A type of frame plate mounting machine

Abstract

This utility model belongs to the technical field of skeleton loading machines, specifically a skeleton loading machine, including a frame with a frame cover installed on top. The top of the frame is equipped with a material tray lifting mechanism, a material tray loading / unloading mechanism, a material tray moving mechanism, a skeleton gripping and moving mechanism, a skeleton detection mechanism, a skeleton angle rotation mechanism, a skeleton unloading transfer mechanism, and a skeleton unloading mechanism. This skeleton loading machine, through multi-mechanism collaborative design and refined structural configuration, achieves full automation and high efficiency in the skeleton loading process. The left and right-side material tray lifting mechanisms enable synchronous parallel loading and unloading. Combined with the material tray loading / unloading mechanism and the moving mechanism, a closed-loop "loading-transfer-unloading" flow is constructed, eliminating single-mechanism back-and-forth waiting, significantly reducing process intervals, and improving overall production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of skeleton mounting machine technology, and in particular to a skeleton mounting machine. Background Technology

[0002] In the manufacturing of electronic components such as motors and transformers, the skeleton, as a core structural component, needs to be precisely and orderly installed onto a dedicated tray before the coil is embedded, facilitating subsequent automated transportation, storage, and assembly. This process is called "skeleton tray mounting." Traditional manual tray mounting relies heavily on operator visual judgment and manual placement, resulting in high labor intensity, low production efficiency, and problems such as misplacement and omissions due to fatigue. It is difficult to meet the stringent requirements of modern large-scale production for efficiency and consistent quality.

[0003] To improve automation levels, the industry is gradually adopting specialized equipment to replace manual labor. However, existing automated pallet loading equipment still has significant drawbacks. First, it generally adopts a single-cycle assembly line design, where the loading and unloading processes are often performed sequentially. There is a large amount of idle waiting time between the pallet transfer and the skeleton gripping processes, resulting in low overall equipment utilization and obvious capacity bottlenecks.

[0004] Furthermore, existing equipment suffers from insufficient functional integration, lacks online quality inspection, or employs limited inspection methods. It typically only allows for visual sampling from a fixed angle, creating blind spots and failing to comprehensively assess dimensional defects across the frame's dimensions. This leads to defective products flowing into subsequent processes, wasting raw materials and potentially causing assembly failures downstream. Therefore, a frame mounting machine is needed. Utility Model Content

[0005] Based on the existing technical problems, this utility model proposes a skeleton plate-mounting machine.

[0006] The present invention discloses a skeleton loading machine, which includes a frame, a frame cover installed on the top of the frame, and a material tray lifting mechanism, a material tray loading and unloading mechanism, a material tray moving mechanism, a skeleton gripping and moving mechanism, a skeleton detection mechanism, a skeleton angle rotation mechanism, a skeleton unloading transfer mechanism, and a skeleton unloading mechanism respectively provided on the top of the frame.

[0007] The two material tray lifting mechanisms are respectively located at the top left and right ends of the frame. One material tray lifting mechanism realizes the lifting action after the material tray loading and unloading mechanism loads material, and the other material tray lifting mechanism realizes the lowering action after the material tray loading and unloading mechanism unloads material.

[0008] The material tray loading and unloading mechanism performs the action of grabbing the material tray from the right end of the material tray lifting mechanism and moving it to the material tray moving mechanism; at the same time, the material tray loading and unloading mechanism also performs the action of grabbing the material tray from the material tray moving mechanism and moving it to the left end of the material tray lifting mechanism.

[0009] The tray moving mechanism drives the tray placed on the right end to move to the left end for switching.

[0010] The skeleton grasping and moving mechanism performs the action of grasping the material tray placed in the material tray moving mechanism and moving it to the skeleton detection mechanism.

[0011] The skeleton detection mechanism performs the action of skeleton detection.

[0012] The skeleton angle rotation mechanism realizes the action of changing angles during skeleton detection.

[0013] The skeleton feeding and transfer mechanism realizes the action of feeding, transferring and arranging the skeleton after detection to assist in feeding.

[0014] The skeleton unloading mechanism performs the action of unloading the product after skeleton inspection.

[0015] Preferably, the tray lifting mechanism includes a tray support base and vertical limiting profiles mounted on the top mounting plate of the frame. A vertical lifting servo moving module is mounted on one side of the tray support base. The vertical lifting servo moving module is driven by a built-in servo motor to achieve vertical reciprocating motion. A tray support base plate is mounted on the drive end of the vertical lifting servo moving module. Multiple trays are stacked vertically on top of the tray support base plate, and four vertical limiting profiles are located at the four corners of the tray to limit the tray in the lateral and longitudinal directions. A horizontal mounting profile is also mounted on the opposite surface of two vertical limiting profiles. A tray lifting limiting cylinder is mounted on the top of the horizontal mounting profile. A limiting baffle plate is mounted on the telescopic end of the tray lifting limiting cylinder. The bottoms of the two limiting baffle plates slide in contact with the top surface of the tray.

[0016] Preferably, the material tray loading and unloading mechanism includes loading and unloading bases mounted on the top mounting plate of the frame. The three loading and unloading bases are arranged linearly in a horizontal direction. The surfaces of the three loading and unloading bases are all equipped with transverse connecting profiles. The two transverse connecting profiles are arranged in parallel. The surfaces of the transverse connecting profiles are equipped with transverse drive slide rails. The surfaces of the transverse drive slide rails are slidably connected with transverse drive sliders. The surfaces of the two transverse drive sliders are all equipped with loading and unloading connecting plates. The two loading and unloading connecting plates are threaded together with positive and negative thread connecting rods. The surfaces of the two loading and unloading bases are also equipped with rodless drive cylinders. The rodless drive cylinders are located between the two transverse connecting profiles. The drive end of the rodless drive cylinder is installed on the back of the loading and unloading connecting plate on the right end. The surface of the loading and unloading connecting plate is equipped with a vertically fixed slider. A vertical drive slide rail is slidably inserted into the surface of each of the two vertically fixed sliders. An L-shaped profile is mounted on the surface of the vertical drive slide rail. A fixed connecting seat is mounted on the side of the L-shaped profile. A loading and unloading vertical cylinder is also mounted on the surface of the loading and unloading connecting plate. The telescopic end of the loading and unloading vertical cylinder is installed at the bottom of the fixed connecting seat. Loading and unloading clamping cylinders are mounted on both the top and bottom sides of the L-shaped profile. The drive ends of the two loading and unloading clamping cylinders are arranged in a repulsive manner. A clamping plate is mounted on the telescopic end of the loading and unloading clamping cylinder. The clamping surface of the clamping plate is slidably inserted into the bottom surface of the material tray.

[0017] Preferably, the tray moving mechanism includes a tray fixing seat mounted on the top mounting plate of the frame. A tray servo moving module is mounted on the top of each of the two tray fixing seats. A moving support base plate is mounted on the top of the drive end of the tray servo moving module. Moving limit plates are mounted on the three sides of the top of the moving support base plate. A push cylinder is mounted on the other side of the top of the moving support base plate. A push plate is mounted on the telescopic end of the push cylinder. When the tray filled with skeleton is placed above the moving support base plate, the push cylinder drives the push plate to squeeze the tray filled with skeleton so that it is limited by the three moving limit plates on the three sides.

