CN112193812B

CN112193812B - Loading and unloading equipment for jointed boards of carriers

Info

Publication number: CN112193812B
Application number: CN201910610256.7A
Authority: CN
Inventors: 李振锋; 查方发; 蒋文斌
Original assignee: Ningbo Sunny Opotech Co Ltd
Current assignee: Ningbo Sunny Opotech Co Ltd
Priority date: 2019-07-08
Filing date: 2019-07-08
Publication date: 2022-04-26
Anticipated expiration: 2039-07-08
Also published as: CN112193812A

Abstract

The application provides unloading equipment on carrier makeup includes: jointed board feeding mechanism, jointed board unloading mechanism, shift mechanism, branch material receiving portion dress and uncap tongs mechanism. Wherein, uncap tongs mechanism is used for with the full-load utensil makeup that does not detain the material remove extremely from makeup feed mechanism the makeup divides the material level, divides the material level to remove to makeup and receive the material level with no-load utensil makeup from the makeup to and will detain full-load utensil makeup that expects and remove to makeup unloading mechanism from makeup and receive the material level, wherein the carrier makeup includes the lower cover and the upper cover of accessible locking mechanism locking and install a plurality of carriers between the two, and uncap tongs mechanism have be suitable for with the mechanism of uncapping that locking mechanism opened. The loading and unloading of the carrier jointed boards can be highly automated, the loading and unloading of the carrier jointed boards are not interfered with the automatic material buckling process, the parallelization degree is high, and the production efficiency is favorably improved; this application still helps making equipment compacter to promote the unit area output rate.

Description

Loading and unloading equipment for jointed boards of carriers

Technical Field

The invention relates to the technical field of automation, in particular to a loader, splicing plate and feeding and discharging device.

Background

Along with the continuous perfection of intelligent product function, the module of making a video recording becomes one of mobile terminal's main component part, and the capability test to the module of making a video recording before the installation is the important process of guaranteeing follow-up mobile terminal photography function. In the procedure, the camera module is connected with external test equipment through the module connector to complete performance detection and OTP burning. Among the prior art, adopt artifical single detection mode to detect the module of making a video recording more, its work efficiency is low, and intensity of labour is big, and simultaneously, artifical grafting process naked eye accuracy dock intensive pin degree of difficulty is higher, and counterpoint is inaccurate or dynamics control is uneven, all can damage the module connector of making a video recording to different extents.

On the other hand, the camera module is through the detection that needs pass through a plurality of test links, and like this, the module of making a video recording that awaits measuring probably needs to be connected with a plurality of external test equipment, and this just leads to the camera module connector need experience plug many times in the test procedure. The camera module connector is extremely small in size, the interface pins are dense, and the connector is extremely easy to damage when the camera module connector is frequently plugged and unplugged. Based on this, the applicant proposed a special carrier (usually a PCB) for plugging the connector of the camera module, so that the external test equipment can be plugged with the special carrier to electrically connect with the camera module to be tested. The specialized carrier is sometimes also referred to as an adapter (or adapter plate). The process of mounting the camera module to the adaptor may be referred to as a button-off process. In the prior art, the material buckling process is usually completed manually. As mentioned above, the difficulty of accurate butt joint of the dense pins by naked eyes in the manual plugging process is high, the alignment is not accurate or the force control is not uniform, and the camera module connector can be damaged to different degrees. Therefore, a solution capable of realizing automatic material buckling is expected.

Further, currently, consumer electronics terminal markets (e.g., mobile phone markets) have fast product iteration speed, and higher requirements are put on production efficiency, for example, sometimes the yield requirement of a designed camera module reaches more than ten million levels, and these huge products may need to complete production and quality inspection in a very short time so as to meet the yield requirement of hot-sell mobile phones. Therefore, it is easy to understand that the production efficiency is an important index for the camera module, and the production efficiency is too low, which is very disadvantageous for the mass production of products. And the pin of the connector of the module of making a video recording is very intensive, if use the arm to carry out automatic knot material, need carry out accurate control and removal to the arm, and this often very consumes time, leads to production (test) efficiency to descend.

Furthermore, the conventional camera module for the consumer electronic terminal (e.g. smart phone) usually has a small size, and the quality inspection is suitable for the production efficiency. For example, after the camera module is buckled to the carrier, a plurality of carriers are installed in one carrier splicing plate, and then the camera modules are subjected to electrifying quality inspection synchronously based on the carrier splicing plate. In the prior art, the carrier panels are usually conveyed to the positions of the processes of the production line by a conveyor belt, so as to realize streamlined operation. However, the assembly line based on the conveyor belt cannot meet the efficiency requirement of the automatic material buckling operation of the camera module.

The camera module is usually required to be produced in a highly clean dust-free workshop, so that the cost is saved, the economic benefit is improved, the unit area output rate of the dust-free workshop is expected to be continuously improved, and the structure of the equipment is more compact on the premise of not reducing the production efficiency.

In summary, there is a need for an efficient solution for loading and unloading a carrier panel for automatic material buckling.

Disclosure of Invention

The present invention aims to provide a solution that overcomes at least one of the above-mentioned drawbacks of the prior art.

According to one aspect of the invention, the carrier jointed board feeding and discharging equipment comprises a jointed board feeding mechanism, a jointed board discharging mechanism, a shifting mechanism, a material distributing and receiving part and a cover opening gripper mechanism. The displacement mechanism has a linear rail and a displacement slide plate slidable along the linear rail. Divide and receive material portion dress including makeup branch material level, makeup and receive material level, branch material carrier tongs and receipts material carrier tongs that can simultaneous working, wherein divide the material carrier tongs to be used for following makeup divides the material level to intake the carrier of not detaining the material to remove it to carrier material loading base for detaining material equipment material loading, receive material carrier tongs and be used for following detain material equipment's carrier unloading base and intake the carrier of detaining the material, and remove it and install to being located receive the material level no load utensil makeup. Uncap tongs mechanism install in aversion slide, and uncap tongs mechanism is used for following the full-load utensil makeup that does not detain the material makeup feed mechanism removes extremely the makeup divides the material level, will no-load utensil makeup is followed the makeup divides the material level to remove extremely makeup material receiving position to and detain full-load utensil makeup that expects and follow makeup material receiving position removes extremely makeup unloading mechanism, wherein the carrier makeup includes lower cover, upper cover and installs the lower cover with a plurality of carriers between the upper cover, the lower cover with through locking mechanism locking between the upper cover, and uncap tongs mechanism has uncap mechanism, uncap mechanism be suitable for with locking mechanism opens, so that with the lower cover with the upper cover is separately or the combination.

