CN218370434U - Material charging device - Google Patents

Abstract

The application provides a material charging devices, it includes: the material frame is provided with a first position, a second position and a third position in the accommodating cavity, and the third position corresponds to the frame outlet; the frame changing assembly is used for moving the material frame from a first position to a second position; the loading manipulator is used for moving the material to the material frame at the second position; and the lower frame assembly is used for moving the material frame from the second position to the third position. The utility model provides a material charging devices includes the frame, trade the frame subassembly, lower frame subassembly and the manipulator of feeding, trade the frame subassembly and remove the material frame to the second position from the first position, the manipulator of feeding removes the material to the material frame that is located the second position in, the lower frame subassembly removes the material frame to the third position from the second position, the material frame that is equipped with the material waits to be shifted out to the frame mouth on the third position, the manipulator of feeding can continue to put the material frame on the second position with the material, can improve the efficiency of feeding.

Description

Material charging device

Technical Field

The application belongs to the technical field of automation equipment, and more specifically relates to a material charging devices.

Background

In automated production, it is often necessary to load the material into a material frame and then transfer the material-loaded frame to a destination location by a manual or automated guided vehicle. At present, the process of charging is usually completed manually, or automatic charging is realized by a manipulator, but an empty material frame needs to be put into a charging working position manually, or a material frame filled with materials needs to wait in the working position until the material frame is taken away after a manual or unmanned carrier arrives, and the manipulator can continue to charge, so that the charging efficiency is low.

SUMMERY OF THE UTILITY MODEL

An object of this application embodiment is to provide a material charging devices to solve the lower technical problem of efficiency of filling that exists among the prior art.

In order to achieve the purpose, the technical scheme adopted by the application is as follows: there is provided a material charging device for moving material into a material frame, the material charging device comprising:

the frame is provided with an accommodating cavity and a frame outlet communicated with the accommodating cavity, the accommodating cavity is used for accommodating a material frame, the material frame is provided with a first position, a second position and a third position in the accommodating cavity, and the third position corresponds to the frame outlet;

the frame changing assembly is used for moving the material frame from the first position to the second position;

the loading manipulator is used for moving the material to the material frame at the second position;

and the lower frame assembly is used for moving the material frame from the second position to the third position.

Optionally, the material charging device further includes an upper frame assembly, the frame has a frame inlet communicated with the accommodating cavity, the material frame has a fourth position in the accommodating cavity, the fourth position corresponds to the frame inlet, and the upper frame assembly is configured to move the material frame from the fourth position to the first position.

Optionally, the material charging device further comprises a frame transporting assembly, wherein the frame transporting assembly is used for moving the material frame from the frame inlet to the fourth position, or the frame transporting assembly is used for moving the material frame located at the third position out of the frame outlet.

Optionally, the frame conveying assembly comprises a frame moving driver and two conveyor belts, the two conveyor belts are arranged side by side, the frame moving driver is used for driving the two conveyor belts to run synchronously, and the conveyor belts are used for carrying the material frames.

Optionally, the frame inlet and the frame outlet are located on the same side of the rack.

Optionally, the third position is located below the second position, the fourth position is located below the first position, the upper frame assembly or the lower frame assembly includes a lifting driver and an adapting piece, the lifting driver is installed in the rack, an output end of the lifting driver is connected with the adapting piece, the lifting driver is used for driving the adapting piece to lift, and the adapting piece is used for adapting a material frame.

Optionally, the material charging device further comprises a positioning assembly, the positioning assembly comprises a positioning driver and a supporting frame, the positioning driver is mounted on the rack, an output end of the positioning driver is connected with the supporting frame, and the positioning driver is used for driving the supporting frame to move; the supporting frame piece is located between the first position and the fourth position and used for receiving the material frame located at the first position, or the supporting frame piece is located between the second position and the third position and used for receiving the material frame located at the second position.

Optionally, the locating component includes location base, connecting piece and two hold in the palm the frame spare, the location base install in the frame, the location driver install in the location base, the output of location driver with the connecting piece is connected, the location driver is used for the drive the connecting piece removes, two hold in the palm the frame spare and install side by side in the connecting piece, the location driver is located two hold in the palm between the frame spare.

