SMT full-automatic unmanned receiving and feeding system

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model belongs to SMT technical field, specifically related to a kind of SMT full-automatic unmanned material receiving feeding system. BACKGROUND

[0002] Current SMT material belt automatic material receiving equipment will be towards the direction of reducing labor cost, the demand of improving quality and production efficiency, SMT full-automatic unmanned material receiving feeding equipment (automatic measurement mistake-proofing+material receiving+automatic material taking) is born.

[0003] The material receiving equipment currently launched on the market needs the operator to place the left new material disc on the left material receiving mechanism and to do the operation of cutting off the excess material head and scanning bar code, while also needing to take out the old material disc on the right side of the patch machine feeder that is about to be used up, repeating the action of the left material disc, and then putting the material heads of the material belts on both sides into the belt inlet of the material receiving machine, so that the material receiving equipment can complete the following material receiving work; Such operation process requires the user to have relevant professional knowledge, improves the entry threshold of workers using the equipment, and the work efficiency is greatly limited by human factors. UTILITY MODEL CONTENT

[0004] Therefore, the main purpose of the utility model is to provide a kind of SMT full-automatic unmanned material receiving feeding system.

[0005] To achieve the purpose, the technical scheme of the utility model is as follows:

[0006] The utility model embodiment provides a kind of SMT full-automatic unmanned material receiving feeding system, it is characterized in that, the system includes material taking unit, secondary telescopic material receiving unit, belt receiving unit, grabbing unit, empty material disc recycling unit, old material disc storage unit, material storage box unit;

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

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

[0009] The belt receiving unit is arranged in material receiving station and below secondary telescopic material receiving unit, is used to connect the material head of the material belt of new material disc and old material disc;

[0010] The grabbing unit is configured to connect a material head of a material belt of the old material disc stored in the old material disc storage unit to the material belt connecting unit, and to place the new material disc after material winding into the old material disc storage unit and place the old material disc after material winding into the empty material disc recycling unit.

[0011] The empty material disc recycling unit is configured to store the empty material disc.

[0012] The old material disc storage unit is configured to store the old material disc.

[0013] The material storage box unit is configured to collect the remaining material of the old material disc and wind the remaining material of the old material disc into the new material disc after the material belt connection is completed.

[0014] In the above scheme, the system further comprises a fixed support, and the fixed support is configured to bear the material taking unit, the secondary telescopic material connecting unit, the material belt connecting unit, the grabbing unit, the empty material disc recycling unit, the old material disc storage unit and the material storage box unit.

[0015] In the above scheme, the system further comprises a moving unit arranged at the bottom of the fixed support and configured to drive the whole system to move.

[0016] In the above scheme, the material taking unit comprises a material bin transverse moving mechanism and a mechanical hand, and the mechanical hand is arranged at one side of the material bin transverse moving mechanism.

[0017] In the above scheme, the material bin transverse moving mechanism comprises a transverse moving driving mechanism, a fixed component and a sliding component, the sliding component is slidingly arranged on the fixed component and configured to bear the material bin, and the transverse moving driving mechanism is arranged at one side of the fixed component and connected with the sliding component and configured to drive the sliding component to reciprocate along the transverse direction.

[0018] In the above scheme, the secondary telescopic material connecting unit comprises a width adjusting and aligning mechanism, a material belt driving mechanism and a third supporting component, and the material belt driving mechanism is arranged on the third supporting component opposite to the width adjusting and aligning mechanism.

[0019] In the above scheme, the width adjusting and aligning mechanism comprises a first supporting component, a width adjusting driving component and a material belt aligning component, and the material belt aligning component comprises a first aligning member and a second aligning member.

[0020] The first aligning member and the second aligning member are arranged on the first supporting component opposite to each other and configured to abut on both sides of the material disc of the material belt to position the material belt, and the width adjusting driving component is arranged on the first supporting component and drivingly connected with at least one of the first aligning member and the second aligning member.

[0021] The first aligning member is fixedly arranged on the first supporting component, the width adjusting driving component is drivingly connected with the second aligning member and can drive the second aligning member to move towards or away from the first aligning member.

[0022] In the above scheme, the storage box unit comprises a driving mechanism, a moving part, a box body with a material belt inlet, a rotating wheel mechanism, a wheel disc mechanism and a clamping mechanism, the box body comprises a fixed side wall and a moving side wall, the fixed side wall and the moving side wall are located on opposite sides of the material belt inlet, the driving mechanism is drivingly connected with the moving part, the moving part is fixedly connected with the moving side wall, the driving mechanism drives the moving part to reciprocatingly move, thereby driving the moving side wall to move in the direction of approaching or deviating from the fixed side wall, so as to adjust the width of the material belt inlet; the rotating wheel mechanism and the wheel disc mechanism are arranged at both ends of the material belt inlet and are used for introducing the material belt into the box body, and the clamping mechanism is arranged above the box body, and an output end of the clamping mechanism cooperates with the rotating wheel mechanism and the wheel disc mechanism to clamp the material belt.

[0023] In the above scheme, the grabbing unit comprises a material belt extraction mechanism, a lifting mechanism and a rotating mechanism.

[0024] The material belt extraction mechanism comprises a material belt penetrating rod mechanism, a workpiece support extraction mechanism and a second support assembly, and the material belt penetrating rod mechanism and the workpiece support extraction mechanism are arranged on the second support assembly respectively.

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

[0026] The lifting guide is arranged in the vertical direction, the lifting moving part is movably arranged on the lifting guide, the second support assembly is fixedly arranged on the lifting moving part, and the lifting driving assembly is connected with the lifting moving part and can drive the lifting moving part and the workpiece extraction device to move synchronously along the lifting guide.

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

[0028] In the above scheme, the belt receiving unit comprises a main frame, a lifting frame, a material receiving assembly, a driving mechanism and a conveying belt, the driving mechanism is fixed on the main frame and is in transmission connection with the lifting frame, is used for driving the lifting frame to lift along the main frame, at least two pulleys are rotationally connected on the lifting frame, the pulleys lift synchronously with the lifting frame, the conveying belt is wound on the at least two pulleys, and the conveying belt is fixedly connected with the main frame and the material receiving assembly, specifically, one part of the conveying belt is fixedly connected with the main frame, and another part of the conveying belt is fixedly connected with the material receiving assembly.

[0029] Compared with the prior art, the utility model has the advantages of:

[0030] The utility model discloses a full -automatic material taking, receiving, loading process, the proportion of manual operation is reduced significantly, thereby greatly improve production efficiency, still reduced the possibility of human operation failure, such as repeatedly receiving the problem such as the wrong material belt leads to, further improve the stability and reliability of production line, still through accurate docking also reduced the damage and waste of material belt in the receiving process, further reduce production cost. BRIEF DESCRIPTION OF DRAWINGS

[0031] The drawings explained here are used to disclose the further understanding to the utility model, constitute a part of the utility model, the illustrative embodiment of the utility model and its explanation are used to explain the utility model, and do not constitute the improper limitation to the utility model. In the drawings:

[0032] Figure 1 Provide a kind of angle structural schematic diagram for the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0033] Figure 2 Provide another kind of angle structural schematic diagram for the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0034] Figure 3 Provide a kind of structural schematic diagram of material taking unit in the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0035] Figure 4 Provide a kind of structural schematic diagram of material bin horizontal movement mechanism of material taking unit in the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0036] Figure 5 Provide a kind of structural schematic diagram of secondary telescopic receiving material unit in the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0037] Figure 6 Provide a kind of angle structural schematic diagram of width adjustment alignment mechanism of secondary telescopic receiving material unit in the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0038] Figure 7 Provide another kind of angle structural schematic diagram of width adjustment alignment mechanism of secondary telescopic receiving material unit in the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0039] Figure 8 Provide Figure 7 A of the enlarged view in;