Wherein, makeup feed mechanism the makeup divide the material level is received to the makeup unloading mechanism arranges in proper order along the x axle, divide material carrier tongs will through the removal along the y axle the carrier of not detaining the material is followed the makeup divides the material level to remove to carrier material loading base, and it will through the removal along the y axle to receive material carrier tongs carrier that has detained the carrier of material is followed carrier unloading base removes to the material level is received to the makeup, wherein the x axle with the y axle is perpendicular.

Wherein, be along in the direction of x axle, makeup feed mechanism with interval between the makeup branch material level equals the makeup divide the material level with interval between the makeup material level, and equal to makeup material level with interval between the makeup unloading mechanism.

The shifting sliding plate is provided with three jointed plate gripping mechanisms, and each jointed plate gripping mechanism is provided with a jointed plate sucking disc for sucking jointed plates of the carrier; the at least two jointed board hand grab mechanisms are the opening-cover hand grab mechanisms, and the two opening-cover hand grab mechanisms are two adjacent ones of the three jointed board hand grab mechanisms.

The three panel splicing gripper mechanisms are arranged along the x axis and can synchronously move along the x axis; in the x-axis direction, the distance between the first jointed board hand grab and the second jointed board hand grab is equal to the distance between the second jointed board hand grab and the third jointed board hand grab, and the distance between the first jointed board hand grab and the second jointed board hand grab and the jointed board material distributing position and the distance between the jointed board material receiving positions are matched.

The cover opening gripper mechanism comprises a gripper movable plate, a plurality of suckers, a guide shaft and a plurality of cover opening mechanisms, wherein the suckers are installed on the gripper movable plate, the guide shaft is installed on the back of the gripper movable plate, and the cover opening mechanisms are installed on the gripper movable plate; the guide shaft is connected with the shifting sliding plate through a linear bearing, a lifting cylinder is installed on the shifting sliding plate, and the lifting cylinder is used for driving the hand grab flap to lift relative to the shifting sliding plate.

The cover opening mechanism comprises an ejector pin cylinder arranged on the back face of the movable plate of the hand grab and an ejector pin driven by the ejector pin cylinder and capable of ascending and descending, the carrier jointed plate is provided with a buckle for clamping the lower cover and the upper cover together, and the ejector pin is used for opening the buckle.

The cover opening gripper mechanism further comprises a pressure rod cylinder and a lifting pressure rod driven by the pressure rod cylinder.

Wherein, linear guide includes the pillar, erects two parallel rails on the pillar, two parallel rails stride across from the top the makeup divide the material level with makeup material receiving position, and the aversion slide plate is installed two parallel rails between.

Wherein, divide material portion dress to still include: a base plate; the material-distributing X-axis driving module, the material-distributing Y-axis driving module, the material-receiving X-axis driving module and the material-receiving Y-axis driving module; the material distributing carrier gripper can slide along the material distributing x-axis guide rail and the material distributing y-axis guide rail, the moving range of the material distributing carrier gripper in the x axis covers the x-axis size of the jointed board material distributing position, the moving range of the material distributing carrier gripper in the y axis covers the y-axis size of the jointed board material distributing position and the distance from the jointed board material distributing position to the carrier material loading base, the moving range of the material receiving carrier gripper in the x axis covers the x-axis size of the jointed board material receiving position, and the moving range of the material receiving carrier gripper in the y axis covers the y-axis size of the jointed board material receiving position and the distance from the jointed board material receiving position to the carrier material unloading base; the material distributing carrier gripper and the material receiving carrier gripper are respectively provided with a carrier sucker for adsorbing the carrier and a carrier gripper lifting driving module for driving the carrier sucker to move along the z axis.

Wherein, makeup feed mechanism includes: a feeding bottom plate; the bottom of the feeding guide shaft is arranged on the feeding bottom plate; the loading movable supporting plate is arranged at the top of the loading guide shaft and is suitable for bearing a jointed plate stack formed by stacking a plurality of carrier jointed plates; and the feeding lifting cylinder is used for driving the feeding movable supporting plate to move along the guide shaft.

Wherein, makeup feed mechanism is including the positioning plate that has the locating pin, just the positioning plate is used for bearing the makeup board is piled.

Wherein, makeup unloading mechanism includes: a blanking bottom plate; the bottom of the blanking guide shaft is arranged on the blanking bottom plate; the blanking movable supporting plate is arranged at the top of the blanking guide shaft and is suitable for bearing a jointed plate stack formed by stacking a plurality of carrier jointed plates; and the blanking lifting cylinder is used for driving the blanking movable supporting plate to move along the guide shaft.

The blanking movable supporting plate comprises a position adjusting plate with a positioning pin, and the position adjusting plate is used for bearing the spliced plate stack.

The jointed board blanking mechanism further comprises a dustproof cover shooting mechanism and a dustproof cover bearing mechanism, wherein the dustproof cover shooting mechanism is used for shooting the dustproof cover, moving the dustproof cover to the position above the blanking movable supporting plate and covering the first carrier jointed board on the surface of the jointed board stack.

Compared with the prior art, the invention has at least one of the following technical effects:

1. the utility model provides a go up unloading equipment of carrier makeup compact structure, area is little.

2. According to the cover opening mechanism, the cover opening function can be integrated to the shifting mechanism gripper, so that an independent cover opening mechanism (the cover opening mechanism independent of the shifting mechanism gripper) is omitted, the structure of the equipment is more compact, and the unit area output rate of the equipment is improved.

3. This application can be through the function integration to the aversion mechanism tongs of uncapping, makes the bearing structure of equipment simplify, and then makes equipment structure compacter, has improved the unit area output rate of equipment.

4. This application can be integrated to the aversion mechanism tongs with the function of uncapping to replace two independent cantilever beams (referring to two cantilever beams that are used for supporting aversion mechanism tongs and independently uncap the mechanism respectively) with the simple beam, thereby reduce the equipment volume, improve the unit area output rate of equipment.

5. The loading efficiency of unloading on this application can promote the carrier makeup.

6. The high automatic unloading on the carrier makeup can be realized to this application, and the business turn over of carrier makeup and automatic knot material process mutually noninterfere, and the parallelization degree is high, is favorable to promoting production efficiency.

7. The conveying distance of the carrier and the carrier splicing plate can be shortened, and therefore the efficiency of automatic material buckling is improved.