Optionally, the number of the positioning assemblies is multiple, two of the positioning assemblies are respectively arranged at two sides of the first position or the second position, the two positioning assemblies are oppositely arranged, and the supporting frame member is used for being inserted below the material frame and receiving the material frame.

Optionally, the frame replacing assembly comprises a driving mechanism and a gripper, the driving mechanism is installed on the frame and used for driving the gripper to move between the first position and the second position, the gripper comprises a gripper base, a sucker, two gripper drivers and two gripper frame members, the gripper base is connected with the output end of the driving mechanism, the sucker is installed on the gripper base and used for sucking a material frame, the gripper frame driver is installed on the gripper base, the output end of the gripper frame driver is connected with the gripper frame members, and the two gripper frame drivers are used for driving the two gripper frame members to move relatively to be close to the side faces of the material frame and holding the material frame one by one.

The application provides a material charging devices's beneficial effect lies in: compared with the prior art, the material charging device of this application includes the frame, trade the frame subassembly, lower frame subassembly and charging manipulator, the material frame has the first position in holding the intracavity, second position and third position, the third position corresponds with the frame outlet, trade the frame subassembly and remove the material frame from the first position to the second position, charging manipulator removes the material to the material frame that is located the second position in, the lower frame subassembly removes the material frame to the third position from the second position, the material frame that is equipped with the material is deposited and is waited for being shifted out the frame outlet on the third position, charging manipulator can continue to put the material frame on the second position, therefore, can improve the efficiency of charging.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a material frame, a tray and a material provided in an embodiment of the present application;

fig. 2 is an external structural view of a material charging device according to an embodiment of the present application;

fig. 3 is a schematic internal structural view of a material charging device according to an embodiment of the present application;

fig. 4 is an exploded view of the internal structure of the material charging device according to the embodiment of the present application;

fig. 5 is a schematic structural diagram of a frame replacement component according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a positioning assembly according to an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

300-a material charging device; 310-a frame; 301-a first position; 302-a second position; 303-third position; 304-fourth position; 311-an accommodation chamber; 312-frame out port; 313-frame access; 320-frame change component; 321-a drive mechanism; 3211-Y axis drive member; 3212-Z axis drive component; 322-hand grip; 3221-grip base; 3222-suction cup; 3223-frame grasping driver; 3224-a frame grasping member; 330-lower frame assembly; 331-a lifting base; 332-a lift drive; 333-a socket; 334-a guide bar; 340-upper frame assembly; 350-a loading manipulator; 351-material grabbing seat; 352-a sucker; 360-a fortune frame component; 361-a frameshift driver; 362-a conveyor belt; 370-a positioning assembly; 371-a positioning base; 372-positioning the driver; 373-a connecting member; 374-holding the frame member; 190-material frame; 191-material; 192-tray.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is 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 application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

Referring to fig. 1, a material frame 190 according to an embodiment of the present disclosure is used for loading materials 191, a plurality of trays 192 may be disposed in the material frame 190, the materials 191 may be placed on the trays 192 according to a certain rule, after a first tray 192 at the bottom of the material frame 190 is filled, a second tray 192 is placed in the material frame 190 and stacked above the first tray 192, and then the materials 191 are placed on the second tray 192, and the trays 192 are stacked in sequence until all the trays 192 that can be received in the material frame 190 are filled with the materials 191. In some cases, tray 192 may not be needed and material 191 may be placed directly into material frame 190. In some examples, the mass 191 may be a protective case for a cell phone.

Referring to fig. 2 to 3 together, a material charging device 300 according to an embodiment of the present invention will now be described. The material charging device 300 is used for moving the material 191 into the material frame 190, and the material charging device 300 includes: a rack 310, a frame exchange assembly 320, a lower frame assembly 330, and a loading robot 350.

The rack 310 is provided with an accommodating cavity 311 and a frame outlet 312 communicated with the accommodating cavity 311, the accommodating cavity 311 is used for accommodating the material frame 190, the material frame 190 is provided with a first position 301, a second position 302 and a third position 303 in the accommodating cavity 311, and the third position 303 corresponds to the frame outlet 312; the frame changing assembly 320 is used for moving the material frame 190 from the first position 301 to the second position 302; the loading manipulator 350 is used for moving the material 191 into the material frame 190 at the second position 302; the lower frame assembly 330 is used to move the material frame 190 from the second position 302 to the third position 303.

