TWM595113U - Discharging apparatus - Google Patents

Abstract

A discharge device is suitable for receiving a pallet from a machine that holds a workpiece, and separating the workpiece from the pallet and transporting the pallet back to the machine. The pallet has a plurality of Fixture. The discharging device includes a frame, a turning mechanism, a separating unit, a picking unit and a return unit. The reversing mechanism is suitable for reversing the pallet, so that the pallet changes from a state extending along a vertical direction to a state extending along a horizontal direction. The separating unit includes a pair of receiving mechanisms movable in the vertical direction and a plurality of first clamping mechanisms. The pair of receiving mechanisms is suitable for accepting the pallet that is turned over by the turning mechanism to extend in the horizontal direction. The first clamping mechanism The mechanism can separately open the clamps of the plate rack. The picking unit is suitable for picking up the workpiece, so that the workpiece is separated from the plate frame. The return unit is suitable for transporting the pallet back into the machine.

Description

Discharging device

The present invention relates to a discharge device, in particular to a discharge device capable of reversing the plate rack.

In the process of making a circuit board, the printed materials on the circuit board need to be dried through the drying operation. In the current existing technology, when baking the circuit board, the circuit board will be placed on a board rack first. The rack has multiple clamps to clamp the sides of the circuit board. Then place the board rack on the conveyor of the oven, drive the board rack with the circuit board into the oven for drying. After drying, the circuit board is separated from the board rack, and the board rack passes through a recycling conveyor in the oven. Move to the entrance of the oven and combine with the unbaked circuit board. The conveying methods of the board rack and the circuit board in the oven can be roughly divided into horizontal conveying and vertical conveying. Horizontal conveying can improve the efficiency of conveying, but the space utilization inside the oven is low, which means that it is impossible to bake more circuit boards at the same time. The vertical conveying can effectively improve the space utilization inside the oven, allowing the oven to bake a large number of circuit boards at the same time, but the conveying speed is much slower, making the work efficiency poor. Therefore, there is room for improvement in the above two methods.

Therefore, the purpose of the new model is to provide a reversible pallet to facilitate the The pallet is separated, and the pallet is recovered to the discharge device of the machine.

The novel discharge device is suitable for receiving a pallet from a machine that holds a workpiece, and separating the workpiece from the pallet and transporting the pallet back to the machine. The pallet has multiple uses To clamp the workpiece, the discharge device includes a frame; a turning mechanism is provided on the frame and is suitable for turning the pallet, so that the pallet switches from a state extending in a vertical direction to a A horizontally extending state; a separation unit is provided on the frame and includes a pair of receiving mechanisms that can move along the vertical direction and a plurality of first clip opening mechanisms. The pair of receiving mechanisms is suitable for receiving flips by the turning mechanism to In the state of the pallet extending along the horizontal direction, the first clip-opening mechanisms can respectively open the fixtures of the pallet; an extraction unit can be movably disposed on the frame and is suitable for extraction The work piece separates the work piece from the pallet; and a return unit is provided in the frame and is suitable for transporting the pallet back to the machine. The pair of receiving mechanisms of the separation unit can transport the pallet to On the loopback unit.

In some embodiments, the pallet further has two first side bars spaced apart from each other and two second side bars spaced apart from each other and located on the second side between the first side bars Lever, the turning mechanism includes a turning motor arranged on the frame, a rotating lever connected to the turning motor, a pair of turning arms fixedly sleeved on the turning lever, and a pair of movable arms movably arranged away from the turning arms An upper clamping piece at one end of the rotating rod and a pair of lower clamping pieces movably disposed at the ends of the turning arms near the rotating rod, the pair of upper clamping pieces and the pair of lower clamping pieces can be opposite to each other The displacement is directed to respectively snap against the first side rods to hold the plate frame, and the turning motor can drive the rotating rod to rotate to rotate the turning arm to turn the plate frame.