[0018] Preferably, the skeleton gripping and moving mechanism includes skeleton gripping bases mounted on the top mounting plate of the frame. A skeleton gripping servo moving module is mounted on one side of the top of each of the two skeleton gripping bases. A skeleton gripping connecting plate is mounted on the drive end of each skeleton gripping servo moving module. A skeleton gripping guide rail and a skeleton driving cylinder are respectively mounted on the surface of the skeleton gripping connecting plate. A skeleton gripping slider is slidably inserted into the surface of the skeleton gripping guide rail. A skeleton gripping clamping plate is mounted on the surface of the skeleton gripping slider. The telescopic end of the skeleton driving cylinder is mounted to the top of the skeleton gripping clamping plate. A skeleton gripping cylinder is mounted on the surface of the skeleton gripping clamping plate. A skeleton pneumatic gripper is mounted on the drive end of the skeleton gripping cylinder. The skeleton pneumatic gripper clamps the skeleton placed on the lower tray under the extension movement of the skeleton gripping cylinder.

[0019] Preferably, the skeleton angle rotation mechanism includes angle bases mounted on the top mounting plate of the frame. Angle horizontal plates are fixedly mounted on the top sides of both angle bases. Angle guide rails are mounted on the surface of the angle horizontal plates. Angle sliders are slidably inserted into the surface of the angle guide rails. An angle drive plate is mounted on the surface of the angle sliders. An angle drive cylinder is also fixedly mounted on the top of the angle horizontal plates. The telescopic end of the angle drive cylinder is mounted to the surface of the angle drive plate via angle iron. An L-connecting plate and an angle bearing seat are respectively mounted on one side surface of the angle drive plate. The angle bearing seat is located between the two L-connecting plates. An angle rotation motor is mounted on the bottom end of the angle drive plate. An angle rotation shaft is mounted on the output end of the angle rotation motor via a coupling. The arc surface of the angle rotation shaft is mounted to the inner ring of the bearing in the angle bearing seat. An angle clamping cylinder is mounted on the top of the angle rotation shaft. An angle rotation pneumatic gripper is mounted on the top of the angle clamping cylinder. The angle rotation pneumatic gripper grips the skeleton clamped by the skeleton pneumatic gripper. The skeleton detection mechanism includes a detection base mounted on the top mounting plate of the frame. A detection light source is mounted on the surface of one detection base, a vertical adjustment rod is mounted on the surface of another detection base, a horizontal adjustment rod is mounted on the surface of the vertical adjustment rod, and a horizontal detection camera is mounted on one end of the horizontal adjustment rod. A detection top rod is mounted on the top end of the last detection base, and a vertical detection camera is mounted on the bottom end of one end of the detection top rod. The detection end of the vertical detection camera is correspondingly positioned with the clamping top of the angle-rotating pneumatic gripper, and the detection end of the horizontal detection camera is correspondingly positioned with the side of the angle-rotating pneumatic gripper.

[0020] Preferably, the skeleton unloading transfer mechanism includes transfer bases and transfer guide rods mounted above the top mounting plate of the frame. A transfer servo moving module is mounted on the top of each of the two transfer bases. A transfer mounting plate is mounted on the drive end of each transfer servo moving module. Transfer support seats are mounted on both sides of the top of each transfer mounting plate. A transfer rotary cylinder is mounted on the surface of one transfer support seat, and a product placement plate is rotatably connected to the surface of the other transfer support seat via bearings. One end of the product placement plate is installed corresponding to the rotating end of the transfer rotary cylinder. The inspected skeleton is placed inside the groove of the product placement plate. An inclined unloading mechanism is also mounted on one side surface of one of the transfer support seats. The machine has a transfer top plate mounted on the top surface of the two transfer guide rods. A transfer slide rail is mounted on the surface of the transfer top plate. A transfer slider is slidably inserted into the surface of the transfer slide rail. A transfer drive plate is slidably inserted into the surface of the transfer slider. A transfer drive cylinder is mounted on one side of the top of the transfer top plate. The telescopic end of the transfer drive cylinder is mounted to the surface of the transfer drive plate via angle iron. A transfer clamping cylinder is mounted on the surface of the transfer drive plate. A transfer pneumatic gripper is mounted on the telescopic end of the transfer clamping cylinder. A detection bracket is also mounted above the mounting plate on the top of the frame. A through-beam photoelectric sensor is mounted on the top of each of the two detection brackets. The two through-beam photoelectric sensors are arranged opposite to each other. The skeleton unloading mechanism includes unloading guide rods mounted above the top mounting plate of the frame. Unloading top rods are fixedly mounted on the top ends of both unloading guide rods, and the two unloading top rods are arranged in parallel. Unloading slide rails are fixedly mounted on the surfaces of the unloading top rods, and unloading sliders are slidably inserted into the surfaces of the unloading slide rails. Unloading vertical seats are fixedly mounted on the surfaces of both unloading sliders. Unloading connecting plates are fixedly mounted at both ends of the two unloading top rods. Unloading rodless hydraulic cylinders are mounted on the opposite surfaces of the two unloading connecting plates. The driving end of the unloading rodless hydraulic cylinder is mounted on the surface of the unloading vertical seat. Unloading vertical slide rails are mounted on the surface of the unloading vertical seat, and the surfaces of the unloading vertical slide rails slide... A vertical sliding block for unloading is inserted, and a unloading drive plate is mounted on the surface of the vertical sliding block. A unloading drive cylinder is mounted on the top of the vertical unloading block, and the telescopic bottom end of the unloading drive cylinder is mounted to the top of the unloading drive plate. An unloading mounting seat is mounted on one end surface of the unloading drive plate via angle iron. Unloading clamping cylinders are linearly arranged at the bottom of the unloading mounting seat, and unloading clamping pneumatic grippers are mounted on the telescopic end of the unloading clamping cylinders. The clamping ends of the three unloading clamping pneumatic grippers are respectively set to correspond one-to-one with the three placement slots of the product placement plate. A defective product storage box is also mounted above the top mounting plate of the frame, and the defective product storage box is located at the left end of the transfer servo moving module.

[0021] The beneficial effects of this utility model are as follows: The skeleton loading machine of this application achieves full automation and high efficiency in the skeleton loading process through multi-mechanism collaborative design and refined structural configuration. The left and right-positioned material tray lifting mechanism enables synchronous parallel loading and unloading. Combined with the material tray loading / unloading mechanism and the moving mechanism, a closed-loop "loading-transfer-unloading" flow is constructed, eliminating single-mechanism back-and-forth waiting, significantly reducing process intervals, and improving overall production efficiency. Each mechanism uses high-precision components such as servo modules, guide rails, and limit profiles to ensure the stability of the material tray during lifting, transfer, and positioning, effectively preventing deviation, collision, and wear. The skeleton detection mechanism, in conjunction with the angle rotation mechanism, achieves multi-angle three-dimensional detection, eliminating missed or incorrect inspections and controlling product quality from the source.

[0022] The skeleton gripping, rotating, transferring, and unloading mechanisms work in precise coordination between pneumatic and servo drives to achieve fully automated skeleton operation. The transferring mechanism is pre-arranged and seamlessly connects with the unloading mechanism, ensuring process continuity, reducing manual intervention, and minimizing operational errors and time losses.

