A control method of a full-automatic plate loading and unloading machine

Abstract

The application discloses a control method of a full-automatic board taking and placing machine, and belongs to the technical field of automatic equipment. The full-automatic board taking and placing machine first acquires whether the full-load mechanism has a tray; if yes, the tray is in a waiting position, the translation mechanism takes the tray of the full-load mechanism and transports the tray to the separation mechanism, the four-axis mechanism takes the tray of the separation mechanism and transports the tray to the temporary storage platform or the empty-load mechanism; if not, it is confirmed whether the full-load mechanism has a tray on the conveying assembly, when there is no tray, the second lifter is driven to lower the roller group, a replenishment signal is sent, and the tray is replenished; it is confirmed whether the empty-load mechanism has a full tray on the conveying assembly, the full tray is taken out, the empty-load mechanism drives the clamping jaw to be loose and stack the trays; thus, the empty-load mechanism and the full-load mechanism are set to be lifted one by one and take or place the trays one by one, the conveying assembly cooperates with the work of the empty-load mechanism and the full-load mechanism, the load is reduced, the abrasion of the device is reduced, the service life of the device is prolonged, and the efficiency of the board taking and placing is further improved.

Description

Technical Field

[0001] This invention belongs to the field of automation equipment technology, and in particular relates to a control method for a fully automatic board take-up and take-down machine. Background Technology

[0002] In PCB (Printed Circuit Board) manufacturing plants, processes such as film removal and etching require carriers to transport PCBs to the next process due to the special nature of PCB products. This ensures that the PCBs are not scratched or creased during transport and handling between processes. Currently, carriers are often heavy-duty trays. These trays provide more stable support and balance, reducing vibration and shaking during machine operation and ensuring that the PCBs are not affected by changes in the external environment during transport.

[0003] In existing technologies, such as the plate and tray separation and conveying device disclosed in CN114194841A, after the tray pick-up and drop-down device removes the top tray on the tray supply lifting platform each time, the lifting end of the tray lifting assembly drives the tray supply lifting platform, along with the stacked trays, to move upwards by one tray height to achieve automated supply of fully loaded trays. The disadvantages of this device are: Since the trays are heavy, the design of the lifting assembly needs to consider the torque output and stability of the driver. The driver needs sufficient torque to overcome the load and stable speed and position control performance to ensure the stability and accuracy of the lifting operation. The durability and heat dissipation performance of the motor also need to be considered to cope with long-term high-load operation. Therefore, the lifting assembly of this device, due to lifting heavy trays for extended periods, causes excessive temperature rise in the driver, frequently damaging the driver windings and accelerating the wear of the driver's bearings and other critical components. Furthermore, the internal wear of the driver also slows down the tray lifting speed. Summary of the Invention

[0004] To address the problems of low efficiency and component wear caused by existing plate take-up and take-down machines that can only move stacked trays upwards as a whole, this invention provides a control method for a fully automatic plate take-up and take-down machine that can put or take out trays one by one.

[0005] The technical solution of this invention is as follows:

[0006] This invention discloses a control method for a fully automatic board feeding and receiving machine, which includes the following steps during material feeding:

[0007] Step A1: Obtain the current state of the gripper of the full-load mechanism. If the gripper of the full-load mechanism is currently in the state of having a material tray, then maintain the gripping action and proceed to step A4; if the gripper is currently in the state of not having a material tray, then drive the gripper to open and drive the telescopic gripper to the waiting position.

[0008] Step A2: Confirm whether there is a material tray on the conveying component of the full-load mechanism. If there is no material tray, drive the second lifting device to lower the roller group and send a replenishment signal. If there is a material tray, proceed to step A4.

[0009] Step A3, Entering the feeding process: Determine whether both the first and second conveying sensors have received the sensing signal. When the first conveying sensor receives the signal but the second conveying sensor does not, first drive the roller assembly to rotate clockwise so that the second conveying sensor receives the signal, then drive the roller assembly to rotate counterclockwise until the material tray reaches the center position. Then drive the second lifter to raise the roller assembly, and then drive the baffle assembly and adjuster to perform telescopic movements.

[0010] Step A4: The full-load mechanism drives the gripper to hold the material tray and raises the telescopic gripper holding the material tray to the waiting position.

[0011] Step A5: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism.

[0012] Step A6: The second gripping sensor of the four-axis mechanism receives the sensing signal. When the signal is received, that is, when there is a material tray in the separation mechanism, the clamping assembly of the four-axis mechanism descends and reaches the separation mechanism, and then drives the gripper of the four-axis mechanism to grip the material tray and transport it to the temporary storage platform or the empty mechanism.

[0013] Step A7: Obtain the current state of the gripper of the unloaded mechanism. If the gripper of the unloaded mechanism is currently in a state with a material tray, maintain the gripping action and proceed to step A10; if the gripper is currently in a state without a material tray, drive the gripper to open and drive the telescopic gripper to the waiting position.

[0014] Step A8: Confirm whether the transport component of the empty mechanism is full. If it is full, send a retraction signal; if it is not full, proceed to step A10.

[0015] Step A9, Entering the plate removal process: Drive the second lifter to lower the roller assembly, then drive the baffle assembly and adjuster to extend and retract, and then drive the roller assembly to rotate counterclockwise;

[0016] Step A10: The unloaded mechanism drives the gripper to release the material tray, stack the material trays, and then drives the gripper without a material tray to rise to the waiting position.

[0017] Further, step A5 includes:

[0018] Step A5-1: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism.

[0019] Step A5-2: The material tray falls onto the support frame of the separation mechanism, and the front roller assembly of the separation mechanism conveys the material to the side of the loading and unloading mechanism.

[0020] Step A5-3: The loading and unloading mechanism confirms whether there is material at the infeed position. When there is material, the flipping bridge assembly drives the material to the middle roller assembly.

[0021] Step A5-4: Before the intermediate roller assembly arrives, the lifting group of the positioning component lifts up to catch the material, and then the lifting group resets to drop the material onto the intermediate roller assembly.

[0022] Step A5-5: The positioning sensor receives the sensing signal. When the signal is received, the driving translation group moves the material to the center position of the middle roller assembly to perform material positioning.

[0023] Furthermore, the following steps are included when preparing materials:

[0024] Step B1: Obtain the current state of the gripper of the unloaded mechanism. If the gripper of the unloaded mechanism is currently in a state with a material tray, maintain the gripping action and proceed to step B4; if the gripper is currently in a state without a material tray, drive the gripper to open and drive the telescopic gripper to the waiting position.

[0025] Step B2: Confirm whether there is a material tray on the conveying component of the unloaded mechanism. If there is no material tray, drive the second lifting device to lower the roller group and send a replenishment signal. If there is a material tray, proceed to step B4.

[0026] Step B3, Entering the feeding process: Determine whether both the first and second conveying sensors receive the sensing signal. When the first conveying sensor receives the signal but the second conveying sensor does not, first drive the roller assembly to rotate clockwise so that the second conveying sensor receives the signal, then drive the roller assembly to rotate counterclockwise until the material tray reaches the center position. Then drive the second lifter to raise the roller assembly, and then drive the baffle assembly and adjuster to perform telescopic movements.