In some embodiments, each receiving mechanism has a frame fixed to the frame along the vertical A vertical rail member extending in a straight direction, a support rod movable on the vertical rail member along the vertical direction and extending along the horizontal direction, and a pair of receiving blocks fixed at both ends of the support rod The block is suitable for placing the ends of the first side rods of the pallet against.

In some embodiments, each first clamping mechanism has an abutment cylinder disposed on the frame, a first connection member movably connected to the abutment cylinder, and a fixed connection along the first connection member A first clamping cylinder that extends in the vertical direction, a contact plate that connects the first clamping cylinder to extend in the horizontal direction, and a connecting plate that extends to the horizontal direction along the horizontal direction The upper pressing rod and a first pressing piece connected to the end of the pressing rod, the pressing cylinder can drive the first clamping cylinder and the pressing plate to move along the horizontal direction toward the plate frame The abutting plate abuts against the plate frame, the first clamping cylinder can drive the pressing rod and the first pressing piece toward one of the clamps of the plate frame disposed on the first side rod, the first pressing abutment The piece will press against the clamp to open the clamp.

In some embodiments, the capturing unit includes a horizontal rail member disposed on the frame, a movable seat movable on the horizontal rail member, and a movable seat movable along the vertical direction And a capturing arm extending in a direction away from the movable base, a capturing claw provided on an end of the capturing arm away from the movable base, and at least a pair of second clamping mechanisms provided on the capturing claw, the capturing The picking claw is suitable for picking up the workpiece, the movable seat can drive the picking arm and the picking claw together with the workpiece away from the plate rack along the horizontal rail member, so that the work piece is separated from the plate rack, the pair of second The clip-opening mechanism can respectively open the clamps of the plate frame provided on the second side bar.

In some embodiments, the capturing claw has a capturing substrate connected to the lower surface of the capturing arm and at least one pair of gripping members disposed on the capturing substrate, each gripping member includes a take The first cylinder of the base plate, a first clamping plate connected to the first cylinder, a first clamping block disposed on the surface of the first clamping plate opposite to the first cylinder, a first clamping plate disposed on the first clamping plate and the first cylinder A second cylinder spaced apart, a second clamping bar connected to the second cylinder, and a second clamping block disposed on the surface of the second clamping bar facing the first clamping block, the first cylinder can drive the first cylinder The clamping plate moves toward the workpiece, so that the first clamping block abuts the workpiece, and then the second cylinder can drive the second clamping bar to move toward the first clamping plate, so that the second clamping block abuts the workpiece and cooperates with the first A clamping block clamps the workpiece together.

In some embodiments, each second clamping mechanism has a second clamping cylinder that is fixed to the extraction substrate and extends in the vertical direction, and a second clamping mechanism that is movably connected to the second clamping cylinder A connecting piece, an extension rod fixed to the second connection piece extending along the vertical direction, and a second pressing piece connected to the end of the extension rod, the second clamp opening cylinder can drive the second connecting piece with the extension The rod and the second pressing member move toward one of the clamps of the plate frame provided on the second side rod, and the second pressing member will press against the clamp to open the clamp.

The present invention has at least the following functions: through the turnover mechanism, the plate frame can be switched from a state extending along a vertical direction to a state extending along a horizontal direction, and then the separation unit cooperates with the extraction unit to transfer the plate The rack and the workpiece are separated, and finally the pallet is transported to the return unit through the receiving mechanisms of the separation unit, and the return unit can transport the pallet back to the machine along the horizontal direction. In this way, the board rack can be transported vertically in the machine, which has the advantage of improving the space utilization rate inside the machine, which allows the machine to bake a large number of circuit boards at the same time, and finish drying After the operation leaves the machine, the pallet is flipped by the flipping mechanism to extend in the horizontal direction, and then the pallet is transferred to the return unit through the receiving mechanisms. To obtain the advantage of improving the transportation efficiency, it means that it has the advantages of both horizontal and vertical transportation methods, so that the overall process can achieve a balance between the transportation efficiency and the space utilization rate of the machine, and it has been improved to a considerable extent.

