CN214356884U - Modular unloader - Google Patents

Abstract

The utility model discloses a modular unloader, include: the first blanking module comprises a first material tray and a first conveying mechanism which is adaptive to the first material tray, and the first material tray is used for storing PCBs with first sizes; the second blanking module comprises a second material disc and a second conveying mechanism adaptive to the second material disc, and the second material disc is used for storing PCBs with a second size; the braiding module comprises a braiding conveying assembly for conveying a braiding and a film sealing assembly for sealing a film of the braiding; with function modularization, compatibility is good, classifies in order to carry out the unloading to the product through first unloading module, second unloading module and braid module, has reduced the link of choosing, has improved work efficiency, is applicable to batch production. Meanwhile, in order to adapt to different working conditions, the first blanking module, the second blanking module and the braid module can be randomly arranged and combined, the modularization compatibility is good, and the productivity is favorably improved.

Description

Modular unloader

Technical Field

The utility model relates to an automation equipment field especially relates to a modular unloader.

Background

In PCB's production technology, because the size and the shape of the PCB that processing was accomplished are different, carry out the unloading to it and carry and categorised packing, PCB production facility among the prior art is when the unloading, through the conveyer belt unloading and place the material dish in, carry out artifical or mechanical equipment to the material dish and choose the classification, work efficiency is slow, and makes mistakes easily when choosing, causes categorised confusion, the packing of not being convenient for encapsulation.

In view of this, it is necessary to improve the PCB blanking apparatus in the prior art to solve the technical problems of difficult classification and sorting of PCBs and low working efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a modular unloader solves above technical problem.

To achieve the purpose, the utility model adopts the following technical proposal:

a modular blanking unit comprising:

the first blanking module comprises a first material tray and a first conveying mechanism which is adaptive to the first material tray, and the first material tray is used for storing PCBs with first sizes;

the second blanking module comprises a second material tray and a second conveying mechanism adaptive to the second material tray, and the second material tray is used for storing PCBs with a second size; wherein the first size is greater than the second size;

the braiding module comprises a braiding conveying assembly for conveying a braiding and a film sealing assembly for sealing the braiding;

the first blanking module, the second blanking module and the braiding module are arranged side by side.

Optionally, the braid module further comprises a workbench, the braid conveying assembly comprises a first braid tray and a second braid tray for winding the material belt, and the first braid tray and the second braid tray are respectively arranged at the bottom of the workbench;

a first pinwheel and a second pinwheel are mounted on the top surface of the workbench, the first pinwheel is arranged on one side close to the first braiding material disc, and a material belt conveying channel is formed among the first braiding material disc, the first pinwheel, the second pinwheel and the second braiding material disc;

a first pressing mechanism and a second pressing mechanism are arranged in the material belt conveying channel and used for pressing the material belt;

and a packaging position is arranged between the first pinwheel and the second pinwheel, and the film sealing component is arranged at a position corresponding to the packaging position.

Optionally, the film sealing assembly comprises an installation plate, the installation plate is arranged on the top surface of the workbench, a material placing disc is arranged on the installation plate, a film sealing belt is wound on the material placing disc, and a plurality of guide wheels for guiding the film sealing belt to convey are further arranged on the side wall of the installation plate;

the packaging position is also provided with a hot-pressing sealing knife which is used for hot-pressing the film sealing belt on the woven belt.

Optionally, a width adjustment assembly is further disposed between the first pin wheel and the second pin wheel, the width adjustment assembly includes a fixed plate fixedly mounted on the top surface of the workbench and a movable plate disposed opposite to the fixed plate, and the material strap is accommodated between the fixed plate and the movable plate;

the top surface of workstation is provided with the slide rail, fly leaf sliding connection in the slide rail, the fly leaf is connected with first driving piece, first driving piece is used for promoting the fly leaf is followed slide rail linear motion.