[0023] Modular design facilitates adjustment and maintenance of each mechanism, and the detection and clamping components can be flexibly adjusted according to the frame specifications, enhancing the equipment's versatility. Multiple limit and protection structures effectively handle multi-layered tray stacking and high-speed transfer conditions, improving equipment durability and operational reliability. The unloading mechanism uses multiple pneumatic grippers for precise grasping, combined with an independent defective product storage box for automatic sorting, preventing the mixing of qualified and defective products, ensuring consistent product quality, and laying a solid foundation for subsequent assembly and storage. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a frame-mounted plate machine; Figure 2 A three-dimensional view of a skeleton grasping and moving mechanism for a skeleton mounting machine; Figure 3 A three-dimensional diagram of a defective product storage box structure for a frame-mounted tray machine; Figure 4 A three-dimensional view of a material tray fixing seat structure for a frame-type tray feeding machine; Figure 5 A three-dimensional view of a material tray lifting mechanism for a frame-type tray lifting machine; Figure 6 A three-dimensional view of an L-shaped profile structure for a frame-mounted plate machine; Figure 7 A three-dimensional view of the material tray loading and unloading mechanism of a frame-mounted tray machine; Figure 8 A three-dimensional view of the angled base structure of a frame-mounted plate machine; Figure 9 A three-dimensional view of the frame angle rotation mechanism of a frame plate-mounting machine; Figure 10A three-dimensional view of the material tray moving mechanism of a frame-mounted tray machine; Figure 11 A three-dimensional view of the skeleton gripping base structure of a skeleton plate-mounting machine; Figure 12 A three-dimensional view of the detection light source structure of a skeleton plate-mounting machine; Figure 13 A three-dimensional view of the skeleton detection mechanism of a skeleton mounting machine; Figure 14 A three-dimensional view of the product placement plate structure of a frame-mounted tray machine; Figure 15 A three-dimensional view of a skeleton unloading and transfer mechanism for a skeleton mounting machine; Figure 16 This is a three-dimensional view of the skeleton unloading mechanism of a skeleton loading machine.

[0025] In the diagram: 1. Frame; 2. Frame housing; 3. Tray lifting mechanism; 31. Tray support base; 32. Vertical limiting profile; 33. Vertical lifting servo moving module; 34. Tray support base plate; 35. Horizontal mounting profile; 36. Tray lifting limiting cylinder; 37. Limiting barrier plate; 4. Tray loading / unloading mechanism; 41. Loading / unloading base; 42. Lateral connecting profile; 43. Lateral drive slide rail; 44. Lateral drive slider; 45. Loading / unloading connecting plate; 46. Positive and negative thread connecting rod; 47. Drive rodless cylinder; 48. Vertical fixed slider; 49. Vertical drive slide rail; 410. L-shaped profile; 411. Fixed connecting base; 412. Loading / unloading vertical cylinder; 413. Loading / unloading clamping cylinder; 4 14. Clamping plate; 5. Tray moving mechanism; 51. Tray fixing base; 52. Tray servo moving module; 53. Moving support base plate; 54. Moving limit plate; 55. Push cylinder; 56. Push plate; 6. Skeleton gripping moving mechanism; 61. Skeleton gripping base; 62. Skeleton gripping servo moving module; 63. Skeleton gripping connecting plate; 64. Skeleton gripping guide rail; 65. Skeleton driving cylinder; 66. Skeleton gripping slider; 67. Skeleton gripping clamping plate; 68. Skeleton gripping cylinder; 69. Skeleton pneumatic gripper; 7. Skeleton detection mechanism; 71. Detection base; 72. Detection light source; 73. Detection vertical adjustment rod; 74. Detection horizontal adjustment rod; 75. Horizontal detection camera; 76. Detection top. 77. Vertical inspection camera; 8. Skeleton angle rotation mechanism; 81. Angle base; 82. Angle cross plate; 83. Angle guide rail; 84. Angle slider; 85. Angle drive plate; 86. Angle drive cylinder; 87. L-connecting plate; 88. Angle bearing seat; 89. Angle rotation motor; 810. Angle rotation shaft; 811. Angle clamping cylinder; 812. Angle rotation pneumatic gripper; 9. Skeleton unloading transfer mechanism; 91. Transfer base; 92. Transfer guide rod; 93. Transfer servo moving module; 94. Transfer mounting plate; 95. Transfer support base; 96. Transfer rotation cylinder; 97. Product placement plate; 98. Inclined unloading plate; 99. Transfer top plate; 910. Transfer slide rail; 911 912. Transfer slider; 913. Transfer drive board; 914. Transfer drive cylinder; 915. Transfer clamping cylinder; 916. Transfer pneumatic gripper; 917. Detection bracket; 918. Through-beam photoelectric sensor; 10. Skeleton unloading mechanism; 101. Unloading guide rod; 102. Unloading top rod; 103. Unloading slide rail; 104. Unloading slider; 105. Unloading vertical seat; 106. Unloading connecting plate; 107. Unloading rodless cylinder; 108. Unloading vertical slide rail; 109. Unloading vertical slider; 1010. Unloading drive board; 1011. Unloading drive cylinder; 1012. Unloading mounting seat; 1013. Unloading clamping cylinder; 1014. Unloading clamping pneumatic gripper; 1015. Defective product storage box. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0027] Reference Figures 1-16 A skeleton loading machine includes a frame 1, a frame cover 2 installed on the top of the frame 1, and a material tray lifting mechanism 3, a material tray loading and unloading mechanism 4, a material tray moving mechanism 5, a skeleton gripping and moving mechanism 6, a skeleton detection mechanism 7, a skeleton angle rotation mechanism 8, a skeleton unloading transfer mechanism 9, and a skeleton unloading mechanism 10 respectively provided on the top of the frame 1.

[0028] Two tray lifting mechanisms 3 are respectively located at the top left and right ends of the frame 1. One tray lifting mechanism 3 realizes the lifting action after the tray loading and unloading mechanism 4 loads materials, and the other tray lifting mechanism 3 realizes the lowering action after the tray loading and unloading mechanism 4 unloads materials. The tray lifting mechanism 3 includes a tray support base 31 and a vertical limiting profile 32 installed above the mounting plate on the top of the frame 1. A vertical lifting servo moving module 33 is installed on one side of the tray support base 31. The vertical lifting servo moving module 33 realizes vertical reciprocating motion through a built-in servo motor. The drive end of 3 is equipped with a tray support base plate 34. Multiple trays are stacked vertically on top of the tray support base plate 34. Four vertical limiting profiles 32 are located at the four corners of the trays to limit the trays in the lateral and longitudinal directions. Horizontal mounting profiles 35 are also installed on the opposite surfaces of two vertical limiting profiles 32. A tray lifting and limiting cylinder 36 is installed on the top of the horizontal mounting profile 35. Limiting baffles 37 are installed on the telescopic end of the tray lifting and limiting cylinder 36. The bottoms of the two limiting baffles 37 slide in contact with the top surface of the trays.

[0029] Specifically, this is implemented by placing two material tray lifting mechanisms 3 at the top left and right ends of the frame 1, clearly defining the dedicated functions of "loading and lifting" and "unloading and lowering," avoiding the waiting time and losses of single-mechanism back-and-forth operations, and forming a parallel "loading-unloading" operation mode, further reducing the process interval. From a structural perspective, the mechanism constructs a stable frame through support bases and vertical limiting profiles 32. The vertical lifting servo moving module 33 achieves precise vertical reciprocating motion with its built-in servo motor, working in conjunction with the material tray support base plate 34 to support the material tray. Four vertical limiting profiles 32 precisely position the four corners of the material tray, forming dual horizontal and vertical limits. Meanwhile, the material tray lifting and limiting cylinder 36 on the horizontally mounted profile 35 drives the limiting barrier plate 37 to slide into contact with the top of the material tray. Multiple structures work together to form all-around protection. The precise coordination of each mechanism around the main operation line avoids time loss and posture deviation of materials during transfer, making the operation process more coherent and stable, laying a solid structural foundation for subsequent improvements in production efficiency and ensuring product quality.