10: Discharging device

1: Workpiece

2: plate rack

21: First side bar

22: Second side bar

23: Fixture

3: framework

31: the first end

32: Second end

4: Flip mechanism

41: flip motor

42: Rotating rod

43: flip arm

44: On the card

45: drop card

5: Separation unit

51: Undertaking agency

511: vertical rail piece

512: Support rod

513: Undertake block

52: The first clamping mechanism

521: against the cylinder

522: First connector

523: The first clamp cylinder

524: against the board

525: Pressing the bar

526: The first pressing piece

6: Capture unit

61: Horizontal rail parts

62: movable seat

63: Extraction arm

64: Claw

641: Extract substrate

642: Pickup

643: First cylinder

644: First splint

645: The first clamping block

646: Second cylinder

647: Second clip

648: Second clamping block

65: Second clamping mechanism

651: The second clamp cylinder

652: Second connector

653: Extension rod

654: The second pressing piece

7: loopback unit

8: conveyor unit

D1: horizontal direction

D2: vertical direction

D3: left and right direction

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is a perspective view of an embodiment of the novel feeding device; FIG. 2 is a partial perspective view of the embodiment, One of the frames is omitted; FIG. 3 is a partial perspective view of the embodiment, illustrating a turning mechanism, a separating unit, a return unit, and a conveying unit, the turning mechanism holds a pallet holding a workpiece; FIG. 4 is A partial perspective view of this embodiment, illustrating that the pallet separated from the workpiece abuts on a pair of receiving mechanisms of the separation unit; FIG. 5 is a partial perspective view of the embodiment, illustrating that the pair of receiving mechanisms transports the pallet to 6 and 7 are a pair of incomplete partial side views of the embodiment, illustrating the state before/after the first clamping mechanism of the separation unit presses a jig of the plate rack; FIG. 8 is a partial perspective view of the embodiment, illustrating a capturing unit; FIGS. 9 and 10 are a pair of incomplete partial front views of the embodiment, illustrating a first clamping mechanism of the separation unit to the plate holder. Before/after the pressure of a fixture; 11 is an incomplete partial perspective view of the embodiment, illustrating a state in which an extraction member of an extraction claw of the extraction unit does not grip the workpiece; and FIG. 12 is an incomplete part of the embodiment A perspective view illustrating a state in which the capturing member of the capturing claw of the capturing unit grips the workpiece.

1 to 3, an embodiment of the novel discharge device is suitable for receiving a plate that holds a workpiece 1 from a machine (not shown, which may be an oven, for example) that has completed the drying operation Rack 2, and separate the workpiece 1 from the pallet 2 and transport the pallet 2 back to the machine. The workpiece 1 may be, for example, a thin circuit board, and the board frame 2 has two first side bars 21 spaced apart from each other, and two first side bars 21 spaced apart from each other and located on the first side bars Two second side bars 22 and eight between 21 are respectively disposed on the first side bars 21 and the second side bars 22 to clamp the workpiece 1. The discharging device 10 includes a frame 3, a turning mechanism 4, a separating unit 5, a picking unit 6, a return unit 7 and a conveying unit 8.

The frame 3 is disposed at the outlet of the machine (not shown), and includes a first end 31 away from the machine and a second end 32 opposite to the first end 31 and adjacent to the outlet of the machine The first end 31 and the second end 32 define a horizontal direction D1.

The turning mechanism 4 is disposed near the second end 32 of the frame 3 and is suitable for turning the pallet 2 so that the pallet 2 is switched from a state extending along a vertical direction D2 to a state extending along a horizontal direction D1 . The turning mechanism 4 includes a turning motor 41 provided on the frame 3, and a turning horse connected to the turning horse A rotating rod 42 up to 41, a pair of turning arms 43 fixedly sleeved on the rotating rod 42, a pair of upper clamping members 44 and a pair of movably disposed on the ends of the turning arms 43 away from the rotating rod 42 A pair of lower clamping members 45 movably disposed at an end of the turning arms 43 close to the rotating rod 42, the pair of upper clamping members 44 and the pair of lower clamping members 45 can be reversely displaced to each other to respectively clamp against the After the first side rod 21 holds the pallet 2, the turning motor 41 can drive the rotating rod 42 to rotate and turn the turning arm 43 to pivot, thereby turning the pallet 2.