Optionally, the first blanking module further includes a first housing, the first conveying mechanism is mounted on an inner side wall of the first housing, the first conveying mechanism includes a first conveying belt, a second conveying belt and a third conveying belt, a first conveying channel is formed between the first conveying belt, the second conveying belt and the third conveying belt in sequence, the first conveying belt is connected to a first lifting mechanism, and the first lifting mechanism is configured to drive the first conveying belt to move linearly along the Z-axis direction; the second conveying belt is connected with a second lifting mechanism, and the second lifting mechanism is used for driving the second conveying belt to linearly move along the Z-axis direction.

Optionally, the top surface of the first shell is provided with a first linear module, the first linear module is connected with a third lifting module in a sliding manner, the third lifting module is connected with a first material taking manipulator in a sliding manner, and the bottom surface of the first material taking manipulator is provided with a plurality of suckers.

Optionally, the second blanking module further includes a second housing, the second conveying mechanism is mounted on an inner side wall of the second housing, the second conveying mechanism includes a fourth conveying belt, a fifth conveying belt and a sixth conveying belt, a second conveying channel is formed between the fourth conveying belt, the fifth conveying belt and the sixth conveying belt in sequence, the fourth conveying belt is connected to a fourth lifting mechanism, and the fourth lifting mechanism is configured to drive the fourth conveying belt to move linearly along the Z-axis direction; the fifth conveying belt is connected with a fifth lifting mechanism, and the fifth lifting mechanism is used for driving the fifth conveying belt to linearly move along the Z-axis direction.

Optionally, a second linear module is arranged on the top surface of the second housing, the second linear module is connected with a sixth lifting module in a sliding manner, and the second linear module is used for driving the sixth lifting module to move along the X-axis direction; the sixth lifting module is connected with a second material taking manipulator in a sliding mode and used for driving the second material taking manipulator to linearly move along the Z-axis direction; the second material taking manipulator comprises a frame body, a first clamping block and a second clamping block, wherein the second clamping block is arranged on the bottom surface of the frame body and is opposite to the first clamping block, a clamping cylinder is arranged on one side, close to the second clamping block, of the frame body, a piston rod of the clamping cylinder is connected with the second clamping block, and the clamping cylinder is used for pushing the second clamping block to move linearly along the X-axis direction.

Compared with the prior art, the utility model discloses following beneficial effect has: during PCB production, storing the PCB with the first size in a first material tray, and conveying and blanking through a first conveying mechanism; storing the PCB with the second size in a second material tray, and conveying and blanking through a second conveying mechanism; when the materials need to be packaged, the materials are contained in the braid, the braid conveying assembly conveys the braid to a preset position, and the film sealing assembly seals the braid containing the materials to form the packaged materials. With function modularization, compatibility is good, classifies in order to carry out the unloading to the product through first unloading module, second unloading module and braid module, has reduced the link of choosing, has improved work efficiency, is applicable to batch production.

Drawings

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

The structure, ratio, size and the like shown in the drawings of the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention does not have the substantial significance in the technology, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy which can be produced by the present invention and the achievable purpose.

FIG. 1 is a schematic diagram of the overall structure of a modular blanking device;

FIG. 2 is a schematic view of a first blanking module of the modular blanking apparatus;

FIG. 3 is a second schematic structural view of a first blanking module of the modular blanking apparatus;

FIG. 4 is a schematic front view of a first blanking module of the modular blanking apparatus;

FIG. 5 is one of the schematic structural views of a braiding module of the modular blanking device;

FIG. 6 is a second schematic structural view of a braiding module of the modular blanking device;

FIG. 7 is a third schematic structural view of a braiding module of the modular blanking device;

FIG. 8 is one of the schematic structural views of a first blanking module of the modular blanking apparatus;

FIG. 9 is a second schematic view of the first blanking module of the modular blanking apparatus;

fig. 10 is a front view of a first blanking module of the modular blanking device.