8. This application can cancel the transmission band in the production line to make equipment structure compacter.

9. The camera module connector can avoid the problems that the work efficiency is low, the camera module connector is easy to damage and the like caused by manual operation.

Drawings

Fig. 1 is a perspective view illustrating a carrier plate alignment feeding and discharging apparatus according to an embodiment of the present disclosure;

fig. 2 shows a perspective view of the partial receiving material 50 of fig. 1;

FIG. 3 illustrates a perspective view of the shifting sled 42 of the shifting mechanism 40 in one embodiment of the present application;

fig. 4 shows a perspective view of the open-cover gripper mechanism 30 in one embodiment of the present application;

FIG. 5 is a perspective view of a vehicle panel 90 according to one embodiment of the present application;

fig. 6 shows a connection relationship of the displacement slide plate 42 and the open-lid grip mechanism 30 in one embodiment of the present application;

fig. 7 is a perspective view of the feeding mechanism 10 and its peripheral structure in one embodiment of the present application;

fig. 8 is a perspective view of the blanking mechanism 20 and its peripheral structure in one embodiment of the present application;

fig. 9 illustrates a schematic perspective view of a dust cap intake mechanism 200 in one embodiment of the present application.

Detailed Description

For a better understanding of the present application, various aspects of the present application will be described in more detail with reference to the accompanying drawings. It should be understood that the detailed description is merely illustrative of exemplary embodiments of the present application and does not limit the scope of the present application in any way. Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items.

It should be noted that the expressions first, second, etc. in this specification are used only to distinguish one feature from another feature, and do not indicate any limitation on the features. Thus, a first body discussed below may also be referred to as a second body without departing from the teachings of the present application.

In the drawings, the thickness, size, and shape of an object have been slightly exaggerated for convenience of explanation. The figures are purely diagrammatic and not drawn to scale.

It will be further understood that the terms "comprises," "comprising," "includes," "including," "has," "including," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Moreover, when a statement such as "at least one of" appears after a list of listed features, the entirety of the listed features is modified rather than modifying individual elements in the list. Furthermore, when describing embodiments of the present application, the use of "may" mean "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.

As used herein, the terms "substantially," "about," and the like are used as terms of table approximation and not as terms of table degree, and are intended to account for inherent deviations in measured or calculated values that will be recognized by those of ordinary skill in the art.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 is a perspective view illustrating a carrier plate alignment feeding and discharging apparatus according to an embodiment of the present disclosure. Referring to fig. 1, in the embodiment, the carrier jointed board loading and unloading apparatus includes a jointed board loading mechanism 10, a jointed board unloading mechanism 20, an uncovering gripper mechanism 30, a shifting mechanism 40, and a material distributing and receiving portion 50. Wherein the displacement mechanism 40 has a linear rail 41 and a displacement slide 42 slidable along the linear rail 41. Further, fig. 2 shows a perspective view of the partial receiving material 50 in fig. 1. Referring to fig. 2, in the present embodiment, the sub-receiving member 50 is formed on the bottom plate 59, so that the sub-receiving member 50 can be also referred to as a bottom plate. The material distributing and receiving part device 50 comprises a jointed board material distributing position 51, a jointed board material receiving position 52, a material distributing carrier hand 57 and a material receiving carrier hand 58 which can work simultaneously, wherein the material distributing carrier hand 57 is used for taking the carriers without buckling materials from the jointed board material distributing position 51 and moving the carriers to a carrier material loading base. In this way, the button material equipment can obtain the carrier without button material from the loading base for loading (here, the carrier loading of the button material equipment is referred to). The material receiving carrier gripper 58 is used for taking the buckled carrier from the carrier blanking base of the material buckling device, and moving and installing the buckled carrier to an empty carrier splicing plate located at the splicing plate material receiving position 52. Specifically, the dividing carrier gripper 57 and the collecting carrier gripper 58 can be moved within a certain range of area by their corresponding guide rails and driving mechanisms. The rails and drive mechanisms may include x-axis and y-axis rails and corresponding drive mechanisms. The specific structure of the blank holder 50 will be further described below. The details are not repeated here. It should be noted that the receiving portion 50 in fig. 2 is rotated by about 180 degrees relative to the receiving portion 50 in fig. 1, the position 51 for dividing the jointed boards is located at a side close to the feeding mechanism 10, and the position 52 for receiving the jointed boards is located at a side close to the discharging mechanism 20. Further, in this embodiment, the carrier panels include a lower cover and an upper cover, the lower cover and the upper cover are locked by a locking mechanism, and a plurality of carriers are adapted to be accommodated between the lower cover and the upper cover. Herein, the carrier may be a carrier with material buckled or a carrier without material buckled. Uncap tongs mechanism 30 install in aversion slide 42, and uncap tongs mechanism 30 is used for following the full-load utensil makeup that does not detain the material makeup feed mechanism 10 removes to makeup branch material level 51 will not have the load utensil makeup and follow makeup branch material level 51 removes to makeup material level 52 is received to and will detain the full-load utensil makeup that expects and follow makeup material level 52 removes to makeup unloading mechanism 20, and uncap tongs mechanism 30 has uncap mechanism, uncap mechanism be suitable for with the locking mechanism of carrier makeup is opened, so that with the lower cover with the upper cover is separately or the combination. The action of separating the lower cover and the upper cover may be referred to as opening the cover, and the action of combining the lower cover and the upper cover may be referred to as closing the cover.

Further, fig. 3 shows a perspective view of the shifting sled 42 of the shifting mechanism 40 in one embodiment of the present application. Referring to fig. 3, in the present embodiment, the displacement slide 42 includes a drag chain 421, a displacement flap 422, and a lateral slide 423. Wherein the displacement flap 422 is slidingly connected to said rectilinear track 41 by means of a transverse slider 423. The displacement flap 422 is also connected to the drag chain 421, and the driving mechanism can drive the displacement flap 422 to slide along the linear track 41 through the drag chain 421. For convenience of description, a direction sliding along the linear rail 41 will be hereinafter referred to as an x-axis direction or a lateral direction, a direction parallel to the surface of the base plate 59 and perpendicular to the x-axis direction will be hereinafter referred to as a y-axis direction or a longitudinal direction, and a direction perpendicular to the surface of the base plate 59 will be hereinafter referred to as a z-axis direction or a lifting direction.