Referring to FIGS. 3 to 5, the separation unit 5 is disposed on the frame 3 and includes a pair of receiving mechanisms 51 movable along the vertical direction D2 and a plurality of first clamping mechanisms 52. The pair of receiving mechanisms 51 are disposed on the frame 3 and arranged in a left-right direction D3, and are suitable for receiving the pallet 2 that is turned over by the turning mechanism 4 to extend along the horizontal direction D1. Each receiving mechanism 51 has a vertical rail member 511 fixed to the frame 3 extending along the vertical direction D2, and a vertical rail member 511 movably disposed along the vertical direction D2 and along the horizontal direction D1 An extended supporting rod 512 and a pair of receiving blocks 513 fixed at both ends of the supporting rod 512, the receiving blocks 513 are suitable for the ends of the first side rods 21 of the pallet 2 to rest against and support the pallet The two first side bars 21 of the two ends have a total of four end points.

With reference to FIGS. 6 and 7, the first clamp opening mechanisms 52 can respectively open the clamps 23 of the plate holder 2 disposed on the first side bars 21, and each first clamp opening mechanism 52 has The abutting cylinder 521 of the frame 3, a first connecting member 522 movably connected to the abutting cylinder 521, and a first clamping cylinder 523 fixed to the first connecting member 522 extending along the vertical direction D2 An abutment plate 524 connected to the first clamping cylinder 523 extending along the horizontal direction D1, and a pressure abutment bar connected to the first clamping cylinder 523 extending along the horizontal direction D1 and located above the abutment plate 524 525 and a first pressing member 526 connected to the end of the pressing rod 525. The abutting cylinder 521 can drive the first clamping cylinder 523 and the abutting plate 524 moves along the horizontal direction D1 toward the pallet 2 so that the abutting plate 524 abuts the pallet 2, the first clamping cylinder 523 can drive the pressing rod 525 and the first pressing piece 526 toward the One of the clamps 23 disposed on the first side bar 21 of the board frame 2 moves, and the first pressing member 526 will press against the clamp 23 to open the clamp 23.

Referring to FIG. 8, FIG. 11 and FIG. 12, the capturing unit 6 can be movably disposed on the frame 3 and is suitable for capturing the workpiece 1 to separate the workpiece 1 from the pallet 2. The capturing unit 6 includes a horizontal rail member 61 disposed on the frame 3, a movable seat 62 movably disposed on the horizontal rail member 61, and a movable seat 62 movably disposed along the vertical direction D2 And a capturing arm 63 extending away from the movable base 62, a capturing claw 64 disposed at an end of the capturing arm 63 away from the movable base 62, and two pairs of second openings disposed at the capturing claw 64 Clip mechanism 65. The picking claw 64 is suitable for picking up the workpiece 1. The movable base 62 can drive the picking arm 63 and the picking claw 64 together with the workpiece 1 away from the pallet 2 along the horizontal rail 61 to make the workpiece 1 Separated from the pallet 2. The picking claw 64 specifically has a picking substrate 641 and two pairs of gripping pieces 642 disposed on the picking substrate 641. The extraction substrate 641 is H-shaped and connected to the lower surface of the extraction arm 63. The pair of clamping members 642 are disposed at four corners of the extraction substrate 641. Each clamping member 642 includes a first cylinder 643 disposed on the extraction substrate 641, a first clamping plate 644 connected to the first cylinder 643, and a first clamping plate 644 disposed opposite to the first cylinder 643 A first clamping block 645 on the surface, a second cylinder 646 disposed on the first clamping plate 644 spaced from the first cylinder 643, a second clamping bar 647 connected to the second cylinder 646, and a second cylinder 646 disposed on the second A clamping bar 647 and a second clamping block 648 facing the surface of the first clamping block 645, the first cylinder 643 can drive the first clamping plate 644 to move toward the workpiece 1, so that the first clamping block 645 abuts the workpiece 1 Then, the second cylinder 646 can drive the second clamping bar 647 to rotate so that the second clamping block 648 is aligned with the first clamping block 645 and then moves toward the first clamping plate 644 Move the second clamping block 648 against the workpiece 1 and cooperate with the first clamping block 645 to clamp the workpiece 1 together, as shown in FIGS. 11 and 12. The number of the clips 642 is not limited to the two pairs in this embodiment, and in other embodiments, it may be other numbers, as long as there is at least one pair.

