Automatic tube filling device for sheet products

Abstract

The automatic tube filling device for sheet products relates to the technical field of automatic tube filling and comprises a rack, a four-axis manipulator arranged on the rack, an inlet flow conveying belt arranged along the lateral direction at the area on the one side of the four-axis manipulator, two loading platforms arranged along the lateral direction in parallel at the area on the other side of the four-axis manipulator, and a supporting plate feeding mechanism arranged at the area between the two loading platforms. The present application solves the problems in the prior art, such as the secondary defects of product scratch, impact, product scratch, deviation, stacking disorder and the like in the operation process, the frequent manual taking and placing and replacing of empty tubes after the completion of Tube tube filling, the high frequency of operation interruption, the difficulty in realizing uninterrupted continuous production and the further reduction of the operation efficiency of the whole packaging production line.

Description

Technical Field

[0002] This invention relates to the field of automatic tube loading technology, and more specifically to an automatic tube loading device for sheet products. Background Technology

[0003] In the entire semiconductor industry chain, after completing core processes such as front-end fabrication and packaging, LiDAR (LiDAR chip) products are mostly produced in bulk form. Due to product characteristics, distribution scenarios, and downstream automated production requirements, the industry generally uses anti-static tubes as the mainstream packaging carrier for these chip products. Tubes are characterized by their robust structure, strong protection, and reusability. They can effectively protect LiDAR products from squeezing and impact damage during warehousing and inter-factory transfers. At the same time, they can be directly connected to downstream automated feeding equipment, adapting to the continuous operation requirements of production lines. Therefore, they are widely used in the entire production and distribution process of semiconductor LiDAR products.

[0004] Currently, most semiconductor manufacturing plants in China still use the traditional, purely manual method for tube filling operations for LiD chip products: operators use a suction pen to pick up the LiD chip products scattered on the production line one by one, manually fill the products into the tubes, and simultaneously perform supporting operations such as placing empty tubes and removing full tubes. In recent years, with the rapid development of downstream industries such as consumer electronics, automotive electronics, and the Internet of Things, the market demand for semiconductor LiD chip products has continued to surge, and companies have an urgent need to expand their production capacity. The shortcomings of the traditional manual tube filling method have been continuously amplified, and it can no longer meet the production requirements of modern mass production.

[0005] A patent with publication number CN119683087A is disclosed in the prior art. The solution includes a working platform with a loading platform that is vertically raised and lowered along the working platform. The loading platform has two vertically mounted main clamps that are independently slidable along the longitudinal direction at both ends of the longitudinal direction, and two vertically mounted side clamps that are independently slidable along the transverse direction at both ends of the transverse direction. This solves the problem in the traditional technology where, when manually filling tubes, the product tilts inside the tube, causing interference between the product and the tube wall when the customer automatically picks it up, making it impossible to remove the product normally.

[0006] As existing devices are used, the shortcomings of this technology have gradually become apparent, mainly in the following aspects: First, the existing filling process is prone to scratches and impacts, which can lead to secondary defects such as product damage, misalignment, and stacking disorder, reducing the product packaging yield. Subsequent rework and repair further increase production losses and labor costs.

[0007] Secondly, the existing manual tube filling process suffers from low standardization and cumbersome tube replacement procedures. After the tubes are filled, they need to be frequently picked up and replaced manually, resulting in frequent interruptions and making it difficult to achieve uninterrupted continuous production, which further reduces the operating efficiency of the entire packaging production line.

[0008] As can be seen from the above, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Summary of the Invention

[0009] To address the shortcomings of existing technologies, this invention provides an automatic tube-filling device for sheet products. This device solves the problems of existing filling methods, which are prone to scratching and impact during operation, leading to secondary defects such as product damage, misalignment, and stacking disorder. It also addresses the issues of frequent manual handling and replacement of empty tubes after filling, resulting in frequent work interruptions and making it difficult to achieve uninterrupted continuous production, further reducing the operating efficiency of the entire packaging production line.

[0010] To achieve the above objectives, the present invention provides the following technical solution.

[0011] An automatic tube-loading device for sheet products includes a frame on which a four-axis robot is mounted. A feed conveyor belt is laterally rotatable on one side of the frame relative to the four-axis robot. Two loading platforms are arranged side-by-side laterally on the other side of the frame relative to the four-axis robot. These two loading platforms slide alternately and reciprocally longitudinally. The frame is also equipped with a pallet feeding mechanism in the area between the two loading platforms; The area below the frame is equipped with a quantitative feeding pusher that slides down one material thickness from high to low for each feeding platform; The frame is slidably provided with a quantitative feeding pusher that increases in thickness by one pallet level from low to high in the area below the pallet feeding mechanism.

