Automatic paper separator board collecting machine and board collecting method

Abstract

The present invention relates to the technical field of board collecting machines, and in particular to an automatic paper-separating board collecting machine, comprising a machine platform, a first board collecting lifting device, a second board collecting lifting device, a board feeding device located on one side of the first board collecting lifting device or / and the second board collecting lifting device, a first output device connected to the first board collecting lifting device, a second output device connected to the second board collecting lifting device, a board taking and placing robot and an integrated suction and clamping robot both located between the first board collecting lifting device and the second board collecting lifting device, and a paper table and a supply frame device both located on the other side of the first board collecting lifting device or / and the second board collecting lifting device, wherein the output end of the supply frame device is arranged side by side with the paper table. A board collecting method is also provided. The present invention stacks circuit boards and separation paper on the supporting frames of the two board collecting stations in turn, which greatly improves the efficiency of board collecting, and the integrated suction and clamping robot can not only absorb the separation paper, but also clamp the supporting frame, serving two purposes, thereby reducing the number of robots.

Description

Technical Field

[0001] The present invention relates to the technical field of board collecting machines, and in particular to an automatic paper-separating board collecting machine and a board collecting method. Background Art

[0002] In the production process of circuit boards, since each step of the process has a different production configuration, the circuit boards often need to be transported from one workstation to another, so the circuit boards need to be stacked on a carrier frame to facilitate the transfer of the circuit boards. The stacking of circuit boards is generally completed by a board collector. The existing board collector uses a robot to stack the circuit boards and separators in sequence and place them in the carrier frame. Two adjacent circuit boards are separated by a piece of separator paper to achieve stacking of the circuit boards; when the carrier frame is full of circuit boards, the operator takes away the carrier frame full of circuit boards and places the empty carrier frame in the stacking position. The board collector in the prior art has the problems of not being able to operate continuously, low production efficiency, unstable transportation, and uneven board collection during use, and the labor intensity of the operator is high. Therefore, the defects are very obvious, and there is an urgent need to provide a solution. Summary of the Invention

[0003] In order to solve the above technical problems, the object of the present invention is to provide an automatic paper separator and board collecting machine and board collecting method.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] An automatic paper-separating and plate-collecting machine comprises a machine platform, a first plate-collecting and lifting device arranged on the machine platform, a second plate-collecting and lifting device arranged on the machine platform and side by side with the first plate-collecting and lifting device, a plate-feeding device located on one side of the first plate-collecting and lifting device or / and the second plate-collecting and lifting device, a first output device connected with the first plate-collecting and lifting device, a second output device connected with the second plate-collecting and lifting device, a plate-taking and placing robot and an integrated suction and clamping robot both located between the first plate-collecting and lifting device and the second plate-collecting and lifting device, and a paper table and a supply frame device both located on the other side of the first plate-collecting and lifting device or / and the second plate-collecting and lifting device, the output end of the supply frame device being side by side with the paper table, the plate-taking and placing robot being corresponding to the plate-feeding device, and the integrated suction and clamping robot being corresponding to the output end of the paper table or the supply frame device.

[0006] Furthermore, the frame supply device includes a frame conveying mechanism arranged on the machine platform and a frame lifting mechanism connected to the output end of the frame conveying mechanism. The paper platform is located above the frame conveying mechanism, and the paper platform and the frame lifting mechanism are arranged side by side.

[0007] Furthermore, the board feeding device is provided with a board detection device, the machine is provided with a recovery mechanism, the board detection device is electrically connected to a board picking and placing robot, and the board picking and placing robot is arranged opposite to the recovery mechanism.

[0008] Furthermore, the plate feeding device and the recovery mechanism are arranged side by side, and both the plate feeding device and the recovery mechanism are located above the second output device.

[0009] Furthermore, the integrated suction and clamping robot includes a robot arm installed on the machine, a lifting drive mechanism arranged at the output end of the robot arm, a connecting plate connected to the output end of the lifting drive mechanism, two clamping components respectively installed at both ends of the connecting plate, and a suction mechanism installed on the connecting plate. The suction mechanism is located between the two clamping components, and the two clamping components are arranged opposite to each other. The suction mechanism includes a suction frame connected to the connecting plate, a plurality of suction nozzles installed on the suction frame, and one or more shaking suction components installed on the suction frame.

[0010] Furthermore, the paper platform includes a base installed on the machine, a detection mechanism located on the outside of the base, a dynamic material limit rack set on the base and multiple fixed limit racks set on the base. The base, the dynamic material limit rack and the multiple fixed limit racks are arranged to form a storage space. The detection mechanism is used to detect the number of separation papers in the storage space. The dynamic material limit rack is rotatably connected to the base via a flipping mechanism.

[0011] Furthermore, the flipping mechanism includes a connecting assembly, a hinge and a connecting piece, the connecting assembly is connected to the base, one page of the hinge is fixedly connected to the connecting assembly, the other page of the hinge is connected to the movable material limit frame, and the connecting assembly is detachably connected to the movable material limit frame via the connecting piece.

[0012] Furthermore, the connecting member includes a first magnet and a second magnet magnetically attracted to the first magnet, the first magnet is installed on the movable material limit frame, and the second magnet is installed on the connecting component.

[0013] Furthermore, the feed port of the frame conveying mechanism, the discharge port of the first output device and the discharge port of the second output device are all located on the same side of the machine, and the feed port of the frame conveying mechanism, the discharge port of the first output device and the discharge port of the second output device are arranged in sequence along the length direction of the machine.

[0014] Furthermore, the first plate collecting lifting device and / or the frame lifting mechanism includes a first lifting linear module installed on the machine and a conveying support platform connected to the output end of the first lifting linear module; the second plate collecting lifting device includes a second lifting linear module installed on the machine, a support frame connected to the output end of the second lifting linear module, a first roller conveying platform located below the support frame, a second roller conveying platform connected to the output end of the first roller conveying platform, and a conveyor belt group arranged on the second roller conveying platform, the conveying direction of the conveyor belt group is parallel to the output direction of the first roller conveying platform, the conveying direction of the second roller conveying platform is perpendicular to the conveying direction of the conveyor belt group, and the output end of the second roller conveying platform is connected to the second output device.

[0015] The present invention also provides a plate collecting method, comprising the above-mentioned automatic paper-separating plate collecting machine, wherein the plate collecting steps are as follows:

[0016] Step 1: The frame supply device supplies the empty carrier frame to the frame removal station. The paper table is used to store a large number of stacked separators. The board delivery device transports the circuit board to the board removal station.