The application provides a material charging devices 300's beneficial effect lies in: compared with the prior art, the material charging device 300 comprises a rack 310, a frame changing assembly 320, a lower frame assembly 330 and a charging manipulator 350, wherein a material frame 190 has a first position 301, a second position 302 and a third position 303 in a containing cavity 311, the third position 303 corresponds to a frame outlet 312, the frame changing assembly 320 moves the material frame 190 from the first position 301 to the second position 302, the charging manipulator 350 moves a material 191 into the material frame 190 at the second position 302, the lower frame assembly 330 moves the material frame 190 from the second position 302 to the third position 303, the material frame 190 containing the material 191 is stored on the third position 303 to wait for being moved out to the frame outlet 312, and the charging manipulator 350 can continuously load the material 191 onto the material frame 190 at the second position 302, so that the charging efficiency can be improved.

The frame 310 may be in the form of a cabinet having a receiving cavity 311 and a frame outlet 312 communicated with the receiving cavity 311, wherein the receiving cavity 311 is used for receiving the material frame 190. The material frame 190 has a first position 301, a second position 302 and a third position 303 in the accommodating cavity 311, and the third position 303 corresponds to the frame outlet 312. The material frame 190 at the third position 303 can be taken out from the frame outlet 312 by a human, a mechanical conveying mechanism or an unmanned carrier. The frame 310 may serve as a mounting base for the components of the material charging device 300. The frame exchange assembly 320, the loading robot 350, and the lower frame assembly 330 may all be mounted to the frame 310.

Frame changing assembly 320 is used to move frame 190 from first position 301 to second position 302. The first position 301 may be used to store an empty material frame 190, and the frame changing assembly 320 moves the empty material frame 190 from the first position 301 to the second position 302. The manner in which frame changing assembly 320 moves frame 190 may be a transfer line or a robot. For the case of tray 192, frame changing assembly 320 may also be used to move tray 192 from frame 190 at first position 301 to frame 190 at second position 302.

The loading robot 350 is used to move material 191 into the material frame 190 at the second position 302. The initial position of material 191 may be at a previous processing station or at a predetermined location on frame 310. For the case of a pallet 192, the loading robot 350 may also be used to move material 191 onto pallet 192 within chase 190 at second location 302. The charging manipulator 350 may be provided with a gripping seat 351 and a plurality of suction cups 352, the suction cups 352 being mounted to the gripping seat 351, the suction cups 352 being adapted to suck up the material 191. After the suction cup 352 sucks the material 191, the material grabbing seat 351 can be rotated to adjust the angle of the material 191 to be matched with the tray 192. The loading robot 350 may be suspended from the top of the rack 310. The loading robot 350 may be a combination of linear drive modules or may be a standardized industrial robot.

The lower frame assembly 330 is used to move the material frame 190 from the second position 302 to the third position 303. The third position 303 may serve as a buffer position for the material frame 190 filled with material 191 to wait for an automated guided vehicle to pick up the material.

In another embodiment of the present application, the material charging apparatus 300 further comprises an upper frame assembly 340, the frame 310 has a frame inlet 313 communicated with the receiving cavity 311, the material frame 190 has a fourth position 304 in the receiving cavity 311, the fourth position 304 corresponds to the frame inlet 313, and the upper frame assembly 340 is used for moving the material frame 190 from the fourth position 304 to the first position 301. Empty material frames 190 can enter the accommodating cavity 311 from the frame inlet 313 and be stored at the fourth position 304, and after the material frames 190 at the first position 301 are transferred to the second position 302, the upper frame assembly 340 moves the material frames 190 from the fourth position 304 to the first position 301, so that the empty material frames 190 can be timely supplemented to the first position 301, and the charging efficiency of the materials 191 is guaranteed. In some examples, the material frame 190 may be supplied to the frame entry port 313 by an unmanned carrier.