[0012] As an optimized solution, the loading platform includes a material tube support platform that is horizontally reciprocating along the longitudinal direction, and the material tube support platform is provided with a product material tube insertion slot.

[0013] As an optimized solution, the frame is also provided with clamping seats in the horizontal direction in the area above the quantitative feeding push rod. The distance between the two clamping seats can be adjusted, and the area between the two clamping seats forms a material tube fixing area.

[0014] As an optimized solution, the pallet feeding mechanism includes a pallet support platform that is horizontally slidable along the longitudinal direction, and a pallet material tube is inserted into the pallet support platform.

[0015] As an optimized solution, a telescopic cylinder is horizontally fixed to the frame, and the telescopic end of the telescopic cylinder is fixedly connected to the end face of the pallet support platform.

[0016] As an optimized solution, two slide rails are fixedly connected side by side on the frame, and the lower end of the pallet support platform is fixedly connected to the sliding end of the two slide rails.

[0017] As an optimized solution, the upper end of the pallet support platform is vertically provided with a pallet material tube insertion slot, and the lower end of the pallet support platform is provided with a quantitative feeding push rod clearance hole that communicates with the pallet material tube insertion slot.

[0018] As an optimized solution, a first vertical servo slide rail is vertically fixed to each of the quantitative feeding push rods below the frame. A mounting base is fixed to the sliding end of the first vertical servo slide rail, and the lower end of the quantitative feeding push rod is fixed to the upper end of the mounting base.

[0019] As an optimized solution, a second vertical servo slide rail is vertically fixed to the bottom of the frame, and a mounting base is fixed to the sliding end of the vertical servo slide rail. The lower end of the quantitative feeding push rod is fixed to the upper end of the mounting base.

[0020] As an optimized solution, the top of the frame, above the feed conveyor belt, is equipped with a feeding camera and a feeding light source arranged from top to bottom.

[0021] As an optimized solution, the four-axis robot has a feeding camera and a feeding light source arranged from top to bottom on the outer shell near the output end.

[0022] As an optimized solution, the output end of the four-axis robot is fixed with a dual suction cup nozzle.

[0023] As an optimized solution, two lateral positioning plates are fixedly attached longitudinally side by side to the clamping surface of one of the clamping seats, and the material tube is also constrained in the area between the two lateral positioning plates.

[0024] As an optimized solution, a servo slide rail is also fixedly connected to the frame in the longitudinal direction, and a support plate is fixedly connected to the sliding end of the servo slide rail. The lower end of the material tube support platform is fixedly connected to the upper surface of the support plate.

[0025] As an optimized solution, an auxiliary slide rail is fixedly connected to one side of the servo slide rail, and the support plate is also fixedly connected to the sliding end of the auxiliary slide rail.

[0026] As an optimized solution, the material tube support platform moves within the area between the servo slide rail and the auxiliary slide rail.

[0027] As an optimized solution, a positioning frame is fixedly connected to the frame, and a horizontal crossbar section is provided on the positioning frame corresponding to each of the clamping seats. A clamping cylinder is fixedly connected to each of the crossbar sections, and the back of the clamping seat is fixedly connected to the telescopic end of the clamping cylinder.

[0028] As an optimized solution, the lower end of the material tube support platform is provided with a quantitative feeding push rod avoidance hole that penetrates the product material tube insertion slot.

[0029] As an optimized solution, the support plate is provided with a clearance hole that communicates with the clearance hole of the quantitative feeding push rod.

[0030] As an optimized solution, two material tube support platforms are arranged side by side along their direction of movement.