[0040] Figure 9 Provide a kind of structural schematic diagram of material belt driving mechanism of secondary telescopic receiving material unit in the SMT full-automatic unmanned receiving material loading system of the utility model embodiment;

[0041] Figure 10 The utility model provides a kind of side view schematic diagram of drive mechanism of secondary telescopic material receiving unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0042] Figure 11 The utility model provides a kind of angle structure schematic diagram of material storage box unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0043] Figure 12 The utility model provides a kind of angle structure schematic diagram of another material storage box unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0044] Figure 13 The utility model provides a kind of angle structure schematic diagram of the box body of material storage box unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0045] Figure 14 The utility model provides a kind of angle structure schematic diagram of another box body of material storage box unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0046] Figure 15 The utility model provides a kind of angle structure schematic diagram of clamping mechanism of material storage box unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0047] Figure 16 The utility model provides a kind of angle structure schematic diagram of another clamping mechanism of material storage box unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0048] Figure 17 The utility model provides a kind of structure schematic diagram of positioning mechanism and wheel belt mechanism of material storage box unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0049] Figure 18 The utility model provides a kind of structure schematic diagram of grabbing unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0050] Figure 19 The utility model provides a kind of angle structure schematic diagram of material belt extraction mechanism of grabbing unit in SMT full-automatic unmanned material receiving and feeding system for the embodiment of the utility model;

[0051] Figure 20 For Figure 19 Enlarged view of B part in;

[0052] Figure 21This utility model provides an alternative angle structure diagram of the tape extraction mechanism of the gripping unit in a fully automated unmanned material handling system for SMT.

[0053] Figure 22 This utility model provides an angular structural diagram of the material feeding rod mechanism of the gripping unit in a fully automated unmanned material handling and feeding system for SMT.

[0054] Figure 23 This utility model provides an alternative angular structural diagram of the material feeding rod mechanism of the gripping unit in a fully automated unmanned material handling and loading system for SMT.

[0055] Figure 24 This utility model provides an angular structural diagram of the workpiece-passing rod mechanism (excluding the roll assembly) of the gripping unit in a fully automatic unmanned material handling and feeding system for SMT.

[0056] Figure 25 for Figure 24 Enlarged view of section C in the image;

[0057] Figure 26 This utility model provides an alternative angular structural diagram of the workpiece-passing rod mechanism (excluding the roll assembly) of the gripping unit in a fully automated unmanned material handling and feeding system for SMT.

[0058] Figure 27 for Figure 26 Enlarged view of part D in the image.

[0059] Figure 28 This utility model provides an angular structural diagram of a receiving unit in a fully automated unmanned material receiving and loading system for SMT.

[0060] Figure 29 This utility model provides an alternative angle structural diagram of the receiving unit in a fully automated unmanned material receiving and loading system for SMT.

[0061] Figure 30 This utility model provides a schematic diagram showing the connection between the drive mechanism and the lifting frame of the receiving unit in a fully automatic unmanned material receiving and loading system for SMT.

[0062] Figure 31 This utility model provides a schematic diagram of the main frame and drive mechanism of the receiving unit in a fully automatic unmanned material receiving and loading system for SMT.

[0063] Figure 32 This utility model provides a schematic diagram of the structure of the receiving unit in an SMT fully automatic unmanned material receiving and feeding system, where the receiving component is hidden behind the alignment board. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0065] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this utility model, it should be understood that the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the terms can be understood according to the specific circumstances.

[0066] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0067] This utility model embodiment provides a fully automated unmanned material handling and feeding system for SMT, such as... Figure 1 , 2 As shown, the system includes a material receiving unit 1, a secondary telescopic receiving unit 2, a conveyor belt receiving unit 3, a gripping unit 4, an empty material tray recycling unit 5, an old material tray storage unit 6, and a material storage box unit 7.

[0068] The material receiving unit 1 is used to discharge new material trays of different sizes to the secondary telescopic receiving unit 2 according to the process progress.

[0069] The secondary telescopic receiving unit 2 is located below the material taking unit 1 and is used to adjust the width at the discharge station according to the size of the new material tray so as to accurately catch the new material tray being discharged; it is also used to connect the material strip of the new material tray to the receiving unit 3 at the receiving station.

[0070] The receiving unit 3 is located at the receiving station and below the secondary telescopic receiving unit 2, and is used to receive the material strips of the new material tray and the material heads of the old material tray.

[0071] The grabbing unit 4 is used for connecting the material head of the material belt of the old material disc stored in the old material disc storage unit 6 to the material receiving unit 3, and is also used for placing the new material disc after completing the material winding into the old material disc storage unit 6 and placing the old material disc after completing the material winding into the empty material disc recycling unit 5.

[0072] The empty material disc recycling unit 5 is used for storing the empty material disc.

[0073] The old material disc storage unit 6 is used for storing the old material disc.

[0074] The material storage box unit 7 is used for collecting the residual material of the old material disc and winding the residual material of the old material disc into the new material disc after completing the material receiving.

[0075] Further, the system further comprises a fixed support 8; the fixed support 8 is used for bearing the material taking unit 1, the secondary telescopic material receiving unit 2, the material receiving unit 3, the grabbing unit 4, the empty material disc recycling unit 5, the old material disc storage unit 6 and the material storage box unit 7.

[0076] Further, the system further comprises a moving unit 9, which is arranged at the bottom of the fixed support 8 and is used for driving the whole system to move.

[0077] In some embodiments, the moving unit 9 comprises a carrying trolley 91 and a trolley ground rail 92, the trolley ground rail 92 is arranged on the ground according to the need of the driving track, and the carrying trolley 91 is arranged in cooperation with the trolley ground rail 92 and is located at the bottom of the fixed support 8, so that the material receiving demand of the production line or the batch chip mounter device can be met at the same time, and the mobility and maneuverability of the device are improved.

[0078] The full-automatic material taking, material receiving and material feeding process can significantly reduce the proportion of manual operation, thereby greatly improving the production efficiency, reducing the possibility of human operation errors, such as repeated material receiving caused by wrong material belt, further improving the stability and reliability of the production line, and reducing the damage and waste of the material belt in the material receiving process through accurate butt joint, and further reducing the production cost.

[0079] As shown in Figure 3 , 4 The material taking unit 1 comprises a material bin transverse moving mechanism 11 and a mechanical hand 12; the mechanical hand 12 is arranged on one side of the material bin transverse moving mechanism 11.

[0080] Specifically, the stock bin transverse moving mechanism 11 comprises a transverse driving mechanism 111, a fixed assembly 112 and a sliding assembly 113; the sliding assembly 113 is slidably arranged on the fixed assembly 112 and used for carrying the stock bin 114; the transverse driving mechanism 111 is arranged on one side of the fixed assembly 112 and connected with the sliding assembly 113 and used for driving the sliding assembly 113 to reciprocate along the transverse direction.

[0081] The stock bin 114 is transversely moved by the cooperation of the transverse driving mechanism 111, the sliding assembly 113 and the fixed assembly 112, so that the position of the stock bin 114 can be flexibly adjusted to meet different requirements of different production lines or process steps on the position of the material and improve the flexibility and adaptability of the production line.

[0082] Further, the fixed assembly 112 is composed of at least two fixed assemblies 112 matched with the stock bin 114 respectively.

[0083] Specifically, since the stock bin 114 can have different sizes, each stock bin 114 is matched with the corresponding fixed assembly 112, so that the material in the stock bin 114 can be discharged by the gravity natural discharging mode and directly discharged from the gap of the fixed assembly 112.

[0084] The length of each fixed assembly 112 along the second direction is matched with the corresponding stock bin 114, so as to cooperate with the corresponding stock bin 114 to adopt the gravity natural discharging mode.

[0085] That is, the width or the length along the longitudinal direction of each fixed assembly 112 is matched with the stock bin 114, so that when the material in the stock bin 114 is discharged by the gravity natural discharging mode, the material can be directly discharged from the gap of the width or the length along the longitudinal direction of the fixed assembly 112.