In another embodiment of the present invention, the third position 303 is located below the second position 302, the fourth position 304 is located below the first position 301, the upper frame assembly 340 or the lower frame assembly 330 includes a lifting driver 332 and a receiving member 333, the lifting driver 332 is mounted on the frame 310, an output end of the lifting driver 332 is connected to the receiving member 333, the lifting driver 332 is used for driving the receiving member 333 to lift, and the receiving member 333 is used for receiving the material frame 190. The upper frame assembly 340 and the lower frame assembly 330 may have the same mechanical structure. The lifting driver 332 drives the receiving member 333 to ascend, and the receiving member 333 holds the bottom of the material frame 190 and lifts the material frame 190 to the first position 301 or the second position 302. The upper frame assembly 340 or the lower frame assembly 330 may further include a lifting base 331 and a plurality of guide rods 334, the lifting base 331 is mounted on the frame 310, the lifting driver 332 is mounted on the lifting base 331, the plurality of guide rods 334 slidably penetrate through the lifting base 331, and the receiving member 333 is connected with the guide rods 334. The guide rods 334 may improve the stability of the raising and lowering of the socket 333. The lifting driver 332 may be a cylinder, and an output shaft of the cylinder drives the bearing member 333 to lift. The upper frame assembly 340 and the lower frame assembly 330 may also take other forms, such as a linear drive module, a robot, or a belt transport mechanism.

In another embodiment of the present application, the material loading apparatus 300 further comprises a carriage assembly 360, the carriage assembly 360 being configured to move the material frame 190 from the frame inlet 313 to the fourth position 304, or the carriage assembly 360 being configured to move the material frame 190 located at the third position 303 out of the frame outlet 312. The frame inlet 313 and the frame outlet 312 may be provided with frame transfer units 360, respectively. The carriage assembly 360 corresponding to the bezel input opening 313 moves the empty bezel 190 from the bezel input opening 313 to the fourth position 304. The carriage assembly 360 corresponding to the exit 312 moves the material frame 190 filled with the material 191 located at the third position 303 out of the exit 312 and may then be received by the automated guided vehicle. The frame transporting assembly 360 may be a linear driving module to move the material frame 190, or a conveying pipeline to move the material frame 190. The carriage assembly 360 may be mounted to the frame 310.

In another embodiment of the present application, the frame conveying assembly 360 includes a frame moving driver 361 and two conveyor belts 362, the two conveyor belts 362 are arranged side by side, the frame moving driver 361 is used for driving the two conveyor belts 362 to run synchronously, and the conveyor belts 362 are used for carrying the material frames 190. The frame moving driver 361 drives the two conveyor belts 362 to operate synchronously, and can move the frame 190 from the frame inlet 313 to the fourth position 304 or move the material 191 from the third position 303 to the frame outlet 312. The gap between the two belts 362 can be used to dispose other components, such as receiving members 333, and the receiving members 333 can pass through the gap between the two belts 362 to receive the material frame 190.

In another embodiment of the present application, the bezel inlet 313 and the bezel outlet 312 are located on the same side of the frame 310. Thus, it is possible to facilitate the unmanned carrier to supply the material frame 190 to the frame inlet 313 and receive the material frame 190 from the frame outlet 312. The frame entrance 313 and frame exit 312 may be of uniform height.

In another embodiment of the present application, the material charging device 300 further includes a positioning assembly 370, the positioning assembly 370 includes a positioning actuator 372 and a carriage frame 374, the positioning actuator 372 is mounted to the frame 310, an output end of the positioning actuator 372 is connected to the carriage frame 374, and the positioning actuator 372 is used for driving the carriage frame 374 to move; the holding frame member 374 is located between the first position 301 and the fourth position 304, the holding frame member 374 is used for receiving the material frame 190 located at the first position 301, or the holding frame member 374 is located between the second position 302 and the third position 303, the holding frame member 374 is used for receiving the material frame 190 located at the second position 302. The frame supporting member 374 receives the material frame 190 located at the first position 301 or the second position 302, and can stabilize the position of the material frame 190. A positioning assembly 370 may be disposed below the first and second positions 301 and 302, respectively. In some examples, the lifting driver 332 drives the socket 333 to ascend to the first position 301 or the second position 302, the positioning driver 372 drives the frame supporting member 374 to insert under the frame 190 and to socket the frame 190, and then the lifting driver 332 drives the socket 333 to descend.