[0031] Compared with the prior art, the beneficial effects of the present invention are: This device is equipped with a dual-vision detection system consisting of a loading camera, a loading light source, a discharging camera, and a discharging light source. It works in conjunction with a four-axis robotic arm and dual suction cup nozzles to complete the material picking and discharging actions, achieving high-precision positioning throughout the process. This completely avoids problems such as product scratching, impact, misalignment, and stacking disorder during the filling process. At the same time, the adjustable clamping seat, side positioning plate, and product tube insertion slot provide multi-dimensional limiting and fixation of the tube, ensuring the stability of the tube's posture. This further eliminates product damage caused by tube misalignment, reduces rework and repair workload, and lowers production losses and labor costs. The equipment adopts a layout of alternating sliding operation of dual loading platforms. The two material pipe support platforms can take turns to undertake the loading and changing of pipes. After the single channel is filled, the robot automatically switches the work position. There is no need to stop the whole machine to wait for pipe changing, which solves the drawbacks of frequent manual pipe changing and operation interruption in traditional manual pipe changing. This device uses a servo slide rail combined with an auxiliary slide rail to drive the reciprocating motion of the support platform. When the support platform slides to the end away from the clamping seat, manual loading and unloading of the product tube insertion slot is achieved. Then, driven by the servo slide rail, it moves to the area where the clamping seat is located, and the clamping seat clamps and positions the tube before loading. This achieves automated tube alignment and conveying, eliminating the need for close-range manual alignment, adjustment, and tube replacement. It effectively simplifies the operation process, reduces manual intervention, and solves the drawbacks of traditional manual operation, such as being cumbersome, highly repetitive, time-consuming, and inefficient. It significantly improves the tube loading cycle time and can fully meet the needs of mass production in factories. The device is equipped with a first vertical servo slide rail driven quantitative filling push rod and a second vertical servo slide rail driven quantitative feeding push rod. It can accurately lift and lower the push rod step by step according to the thickness of a single product and the thickness of the pallet. After each product is filled, the push rod will automatically move down the corresponding distance to achieve layered and orderly filling, ensuring that the products in the tube are neatly arranged and the spacing is uniform. The standardization is far higher than that of manual operation. The clamping cylinder drives the clamping seats to complete the tube clamping action. The clamping seat spacing is adjustable, and together with the lateral positioning plate, it forms lateral constraint, enabling omnidirectional clamping and positioning of the tube. There is no loosening or tilting of the tube during operation. It can be used with tubes of different specifications, making the equipment more versatile. The servo slide rail combined with the auxiliary slide rail transmission provides excellent load-bearing and guiding performance, ensuring smooth operation of the tube support platform and good long-term stability.

[0032] It is equipped with an independent pallet feeding mechanism, which is driven by telescopic cylinders and double slide rails to slide and feed the pallet support platform. Combined with quantitative feeding push rods, it completes the orderly discharge of pallets. The robot can automatically complete the pallet picking and filling. The pallet feeding, product filling and material pipe conveying processes are linked and coordinated, and the whole process is automated, reducing manual intervention and simplifying the on-site operation process. Simultaneously equipped with a dual-station tube support platform, it can realize uninterrupted tube replacement operation. After one tube is filled, the servo slide rail drives the tube support platform that has not yet been filled to the area where the clamping seat is located, so as to fill the other tube; thus ensuring the continuity of the tube filling process, effectively improving the overall machine operation efficiency, and adapting to the automated production needs of high-precision semiconductor wafer products. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0034] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the pallet feeding mechanism of the present invention; Figure 3 This is a top-view structural diagram of the present invention; Figure 4 This is a schematic diagram of the loading platform of the present invention; Figure 5 This is a top-view structural diagram of the loading platform of the present invention.

[0035] In the diagram: 1-Material tube support platform; 2-Product material tube insertion slot; 3-Support plate; 4-Servo slide rail; 5-Clamping seat; 6-Side positioning plate; 7-Side positioning plate; 8-Crossbar section; 9-Clamping cylinder; 10-Auxiliary slide rail; 11-Quantitative feeding push rod clearance hole; 12-Product material tube; 13-Frame; 14-Infeed conveyor belt; 15-Feeding camera; 16-Feeding light source; 17-Discharge camera; 18-Discharge light source; 19-Four-axis robot; 20-Filling platform; 21-Plate feeding mechanism; 22-Plate material tube; 23-Plate support platform; 24-Slide rail; 25-First vertical servo slide rail; 26-Quantitative feeding push rod; 27-Second vertical servo slide rail; 28-Quantitative feeding push rod; 29-Telescopic cylinder; 30-Plate material tube insertion slot; 31-Quantitative feeding push rod clearance hole. Detailed Implementation

[0037] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0038] like Figures 1 to 5 As shown, the automatic tube-loading device for sheet products includes a frame 13. A four-axis robot 19 is mounted on the frame 13. A feed conveyor belt 14 is provided laterally in the area of ​​the frame 13 on one side of the four-axis robot 19. Two loading platforms 20 are arranged side by side laterally in the area of ​​the frame 13 on the other side of the four-axis robot 19. The two loading platforms 20 are arranged to slide alternately and reciprocally in the longitudinal direction. The frame 13 is also equipped with a pallet feeding mechanism 21 in the area between the two loading platforms 20; The area below the frame 13 is equipped with a quantitative feeding pusher 26 that gradually decreases by one sheet thickness from high to low, corresponding to each feeding platform 20. The frame 13 is equipped with a quantitative feeding push rod 28 that gradually increases in thickness from low to high in the area below the pallet feeding mechanism 21.