Further, fig. 4 shows a perspective view of the open-cover gripper mechanism 30 in one embodiment of the present application. Referring to fig. 4, in the present embodiment, the lid-opening gripper mechanism 30 may include a gripper flap 31, a plurality of suction cups 32 mounted on a lower surface (front surface) of the gripper flap 31, a plurality of (e.g., four) guide shafts 33 mounted on an upper surface (rear surface) of the gripper flap 31, a plurality of (e.g., four) ejector pins cylinders 35 mounted on an upper surface (rear surface) of the gripper flap 31, and a plurality of (e.g., four) ejector pins 34 connected to cylinder rods of the ejector pins cylinders 35. The cylinder rod or thimble 34 of the thimble cylinder 35 passes through the grip flap 31 such that the end of the thimble 34 is located at the lower end of the grip flap 31. The ejector pin 34 can be driven by an ejector pin cylinder 35 to move up and down. The thimble cylinders 35 may be supported by a back bracket 36 mounted on the grip flap 31. The suction cups 32 may be used to attract the carrier panels 90. The thimble 34 and the thimble cylinder 35 may be the cap opening mechanism described above. It should be noted that the cover opening mechanism is not limited to the use of the cover opening mechanism. The lid opening mechanism is also used, for example, in a lid closing operation. In one embodiment, the center of the back of the gripper flap 31 may further have a floating joint 37, and the floating joint 37 may be connected to the lifting cylinder through a link. The lifting cylinder can drive the gripping flap 31 to lift. The lifting cylinder can also be used as a cover opening cylinder. The machine operation of the lid opening gripper mechanism 30 will be further described below.

Further, still referring to fig. 4, in an embodiment of the present application, the back of the finger flap 31 may further be installed with a plurality of (e.g., four) strut cylinders 38, and each strut cylinder 38 is connected to a strut 39. The pressure lever 39 passes through the hand grip flap 31 and can be driven by the pressure lever cylinder 38 to lift and lower. The pressing rod 39 can be used in cooperation with the ejector pin 34. In actual operation, the pressing rod 39 can be used to press the carrier plate 90, and then the thimble 34 is used to unlock the locking mechanism of the carrier plate 90.

Further, fig. 5 is a perspective view of a vehicle tile 90 according to an embodiment of the present application. Referring to fig. 5, in the present embodiment, the carrier panels 90 include a lower cover 91 and an upper cover 92, the edge of the lower cover 91 has a plurality of (e.g., four) buckles 93, and the edge of the upper cover 92 has a plurality of (e.g., four) slots 94. The catch 93 and the catch 94 may cooperate with each other to lock the lower cover 91 and the upper cover 92. The catch 93 and the catch 94 may thus act as a locking mechanism as described hereinbefore. A plurality of carriers 96 may be interposed between the lower cover 91 and the upper cover 92. The carrier can carry the module of making a video recording. The upper cover 92 may have a plurality of windows to expose a plurality of lenses carrying the camera modules, thereby facilitating the power-on test of the camera modules. Carrier panels 90 may also have locating holes 95 to facilitate locating with locating pins. The positioning pin can be arranged at each position where the carrier jointed boards 90 need to be temporarily fixed, such as a carrier jointed board loading position (corresponding position of the carrier jointed board loading mechanism), a carrier jointed board unloading position (corresponding position of the carrier jointed board loading mechanism) and the like.

Further, fig. 6 shows a connection relationship of the displacement slide plate 42 and the open-cover gripper mechanism 30 in one embodiment of the present application. Referring to fig. 6, in the present embodiment, three downward opening grip mechanisms are installed below the displacement flap 422, and hereinafter referred to as a first opening grip mechanism 301, a second opening grip mechanism 302, and a third opening grip mechanism 303, respectively, for convenience of description. Three lifting cylinders 370 are respectively installed on the upper surface of the shift slider 42, and each lifting cylinder 370 is used to drive one cover opening gripper mechanism (the first cover opening gripper mechanism 301, the second cover opening gripper mechanism 302 or the third cover opening gripper mechanism 303).

Further, in an embodiment of this application, makeup feed mechanism the makeup divides the material level the makeup is received the material level makeup unloading mechanism arranges in proper order along the x axle, divide material carrier tongs will through the removal along the y axle the carrier of not detaining the material is followed the makeup divides the material level to move to carrier material loading base, and it will through the removal along the y axle to receive material carrier tongs carrier that has detained the material carrier follow carrier unloading base moves to the material level is received to the makeup, wherein the x axle with the y axle is perpendicular. The distributing carrier gripper 57 and the collecting carrier gripper 58 can move within the designed area by means of their respective corresponding guide rails and drive mechanisms. The rails and drive mechanisms may include x-axis and y-axis rails and corresponding drive mechanisms.

Further, in an embodiment of this application, along in the direction of x axle, makeup feed mechanism with the makeup divide the interval between the material level to be equal to the makeup divide the material level with interval between the makeup material level, and be equal to makeup material level with interval between the makeup unloading mechanism.

Further, in one embodiment of the present application, the three lid opening gripping mechanisms are arranged along the x-axis and can move synchronously along the x-axis; in the x-axis direction, the distance between the first uncovering hand grip and the second uncovering hand grip is equal to the distance between the second uncovering hand grip and the third uncovering hand grip, and the distance between the first uncovering hand grip and the second uncovering hand grip is matched with the distance between the jointed board distributing position and the jointed board receiving position, so that when the first uncovering hand grip is moved to the position above the jointed board distributing position, the second uncovering hand grip is just moved to the position above the jointed board receiving position.

Further, referring to fig. 2, in an embodiment of the present application, the linear guide includes a support column 412, and two parallel rails 411 erected on the support column 412, the two parallel rails 411 cross the puzzle dispensing position 51 and the puzzle receiving position 52 from above, and the shifting sliding plate 42 (refer to fig. 3) is installed between the two parallel rails 411. In this embodiment, the pillar 412 and the two parallel rails 411 may constitute a simple beam. The simply supported beam can replace two independent cantilever beams (the two cantilever beams are respectively used for supporting the gripper of the displacement mechanism and the independent cover opening mechanism), so that the volume of the equipment is reduced, and the unit area output rate of the equipment is improved. In this embodiment, a displacement cylinder for driving the displacement slide plate 42 to slide may be further installed on the simply supported beam.