[0027] Step B4: The unloaded mechanism drives the gripper to grab the material tray and raises the telescopic gripper with the material tray to the waiting position.

[0028] Step B5: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism.

[0029] Step B6: The second gripping sensor of the four-axis mechanism receives the sensing signal. When the signal is received, that is, when there is a material tray in the separation mechanism, the clamping assembly of the four-axis mechanism descends and reaches the material tray of the separation mechanism, and then drives the gripper of the four-axis mechanism to grip the material tray and transport it to the temporary storage platform or the full-load mechanism.

[0030] Step B7: Obtain the current state of the gripper of the full-load mechanism. If the gripper of the full-load mechanism is currently in the state of having a material tray, then maintain the gripping action and proceed to step B10; if the gripper is currently in the state of not having a material tray, then drive the gripper to open and drive the telescopic gripper to the waiting position.

[0031] Step B8: Confirm whether the conveying component of the full-load mechanism is full. If it is full, send a retraction signal; if it is not full, proceed to step B10.

[0032] Step B9, Entering the plate removal process: Drive the second lifter to lower the roller assembly, then drive the baffle assembly and adjuster to extend and retract, and then drive the roller assembly to rotate counterclockwise;

[0033] Step B10: The full-load mechanism drives the gripper to release the material tray, stack the material trays, and move the telescopic gripper without a material tray to the waiting position.

[0034] Further, step B5 includes:

[0035] Step B5-1: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism. The material tray falls onto the support frame of the separation mechanism.

[0036] Step B5-2: The loading and unloading mechanism confirms whether there is material at the feeding position. When there is material, the lifting group of the positioning component lifts up to catch the material, and then the lifting group resets to drop the material onto the intermediate roller assembly.

[0037] Step B5-3: The positioning sensor receives the sensing signal. When the signal is received, the driving translation group moves the material to the center position of the middle roller assembly to perform material positioning.

[0038] Step B5-4: The loading and unloading mechanism confirms whether there is material at the discharge position. When there is material, the flipping bridge assembly drives the material to the front roller assembly of the separation mechanism.

[0039] Furthermore, steps A6 and B6 also include: the barcode scanner scans the material tray; when the scan is successful, the material tray is picked up and transported to the empty or full-load mechanism; when the scan fails, the material tray is picked up and transported to the temporary storage platform.

[0040] Furthermore, in steps A5, A6, B5, and B6, when the material tray is successfully gripped, the spring rod of the overpressure assembly rises, the photoelectric sensor senses the spring rod, and determines whether the material tray is gripped normally; when the material tray is not gripped, the photoelectric sensor does not sense the spring rod, and determines that the material tray is not gripped normally.

[0041] Furthermore, steps A4 and A10 also include: the full-load mechanism and the empty-load mechanism entering the detection mode, that is, determining whether the distance of the telescopic gripper to the current position of the tray to be picked up / placed is recorded. If it is not recorded, the telescopic gripper is driven to quickly reach the detection position, and then the telescopic gripper is driven to slowly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position; if it is recorded, the telescopic gripper is driven to quickly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position.

[0042] Furthermore, steps A5 and A6 also include: the translation mechanism and the four-axis mechanism entering the detection mode, that is, determining whether the distance of the gripper to the current position of the tray to be picked up is recorded. If it is not recorded, the gripper is driven to quickly reach the detection position, and then the gripper is driven to slowly reach the current position of the tray to be placed, and the gripper is driven to clamp the tray. If it is recorded, the gripper is driven to quickly reach the current position of the tray to be picked up, and the gripper is driven to clamp the tray directly.

[0043] Furthermore, steps B4 and B11 also include: the full-load mechanism and the empty-load mechanism entering the detection mode, that is, determining whether the distance of the telescopic gripper to the current position of the tray to be picked up / placed is recorded. If it is not recorded, the telescopic gripper is driven to quickly reach the detection position, and then the telescopic gripper is driven to slowly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position; if it is recorded, the telescopic gripper is driven to quickly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position.

[0044] Furthermore, steps B5 and B6 also include: the translation mechanism and the four-axis mechanism entering the detection mode, that is, determining whether the distance of the gripper to the current position of the tray to be picked up is recorded. If it is not recorded, the gripper is driven to quickly reach the detection position, and then the gripper is driven to slowly reach the current position of the tray to be placed, and the gripper is driven to clamp the tray. If it is recorded, the gripper is driven to quickly reach the current position of the tray to be picked up, and the gripper is driven to clamp the tray directly.

[0045] The beneficial effects of this invention are as follows:

[0046] The system is equipped with an empty-load mechanism and a full-load mechanism that raise and lower the material trays one by one. The transport components work in coordination with the empty-load mechanism and the full-load mechanism. Because the load is reduced, the wear of the components is reduced, thereby extending the service life of the components and further improving the efficiency of the take-up and take-down of the boards. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating the material feeding process of a fully automatic board feeding and unloading machine control method according to the present invention;

[0048] Figure 2 This is a flowchart illustrating the material feeding process of a fully automatic board feeding and unloading machine control method according to the present invention;

[0049] Figure 3 This is a schematic diagram of the overall structure of a fully automatic plate take-up and take-down machine of the present invention, omitting the frame;

[0050] Figure 4 This is a schematic diagram of the take-up and take-up mechanism of a fully automatic take-up and take-up machine according to the present invention;

[0051] Figure 5 This is a schematic diagram of the lifting and placing assembly of a fully automatic plate handling machine according to the present invention, showing the structure of one side.

[0052] Figure 6 This is a schematic diagram of the conveying component of a fully automatic board handling machine according to the present invention;

[0053] Figure 7 This is a schematic diagram of the structure of the adjuster of a fully automatic plate take-up and take-down machine according to the present invention;

[0054] Figure 8 This is a schematic diagram of the baffle assembly of a fully automatic plate take-up and take-down machine according to the present invention;

[0055] Figure 9 This is a schematic diagram of the four-axis mechanism of a fully automatic plate take-up and take-down machine according to the present invention;

[0056] Figure 10 This is a schematic diagram of the emptying structure of a fully automatic board take-up and take-down machine according to the present invention;

[0057] Figure 11This is a schematic diagram of the clamping plate assembly of a fully automatic plate take-up and take-down machine according to the present invention;

[0058] Figure 12 This is a schematic diagram of the overpressure assembly of a fully automatic plate take-up and take-down machine according to the present invention;

[0059] Figure 13 This is an enlarged structural schematic diagram of the separation mechanism of a fully automatic plate take-up and take-down machine according to the present invention;

[0060] Figure 14 for Figure 11 A schematic diagram of the decomposed structure;

[0061] Figure 15 This is an enlarged structural schematic diagram of the loading and unloading mechanism of a fully automatic board handling machine according to the present invention;

[0062] Figure 16 for Figure 13 A schematic diagram of the decomposed structure;

[0063] Figure 17 This is an enlarged structural diagram of the lifting assembly of the positioning component of the loading and unloading mechanism;