[0039] The loading platform 20 includes a material tube support platform 1 that is horizontally reciprocating along the longitudinal direction, and a product material tube insertion slot 2 is provided on the material tube support platform 1.

[0040] The frame 13 is also provided with clamping seats 5 in the horizontal direction above the quantitative feeding push rod 26. The distance between the two clamping seats 5 can be adjusted, and the area between the two clamping seats 5 forms the product material tube 12 fixing area.

[0041] The pallet feeding mechanism 21 includes a pallet support platform 23 that is horizontally slidable along the longitudinal direction, and a pallet material tube 22 is inserted into the pallet support platform 23.

[0042] A telescopic cylinder 29 is horizontally fixed on the frame 13, and the telescopic end of the telescopic cylinder 29 is fixedly connected to the end face of the pallet support platform 23.

[0043] Two slide rails 24 are fixedly connected side by side on the frame 13, and the lower end of the pallet support platform 23 is fixedly connected to the sliding end of the two slide rails 24.

[0044] The upper end of the pallet support platform 23 is vertically provided with a pallet material tube insertion groove 30, and the lower end of the pallet support platform 23 is provided with a quantitative feeding push rod clearance hole 31 that communicates with the pallet material tube insertion groove 30.

[0045] Below the frame 13, a first vertical servo slide rail 25 is vertically fixed to each quantitative feeding push rod 26. The sliding end of the first vertical servo slide rail 25 is fixed to a mounting base, and the lower end of the quantitative feeding push rod 26 is fixed to the upper end of the mounting base.

[0046] A second vertical servo slide rail 27 is vertically fixed to the bottom of the frame 13. The sliding end of the vertical servo slide rail 4 is fixed to a mounting base. The lower end of the quantitative feeding push rod 28 is fixed to the upper end of the mounting base.

[0047] The top of the frame 13, above the feed conveyor belt 14, is equipped with a feeding camera 15 and a feeding light source 16 arranged from top to bottom. Through the feeding camera 15, the feeding light source 16, and the four-axis robot 19, the products can be transported in an unordered manner on the feed conveyor belt 14 without the need for the products to be transported in a fixed orientation.

[0048] The four-axis robot 19 has a feeding camera 17 and a feeding light source 18 arranged from top to bottom on the outer shell near the output end.

[0049] The output end of the four-axis robot 19 is fixed with a double suction cup nozzle.

[0050] Two lateral positioning plates are fixedly attached longitudinally to the clamping surface of one of the clamping seats 5, and the product tube 12 is also constrained in the area between the two lateral positioning plates.

[0051] A servo slide rail 4 is also fixedly connected to the frame 13 along the longitudinal direction. A support plate 3 is fixedly connected to the sliding end of the servo slide rail 4. The lower end of the material tube support platform 1 is fixedly connected to the upper surface of the support plate 3.

[0052] An auxiliary slide rail 10 is fixedly connected to one side of the servo slide rail 4, and the support plate 3 is also fixedly connected to the sliding end of the auxiliary slide rail 10.

[0053] The material tube support platform 1 moves within the area between the servo slide rail 4 and the auxiliary slide rail 10.

[0054] A positioning frame is fixedly connected to the frame 13. A horizontal bar section 8 is provided on the positioning frame corresponding to each clamping seat 5. A clamping cylinder 9 is fixedly connected to each horizontal bar section 8. The back of the clamping seat 5 is fixedly connected to the telescopic end of the clamping cylinder 9.

[0055] The lower end of the material tube support platform 1 is provided with a quantitative feeding push rod avoidance hole 11 that passes through the product material tube insertion slot 2.

[0056] The support plate 3 has a clearance hole that communicates with the clearance hole 11 of the quantitative feeding push rod.

[0057] Two material tube support platforms 1 are arranged side by side along their direction of movement.

[0058] The working principle of this device is as follows: The sheet-like products to be filled are conveyed by the feed conveyor belt 14, and the upper feeding light source 16 and feeding camera 15 complete the product position identification and feed the signal back to the PLC.