[0086] Further, the at least two fixed assemblies 112 are sequentially connected along the second direction, and the edges of the fixed assemblies 112 located on both sides are provided with slide rails 11211; the slide rails 11211 are arranged in cooperation with the sliding assembly 113.

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

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

[0089] Further, the hopper 114 comprises a first hopper 1141 and a second hopper 1142, the size of the first hopper 1141 is larger than that of the second hopper 1142.

[0090] The first hopper 1141 and the second hopper 1142 adopt different sizes to meet the bearing of different materials.

[0091] Exemplarily, the first hopper 1141 can bear a 13-inch tray, and the second hopper 1142 can bear a 7-inch tray.

[0092] Further, the sliding assembly 113 comprises a sliding frame 1131, the size of the sliding frame 1131 matches that of all the fixed assemblies 112, and a matching opening is arranged at a position corresponding to each fixed assembly 112.

[0093] The two sides of the sliding frame 1131 are provided with sliding blocks 1111 matched with the slide rails 11211, so that the sliding blocks 1111 ensure that the sliding frame 1131 can slide stably and accurately on the slide rails 11211.

[0094] The sliding blocks 1111 are fixed with the sliding frame 1131 through the fixed assembly to enhance the structural stability of the whole sliding assembly 113.

[0095] In some embodiments, the transverse movement driving mechanism 111 comprises a first driving motor 1111 arranged on one side of the fixed assembly 112 and a synchronous belt 1112, the two sides of the synchronous belt 1112 are sleeved on synchronous wheels, one of the synchronous wheels is connected with the first driving motor 1111, and the sliding assembly 113 is connected with the synchronous belt 1112 for reciprocating movement with the synchronous belt 1112.

[0096] Of course, the transverse movement driving mechanism 111 can also adopt a lead screw module or a gear and rack driving to realize the linear movement of the utility model.

[0097] After the transverse movement driving mechanism 111 is started, the sliding assembly 113 is driven to move along the fixed assembly 112, since the hopper 114 is placed on the sliding assembly 113, that is, the hopper 114 is moved horizontally, after being moved to the corresponding position, the corresponding hopper 114 is opened by the mechanical arm 12, and the materials in the hopper 114 are discharged by the natural gravity falling mode, so as to be directly discharged from the gap in the width or the length of the fixed assembly 112 in the longitudinal direction, thereby completing the discharging.

[0098] As Figures 5-10As shown, the secondary telescopic material receiving unit 2 comprises a width-adjusting and aligning mechanism 21, a material belt driving mechanism 22, and a third support assembly 24, wherein the material belt driving mechanism 22 is arranged opposite to the width-adjusting and aligning mechanism 21 on the third support assembly 24.

[0099] Specifically, the width-adjusting and aligning mechanism 21 comprises a first support assembly 211, a width-adjusting driving assembly 212, and a material belt aligning assembly 213, wherein the material belt aligning assembly 213 comprises a first aligning member 2131 and a second aligning member 2132.

[0100] The first aligning member 2131 and the second aligning member 2132 are arranged opposite to each other on the first support assembly 211, and are used to abut against both sides of the material tray of the material belt so as to position the material belt; the width-adjusting driving assembly 212 is arranged on the first support assembly 211, and is drivingly connected with at least one of the first aligning member 2131 and the second aligning member 2132.

[0101] The first aligning member 2131 is fixedly arranged on the first support assembly 211, and the width-adjusting driving assembly 212 is drivingly connected with the second aligning member 2132 and can drive the second aligning member 2132 to move towards or away from the first aligning member 2131.

[0102] When searching for the material head, the material belt driving mechanism 22 is connected with the material belt driving mechanism arranged between the first aligning member 2131 and the second aligning member 2132, and rotates the material belt on the material tray, so as to realize the searching for the material head.

[0103] In some embodiments, the first aligning member 2131 is fixedly arranged on the first support assembly 211, and the width-adjusting driving assembly 212 is drivingly connected with the second aligning member 2132 and can drive the second aligning member 2132 to move towards or away from the first aligning member 2131.

[0104] In this way, the first aligning member 2131 is a fixed aligning member, and the second aligning member 2132 is a movable aligning member, and the movement of the second aligning member 2132 can realize the adjustment of the interval.

[0105] In some embodiments, the width-adjusting and aligning mechanism 21 comprises a width-adjusting guiding assembly 214, and the width-adjusting guiding assembly 214 comprises a width-adjusting guiding member 2141 and a width-adjusting moving member 2142.

[0106] The width-adjusting guiding member 2141 is fixedly arranged on the first support assembly 211; and the width-adjusting moving member 2142 is fixedly arranged on the second aligning member 2132 and is in sliding cooperation with the width-adjusting guiding member 2141.

[0107] The width-adjusting guiding member 2141 and the width-adjusting moving member 2142 cooperate with each other to effectively limit the movement track of the second aligning member 2132, so as to ensure the stability of the interval adjustment process and the interval adjustment effect.

[0108] Specifically, the width-adjusting guide 2141 is arranged as a guide rail, and the width-adjusting moving piece 2142 is arranged as a sliding block. The sliding block is connected with the second positioning piece 2132 through a connecting piece. To further ensure the stability of movement, the number of the sliding blocks is set to be multiple.

[0109] In some embodiments, the first positioning piece 2131 comprises a first guide segment 1311 and a first connecting segment 1312 fixedly connected in sequence. The first guide segment 1311 is arranged obliquely relative to the symmetry line of the first positioning piece 2131 and the second positioning piece 2132. In the direction away from the first connecting segment 1312, the distance between the first guide segment 1311 and the second positioning piece 2132 gradually increases. In this way, the feeding of the material belt is facilitated.

[0110] In some embodiments, the second positioning piece 2132 comprises a second guide segment 21321 and a second connecting segment 21322 fixedly connected in sequence. The second guide segment 21321 is arranged obliquely relative to the symmetry line of the first positioning piece 2131 and the second positioning piece 2132. In the direction away from the second connecting segment 21322, the distance between the second guide segment 21321 and the first positioning piece 2131 gradually increases.

[0111] The first guide segment 1311 corresponds to the second guide segment 21321, and the first connecting segment 1312 corresponds to the second connecting segment 21322. The first positioning piece 2131 and the second positioning piece 2132 are symmetrically arranged. In this way, the guide segments form an opening angle structure, and the feeding effect of the material belt is remarkable.

[0112] In some embodiments, the width-adjusting driving assembly 212 adopts an electric driving mechanism, preferably a bidirectional screw motor. Further, the screw of the screw motor adopts a three-segment structure, comprising a first threaded segment, a spacer connecting segment and a second threaded segment arranged in sequence. The first threaded segment is connected with the motor. The connecting piece connected with the width-adjusting moving piece 2142 is provided with a threaded hole. The second threaded segment passes through and threadedly cooperates with the threaded hole.

[0113] In this way, the rotation of the screw of the screw motor can drive the second positioning piece 2132 to move.

[0114] In some embodiments, the material belt driving mechanism 22 comprises a second support assembly 222, a material belt power assembly 221 and a rotating piece 223.

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

[0116] When the first positioning member 2131 and the second positioning member 2132 abut to the two sides of the material tray, the meshing teeth engage with the opening of the material belt, at this time, the material belt power assembly 221 provides power for the material belt movement, and the rotating member 223 can stably transmit the rotating power output by the material belt power assembly 221 to the material belt.

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

[0118] In some embodiments, the material belt driving mechanism 22 comprises a position detection assembly 224, which comprises an optical fiber head arranged between the first positioning member 2131 and the second positioning member 2132. During the rotation of the material belt, when the material head moves to the optical fiber head, the optical fiber head can detect the relative position, so as to control the material belt power assembly 221 to stop.

[0119] In some embodiments, the secondary telescopic material receiving unit 2 comprises a material belt clamping mechanism 23, at least one of the first support assembly 211 and the second support assembly 222 is connected with the material belt clamping mechanism 23.

