CN217229293U

CN217229293U - Horizontal six-shaft paper clamping and releasing board machine

Info

Publication number: CN217229293U
Application number: CN202121304694.XU
Authority: CN
Inventors: 张成宣; 程彦
Original assignee: Dongguan Siwo Intelligent Equipment Co ltd
Current assignee: Dongguan Siwo Intelligent Equipment Co ltd
Priority date: 2021-06-10
Filing date: 2021-06-10
Publication date: 2022-08-19
Anticipated expiration: 2031-06-10

Abstract

The utility model provides a six double-layered paper winding and unwinding machines of horizontal, including setting up conveyor, first extracting device, second extracting device, first unloader, the unloader of second in the frame and putting the paper device, conveyor is used for conveying single PCB board, and first extracting device and second extracting device hang in the top of frame and can alternate operation, the equal progressive conveying carrier frame of unloader in first unloader and the second, and the carrier frame is used for placing the PCB board is put the paper device and is used for placing the barrier paper. The utility model discloses a six double-layered paper of horizontal receive and releases trigger is provided with two last unloader that are used for conveying carrier frame for get the first extracting device of putting the board and be used for getting the second extracting device of putting paper and can alternate work, the complete machine structure sets up rationally, has improved production efficiency greatly.

Description

Horizontal six-shaft paper clamping and releasing board machine

Technical Field

The utility model relates to an automation equipment technical field especially relates to a six double-layered paper collecting and releasing board machines of horizontal.

Background

The PCB is generally formed through multiple processes, and sometimes, the PCB needs to be received and placed from one process to another. In the prior art, the board of receiving and putting of PCB board is some through the manual work and gets the blowing, and this is not only inefficiency, damages the PCB board moreover easily. Some existing PCB retractable plate machines can only be suitable for feeding of carrier frames or carrier feeding, and the efficiency of retractable plates is low.

Therefore, it is necessary to provide a horizontal six-axis clamp paper retractable board machine which can improve the production efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a can improve production efficiency's six double-layered paper collecting and releasing boards machines of horizontal.

In order to achieve the purpose, the utility model provides a six double-layered paper of horizontal receive and release trigger, including conveyor, first extracting device, second extracting device, first unloader, second unloader and put the paper device that set up in the frame, conveyor is used for conveying single PCB board, and first extracting device and second extracting device hang in the top of frame and can alternate the operation, the first unloader and second unloader can all be the conveying carrier frame that goes forward one by one, the carrier frame is used for placing the PCB board, put the paper device and be used for placing the barrier paper; the first material taking device picks up the PCB on the conveying device and places the PCB on the first feeding and discharging device or the second feeding and discharging device, and the second material taking device is used for picking up the paper separation on the paper placing device and placing the paper separation on the first feeding and discharging device or the second feeding and discharging device; or the first material taking device picks up the PCB on the first feeding and discharging device or the second feeding and discharging device and places the PCB on the conveying device, and the second material taking device picks up the paper separation on the first feeding and discharging device or the second feeding and discharging device and places the paper separation on the paper placing device.

Preferably, the first loading and unloading device and the second loading and unloading device both comprise a lifting mechanism and a first power mechanism for driving the lifting mechanism to lift, the lifting mechanism is connected with a carrying mechanism, and the carrying mechanism is used for placing a carrier frame for bearing the PCB.

Preferably, the carrying mechanism comprises a carrying component, a whole plate component and a material blocking component, wherein the whole plate component and the material blocking component are arranged on the carrying component; the carrying component is provided with a plurality of universal balls for carrying the carrying frame, and the carrying frame moves on the carrying component in multiple directions by virtue of the universal balls.

Preferably, the whole plate assembly comprises a first air cylinder and a whole material part arranged at the output end of the first air cylinder, and the material blocking assembly comprises a second air cylinder and a material blocking part which is rotatably arranged at the output end of the second air cylinder; the first air cylinder acts to enable the material sorting part to sort materials in the first direction, and the second air cylinder acts to enable the material blocking part to block materials in the second direction.

Preferably, the mobile device is used for carrying the carrier frame with the PCB or carrying the empty carrier frame; the moving device is an AGV trolley or the moving device is a trolley.