Illustration of the drawings: the first blanking module 1, the first conveying mechanism 12, the second blanking module 2, the second material tray, the second conveying mechanism 22, the braiding module 3, the braiding conveying component 31, the film sealing component 32, the workbench 33, the first braiding material tray 311, the second braiding material tray 312, the first pin wheel 313, the second pin wheel 314, the first pressing mechanism 315, the second pressing mechanism 316, the hot-pressing sealing knife 34, the mounting plate 321, the material placing tray 322, the guide wheel 323, the width adjusting component 35, the fixing plate 351, the movable plate 352, the slide rail 353, the first shell 13, the first conveying belt 121, the second conveying belt 122, the third conveying belt 123, the first lifting mechanism 124, the second lifting mechanism 125, the first linear module 14, the third lifting module 15, the first material taking manipulator 11, the suction cup 111, the second shell 23, the fourth conveying belt 221, the fifth conveying belt 222, the sixth conveying belt 223, the fourth lifting mechanism 224, the first linear module 14, the third lifting module 15, the first material taking manipulator 11, the second shell 23, the fourth conveying belt 221, the fifth conveying belt 222, the sixth conveying belt 222, the fourth lifting mechanism, the third lifting mechanism, the fourth lifting mechanism, the third lifting mechanism, the fourth lifting mechanism, the third lifting mechanism, the fourth lifting mechanism, the third lifting mechanism, the fourth, A fifth lifting mechanism 225, a second linear module 24, a sixth lifting module 25, a second material-taking manipulator 26, a first clamping block 261, a second clamping block 262 and a clamping cylinder 263.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention, and obviously, the embodiments described below are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

The embodiment of the utility model provides a modular unloader, include:

the blanking device comprises a first blanking module 1, wherein the first blanking module 1 comprises a first material tray and a first conveying mechanism 12 which is adapted to the first material tray, and the first material tray is used for storing PCBs with first sizes;

the second blanking module 2 comprises a second material tray and a second conveying mechanism 22 which is adapted to the second material tray, and the second material tray is used for storing PCBs with a second size; wherein the PCB is divided into a first size class and a second size class according to the size of the PCB, and the first size is larger than the second size;

the braiding module 3 comprises a braiding conveying assembly 31 for conveying the braiding and a film sealing assembly 32 for sealing the braiding;

the first blanking module 1, the second blanking module 2 and the braiding module 3 are arranged side by side.

The utility model discloses a theory of operation does: during PCB production, storing PCBs of a first size in the first material tray, and conveying and blanking through the first conveying mechanism 12; storing the PCBs with the second size in the second material tray, and conveying and blanking through the second conveying mechanism 22; when the materials need to be packaged and packed, the materials are contained in the braids, the braids are conveyed to the preset position by the braid conveying assembly 31, and the braids containing the materials are sealed by the film sealing assembly 32 to form the packaged materials. Compared with the prior art, the utility model discloses with functional module, compatible good, through first unloading module 1 second unloading module 2 with braid module 3 classifies in order to carry out the unloading to the product, has reduced and has chosen the link, has improved work efficiency, is applicable to batch production. Meanwhile, in order to adapt to different working conditions, the first blanking module 1, the second blanking module 2 and the braiding module 3 can be randomly arranged and combined, the modularization compatibility is good, and the productivity is favorably improved.

In this embodiment, the braiding module 3 further includes a working table 33, the braiding conveying assembly 31 includes a first braiding tray 311 and a second braiding tray 312 for winding a material tape, and the first braiding tray 311 and the second braiding tray 312 are respectively disposed at the bottom of the working table 33;

a first pin wheel 313 and a second pin wheel 314 are mounted on the top surface of the workbench 33, the first pin wheel 313 is arranged on one side close to the first braiding tray 311, and a material belt conveying channel is formed among the first braiding tray 311, the first pin wheel 313, the second pin wheel 314 and the second braiding tray 312;

a first pressing mechanism 315 and a second pressing mechanism 316 are arranged in the material belt conveying channel, and the first pressing mechanism 315 and the second pressing mechanism 316 are used for pressing the material belt;

a packaging position is arranged between the first pinwheel 313 and the second pinwheel 314, the film sealing component 32 is arranged at a position corresponding to the packaging position, a hot-pressing sealing knife 34 is further arranged at the packaging position, and the hot-pressing sealing knife 34 is used for hot-pressing a film sealing belt on the material belt.