[0120] In this way, the adjustment of the distance between the first support assembly 211 and the second support assembly 222 can be realized.

[0121] In some embodiments, the material belt clamping mechanism 23 comprises a first clamping member 231 and a second clamping member 232, the first clamping member 231 is fixedly arranged on the first support assembly 211, and the second clamping member 232 is fixedly arranged on the second support assembly 222 and is opposite to the first clamping member 231.

[0122] When the material head is found, the first clamping member 231 and the second clamping member 232 clamp the material tray of the material belt between the first positioning member 2131 and the second positioning member 2132 along the front-rear direction, and the first positioning member 2131 and the second positioning member 2132 abut to the two sides of the material tray of the material belt along the left-right direction.

[0123] In the process, the first clamping member 231 and the second clamping member 232 stably clamp the material tray of the material belt, avoid slipping, and effectively ensure the moving effect of the material belt.

[0124] The first positioning member 2131 and the second positioning member 2132 effectively limit the position of the material tray, avoid deviation, and ensure the alignment of the material belt and the rotating member 223.

[0125] In some embodiments, the material belt clamping mechanism 23 further comprises a buffer guide 233, a buffer moving member 234 and a spring 235, the buffer guide 233 is arranged as a guide rail, the buffer moving member 234 is arranged as a sliding block, and the spring 235 is a spring.

[0126] The buffer guide 233 is fixedly arranged on the second support assembly 222; the buffer moving part 234 is fixedly arranged on the second clamping part 232 and is in sliding cooperation with the buffer guide 233; and the two ends of the elastic part 235 are connected with the second clamping part 232 and the second support assembly 222 respectively.

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

[0128] The elastic part 235 has a buffering effect, which makes the first clamping part 231 and the second clamping part 232 stably clamp the tray; and has a return effect, which makes the second clamping part 232 return when the clamping force is eliminated after the material finding head is completed.

[0129] Specifically, the elastic part 235 is a tensile spring, which is stretched and deformed when the first clamping part 231 and the second clamping part 232 clamp the tray; or is a compression spring, which is compressed and deformed when the first clamping part 231 and the second clamping part 232 clamp the tray.

[0130] In some embodiments, the material belt clamping mechanism 23 comprises a first clamping moving part 238, a clamping guide 237 and a first clamping driving assembly 236; the first clamping moving part 238 is fixedly arranged on the first support assembly 211 and is in sliding cooperation with the clamping guide 237; and the first clamping driving assembly 236 is drivingly connected with the first support assembly 211 and can drive the first support assembly 211 and the first clamping moving part 238 to move synchronously along the clamping guide 237; in this way, the width-adjusting and aligning mechanism 21 can move independently.

[0131] Specifically, the first clamping driving assembly 236 adopts a screw rod driving mechanism 73, which is arranged on the lower side of the third support assembly 24; the clamping guide 237 is a slide rail, which is arranged on the upper side of the third support assembly 24; the first clamping moving part 238 is a moving block, which is slidingly arranged on the slide rail; the third support assembly 24 is provided with a guide groove on the side which is parallel to the clamping guide 237; the moving end of the first clamping driving assembly 236 is provided with a sliding adapter block, which penetrates through the guide groove and is fixedly connected with the first support assembly 211; and the sliding adapter block is in sliding cooperation with the guide groove.

[0132] In some embodiments, the material belt clamping mechanism 23 comprises a second clamping moving part 231 and a second clamping driving assembly 232; the second clamping moving part 231 is fixedly arranged on the second support assembly 222 and is in sliding cooperation with the clamping guide 237; and the second clamping driving assembly 232 is drivingly connected with the second support assembly 222 and can drive the second support assembly 222 and the second clamping moving part 231 to move synchronously along the clamping guide 237; in this way, the material belt driving mechanism 732 can move independently.

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

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

[0135] First, the first clamping drive assembly 236 and the second clamping drive assembly 232 are activated, causing the width adjustment and alignment mechanism 21 and the material belt drive mechanism 732 to move relative to each other. The second clamping member 232 pushes the material tray between the first alignment member 2131 and the second alignment member 2132, and cooperates with the first clamping member 231 to clamp the material tray. Then, the width adjustment drive assembly 212 is activated, driving the second alignment member 2132 to move closer to the first alignment member 2131, so that the left and right sides of the material tray abut against the first alignment member 2131 and the second alignment member 2132, realizing alignment with the rotating member 223. At this time, the meshing teeth of the rotating member 223 engage with the opening of the material belt, and the rotating member 223 rotates to drive the material belt to move relative to its material tray, thereby finding the material head.

[0136] like Figures 11-17 As shown, the storage bin unit 7 includes a drive mechanism 73, a moving part 72, a bin body 71 with a material conveyor belt inlet 713, a rotating wheel mechanism 76, a wheel mechanism 75, and a clamping mechanism 74. The bin body 71 includes a fixed side wall 711 and a moving side wall 712, which are located on opposite sides of the material conveyor belt inlet 713. The drive mechanism 73 is drivenly connected to the moving part 72, and the moving part 72 is fixedly connected to the moving side wall 712. The mechanism 73 drives the moving part 72 to reciprocate, thereby driving the moving sidewall 712 to move in a direction close to or away from the fixed sidewall 711, thereby adjusting the width of the material belt inlet 713; the roller mechanism 76 and the wheel mechanism 75 are disposed at both ends of the material belt inlet 713 for introducing the material belt into the box body 71; the clamping mechanism 74 is disposed above the box body 71, and the output end of the clamping mechanism 74 cooperates with the roller mechanism 76 and the wheel mechanism 75 to clamp the material belt.

[0137] The moving sidewall 712 is driven by the driving mechanism 73 to move in a direction close to or away from the fixed sidewall 711, thereby changing the distance between the fixed sidewall 711 and the moving sidewall 712. This makes the width of the material inlet 713 compatible with the required width of the material strip, and can buffer material strips of multiple widths, thus improving compatibility and adaptability.

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

[0139] The driving mechanism 73 comprises a width adjusting motor 731, a transmission belt 732 and a transmission wheel 733, the number of the moving part 72 is multiple, the width adjusting motor 731 drives all the moving parts 72 to move synchronously through the transmission belt 732 and the transmission wheel 733, specifically, multiple moving parts 72 are arranged at the edges of the box body 71, one end of the screw rod 721 of each moving part 72 is provided with the transmission wheel 733, the transmission belt 732 is wound around all the transmission wheels 733, the power output shaft of the width adjusting motor 731 is in transmission connection with one of the screw rods 721, so that the width adjusting sliders 723 on all the screw rods 721 move synchronously, and further drive the edges of the fixed side wall 711 and the moving side wall 712 to move synchronously at each position, so as to ensure that the widths at each position are equal.

[0140] In some embodiments, the rotating wheel mechanism 76 and the wheel disc mechanism 75 are arranged at both ends of the material belt inlet 713, for introducing the material belt into the box body 71, the clamping mechanism 74 is arranged above the box body 71, the output end of the clamping mechanism 74 cooperates with the rotating wheel mechanism 76 and the wheel disc mechanism 75 to clamp the material belt, the free end of the material belt is clamped and fixed by the clamping mechanism 74 and the wheel disc mechanism 75, and one end of the material belt connected with the material disc is clamped and fixed by the clamping mechanism 74 and the rotating mechanism, in operation, the material belt is laid flat on the rotating wheel mechanism 76 and the wheel disc mechanism 75 by using a mechanical arm, the clamping mechanism 74 cooperates with the rotating wheel mechanism 76 and the wheel disc mechanism 75 to clamp the material belt, the rotating wheel mechanism 76 is rotated to make the material belt concave in the direction of the material belt inlet 713, and the material belt in the material disc is continuously introduced into the box body 71 by continuously rotating the rotating wheel mechanism 76.

