Sheet body inserting and taking device

Abstract

The invention discloses a sheet inserting and taking device, which is used for inserting a sheet into a material frame or taking the sheet out of the material frame, and comprises a first track, a second track and a third track, the first clamping jaw is in sliding connection with the first rail, and the first clamping jaw is connected with a driving device; the guide mechanism is arranged on at least one side of the first clamping jaw in the moving direction and comprises a guide clamping jaw, a first air cylinder connected with the guide clamping jaw and a second air cylinder connected with the first air cylinder, the first air cylinder can drive the guide clamping jaw to move in the first direction, and the second air cylinder can drive the guide clamping jaw to move in the second direction. The second air cylinder can drive the first air cylinder to move in the second direction, the first air cylinder drives the guide clamping jaw to move to the position of a piece body to be guided, the guide clamping jaw clamps the piece body, and the second air cylinder moves the piece body to a preset position to be clamped by the first clamping jaw. The device is provided with a guide mechanism, so that friction between the sheet body and the material frame can be avoided.

Description

Technical Field

[0001] The invention relates to the technical field of PCB board processing, in particular to a sheet inserting and removing device. Background Art

[0002] With the continuous innovation of manufacturing technology, the requirements for equipment automation in PCB manufacturing process are getting higher and higher, and at the same time, the requirements for the stability of equipment in the manufacturing process are higher. During the production process of PCB boards, PCB boards are usually inserted into the material frame for storage, which is convenient for unified handling during subsequent processing. At the same time, PCB boards are stored separately in the card slots of the material frame to avoid mutual friction that causes damage to the appearance of the PCB boards. When the PCB boards need to be used or further processed, they will be taken out of the material frame.

[0003] In the prior art, PCB boards are generally inserted into the material frame manually or by a chip insertion machine. When the PCB board needs to be used or further processed, it is taken out of the material frame manually or by a chip removal device. Manual insertion has the problems of low efficiency and high cost. However, if automated production is desired, both a chip insertion machine and a chip removal device need to be purchased at the same time, which undoubtedly increases the cost required for production. Moreover, the working methods of existing chip insertion machines and chip removal devices are mostly simple plug-in and pull-out. If there is an inclination between the PCB board and the card slot of the material frame during the plug-in and pull-out process, the PCB board is easily worn by the material frame. Summary of the invention

[0004] In order to overcome the defects in the prior art, the present invention provides a sheet insertion device, which is provided with a guiding mechanism, which can adjust the relative position between the sheet and the material frame slot and limit the displacement direction of the sheet, thereby ensuring that there is no friction between the sheet and the material frame.

[0005] To achieve the above object, the technical solution adopted by the present invention is: a sheet inserting and removing device, used to insert a sheet into a material frame or remove a sheet from a material frame, comprising:

[0006] Track 1;

[0007] a first clamping jaw, the first clamping jaw being slidably connected to the first track, the first clamping jaw being connected to a driving device;

[0008] A guiding mechanism, wherein the guiding mechanism is arranged on at least one side of the moving direction of the first clamp, and the guiding mechanism includes a guiding clamp, a first cylinder connected to the guiding clamp, the first cylinder can drive the guiding clamp to move in the first direction, and a second cylinder connected to the first cylinder, the second cylinder can drive the first cylinder to move in the second direction. The first cylinder drives the guiding clamp to move to the sheet to be guided, the guiding clamp holds the sheet, and the second cylinder moves the sheet to a preset position for the first clamp to clamp.

[0009] Furthermore, the guiding mechanism also includes a first guide member, which is connected to the first cylinder, and the first guide member and the guiding clamp are arranged in parallel, and the first guide member is arranged on the side of the guiding clamp facing the first clamp, when the first clamp clamps the sheet body and moves, the first cylinder drives the first guide member to approach the sheet body, so that the displacement direction of the sheet body is limited by the first guide member.

[0010] When taking out the sheet, the sheet is adjusted to a preset position by the guide clamping jaws so that the sheet is parallel to the side wall forming the slot, and the driving device drives the first clamping jaw to move toward the material frame along the first track to clamp the sheet, and the driving device drives the first clamping jaw to move away from the material frame along the first track to take the sheet out of the material frame. During the process of taking out the sheet, the first cylinder drives the first guide member to approach the sheet to limit the moving direction of the sheet to always remain parallel to the side wall forming the slot;

[0011] When inserting the sheet, the driving device drives the first clamping claw holding the sheet to move along the first track toward the slot of the material frame, and at the same time, the clamping claw close to the sheet is used to limit the moving direction of the sheet to always remain parallel to the side wall forming the slot;

[0012] With the above solution, no matter taking out or inserting the sheet, it can be ensured that the sheet always remains parallel to the side wall forming the slot, thus avoiding friction between the sheet and the material frame, thereby preventing the appearance of the sheet from being worn.

[0013] The above-mentioned sheet inserting and removing device can realize both sheet inserting and sheet removing, and saves the cost of purchasing equipment for manufacturers while realizing production automation.