[0017] Step 2: The suction-and-clamping robot sequentially clamps the carrying frame supplied by the frame supply device onto the first plate receiving and lifting device and the second plate receiving and lifting device, so that the first plate receiving and lifting device and the second plate receiving and lifting device each carry an empty carrying frame;

[0018] Step 3: The board pick-up and placement robot picks up the circuit board supplied by the board delivery device and places it into the carrying frame carried by the first board receiving and lifting device;

[0019] Step 4: The suction and clamping robot sucks the separator paper on the paper table into the carrying frame carried by the first board collecting and lifting device, so that the separator paper is stacked on the circuit board;

[0020] Step 5: The board pick-up and placement robot and the suction and clamping robot sequentially stack the circuit boards and the separators in the carrying frame carried by the first board collecting and lifting device, so that multiple circuit boards and multiple separators are stacked in the carrying frame at intervals until the carrying frame carried by the first board collecting and lifting device is full of circuit boards and separators;

[0021] Step 6: At this time, the first plate collecting and lifting device is just connected with the first output device. The first plate collecting and lifting device transports the stacked carrier frame to the first output device, and the first output device outputs the stacked carrier frame.

[0022] Step 7: The first board collecting and lifting device is reset, and the integrated suction and clamping robot picks up the empty carrying frame supplied by the frame supply device and places it on the first board collecting and lifting device, preparing for the next stacking of circuit boards and separators; at the same time, the pick-and-place robot and the integrated suction and clamping robot stack the circuit boards and separators in the carrying frame carried by the second board collecting and lifting device in turn, so that multiple circuit boards and multiple separators are stacked in the carrying frame at intervals, until the carrying frame carried by the second board collecting and lifting device is full of circuit boards and separators;

[0023] Step 8: At this time, the second plate collecting and lifting device is just connected with the second output device. The second plate collecting and lifting device transports the stacked carrier frame to the second output device, and the second output device outputs the stacked carrier frame.

[0024] Step 9: The second board receiving and lifting device is reset, and the suction and clamping robot picks up the empty carrier frame supplied by the frame supply device and places it on the second board receiving and lifting device, preparing for the next stacking of circuit boards and separators.

[0025] Step 10: Repeat the above steps 4 to 9, and stack the load frames carried by the first plate collecting and lifting device and the load frames carried by the second plate collecting and lifting device in turn.

[0026] The beneficial effects of the present invention are as follows: in actual application, the frame supply device supplies an empty carrying frame to the frame removal station, the paper table is used to store a large number of stacked separator papers, and the board feeding device transports the circuit board to the board removal station; the suction and clamping integrated robot clamps the carrying frame supplied by the frame supply device to the first board receiving and lifting device and the second board receiving and lifting device in turn, so that the first board receiving and lifting device and the second board receiving and lifting device both carry an empty carrying frame. At this time, the board picking and placing robot picks up the circuit board supplied by the board feeding device and puts it into the carrying frame carried by the first board receiving and lifting device. Then the suction and clamping robot sucks the separator paper on the paper table into the carrying frame carried by the first board collecting and lifting device, so that the separator paper is stacked on the circuit board. The board picking and placing robot and the suction and clamping robot stack the circuit board and the separator paper in the carrying frame carried by the first board collecting and lifting device in turn, so that multiple circuit boards and multiple separator papers are stacked in the carrying frame at intervals, until the carrying frame carried by the first board collecting and lifting device is full of circuit boards and separator paper. At this time, the first board collecting and lifting device is just connected with the first output device, and the first board collecting and lifting device transports the stacked carrier frame to the first An output device, the first output device outputs the carrier frame after stacking, and then the first board receiving and lifting device is reset, and the suction and clamping integrated robot picks up the empty carrier frame supplied by the frame supply device and puts it on the first board receiving and lifting device, preparing for the next stacking of circuit boards and separators. At the same time, the pick-and-place robot and the suction and clamping integrated robot stack the circuit boards and separators in the carrier frame carried by the second board receiving and lifting device in turn, so that multiple circuit boards and multiple separators are stacked in the carrier frame at intervals, until the carrier frame carried by the second board receiving and lifting device is full of circuit boards and separators. After the paper is stacked, the second board collecting and lifting device is just connected with the second output device. The second board collecting and lifting device transports the completed stacking support frame to the second output device. The second output device outputs the completed stacking support frame. Then the second board collecting and lifting device is reset. The suction and clamping integrated manipulator picks up the empty support frame supplied by the frame supply device and puts it on the second board collecting and lifting device to prepare for the next stacking of circuit boards and spacer paper. The above stacking steps are repeated, and the support frame carried by the first board collecting and lifting device and the support frame carried by the second board collecting and lifting device are stacked in turn. The layout of the present invention is reasonable and the structure is compact. The support frames of the two board collecting stations are stacked in turn for circuit boards and spacer paper, which greatly improves the efficiency of board collection. The suction and clamping integrated manipulator can not only absorb the spacer paper, but also clamp the support frame, which serves two purposes. It reduces the number of manipulators, reduces the size of the machine, and reduces the cost of production. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0028] Figure 2It is a schematic diagram of the three-dimensional structure of the first output device, the second output device, the first plate collecting and lifting device, the second plate collecting and lifting device and the frame supply device of the present invention.

[0029] Figure 3 It is a schematic diagram of the three-dimensional structure of the suction-gripping integrated robot of the present invention.

[0030] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0031] Figure 5 It is a schematic diagram of the three-dimensional structure of the paper table of the present invention.

[0032] Figure 6 It is a schematic diagram of the exploded structure of the movable material limit rack and the turnover mechanism of the present invention.

[0033] Figure 7 It is a schematic diagram of the three-dimensional structure of the dynamic limiting material frame of the present invention.

[0034] Figure 8 It is a schematic diagram of the exploded structure of the limiting material rack and the locking assembly of the present invention.

[0035] Figure 9 It is a schematic diagram of the three-dimensional structure of the fixed-limit material rack of the present invention.