In another embodiment of the present application, the positioning assembly 370 includes a positioning base 371, a connecting member 373, and two frame members 374, the positioning base 371 is mounted to the frame 310, the positioning driver 372 is mounted to the positioning base 371, an output end of the positioning driver 372 is connected to the connecting member 373, the positioning driver 372 is used for driving the connecting member 373 to move, the two frame members 374 are mounted side by side to the connecting member 373, and the positioning driver 372 is located between the two frame members 374. One positioning assembly 370 may be provided with two cradle frame members 374 to improve the stability of the receiving frame 190. The positioning driver 372 is located between the two frame supporting members 374, so that the stability of driving the frame supporting members 374 to move can be improved. The positioning actuator 372 may be a pneumatic cylinder.

In another embodiment of the present application, the number of the positioning assemblies 370 is multiple, wherein two positioning assemblies 370 are respectively disposed at two sides of the first position 301 or the second position 302, the two positioning assemblies 370 are oppositely installed, and the supporting frame 374 is used for being inserted under the material frame 190 and receiving the material frame 190. One material frame 190 is received by two positioning assemblies 370, so that the position stability can be improved. In some examples, the material frames 190 of the first position 301 and the second position 302 may be received by four cradle members 374, respectively.

In another embodiment of the present application, the frame changing assembly 320 includes a driving mechanism 321 and a hand grip 322, the driving mechanism 321 is installed on the frame 310 and is used for driving the hand grip 322 to move between the first position 301 and the second position 302, the hand grip 322 includes a hand grip base 3221, a suction cup 3222, two frame gripping drivers 3223 and two frame gripping members 3224, the hand grip base 3221 is connected to an output end of the driving mechanism 321, the suction cup 3222 is installed on the hand grip base 3221 and is used for sucking the material frame 190, the frame gripping driver 3223 is installed on the hand grip base 3221, an output end of the frame gripping driver 3223 is connected to the frame gripping members 3224, and the two frame gripping drivers 3223 are used for driving the two frame gripping members 3224 to move relatively to approach a side of the material frame 190 and to hold the material frame 190. The hand grip 322 can extend into the material frame 190, the suction disc 3222 sucks the material frame 190, the two frame gripping drivers 3223 correspondingly drive the two frame gripping members 3224 to move relatively one by one to be close to the side surface of the material frame 190 and hold the material frame 190, and the suction disc 3222 and the frame gripping members 3224 grip the material frame 190 at the same time, so that the reliability and the stability of gripping the material frame 190 can be improved. The frame grasping driver 3223 may be an air cylinder. For the case of tray 192, suction cup 3222 may be used to suck tray 192 in frame 190 at first position 301, and frame-grasping member 3224 may be used to grasp empty frame 190.

In another embodiment of the present application, the driving mechanism 321 may include a Y-axis driving member 3211 and a Z-axis driving member 3212, the Y-axis driving member 3211 is mounted on the frame 310, an output end of the Y-axis driving member 3211 is connected to the Z-axis driving member 3212, the Y-axis driving member 3211 is configured to drive the Z-axis driving member 3212 to move between the first position 301 and the second position 302, an output end of the Z-axis driving member 3212 is connected to the hand grip 322, and the Z-axis driving member 3212 is configured to drive the hand grip 322 to move up and down. The Z-axis driving part 3212 drives the hand grip 322 to descend to grip the empty material frame 190 at the first position 301, the Y-axis driving part 3211 drives the hand grip 322 to move to the second position 302 and place the material frame 190 at the second position 302, thereby realizing the frame changing action. In some examples, the Y-axis drive component 3211 may be a pneumatic slide and the Z-axis drive component 3212 may be a linear drive module.