Referring to FIG. 8 to FIG. 10, the pair of second clip-opening mechanisms 65 can respectively open the clamps 23 of the plate frame 2 disposed on the second side bars 22. Each second clamping mechanism 65 has a second clamping cylinder 651 fixed to the extraction substrate 641 extending along the vertical direction D2, and a second connecting member movably connected to the second clamping cylinder 651 652. An extension rod 653 which is fixed to the second connecting member 652 and extends along the vertical direction D2 and a second pressing member 654 connected to the end of the extension rod 653, and the second clamping cylinder 651 can drive the second The connecting piece 652 together with the extension rod 653 and the second pressing member 654 moves toward one of the clamps 23 of the plate frame 2 disposed on the second side rod 22, the second pressing member 654 will press against the clamp 23 This jig 23 is opened.

Referring to FIGS. 1 and 5, the return unit 7 may be, for example, a conveyor belt, which is disposed below the frame 3, and is suitable for transporting the pallet 2 back to the machine along the horizontal direction D1, the separation unit The pair of receiving mechanisms 51 of 5 can transport the pallet 2 separated from the workpiece 1 to the return unit 7. The conveying unit 8 may also be a conveying belt, for example, which is provided at the first end 31 of the frame 3 and is adapted to receive the workpiece 1 captured by the extraction unit 6 from the pallet 2 located at the separation unit 5 , And transport the workpiece 1 to the next station in the circuit board manufacturing process.

The operation flow of the novel discharging device 10 is introduced as follows: First, referring to FIG. 2 and FIG. 3, the pair of upper clamping pieces 44 and the pair of lower clamping pieces 45 of the turnover mechanism 4 are reversely displaced from each other to respectively snap against The machine (not shown) ends the first side bars 21 of the pallet 2 of the drying operation to hold the pallet 2, such as As shown in FIG. 3, then the turning motor 41 drives the rotating rod 42 to rotate to turn the turning arm 43 to pivot downward, and then turning the pallet 2 to turn the pallet 2 from the state extending along the vertical direction D2 to the edge In a state where the horizontal direction D1 extends, both ends of the first side rods 21 of the pallet 2 abut against the receiving blocks 513 of the receiving mechanisms 51 of the separating unit 5. Then, the abutment cylinders 521 of the first clamping mechanism 52 drive the first actuation cylinders 523 and the abutment plates 524 to move toward the plate frame 2 along the horizontal direction D1 so that the abutment plates 524 abuts against the first side rods 21 of the pallet 2, the movable seat 62 of the capturing unit 6 drives the capturing arm 63, the capturing claw 64 and the second openings along the horizontal rail 61 The clamp mechanism 65 moves toward the pallet 2 above the pallet 2, as shown in FIG. 2. Referring again to FIGS. 7, 10 and 12, after the gripping member 642 of the capturing claw 64 first grips the workpiece 1, the first clamping cylinder 523 of the first clamping mechanism 52 drives the The pressing rod 525 and the first pressing pieces 526 move toward the clamp 23 provided on the first side rod 21 of the pallet 2, the first pressing pieces 526 will press against the clamps 23 to make the clamps 23 opens, the second clamping cylinder 651 of the second clamping mechanism 65 drives the second connecting member 652 together with the extension rod 653 and the second pressing member 654 toward the plate frame 2 on the second side The clamp 23 of the rod 22 moves, and the second pressing pieces 654 will press against the clamps 23 to open the clamps 23. Before the clamps 23 of the pallet 2 are opened, the workpiece 1 has been clamped and fixed by the clamping members 642 and therefore will not fall. After the clamps 23 are all opened, the movable seat 62 drives the picking arm 63 and the picking claw 64 together with the workpiece 1 away from the plate holder 2 along the horizontal rail 61, so that the workpiece 1 and the plate The rack 2 is separated, and finally the workpiece 1 is transferred to the conveying unit 8, and the conveying unit 8 conveys the workpiece 1 to the next station in the circuit board manufacturing process. Finally, referring to FIGS. 4 and 5, after the pallet 2 is separated from the workpiece 1, the supporting rods 512 of the receiving mechanisms 51 move down the vertical rail 511 to transport the pallet 2 to the Loopback unit 7 At this time, the return unit 7 transports the pallet 2 back to the machine along the horizontal direction D1 for recycling.