[0036] Description of reference numerals:

[0037] 1. Paper table; 11. Base; 111. First adjustment slot; 112. Second adjustment slot; 113. First guide slot; 114. Second guide slot; 115. Lock hole; 12. Detection mechanism; 121. Opposing photoelectric sensor; 13. Movable material limit rack; 14. Fixed material limit rack; 141. Material guide ramp; 142. Second guide block; 15. Material storage space; 16. Turning mechanism; 161. Connecting assembly; 162. Hinge; 163. Connecting piece; 164. First magnetic body; 165, second magnet; 166, top plate; 167, bottom plate; 168, first locking piece; 169, first guide block; 17, brush; 18, locking assembly; 181, locking plate; 182, second locking piece; 19, machine table; 2, suction and clamping integrated manipulator; 21, robotic arm; 22, lifting drive mechanism; 221, worm; 222, connector; 23, connecting plate; 24, clamping assembly; 241, clamping driver; 242, clamping piece; 24 3. Adjustment plate; 25. Suction mechanism; 250. Second locking piece; 251. Suction rack; 252. Suction nozzle; 253. Shaking suction assembly; 254. Shaking drive; 255. Suction nozzle; 256. Mounting rod; 2561. Mounting chute; 2562. Airway; 257. Suction arm; 2571. Adjustment slot; 258. Slider; 259. First locking piece; 26. Board feeding device; 27. Board detection device; 3. Board pick-and-place manipulator; 4. A plate collecting and lifting device; 41. A first lifting linear module; 42. A conveying and carrying platform; 5. A second plate collecting and lifting device; 51. A second lifting linear module; 52. A support frame; 53. A first roller conveying platform; 54. A second roller conveying platform; 55. A conveyor belt group; 6. A frame supply device; 61. A frame conveying mechanism; 62. A frame lifting mechanism; 7. A first output device; 8. A second output device; 9. A recovery mechanism; 91. A mobile drive module; 92. A recovery platform. DETAILED DESCRIPTION

[0038] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0039] like Figures 1 to 9As shown, the present invention provides an automatic paper separation and plate collecting machine, which includes a machine platform 19, a first plate collecting lifting device 4 arranged on the machine platform 19, a second plate collecting lifting device 5 arranged on the machine platform 19 and arranged side by side with the first plate collecting lifting device 4, a plate feeding device 26 located on one side of the first plate collecting lifting device 4 or / and the second plate collecting lifting device 5, a first output device 7 connected with the first plate collecting lifting device 4, a second output device 8 connected with the second plate collecting lifting device 5, a plate picking and placing robot 3 and an integrated suction and clamping robot 2 both located between the first plate collecting lifting device 4 and the second plate collecting lifting device 5, and a paper table 1 and a supply frame device 6 both located on the other side of the first plate collecting lifting device 4 and / or the second plate collecting lifting device 5, the output end of the supply frame device 6 is arranged side by side with the paper table 1, the plate picking and placing robot 3 is arranged corresponding to the plate feeding device 26, the integrated suction and clamping robot 2 is arranged corresponding to the output end of the paper table 1 or the supply frame device 6, the first plate collecting lifting device 4 and the second plate collecting lifting device 5 correspond to two plate collecting stations respectively.

[0040] In actual application, the frame supply device 6 supplies the empty carrier frame to the frame removal station, the paper table 1 is used to store a large number of stacked separators, and the board feeding device 26 transports the circuit board to the board removal station; the suction and clamping integrated robot 2 clamps the carrier frame supplied by the frame supply device 6 to the first board receiving and lifting device 4 and the second board receiving and lifting device 5 in turn, so that the first board receiving and lifting device 4 and the second board receiving and lifting device 5 both carry an empty carrier frame. At this time, the board picking and placing robot 3 picks up the circuit board supplied by the board feeding device 26 and puts it into the carrier frame carried by the first board receiving and lifting device 4, and then suction and clamps it. The integrated robot 2 sucks the separation paper on the paper table 1 into the supporting frame carried by the first board collecting and lifting device 4, so that the separation paper is stacked on the circuit board. The board picking and placing robot 3 and the suction and clamping integrated robot 2 stack the circuit board and the separation paper in the supporting frame carried by the first board collecting and lifting device 4 in turn, so that multiple circuit boards and multiple separation papers are stacked in the supporting frame at intervals, until the supporting frame carried by the first board collecting and lifting device 4 is full of circuit boards and separation papers. At this time, the first board collecting and lifting device 4 is just connected with the first output device 7, and the first board collecting and lifting device 4 transports the stacked supporting frame to the first output Device 7, the first output device 7 outputs the completed loading frame, and then the first receiving and lifting device 4 is reset, and the suction and clamping integrated robot 2 picks up the empty loading frame supplied by the frame supply device 6 and puts it on the first receiving and lifting device 4, preparing for the next stacking of circuit boards and separators. At the same time, the pick-and-place robot 3 and the suction and clamping integrated robot 2 stack the circuit boards and separators in the loading frame carried by the second receiving and lifting device 5 in turn, so that multiple circuit boards and multiple separators are stacked in the loading frame at intervals, until the loading frame carried by the second receiving and lifting device 5 is full of circuit boards and separators. At this time, the second board collecting and lifting device 5 is just connected with the second output device 8. The second board collecting and lifting device 5 transports the stacked supporting frame to the second output device 8. The second output device 8 outputs the stacked supporting frame. Then the second board collecting and lifting device 5 is reset. The suction and clamping manipulator 2 picks up the empty supporting frame supplied by the frame supply device 6 and puts it on the second board collecting and lifting device 5 to prepare for the next stacking of circuit boards and separators. The above stacking steps are repeated, and the supporting frame carried by the first board collecting and lifting device 4 and the supporting frame carried by the second board collecting and lifting device 5 are stacked in turn. The layout of the present invention is reasonable and the structure is compact. The supporting frames of the two board collecting stations are stacked in turn for circuit boards and separators, which greatly improves the efficiency of board collection. The suction and clamping manipulator 2 can not only absorb the separators, but also clamp the supporting frame, which serves two purposes. It reduces the number of manipulators, reduces the size of the machine, and reduces the cost of production.

[0041] In this embodiment, the frame supply device 6 includes a frame conveying mechanism 61 arranged on the machine 19 and a frame lifting mechanism 62 connected to the output end of the frame conveying mechanism 61. The paper platform 1 is located above the frame conveying mechanism 61, and the paper platform 1 and the frame lifting mechanism 62 are arranged side by side; preferably, the frame conveying mechanism 61 can adopt a roller conveying structure.

[0042] In actual application, the operator pushes a large number of stacked carrier frames onto the frame conveying mechanism 61, and the frame conveying mechanism 61 conveys a large number of stacked carrier frames to the lifting end of the frame lifting mechanism 62. The lifting end of the frame lifting mechanism 62 carries a large number of stacked carrier frames, and the top-layer carrier frame is used for clamping by the suction and clamping integrated robot 2. When the top-layer carrier frame on the frame lifting mechanism 62 is taken away, the lifting end of the frame lifting mechanism 62 will rise to the height of a carrier frame to realize automatic replenishment of the carrier frame, so that the suction and clamping integrated robot 2 can clamp the carrier frame next time.