[0030] The tray loading / unloading mechanism 4 moves the tray from the right tray lifting mechanism 3 to the tray moving mechanism 5; simultaneously, it also moves the tray from the tray moving mechanism 5 to the left tray lifting mechanism 3. The tray loading / unloading mechanism 4 includes three loading / unloading bases 41 mounted on the top mounting plate of the frame 1. These three bases are arranged linearly in a horizontal direction, and each base 41 has a transverse connecting profile 42 mounted on its surface. The two transverse connecting profiles 42 are arranged in parallel. A transverse drive slide rail 43 is mounted on the surface of the connecting profile 42. A transverse drive slider 44 is slidably inserted into the surface of the transverse drive slide rail 43. A loading and unloading connecting plate 45 is mounted on the surface of both transverse drive sliders 44. A positive and negative thread connecting rod 46 is threaded between the two loading and unloading connecting plates 45. A drive rodless cylinder 47 is also mounted on the surface of the two loading and unloading bases 41. The drive rodless cylinder 47 is located between the two transverse connecting profiles 42. The drive end of the drive rodless cylinder 47 is mounted on the back of the loading and unloading connecting plate 45 on the right end. Vertical fixed sliders 48 are installed on the surface of the loading and unloading connecting plate 45. Vertical drive slide rails 49 are slidably inserted into the surfaces of the two vertical fixed sliders 48. L-shaped profiles 410 are installed on the surface of the vertical drive slide rails 49. Fixed connecting seats 411 are installed on the side of the L-shaped profiles 410. Loading and unloading vertical cylinders 412 are also installed on the surface of the loading and unloading connecting plate 45. The telescopic end of the loading and unloading vertical cylinder 412 is installed at the bottom of the fixed connecting seat 411. Loading and unloading clamping cylinders 413 are installed on both the top and bottom sides of the L-shaped profiles 410. The drive ends of the two loading and unloading clamping cylinders 413 are arranged in a repulsive manner. Clamping plates 414 are installed on the telescopic end of the loading and unloading clamping cylinders 413. The clamping surface of the clamping plate 414 is slidably inserted into the bottom surface of the material tray.

[0031] Specifically, the dual-operating-direction design of the material tray loading and unloading mechanism 4 is the key to its connection. It can simultaneously complete the actions of "the right end material tray lifting mechanism 3 picking up material to the material tray moving mechanism 5" and "the material tray moving mechanism 5 picking up material to the left end material tray lifting mechanism 3", thus constructing a closed-loop transfer link of "loading end - transfer end - unloading end". This completely avoids the waiting gap of unidirectional operation, enabling each mechanism to form an efficient linkage around the main operation line, further reducing the time loss of material transfer, significantly improving the continuity of the operation process, and laying a solid structural foundation for subsequent improvement of production efficiency.

[0032] The material tray loading and unloading mechanism 4 achieves fully automated transfer through a refined drive structure: the horizontal drive slide rail 43 works with the slider to drive the rodless hydraulic cylinder 47, which drives the loading and unloading connecting plate 45 to achieve smooth and efficient horizontal movement; the positive and negative thread connecting rod 46 ensures synchronous linkage of the two sliders; the loading and unloading vertical cylinder 412 drives the L-shaped profile 410 to accurately lift and lower, and works with the loading and unloading clamping cylinders 413 on both sides of the top to drive the clamping plate 414 to complete the clamping and release of the material tray. The whole process does not require manual intervention.

[0033] The symmetrical layout of the dual lateral drive slide rails 43 and the slider, combined with the smooth drive of the rodless hydraulic cylinder, ensures that the material tray will not deviate or shake during lateral movement. The sliding insertion design between the clamping plate 414 and the bottom of the material tray, combined with the clamping force of the two clamping plates 414 in opposite directions, ensures that the material tray is evenly stressed and firmly fixed, effectively preventing the material tray from tilting or falling off during transfer and causing collision damage. The precise extension and retraction control of the vertical cylinder 412 for loading and unloading can accurately adjust the lifting stroke according to the height of the material tray, avoiding hard contact with other components. The refined structural design of the material tray lifting mechanism 3 further enhances quality control in the material transfer process: four vertical limiting profiles 32 form rigid constraints from the four corners of the material tray, effectively preventing the material tray from shifting laterally, tipping over, or colliding due to inertia during lifting or lowering, and avoiding wear on the corners and deformation of the material tray; the limiting baffle plate 37 driven by the material tray lifting limiting cylinder 36 slides in contact with the top of the material tray, which not only provides a top limit for stacked material trays, but also guides the material tray to maintain a vertical posture through flexible contact during vertical movement, preventing misalignment and stacking of multiple material trays.

[0034] The tray moving mechanism 5 drives the tray placed on the right end to move to the left end for switching. The tray moving mechanism 5 includes a tray fixing seat 51 installed on the top mounting plate of the frame 1. A tray servo moving module 52 is installed on the top of each of the two tray fixing seats 51. A moving support base plate 53 is installed on the top of the drive end of the tray servo moving module 52. Moving limit plates 54 are installed on the three sides of the top of the moving support base plate 53. A push cylinder 55 is installed on the other side of the top of the moving support base plate 53. A push plate 56 is installed on the telescopic end of the push cylinder 55. When the tray filled with skeleton is placed on the moving support base plate 53, the push cylinder 55 drives the push plate 56 to squeeze the tray filled with skeleton so that it is limited by the three moving limit plates 54 on the three sides.

[0035] Specifically, the material tray moving mechanism 5 plays a crucial role in the transfer and switching process. It can drive the material tray received on the right end to move precisely to the working position on the left end, forming a closed loop of "loading-transfer-unloading" with the material tray loading and unloading mechanism 4. This avoids the stagnation of the material tray during transfer between working positions, allowing each mechanism to form an efficient linkage around the main line of the upper tray of the frame, effectively reducing material transfer.

[0036] The skeleton gripping and moving mechanism 6 realizes the action of placing the skeleton on the material tray of the material tray moving mechanism 5 and moving it to the skeleton detection mechanism 7; the skeleton gripping and moving mechanism 6 includes a skeleton gripping base 61 mounted on the top mounting plate of the frame 1, and a skeleton gripping servo moving module 62 is mounted on one side of the top of each of the two skeleton gripping bases 61. A skeleton gripping connecting plate 63 is mounted on the drive end of the skeleton gripping servo moving module 62, and a skeleton gripping guide rail 64 and a skeleton drive are respectively mounted on the surface of the skeleton gripping connecting plate 63. The cylinder 65 and the skeleton gripping guide rail 64 are slidably connected to a skeleton gripping slider 66. A skeleton gripping clamping plate 67 is mounted on the surface of the skeleton gripping slider 66. The telescopic end of the skeleton drive cylinder 65 is mounted on the top of the skeleton gripping clamping plate 67. A skeleton gripping cylinder 68 is mounted on the surface of the skeleton gripping clamping plate 67. A skeleton pneumatic gripper 69 is mounted on the drive end of the skeleton gripping cylinder 68. The skeleton pneumatic gripper 69 clamps the skeleton placed on the lower tray under the extension movement of the skeleton gripping cylinder 68.

[0037] Specifically, the skeleton gripping and moving mechanism 6, with its precise drive control, can stably grip the skeleton and complete multi-directional movement. The precision operation is achieved through a fully automated structure: the skeleton gripping servo moving module 62 drives the entire mechanism to move horizontally, the skeleton drive cylinder 65 works with the gripping guide rail to adjust the height, and finally the skeleton gripping cylinder 68 drives the pneumatic gripper to complete the skeleton clamping. The entire process can transfer the skeleton from the material tray moving mechanism 5 to the inspection mechanism without any manual intervention.