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

[0142] Further, the wheel disc mechanism 75 comprises a first wheel disc 751 and a second wheel disc 752, the first wheel disc 751 is fixed on the fixed side wall 711, the second wheel disc 752 is fixed on the moving side wall 712 and coaxially aligned with the first wheel disc 751, the first wheel disc 751 and the second wheel disc 752 have a spacing, the opposite sides of the first wheel disc 751 and the second wheel disc 752 are each provided with a circular table 753, the circular table 753 is used to receive the material belt, the moving side wall 712 is adjusted by the driving mechanism 73 and the moving part 72, so as to change the spacing between the first wheel disc 751 and the second wheel disc 752, so as to match the width of the material belt, so that the material belt is overlapped on the circular table 753 and is clamped from both sides by the first wheel disc 751 and the second wheel disc 752, at the same time, the clamping mechanism 74 cooperates with the first wheel disc 751 and the second wheel disc 752 to clamp the free end of the material belt, so that the free end of the material belt is anchored, and the material belt in the material disc is continuously fed into the box body 71 under the driving of the rotating wheel mechanism 76 through the material belt inlet 713.

[0143] Specifically, the clamping mechanism 74 includes a rack 741, a first fixed plate 742, a second fixed plate 743, a first clamping wheel 745, a second clamping wheel 746, and a pressing plate 747. The box body 71 and the first fixed plate 742 are fixed on the rack 741. The second fixed plate 743 is slidingly connected to the first fixed plate 742 and is movably arranged along the Y-axis direction. The pressing plate 747 is slidingly connected to the second fixed plate 743 and is movably arranged along the Z-axis direction. In this way, the spatial position of the pressing plate 747 can be adjusted so that it can be aligned with the rotating wheel mechanism 76, the wheel disc mechanism 75, and the material belt inlet 713. The first clamping wheel 745 and the second clamping wheel 746 are respectively arranged at both ends of the pressing plate 747 and are respectively aligned with the rotating wheel mechanism 76 and the wheel disc mechanism 75 along the Z-axis direction. The middle part of the pressing plate 747 is aligned with the material belt inlet 713. During use, the material disc is first wound over the rotating wheel mechanism 76 and the wheel disc mechanism 75 by a mechanical arm, so that the material belt is laid flat on the rotating wheel mechanism 76 and the wheel disc mechanism 75. Then, the position of the clamping mechanism 74 is adjusted, so that the clamping mechanism 74 moves and is aligned above the rotating wheel mechanism 76 and the wheel disc mechanism 75. The first clamping wheel 745 is aligned with the rotating wheel mechanism 76, and the second clamping wheel 746 is aligned with the wheel disc mechanism 75, so as to clamp the material belt. At this time, the bottom of the pressing plate 747 is aligned with the material belt inlet 713. By rotating the rotating wheel mechanism 76, the pressing plate 747 can prevent the material belt from bending upwards and ensure that the material belt bends towards the material belt inlet 713, thereby continuously guiding the material belt into the box body 71.

[0144] In some embodiments, a first telescopic motor 748, a sliding plate 749, and a first guide rail 7410 are further included for moving the second fixed plate 743 along the Y-axis direction. Specifically, the first guide rail 7410 is arranged on the first fixed plate 742 along the Y-axis direction. The first telescopic motor 748 is arranged at one end of the first guide rail 7410. The first guide rail 7410 is provided with a first sliding block 74101. The first sliding block 74101 is fixedly connected to the sliding plate 749. One end of the sliding plate 749 is connected to the output shaft of the first telescopic motor 748. The other end of the sliding plate 749 is perpendicularly connected to the second fixed plate 743. By pushing the sliding plate 749 along the Y-axis direction by the first telescopic motor 748, the second fixed plate 743 is driven to move, so that the pressing plate 747, the first clamping wheel 745, and the second clamping wheel 746 on the second fixed plate 743 are respectively aligned with the material belt inlet 713, the rotating wheel mechanism 76, and the wheel disc mechanism 75 along the Z-axis direction.

[0145] Further, the second telescopic motor 7411, the connecting plate 7412 and the second guide rail 37413 are further included for moving the pressing plate 747 along the Z-axis direction, in particular, the second guide rail 37413 is arranged on the second fixed plate 743 along the Z-axis direction, the second telescopic motor 7411 is arranged at the top end of the second guide rail 37413, the second guide rail 37413 is provided with a second sliding block 74131, the second sliding block 74131 is fixedly connected with the pressing plate 747, one end of the connecting plate 7412 is connected with the output shaft of the second telescopic motor 7411, and the other end of the connecting plate 7412 is connected with the pressing plate 747, the second telescopic motor 7411 drives the connecting plate 7412 to move along the Z-axis direction, and drives the pressing plate 747 to move, so that the pressing plate 747, the first clamping wheel 745 and the second clamping wheel 746 press the material belt, and it is worth noting that the first clamping wheel 745 and the second clamping wheel 746 can be installed on both ends of the pressing plate 747 through the telescopic mechanism, so that the clamping degree of the first clamping wheel 745 and the second clamping wheel 746 and the rotating wheel mechanism 76 and the wheel disc mechanism 75 can be manually adjusted.

[0146] In the embodiment, the positioning mechanism 77 is further included, which is slidingly connected to the rack 741 and is arranged to be movable along the Z-axis direction, and is used for positioning the position of the material belt on the Y-axis, so that the material belt can be aligned and laid flat on the rotating wheel mechanism 76 and the wheel disc mechanism 75.

[0147] Specifically, the positioning mechanism 77 comprises a third telescopic motor 771, a positioning plate 772, a positioning seat 773 and a cushion block 774. The positioning seat 773 is liftable along the rack 741. The third guide rail 7731 is arranged on the positioning seat 773. The third telescopic motor 771 is arranged at one end of the third guide rail 7731. The third sliding block 7732 is slidably connected to the third guide rail 7731. One end of the third sliding block 7732 is connected to the output shaft of the third telescopic motor 771. The other end of the third sliding block 7732 is connected to the positioning plate 772. The positioning plate 772 is used to adjust the alignment of the material belt with the rotating wheel mechanism 76 and the wheel disc mechanism 75. The cushion block 774 is arranged at one end of the box body 71. The cushion block 774 is aligned with the positioning seat 773 in the Z-axis direction. In use, the free end of the material belt passes between the cushion block 774 and the positioning seat 773 and extends above the rotating wheel mechanism 76 and the wheel disc mechanism 75. The side edge of the material belt is in contact with the positioning plate 772. The third telescopic motor 771 drives the positioning plate 772 to move, thereby driving the material belt to translate along the third guide rail 7731, until the material belt is aligned with the rotating wheel mechanism 76, the wheel disc mechanism 75 and the material belt inlet 713 in the X-axis direction. At this time, the positioning mechanism 77 is lowered, so that the positioning seat 773 abuts against the cushion block 774, thereby fixing the material belt.

[0148] In this embodiment, the rack 741 is provided with a fourth guide rail 7411 in the vertical direction. The positioning seat 773 is slidably connected to the fourth guide rail 7411. The wheel belt mechanism 78 for lifting the positioning mechanism 77 is arranged on one side of the fourth guide rail 7411.