Preferably, the first material taking device and the second material taking device both comprise a mechanical arm hung upside down on the rack and a material taking mechanism connected to the mechanical arm, the material taking mechanism is provided with a plurality of material taking pieces, and the positions of the plurality of material taking pieces relative to the mechanical arm are adjustable.

Preferably, the paper placing device comprises a second power mechanism and a paper placing mechanism arranged at the output end of the second power mechanism in a lifting manner, the paper placing mechanism comprises a paper placing plate and a first adjusting assembly, the first adjusting assembly is arranged in an accommodating space for accommodating partition paper around the paper placing plate, a through groove for the first adjusting assembly to slide is formed in the paper placing plate, and the first adjusting assembly slides in the through groove to change the size of the accommodating space.

Preferably, the conveying device is provided with a plurality of groups of roller assemblies for conveying the PCB, the plurality of groups of roller assemblies are connected with a first motor and a second motor, and the first motor and the second motor are used for driving the plurality of groups of roller assemblies to transmit and feed materials; the multiple groups of roller assemblies are also provided with an alignment mechanism, and the PCB is conveyed on the multiple groups of roller assemblies in the middle by the alignment mechanism.

Preferably, the rack is further provided with an NG mechanism, the NG mechanism is arranged above the conveying device, and the NG mechanism is used for temporarily storing bad PCB boards.

Preferably, the carrier frame includes a carrier plate for placing the PCB, the carrier plate is provided with a handle for holding, the carrier frame can be carried by the handle, the carrier plate is further provided with a second adjusting assembly, and the second adjusting assembly includes a positioning column slidably disposed on the carrier plate.

After the technical scheme above is adopted, the utility model discloses a six double-layered paper of horizontal receive and releases trigger, including setting up conveyor, first extracting device, second extracting device, first unloader, the unloader of second, putting paper device and NG mechanism in the frame, still include mobilizable mobile device. When the PCB is collected, the PCB is taken by the first material taking device on the conveying device and placed on the first feeding and discharging device or the second feeding and discharging device, the separating paper is taken by the second material taking device on the paper placing device and placed on the first feeding and discharging device or the second feeding and discharging device, and when an NG signal given by a previous process is received, the unqualified PCB on the conveying device is picked by the first material taking device and temporarily placed on the NG mechanism. When the PCB is placed, the first material taking device picks up the PCB on the first feeding and discharging device or the second feeding and discharging device and places the PCB on the conveying device, and the second material taking device picks up the paper separating on the first feeding and discharging device or the second feeding and discharging device and places the paper separating on the paper placing device. The first material taking device and the second material taking device alternately operate. The utility model discloses a six double-layered paper of horizontal receive and releases trigger is provided with two last unloader that are used for conveying carrier frame for get the first extracting device who puts the board and be used for getting the second extracting device who puts the paper work in turn, the structure sets up rationally, has improved production efficiency greatly.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of a horizontal six-axis clamp paper retractable board machine according to an embodiment of the present invention.

Fig. 2 is a schematic view of the internal structure of fig. 1.

Fig. 3 is a schematic structural view of the first loading and unloading device and the second loading and unloading device in fig. 1.

Fig. 4 is a schematic structural view of the first loading and unloading device in fig. 3.

Fig. 5 is a schematic structural view of the loading mechanism in fig. 4.

Fig. 6 is a schematic view of the first reclaimer assembly of fig. 2.

Fig. 7 is a schematic view of the structure of the paper feeding device in fig. 2.

Fig. 8 is a schematic structural view of the paper feeding mechanism in fig. 7.

Fig. 9 is a schematic structural view of the conveying device in fig. 2.

Fig. 10 is a schematic view of the structure of the NG mechanism in fig. 2.

Fig. 11 is a schematic structural diagram of the carrier frame in fig. 2.

