly (4) includes a fixed platform (42), a shaping module assembly (43) and a transfer module (46). The transfer module (46) reciprocates between the fixed platform (42) and the shaping module assembly (43). The camera assembly (3) is vertically mounted directly above the fixed platform (42) to collect the washer angle deviation value. The transfer module (46) is equipped with a composite actuator (461), which integrates a Z-axis lifting servo unit and a θ-axis rotation servo unit. A vacuum nozzle is provided at the end of the composite actuator (461). After the camera assembly (3) completes recognition and outputs the angle Δθ, the composite actuator (461) descends to pick up the washer. Then, during the upward drive of the Z-axis lifting servo unit, the θ-axis rotation servo unit is synchronously driven to rotate the angle Δθ, so as to realize the aerial attitude compensation of the washer according to the angle deviation value. The shaping module assembly (43) includes a shaping platform (431), two sets of symmetrically arranged shaping parts (432), and a translation component (433) driven by a cylinder. The shaping platform (431) is provided with a positioning groove. The shaping parts (432) move synchronously towards the center under the oblique push of the cylinder, and perform self-centering adjustment on the washer. The terminal handling module assembly (5) includes a platform transfer module assembly (51), a welding piece (52), a terminal feeding and cutting assembly (53), and a terminal handling module (54). The material tray rack assembly (2) is a wheel-type structure driven by a servo motor. The terminal feeding and cutting assembly (53) includes a feeding ratchet module (531) and a punching die. The feeding ratchet module (531) is driven by an independent servo motor and pulls and transports the welding piece (52). The material tray feeding rack assembly (2) sends a "release" pulse signal to the control system each time the welding sheet (52) is released. This signal serves as a synchronous trigger source, making the feeding ratchet module (531) and the blanking die move in strict synchronization. The system corrects the clamping distance in the next feeding stroke based on the deviation between the actual displacement L_actual fed by the encoder of the feeding servo motor and the theoretical cutting length L_target.

2. The vibration feeding, cutting, and implantation device according to claim 1, characterized in that, The washer handling module assembly (4) also includes a vibratory feeder assembly (41), a platform transfer module assembly (44), and a washer handling module (45). The vibratory feeder assembly (41) includes two sets of vibratory feeders (412) arranged in parallel and a linear feeding guide (413) connected thereto. A fixed platform (42) is set at the end of the linear feeding guide (413), and its surface is provided with a vacuum adsorption hole array.

3. The vibration feeding, cutting, and implantation device according to claim 1, characterized in that, The terminal handling module (54) is a Cartesian coordinate robot with a variable pitch suction cup (542) at its end. The platform transfer module assembly (51) includes a linear guide module (511), a moving platform (512), and a servo motor drive unit. The moving platform (512) reciprocates along the length of the linear guide module (511), and a positioning groove is provided on the surface of the moving platform (512) to constrain the degree of freedom of the solder sheet (52).

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