[0043] In this embodiment, the board delivery device 26 is provided with a board inspection device 27, and the machine 19 is provided with a recycling mechanism 9. The board inspection device 27 is electrically connected to the board pick-up and placement robot 3, and the board pick-up and placement robot 3 is arranged opposite the recycling mechanism 9. In actual use, the board inspection device 27 inspects the circuit boards conveyed by the board delivery device 26. When the board inspection device 27 detects that the circuit boards are defective, the board inspection device 27 sends a feedback signal to the board pick-up and placement robot 3, causing the board pick-up and placement robot 3 to pick up the defective circuit boards and transfer them to the recycling mechanism 9, which then stores the defective circuit boards. When the board inspection device 27 detects that the circuit boards are good, the board pick-up and placement robot 3 stacks the good circuit boards normally.

[0044] Specifically, the recycling mechanism 9 includes a mobile drive module 91 mounted thereon and a recycling platform 92 connected to the output end of the mobile drive module 91. The recycling platform 92 is slidably connected to the machine platform 19. The recycling platform 92 is used to carry defective circuit boards. When a defective circuit board on the recycling platform 92 needs to be removed, the mobile drive module 91 drives the recycling platform 92 to move outside the machine platform 19, allowing the operator to remove the defective circuit board from the recycling platform 92.

[0045] In this embodiment, the plate feeding device 26 and the recycling mechanism 9 are arranged side by side, both located above the second output device 8. The recycling mechanism 9 and the paper platform 1 are located on either side of the first plate collecting and lifting device 4, and the plate feeding device 26 and the frame lifting mechanism 62 are located on either side of the second plate collecting and lifting device 5. This structural design makes the layout of the present invention reasonable and compact, reduces the size of the machine, shortens the travel range of the robot, and improves the efficiency of collecting (stacking / compositing) the plates.

[0046] In this embodiment, the integrated suction and clamping robot 2 includes a robot arm 21 installed on the machine 19, a lifting drive mechanism 22 arranged at the output end of the robot arm 21, a connecting plate 23 connected to the output end of the lifting drive mechanism 22, two clamping components 24 respectively installed at both ends of the connecting plate 23, and a suction mechanism 25 installed on the connecting plate 23. The suction mechanism 25 is located between the two clamping components 24, and the two clamping components 24 are arranged opposite to each other. The suction mechanism 25 includes a suction frame 251 connected to the connecting plate 23, a plurality of suction nozzles 252 installed on the suction frame 251, and one or more shaking suction components 253 installed on the suction frame 251.

[0047] In actual application, when it is necessary to clamp the carrying frame, the robot arm 21 drives the lifting drive mechanism 22 together with the connecting plate 23, the clamping assembly 24 and the suction mechanism 25 to move to the top of the carrying frame, and then the lifting drive mechanism 22 drives the clamping assembly 24 and the suction mechanism 25 to descend synchronously until the carrying frame is located between the two clamping assemblies 24, the two clamping assemblies 24 are started, and the two clamping assemblies 24 cooperate to clamp the carrying frame. After clamping the carrying frame, the robot arm 21 and the lifting drive mechanism 22 work together to place the carrying frame on the first plate receiving lifting device 4 or the second plate receiving lifting device 5 to realize the taking and placing of the carrying frame; when it is necessary to suck the spacer paper on the paper table 1, the robot arm 21 drives the lifting drive mechanism 22 together with the connecting plate 23 , the material clamping assembly 24 and the material suction mechanism 25 move to the top of the separator paper, and then the lifting drive mechanism 22 drives the material clamping assembly 24 and the material suction mechanism 25 to descend synchronously until the suction ends of the multiple suction nozzles 252 and the suction ends of the shaking material suction assembly 253 respectively contact the separator paper to suck the separator paper. After sucking the separator paper, the mechanical arm 21 and the lifting drive mechanism 22 work together to place the separator paper on the circuit board of the carrier frame to realize the taking and placing of the separator paper. In this process, the shaking material suction assembly 253 shakes the separator paper, and shakes the separator paper while sucking the separator paper, so as to achieve the purpose of separating two adjacent separator papers, avoid the phenomenon of stacking materials, and ensure that the suction mechanism 25 can only suck one separator paper at a time, thereby improving the stability and accuracy of sucking the separator paper. Alternatively, after the suction mechanism 25 stably sucks the separator paper, the two material clamping assemblies 24 cooperate to support the sucked separator paper, thereby improving the stability of taking and placing the separator paper. The integrated suction and clamping robot 2 integrates the suction and clamping functions, has a wide range of uses, good versatility, high utilization rate, simple and compact structure, reduces the number of robots, reduces production costs, and reduces the size of the machine. When sucking the separator paper, it can shake the sucked separator paper by shaking the suction component 253 to separate the two adjacent separator papers, thereby improving the stability and accuracy of picking up the separator paper.

[0048] In this embodiment, the shaking and suction assembly 253 includes a shaking driver 254 mounted on the suction frame 251 and a suction nozzle 255 mounted at the output end of the shaking driver 254. Preferably, the shaking driver 254 is a pneumatic cylinder. After the suction nozzle 255 absorbs the separator paper, the output end of the shaking driver 254 rapidly expands and contracts to produce a shaking effect, thereby shaking the separator paper and effectively separating two adjacent separator papers.

[0049] In this embodiment, there are two suction mechanisms 25, which are symmetrically arranged on the connecting plate 23. In actual application, the two suction mechanisms 25 can jointly suck up one piece of separator paper to improve the stability of sucking the separator paper; or the two suction mechanisms 25 can each suck up one piece of separator paper to improve the efficiency of sucking the separator paper.

[0050] In this embodiment, the suction rack 251 includes a mounting rod 256 connected to the connecting plate 23 and a plurality of suction arms 257 connected to the mounting rod 256. The connecting plate 23 is arranged perpendicular to the mounting rod 256, the suction arm 257 is arranged perpendicular to the mounting rod 256, the suction arm 257 is arranged parallel to the connecting plate 23, and the plurality of suction arms 257 are arranged along the length direction of the mounting rod 256. The suction nozzle 252 and the shaking suction assembly 253 are respectively installed on the suction arm 257. This structural design realizes the modularization of the suction rack 251, facilitates the disassembly and maintenance of the suction rack 251, and reduces the cost of production. Preferably, the number of the shaking suction assemblies 253 is two, and all the suction nozzles 252 on each suction mechanism 25 are located between the two shaking suction assemblies 253. The two shaking suction assemblies 253 are located at the corners of the separator paper, which is more conducive to separating two adjacent separator papers.