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

[0150] The mechanical arm grabs the tray, connects the free end of the material belt with the instrument of the previous process, and the mechanical arm makes the material belt pass between the positioning seat 773 and the cushion block 774. The positioning mechanism 77 adjusts the position of the material belt in the X-axis direction through the positioning plate 772, so as to align the rotating wheel mechanism 76, the wheel disc mechanism 75 and the material belt inlet 713. The positioning mechanism 77 is lowered to clamp the material belt between the positioning seat 773 and the cushion block 774. The mechanical arm extends and lays the material belt on the rotating wheel mechanism 76, the wheel disc mechanism 75 and the material belt inlet 713. The width adjusting motor 731 drives the screw rod 721 to rotate, drives the moving side wall 712 to translate, so that the width of the material belt inlet 713 matches the width of the material belt. Then, the first telescopic motor 748 adjusts the pressing plate 747 to align the material belt in the Z-axis direction. The second telescopic motor 7411 adjusts the pressing plate 747 to lower, so that the first clamping wheel 745 and the second clamping wheel 746 press the material belt on the rotating wheel mechanism 76 and the wheel disc mechanism 75. The rotating wheel motor 761 is started to drive the driving wheel 762 to rotate, so that the material belt clamped between the driving wheel 762 and the first clamping wheel 745 moves towards the wheel disc mechanism 75. The pressing plate 747 blocks the material belt from above, so that the material belt bends and extends downwards, i.e. towards the material belt inlet 713, and is gradually introduced into the box body 71.

[0151] As shown in Figures 18-27 The grabbing unit 4 includes a material belt extracting mechanism 41, a lifting mechanism 42 and a rotating mechanism 43.

[0152] The material belt extracting mechanism 41 includes a material belt penetrating rod mechanism 411, a workpiece tray extracting mechanism 412 and a fourth support assembly 413. The material belt penetrating rod mechanism 411 and the workpiece tray extracting mechanism 412 are respectively arranged on the fourth support assembly 413.

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

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

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

[0156] In work, the workpiece tray extracting mechanism 412 first extracts the workpiece tray for placing the tray. Then, the material belt penetrating rod mechanism 411 extracts the tray.

[0157] The material belt extraction mechanism 41 further comprises a horizontal guide assembly 414, which comprises a horizontal guide 4141 and a horizontal moving piece 4142. The horizontal guide 4141 is arranged as a guide rail, and the horizontal moving piece 4142 is arranged as a sliding block. The horizontal guide 4141 is fixedly arranged on the fourth support assembly 413. The horizontal moving piece 4142 is fixedly arranged on the fifth support assembly 4111 and is in sliding cooperation with the horizontal guide 4141.

[0158] The horizontal guide 4141 and the horizontal moving piece 4142 are in cooperation, which can effectively limit the moving track of the fifth support assembly 4111 relative to the fourth support assembly 413.

[0159] In some embodiments, the workpiece holder extraction mechanism 412 comprises a push-pull claw 4121 and a push-pull driving assembly 4122. The push-pull driving assembly 4122 preferably adopts a lead screw motor. A lead screw nut of the push-pull driving assembly 4122 is fixedly arranged on the fifth support assembly 4111. When the lead screw of the push-pull driving assembly 4122 rotates, the lead screw nut and the fifth support assembly 4111 move along the axial direction of the lead screw.

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

[0161] When the workpiece holder is extracted, the push-pull driving assembly 4122 drives the fifth support assembly 4111 to move, and the push-pull claw 4121 moves synchronously. After the push-pull claw 4121 hooks the work holder, the push-pull driving assembly 4122 drives the fifth support assembly 4111 to move reversely, and the push-pull claw 4121 moves reversely synchronously, so as to hook the work holder to move.

[0162] The workpiece holder extraction mechanism 412 and the material penetrating rod mechanism 411 are in cooperation, and the material disc extraction effect is remarkable.

[0163] Further, the material belt extraction mechanism 41 further comprises a push detection assembly for detecting the moving position of the push-pull claw 4121. The push detection assembly comprises a photoelectric switch fixedly arranged on the fourth support assembly 413 and a sensing sheet fixedly arranged on the fifth support assembly 4111.

[0164] The material penetrating rod mechanism 411 comprises the fifth support assembly 4111, an expansion shaft driving assembly 4112, an expansion shaft body 4113, and an expansion shaft pull rod 4114.

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

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

[0167] When working, the expansion shaft body 4113 is inserted into the center hole of the tray, the expansion shaft driving assembly 4112 drives the expansion shaft pull rod 4114 to move axially along the expansion shaft body 4113 in the positive direction, so that the expansion shaft body 4113 is opened, thereby expanding the center hole of the tray, and thus the tray is fixed.

[0168] When the tray is transferred, the expansion shaft driving assembly 4112 drives the expansion shaft pull rod 4114 to move axially along the expansion shaft body 4113 in the reverse direction, at this time, the expansion shaft body 4113 is restored from the open state to the closed state, thereby releasing the tray.

[0169] In the process, the expansion shaft driving assembly 4112, the expansion shaft body 4113 and the expansion shaft pull rod 4114 cooperate with each other to realize the extraction and transfer of the tray in the form of inserting and expanding the center hole of the tray, which not only has a remarkable transfer effect, but also can adapt to trays of different width specifications, has a wide application range, strong compatibility and is conducive to the development of the overall material receiving equipment.

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

[0171] The connecting section is drivingly connected with the expansion shaft driving assembly 4112, and the expansion section comprises unit expansion pieces 41131 uniformly distributed in the circumferential direction, and the unit expansion pieces 41131 have elasticity.

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

[0173] When working, the expansion shaft pull rod 4114 moves axially along the expansion shaft body 4113 in the positive direction under the driving of the expansion shaft driving assembly 4112, the pull rod head 41141 moves into the expansion section and pushes the unit expansion pieces 41131 to move away from the axis of the expansion shaft body 4113, so that the expansion shaft body 4113 is in the open state.

[0174] When the tray transfer is completed, the expansion shaft driving assembly 4112 drives the expansion shaft pull rod 4114 to move reversely, and the pull rod head 41141 moves to the outside of the expansion section, at this time, the unit expansion sheet 41131 restores to the initial state under the action of its own elasticity.

[0175] The pull rod head 41141 is provided with a tapered surface, so that even if the hole diameters of the tray central holes are inconsistent, the pull rod head 41141 can still expand the tray, further improving the application range.

[0176] The expansion shaft driving assembly 4112 adopts a pneumatic driving assembly, an electric driving assembly or a hydraulic driving assembly, preferably, the expansion shaft driving assembly 4112 adopts a lead screw motor, in particular, a bidirectional lead screw motor, the extension end of which is connected with the expansion shaft pull rod 4114.

[0177] In some embodiments, the material penetrating rod mechanism 411 comprises a material winding assembly 4115, which comprises a material winding driving assembly 41151 and a rotating piece 41152.

[0178] The material winding driving assembly 41151 is connected with the rotating piece 41152 and can drive the rotating piece 41152 to rotate, the rotating piece 41152 is fixedly sleeved outside the expansion shaft body 4113 and synchronously rotates with the expansion shaft body 4113.

[0179] When winding the material, the material winding driving assembly 41151 drives the rotating piece 41152 to rotate, and the expansion shaft body 4113 synchronously rotates, at this time, since the expansion shaft body 4113 expands the tray, the tray synchronously rotates, thereby realizing the material winding function.

[0180] Preferably, the material winding driving assembly 41151 adopts a rotary motor, the output end of which is provided with an output gear, the rotating piece 41152 is provided as a rotary gear, the rotary gear is engaged with the output gear, and a gear transmission structure is adopted, which is simple in structure and stable in transmission process.

[0181] In some embodiments, the material winding assembly 4115 comprises a damper 41153, the damper 41153 is connected with a transmission gear, the rotary gear is engaged with the transmission gear, the damper 41153 adopts a permanent magnet damper, which has no friction and wear and no pollution, has a large damping range, and the damping coefficient is adjustable.

[0182] In some embodiments, the expansion shaft pull rod 4114 is connected with the output end of the expansion shaft driving assembly 4112 through a connecting piece 4116, the material penetrating rod mechanism 411 comprises an anti-deviation limiting piece 4117, the anti-deviation limiting piece 4117 is in sliding fit with the connecting piece 4116 along the axial direction of the expansion shaft pull rod 4114.