Description of the reference numerals:

100. a horizontal six-shaft paper clamping and releasing plate machine; 101. a frame;

10. a first loading and unloading device; 11. a first power mechanism; 12. a lifting mechanism; 13. a carrying mechanism; 131. A carrier assembly; 1311. a ball transfer unit; 132. a whole plate assembly; 1321. a first cylinder; 1322. material preparation; 133. the material blocking component; 1331. a second cylinder; 1332. a material blocking part; 20. a second loading and unloading device;

30. a first material taking device; 31. a robot arm; 311. an installation part; 32. a material taking mechanism; 321. taking a material part; 40. a second material taking device;

50. a paper placing device; 51. a second power mechanism; 511. a motor assembly; 512. a transmission assembly; 52. a paper placing mechanism; 521. placing a paper board; 5211. a through groove; 5212. a trough body; 522. a first adjustment assembly; 53. a detection component;

60. a conveying device; 61. a roller assembly; 62. a first motor; 63. a second motor; 64. an alignment mechanism; 65. a baffle plate;

70. an NG mechanism; 71. a mounting frame; 72. a backup plate; 73. discharging the material;

80. a mobile device;

90. a carrier frame; 91. a carrier plate; 911. a sliding groove; 92. a handle; 93. a second adjustment assembly; 931. A positioning column; 932. the column is fixed.

Detailed Description

In order to explain technical contents and structural features of the present invention in detail, the following description is made with reference to the embodiments and the accompanying drawings.

Referring to fig. 1 and 2, the present invention provides a horizontal six-axis paper clamping and releasing plate machine 100, which includes a conveying device 60, a first material taking device 30, a second material taking device 40, a first material loading and unloading device 10, a second material loading and unloading device 20, and a paper placing device 50, which are disposed on a frame 101. The conveying device 60 is used for conveying single PCB boards, the first material taking device 30 and the second material taking device 40 are hung on the top of the rack 101 and can work alternately, the first material taking device 30 is used for taking and placing the PCB boards, and the second material taking device 40 is used for taking and placing the partition paper. The first loading and unloading device 10 and the second loading and unloading device 20 can be used for progressively conveying the carrier frame 90, the carrier frame 90 is used for placing the PCB, and the paper placing device 50 is used for placing the partition paper. When the boards are collected, the first material taking device 30 picks up the PCB on the conveying device 60 and places the PCB on the first loading and unloading device 10 or the second loading and unloading device 20, and the second material taking device 40 is used for picking up the separation paper on the paper placing device 50 and placing the separation paper on the first loading and unloading device 10 or the second loading and unloading device 20. When the PCB is placed, the first material taking device 30 picks up the PCB on the first loading and unloading device 10 or the second loading and unloading device 20 and places the PCB on the conveying device 60, and the second material taking device 40 picks up the paper separation on the first loading and unloading device 10 or the second loading and unloading device 20 and places the paper separation on the paper placing device 50. When the first material taking device 30 takes the plate from the conveying device 60, the second material taking device 40 puts the paper on the first loading and unloading device 10 or the second loading and unloading device 20; when the first material taking device 30 places the PCB on the first loading and unloading device 10 or the second loading and unloading device 20, the second material taking device 40 takes the partition paper on the paper placing device 50. After the carrier frame 90 on the first loading and unloading device 10 is full, the moving device 80 transports the full carrier frame 90 away, and at this time, the first material taking device 30 and the second material taking device 40 take and place materials on the second loading and unloading device 20, thereby realizing uninterrupted work.