In summary, the novel discharge device 10 can switch the plate frame 2 from a state extending along a vertical direction D2 to a state extending along a horizontal direction D1 through the turning mechanism 4, and then through the separation unit 5 Cooperate with the capturing unit 6 to separate the pallet 2 and the workpiece 1, and finally convey the pallet 2 to the return unit 7 through the receiving mechanisms 51 of the separation unit 5, and the return unit 7 can The pallet 2 is transported back into the machine along the horizontal direction D1. In this way, the board rack 2 can be vertically transported while in the machine, which has the advantage of improving the space utilization rate inside the machine, allowing the machine to bake a large number of circuit boards at the same time, and ending the baking After the dry work leaves the machine, the pallet 2 is turned over by the turning mechanism 4 to extend along the horizontal direction D1, and then the pallet 2 is transferred to the return unit 7 through the receiving mechanisms 51, and the conveying method at the time of recovery Choose horizontal conveying to obtain the advantage of improving conveying efficiency, which means that it has the advantages of both horizontal and vertical conveying methods, so that the overall process can achieve a balance between the conveying efficiency and the space utilization of the machine, and it has been improved to a considerable extent. Therefore, it can indeed achieve the purpose of new cost.

However, the above are only examples of the new model. When the scope of the new model cannot be limited by this, any simple equivalent changes and modifications made according to the patent application scope and patent specification content of the new model are still regarded as Within the scope of this new patent.

10: Discharging device

1: Workpiece

2: plate rack

3: framework

31: the first end

32: Second end

4: Flip mechanism

41: flip motor

42: Rotating rod

43: flip arm

44: On the card

5: Separation unit

6: Capture unit

61: Horizontal rail parts

62: movable seat

63: Extraction arm

7: loopback unit

8: conveyor unit

D1: horizontal direction

D2: vertical direction

D3: left and right direction

Claims (7)