[0059] When the pallet feeding mechanism 21 is in operation, the quantitative feeding push rod 28 works with the pallet support table 23 to complete the pallet discharge; the robot moves to the pallet picking position, picks up the pallet through the suction nozzle, and under the guidance of the material release vision component, accurately inserts the pallet into the Tube tube that has been clamped by the clamping seat 5. At the same time, the quantitative feeding push rod 28 rises by the thickness of one pallet to realize the feeding of the pallet below.

[0060] The PLC controls the movement of the robotic arm based on visual signals, picks up sheet products from the conveyor belt, and moves them to the unloading area. After secondary positioning by the unloading camera 17 and the unloading light source 18, the product is smoothly placed into the tube.

[0061] After a single product is filled, the quantitative filling push rod 26 moves downward by the thickness of one product under the drive of the first vertical servo slide rail 25, reserving filling space for the next product; the feeding, discharging, and push rod downward movement operations are repeated until the number of products in the tube reaches the set quantity.

[0062] Once the tubes on one of the loading platforms 20 are filled (due to the presence of two tube support platforms 1, after one is filled, the servo slide rail 4 moves the tube support platform 1 to clamp the product tubes 12 on the other tube support platform 1 for loading), the robotic arm automatically switches to another set of empty loading platforms 20 to carry out tube loading operations. The stations that have completed loading remain clamped, waiting for manual removal of tubes and replacement of empty tubes.

[0063] After the staff removes the full tube and places the empty tube, the tube support platform 1 is reset under the drive of the servo slide rail 4, and the clamping mechanism re-clamps the empty tube, and the station enters the standby state; the two stations run alternately to realize uninterrupted continuous production of the equipment and complete all tube loading processes in a cycle.

[0064] The device is equipped with a dual-vision detection system consisting of a loading camera 15, a loading light source 16, a unloading camera 17, and an unloading light source 18. It works in conjunction with a four-axis robot arm 19 and a dual suction cup nozzle to complete the material picking and unloading actions, achieving high-precision positioning throughout the process. This completely avoids problems such as product scratching, impact, misalignment, and stacking disorder during the filling process. At the same time, the adjustable clamping seat 5, the side positioning plate, and the product tube insertion slot 2 provide multi-dimensional limiting and fixing of the tube, ensuring the stability of the tube's posture. This further eliminates product damage caused by the product tube 12's deviation, reduces rework and repair workload, and lowers production losses and labor costs. The equipment adopts a layout of alternating sliding operation of dual loading platforms 20. The two material pipe support platforms 1 can alternately undertake the pipe loading and pipe changing process. After the single channel completes the filling, the robot automatically switches the work position. There is no need to stop the whole machine to wait for pipe changing, which solves the drawbacks of frequent manual pipe changing and operation interruption in traditional manual pipe changing. This device uses a servo slide rail 4 in conjunction with an auxiliary slide rail 10 to drive the reciprocating motion of the support platform. This allows for manual loading and unloading of the tubes into the tube insertion slot 2 when the tube support platform 1 slides to the end away from the clamping seat 5. Then, driven by the servo slide rail 4, it moves to the area where the clamping seat is located, and the tubes are clamped and positioned by the clamping seat before loading. This achieves automated alignment and conveying of tubes, eliminating the need for close-range manual alignment, adjustment, and tube replacement. It effectively simplifies the operation process, reduces manual intervention, and solves the drawbacks of traditional manual operation, such as being cumbersome, highly repetitive, time-consuming, and inefficient. It significantly improves the tube loading cycle time and can fully meet the needs of mass production in factories. The device is equipped with a quantitative filling push rod 26 driven by a first vertical servo slide rail 25 and a quantitative feeding push rod 28 driven by a second vertical servo slide rail 27. It can accurately lift and lower the push rod step by step according to the thickness of a single product and the thickness of the pallet. After each product is filled, the push rod will automatically move down the corresponding distance to achieve layered and orderly filling, ensuring that the products in the tube are neatly arranged and the spacing is uniform. The standardization is far higher than that of manual operation. The clamping cylinder 9 drives the clamping seat 5 to complete the tube clamping action. The spacing of the clamping seats 5 is adjustable, and together with the lateral positioning plate, it forms a lateral constraint, enabling omnidirectional clamping and positioning of the tube. There is no loosening or tilting of the tube during operation. It can be used with tubes of different specifications, making the equipment more versatile. The servo slide rail 4 and the auxiliary slide rail 10 work together for transmission, providing excellent load-bearing and guiding performance. The tube support platform 1 runs smoothly and has good long-term stability.