[0051] In this embodiment, the suction rack 251 also includes a slider 258 connected to the mounting rod 256 and a first locking piece 259 detachably connected to the slider 258. The slider 258 is slidably connected to the connecting plate 23, and the first locking piece 259 is used to lock the slider 258 on the connecting plate 23; preferably, the first locking piece 259 is a bolt, and the first locking piece 259 is threadedly connected to the connecting plate 23. In actual use, when it is necessary to adjust the position of the suction mechanism 25 on the connecting plate 23 or adjust the distance between the two suction mechanisms 25, the first locking member 259 is loosened to allow the slider 258 to slide relative to the connecting plate 23. The sliding slider 258 drives the mounting rod 256, the suction arm 257, the suction nozzle 252, and the shaking suction assembly 253 to move, thereby adjusting the position of the suction nozzle 252 and the shaking suction assembly 253. This provides good flexibility and convenient adjustment. After the adjustment is completed, the first locking member 259 is tightened so that the first locking member 259 locks the slider 258 on the connecting plate 23. By adjusting the position of the suction mechanism 25 or adjusting the distance between the two suction mechanisms 25, the suction mechanism 25 can be used to pick up and place separators at different positions or with different specifications.

[0052] In this embodiment, the suction rack 251 also includes a second locking piece 250 detachably connected to the mounting rod 256, the mounting rod 256 is provided with a mounting groove 2561, and the suction arm 257 is provided with an adjustment groove 2571 connected to the mounting groove 2561, and the second locking piece 250 passes through the adjustment groove 2571 and the mounting groove 2561 in sequence and is connected to the mounting rod 256; preferably, the second locking piece 250 is a bolt, and the second locking piece 250 is threadedly connected to the mounting rod 256. In actual application, when it is necessary to adjust the distance between two adjacent material suction arms 257, the second locking member 250 is loosened to allow the material suction arms 257 to move relative to the mounting rod 256 along the mounting slot 2561, thereby adjusting the position of the material suction arms 257 on the mounting rod 256. After the adjustment is completed, the second locking member 250 is tightened so that the second locking member 250 locks the material suction arms 257 on the mounting rod 256. When it is necessary to adjust the effective length of the material suction arms 257, the second locking member 250 is loosened to allow the material suction arms 257 to move relative to the mounting rod 256 along the adjustment slot 2571, thereby adjusting the effective length of the material suction arms 257. After the adjustment is completed, the second locking member 250 is tightened so that the second locking member 250 locks the material suction arms 257 on the mounting rod 256. By adjusting the position and effective length of the material suction arms 257, it is possible to take and place spacers of different positions or specifications.

[0053] In this embodiment, the mounting rod 256 is provided with an air passage 2562, which is connected to the suction nozzle 252 or the shaking suction assembly 253 via an air pipe; the vacuum device is connected to the air passage 2562. This structural design simplifies the air path, reduces the number of air pipes used, and avoids the occurrence of air pipe tangling or tangling.

[0054] In this embodiment, the clamping assembly 24 includes a clamping driver 241 disposed on the connecting plate 23 and a clamping member 242 mounted at the output end of the clamping driver 241. The clamping driver 241 is used to drive the clamping member 242 to move back and forth; preferably, the clamping driver 241 is a pneumatic cylinder. In actual use, when the carrier frame is positioned between the two clamping assemblies 24, the clamping driver 241 drives the clamping member 242 toward the carrier frame until the clamping member 242 contacts one side of the carrier frame. The clamping members 242 of the two clamping assemblies 24 respectively contact the two sides of the carrier frame, and the two clamping members 242 cooperate to clamp the carrier frame.

[0055] Specifically, the clamping member 242 is provided with an elastic pad; when clamping the carrying frame, the elastic pad contacts the carrying frame, and the elastic pad plays a role in buffering protection, shock absorption and noise reduction, and avoids damage to the carrying frame due to excessive clamping force.

[0056] In this embodiment, the clamping assembly 24 further includes an adjustment plate 243, and the clamping driver 241 is mounted on the connecting plate 23 via the adjustment plate 243. By adjusting the position of the adjustment plate 243 on the connecting plate 23, the distance between the two clamping assemblies 24 can be adjusted to enable clamping of carrier frames of different specifications.

[0057] In this embodiment, the lifting drive mechanism 22 includes a rotary driver built into the output end of the robotic arm 21, a worm gear installed at the output end of the rotary driver, a worm 221 lifted and set at the output end of the robotic arm 21, and a connecting head 222 installed at the bottom end of the worm 221. The worm gear is driven and connected to the worm 221, the rotary driver is used to drive the worm gear to rotate, and the connecting plate 23 is connected to the connecting head 222; preferably, the rotary driver is a motor.

[0058] In actual application, the rotary driver drives the worm wheel to rotate, and the rotating worm wheel engages with the worm 221 to drive the worm 221 to move up and down. The moving worm 221 drives the connecting head 222, the connecting plate 23, the clamping assembly 24 and the suction mechanism 25 to move up and down synchronously, and the lifting stability is good.

[0059] In this embodiment, the paper table 1 includes a base 11 installed on the machine 19, a detection mechanism 12 located on the outside of the base 11, a dynamic material limit rack 13 arranged on the base 11, and multiple fixed limit racks 14 arranged on the base 11. The base 11, the dynamic material limit rack 13 and the multiple fixed limit racks 14 are arranged to form a storage space 15. The detection mechanism 12 is used to detect the number of separation papers in the storage space 15. The dynamic material limit rack 13 is rotatably connected to the base 11 via a flipping mechanism 16.

[0060] In actual application, a large amount of separator paper is stored in layers in the storage space 15, the base 11 supports the separator paper in the storage space 15, and the dynamic limit rack 13 and multiple fixed limit racks 14 limit the separator paper in the storage space 15 on all sides, so as to improve the stability and position accuracy of the separator paper in the storage space 15, which is conducive to the integrated suction and clamping manipulator 2 to accurately absorb the separator paper in the storage space 15. In the process of the integrated suction and clamping manipulator 2 taking away the separator paper in the storage space 15, the detection mechanism 12 continuously detects the amount of separator paper in the storage space 15. When the amount of separator paper in the storage space 15 is less than the preset amount, the detection mechanism 12 will feedback a signal to the control center, causing the control center to sound an alarm to remind the operator that the current amount of separator paper in the storage space 15 is insufficient, so that the operator can add separator paper to the storage space 15 in time to ensure that there is enough separator paper in the storage space 15. When adding a large amount of stacked separator paper into the storage space 15, since the movable limit rack 13 is rotatably connected to the base 11 via the flipping mechanism 16, the movable limit rack 13 can be flipped relative to the base 11 to the outside of the storage space 15 under the action of the flipping mechanism 16 until the flipping angle of the movable limit rack 13 reaches a preset angle value, which roughly flips the movable limit rack 13 from a vertical state to a horizontal state or a near-horizontal state, so that the storage space 15 has a horizontal discharge port. At this time, the operator can horizontally place or push a large amount of stacked separator paper from the horizontal discharge port into the storage space 15. After adding the separator paper, reset and flip the movable limit rack 13, so that the movable limit rack 13 and multiple fixed limit racks 14 limit the large amount of stacked separator paper in the storage space 15. The paper table 1 has a simple structure. It can not only store a large number of stacked separator papers, but also detect and monitor the amount of separator papers in the storage space 15 in real time to ensure that there are enough separator papers in the storage space 15. The movable limit material rack 13 can be flipped relative to the base 11, so that the storage space 15 forms a discharge port, which is convenient for operators to add a large number of stacked separator papers into the storage space 15, thereby improving the efficiency of adding separator papers and reducing the labor intensity of operators.