In some examples, the workflow of the material charging device 300 may be: the loading robot 350 moves the material 191 to the tray 192 in the frame 190 located at the second position 302, after the frame 190 located at the second position 302 is filled, the lifting driver 332 corresponding to the second position 302 drives the socket 333 to descend, the frame 190 moves to the third position 303 and waits for the unmanned carrier to pick up, after the unmanned carrier corresponds to the frame outlet 312, the frame transfer assembly 360 transfers the frame 190 located at the third position 303 from the frame outlet 312 to the unmanned carrier, and at the same time, the frame change assembly 320 moves the empty frame 190 from the first position 301 to the second position 302, the lifting driver 332 corresponding to the fourth position 304 drives the socket 333 to ascend, and pushes the frame 190 located at the fourth position 304 to the first position 301 to wait for picking up, thereby improving the loading efficiency.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A material charging device for moving material into a material frame, comprising:

the material frame comprises a rack and a first positioning device, wherein the rack is provided with an accommodating cavity and a frame outlet communicated with the accommodating cavity, the accommodating cavity is used for accommodating a material frame, the material frame is provided with a first position, a second position and a third position in the accommodating cavity, and the third position corresponds to the frame outlet;

the frame changing assembly is used for moving the material frame from the first position to the second position;

the loading manipulator is used for moving the material to the material frame at the second position;

and the lower frame assembly is used for moving the material frame from the second position to the third position.

2. The material charging device of claim 1, wherein:

still include the upper ledge subassembly, the frame have with hold the frame mouth that the chamber communicates, the material frame is in hold the intracavity and have the fourth position, the fourth position with it corresponds to advance the frame mouth, the upper ledge subassembly is used for with the material frame from the fourth position removes to the first position.

3. The material charging device of claim 2, wherein:

the material frame conveying device comprises a frame conveying assembly, wherein the frame conveying assembly is used for moving a material frame from the frame inlet to the fourth position, or the frame conveying assembly is used for transferring the material frame located at the third position out of the frame outlet.

4. The material charging device of claim 3, wherein:

the frame conveying assembly comprises a frame moving driver and two conveying belts, the two conveying belts are arranged side by side, the frame moving driver is used for driving the two conveying belts to run synchronously, and the conveying belts are used for bearing the material frames.

5. The material charging device as set forth in claim 2, wherein:

the frame inlet and the frame outlet are positioned on the same side of the rack.

6. The material charging device of claim 2, wherein:

the third position is located below the second position, the fourth position is located below the first position, the upper frame assembly or the lower frame assembly comprises a lifting driver and a receiving piece, the lifting driver is installed on the rack, the output end of the lifting driver is connected with the receiving piece, the lifting driver is used for driving the receiving piece to lift, and the receiving piece is used for receiving a material frame.

7. The material charging device as set forth in claim 6, wherein:

the positioning assembly comprises a positioning driver and a frame supporting piece, the positioning driver is installed on the rack, the output end of the positioning driver is connected with the frame supporting piece, and the positioning driver is used for driving the frame supporting piece to move; the support frame piece is located between the first position and the fourth position, the support frame piece is used for receiving a material frame located at the first position, or the support frame piece is located between the second position and the third position, and the support frame piece is used for receiving a material frame located at the second position.

8. The material charging device of claim 7, wherein:

the positioning assembly comprises a positioning base, a connecting piece and two supporting frame pieces, the positioning base is installed in the rack, the positioning driver is installed in the positioning base, the output end of the positioning driver is connected with the connecting piece, the positioning driver is used for driving the connecting piece to move, the two supporting frame pieces are installed in the connecting piece side by side, and the positioning driver is located in the two supporting frame pieces.

9. The material charging device as set forth in claim 7, wherein:

the number of the positioning assemblies is multiple, two of the positioning assemblies are respectively arranged on two sides of the first position or the second position, the two positioning assemblies are oppositely arranged, and the support frame piece is used for being inserted below the material frame and bearing the material frame.

10. The material charging device as recited in any one of claims 1 to 9, wherein:

the frame replacing component comprises a driving mechanism and a gripper, the driving mechanism is installed on the rack and used for driving the gripper to move between the first position and the second position, the gripper comprises a gripper base, a sucker, two gripper drivers and two gripper frame pieces, the gripper base is connected with the output end of the driving mechanism, the sucker is installed on the gripper base and used for sucking a material frame, the gripper driver is installed on the gripper base, the output end of the gripper driver is connected with the gripper frame pieces, and the two gripper frame drivers are used for driving the two gripper frame pieces to move relatively to be close to the side faces of the material frame and hold the material frame in a one-to-one correspondence mode.

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