[0038] The skeleton angle rotation mechanism 8 realizes the angle conversion action in skeleton detection. The skeleton angle rotation mechanism 8 includes angle bases 81 installed on the top mounting plate of the frame 1. Angle horizontal plates 82 are fixedly installed on the top sides of the two angle bases 81. Angle guide rails 83 are installed on the surface of the angle horizontal plates 82. Angle sliders 84 are slidably inserted into the surface of the angle guide rails 83. An angle drive plate 85 is installed on the surface of the angle sliders 84. An angle drive cylinder 86 is also fixedly installed on the top of the angle horizontal plates 82. The extension end of the angle drive cylinder 86 is installed on the surface of the angle drive plate 85 by angle iron. An L-connecting plate 87 and an angle bearing seat 88 are respectively installed on one side surface. The angle bearing seat 88 is located between the two L-connecting plates 87. An angle rotary motor 89 is installed at the bottom end of the angle drive plate 85. An angle rotary shaft 810 is installed at the output end of the angle rotary motor 89 through a coupling. The arc surface of the angle rotary shaft 810 is installed with the inner ring of the bearing in the angle bearing seat 88. An angle clamping cylinder 811 is installed at the top of the angle rotary shaft 810. An angle rotary pneumatic gripper 812 is installed at the top of the angle clamping cylinder 811. The angle rotary pneumatic gripper 812 clamps the skeleton clamped by the skeleton pneumatic gripper 69.

[0039] Specifically, the skeleton angle rotation mechanism 8 serves as a key connecting node in the detection process. It can accurately receive the skeleton transferred by the skeleton grasping and moving mechanism 6 and complete the angle conversion, so that the skeleton can be adapted to the detection requirements without manual transfer. Among them, the skeleton grasping and moving mechanism 6 serves as the core node of "grabbing-transfer". It accurately receives the skeleton supply from the material tray moving mechanism 5 and transfers it to the detection mechanism, so that each mechanism can cooperate precisely around the main operation line to form an efficient linkage.

[0040] The cooperation between the angle guide rail 83 and the slider ensures stable translation of the mechanism and avoids skeleton displacement during material handling; the angle bearing seat 88 provides precise positioning for the rotating shaft, and together with the high-precision drive of the rotary motor, it keeps the skeleton angle adjustment error within a very small range, enabling the skeleton to achieve multi-directional and multi-angle conversion, ensuring that all detection surfaces of the skeleton can be fully exposed to the detection equipment, avoiding missed or incorrect detections due to angle obstruction; at the same time, the precise cooperation between the angle rotating pneumatic gripper 812 and the skeleton gripping pneumatic gripper ensures the stability of the skeleton's posture during the handover process.

[0041] The skeleton detection mechanism 7 performs the action of detecting the skeleton. The skeleton detection mechanism 7 includes a detection base 71 installed above the top mounting plate of the frame 1. A detection light source 72 is installed on the surface of one detection base 71. A detection vertical adjustment rod 73 is installed on the surface of another detection base 71. A detection horizontal adjustment rod 74 is installed on the surface of the detection vertical adjustment rod 73. A horizontal detection camera 75 is installed at one end of the detection horizontal adjustment rod 74. A detection top rod 76 is installed at the top end of the last detection base 71. A vertical detection camera 77 is installed at the bottom of one end of the detection top rod 76. The detection end of the vertical detection camera 77 is correspondingly set with the clamping top of the angle-rotating pneumatic gripper 812. The detection end of the horizontal detection camera 75 is correspondingly set with the side of the angle-rotating pneumatic gripper 812.

[0042] Specifically, the mechanism is equipped with a horizontal inspection camera 75 and a vertical inspection camera 77, which correspond to the side and top of the skeleton clamped by the angle-rotating pneumatic gripper 812, respectively. Combined with the auxiliary illumination of the inspection light source 72, it can comprehensively collect image information such as the appearance and dimensions of key parts of the skeleton, realizing three-dimensional inspection of the skeleton. This avoids the problems of missed or incorrect inspections caused by single-angle inspection, and intercepts unqualified products from flowing into subsequent processes at the source. At the same time, the combination design of the vertical adjustment rod 73 and the horizontal adjustment rod can flexibly adjust the height and horizontal position of the horizontal inspection camera 75 according to the inspection requirements of different skeleton specifications, making the equipment adaptable to various inspection scenarios. The skeleton gripping and moving mechanism 6 and the angle rotation mechanism adopt high-precision transmission and positioning technology, which can achieve precise control of the skeleton gripping position, movement path and rotation angle, ensuring the stability of the skeleton posture during inspection, providing the camera with a clear and accurate inspection target, further improving the inspection accuracy, and effectively reducing problems such as low material tray utilization and subsequent assembly difficulties caused by skeleton placement deviations or inspection blind spots, thus comprehensively ensuring the stability of product quality.

[0043] The skeleton unloading transfer mechanism 9 realizes the unloading, transfer, and arrangement of skeletons after detection, assisting in the unloading action. The skeleton unloading transfer mechanism 9 includes a transfer base 91 and a transfer guide rod 92 installed above the top mounting plate of the frame 1. A transfer servo moving module 93 is installed on the top of each of the two transfer bases 91. A transfer mounting plate 94 is installed on the drive end of the transfer servo moving module 93. Transfer support seats 95 are installed on both sides of the top of the transfer mounting plate 94. A transfer rotary cylinder 96 is installed on the surface of one transfer support seat 95. A product placement plate 97 is rotatably connected to the surface of the other transfer support seat 95 through a bearing. One end of the product placement plate 97 is installed corresponding to the rotating end of the transfer rotary cylinder 96. The detected skeleton is placed inside the groove of the product placement plate 97. An inclined plate is also installed on one side surface of one of the transfer support seats 95. The unloading plate 98 has a transfer top plate 99 mounted on the top surface of the two transfer guide rods 92. A transfer slide rail 910 is mounted on the surface of the transfer top plate 99. A transfer slider 911 is slidably inserted into the surface of the transfer slide rail 910. A transfer drive plate 912 is slidably inserted into the surface of the transfer slider 911. A transfer drive cylinder 913 is mounted on one side of the top of the transfer top plate 99. The telescopic end of the transfer drive cylinder 913 is mounted to the surface of the transfer drive plate 912 by angle iron. A transfer clamping cylinder 914 is mounted on the surface of the transfer drive plate 912. A transfer pneumatic gripper 915 is mounted on the telescopic end of the transfer clamping cylinder 914. A detection bracket 916 is also mounted above the mounting plate on the top of the frame 1. A through-beam photoelectric sensor 917 is mounted on the top of each of the two detection brackets 916. The two through-beam photoelectric sensors 917 are arranged opposite each other.

[0044] Specifically, the efficient transfer design of the skeleton unloading transfer mechanism 9 is an important support for efficiency improvement: the combination of servo moving module and pneumatic drive has a rapid response and can quickly complete the continuous operation of skeleton picking, transfer and arrangement; its function of completing skeleton arrangement in advance avoids the waiting time of the unloading mechanism and realizes the parallel operation of "detection-transfer-unloading".