[0061] In this embodiment, the detection mechanism 12 includes two sets of opposing photoelectric sensors 121, which are located outside the storage space 15 and arranged opposite each other. Preferably, the two sets of opposing photoelectric sensors 121 are located at diagonal positions of the storage space 15. The two sets of opposing photoelectric sensors 121 emit light in opposition to each other to detect the amount of paper spacers in the storage space 15.

[0062] In this embodiment, the fixed-limit material rack 14 and / or the movable material rack 13 are provided with a brush 17, the bristle end of the brush 17 protruding into the material storage space 15. Specifically, the fixed-limit material rack 14 is provided with a brush 17 on one or both sides, and the movable material rack 13 is provided with a brush 17 on one or both sides. When the suction-and-clamping manipulator 2 absorbs the separator paper in the material storage space 15, the bristle end of the brush 17 will sweep the edge of the separator paper, which is conducive to separating two adjacent separator papers, avoiding the separator papers from being adsorbed together due to static electricity, preventing the phenomenon of stacking, and ensuring that the suction-and-clamping manipulator 2 only picks up one separator paper at a time, thereby improving the accuracy of sucking the separator paper.

[0063] In this embodiment, the flipping mechanism 16 includes a connecting assembly 161, a hinge 162, and a connecting piece 163. The connecting assembly 161 is connected to the base 11, one leaf of the hinge 162 is fixedly connected to the connecting assembly 161, and the other leaf of the hinge 162 is connected to the movable material limit rack 13. The connecting assembly 161 is detachably connected to the movable material limit rack 13 via the connecting piece 163. When a large amount of stacked separator paper is stored in the storage space 15, the movable material limit rack 13 is connected to the connecting assembly 161 via the connecting piece 163, the two leaves of the hinge 162 are in a horizontally unfolded state, and the movable material limit rack 13 is in a vertical state; when separator paper needs to be added to the storage space 15, an outward force is applied to the movable material limit rack 13, so that the movable material limit rack 13 and the connecting piece 163 are separated, and one leaf of the hinge 162 connected to the movable material limit rack 13 is folded relative to the other leaf, thereby realizing the flipping of the movable material limit rack 13.

[0064] In this embodiment, the connecting member 163 includes a first magnet 164 and a second magnet 165 that is magnetically attracted to the first magnet 164. The first magnet 164 is mounted on the movable material limit frame 13, and the second magnet 165 is mounted on the connecting assembly 161. When the movable material limit frame 13 is in a vertical state, the first magnet 164 and the second magnet 165 are magnetically attracted together, ensuring the working stability of the movable material limit frame 13. When the outward force applied to the movable material limit frame 13 is greater than the magnetic attraction force, the first magnet 164 and the second magnet 165 separate, and the movable material limit frame 13 can be flipped outward relative to the base 11. This structural design is easy to operate and facilitates flipping the movable material limit frame 13.

[0065] In this embodiment, the connecting assembly 161 includes a top plate 166, a bottom plate 167, and a first locking member 168. The base 11 is clamped between the top plate 166 and the bottom plate 167. The first locking member 168 is used to lock the top plate 166, the base 11, and the bottom plate 167 together. The other leaf of the hinge 162 is fixedly connected to the top plate 166. Preferably, the first locking member 168 can be a bolt, which is threadedly connected to the bottom plate 167. This structural design facilitates the disassembly and maintenance of the movable material limit frame 13 and also facilitates the flipping of the movable material limit frame 13 relative to the base 11.

[0066] In this embodiment, the base 11 is provided with a first adjustment slot 111. One end of the first locking member 168 sequentially passes through the top plate 166 and the first adjustment slot 111 before being connected to the bottom plate 167. In actual use, after releasing the first locking member 168, the connecting assembly 161 and the movable material limiter 13 move synchronously along the length of the first adjustment slot 111 to adjust the size of the storage space 15 to accommodate different sizes of separator paper.

[0067] In this embodiment, the fixed-limit material frame 14 is locked to the base 11 via a locking assembly 18. The locking assembly 18 includes a locking plate 181 and a second locking member 182. The base 11 is sandwiched between the locking plate 181 and the fixed-limit material frame 14. The second locking member 182 locks the fixed-limit material frame 14, the base 11, and the locking plate 181 together. Preferably, the second locking member 182 can be a bolt threadedly connected to the locking plate 181. This structural design facilitates the locking of the fixed-limit material frame 14 to the base 11, ensuring the operational stability of the fixed-limit material frame 14.

[0068] In this embodiment, the base 11 is provided with a second adjustment slot 112, and one end of the second locking member 182 passes through the fixed-limit material rack 14 and the second adjustment slot 112 in sequence, and then connects to the locking plate 181. When the size of the storage space 15 needs to be adjusted, the second locking member 182 releases the fixed-limit material rack 14, allowing the fixed-limit material rack 14 to move relative to the base 11 along the length of the second adjustment slot 112. The multiple fixed-limit material racks 14 can be adjusted closer to or further away from each other to adjust the size of the storage space 15, thereby meeting the storage space 15's needs for storing separators of different specifications, thereby achieving high practicality and versatility.

[0069] In this embodiment, the top of the movable material limit rack 13 and / or the top of the fixed material limit rack 14 is provided with a material guide inclined plate 141 which is inclined outward. When adding separator paper to the storage space 15, the material guide inclined plate 141 guides the separator paper, facilitating the entry of the separator paper into the storage space 15 and improving the efficiency of adding the separator paper. When removing the separator paper from the storage space 15, the material guide inclined plate 141 expands the opening, facilitating the removal of the separator paper from the storage space 15 and improving the efficiency of removing the separator paper.