A discharge device is suitable for receiving a pallet from a machine that holds a workpiece, and separating the workpiece from the pallet and transporting the pallet back to the machine. The pallet has multiple uses To clamp the workpiece, the discharge device includes: a frame; a turning mechanism, which is provided on the frame and is suitable for turning the pallet, so that the pallet switches from a state extending along a vertical direction to a A horizontally extending state; a separating unit, which is provided on the frame and includes a pair of receiving mechanisms movable along the vertical direction and a plurality of first clip opening mechanisms, the pair of receiving mechanisms is suitable for receiving by the turning mechanism To the plate rack extending along the horizontal direction, the first clip opening mechanisms can respectively open the clips of the plate rack; an extraction unit can be movably arranged on the frame and is suitable for capturing Take the workpiece to separate the workpiece from the pallet; and a return unit is provided in the frame and is suitable for transporting the pallet back to the machine. The pair of receiving mechanisms of the separation unit can transport the pallet To the loopback unit. The discharging device according to claim 1, wherein the pallet further has two first side bars spaced apart from each other and two first side bars spaced apart from each other and located at the first side bars Between the second side bar, the turning mechanism includes a turning motor provided on the frame, a rotating bar connected to the turning motor, a pair of turning arms fixedly sleeved on the rotating bar, and a pair of movable sets An upper clamping piece at the end of the turning arms away from the rotating rod and a pair of lower clamping pieces movably provided at the end of the turning arms near the rotating rod, the pair of upper clamping pieces and the pair of lower The clamping pieces can be displaced in opposite directions to respectively clamp the first side rods to hold the plate frame, and the turning motor can drive the rotating rod to rotate to rotate the turning arm to turn the plate frame. The discharge device according to claim 2, wherein each receiving mechanism has a vertical rail member fixed to the frame extending along the vertical direction, and a movable rail member movably disposed along the vertical direction along the vertical direction A supporting rod extending along the horizontal direction and a pair of receiving blocks fixed at both ends of the supporting rod are suitable for placing the ends of the first side rods of the plate frame against. The discharge device according to claim 3, wherein each first clamping mechanism has a bearing cylinder disposed on the frame, a first connecting member movably connected to the cylinder, and a fixed connection A first clamping cylinder extending along the vertical direction of the first connecting member, a contact plate connecting the first clamping cylinder along the horizontal direction, and a first clamping cylinder along the horizontal direction A pressing rod extending above the pressing plate and a first pressing piece connected to the end of the pressing rod, the pressing cylinder can drive the first clamping cylinder and the pressing plate along the horizontal direction toward the The movement of the pallet moves the abutting plate against the pallet, and the first clamping cylinder can drive the pressing rod and the first pressing piece toward one of the clamps of the pallet provided on the first side rod , The first pressing piece will press against the clamp to open the clamp. The discharging device according to claim 2, wherein the capturing unit includes a horizontal rail member disposed on the frame, a movable seat movably disposed on the horizontal rail member, and a movable along the vertical direction A capture arm disposed on the movable base and extending away from the movable base, a capture claw disposed on an end of the capture arm away from the movable base, and at least a pair of second claws disposed on the capture claw Clamping mechanism, the picking claw is suitable for picking up the workpiece, the movable seat can drive the picking arm and the picking claw together with the workpiece away from the plate frame along the horizontal rail, so that the workpiece and the plate frame Separately, the pair of second clip-opening mechanisms can respectively open the clips of the plate frame disposed on the second side bar. The discharging device according to claim 5, wherein the capturing claw has a capturing substrate connected to the lower surface of the capturing arm and at least one pair of gripping members provided on the capturing substrate, each gripping The device includes a first cylinder arranged on the substrate extraction, a first clamping plate connected to the first cylinder, a first clamping block arranged on the surface of the first clamping plate opposite to the first cylinder, and a first clamping block arranged on the A second cylinder spaced apart from the first cylinder by the first clamping plate, a second clamping bar connected to the second cylinder, and a second clamping block provided on the surface of the second clamping bar facing the first clamping block, the The first cylinder can drive the first clamping plate to move toward the workpiece, so that the first clamping block abuts the workpiece, and then the second cylinder can drive the second clamping bar to move toward the first clamping plate, so that the second clamping block Abut the workpiece and cooperate with the first clamping block to clamp the workpiece together. The discharge device according to claim 6, wherein each second clamping mechanism has a second clamping cylinder fixed to the extraction substrate extending along the vertical direction, and a second movable clamping mechanism A second connecting member of the clamping cylinder, an extension rod fixedly extending along the vertical direction of the second connection member, and a second pressing member connected to the end of the extension rod, the second clamping cylinder can drive the first The two connecting members together with the extension rod and the second pressing member move toward one of the clamps of the plate frame disposed on the second side rod, and the second pressing member will press against the clamp to open the clamp.

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