Further, still referring to fig. 2, in an embodiment of the present application, the partial receiving material 50 may include: the feeding device comprises a bottom plate 59, a feeding x-axis driving module, a feeding y-axis driving module, a receiving x-axis driving module and a receiving y-axis driving module; and a splitting x-axis guide rail 53, a splitting y-axis guide rail 54, a receiving x-axis guide rail 55 and a receiving y-axis guide rail 56 which are mounted on the bottom plate 59. Divide material carrier tongs 57 can be along divide material x axle guide rail 53 with divide material y axle guide rail 54 and slide, and divide material carrier tongs 57 in the removal range of x axle cover makeup branch material level 51's x axle size, divide material carrier tongs 57 in the removal range of y axle cover makeup branch material level 51's y axle size and follow makeup branch material level 51 reaches the distance of carrier material loading base. Receipts material carrier tongs 58 covers in the moving range of x axle the x axle size of makeup receipts material level 52, receipts material carrier tongs 58 covers in the moving range of y axle the y axle size of makeup receipts material level 52 and follow makeup receipts material level 52 arrives the distance of carrier unloading base. The material distributing carrier gripper 57 and the material receiving carrier gripper 58 are provided with carrier suckers for sucking the carriers and carrier gripper lifting driving modules for driving the carrier suckers to move along the z axis. Further, in one embodiment, the splice receiving locations 52 may also be provided with a code scanning gun 501, where the code scanning gun 501 is used to identify a binary code or other identifier provided on the carrier.

Further, in an embodiment of the present application, the material distributing and receiving part 50 may further include a plurality of rotary switches 502 mounted on the bottom plate 59, and the rotary switches 502 may be located at edges of the jointed board distributing position 51 and the jointed board receiving position 52, respectively, and are used for pressing lower covers of jointed boards (i.e. the jointed boards after being opened) placed at the jointed board distributing position 51 and the jointed board receiving position 52, so that the positions of the lower covers of jointed boards are not disturbed during the material distributing and receiving processes.

Further, fig. 7 is a perspective view illustrating the feeding mechanism 10 and its peripheral structure in one embodiment of the present application. Referring to fig. 7, in the present embodiment, the feeding mechanism 10 may be mounted on the base plate 59 by a fixing plate. The feeding mechanism 10 may include a feeding mechanism base plate 11, a movable pallet 12, a feeding guide shaft 13, and a feeding lift cylinder 14. Wherein, material loading jacking cylinder 14 can be installed in feed mechanism base plate 11, and movable supporting plate 12 passes through connecting rod connection material loading jacking cylinder 14 for material loading jacking cylinder 14 can drive movable supporting plate 12 and do elevating movement. One end of the feeding guide shaft 13 can be installed on the movable supporting plate 12, and the other end passes through the feeding mechanism substrate 11, so as to guide the movable supporting plate 12. Carrier panels 90 may be placed on movable pallet 12. In this embodiment, the carrier tiles can be stacked to form a carrier tile stack.

Further, still referring to fig. 7, in one embodiment, the feed mechanism 10 may further include a limit switch 17. The switch may be a photoelectric sensor-based photoelectric switch for identifying the position of the upper surface of the vehicle tile stack. When the carrier plate on the upper surface of the carrier plate stack is removed, the limit switch 17 recognizes that there is no carrier plate at the current working plane. At this time, the loading jacking cylinder 14 drives the movable supporting plate 12 to move upwards, so that the first carrier plate on the upper surface of the carrier plate stack is lifted to the working plane for the next loading.

Further, still referring to fig. 7, in one embodiment, the feed mechanism 10 may also include a safety light curtain 16. The safety light curtains 16 are located on both sides of the feeding mechanism 10. In a specific implementation, side plates 16 may be installed at two sides of the feeding mechanism 10, and the two side plates 16 are respectively installed with a transmitter and a receiver of the safety light curtain 16. When an object enters the protection net formed by the safety light curtain 16, the loading and unloading equipment for the vehicle splicing plates can give an alarm and/or emergently brake (suspend work) so as to avoid personal injury and property loss of operators.

Further, fig. 8 is a perspective view illustrating the blanking mechanism 20 and its peripheral structure in an embodiment of the present application. Referring to fig. 8, in the present embodiment, the blanking mechanism 20 may be mounted on the bottom plate 59 by a fixing plate. The blanking mechanism 20 may include a blanking mechanism base plate 21, a movable pallet 22, a blanking guide shaft 23, and a blanking jacking cylinder 24. The blanking jacking cylinder 24 can be installed on the blanking mechanism base plate 21, and the movable supporting plate 22 is connected with the blanking jacking cylinder 24 through a connecting rod, so that the blanking jacking cylinder 24 can drive the movable supporting plate 22 to do lifting movement. One end of the blanking guide shaft 23 can be mounted on the movable supporting plate 22, and the other end passes through the blanking mechanism substrate 21, so as to guide the movable supporting plate 22. Carrier panels 90 may be placed on movable pallet 22. In this embodiment, the carrier tiles can be stacked to form a carrier tile stack.

Further, still referring to fig. 8, in one embodiment, the blanking mechanism 20 may further include a limit switch 27. The switch may be a photoelectric sensor-based photoelectric switch for identifying the position of the upper surface of the vehicle tile stack. When a new carrier plate is added to the upper surface of the carrier plate stack, the limit switch 17 recognizes that the new carrier plate is added at the current working plane. At this time, the blanking jacking cylinder 24 drives the movable supporting plate 22 to move downwards, so that the first carrier plate on the upper surface of the carrier plate stack is lowered below the working plane to leave a space for placing the next carrier plate.

Further, still referring to fig. 8, in one embodiment, the blanking mechanism 20 may further include a dust cap intake mechanism 200, a rotary cylinder 210, and a dust cap carrier mechanism 220. The dust cover carrier mechanism 220 may be used to hold a stack of dust covers. The dust cover intake mechanism 200 is used to intake a first dust cover 290 from a surface of a dust cover stack. The dust cap capturing mechanism 200 can move the dust cap to the upper side of the carrier plate stack of the blanking mechanism 20 through the rotary cylinder 210, and cover the captured carrier plate 90 on the first carrier plate on the surface of the carrier plate stack. The dust cover carrier mechanism 220 may have a jacking cylinder for jacking the stack of dust covers so that the dust covers on the upper surface are just in the working plane for easy uptake by the dust cover uptake mechanism 200.

Further, fig. 9 shows a schematic perspective view of the dust cap intake mechanism 200 in one embodiment of the present application. Referring to fig. 9, in the present embodiment, the dust cap intake mechanism 200 may include a rotating arm 230, a cantilever 240 mounted to the rotating arm 230, and a suction cup 250 mounted to an end of the cantilever 240. In this embodiment, four suction cups 250 may be provided to stably and reliably absorb the carrier panels. Of course, the number of the suction cups 250 is not limited to four, which is easily understood by those skilled in the art. In this embodiment, the suspension arm 240 may also be referred to as a suction cup holder.