[0070] In this embodiment, the base 11 is provided with a first guide groove 113, and the bottom surface of the top plate 166 or the movable material limit frame 13 is provided with a first guide block 169. The first guide block 169 is slidably connected to the first guide groove 113, and the first adjustment groove 111 is recessed from the bottom wall of the first guide groove 113. When the adjustment connection assembly 161 and the movable material limit frame 13 move synchronously relative to the base 11, the first guide block 169 of the top plate 166 or the movable material limit frame 13 slides along the first guide groove 113. The first guide groove 113 guides and positions the movement of the top plate 166 and the movable material limit frame 13, thereby improving the stability of the movement of the connection assembly 161 and the movable material limit frame 13 relative to the base 11.

[0071] In this embodiment, the base 11 is provided with a second guide groove 114, and the bottom end of the fixed-limit material rack 14 is provided with a second guide block 142. The second guide block 142 is slidably connected to the second guide groove 114, and the second adjustment groove 112 is recessed from the bottom wall of the second guide groove 114. When the size of the storage space 15 needs to be adjusted, the second guide block 142 of the fixed-limit material rack 14 moves along the length direction of the second guide groove 114. The second guide groove 114 guides and positions the movement of the fixed-limit material rack 14, thereby improving the movement stability of the fixed-limit material rack 14 when adjusting.

[0072] In this embodiment, the base 11 is provided with a locking hole 115 , and after a locking component such as a screw passes through the locking hole 115 , the base 11 is locked to the external structure, thereby achieving the fixation of the present invention.

[0073] In this embodiment, the feed inlet of the frame conveyor mechanism 61, the discharge outlet of the first output device 7, and the discharge outlet of the second output device 8 are all located on the same side of the machine platform 19. These inlet, discharge outlet of the first output device 7, and discharge outlet of the second output device 8 are arranged in sequence along the length of the machine platform 19. An operator transfers a large number of stacked carrier frames from the feed inlet of the frame conveyor mechanism 61 into the frame conveyor mechanism 61. The operator then removes the stacked carrier frames from the discharge outlets of the first output device 7 and the second output device 8. This structural design allows a single operator to operate the machine, reducing operator workload and labor costs.

[0074] In this embodiment, the first plate collecting and lifting device 4 and / or the frame lifting mechanism 62 include a first lifting linear module 41 installed on the machine 19 and a conveying carrier platform 42 connected to the output end of the first lifting linear module 41. The first lifting linear module 41 drives the conveying carrier platform 42 to rise and fall. The conveying carrier platform 42 can not only carry the carrier frame, but also transport the carrier frame; preferably, the conveying carrier platform 42 of the first plate collecting and lifting device 4 is connected to the feed end of the first output device 7, and the conveying carrier platform 42 of the frame lifting mechanism 62 is connected to the discharge end of the frame conveying mechanism 61.

[0075] In this embodiment, the second plate collecting lifting device 5 includes a second lifting linear module 51 installed on the machine 19, a support frame 52 connected to the output end of the second lifting linear module 51, a first roller conveyor platform 53 located below the support frame 52, a second roller conveyor platform 54 connected to the output end of the first roller conveyor platform 53, and a conveyor belt group 55 arranged on the second roller conveyor platform 54. The conveying direction of the conveyor belt group 55 is parallel to the output direction of the first roller conveyor platform 53, and the conveying direction of the second roller conveyor platform 54 is perpendicular to the conveying direction of the conveyor belt group 55. The output end of the second roller conveyor platform 54 is connected to the second output device 8. In actual application, the support frame 52 carries the carrying frame. When the carrying frame is fully stacked with circuit boards, the second lifting linear module 51 drives the support frame 52 to descend together with the carrying frame until the first roller conveyor platform 53 carries the carrying frame, and then the first roller conveyor platform 53 conveys the carrying frame to the second roller conveyor platform 54, and the conveyor belt group 55 on the second roller conveyor platform 54 conveys the carrying frame to the second output device 8, and the second output device 8 outputs the carrying frame.

[0076] Preferably, the recovery platform 282 has the same structure as the paper platform 1, and will not be described in detail here.

[0077] The present invention also provides a plate collecting method, comprising the above-mentioned automatic paper-separating plate collecting machine, wherein the plate collecting steps are as follows:

[0078] Step 1: The frame supply device 6 supplies the empty carrier frame to the frame removal station. The paper table 1 is used to store a large number of stacked separators. The board feeding device 26 delivers the circuit board to the board removal station.

[0079] Step 2: The suction-and-clamping robot 2 sequentially clamps the carrying frame supplied by the frame supply device 6 onto the first plate receiving and lifting device 4 and the second plate receiving and lifting device 5, so that the first plate receiving and lifting device 4 and the second plate receiving and lifting device 5 each carry an empty carrying frame;

[0080] Step 3: The board pick-up and placement robot 3 picks up the circuit board supplied by the board delivery device 26 and places it into the carrying frame carried by the first board receiving and lifting device 4;

[0081] Step 4: The suction and clamping robot 2 sucks the separator paper on the paper table 1 into the carrying frame carried by the first board collecting and lifting device 4, so that the separator paper is stacked on the circuit board;

[0082] Step 5: The board pick-up and placement robot 3 and the suction and clamping robot 2 sequentially stack the circuit boards and the separators in the carrying frame carried by the first board collecting and lifting device 4, so that multiple circuit boards and multiple separators are stacked in the carrying frame at intervals, so that two adjacent circuit boards are separated by a separator, until the carrying frame carried by the first board collecting and lifting device 4 is full of circuit boards and separators;

[0083] Step 6: At this time, the first plate collecting and lifting device 4 is just connected with the first output device 7. The first plate collecting and lifting device 4 transports the stacked carrier frame to the first output device 7, and the first output device 7 outputs the stacked carrier frame;

[0084] Step 7: The first board collecting and lifting device 4 is reset, and the integrated suction and clamping manipulator 2 picks up the empty carrier frame supplied by the frame supply device 6 and places it on the first board collecting and lifting device 4, preparing for the next stacking of circuit boards and separators; at the same time, the board picking and placing manipulator 3 and the integrated suction and clamping manipulator 2 stack the circuit boards and separators in the carrier frame carried by the second board collecting and lifting device 5 in turn, so that multiple circuit boards and multiple separators are stacked in the carrier frame at intervals, until the carrier frame carried by the second board collecting and lifting device 5 is full of circuit boards and separators;

[0085] Step 8: At this time, the second plate collecting and lifting device 5 is just connected to the second output device 8. The second plate collecting and lifting device 5 transports the stacked carrier frame to the second output device 8, and the second output device 8 outputs the stacked carrier frame;

[0086] Step 9: The second board receiving and lifting device 5 is reset, and the suction and clamping robot 2 picks up the empty carrier frame supplied by the frame supply device 6 and places it on the second board receiving and lifting device 5 to prepare for the next stacking of circuit boards and separators;

[0087] Step 10: Repeat steps 4 to 9 above, and stack the supporting frames carried by the first board collecting and lifting device 4 and the supporting frames carried by the second board collecting and lifting device 5 in turn; so as to realize uninterrupted board collecting, which greatly improves the efficiency of board collecting.