Referring to fig. 3 to 5, in some alternative embodiments, the first loading and unloading device 10 and the second loading and unloading device 20 have the same structure. The first loading and unloading device 10 and the second loading and unloading device 20 both include a lifting mechanism 12 and a first power mechanism 11 for driving the lifting mechanism 12 to lift, a carrying mechanism 13 is connected to the lifting mechanism 12, the carrying mechanism 13 is used for placing a carrier frame 90 for carrying a PCB, and the lifting mechanism 12 can be a rack and pinion structure or other lifting mechanisms 12 capable of feeding materials progressively. The first power mechanism 11 operates to move the loading mechanism 13 up and down along the lifting mechanism 12. Wherein, carry thing mechanism 13 and include carrying subassembly 131 and set up whole board subassembly 132 and the fender subassembly 133 on carrying subassembly 131, whole board subassembly 132 carries out the material in a single piece to carrier frame 90 in the first direction, and fender subassembly 133 keeps off the material to carrier frame 90 in the second direction. The first direction is perpendicular to the second direction, the first direction is the width direction of carrying the thing subassembly 131, the second direction is the length direction of carrying the thing subassembly 131, the material stopping assembly 133 is used for stopping the material after carrier frame 90 is placed on carrying the thing subassembly 131 to avoid carrier frame 90 breaking away from carrying the thing subassembly 131, whole board subassembly 132 both can keep off the material to carrier frame 90 from the side, also can make carrier frame 90 place in the centre, so that get the blowing. Specifically, the whole plate assembly 132 comprises a first air cylinder 1321 and a whole piece 1322 arranged at the output end of the first air cylinder 1321, and the material blocking assembly 133 comprises a second air cylinder 1331 and a material blocking piece 1332 which is rotatably arranged at the output end of the second air cylinder 1331; the carrier assembly 131 is provided with a plurality of universal balls 1311 for carrying the carrier frame 90, and the carrier frame 90 moves on the carrier assembly 131 in multiple directions through the plurality of universal balls 1311. After the carrier frame 90 is manually or automatically placed on the carrier assembly 131, the second cylinder 1331 is actuated to stop the material stop piece 1332 in the second direction. The first cylinder 1321 is then actuated to monolith 1322 in the first direction. The carrier frame 90 is placed on the universal ball 1311, and the whole plate assembly 132 can more conveniently push the carrier frame 90, so that the carrier frame 90 is placed in the middle of the carrying assembly 131, and the material taking and placing can be better performed. In this embodiment, the first loading and unloading device 10 and the second loading and unloading device 20 are arranged in a staggered manner in two directions, so that not only can the moving device 80 not interfere with each other when taking and placing materials, but also the structure of the whole machine is more compact and reasonable.

Referring to fig. 1 and 2, in some alternative embodiments, the horizontal six-axis gripper board retractor 100 further includes a movable moving device 80, and the moving device 80 is used for carrying the carrier frame 90 with the PCB or for carrying the empty carrier frame 90. The movement device 80 may illustratively be an AGV cart or cart. When the moving device 80 is a trolley, the loading and unloading needs to be performed by lowering the loading assembly 131 to be flush with the trolley, and then manually pushing the carrier frame 90 on the trolley onto the loading assembly 131, or manually pushing the carrier frame 90 on the loading assembly 131 onto the trolley. A handle 92 is provided on the carrier frame 90 for grasping to manually push the carrier frame 90. When mobile device 80 was the AGV dolly, because be provided with in the middle of carrying thing subassembly 131 and supply the AGV dolly to pass through dodge the groove, the AGV dolly is automatic to be opened when being in place in dodging the inslot, can be automatic with carrier frame 90 pay-off target in place, carries thing subassembly 131 jacking and can drive carrier frame 90 and rise, and it is more convenient to use.

Referring to fig. 2 and 6, in some alternative embodiments, the first material extracting device 30 and the second material extracting device 40 each include a robot arm 31 hanging upside down from the frame 101 and a material extracting mechanism 32 connected to the robot arm 31. The mechanical arm 31 is hung upside down on the rack 101, so that the whole space is saved, the space for installing the mechanical arm 31 is not required to be reserved on the machine table, and the whole layout is more compact and reasonable. The mechanical arm 31 can drive the material taking mechanism 32 to rotate in multiple directions, so that materials can be taken and placed on different devices. The top end of the robot arm 31 is provided with a mounting portion 311 for mounting the robot arm 31 on the top of the frame 101, and the robot arm 31 is stably mounted on the top of the frame 101 through the mounting portion 311. The material taking mechanism 32 is provided with a plurality of material taking members 321, and the positions of the plurality of material taking members 321 relative to the robot arm 31 are adjustable. It can be understood that the material taking part 321 is installed on the robot arm 31 through a mounting bracket, and by adjusting the relative width of the mounting bracket, the material taking part 321 on the mounting bracket can pick up PCB boards or partition paper with different specifications, and the material taking part 321 may be a suction cup. The first reclaimer device 30 is similar to the second reclaimer device 40 and will not be described again.