[0183] In this way, the connecting piece 4116 has a transmission connection effect on one hand, and can effectively transmit the telescopic action of the expansion shaft driving assembly 4112 to the expansion shaft pull rod 4114, and has a limiting effect on the other hand in cooperation with the anti-deviation limiting piece 4117, and can effectively limit the movement track of the expansion shaft pull rod 4114, so as to avoid deviation of the expansion shaft pull rod 4114 during movement.

[0184] Specifically, the anti-deviation limiting piece 4117 is provided as a limiting rod, and the connecting piece 4116 is provided with a limiting hole through which the limiting rod passes and is in sliding cooperation with the limiting hole.

[0185] In some embodiments, the feeding rod mechanism 411 further comprises a position detection assembly 4118 provided on the fifth supporting assembly 4111, and used for detecting the position of the expansion shaft pull rod 4114 relative to the expansion shaft body 4113.

[0186] The position detection assembly 4118 comprises a photoelectric switch 41181 fixedly provided on the fifth supporting assembly 4111 and a sensing sheet 41182 fixedly provided on the connecting piece 4116 and moving synchronously with the connecting piece 4116. The photoelectric switch 41181 can detect the position of the sensing sheet 41182, so as to realize position detection of the connecting piece 4116, and further realize position detection of the expansion shaft body 4113.

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

[0188] The lifting guide 422 is arranged in a vertical direction. The lifting moving piece 423 is movably arranged on the lifting guide 422. The workpiece extracting device is fixedly arranged on the lifting moving piece 423. The lifting driving assembly 421 is connected with the lifting moving piece 423 and can drive the lifting moving piece 423 and the workpiece extracting device to move synchronously along the lifting guide 422.

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

[0190] Further, the lifting mechanism 42 further comprises a lifting detection device for detecting the moving position of the lifting moving piece 423, and the lifting detection device comprises a photoelectric switch fixedly arranged on the lifting guide 422 and a sensing sheet fixedly arranged on the lifting moving piece 423.

[0191] The rotating mechanism 43 comprises a rotating table assembly 432 and a rotating driving assembly 431.

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

[0193] The rotating mechanism 43 uses an electric rotating device, which is existing technology and will not be described in detail here.

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

[0195] like Figures 28-32 As shown, the receiving unit 3 includes a main frame 31, a lifting frame 32, a receiving assembly, a drive mechanism, and a conveyor belt 33;

[0196] Specifically, the drive mechanism is fixed on the main frame 31 and is connected to the lifting frame 32 for driving the lifting frame 32 to move up and down along the main frame 31. At least two pulleys 34, preferably idler pulleys, are rotatably connected on the lifting frame 32.

[0197] The pulley 34 rises and falls synchronously with the lifting frame 32, and the conveyor belt 33 is wound around at least two of the pulleys 34. The conveyor belt 33 is fixedly connected to the main frame 31 and the receiving assembly.

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

[0199] With this structure, the lifting frame 32 is driven to move along the main frame 31 by the drive mechanism, which drives the pulley 34 to rise and fall synchronously and rotate. This allows the conveyor belt 33 to drive the receiving component to move twice the distance along the lifting frame 32. If the lifting frame 32 moves one distance, the pulley 34 and the conveyor belt 33 will drive the receiving component to move twice the distance, thus achieving a multiple movement. This allows the receiving component to move a longer distance with a shorter drive stroke, saving height space and facilitating the replacement of material strips on SMT.

[0200] In some embodiments, the main frame 31 is provided with a first guide rail 35 in the vertical direction, the first guide rail 35 is used to lift the lifting frame 32, the lifting frame 32 is provided with at least two first sliding blocks 36 on the side facing the main frame 31, the sliding blocks are slidingly connected on the first guide rail 35, and the provision of at least two first sliding blocks 36 can provide sufficient support force for the lifting frame 32, so that the lifting frame 32 can be balanced and smoothly lifted along the first guide rail 35.

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

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

[0203] Specifically, the driving motor 39 is fixed on the main frame 31, specifically located at the bottom of the main frame 31 and located on one side of the first guide rail 35 and the lifting frame 32, used to provide power for lifting the lifting frame 32, one end of the lead screw 310 is connected with the power output shaft of the driving motor 39, the other end of the lead screw 310 is rotatably connected with the main frame 31 through a bearing, the lead screw 310 is parallel to the first guide rail 35, the third sliding block 311 and the lead screw 310 constitute a ball screw pair, the third sliding block 311 is fixedly connected with the lifting frame 32, the driving motor 39 drives the lead screw 310 to rotate, so that the third sliding block 311 is lifted along the lead screw 310, and in turn drives the lifting frame 32 to be lifted along the first guide rail 35, thereby realizing single stroke of the lifting frame 32.

[0204] In some embodiments, the material receiving assembly comprises a fixing plate 312, a positioning plate 313, a plurality of supporting shafts 314 and an adjusting mechanism, specifically, the adjusting mechanism is arranged on the fixing plate 312, the positioning plate 313 is arranged on the side of the fixing plate 312 away from the main frame 31 through the adjusting mechanism, the positioning plate 313 and the fixing plate 312 have a spacing for receiving a material tray, the adjusting mechanism is used for adjusting the spacing between the positioning plate 313 and the fixing plate 312 so as to adaptively fix material trays of different widths, and the plurality of supporting shafts 314 are vertically fixed on the fixing plate 312 to support the material tray.

[0205] In use, the material receiving assembly is moved to a suitable height, a material tray is placed in the spacing between the positioning plate 313 and the fixing plate 312 by using a mechanical arm, the material tray is allowed to fall on the supporting shafts 314, and then the material receiving assembly is moved gradually to transfer the material tray to a target position for the next process.

[0206] In some embodiments, the adjusting mechanism comprises a first telescopic motor 315, a first L-shaped plate 316 and a second L-shaped plate 317, and the first L-shaped plate 316 and the second L-shaped plate 317 are used for connecting the fixing plate 312 and the positioning plate 313.

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

[0208] In use, the first L-shaped plate 316 is pushed by the first telescopic motor 315, so that the horizontal segments of the first L-shaped plate 316 and the second L-shaped plate 317 are synchronously moved along the third guide rail 318 and the fourth guide rail 319 respectively, thereby changing the spacing width between the positioning plate 313 and the fixing plate 312 to realize the placement and fixation of the material tray, and the ends of the third guide rail 318 and the fourth guide rail 319 away from the positioning plate 313 are respectively provided with a stop block for limiting.

[0209] Further further comprising a supporting plate 322, a fifth guide rail 323, a sixth sliding block 324, a connecting plate 325 and a second telescopic motor 326, the second telescopic motor 326 is fixed at the bottom of the fixed plate 312, two fifth guide rails 323 are arranged on the side of the fixed plate 312 away from the main rack 31 in the vertical direction, two sixth sliding blocks 324 are respectively connected in sliding mode on the two fifth guide rails 323, the two ends of the connecting plate 325 are respectively fixed on the two fifth sliding blocks 321, the output shaft of the second telescopic motor 326 is connected with the middle part of the connecting plate 325 to drive the connecting plate 325 to move up and down along the fifth guide rail 323, and two supporting plates 322 are respectively fixed vertically on the two ends of the connecting plate 325. In this way, the second telescopic motor 326 can drive the supporting plate 322 to move up and down along the fifth guide rail 323 through the connecting plate 325, so that the supporting plate 322 moves up and down in the distance between the fixed plate 312 and the alignment plate 313. Before the tray is put in, the supporting plate 322 is first lifted to the top of the fifth guide rail 323, and after the tray enters the distance, it is first supported by the two supporting plates 322. At this time, the supporting plate 322 is lowered at a constant speed by the second telescopic motor 326, so that the tray stably enters the distance and finally falls on the supporting shaft 314, preventing the tray from being damaged due to the excessive falling speed.