During operation, a material belt is placed into the first braiding material disc 311, then the material belt is positioned through the first pin wheel 313 and the second pin wheel 314, the first pressing mechanism 315 and the second pressing mechanism 316 press the material belt, meanwhile, a sealing film is placed into the sealing film assembly 32, and the sealing film is conveyed to a packaging position through the sealing film assembly 32; putting materials into the material belt, wherein the first braiding material disc 311 and the first needle wheel 313 are driven to rotate so as to drive the material belt containing the materials to be fed to the packaging position; the hot-pressing sealing knife 34 hot-presses a sealing film belt on the material belt, the second braid material disc 312 winds and recovers the material belt, and after the film sealing of the material belt containing the materials is completed by one circle, the material belt is cut off through a cutter assembly at a preset position, so that the packaging and packaging of the materials are completed.

Specifically, the film sealing assembly 32 comprises a mounting plate 321, the mounting plate 321 set up in the top surface of the workbench 33, a discharging tray 322 is arranged on the mounting plate 321, a film sealing belt is wound on the discharging tray 322, and the side wall of the mounting plate 321 is further provided with a plurality of guide wheels 323 for guiding the film sealing belt to convey.

Further, a width adjustment assembly 35 is disposed between the first pin wheel 313 and the second pin wheel 314, the width adjustment assembly 35 includes a fixed plate 351 fixedly mounted on the top surface of the worktable 33 and a movable plate 352 disposed opposite to the fixed plate 351, and the material strap is accommodated between the fixed plate 351 and the movable plate 352;

a slide rail 353 is disposed on the top surface of the workbench 33, the movable plate 352 is slidably connected to the slide rail 353, and the movable plate 352 is connected to a first driving member for pushing the movable plate 352 to move linearly along the slide rail 353. The width of the material belt conveying channel is adjusted through the width adjusting component 35 to adapt to material belts with different widths, and the compatibility of equipment is improved.

In this embodiment, the first blanking module 1 further includes a first housing 13, the first conveying mechanism 12 is installed on an inner side wall of the first housing 13, the first conveying mechanism 12 includes a first conveying belt 121, a second conveying belt 122 and a third conveying belt 123, a first conveying channel is formed between the first conveying belt 121, the second conveying belt 122 and the third conveying belt 123 in sequence, the first conveying belt 121 is connected with a first lifting mechanism 124, and the first lifting mechanism 124 is configured to drive the first conveying belt 121 to move linearly along the Z-axis direction; the second conveying belt 122 is connected to a second lifting mechanism 125, and the second lifting mechanism 125 is configured to drive the second conveying belt 122 to move linearly along the Z-axis direction.

Further, the top surface of the first shell 13 is provided with a first straight line module 14, the first straight line module 14 is connected with a third lifting module 15 in a sliding manner, the third lifting module 15 is connected with a first material taking manipulator 11 in a sliding manner, and the bottom surface of the first material taking manipulator 11 is provided with a plurality of suckers 111.

When the material loading device works, the first material tray is conveyed to the first conveying belt 121, the first material taking manipulator 11 sucks the first material tray at the position of the second conveying belt 122, meanwhile, the first conveying belt 121 is lifted by the first material tray through the first lifting mechanism 124 to load the first material tray on the second conveying belt 122, the first material tray is driven by the second lifting mechanism 125 to be lowered by the height of the first material tray after being filled with materials, the operation is repeated for N times, when N first material trays containing materials are stacked on the second conveying belt 122, the second conveying belt 122 is driven by the second lifting mechanism 125 to be lowered by a preset height to be in butt joint with the third conveying belt 123, the second conveying belt 122 and the third conveying belt 123 operate to convey N layers of the first material trays containing materials to the third conveying belt 123, and the third conveying belt 123 is butted with the N layers of first material trays filled with materials through an AGV. Wherein N is a positive integer.