Further, still referring to fig. 9, in one embodiment of the present application, the dust cap intake mechanism 200 may further include an inductive switch 260. The sensing switch 260 can be used to sense whether the dust cap (i.e., the dust cap carried by the dust cap carrying mechanism 220) is used up.

Further, still referring to fig. 1, in one embodiment of the present application, the carrier panel loading and unloading device may further include a bracket 70, the bracket 70 is a base of the whole device, for example, the bottom plate 59 may be mounted on the bracket 70, and other components (for example, the loading mechanism 10 and the unloading mechanism 20) are mounted on the bottom plate 59 and the bracket. The bracket can also be internally provided with electric and gas components.

The operation of the feeding and discharging apparatus for jointed boards of a carrier will be further described with reference to an embodiment.

First, a stack of carrier panels (carrier panel stack) is manually placed on the movable pallet of the loading mechanism. The movable pallet may have a positioning plate on which the stack of carrier tiles may be placed. The positioning plate can adjust the inclination angle (namely adjust the posture of the positioning plate), so that the posture of the surface of the carrier plate stack is adjusted for fine adjustment, and the surface (the top surface) of the carrier plate stack is consistent with the working plane. The positioning plate can be provided with a positioning pin which can be inserted into a positioning hole of the carrier jointed plate at the bottom of the carrier jointed plate. Meanwhile, a stack of dust caps (dust cap stack) is placed on the dust cap carrying mechanism of the blanking mechanism.

Then, the system of the loading and unloading device for the carrier jointed boards is started, the first uncovering gripper mechanism of the shifting mechanism firstly grips the carrier jointed boards (sometimes also referred to as jointed boards hereinafter) on the top of the loading mechanism, then the shifting mechanism moves transversely, the first uncovering gripper mechanism firstly places the jointed boards at the jointed board distributing position, then four pressure rod cylinders of the first cover opening gripper mechanism descend (the piston rod of the finger pressure rod cylinder descends, and the descending, resetting and ascending of the cylinders appearing hereinafter can be understood as the descending, resetting and ascending of the piston rod or other moving parts, and are not described any more), four pressure rods are pushed to press the upper cover of the jointed board, four thimble cylinders descend again, four turning buckles of the jointed board are opened by the thimbles, then the whole first cover opening gripper mechanism moves upwards to cover the upper cover of the jointed board upwards, and the pressure rod cylinder and the thimble cylinder reset to complete the cover opening of the jointed board. After the carrier jointed boards leave the feeding mechanism, the limit switch of the feeding mechanism sends a signal, the feeding jacking cylinder moves upwards, and the next carrier jointed board is induced by the limit switch to be suspended by the rear jacking cylinder, so that the position supplement of the next carrier jointed board is realized, and the next cycle is prepared. After all the carrier jointed boards are taken out, an inductive switch of the feeding mechanism sends a signal, the jacking cylinder goes to the bottom, and the system gives an alarm to prompt an operator to supplement the materials.

After the cover opening action of the first cover opening gripper mechanism is completed, namely the jointed boards are opened at the material distribution position, the rotary pressing plate mechanisms on two sides of the material distribution position act to press the edges of the jointed board lower cover, and the stability of the jointed board lower cover in the material distribution process is ensured. Then, a material distributing gripper shifting mechanism (which may be composed of a material distributing X, Y shaft, a Z shaft and a Z shaft sucker, where the Z shaft sucker may be regarded as the material distributing gripper described in the foregoing) grabs the carriers loaded on the lower cover one by one, and places the carriers on the feeding and feeding positions of a photographing fastening device (which is used for fastening the camera module to be tested on the empty carrier, i.e., fastening the empty carrier). In actual work, the carriers can be buckled by combining two carriers. After grabbing a carrier on a jointed board, the rotating pressing plate mechanism resets to loosen a jointed board lower cover, four ejector pin cylinders of a first cover opening gripper mechanism with a jointed board upper cover push ejector pins to move downwards, meanwhile, the whole first cover opening gripper mechanism moves downwards, the four ejector pins firstly contact four overturning buckles on the jointed board lower cover and open the four overturning buckles, a sucker of the first cover opening gripper mechanism puts the jointed board upper cover on the jointed board lower cover, the four pressure rod cylinders move downwards, the jointed board upper cover is pressed by pressure rods, the ejector pin cylinders move upwards to loosen the overturning buckles, the overturning buckles reset under the action of elastic parts (such as springs) to buckle the jointed board upper cover, the pressure rod cylinders reset, the whole first cover opening gripper mechanism resets, and the buckled cover (namely the closed cover) of the jointed board upper cover is completed.

After the cover buckling is completed, the shifting mechanism is reset transversely, and the first cover opening gripper mechanism moves to the upper part of the feeding mechanism and grips the next carrier jointed board downwards to carry out the next circulation. Meanwhile, the second cover opening gripper mechanism moves to the position above the jointed board distributing position, then the jointed boards (namely empty tool jointed boards) with the carriers taken out are grabbed downwards, then the second cover opening gripper mechanism moves upwards, after all the cover opening gripper mechanisms move upwards to the top, the shifting mechanism moves transversely again, and the second cover opening gripper mechanism drives the empty jointed boards to shift to the position above the jointed board receiving position. At the moment, the code scanning gun firstly scans and reads the two-dimensional codes issued by the empty jointed boards so as to realize grouping with the carriers received back in the future and prepare for subsequent image shooting module group drawing test. Sweep sign indicating number and accomplish the back, the second tongs mechanism of uncapping descends, places this no-load utensil makeup and receives the material level on the makeup, then opens the makeup upper cover and takes the upper cover to go to the top, receives the rotatory pressure plate mechanism of material level both sides and pushes down the edge of makeup lower cover, prepares the carrier and receives the material. The opening action of the second opening-cover hand grip mechanism is the same as that of the first opening-cover hand grip mechanism in the previous period, and the description is omitted. The camera module drawing test may be, for example: the connector of the camera module is communicated with the test equipment, the camera module is used for shooting the target plate, then the shot image data is output, and various performance indexes of the camera module are obtained according to the image data and the imaging quality of the camera module is judged.