[0045] The relay servo moving module 93, rotary cylinder, pneumatic gripper, and other components are all mounted on standardized bases, allowing for flexible adjustment of their installation positions according to the skeleton specifications. The combined design of the through-beam photoelectric sensor 917 and the detection bracket 916 facilitates individual debugging or replacement. The adjustment structure of the skeleton detection mechanism 7 further highlights its modular advantages—the vertical and horizontal adjustment rods can independently adjust the camera position, adapting to the detection needs of different skeleton specifications without modifying the main body of the mechanism. Each detection component is mounted on the detection base 71 via a standardized structure, facilitating individual disassembly and replacement.

[0046] The skeleton unloading mechanism 10 performs the unloading action on the product after skeleton inspection. The skeleton unloading mechanism 10 includes unloading guide rods 101 mounted above the top mounting plate of the frame 1. Unloading top rods 102 are fixedly mounted on the top ends of both unloading guide rods 101, and the two unloading top rods 102 are arranged in parallel. Unloading slide rails 103 are fixedly mounted on the surface of the unloading top rods 102, and unloading sliders 104 are slidably inserted into the surface of the unloading slide rails 103. Unloading vertical seats 105 are fixedly mounted on the surfaces of both unloading sliders 104. Unloading connecting plates 106 are fixedly mounted at both ends of the two unloading top rods 102. Unloading rodless cylinders 107 are mounted on the opposite surfaces of the two unloading connecting plates 106. The drive end of the unloading rodless cylinder 107 is mounted on the surface of the unloading vertical seat 105. Unloading vertical slide rails 108 are mounted on the surface of the unloading vertical seat 105. A vertical sliding block 109 is slidably inserted into the surface of the rail 108. A feeding drive plate 1010 is mounted on the surface of the vertical sliding block 109. A feeding drive cylinder 1011 is mounted on the top of the vertical feeding seat 105. The telescopic bottom end of the feeding drive cylinder 1011 is mounted on the top of the feeding drive plate 1010. A feeding mounting seat 1012 is mounted on one end of the surface of the feeding drive plate 1010 via angle iron. A feeding clamping cylinder 1013 is linearly arranged at the bottom of the feeding mounting seat 1012. A feeding clamping pneumatic gripper 1014 is mounted on the telescopic end of the feeding clamping cylinder 1013. The clamping ends of the three feeding clamping pneumatic grippers 1014 are respectively set to correspond one-to-one with the three placement slots of the product placement plate 97. A defective product storage box 1015 is also mounted above the top mounting plate of the frame 1. The defective product storage box 1015 is located at the left end of the transfer servo moving module 93.

[0047] Specifically, this is implemented by having three pneumatic grippers 1014 for feeding and clamping correspond one-to-one with the three placement slots of the product placement plate 97, ensuring precise gripping positions and preventing damage to the skeleton from collisions. The independent design of the defective product storage box 1015 enables automated separation of qualified and defective products, preventing confusion caused by manual sorting and strengthening quality control from the final stage. Simultaneously, the skeleton gripping and moving mechanism 6 and the angle rotation mechanism employ high-precision transmission and positioning technology, enabling precise control of the skeleton gripping position, movement path, and rotation angle. This ensures the skeleton is stably and accurately placed in the designated position on the tray according to preset requirements, effectively reducing low tray utilization and chaotic feeding caused by skeleton placement deviations, as well as subsequent assembly and storage issues.

[0048] The skeleton loading machine of this application achieves full automation and high efficiency in the skeleton loading process through multi-mechanism collaborative design and refined structural configuration. The left and right-positioned material tray lifting mechanism 3 enables synchronous parallel loading and unloading. Combined with the material tray loading / unloading mechanism 4 and the moving mechanism, a closed-loop "loading-transfer-unloading" flow is constructed, eliminating single-mechanism back-and-forth waiting, significantly reducing process intervals, and improving overall production efficiency. Each mechanism uses high-precision components such as servo modules, guide rails, and limit profiles to ensure the stability of the material tray during lifting, transfer, and positioning, effectively preventing deviation, collision, and wear. The skeleton detection mechanism 7, in conjunction with the angle rotation mechanism, achieves multi-angle three-dimensional detection, eliminating missed or incorrect inspections and controlling product quality from the source.

[0049] The skeleton gripping, rotating, transferring, and unloading mechanisms work in precise coordination between pneumatic and servo drives to achieve fully automated skeleton operation. The transferring mechanism is pre-arranged and seamlessly connects with the unloading mechanism, ensuring process continuity, reducing manual intervention, and minimizing operational errors and time losses.

[0050] Modular design facilitates adjustment and maintenance of each mechanism, and the detection and clamping components can be flexibly adjusted according to the frame specifications, enhancing the equipment's versatility. Multiple limit and protection structures effectively handle multi-layered tray stacking and high-speed transfer conditions, improving equipment durability and operational reliability. The unloading mechanism uses multiple pneumatic grippers for precise grasping, combined with an independent 1015 defective product storage box for automatic sorting, preventing the mixing of qualified and defective products, ensuring consistent product quality, and laying a solid foundation for subsequent assembly and storage.

[0051] Working principle: Multiple trays, each containing multiple frames, are stacked on the tray support base plate 34 of the tray lifting mechanism 3 at the right end. Four vertical limiting profiles 32 limit the tray stack laterally and longitudinally from the four corners. The tray lifting limiting cylinder 36 actuates, driving the limiting baffle plate 37 to extend and support the entire tray stack above the bottom tray. The vertical lifting servo moving module 33 drives the support base plate to descend by one tray height and then stops. The limiting baffle plate 37 retracts, and the lifting servo module rises again, precisely lifting the top tray to the ready-to-receive position.

[0052] The loading / unloading mechanism 4's loading / unloading clamping cylinder 413 drives the clamping plate 414 to extend and clamp the bottom of the lifted and positioned material tray. The loading / unloading vertical cylinder 412 actuates, slightly lifting the material tray to disengage it from the lifting mechanism. The drive rodless cylinder 47 operates, driving the entire gripping mechanism laterally via the transverse drive slide rail 43 and slider, transporting the material tray above the material tray moving mechanism 5. The loading / unloading vertical cylinder 412 descends, placing the material tray on the moving support base plate 53 of the material tray moving mechanism 5, after which the clamping plate 414 releases and returns.

[0053] The push cylinder 55 of the material tray moving mechanism 5 is activated, driving the push plate 56 to push the material tray on the support plate to one side, so that it is in close contact with the three moving limit plates 54, and completes the precise positioning.

[0054] The tray servo moving module 52 drives the positioned empty tray to move one station to the left, placing it below the tray loading / unloading mechanism 4. This mechanism is responsible for removing the empty tray for unloading.

[0055] The skeleton gripping servo moving module 62 of the skeleton gripping moving mechanism 6 drives the skeleton pneumatic gripper 69 to move to the designated skeleton position above the material tray. The skeleton drive cylinder 65 descends, causing the skeleton gripping cylinder 68 and the skeleton pneumatic gripper 69 to approach the target skeleton. The skeleton gripping cylinder 68 drives the skeleton pneumatic gripper 69 to close, gripping a single skeleton. The gripping mechanism as a whole rises and moves laterally, transporting the skeleton directly above the angle rotating pneumatic gripper 812 of the skeleton angle rotating mechanism 8.

[0056] The skeleton gripping and moving mechanism 6 descends, delivering the skeleton to the angled rotary pneumatic gripper 812. The angled clamping cylinder 811 drives the angled rotary pneumatic gripper 812 to close, taking over the gripping of the skeleton. The pneumatic gripper of the skeleton gripping and moving mechanism 6 releases and returns, ready to grip the next skeleton. The angled rotary motor 89 precisely drives the skeleton to rotate a specific angle via the angled rotation shaft 810, so that the specific surface to be inspected is aligned with the camera.