In this embodiment, the second blanking module 2 further includes a second housing 23, the second conveying mechanism 22 is installed on an inner side wall of the second housing 23, the second conveying mechanism 22 includes a fourth conveying belt 221, a fifth conveying belt 222 and a sixth conveying belt 223, a second conveying channel is formed between the fourth conveying belt 221, the fifth conveying belt 222 and the sixth conveying belt 223 in sequence, the fourth conveying belt 221 is connected with a fourth lifting mechanism 224, and the fourth lifting mechanism 224 is configured to drive the fourth conveying belt 221 to move linearly along the Z-axis direction; a fifth lifting mechanism 225 is connected to the fifth conveyor belt 222, and the fifth lifting mechanism 225 is configured to drive the fifth conveyor belt 222 to move linearly along the Z-axis direction.

Further, a second linear module 24 is arranged on the top surface of the second housing 23, a sixth lifting module 25 is slidably connected to the second linear module 24, and the second linear module 24 is used for driving the sixth lifting module 25 to move along the X-axis direction; the sixth lifting module 25 is connected with a second material taking manipulator 26 in a sliding manner, and the sixth lifting module 25 is used for driving the second material taking manipulator 26 to move linearly along the Z-axis direction; the second material taking manipulator 26 comprises a frame body, a first clamping block 261 and a second clamping block 262 opposite to the first clamping block 261 are arranged on the bottom surface of the frame body, a clamping cylinder 263 is arranged on one side, close to the second clamping block 262, of the frame body, a piston rod of the clamping cylinder 263 is connected with the second clamping block 262, and the clamping cylinder 263 is used for pushing the second clamping block 262 to move linearly along the X-axis direction.

When the material loading device works, the second material tray is conveyed to the fourth conveying belt 221, the first material taking manipulator 11 clamps the position of the second material tray on the fifth conveying belt 222, meanwhile, the fourth conveying belt 221 is lifted by the fourth lifting mechanism 224 by the height of the second material tray to load the second material tray on the fifth conveying belt 222, the second material tray is driven by the fifth lifting mechanism 225 to be lowered by the height of the second material tray after being filled with the material, so that the operation is repeated for M times, when M second material trays containing the material are stacked on the fifth conveying belt 222, the fifth conveying belt 222 is driven by the fifth lifting mechanism 225 to be lowered by a preset height to be in butt joint with the sixth conveying belt 223, the fifth conveying belt 222 and the sixth conveying belt 223 run to convey N layers of the second material trays containing the material to the sixth conveying belt 223, and the sixth conveying belt 223 is butted with M layers of second material trays filled with materials through an AGV. Wherein M is a positive integer.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (8)

1. A modular blanking device, comprising:

the blanking device comprises a first blanking module (1), wherein the first blanking module (1) comprises a first material tray and a first conveying mechanism (12) which is adaptive to the first material tray, and the first material tray is used for storing PCBs with first sizes;

the second blanking module (2), the second blanking module (2) includes a second material tray and a second conveying mechanism (22) adapted to the second material tray, the second material tray is used for storing PCBs of a second size; wherein the first size is greater than the second size;

a braid module (3), wherein the braid module (3) comprises a braid conveying assembly (31) for conveying the braid and a film sealing assembly (32) for sealing the braid;

the first blanking module (1), the second blanking module (2) and the braiding module (3) are arranged side by side.

2. The modular blanking device according to claim 1, characterized in that said braiding modules (3) further comprise a worktable (33), said braiding conveyor assembly (31) comprising a first braiding tray (311) and a second braiding tray (312) for winding a tape, said first braiding tray (311) and said second braiding tray (312) being respectively arranged at the bottom of said worktable (33);

a first pinwheel (313) and a second pinwheel (314) are mounted on the top surface of the workbench (33), the first pinwheel (313) is arranged on one side close to the first braiding tray (311), and a material belt conveying channel is formed among the first braiding tray (311), the first pinwheel (313), the second pinwheel (314) and the second braiding tray (312);

a first pressing mechanism (315) and a second pressing mechanism (316) are arranged in the material belt conveying channel, and the first pressing mechanism (315) and the second pressing mechanism (316) are used for pressing the material belt;

a packaging position is arranged between the first pin wheel (313) and the second pin wheel (314), and the film sealing assembly (32) is arranged at a position corresponding to the packaging position.