After the opening of the empty tool jointed board at the receiving position is completed, the receiving gripper shifting mechanism (for example, the receiving gripper shifting mechanism may be composed of a receiving X, Y shaft, a Z shaft and a Z shaft sucker, and the Z shaft sucker may be regarded as a receiving gripper mentioned in the foregoing) starts to grip and place the carriers (which may be carriers for completing code scanning and reading FALSE ID) on the discharging position of the shooting buckling equipment one by one onto each position corresponding to the empty jointed board. After the jointed boards are fully folded, the jointed board lower cover is loosened by rotating the pressing plate mechanism, the second cover opening gripper mechanism drives the upper cover to downwards buckle the jointed board lower cover, and the action of buckling the cover is the same as the above, which is not described again. Then, the second cover opening gripper mechanism releases the upper cover to move upwards. It should be noted that during the process of receiving the empty jointed boards at the receiving position, the full jointed boards at the distributing position are also distributed in parallel. When the material receiving of the material receiving position and the material distributing of the material distributing position are finished, all the cover opening gripper mechanisms move upwards to the top, and then the shifting mechanism resets again. After resetting, the second cover opening gripper mechanism moves to the position above the material distributing position again to perform the next circulation. Meanwhile, the third open-cover gripper mechanism moves to the position above the jointed board receiving position, and then moves downwards to grab the jointed boards which are completely received, and then resets and moves upwards to the top. It should be noted that at this time, the first uncovering gripper mechanism again grabs and takes off a next jointed board from the feeding mechanism. After all the cover opening gripper mechanisms move upwards to the top, the shifting mechanism moves transversely again, the third cover opening gripper mechanism drives the jointed boards which are finished by material receiving to move to the upper part of the blanking mechanism, then the third cover opening gripper mechanism moves downwards, and the jointed boards are placed on the movable supporting plate of the blanking mechanism. And a limit switch of the blanking mechanism senses a signal, the blanking jacking cylinder moves downwards, and the blanking jacking cylinder stops when the signal disappears. At the moment, the first jointed board completes the whole process of feeding, distributing and receiving the jointed board until discharging. If this makeup still need install the shield additional, can pick a shield by shield ingestion mechanism and place on the makeup.

According to the above mode, the idle tools can be taken out of the jointed boards, the camera modules are buckled one by one, then the camera modules are recovered into the jointed boards, and finally the dust cover is buckled. After the spliced plates on the discharging mechanism are fully stacked, the system gives an alarm to prompt an operator to move away.

Based on the description of the working process of the loading and unloading equipment for the carrier jointed boards, it can be seen that the loading and unloading equipment for the carrier jointed boards in the embodiment can realize highly automated loading and unloading for the carrier jointed boards, the loading and unloading processes of the carrier jointed boards are not interfered with each other, the parallelization degree is high, and the production efficiency is favorably improved. For the loading and unloading equipment of the carrier jointed boards, the loading, the distributing, the receiving and the unloading of the carrier jointed boards can be executed in a highly parallel mode, and therefore the production efficiency is further improved. In addition, in the above embodiment, the design of the feeding and discharging device for the carrier jointed boards is very compact, and the conveying distance of the carrier and the carrier jointed boards can be shortened, so that the feeding and discharging efficiency of the carrier jointed boards and the efficiency of outputting and recycling the carrier are improved, and the efficiency of automatic material buckling is improved.

Further, based on the above description of the working process of the loading and unloading equipment for the carrier jointed boards, it can be seen that in the working process, the loading and unloading equipment for the carrier jointed boards can be opened only by using the first opening-cover gripper mechanism and the second opening-cover gripper mechanism. Based on this, in a variant embodiment of the present application, only two of the opening grip mechanisms may be provided, and the other opening grip mechanism may be replaced by a simplified panel grip mechanism. That is, the third uncovered grip may be replaced by a simplified panel grip mechanism. The simplified jointed board gripper mechanism can be a gripper mechanism with a jointed board taking function but without a cover opening function. Particularly, the simplified jointed board gripper mechanism can be used for eliminating a thimble, a thimble cylinder, a pressure rod and a pressure rod cylinder, and the lifting cylinder and the sucker are still reserved.

In fact, in the present application, the cover opening gripper mechanism that performs the cover opening action is not limited to the first cover opening gripper mechanism and the second cover opening gripper mechanism. In another variant embodiment of the present application, the first uncapping grip mechanism may be configured as the simplified panel-splicing grip mechanism described above, with the second uncapping grip mechanism and the third uncapping grip mechanism remaining. Under the design, the working processes of the loading and unloading equipment for the carrier jointed boards are slightly different, but synchronous movement of a plurality of carrier jointed boards among the loading position, the distributing position, the receiving position and the unloading position of the carrier jointed boards can be realized, and synchronous opening and closing of the positions of the distributing position and the receiving position of the carrier jointed boards are realized.

It should be noted that although the above embodiments have been described with reference to a carrier panel loader/unloader with three open-lid gripper mechanisms, other numbers of open-lid gripper mechanisms are also possible in the present application. For example, in one variant embodiment, the carrier panel loader and unloader may have only one open gripper mechanism. Although the opening-cover gripper mechanism cannot open the cover of the split material position and the receiving position synchronously in the deformed embodiment, the opening-cover gripper mechanism has the advantage of compact equipment structure compared with equipment with an independent opening-cover mechanism from the split-plate gripper mechanism. Specifically, because the lid opening function is integrated into the displacement mechanism finger grip in the present application, the support structure of the apparatus can be simplified (e.g., a simple beam is used instead of two independent cantilever beams, where the two independent cantilever beams are used to support the displacement mechanism finger grip and the independent lid opening mechanism, respectively), thereby making the apparatus more compact.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. Unloading equipment on carrier makeup, its characterized in that includes:

a jointed board feeding mechanism;

a jointed board blanking mechanism;

a displacement mechanism having a linear rail and a displacement slide plate slidable along the linear rail;

the material distributing and receiving part device comprises a jointed board material distributing position, a jointed board material receiving position, a material distributing carrier gripper and a material receiving carrier gripper, wherein the material distributing carrier gripper and the material receiving carrier gripper can work simultaneously, the material distributing carrier gripper is used for taking carriers which are not buckled from the jointed board material distributing position and moving the carriers to a carrier feeding base to feed the buckled material equipment, and the material receiving carrier gripper is used for taking buckled carriers from a carrier discharging base of the buckled material equipment and moving and installing the buckled carriers to an empty carrier jointed board located at the material receiving position; and

uncap tongs mechanism, its install in the aversion slide, and uncap tongs mechanism is used for following the full-load utensil makeup that does not detain the material makeup feed mechanism removes to the makeup divides the material level, will no-load utensil makeup is followed the makeup divides the material level to remove to the material level is received to the makeup to and the full-load utensil makeup that will detain the material is followed the makeup is received the material level and is removed to makeup unloading mechanism, wherein the carrier makeup includes lower cover, upper cover and installs the lower cover with a plurality of carriers between the upper cover, the lower cover with through locking mechanism locking between the upper cover, and uncap tongs mechanism has uncap mechanism, uncap mechanism be suitable for with locking mechanism opens, so that with the lower cover with the upper cover is separately or makes up.