[0064] Figure 18 This is an enlarged structural diagram of the translation group of the positioning component of the loading and unloading mechanism;

[0065] Reference numerals: 2. Unloaded mechanism; 2a. Fully loaded mechanism; 2b. Unloaded mechanism; 21. Lifting and lowering assembly; 211. First lifter; 2111. Motor ball screw module; 2112. Cable chain module; 212. Telescopic gripper; 2121. Fixed frame; 2121a. Upper fixed frame; 2121b. Lower fixed frame; 2122. Slide connecting plate; 2123. Gripper; 2124. Gripper cylinder; 22. Transport assembly; 221. Second lifter; 221 1. Roller cylinder; 2212. Shaft seat; 2213. Bearing connecting seat; 222. Roller assembly; 2221. Roller; 2222. Roller seat; 22221. Slot; 2223. Driver; 223. First transport sensor; 224. Second transport sensor; 23. Adjuster; 231. Upper cylinder; 232. Lower cylinder; 233. Connecting rod; 24. Baffle assembly; 241. Baffle; 242. Baffle seat; 243. Baffle cylinder; 244. Telescopic rod. 245. Baffle sensor; 3. Separation mechanism; 31. Support frame; 32. Front roller assembly; 33. Power transmission assembly; 4. Gripping mechanism; 4a. Four-axis mechanism; 4b. Translation mechanism; 41. Gripping plate assembly; 411. Fixing plate; 412. Wide-type pneumatic gripper; 413. Gripper; 414. Gripping frame; 415. Connecting rod; 416. Reinforcing rod; 42. Dual-axis driver; 43. Connecting arm; 44. Base; 45. Rotating arm; 46. Overpressure assembly; 461. 462. Overpressure seat, 463. Spring rod, 464. Photoelectric sensor, 47. First gripping sensor, 48. Second gripping sensor, 5. Temporary storage platform, 6. Feeding mechanism, 61. Tilting bridge assembly, 611. Bridge wheel set, 612. Frame, 613. Tilting cylinder, 62. Intermediate roller assembly, 63. Positioning assembly, 631. Lifting assembly, 6311. Cylinder, 6312. Paddle wheel set, 632. Translation assembly, 6321. Paddle plate, 6322. Sliding component. Detailed Implementation

[0066] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0067] It should be noted that when a component is referred to as "mounted on", "set on", "covered on", "sleeved on", or "locked on" another component, it can be directly on the other component or indirectly on the other component.

[0068] It should be understood that, in the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0069] Furthermore, the terms “inner,” “upper,” “between,” “both sides,” “one side,” “top,” “bottom,” “side,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0070] It should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature.

[0071] It should be noted that the "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Here, A and B can be singular or plural, respectively.

[0072] First, to understand the structure of the fully automatic plate take-up and take-down machine of this invention, please refer to... Figures 3-18 This invention provides a fully automatic board take-up and take-down machine, comprising:

[0073] The empty-load collection mechanism 2 is used to collect material-laden trays and empty trays. Each empty-load collection mechanism 2 includes a lifting assembly 21 and a conveying assembly 22 located at the bottom of the lifting assembly 21. The lifting assembly 21 is used to lift and lower a single tray, and the conveying assembly 22 is used to place or remove a stack of trays onto it or onto a trolley or AGV (Automated Guided Vehicle). The lifting assembly 21 includes several grippers 2123; that is, a complete lifting assembly 21 has two first lifters 211 and two telescopic grippers 212. One first lifter 211 drives the corresponding telescopic gripper 212. The first lifter 211 is responsible for driving the telescopic gripper 212. The lifting and lowering movement of 12 allows the telescopic grippers 212 to grip or release the material trays. That is, the two telescopic grippers 212 can grasp or put down the material trays. The conveying component 22 includes a second lifting device 221 and a roller group 222 that are arranged opposite to each other. That is, a complete conveying component 22 has two second lifting devices 221 and two roller groups 222. One second lifting device 221 drives and connects to the corresponding roller group 222. The height of the roller group 222 can be adjusted by lifting and lowering it to adapt to the height of the stack of material trays on the trolley or AGV automatic guide vehicle. Then, the entire stack of material trays is placed on top of it or sent out to the trolley or AGV automatic guide vehicle by rotating the rollers.

[0074] The separation mechanism 3 is used to separate the material from the material tray, or to place the material into the material tray. The separation mechanism 3 is located on one side of the empty receiving mechanism 2.

[0075] The gripping mechanism 4 is used to transport the material trays loaded with materials on the empty receiving mechanism 2 to the separation mechanism 3 and to transport the empty material trays on the separation mechanism 3 to the empty receiving mechanism 2. The gripping mechanism 4 is located on the side of the empty receiving mechanism 2 and the separation mechanism 3.

[0076] The loading and unloading mechanism 6 is located on the side of the separation mechanism 3. It transports the material that has detached from the material tray to the next work station, or transports the material to an empty material tray.

[0077] Figure 3 In the middle, a barcode scanner 31 is provided between the separation mechanism 3 and the loading and unloading mechanism 6. The barcode scanner can be an RFID barcode scanner. Each material tray has a QR code. By scanning the QR code with the barcode scanner 31, the current material tray information can be read and recorded.

[0078] The telescopic gripper 212 includes a fixed frame 2121, a slide connecting plate 2122, several grippers 2123, and a gripper cylinder 2124. A complete telescopic gripper 212 has six grippers 2123, but the number of grippers 2123 and the length of the fixed frame 2121 can be set according to the length of the material tray, and are not necessarily six grippers 2123. The slide connecting plate 2122 is located below the fixed frame 2121, and the several grippers 2123 are spaced apart on the fixed frame 2121. The gripper cylinder 2124 is driven and connected to the fixed frame 2121. One end of the cable chain module 2112 is driven and connected to one end of the fixed frame 2121, and the motor ball screw module 2111 is driven and connected to the slide connecting plate 2122. The structure is composed of the motor ball screw module 2111 and the cable chain module 2112.

[0079] Furthermore, the fixing frame 2121 is divided into an upper fixing frame 2121a and a lower fixing frame 2121b. A plurality of grippers 2123 are disposed on the upper fixing frame 2121a, and a gripper cylinder 2124 is disposed on the lower fixing frame 2121b. One end of the gripper cylinder 2124 is connected to the upper fixing frame 2121a. The upper fixing frame 2121a is provided with a slider S1, and the lower fixing frame 2121b is provided with a slide rail S2. The slider S1 is movably disposed on the slide rail S2. The gripper cylinder 2124 drives the grippers to open and close. The arrangement of the slider S1 and the slide rail S2 makes the opening and closing action of the grippers smoother, thereby enabling the gripping or releasing of the material tray.