Referring to fig. 2, 7 and 8, in some alternative embodiments, the paper placing device 50 includes a second power mechanism 51 and a paper placing mechanism 52 disposed at an output end of the second power mechanism 51 in a lifting manner. The second power mechanism 51 includes a motor assembly 511 and a transmission assembly 512, the transmission assembly 512 is located at an output end of the motor assembly 511, the paper placing mechanism 52 is mounted on the transmission assembly 512, and the motor assembly 511 operates to enable the paper placing mechanism 52 to progressively ascend and descend along the transmission assembly 512. The paper feeding device 50 is further provided with a detection component 53, and the lifting height of the paper feeding mechanism 52 can be determined in time through the detection component 53, so that paper feeding and the like can be carried out in time. The paper placing mechanism 52 includes a paper placing plate 521 and a first adjusting component 522, the first adjusting component 522 is disposed around the paper placing plate 521 to form an accommodating space for accommodating the paper partitions, a through groove 5211 and a groove 5212 for the first adjusting component 522 to slide are disposed on the paper placing plate 521, and the first adjusting component 522 slides in the through groove 5211 and/or the groove 5212 to change the size of the accommodating space. The specifications of the PCB boards are different, the sizes of the PCB boards are different, the size of the paper separating board suitable for the PCB boards also needs to be changed, the size of the accommodating space is changed through the first adjusting component 522 so that the paper separating boards with various specifications can be placed better, and the paper separating board does not shake in the accommodating space so that the materials can be taken and placed better.

Referring to fig. 9, in some alternative embodiments, a plurality of sets of roller assemblies 61 for conveying the PCB are disposed on the conveying device 60, the plurality of sets of roller assemblies 61 are connected to a first motor 62 and a second motor 63, and the first motor 62 and the second motor 63 are used to drive the plurality of sets of roller assemblies 61 for feeding. The first motor 62 is arranged at the access of the conveying device 60 for other processes, so that the PCB can be connected more quickly, and the conveying is not affected by material piling caused by slow conveying. The multi-group roller assembly 61 is simultaneously connected with a first motor 62 and a second motor 63, so that the conveying speed is higher. The baffle 65 is arranged at the position, close to the interior of the machine tool, of the conveying device 60, and when the first material taking device 30 is not in place, the baffle 65 can be used for blocking materials, so that the PCB can be prevented from falling out of the conveying device 60. Wherein, the multi-set roller assembly 61 is further provided with a positioning mechanism 64, and the PCB board is centrally conveyed on the multi-set roller assembly 61 by means of the positioning mechanism 64. The PCB is conveyed on the conveying mechanism in the middle, and the material can be better taken and put.

Referring to fig. 2 and 10, in some alternative embodiments, the frame 101 is further provided with an NG mechanism 70, the NG mechanism 70 is suspended above the conveying device 60, and the NG mechanism 70 is used for temporarily storing defective PCB boards. It can be understood, when receiving the board, the front process is provided with the detection device who is used for detecting the PCB board, and when detection device detected bad PCB board, can the transmission signal extremely the utility model discloses a six double-layered paper of horizontal receive and release trigger 100, six double-layered paper of horizontal receive and release trigger 100 transmission signals to first extracting device 30, first extracting device 30 received signal, qualified PCB board is placed on unloader 20 on first unloader 10 or the second, unqualified PCB board is placed on NG mechanism 70. The NG mechanism 70 is suspended above the conveyor 60 to enable more convenient discharge. Specifically, NG mechanism 70 includes mounting bracket 71, backup plate 72 and blowing position 73, and NG mechanism 70 is installed on frame 101 through mounting bracket 71, and unqualified PCB board is placed on blowing position 72 and is leaned on backup plate 73, simple structure, and can not occupy a lot of spaces of board.