3. The modular blanking device according to the claim 2, characterized in that the film sealing assembly (32) comprises a mounting plate (321), the mounting plate (321) is arranged on the top surface of the workbench (33), a discharge tray (322) is arranged on the mounting plate (321), a film sealing tape is wound on the discharge tray (322), and a plurality of guide wheels (323) for guiding the film sealing tape to be conveyed are further arranged on the side wall of the mounting plate (321);

the packaging position is further provided with a hot-pressing sealing knife (34), and the hot-pressing sealing knife (34) is used for hot-pressing the film sealing belt on the woven belt.

4. The modular blanking device according to claim 3, characterized in that a width adjustment assembly (35) is further arranged between the first pin wheel (313) and the second pin wheel (314), the width adjustment assembly (35) comprises a fixed plate (351) fixedly mounted on the top surface of the worktable (33) and a movable plate (352) arranged opposite to the fixed plate (351), and the material belt is accommodated between the fixed plate (351) and the movable plate (352);

the top surface of the workbench (33) is provided with a slide rail (353), the movable plate (352) is connected to the slide rail (353) in a sliding manner, the movable plate (352) is connected with a first driving member, and the first driving member is used for pushing the movable plate (352) to move linearly along the slide rail (353).

5. The modular blanking device according to claim 1, wherein the first blanking module (1) further comprises a first housing (13), the first conveying mechanism (12) is mounted on an inner side wall of the first housing (13), the first conveying mechanism (12) comprises a first conveying belt (121), a second conveying belt (122) and a third conveying belt (123), a first conveying passage is formed among the first conveying belt (121), the second conveying belt (122) and the third conveying belt (123), and a first lifting mechanism is connected to the first conveying belt (121) and is used for driving the first conveying belt (121) to move linearly along the Z-axis direction; the second conveying belt (122) is connected with a second lifting mechanism, and the second lifting mechanism is used for driving the second conveying belt (122) to move linearly along the Z-axis direction.

6. The modular blanking device according to the claim 5, characterized in that the top surface of the first housing (13) is provided with a first linear module (14), the first linear module (14) is slidably connected with a third lifting module (15), the third lifting module (15) is slidably connected with a first material taking manipulator (11), and the bottom surface of the first material taking manipulator (11) is provided with a plurality of suckers (111).

7. The modular blanking device according to claim 1, wherein the second blanking module (2) further comprises a second housing (23), the second conveying mechanism (22) is mounted on the inner side wall of the second housing (23), the second conveying mechanism (22) comprises a fourth conveying belt (221), a fifth conveying belt (222) and a sixth conveying belt (223), a second conveying channel is formed among the fourth conveying belt (221), the fifth conveying belt (222) and the sixth conveying belt (223), the fourth conveying belt (221) is connected with a fourth lifting mechanism (224), and the fourth lifting mechanism (224) is used for driving the fourth conveying belt (221) to move linearly along the Z-axis direction; the fifth conveying belt (222) is connected with a fifth lifting mechanism (225), and the fifth lifting mechanism (225) is used for driving the fifth conveying belt (222) to move linearly along the Z-axis direction.

8. The modular blanking device according to the claim 7, characterized in that the top surface of the second housing (23) is provided with a second linear module (24), the second linear module (24) is connected with a sixth lifting module (25) in a sliding way, the second linear module (24) is used for driving the sixth lifting module (25) to move along the X-axis direction; the sixth lifting module (25) is connected with a second material taking manipulator (26) in a sliding mode, and the sixth lifting module (25) is used for driving the second material taking manipulator (26) to move linearly along the Z-axis direction; the second material taking manipulator (26) comprises a frame body, the bottom surface of the frame body is provided with a first clamping block (261) and a second clamping block (262) oppositely arranged to the first clamping block (261), the frame body is close to one side of the second clamping block (262) is provided with a clamping cylinder (263), a piston rod of the clamping cylinder (263) is connected with the second clamping block (262), and the clamping cylinder (263) is used for pushing the second clamping block (262) to move linearly along the X-axis direction.

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