[0080] Further, the second lifting device 221 includes a roller cylinder 2211, a shaft seat 2212, and a bearing connecting seat 2213. The roller assembly 222 includes a plurality of rollers 2221, roller seats 2222, and a driver 2223. The plurality of rollers 2221 are disposed within the roller seats 2222. The driver 2223 drives and connects to the rollers 2221. The roller cylinder 2211 drives and connects to the roller seats 2222. The shaft seat 2212 is disposed at both ends of the roller seat 2222. The bearing connecting seat 2213 is movably disposed within... On the bearing seat 2212, and with the bearing connecting seat 2213 fixedly connected to one side of the roller seat 2222, the driver 2223 is a coupling motor that jointly drives the two roller assemblies 222. When the roller cylinder 2211 drives the roller seat 2222, the bearing connecting seat 2213 moves along the bearing seat 2212. When a trolley or AGV is used to transport a stack of material trays to the vicinity of the empty collection mechanism 2, the second lifter 221 drives the roller assembly 222 to roll and transport the stack of material trays above it in coordination with the height of the trolley or AGV. Figure 6 In the middle, a first transport sensor 223 is provided at one end of the transport component 22, and a second transport sensor 224 is provided at the tail end of the transport component 22.

[0081] Furthermore, the empty-load receiving mechanism 2 includes an empty-load mechanism 2a and a full-load mechanism 2b, i.e., two identical lifting and placing components 21 and a conveying component 22 located at the bottom of the lifting and placing components 21, but with different working processes. The full-load mechanism 2b contains a tray carrying materials, while the empty-load mechanism 2a contains an empty tray. It is worth noting that the empty-load mechanism 2a and the full-load mechanism 2b can be switched between each other. Since the fully automatic board receiving and placing machine of this invention can be used for loading and unloading in PCB production, when used for loading, it is... Figure 3 The positions of the unloaded mechanism 2a and the fully loaded mechanism 2b shown are for use when unloading materials. Figure 3 The unloaded mechanism 2a and the fully loaded mechanism 2b shown need to be swapped.

[0082] The separation mechanism 3 includes a support frame 31, a front roller assembly 32, and a power transmission assembly 33. The support frame 31 is fixedly connected to the machine frame, which supports the front roller assembly 32 on one side and supports the material tray on the other side. The front roller assembly 32 is divided into three parts, which match the cutout positions of the material tray, respectively lifting and conveying the material at the corresponding positions. The power transmission assembly 33 consists of a servo motor, a coupling, and a belt. The belt is shown on the support frame 31 in the figure. In reality, the belt needs to be set around the rollers. The belt is driven by the active rollers on the servo motor and coupling, which in turn drives several rollers of the front roller assembly 32 to rotate together. The front roller assembly 32 is located above the support frame 31, and the power transmission assembly 33 is located below the support frame 31. The power transmission assembly 33 drives and connects to the front roller assembly 32.

[0083] Compared with the plate and tray separation and conveying equipment disclosed in CN114194841A, the separation mechanism has been simplified. When the tray is placed in the separation mechanism, the tray is supported by the support frame 31, the material is lifted by the front roller group, and the power transmission component 33 drives the material to the next station.

[0084] The temporary storage platform 5 is located on one side of the empty receiving mechanism 2. The temporary storage platform 5 is used to store unqualified material trays after inspection. The unqualified material trays are then removed manually. The gripping mechanism 4 includes a four-axis mechanism 4a and a translation mechanism 4b. The four-axis mechanism 4a is located between the temporary storage platform 5 and the separation mechanism 3, and the translation mechanism 4b is located on the other side of the separation mechanism 3. The four-axis mechanism 4a is responsible for gripping the material tray onto the temporary storage platform 5 or the separation mechanism 3, and the translation mechanism 4b is responsible for gripping the material tray onto the empty receiving mechanism or from the full receiving mechanism to the separation mechanism 3.

[0085] Specifically, both the four-axis mechanism 4a and the translation mechanism 4b include a clamping plate assembly 41. The translation mechanism 4b also includes a dual-axis driver 42 and a connecting arm 43. The connecting arm 43 is connected to the corresponding clamping plate assembly 41. The dual-axis driver 42 drives the connecting arm 43 and the corresponding clamping plate assembly 41. The dual axes of the dual-axis driver 42 are the Y-axis and the Z-axis. The dual-axis driver 42 drives the connecting arm 43 and the clamping plate assembly 41 to move up, down, and translate together. This drives the clamping plate assembly 41 to descend towards the separation mechanism 3 to clamp the empty material tray and then translate it to the empty mechanism 2a. It then descends to place the empty material tray on the empty mechanism 2a, and then rises above the empty mechanism 2a to reset and translate it to the separation mechanism 3. The four-axis mechanism 4a also includes a base 44 and a rotating arm 45. The base 44 drives the rotating arm 45. Specifically, the motor inside the base 44 drives the rotating arm 45, and the rotating arm 45 drives the corresponding clamping plate assembly 41.

[0086] The clamping assembly 41 includes a fixed plate 411, a wide pneumatic gripper 412, a plurality of grippers 413, and a gripper frame 414. The clamping assembly 41 is also a symmetrical structure, that is, a complete clamping assembly 41 includes two gripper frames 414 and a symmetrical number of grippers 413. The plurality of grippers 413 are spaced apart on the gripper frames 414, as shown in the figure. Figure 11 A gripper frame 414 is provided with three grippers 413, and a complete gripper assembly 41 has six grippers 413. The wide pneumatic gripper 412 is fixed on the fixed plate 411, and the wide pneumatic gripper 412 is driven to connect the gripper frame 414 and the grippers 413.

[0087] Furthermore, a connecting rod 415 can be provided between the wide-type pneumatic gripper 412 and the gripper frame 414. The wide-type pneumatic gripper 412 drives the connecting rod 415 and drives the gripper frame 414. A reinforcing rod 416 can also be provided between the two gripper frames 414, and the reinforcing rod 416 is also fixedly connected to the fixed plate 411. A slide rail S2 is provided on the reinforcing rod 416, and a slider S1 is provided on the gripper frame 414. The slider S1 is movably set on the slide rail S2 to further assist the gripper 413 in opening and closing.

[0088] Furthermore, referring to Figure 9 and Figure 10 The four-axis mechanism has a first gripping sensor 47, and the translation mechanism has a second gripping sensor 48.

[0089] Furthermore, both the four-axis mechanism 4a and the translation mechanism 4b include an overpressure assembly 46. The overpressure assembly 46 includes an overpressure seat 461, a spring rod 462, and a photoelectric sensor 463. The overpressure seat 461 is located on one side of one of the gripper frames 414. The spring rod 462 is movable on the overpressure seat 461. The photoelectric sensor 463 is located above the spring rod 462. The overpressure assembly 46 is used to confirm whether the material tray is being gripped normally. When the material tray is being gripped normally, the spring rod 462 rises, and the photoelectric sensor 463 senses the spring rod to determine whether the material tray is being gripped normally. When the material tray is not being gripped, the photoelectric sensor 463 does not sense the spring rod 462 and determines that the material tray is not being gripped normally.