[0065] The system is equipped with an independent pallet feeding mechanism 21, which is driven by a telescopic cylinder 29 and a double slide rail 24 to slide the pallet support platform 23 for feeding. Combined with a quantitative feeding push rod 28, the pallet is discharged in an orderly manner. The robot can automatically complete the pallet picking and filling. The pallet feeding, product filling, and material pipe conveying processes are linked and coordinated, and the entire process is automated, reducing manual intervention and simplifying the on-site operation process. Simultaneously equipped with a dual-station tube support platform 1, it can realize uninterrupted tube replacement operation. After one tube is filled, the servo slide rail 4 drives the tube support platform 1 that has not yet been filled to the area where the clamping seat is located, so as to fill the other tube; thus ensuring the continuity of the tube filling process, effectively improving the overall machine operation efficiency, and adapting to the automated production needs of high-precision semiconductor wafer products.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, 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 or all of the technical features therein. Such 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 the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An automatic tube-loading device for sheet products, characterized in that: The system includes a frame (13) on which a four-axis robot (19) is mounted. A feed conveyor belt (14) is provided on one side of the frame (13) where the four-axis robot (19) is located, rotating laterally. Two loading platforms (20) are arranged side-by-side laterally on the other side of the frame (13) where the four-axis robot (19) is located. The two loading platforms (20) slide alternately and reciprocally longitudinally. The frame (13) is also provided with a pallet feeding mechanism (21) in the area between the two loading platforms (20); The area below the frame (13) is provided with a quantitative feeding pusher (26) that gradually decreases by one sheet thickness from high to low for each feeding platform (20). The frame (13) is slidably provided with a quantitative feeding pusher (28) that increases in thickness by one pallet from low to high in the area below the pallet feeding mechanism (21).

2. The automatic tube-loading device for sheet products according to claim 1, characterized in that: The loading platform (20) includes a material tube support platform (1) that is horizontally reciprocating along the longitudinal direction, and the material tube support platform (1) is provided with a product material tube insertion slot (2).

3. The automatic tube-loading device for sheet products according to claim 1, characterized in that: The frame (13) above the quantitative feeding push rod (26) is also provided with clamping seats (5) arranged in parallel along the horizontal direction. The distance between the two clamping seats (5) can be adjusted, and the area between the two clamping seats (5) forms a material tube fixing area.

4. The automatic tube-loading device for sheet products according to claim 1, characterized in that: The pallet feeding mechanism (21) includes a pallet support platform (23) that is horizontally slidable along the longitudinal direction, and a pallet material tube (22) is inserted inside the pallet support platform (23); a telescopic cylinder (29) is horizontally fixed on the frame (13), and the telescopic end of the telescopic cylinder (29) is fixedly connected to the end face of the pallet support platform (23).

5. The automatic tube-loading device for sheet products according to claim 4, characterized in that: The upper end of the pallet support platform (23) is vertically provided with a pallet tube insertion groove (30), and the lower end of the pallet support platform (23) is provided with a quantitative feeding push rod clearance hole (31) that is connected to the pallet tube insertion groove (30).

6. The automatic tube-loading device for sheet products according to claim 1, characterized in that: Below the frame (13), a first vertical servo slide rail (25) is vertically fixed to each of the quantitative feeding push rods (26). The sliding end of the first vertical servo slide rail (25) is fixed to a mounting base, and the lower end of the quantitative feeding push rod (26) is fixed to the upper end of the mounting base. Below the frame (13), a second vertical servo slide rail (27) is vertically fixed to the frame. The sliding end of the vertical servo slide rail (4) is fixed to a mounting base, and the lower end of the quantitative feeding push rod (28) is fixed to the upper end of the mounting base.

7. The automatic tube-loading device for sheet products according to claim 1, characterized in that: The top of the frame (13) above the feed conveyor belt (14) is provided with a feed camera (15) and a feed light source (16) arranged from top to bottom.

8. The automatic tube-loading device for sheet products according to claim 1, characterized in that: The four-axis robot (19) has a feeding camera (17) and a feeding light source (18) arranged from top to bottom on the outer shell near the output end.

9. The automatic tube-loading device for sheet products according to claim 1, characterized in that: The output end of the four-axis manipulator (19) is fixed with a double suction cup nozzle.

10. The automatic tube-loading device for sheet products according to claim 3, characterized in that: Two lateral positioning plates are fixedly attached longitudinally to the clamping surface of one of the clamping seats (5), and the material tube is also constrained in the area between the two lateral positioning plates.

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