2. The carrier plate splicing feeding and discharging device according to claim 1, wherein the plate splicing feeding mechanism, the plate splicing material distributing position, the plate splicing material receiving position and the plate splicing material discharging mechanism are sequentially arranged along an x axis, the plate splicing material distributing carrier gripper moves the un-buckled carrier from the plate splicing material distributing position to the carrier feeding base through movement along a y axis, and the plate receiving carrier gripper moves the buckled carrier from the carrier feeding base to the plate splicing material receiving position through movement along the y axis, wherein the x axis is perpendicular to the y axis.

3. The carrier panel loading and unloading device according to claim 2, wherein a distance between the panel loading mechanism and the panel dividing position is equal to a distance between the panel dividing position and the panel receiving position and equal to a distance between the panel receiving position and the panel unloading mechanism in a direction along the x-axis.

4. The carrier plate alignment feeding and discharging device as claimed in claim 3, wherein the shift sliding plate is provided with three plate alignment gripping mechanisms, and each plate alignment gripping mechanism is provided with a plate alignment suction cup for sucking the carrier plate alignment; the at least two jointed board hand grab mechanisms are the opening-cover hand grab mechanisms, and the two opening-cover hand grab mechanisms are two adjacent ones of the three jointed board hand grab mechanisms.

5. The carrier tile loading and unloading apparatus of claim 4, wherein the three tile gripper mechanisms are aligned along the x-axis and can move synchronously along the x-axis; the three jointed board hand grab mechanisms comprise first jointed board hand grabs, second jointed board hand grabs and third jointed board hand grabs, in addition, in the x-axis direction, the distance between the first jointed board hand grabs and the second jointed board hand grabs is equal to the distance between the second jointed board hand grabs and the third jointed board hand grabs, and the distance between the first jointed board hand grabs and the second jointed board hand grabs and the jointed board material distributing position and the jointed board material collecting position are matched with each other in the distance.

6. The carrier plate loading and unloading device according to claim 1, wherein the uncovering gripper mechanism comprises a gripper flap, a plurality of suction cups mounted on the gripper flap, a guide shaft mounted on a back surface of the gripper flap, and a plurality of uncovering mechanisms mounted on the gripper flap; the guide shaft is connected with the shifting sliding plate through a linear bearing, a lifting cylinder is installed on the shifting sliding plate, and the lifting cylinder is used for driving the hand grab flap to lift relative to the shifting sliding plate.

7. The carrier plate splicing loading and unloading device according to claim 6, wherein the cover opening mechanism comprises a thimble cylinder mounted on the back of the gripper flap and a liftable thimble driven by the thimble cylinder, wherein the carrier plate has a buckle for clamping the lower cover and the upper cover together, and the thimble is used for opening the buckle.

8. The carrier plate splicing feeding and discharging device as claimed in claim 7, wherein the cover opening gripper mechanism further comprises a pressure rod cylinder and a liftable pressure rod driven by the pressure rod cylinder.

9. The carrier plate loading and unloading device according to claim 1, wherein the linear rail includes a pillar, and two parallel rails mounted on the pillar, the two parallel rails span the plate distributing position and the plate receiving position from above, and the shift slide plate is installed between the two parallel rails.

10. The carrier plate splicing loading and unloading device as claimed in claim 1, wherein the material distributing part further comprises:

a base plate;

the material-distributing X-axis driving module, the material-distributing Y-axis driving module, the material-receiving X-axis driving module and the material-receiving Y-axis driving module; and

the material distributing device comprises a material distributing x-axis guide rail, a material distributing y-axis guide rail, a material receiving x-axis guide rail and a material receiving y-axis guide rail which are arranged on the bottom plate, a material distributing carrier gripper can slide along the material distributing x-axis guide rail and the material distributing y-axis guide rail, the moving range of the material distributing carrier gripper in the x axis covers the x-axis size of the jointed board material distributing position, the moving range of the material distributing carrier gripper in the y axis covers the y-axis size of the jointed board material distributing position and the distance from the jointed board material distributing position to a carrier material loading base, the moving range of the material receiving carrier gripper in the x axis covers the x-axis size of the jointed board material receiving position, and the moving range of the material receiving carrier gripper in the y axis covers the y-axis size of the jointed board material receiving position and the distance from the jointed board material receiving position to the carrier material unloading base;

the material distributing carrier gripper and the material receiving carrier gripper are respectively provided with a carrier sucker for adsorbing the carrier and a carrier gripper lifting driving module for driving the carrier sucker to move along the z axis.

11. The carrier plate feeding and discharging device for the carrier plates as claimed in claim 1, wherein the plate feeding mechanism comprises:

a feeding bottom plate;

the bottom of the feeding guide shaft is arranged on the feeding bottom plate;

the loading movable supporting plate is arranged at the top of the loading guide shaft and is suitable for bearing a jointed plate stack formed by stacking a plurality of carrier jointed plates; and

and the feeding lifting cylinder is used for driving the feeding movable supporting plate to move along the feeding guide shaft.

12. The carrier plate feeding and discharging device for carrier plates as claimed in claim 11, wherein the plate feeding mechanism comprises a positioning plate with positioning pins, and the positioning plate is used for bearing the plate stack.

13. The carrier plate alignment feeding and discharging device as claimed in claim 1, wherein the plate alignment feeding mechanism includes:

a blanking bottom plate;

the bottom of the blanking guide shaft is arranged on the blanking bottom plate;

the blanking movable supporting plate is arranged at the top of the blanking guide shaft and is suitable for bearing a jointed plate stack formed by stacking a plurality of carrier jointed plates; and

and the blanking lifting cylinder is used for driving the blanking movable supporting plate to move along the blanking guide shaft.

14. The carrier plate alignment feeding and discharging device as claimed in claim 13, wherein the feeding movable supporting plate includes a positioning plate having a positioning pin, and the positioning plate is used for carrying the plate stack.

15. The carrier plate loading and unloading device according to claim 13, wherein the plate alignment unloading mechanism further comprises a dust cover intake mechanism and a dust cover bearing mechanism, and the dust cover intake mechanism is used for taking the dust cover, moving the dust cover above the unloading movable supporting plate and covering the first carrier plate on the surface of the plate alignment stack.