[0090] Furthermore, each of the empty-load receiving mechanisms 2 includes an adjuster 23, which passes through both ends of a single roller seat 2222. The adjuster 23 consists of an upper cylinder 231, a lower cylinder 232, and a connecting rod 233. The upper cylinder 231 and the lower cylinder 232 are located at the ends of the connecting rod 233, and the upper cylinder 231 and the lower cylinder 232 jointly drive the connecting rod 233. The connecting rod 233 passes through the roller seat 2222. This adjuster 23 can limit the position of the entire stack of trays on the roller assembly 222, and can also be adjusted from both sides of the trays to ensure the neatness of the entire stack of trays. Specifically, the roller seat 2222 has a slot, and the connecting rod 233 passes through it.

[0091] Furthermore, each of the empty-load receiving mechanisms 2 includes a baffle assembly 24. The baffle assembly 24 is located on one side of the lifting assembly 21 and the conveying assembly 22. The baffle assembly 24 includes a baffle 241, a baffle seat 242, a baffle cylinder 243, several telescopic rods 244, and a baffle sensor 245. The baffle cylinder 243 is fixed on the baffle seat 242. The several telescopic rods 244 are evenly distributed on one side of the baffle 241, and the telescopic rods 244 are movably mounted on the baffle seat 242. The baffle cylinder 243 drives and connects to the baffle 241. The baffle sensor 245 is fixed on the baffle seat 242, thereby preventing the lifting roller assembly 222 from moving the material tray beyond the preset position and keeping the top of the material tray neat.

[0092] With the cooperation of the adjuster 23 and the baffle assembly 24, the neatness of the entire stack of material trays can be ensured from three directions.

[0093] Furthermore, referring to Figures 13-16 It also includes a loading and unloading mechanism 6, which is located on the other side of the separation mechanism 3. The loading and unloading mechanism 6 transports materials detached from the tray to the next workstation or to an empty tray. The loading and unloading mechanism includes a tilting bridge assembly 61, an intermediate roller assembly 62, and a positioning assembly 63. The tilting bridge assembly 61 is located between the front roller assembly 32 and the intermediate roller assembly 62, and the positioning assembly 63 is located in the middle and below the intermediate roller assembly 62. The tilting bridge assembly 61 includes a bridge wheel group 611, a frame 612, and tilting cylinders 613 located at the four corners of the frame 612. The intermediate roller assembly 62 includes several rollers and a driver. The driver consists of a motor, a belt, and a drive side plate. The rollers on the motor drive the belt to rotate, and the belt winds around and drives the rollers. One end of the bridge wheel group 611 is located on the drive side plate, meaning the bridge wheel group 611 rotates together with the intermediate roller assembly 62. The coordinated movement of the rotary cylinders 613 causes the bridge wheel assembly 611 to descend and tilt around the drive side, abutting against the other end of the separation mechanism 3. Then, the material is transported to the intermediate roller assembly 62 by the rotation of the rollers. The positioning assembly 63 includes a lifting assembly 631 and a translation assembly 632. The lifting assembly 631 includes a cylinder 6311 and a vane assembly 6312. The cylinder 6311 drives and connects to the vane assembly 6312. Before the material falls onto the intermediate roller assembly 62, the vane assembly 6312 is raised to catch the material, and then the vane assembly 6312 is driven to reset, so that the material slowly falls onto the intermediate roller assembly 62. The translation assembly 632 includes a plate 6321 and a sliding member 6322. The sliding member 6322 consists of a motor, a belt, and a sliding block. The motor drives the belt to rotate, and the belt drives the sliding block on it to move. The sliding block is connected to the plate 6321, and the plate 6321 clamps and centers the material.

[0094] When feeding materials, that is... Figure 3 The fully loaded mechanism is located next to the separation mechanism, and the empty mechanism is located next to the temporary storage mechanism. The tray in the fully loaded mechanism contains materials to be processed, while the tray in the empty mechanism is empty and is the tray that was recycled after the materials were uploaded. The materials can be PCB circuit boards. The process includes the following steps:

[0095] Step A1: Obtain the current state of the gripper of the full-load mechanism. The PLC program is set to recognize the current state when the gripper is working to prevent the material tray from falling off the gripper. If the gripper of the full-load mechanism is currently in the state of having a material tray, then maintain the gripping action and proceed to step A4; if the gripper is currently in the state of not having a material tray, then drive the gripper to open and drive the telescopic gripper to the waiting position.

[0096] Step A2: Confirm whether there is a pallet on the conveying component of the full-load mechanism. This can be done by placing a sensor on the side of the full-load mechanism or by installing a sensor on the gripper. If a pallet blocks the sensor, there is a pallet; if the sensor is not blocked, there is no pallet. When there is no pallet, drive the second lifter to lower the roller assembly, that is, place the roller assembly on the same plane as the trolley or AGV automated guided vehicle, and send a replenishment signal. The manual or AGV automated guided vehicle will receive the signal. It is worth noting that in the process of fully automated industrialization, the AGV automated guided vehicle is preferred. When there is a pallet, proceed to step A4.

[0097] Step A3, Entering the replenishment process: Determine whether both the first and second conveying sensors have received a signal. When the first conveying sensor receives a signal but the second conveying sensor does not, first drive the roller assembly to rotate clockwise so that the second conveying sensor receives a signal, then drive the roller assembly to rotate counterclockwise until the tray reaches the center position. Then drive the second lifter to raise the roller assembly, and then drive the baffle assembly and adjuster to perform telescopic movements, that is, to perform alignment adjustment on the entire stack of trays so that the entire stack of trays remains neat. When the tray on the trolley or AGV automatic guide vehicle blocks the light source of the first conveying sensor, the first conveying sensor receives a signal. As the roller assembly moves over the tray, when the second conveying sensor receives a signal, that is, the tray blocks the light source of the second conveying sensor.

[0098] Step A4: The full-load mechanism drives the gripper to hold the material tray and raises the telescopic gripper holding the material tray to the waiting position. At this position, the material tray is only lifted up, not completely clamped. There is still space for the gripper to grab the material tray from the other two ends.

[0099] Step A5: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, there is a material tray at the waiting position. The material tray blocks the light source of the first gripping component. The clamping component of the translation mechanism is driven to descend and reach the waiting position. Then, the gripper of the translation mechanism is driven to grip the material tray and transport it to the separation mechanism.

[0100] Step A6: The second gripping sensor of the four-axis mechanism receives the sensing signal. When the signal is received, there is a material tray in the separation mechanism. The material tray blocks the light source of the second gripping component. The clamping plate component of the four-axis mechanism descends and reaches the material tray, and then drives the gripper of the four-axis mechanism to grip the material tray and transport it to the temporary storage platform or the empty mechanism.

[0101] Step A7: Obtain the current state of the gripper of the unloaded mechanism. If the gripper of the unloaded mechanism is currently in a state with a material tray, maintain the gripping action and proceed to step A10; if the gripper is currently in a state without a material tray, drive the gripper to open and drive the telescopic gripper to the waiting position.

[0102] Step A8: Confirm whether the conveying component of the empty mechanism is full. The confirmation method can be to place a sensor on the side of the full-load mechanism or to set a sensor on the gripper. If a material tray blocks the sensor, then there is a material tray at present; if the sensor is not blocked, then there is no material tray at present. When the tray is full, send a tray removal signal, which is received by the manual or AGV automatic guide vehicle. When the tray is not full, proceed to step A10.