[0057] After the skeleton rotates to a predetermined angle, the skeleton inspection mechanism 7 is activated. The inspection light source 72 provides illumination, and the horizontal inspection camera 75 and the vertical inspection camera 77 simultaneously or sequentially acquire images of the sides and top of the skeleton. The image processing system analyzes the acquired images to determine whether the skeleton's dimensions, appearance, etc., meet the standards, and provides a "qualified" or "unqualified" judgment signal.

[0058] The frame angle rotation mechanism 8 rotates the inspected frame to the handover position. The transfer pneumatic gripper 915 of the frame unloading transfer mechanism 9, driven by the transfer drive cylinder 913, moves to the frame and removes it from the angle rotation pneumatic gripper 812. The transfer servo movement module 93 moves the frame. If the frame is defective: the transfer mechanism moves above the defective product storage box 1015, the pneumatic gripper releases, and the frame falls into the storage box. If the frame is qualified: the transfer mechanism moves above the product placement plate 97. The transfer rotation cylinder 96 may adjust the angle of the product placement plate 97, and then the pneumatic gripper precisely places the frame into a specific groove on the placement plate. A through-beam photoelectric sensor 917 is used to monitor whether the frame is in place.

[0059] Once the grooves on the product placement plate 97 are filled with the set number of qualified skeletons, the pneumatic grippers 1014 of the skeleton unloading mechanism 10, driven by the rodless unloading cylinder 107 and the unloading drive cylinder 1011, move above the product placement plate 97. All three pneumatic grippers 1014 operate simultaneously, grabbing three qualified skeletons at once. The unloading mechanism moves laterally to the full-load tray above the left-end tray lifting mechanism 3 and precisely places the skeletons into the designated positions on the tray. The left-end tray lifting mechanism 3 repeats a similar lifting action as the first step, but in the opposite direction. It gradually receives and lowers the full-load tray. When the bottom tray is full of skeletons, the tray unloading mechanism 4 removes them from the lifting mechanism and transfers them to the off-line area, completing a full work cycle.

[0060] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A frame mounting machine, comprising a frame (1), characterized in that: The top of the frame (1) is equipped with a frame cover (2), and the top of the frame (1) is respectively provided with a material tray lifting mechanism (3), a material tray loading and unloading mechanism (4), a material tray moving mechanism (5), a skeleton grabbing and moving mechanism (6), a skeleton detection mechanism (7), a skeleton angle rotation mechanism (8), a skeleton unloading transfer mechanism (9) and a skeleton unloading mechanism (10). Two material tray lifting mechanisms (3) are respectively set at the top left and right ends of the frame (1). One material tray lifting mechanism (3) realizes the lifting action after the material tray loading and unloading mechanism (4) loads the material, and the other material tray lifting mechanism (3) realizes the lowering action after the material tray loading and unloading mechanism (4) unloads the material. The material tray loading and unloading mechanism (4) performs the action of grabbing the material tray from the right end of the material tray lifting mechanism (3) and moving it to the material tray moving mechanism (5); and at the same time, the material tray loading and unloading mechanism (4) also performs the action of grabbing the material tray from the material tray moving mechanism (5) and moving it to the left end of the material tray lifting mechanism (3); The material tray moving mechanism (5) realizes the action of driving the material tray placed on the right end to move to the left end for switching; The skeleton grasping and moving mechanism (6) performs the action of grasping the material tray of the material tray moving mechanism (5) and placing the skeleton thereon so that it moves to the skeleton detection mechanism (7); The skeleton detection mechanism (7) performs the skeleton detection action; The skeleton angle rotation mechanism (8) realizes the action of changing the angle during skeleton detection; The skeleton feeding transfer mechanism (9) realizes the action of feeding transfer and arrangement to assist feeding after skeleton detection; The skeleton unloading mechanism (10) performs the action of unloading the product after skeleton detection.

2. The frame mounting machine according to claim 1, characterized in that: The tray lifting mechanism (3) includes a tray support base (31) and a vertical limiting profile (32) mounted on the top mounting plate of the frame (1). A vertical lifting servo moving module (33) is mounted on one side of the tray support base (31). The vertical lifting servo moving module (33) is driven by a built-in servo motor to achieve vertical reciprocating motion. A tray support base plate (34) is mounted on the driving end of the vertical lifting servo moving module (33). Multiple trays are stacked vertically on the tray support base plate. The top of (34) and the four vertical limiting profiles (32) are respectively located at the four corners of the tray to limit the tray in the horizontal and vertical directions. The two vertical limiting profiles (32) are also equipped with horizontal mounting profiles (35) on their opposite surfaces. The top of the horizontal mounting profiles (35) is equipped with a tray lifting limiting cylinder (36). The telescopic end of the tray lifting limiting cylinder (36) is equipped with a limiting barrier plate (37). The bottom of the two limiting barriers (37) slides in contact with the surface of the top of the tray.

3. The frame mounting machine according to claim 1, characterized in that: The loading and unloading mechanism (4) includes loading and unloading bases (41) installed above the top mounting plate of the frame (1). The three loading and unloading bases (41) are arranged linearly in the horizontal direction. The surfaces of the three loading and unloading bases (41) are all equipped with transverse connecting profiles (42). The two transverse connecting profiles (42) are arranged in parallel. The surfaces of the transverse connecting profiles (42) are equipped with transverse drive slide rails (43). The surfaces of the transverse drive slide rails (43) are slidably connected with transverse drive sliders (44). The surfaces of the two transverse drive sliders (44) are all equipped with loading and unloading connecting plates (45). The two loading and unloading connecting plates (45) are threaded together with positive and negative thread connecting rods (46). The surfaces of the two loading and unloading bases (41) are also equipped with rodless drive cylinders (47). The rodless drive cylinders (47) are located between the two transverse connecting profiles (42). The drive end of the rodless drive cylinders (47) is installed on the back of the loading and unloading connecting plate (45) on the right. The surface of the loading and unloading connecting plate (45) is equipped with a vertical fixed slider (48), and the surfaces of the two vertical fixed sliders (48) are slidably connected with vertical drive slide rails (49). The surface of the vertical drive slide rails (49) is equipped with an L-shaped profile (410), and the side of the L-shaped profile (410) is equipped with a fixed connecting seat (411). The surface of the loading and unloading connecting plate (45) is also equipped with a loading and unloading vertical cylinder (412). The telescopic end of the loading and unloading vertical cylinder (412) is installed with the bottom of the fixed connecting seat (411). The top and bottom sides of the L-shaped profile (410) are equipped with loading and unloading clamping cylinders (413). The driving ends of the two loading and unloading clamping cylinders (413) are arranged in opposite directions. The telescopic end of the loading and unloading clamping cylinder (413) is equipped with a clamping plate (414). The clamping surface of the clamping plate (414) is slidably connected with the bottom surface of the material tray.

4. A frame mounting machine according to claim 1, characterized in that: The tray moving mechanism (5) includes a tray fixing seat (51) installed above the top mounting plate of the frame (1). A tray servo moving module (52) is installed on the top of each of the two tray fixing seats (51). A moving support base plate (53) is installed on the top of the drive end of the tray servo moving module (52). A moving limit plate (54) is installed on the three sides of the top of the moving support base plate (53). A push cylinder (55) is installed on the other side of the top of the moving support base plate (53). A push plate (56) is installed on the telescopic end of the push cylinder (55). The tray filled with skeleton is placed above the moving support base plate (53). The push cylinder (55) drives the push plate (56) to squeeze the tray filled with skeleton so that it is limited by the three moving limit plates (54) on the three sides.