Referring to fig. 11, in some alternative embodiments, the carrier frame 90 includes a carrier plate 91 for placing the PCB, and the carrier plate 91 is provided with a handle 92 for holding, so that the carrier frame 90 can be carried by the handle 92. When the first loading and unloading device 10 and the second loading and unloading device 20 are matched with the trolley, the carrier frame 90 can be moved more conveniently through the handle 92. The carrier plate 91 is further provided with a second adjusting assembly 93, and the second adjusting assembly 93 includes a positioning column 931 slidably disposed on the carrier plate 91 and a fixing column 932 fixed on the carrier plate 91. A plurality of reference columns 931 and a plurality of fixed column 932 enclose the blowing space that is used for placing the PCB, because the specification size of PCB is different, so can adjust the size in blowing space through the position of adjusting reference column 931 to make carrier frame 90 can be applicable to the PCB of different specifications. Another convenience, adjust reference column 931 for place in the blowing space that the PCB board can be firm, can not rock, thereby can be better get the material of putting. Offer on carrier plate 91 and supply the gliding sliding tray 911 of reference column 931, reference column 931 can slide in sliding tray 911 in order to adjust the size in blowing space, and only reference column 931 can slide in sliding tray 911, and fixed column 932 is fixed motionless on carrier plate 91, has reduced the processing technology of carrier plate 91 and has not influenced the overall regulation in blowing space.

As shown in fig. 1 to 11, the horizontal six-axis clamp paper collecting and releasing plate machine 100 of the present invention includes a conveying device 60, a first material taking device 30, a second material taking device 40, a first material loading and unloading device 10, a second material loading and unloading device 20, a paper loading and unloading device 50, an NG mechanism 70, and a movable moving device 80. When the PCB is collected, the first material taking device 30 takes the PCB from the conveying device 60 and places the PCB on the first loading and unloading device 10 or the second loading and unloading device 20, the second material taking device 40 takes the separation paper from the paper placing device 50 and places the separation paper on the first loading and unloading device 10 or the second loading and unloading device 20, and when an NG signal given by a previous process is received, the first material taking device 30 picks up the unqualified PCB on the conveying device 60 and temporarily places the unqualified PCB on the NG mechanism 70. When the PCB is placed, the first material taking device 30 picks up the PCB on the first loading and unloading device 10 or the second loading and unloading device 20 and places the PCB on the conveying device 60, and the second material taking device 40 picks up the paper on the first loading and unloading device 10 or the second loading and unloading device 20 and places the paper on the paper placing device 50. The utility model discloses a six double-layered paper collecting and releasing board machines of horizontal 100 compact structure and rationally distributed can be applicable to the PCB board of various specifications. Firstly, the first material taking device 30 and the second material taking device 40 are both hung upside down on the rack 101, the whole structure is more compact and reasonable, and the first material taking device 30 and the second material taking device 40 work alternately, so that the production efficiency is greatly improved. Secondly, NG mechanism 70 hangs and sets up the top at conveyor 60, can be more convenient place unqualified PCB board. Thirdly, the first loading and unloading device 10 and the second loading and unloading device 20 can be used in cooperation with a trolley or an AGV trolley, and the carrier frame 90 can also be used in cooperation with the trolley or the AGV trolley, so that the application range is wider, and the use is more convenient. On the other hand, the first loading and unloading device 10 and the second loading and unloading device 20 are arranged, so that uninterrupted production can be realized, and the production efficiency is greatly improved. The utility model discloses a six double-layered paper of horizontal receive and release trigger 100 structures set up rationally, have improved production efficiency greatly.

The above disclosure is only a preferred embodiment of the present invention, and the scope of the claims of the present invention should not be limited thereby, and all the equivalent changes made in the claims of the present invention are intended to be covered by the present invention.

Claims

1. A horizontal six-shaft paper clamping and releasing plate machine is characterized by comprising a conveying device, a first material taking device, a second material taking device, a first loading and unloading device, a second loading and unloading device and a paper releasing device, wherein the conveying device is arranged on a rack and used for conveying single PCB boards, the first material taking device and the second material taking device are suspended at the top of the rack and can alternately operate, the first loading and unloading device and the second loading and unloading device can both carry out progressive conveying of a carrier frame, the carrier frame is used for placing the PCB boards, and the paper releasing device is used for placing separation paper; the first material taking device picks up a PCB on the conveying device and places the PCB on the first feeding and discharging device or the second feeding and discharging device, and the second material taking device is used for picking up paper separation on the paper placing device and placing the paper separation on the first feeding and discharging device or the second feeding and discharging device; or the first material taking device picks up the PCB on the first feeding and discharging device or the second feeding and discharging device and places the PCB on the conveying device, and the second material taking device picks up the paper separation on the first feeding and discharging device or the second feeding and discharging device and places the paper separation on the paper placing device.