[0103] Step A9: Enter the tray removal process: Drive the second lifter to lower the roller group, then drive the baffle assembly and adjuster to extend and retract, and then drive the roller group to rotate counterclockwise. That is, without the need for center positioning, a stack of trays can be directly transported to the trolley or AGV automatic guide vehicle.

[0104] When the tray needs to be centered, step A9 can also be: entering the tray removal process: determining whether both the first and second conveying sensors have received a sensing signal; if the second conveying sensor has not received a signal, first driving the roller assembly to rotate clockwise so that the second conveying sensor receives a signal, then driving the roller assembly to rotate counterclockwise; if the second conveying sensor receives a signal but the first conveying sensor has not received a signal, continuing to drive the roller assembly to rotate counterclockwise; if both the first and second conveying sensors have received a signal, driving the roller assembly to rotate clockwise, the tray reaches the centered position, then driving the second lifting device to lower the roller assembly, then driving the baffle assembly and adjuster to extend and retract, then driving the roller to rotate counterclockwise to send out the tray;

[0105] Step A10: The unloaded mechanism drives the gripper to release the material tray, and the material trays are stacked one by one. Then, the gripper with no material tray is driven to rise to the waiting position to continue waiting for the next unloaded material tray.

[0106] Step A5 specifically includes the following steps:

[0107] Step A5-1: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism.

[0108] Step A5-2: The material tray falls onto the support frame of the separation mechanism, and the front roller assembly of the separation mechanism conveys the material to the side of the loading and unloading mechanism.

[0109] Step A5-3: The loading and unloading mechanism confirms whether there is material at the infeed position, which is also confirmed by a sensor. When there is material, the flip bridge assembly drives the material to the middle roller assembly.

[0110] Step A5-4: Before the intermediate roller assembly arrives, the lifting group of the positioning component lifts up to catch the material, and then the lifting group resets to drop the material onto the intermediate roller assembly.

[0111] Step A5-5: The positioning sensor receives the sensing signal. The positioning sensor is located on the intermediate roller assembly. When it receives the signal, it drives the translation group to move the material to the center position of the intermediate roller assembly to perform material positioning.

[0112] Furthermore, when preparing materials, that is, with... Figure 3 The positions of the full-load mechanism and the empty-load mechanism are opposite. The empty-load mechanism is located next to the separation mechanism, and the full-load mechanism is located next to the temporary storage mechanism. The tray in the full-load mechanism contains the finished materials, while the tray in the empty-load mechanism is empty and is used to hold the finished materials. The materials can be PCB circuit boards. The process includes the following steps:

[0113] Step B1: Obtain the current state of the gripper of the unloaded mechanism. The PLC program is set to recognize the current state when the gripper is working in order to prevent the material tray from falling off the gripper. If the gripper of the unloaded mechanism is currently in the state of having a material tray, then maintain the gripping action and proceed to step B4; if the gripper is currently in the state of not having a material tray, then drive the gripper to open and drive the telescopic gripper to the waiting position.

[0114] Step B2: Confirm whether there is a pallet on the conveying component of the empty mechanism. This can be done by placing a sensor on the side of the fully loaded mechanism or by installing a sensor on the gripper. If a pallet blocks the sensor, there is a pallet; if the sensor is not blocked, there is no pallet. When there is no pallet, drive the second lifter to lower the roller assembly, that is, place the roller assembly on the same plane as the trolley or AGV, and send a replenishment signal. The manual or AGV will receive the signal. It is worth noting that in the process of fully automated industrialization, the AGV is preferred. When there is a pallet, proceed to step B4.

[0115] Step B3, Entering the replenishment process: The material tray on the trolley or AGV automatically guides the light source of the first transport sensor, that is, the first transport sensor receives the sensing signal; as the roller group moves the material tray, when the second transport sensor receives the signal, that is, the material tray blocks the light source of the second transport sensor; it is determined whether both the first and second transport sensors receive the sensing signal. When the first transport sensor receives the signal but the second transport sensor does not receive the signal, the roller group is first driven to rotate clockwise so that the second transport sensor receives the signal, and then the roller group is driven to rotate counterclockwise so that the material tray reaches the center position. Then the second lifter is driven to lift the roller group, and then the baffle assembly and adjuster are driven to perform extension and retraction actions, that is, to adjust the entire stack of material trays to keep the entire stack of material trays neat;

[0116] Step B4: The unloaded mechanism drives the gripper to grab the material tray and raises the telescopic gripper with the material tray to the waiting position. At this position, the material tray is only lifted up and not completely clamped. There is still space for the gripper to grab the material tray from the other two ends.

[0117] Step B5: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, there is a material tray at the waiting position. The material tray blocks the light source of the first gripping component. The clamping component of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grip the material tray and transport it to the separation mechanism.

[0118] Step B6: The second gripping sensor of the four-axis mechanism receives a sensing signal. When the signal is received, it means that there is a material tray in the separation mechanism. The material tray blocks the light source of the second gripping component. The clamping component of the four-axis mechanism descends and reaches the material tray of the separation mechanism. Then, the gripper of the four-axis mechanism is driven to grip the material tray and transport it to the temporary storage platform or the full-load mechanism.

[0119] Step B7: Obtain the current state of the gripper of the full-load mechanism. If the gripper of the full-load mechanism is currently in the state of having a material tray, then maintain the gripping action and proceed to step B10; if the gripper is currently in the state of not having a material tray, then drive the gripper to open and drive the telescopic gripper to the waiting position.

[0120] Step B8: Confirm whether the conveying component of the full-load mechanism is full. The confirmation method can be to place a sensor at the bottom of the full-load mechanism or to set a sensor on the gripper. If a material tray blocks the sensor, then there is a material tray at present; if the sensor is not blocked, then there is no material tray at present. When the tray is full, send a tray removal signal, that is, the manual or AGV automatic guide vehicle receives the signal; when the tray is not full, proceed to step B10.

[0121] Step B9, Entering the tray removal process: Drive the second lifter to lower the roller group, that is, set the roller group and the trolley or AGV automatic guide vehicle on the same plane, drive the baffle assembly and adjuster to perform telescopic movement, that is, to adjust the entire stack of trays to keep the entire stack of trays neat, and then drive the rollers to rotate counterclockwise, that is, to send the empty trays out of the roller group.

[0122] When the tray needs to be centered, step B9 can also be: determining whether both the first and second conveying sensors have received a sensing signal; if the second conveying sensor does not receive a signal, first driving the roller assembly to rotate clockwise so that the second conveying sensor receives a signal, then driving the roller assembly to rotate counterclockwise; if the second conveying sensor receives a signal but the first conveying sensor does not receive a signal, continuing to drive the roller assembly to rotate counterclockwise; if both the first and second conveying sensors receive a signal, driving the roller assembly to rotate clockwise, the tray reaches the centered position, then driving the second lifter to lower the roller assembly, then driving the baffle assembly and adjuster to extend and retract, and then driving the roller assembly to rotate counterclockwise.