5. A frame mounting machine according to claim 1, characterized in that: The skeleton gripping and moving mechanism (6) includes a skeleton gripping base (61) mounted on the top mounting plate of the frame (1). A skeleton gripping servo moving module (62) is mounted on one side of the top of each of the two skeleton gripping bases (61). A skeleton gripping connecting plate (63) is mounted on the drive end of each skeleton gripping servo moving module (62). A skeleton gripping guide rail (64) and a skeleton driving cylinder (65) are respectively mounted on the surface of the skeleton gripping connecting plate (63). A skeleton gripping guide rail (64) is slidably inserted into the surface of the skeleton gripping guide rail (64). A skeleton gripping slider (66) is provided, and a skeleton gripping clamping plate (67) is installed on the surface of the skeleton gripping slider (66). The telescopic end of the skeleton driving cylinder (65) is installed on the top of the skeleton gripping clamping plate (67). A skeleton gripping cylinder (68) is installed on the surface of the skeleton gripping clamping plate (67). A skeleton pneumatic gripper (69) is installed on the driving end of the skeleton gripping cylinder (68). The skeleton pneumatic gripper (69) clamps the skeleton placed on the lower tray under the extension movement of the skeleton gripping cylinder (68).

6. A frame mounting machine according to claim 5, characterized in that: The frame angle rotation mechanism (8) includes angle bases (81) mounted on the top mounting plate of the frame (1). Angle horizontal plates (82) are fixedly mounted on the top sides of both angle bases (81). Angle guide rails (83) are mounted on the surface of the angle horizontal plates (82). Angle sliders (84) are slidably inserted into the surface of the angle guide rails (83). Angle drive plates (85) are mounted on the surface of the angle sliders (84). Angle drive cylinders (86) are also fixedly mounted on the top of the angle horizontal plates (82). The telescopic end of the angle drive cylinders (86) is mounted to the surface of the angle drive plates (85) by angle iron. L-shaped connecting rods are respectively mounted on one side surface of the angle drive plates (85). The L-connecting plate (87) and the angle bearing seat (88) are located between the two L-connecting plates (87). An angle rotary motor (89) is installed at the bottom end of the angle drive plate (85). An angle rotary shaft (810) is installed at the output end of the angle rotary motor (89) through a coupling. The arc surface of the angle rotary shaft (810) is installed with the bearing inner ring of the angle bearing seat (88). An angle clamping cylinder (811) is installed at the top end of the angle rotary shaft (810). An angle rotary pneumatic gripper (812) is installed at the top of the angle clamping cylinder (811). The angle rotary pneumatic gripper (812) clamps the skeleton clamped by the skeleton pneumatic gripper (69). The skeleton detection mechanism (7) includes a detection base (71) mounted on the top mounting plate of the frame (1). A detection light source (72) is mounted on the surface of one detection base (71). A detection vertical adjustment rod (73) is mounted on the surface of another detection base (71). A detection horizontal adjustment rod (74) is mounted on the surface of the detection vertical adjustment rod (73). A horizontal detection camera (75) is mounted on one end of the detection horizontal adjustment rod (74). A detection top rod (76) is mounted on the top end of the last detection base (71). A vertical detection camera (77) is mounted on the bottom of one end of the detection top rod (76). The detection end of the vertical detection camera (77) is correspondingly set with the clamping top of the angle rotating pneumatic gripper (812). The detection end of the horizontal detection camera (75) is correspondingly set with the side of the angle rotating pneumatic gripper (812).

7. A frame mounting machine according to claim 1, characterized in that: The skeleton unloading transfer mechanism (9) includes a transfer base (91) and a transfer guide rod (92) mounted on the top mounting plate of the frame (1). A transfer servo moving module (93) is mounted on the top of each of the two transfer bases (91). A transfer mounting plate (94) is mounted on the drive end of the transfer servo moving module (93). Transfer support seats (95) are mounted on both sides of the top of the transfer mounting plate (94). A transfer rotary cylinder (96) is mounted on the surface of one transfer support seat (95). A product placement plate (97) is rotatably connected to the surface of the other transfer support seat (95) via a bearing. One end of the product placement plate (97) is installed corresponding to the rotating end of the transfer rotary cylinder (96). The skeleton after inspection is placed inside the groove of the product placement plate (97). An inclined unloading plate (98) is also mounted on one side surface of one of the transfer support seats (95). The two transfer guide rods (92) A transfer top plate (99) is installed on the top surface of the transfer top plate (99). A transfer slide rail (910) is installed on the surface of the transfer top plate (99). A transfer slider (911) is slidably inserted into the surface of the transfer slide rail (910). A transfer drive plate (912) is slidably inserted into the surface of the transfer slider (911). A transfer drive cylinder (913) is installed on one side of the top of the transfer top plate (99). The telescopic end of the transfer drive cylinder (913) is connected to the transfer drive plate (912). 12) is mounted on the surface by angle iron. A transfer clamping cylinder (914) is mounted on the surface of the transfer drive plate (912). A transfer pneumatic gripper (915) is mounted on the telescopic end of the transfer clamping cylinder (914). A detection bracket (916) is also mounted above the mounting plate on the top of the frame (1). A photoelectric sensor (917) is mounted on the top of each of the two detection brackets (916). The two photoelectric sensors (917) are arranged opposite to each other. The skeleton unloading mechanism (10) includes unloading guide rods (101) installed above the top mounting plate of the frame (1). Unloading top rods (102) are fixedly installed at the top of each of the two unloading guide rods (101). The two unloading top rods (102) are arranged in parallel. Unloading slide rails (103) are fixedly installed on the surface of each unloading top rod (102). Unloading sliders (104) are slidably inserted into the surface of each unloading slide rail (103). The surfaces of the two unloading sliders (104) are all... A vertical feeding seat (105) is fixedly installed. Both ends of the two feeding push rods (102) are fixedly installed with feeding connecting plates (106). Feeding rodless cylinders (107) are installed on the opposing surfaces of the two feeding connecting plates (106). The driving end of the feeding rodless cylinder (107) is installed on the surface of the vertical feeding seat (105). A vertical feeding slide rail (108) is installed on the surface of the vertical feeding seat (105). The surface of the vertical feeding slide rail (108) is slidably inserted... A vertical unloading slider (109) is connected to the material unloading vertical slider (109), and a material unloading drive plate (1010) is mounted on the surface of the material unloading vertical seat (105). A material unloading drive cylinder (1011) is mounted on the top of the material unloading drive cylinder (1011), and the telescopic bottom end of the material unloading drive cylinder (1011) is mounted to the top of the material unloading drive plate (1010). A material unloading mounting seat (1012) is mounted on one end surface of the material unloading drive plate (1010) by angle iron. The bottom line of the material unloading mounting seat (1012) is... The machine frame (1) is equipped with a material feeding and clamping cylinder (1013) arranged in a linear fashion. The telescopic end of the material feeding and clamping cylinder (1013) is equipped with a material feeding and clamping pneumatic gripper (1014). The clamping ends of the three material feeding and clamping pneumatic grippers (1014) are respectively set to correspond one-to-one with the three placement slots of the product placement plate (97). A defective product storage box (1015) is also installed above the top mounting plate of the frame (1). The defective product storage box (1015) is located at the left end of the transfer servo moving module (93).

Images