[0088] All technical features in this embodiment can be freely combined according to actual needs.

[0089] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. An automatic paper separator and board collecting machine, characterized by: The invention comprises a machine platform, a first plate collecting and lifting device arranged on the machine platform, a second plate collecting and lifting device arranged side by side with the first plate collecting and lifting device, a plate feeding device located on one side of the first plate collecting and lifting device or / and the second plate collecting and lifting device, a first output device connected with the first plate collecting and lifting device, a second output device connected with the second plate collecting and lifting device, a plate taking and placing robot and a suction and clamping integrated robot both located between the first plate collecting and lifting device and the second plate collecting and lifting device, and a paper table and a frame supply device both located on the other side of the first plate collecting and lifting device or / and the second plate collecting and lifting device, the output end of the frame supply device is arranged side by side with the paper table, and the plate taking and placing robot The hand is arranged correspondingly to the board feeding device, and the integrated suction and clamping manipulator is arranged correspondingly to the output end of the paper table or the frame feeding device; the frame feeding device includes a frame conveying mechanism arranged on the machine and a frame lifting mechanism connected to the output end of the frame conveying mechanism, the paper table is located above the frame conveying mechanism, and the paper table and the frame lifting mechanism are arranged side by side; the board feeding device is provided with a board detection device, and the machine is provided with a recycling mechanism, the board detection device is electrically connected to the board picking and placing manipulator, and the board picking and placing manipulator is arranged opposite to the recycling mechanism; the board feeding device and the recycling mechanism are arranged side by side, and the board feeding device and the recycling mechanism are both located above the second output device; The paper platform includes a base mounted on the machine, a detection mechanism located outside the base, a dynamic material limit rack arranged on the base, and a plurality of fixed-limit racks arranged on the base. The base, the dynamic material limit rack, and the plurality of fixed-limit racks are arranged to form a storage space. The detection mechanism is used to detect the amount of separation paper in the storage space. The dynamic material limit rack is rotatably connected to the base via a turning mechanism. The flipping mechanism includes a connecting component, a hinge and a connecting piece, the connecting component is connected to the base, one page of the hinge is fixedly connected to the connecting component, the other page of the hinge is connected to the movable material limit frame, and the connecting component is detachably connected to the movable material limit frame via the connecting piece; the connecting piece includes a first magnet and a second magnet that is magnetically attracted to the first magnet, the first magnet is installed on the movable material limit frame, and the second magnet is installed on the connecting component.

2. The automatic paper separator and board collecting machine according to claim 1, characterized in that: The integrated suction and clamping robot includes a robot arm installed on the machine, a lifting drive mechanism arranged at the output end of the robot arm, a connecting plate connected to the output end of the lifting drive mechanism, two clamping components respectively installed at both ends of the connecting plate, and a suction mechanism installed on the connecting plate. The suction mechanism is located between the two clamping components, and the two clamping components are arranged opposite to each other. The suction mechanism includes a suction frame connected to the connecting plate, a plurality of suction nozzles installed on the suction frame, and one or more shaking suction components installed on the suction frame.

3. The automatic paper separator and board collecting machine according to claim 1, characterized in that: The feed port of the frame conveying mechanism, the discharge port of the first output device and the discharge port of the second output device are all located on the same side of the machine, and the feed port of the frame conveying mechanism, the discharge port of the first output device and the discharge port of the second output device are arranged in sequence along the length direction of the machine.

4. A plate collecting method, characterized in that: The automatic paper separator and board collecting machine according to any one of claims 1 to 3 has the following board collecting steps: Step 1: The frame supply device supplies the empty carrier frame to the frame removal station. The paper table is used to store a large number of stacked separators. The board delivery device transports the circuit board to the board removal station. Step 2: The suction-and-clamping robot sequentially clamps the carrying frame supplied by the frame supply device onto the first plate receiving and lifting device and the second plate receiving and lifting device, so that the first plate receiving and lifting device and the second plate receiving and lifting device each carry an empty carrying frame; Step 3: The board pick-up and placement robot picks up the circuit board supplied by the board delivery device and places it into the carrying frame carried by the first board receiving and lifting device; Step 4: The suction and clamping robot sucks the separator paper on the paper table into the carrying frame carried by the first board collecting and lifting device, so that the separator paper is stacked on the circuit board; Step 5: The board pick-up and placement robot and the suction and clamping robot sequentially stack the circuit boards and the separators in the carrying frame carried by the first board collecting and lifting device, so that multiple circuit boards and multiple separators are stacked in the carrying frame at intervals until the carrying frame carried by the first board collecting and lifting device is full of circuit boards and separators; Step 6: At this time, the first plate collecting and lifting device is just connected with the first output device. The first plate collecting and lifting device transports the stacked carrier frame to the first output device, and the first output device outputs the stacked carrier frame. Step 7: The first board collecting and lifting device is reset, and the integrated suction and clamping robot picks up the empty carrying frame supplied by the frame supply device and places it on the first board collecting and lifting device, preparing for the next stacking of circuit boards and separators; at the same time, the pick-and-place robot and the integrated suction and clamping robot stack the circuit boards and separators in the carrying frame carried by the second board collecting and lifting device in turn, so that multiple circuit boards and multiple separators are stacked in the carrying frame at intervals, until the carrying frame carried by the second board collecting and lifting device is full of circuit boards and separators; Step 8: At this time, the second plate collecting and lifting device is just connected with the second output device. The second plate collecting and lifting device transports the stacked carrier frame to the second output device, and the second output device outputs the stacked carrier frame. Step 9: The second board receiving and lifting device is reset, and the suction and clamping robot picks up the empty carrier frame supplied by the frame supply device and places it on the second board receiving and lifting device, preparing for the next stacking of circuit boards and separators. Step 10: Repeat the above steps 4 to 9, and stack the load frames carried by the first plate collecting and lifting device and the load frames carried by the second plate collecting and lifting device in turn.

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