[0123] Step B10: The full-load mechanism drives the gripper to release the material tray, stacking the material trays one by one, and moving the telescopic gripper without a material tray to the waiting position to continue waiting for the next material tray.

[0124] Furthermore, steps A6 and B6 also include: the barcode scanner scans the material tray; when the scan is successful, the material tray is picked up and transported to the empty or full-load mechanism; when the scan fails, i.e. the QR code is damaged, the material tray is picked up and transported to the temporary storage platform.

[0125] Furthermore, in steps A5, A6, B5, and B6, when the material tray is successfully gripped, the spring rod of the overpressure component rises, the photoelectric sensor senses the spring rod, and determines whether the material tray is gripped normally; when the material tray is not gripped, the photoelectric sensor does not sense the spring rod, and determines that the material tray is not gripped normally, and an alarm is triggered to notify manual intervention.

[0126] Furthermore, steps A4 and A10 also include: the full-load mechanism and the empty-load mechanism entering the detection mode, that is, determining whether the distance of the telescopic gripper to the current position of the tray to be picked up / placed is recorded. If it is not recorded, the telescopic gripper is driven to quickly reach the detection position, and then the telescopic gripper is driven to slowly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position; if it is recorded, the telescopic gripper is driven to quickly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position. This process can ensure that the tray is transported smoothly.

[0127] Furthermore, steps A5 and A6 also include: the translation mechanism and the four-axis mechanism entering the detection mode, that is, determining whether the distance of the gripper to the current position of the tray to be picked up is recorded. If it is not recorded, the gripper is driven to quickly reach the detection position, and then the gripper is driven to slowly reach the current position of the tray to be placed, and the gripper is driven to clamp the tray. If it is recorded, the gripper is driven to quickly reach the current position of the tray to be picked up, and the gripper is driven to clamp the tray directly. This process can ensure that the tray is transported smoothly.

[0128] Furthermore, steps B4 and B11 also include: the full-load mechanism and the empty-load mechanism entering the detection mode, that is, determining whether the distance of the telescopic gripper to the current position of the tray to be picked up / placed is recorded. If not recorded, the telescopic gripper is driven to quickly reach the detection position, and then the telescopic gripper is driven to slowly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / without the tray to the waiting position; if recorded, the telescopic gripper is driven to quickly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / without the tray to the waiting position. This process can ensure that the tray is transported smoothly.

[0129] Furthermore, steps B5 and B6 also include: the translation mechanism and the four-axis mechanism entering the detection mode, that is, determining whether the distance from the gripper to the current position of the tray to be picked up is recorded. If it is not recorded, the gripper is driven to quickly reach the detection position, and then driven to slowly reach the current position of the tray to be placed, and the gripper is driven to clamp the tray. If it is recorded, the gripper is driven to quickly reach the current position of the tray to be picked up, and the gripper is driven to clamp the tray directly. This process can ensure that the tray is transported smoothly.

[0130] The above-described embodiments are merely one implementation of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A control method for a fully automatic board take-up and take-down machine, characterized in that, The fully automatic tray receiving and unloading machine includes an empty tray receiving mechanism, a separation mechanism, a gripping mechanism, a temporary storage platform, and a loading and unloading mechanism. The empty tray receiving mechanism is used to collect trays containing materials and to retrieve empty trays. The empty tray receiving mechanism includes an empty tray mechanism and a full-load mechanism. The separation mechanism is used to separate materials from the trays containing materials, and can also place materials into the trays. The separation mechanism is located on one side of the empty tray receiving mechanism. The gripping mechanism is used to transport trays containing materials from the empty tray receiving mechanism to the separation mechanism and to transport empty trays from the separation mechanism to the empty tray receiving mechanism. The gripping mechanism is located on the sides of the empty tray receiving mechanism and the separation mechanism, and includes a four-axis mechanism and a translation mechanism. The four-axis mechanism is located between the temporary storage platform and the separation mechanism, and the translation mechanism is located on the other side of the separation mechanism. The four-axis mechanism is responsible for gripping the material tray onto the temporary storage platform or the separation mechanism, and the translation mechanism is responsible for gripping the material tray onto the empty mechanism or from the full-load mechanism to the separation mechanism. The four-axis mechanism is equipped with a first gripping sensor, and the translation mechanism is equipped with a second gripping sensor. The temporary storage platform is located on one side of the empty-load receiving mechanism and is used to store material trays that fail the inspection. The loading and unloading mechanism is located on the side of the separation mechanism and transports the material detached from the material tray to the next station or to the empty material tray. When loading, the following steps are included: Step A1: Obtain the current state of the gripper of the full-load mechanism. If the gripper of the full-load mechanism is currently in the state of having a material tray, then maintain the gripping action and proceed to step A4; if the gripper is currently in the state of not having a material tray, then drive the gripper to open and drive the telescopic gripper to the waiting position. Step A2: Confirm whether there is a material tray on the conveying component of the full-load mechanism. If there is no material tray, drive the second lifting device to lower the roller group and send a replenishment signal. If there is a material tray, proceed to step A4. Step A3, Entering the feeding process: Determine whether both the first and second conveying sensors have received the sensing signal. When the first conveying sensor receives the signal but the second conveying sensor does not, first drive the roller assembly to rotate clockwise so that the second conveying sensor receives the signal, then drive the roller assembly to rotate counterclockwise until the material tray reaches the center position. Then drive the second lifter to raise the roller assembly, and then drive the baffle assembly and adjuster to perform telescopic movements. Step A4: The full-load mechanism drives the gripper to hold the material tray and raises the telescopic gripper holding the material tray to the waiting position. Step A5: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism. Step A6: The second gripping sensor of the four-axis mechanism receives the sensing signal. When the signal is received, that is, when there is a material tray in the separation mechanism, the clamping assembly of the four-axis mechanism descends and reaches the separation mechanism, and then drives the gripper of the four-axis mechanism to grip the material tray and transport it to the temporary storage platform or the empty mechanism. Step A7: Obtain the current state of the gripper of the unloaded mechanism. If the gripper of the unloaded mechanism is currently in a state with a material tray, maintain the gripping action and proceed to step A10; if the gripper is currently in a state without a material tray, drive the gripper to open and drive the telescopic gripper to the waiting position. Step A8: Confirm whether the transport component of the empty mechanism is full. If it is full, send a retraction signal; if it is not full, proceed to step A10. Step A9, Entering the plate removal process: Drive the second lifter to lower the roller assembly, then drive the baffle assembly and adjuster to extend and retract, and then drive the roller assembly to rotate counterclockwise; Step A10: The unloaded mechanism drives the gripper to release the material tray, stack the material trays, and then drives the gripper without a material tray to rise to the waiting position.