[0210] In some embodiments, the centers of the plurality of supporting shafts 314 are located on the same circular arc for collectively supporting the tray. Specifically, the number of supporting shafts 314 is four, two of which are located close to the bottom of the fixed plate 312 for supporting a tray with a smaller diameter, and the other two are located higher at the two ends of the fixed plate 312 for supporting a tray with a larger diameter. The surface of the supporting shaft 314 is sleeved with a rubber sleeve to serve as a buffer and shock absorber, avoiding hard contact with the tray. Among them, the two supporting shafts 314 located close to the bottom of the fixed plate 312 are located below the connecting plate 325 to limit the lowest descending position of the connecting plate 325.

[0211] In some embodiments, a clamping mechanism 327 is further included for fixing the conveying belt 33. The number of clamping mechanisms 327 is two, and the two clamping mechanisms 327 are respectively fixed on the main rack 31 and the tray receiving assembly. Specifically, the two pulleys 34 are arranged one above the other on the lifting frame 32, one clamping mechanism 327 is fixed on the main rack 31 close to the upper pulley 34, and the other clamping mechanism 327 is fixed on the fixed plate 312 close to the lower pulley 34. Specifically, the clamping mechanism 327 includes a clamping plate and a pressing plate, the conveying belt 33 passes between the clamping plate and the pressing plate, and the clamping plate and the pressing plate are fixed by bolts to clamp the conveying belt 33.

[0212] The working process of the utility model:

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

[0214] Step 102: the old material disc is transported to the identification camera station, data uploading is carried out and comparison with system data is carried out to ensure no error.

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

[0216] Step 104: the material head of the old material disc is inserted into the right feeding track of the material receiving mechanism.

[0217] Step 105: the empty material disc then falls to the empty material disc recycling unit 5.

[0218] Step 106: the material taking unit 1 discharges the new material disc by gravity natural material falling mode;

[0219] Step 107: the secondary telescopic material receiving unit 2 catches the falling new material disc.

[0220] Step 108: the tape receiving unit 3 pulls off the material head of the new material tape and transports it to the identification camera station to take a photo and upload the system, and comparison with system data is carried out to ensure no error.

[0221] Step 109: after comparison, the tape receiving unit 3 moves the new material disc from the material taking station to the butt joint station.

[0222] Step 110: the material head of the new material disc is inserted into the left feeding track of the tape receiving unit 3.

[0223] Step 111: the new material tape is measured, silk screen comparison is carried out, and system data is compared to ensure no error and then the tape is received.

[0224] Step 112: the grabbing unit 4 which discards the empty material disc clamps the new material disc into the material penetrating rod.

[0225] Step 113: after the material tape butt joint is completed, the grabbing unit 4 winds the old disc remaining material collected in the storage box unit 7 into the new material disc.

[0226] Step 114: the grabbing unit 4 puts the new material disc which completes material receiving and filling into the old material disc storage unit 6 (at this time, it is used as a new material disc).

[0227] Step 115: the above process is circularly carried out, and automatic switching of new and old material discs and unmanned automatic material taking and feeding are realized.

[0228] The utility model discloses still through the ground rail type design, and the equipment can satisfy the material receiving demand of production line or batch chip mounter equipment simultaneously, has improved the mobility and the mobility of material receiving mode.

[0229] The above merely illustrates the preferred embodiments of the utility model, and is not intended to limit the scope of protection of the utility model.

Claims

1. An SMT fully automatic unmanned material receiving and feeding system, characterized in that, The system comprises a taking unit, a secondary telescopic receiving unit, a tape receiving unit, a grabbing unit, an empty tray recycling unit, an old tray storage unit and a storage box unit. The taking unit is used for discharging different sizes of new trays according to the process progress to the secondary telescopic receiving unit. The secondary telescopic receiving unit is arranged below the taking unit and is used for adjusting the width according to the size of the new tray at the discharging station so as to accurately receive the discharged new tray; and is also used for connecting the tape of the new tray to the tape receiving unit at the receiving station. The tape receiving unit is arranged at the receiving station and below the secondary telescopic receiving unit and is used for connecting the tape head of the tape of the new tray and the tape of the old tray. The grabbing unit is used for connecting the tape head of the tape of the old tray stored in the old tray storage unit to the tape receiving unit; and is also used for placing the new tray after the completion of the winding into the old tray storage unit and placing the old tray after the completion of the winding into the empty tray recycling unit. The empty tray recycling unit is used for storing the empty tray. The old tray storage unit is used for storing the old tray. The storage box unit is used for collecting the remaining tape of the old tray and winding the remaining tape of the old tray into the new tray after the completion of the connection.

2. The SMT fully automatic unmanned material receiving and feeding system according to claim 1, characterized in that, The system further comprises a fixed support, which is used for bearing the taking unit, the secondary telescopic receiving unit, the tape receiving unit, the grabbing unit, the empty tray recycling unit, the old tray storage unit and the storage box unit.

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

4. The SMT fully automatic unmanned material receiving and feeding system according to any one of claims 1-3, characterized in that, The taking unit comprises a stock bin transverse moving mechanism and a mechanical hand.

5. The SMT fully automatic unmanned material receiving and feeding system according to claim 4, characterized in that, The stock bin transverse moving mechanism comprises a transverse driving mechanism, a fixed assembly and a sliding assembly.

6. The SMT fully automatic unmanned material receiving and feeding system according to claim 5, characterized in that, The sliding assembly is slidably arranged on the fixed assembly and is used for bearing the stock bin.

7. The SMT fully automatic unmanned material receiving and feeding system according to claim 6, characterized in that, The transverse driving mechanism is arranged at one side of the fixed assembly and is connected with the sliding assembly and used for driving the sliding assembly to reciprocate along the transverse direction. The secondary telescopic receiving unit comprises a width adjusting and aligning mechanism, a tape driving mechanism and a third supporting assembly. The width adjusting and aligning mechanism comprises a first supporting assembly, a width adjusting driving assembly and a tape aligning assembly. The tape aligning assembly comprises a first aligning member and a second aligning member. The first aligning member and the second aligning member are oppositely arranged on the first supporting assembly and are used for abutting against the two sides of the tray of the tape to position the tape. The width adjusting driving assembly is arranged on the first supporting assembly and is drivingly connected with at least one of the first aligning member and the second aligning member. The first aligning member is fixedly arranged on the first supporting assembly, the width adjusting driving assembly is drivingly connected with the second aligning member and can drive the second aligning member to move towards or away from the first aligning member.

8. The SMT fully automatic unmanned material receiving and feeding system according to claim 7, characterized in that, The storage box unit comprises a driving mechanism, a moving part, a box body with a material belt inlet, a rotating wheel mechanism, a wheel disc mechanism and a clamping mechanism, the box body comprises a fixed side wall and a moving side wall, the fixed side wall and the moving side wall are located on opposite sides of the material belt inlet, the driving mechanism is drivingly connected with the moving part, the moving part is fixedly connected with the moving side wall, the driving mechanism drives the moving part to reciprocatingly move, thereby driving the moving side wall to move in the direction of approaching or deviating from the fixed side wall, so as to adjust the width of the material belt inlet; the rotating wheel mechanism and the wheel disc mechanism are arranged at both ends of the material belt inlet, for introducing the material belt into the box body, the clamping mechanism is arranged above the box body, and the output end of the clamping mechanism cooperates with the rotating wheel mechanism and the wheel disc mechanism to clamp the material belt.

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

10. The SMT fully automatic unmanned material receiving and feeding system according to claim 9, characterized in that, The belt receiving unit comprises a main frame, a lifting frame, a material receiving assembly, a driving mechanism and a conveying belt, the driving mechanism is fixed on the main frame and is in transmission connection with the lifting frame, for driving the lifting frame to lift along the main frame, at least two pulleys are rotationally connected on the lifting frame, the pulleys lift synchronously with the lifting frame, the conveying belt is wound on the at least two pulleys, and the conveying belt is fixedly connected with the main frame and the material receiving assembly, specifically, one side of the conveying belt is fixedly connected with the main frame, and the other side of the conveying belt is fixedly connected with the material receiving assembly.

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