2. The horizontal six-axis clamp paper board collecting and releasing machine according to claim 1, wherein the first loading and unloading device and the second loading and unloading device each comprise a lifting mechanism and a first power mechanism for driving the lifting mechanism to lift, a carrying mechanism is connected to the lifting mechanism, and the carrying mechanism is used for placing a carrying frame for carrying a PCB.

3. The horizontal six-axis clamp paper board collecting and releasing machine according to claim 2, wherein the carrying mechanism comprises a carrying assembly, and a whole plate assembly and a material blocking assembly which are arranged on the carrying assembly, wherein the whole plate assembly carries out material blocking on the carrier frame in a first direction, and the material blocking assembly carries out material blocking on the carrier frame in a second direction; the carrier assembly is provided with a plurality of universal balls for bearing the carrier frame, and the carrier frame moves on the carrier assembly in multiple directions by virtue of the universal balls.

4. The horizontal six-axis clamp paper board collecting and releasing machine according to claim 3, wherein the whole board assembly comprises a first air cylinder and a whole piece member arranged at the output end of the first air cylinder, and the material blocking assembly comprises a second air cylinder and a material blocking member rotatably arranged at the output end of the second air cylinder; the first air cylinder acts to enable the material sorting piece to sort materials in a first direction, and the second air cylinder acts to enable the material blocking piece to block materials in a second direction.

5. The horizontal six-axis clamp gripper board retractor according to claim 1, further comprising a movable moving device for carrying a carrier frame on which a PCB board is placed or for carrying an empty carrier frame; the moving device is an AGV trolley or the moving device is a trolley.

6. The horizontal six-axis clamp paper board collecting and releasing machine according to claim 1, wherein the first material taking device and the second material taking device each comprise a mechanical arm hung upside down on the rack and a material taking mechanism connected to the mechanical arm, a plurality of material taking pieces are arranged on the material taking mechanism, and the positions of the plurality of material taking pieces relative to the mechanical arm are adjustable.

7. The horizontal six-axis paper clamping and releasing plate machine as claimed in claim 1, wherein the paper placing device comprises a second power mechanism and a paper placing mechanism arranged at an output end of the second power mechanism in a lifting manner, the paper placing mechanism comprises a paper placing plate and a first adjusting assembly, an accommodating space for accommodating the paper separating plate is formed around the paper placing plate by the first adjusting assembly, a through groove for the first adjusting assembly to slide is formed in the paper placing plate, and the first adjusting assembly slides in the through groove to change the size of the accommodating space.

8. The horizontal six-axis clamp paper board receiving and releasing machine as claimed in claim 1, wherein a plurality of sets of roller assemblies for conveying the PCB boards are arranged on the conveying device, a first motor and a second motor are connected to the plurality of sets of roller assemblies, and the plurality of sets of roller assemblies are driven by the first motor and the second motor to feed materials in a transmission manner; and the roller assemblies are also provided with an alignment mechanism, and the PCB is conveyed on the roller assemblies in the middle by the alignment mechanism.

9. The horizontal six-axis clamp paper board collecting and releasing machine as claimed in claim 1, wherein an NG mechanism is further arranged on the rack, the NG mechanism is arranged above the conveying device, and the NG mechanism is used for temporarily storing defective PCB boards.

10. The horizontal six-axis clamp paper board collecting and releasing machine as claimed in claim 1, wherein the carrier frame comprises a carrier plate for placing the PCB board, the carrier plate is provided with a handle for holding, the carrier frame can be carried by the handle, the carrier plate is further provided with a second adjusting assembly, and the second adjusting assembly comprises a positioning column slidably arranged on the carrier plate.