2. The control method for the fully automatic board take-up and take-down machine according to claim 1, characterized in that, Step A5 includes: Step A5-1: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism. Step A5-2: The material tray falls onto the support frame of the separation mechanism, and the front roller assembly of the separation mechanism conveys the material to the side of the loading and unloading mechanism. Step A5-3: The loading and unloading mechanism confirms whether there is material at the infeed position. When there is material, the flipping bridge assembly drives the material to the middle roller assembly. Step A5-4: Before the intermediate roller assembly arrives, the lifting group of the positioning component lifts up to catch the material, and then the lifting group resets to drop the material onto the intermediate roller assembly. Step A5-5: The positioning sensor receives the sensing signal. When the signal is received, the driving translation group moves the material to the center position of the middle roller assembly to perform material positioning.

3. The control method for the fully automatic board take-up and take-down machine according to claim 1, characterized in that, When cutting materials, the following steps are included: Step B1: Obtain the current state of the gripper of the unloaded mechanism. If the gripper of the unloaded mechanism is currently in a state with a material tray, maintain the gripping action and proceed to step B4; if the gripper is currently in a state without a material tray, drive the gripper to open and drive the telescopic gripper to the waiting position. Step B2: Confirm whether there is a material tray on the conveying component of the unloaded mechanism. If there is no material tray, drive the second lifting device to lower the roller group and send a replenishment signal. If there is a material tray, proceed to step B4. Step B3, Entering the feeding process: Determine whether both the first and second conveying sensors receive the sensing signal. When the first conveying sensor receives the signal but the second conveying sensor does not, first drive the roller assembly to rotate clockwise so that the second conveying sensor receives the signal, then drive the roller assembly to rotate counterclockwise until the material tray reaches the center position. Then drive the second lifter to raise the roller assembly, and then drive the baffle assembly and adjuster to perform telescopic movements. Step B4: The unloaded mechanism drives the gripper to grab the material tray and raises the telescopic gripper with the material tray to the waiting position. Step B5: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism. Step B6: The second gripping sensor of the four-axis mechanism receives the sensing signal. When the signal is received, that is, when there is a material tray in the separation mechanism, the clamping assembly of the four-axis mechanism descends and reaches the material tray of the separation mechanism, and then drives the gripper of the four-axis mechanism to grip the material tray and transport it to the temporary storage platform or the full-load mechanism. Step B7: Obtain the current state of the gripper of the full-load mechanism. If the gripper of the full-load mechanism is currently in the state of having a material tray, then maintain the gripping action and proceed to step B10; if the gripper is currently in the state of not having a material tray, then drive the gripper to open and drive the telescopic gripper to the waiting position. Step B8: Confirm whether the conveying component of the full-load mechanism is full. If it is full, send a retraction signal; if it is not full, proceed to step B10. Step B9, Entering the plate removal process: Drive the second lifter to lower the roller assembly, then drive the baffle assembly and adjuster to extend and retract, and then drive the roller assembly to rotate counterclockwise; Step B10: The full-load mechanism drives the gripper to release the material tray, stack the material trays, and drive the telescopic gripper in the empty material tray state to the waiting position.

4. The control method for the fully automatic board take-up and take-down machine according to claim 3, characterized in that, Step B5 includes: Step B5-1: The first gripping sensor of the translation mechanism receives a sensing signal. When the signal is received, that is, there is a material tray at the waiting position, the clamping assembly of the translation mechanism is driven to descend and reach the waiting position. Then, the gripping clamp of the translation mechanism is driven to grab the material tray and transport it to the separation mechanism. The material tray falls onto the support frame of the separation mechanism. Step B5-2: The loading and unloading mechanism confirms whether there is material at the feeding position. When there is material, the lifting group of the positioning component lifts up to catch the material, and then the lifting group resets to drop the material onto the intermediate roller assembly. Step B5-3: The positioning sensor receives the sensing signal. When the signal is received, the driving translation group moves the material to the center position of the middle roller assembly to perform material positioning. Step B5-4: The loading and unloading mechanism confirms whether there is material at the discharge position. When there is material, the flipping bridge assembly drives the material to the front roller assembly of the separation mechanism.

5. The control method for the fully automatic board take-up and take-down machine according to claim 4, characterized in that, Steps A6 and B6 further include: the barcode scanner scans the material tray; when the scan is successful, the material tray is picked up and transported to the empty or full-load mechanism; when the scan fails, the material tray is picked up and transported to the temporary storage platform.

6. The control method for the fully automatic board take-up and take-down machine according to claim 4, characterized in that, In steps A5, A6, B5, and B6, when the tray is successfully gripped, the spring rod of the overpressure assembly rises, the photoelectric sensor detects the spring rod, and determines whether the tray is gripped normally; when the tray is not gripped, the photoelectric sensor does not detect the spring rod, and determines that the tray is not gripped normally.

7. The control method for the fully automatic board take-up and take-down machine according to claim 1, characterized in that, Steps A4 and A10 further include: the full-load mechanism and the empty-load mechanism entering the detection mode, that is, determining whether the distance of the telescopic gripper to the current position of the tray to be picked up / placed is recorded. If it is not recorded, the telescopic gripper is driven to quickly reach the detection position, and then the telescopic gripper is driven to slowly reach the current position of the tray to be picked up / placed. The gripper is driven to clamp / release the tray, and the telescopic gripper holding the tray / without the tray is raised to the waiting position. If it is recorded, the telescopic gripper is driven to quickly reach the current position of the tray to be picked up / placed. The gripper is driven to clamp / release the tray, and the telescopic gripper holding the tray / without the tray is raised to the waiting position.

8. The control method for the fully automatic board take-up and take-down machine according to claim 1, characterized in that, Steps A5 and A6 further include: the translation mechanism and the four-axis mechanism entering the detection mode, that is, determining whether the distance of the gripper to the current position of the tray to be picked up is recorded. If it is not recorded, the gripper is driven to quickly reach the detection position, and then the gripper is driven to slowly reach the current position of the tray to be placed, and the gripper is driven to clamp the tray. If it is recorded, the gripper is driven to quickly reach the current position of the tray to be picked up, and the gripper is driven to clamp the tray directly.

9. The control method for the fully automatic board take-up and take-down machine according to claim 3, characterized in that, Steps B4 and B11 further include: the full-load mechanism and the empty-load mechanism entering the detection mode, that is, determining whether the distance of the telescopic gripper to the current position of the tray to be picked up / placed is recorded. If it is not recorded, the telescopic gripper is driven to quickly reach the detection position, and then the telescopic gripper is driven to slowly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position; if it is recorded, the telescopic gripper is driven to quickly reach the current position of the tray to be picked up / placed, and the gripper is driven to clamp / release the tray, raising the telescopic gripper holding the tray / no tray to the waiting position.

10. The control method for the fully automatic take-up and take-down board machine according to claim 3, characterized in that, Steps B5 and B6 further include: the translation mechanism and the four-axis mechanism entering the detection mode, that is, determining whether the distance of the gripper to the current position of the tray to be picked up is recorded. If it is not recorded, the gripper is driven to quickly reach the detection position, and then the gripper is driven to slowly reach the current position of the tray to be placed, and the gripper is driven to clamp the tray. If it is recorded, the gripper is driven to quickly reach the current position of the tray to be picked up, and the gripper is driven to clamp the tray directly.

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