[0014] Furthermore, it also includes a guiding mechanism, which is connected to the first track and is arranged on the side of the guiding mechanism facing the first clamp. The guiding mechanism includes a second guide member and a third cylinder connected to the second guide member, and the third cylinder is used to drive the second guide member to move in the second direction, thereby adjusting the moving direction of the sheet.

[0015] Further, the first guide member and the second guide member each include a first guide wheel and a second guide wheel, and when the first clamping jaw clamps the sheet body and moves, the sheet body is located between the first guide wheel and the second guide wheel. When the first clamping jaw clamps the sheet body and moves, the first guide wheel and the second guide wheel rotate as the sheet body moves.

[0016] Furthermore, the guiding mechanism is connected to a second clamp, and the second clamp is arranged on the side of the guiding mechanism facing the first clamp. The second clamp is connected to a fourth cylinder. When the sheet insertion device needs to grasp and fix the sheet, the fourth cylinder drives the second clamp to approach the sheet, and the second clamp clamps the sheet.

[0017] When taking out a sheet, after the first clamping jaw completely takes out the sheet from the slot of the material frame, the fourth cylinder drives the second clamping jaw to approach the sheet, and the second clamping jaw clamps the sheet;

[0018] When inserting the sheet, the second clamping jaw keeps clamping the sheet during the process of the sheet inserting device transporting the sheet to the material frame, and the second clamping jaw releases the sheet when the driving device drives the first clamping jaw to insert the sheet into the material frame.

[0019] Furthermore, the first clamp and the second clamp are provided with photoelectric detection devices, which are used to detect whether there is a sheet body or the position of the sheet body at the first clamp and the second clamp. The photoelectric detection devices are used to improve the accuracy of the first clamp and the second clamp.

[0020] Furthermore, the first connecting rod is provided with a mechanical arm connecting position for connecting an external mechanical arm to control the movement of the sheet inserting and removing device.

[0021] Furthermore, the sheet inserting and removing device comprises at least two first clamping jaws arranged in parallel;

[0022] The guiding mechanism comprises at least two guiding jaws, and the guiding jaws are arranged on both sides of the sheet body along the first direction;

[0023] The guiding mechanism is connected with at least two second clamping jaws, and the second clamping jaws are located on both sides of the sheet along the first direction.

[0024] Clamping claws are arranged on opposite sides of the sheet body to ensure stability during clamping.

[0025] Furthermore, the guiding mechanism includes at least two of the first guiding members, and the first guiding members are arranged on both sides of the sheet body along the first direction;

[0026] The guide mechanism comprises at least two second guide members, and the second guide members are arranged on both sides of the sheet along the first direction.

[0027] Furthermore, the first clamping jaw, the guiding clamping jaw and the second clamping jaw are all driven by a clamping jaw cylinder, and the first clamping jaw, the guiding clamping jaw and the second clamping jaw are all made of polyetheretherketone material to prevent the clamping jaws from scratching the sheet.

[0028] Furthermore, the first guide wheel and the second guide wheel both use rubber-coated bearings. When limiting the displacement direction of the sheet body, there is no static friction between the sheet body and the first guide wheel and the second guide wheel, thereby preventing the guide wheels from scratching the sheet body.

[0029] By means of the above technical solution, the beneficial effects of the present invention are as follows:

[0030] 1. In the present application, a guiding mechanism and a first clamping claw are arranged on the first track. When taking out a sheet, the relative position between the sheet body and the slot of the material frame is adjusted by the guiding clamping claw so that the sheet body is parallel to the side wall forming the slot. The driving device drives the first clamping claw to move toward the material frame along the first track to clamp the sheet body in place. The driving device drives the first clamping claw to move away from the material frame along the first track to take the sheet body out of the material frame. During the sheet taking process, the first cylinder drives the first guide member to approach the sheet body to limit the moving direction of the sheet body to always remain parallel to the side wall forming the slot. When inserting a sheet, the driving device drives the first clamping claw holding the sheet body to move toward the slot of the material frame along the first track, and at the same time, the first cylinder drives the first guide member to approach the sheet body to limit the moving direction of the sheet body to always remain parallel to the side wall forming the slot. Through the above scheme, whether taking out a sheet or inserting a sheet, it can be ensured that the sheet body always remains parallel to the side wall forming the slot, avoiding friction between the sheet body and the material frame, thereby avoiding wear on the appearance of the sheet body.

[0031] 2. The present application provides a second guide member on the side of the guiding mechanism facing the first clamping jaw. During the process of taking out or inserting the sheet, if the holding force of the first clamping jaw is insufficient, the sheet may be offset. Therefore, a second guide member is provided to avoid the occurrence of offset.

[0032] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 1 is a schematic diagram of the overall structure of the sheet inserting and removing device according to an embodiment of the present invention;

[0035] Figure 2 is a schematic structural diagram of a first clamping jaw in an embodiment of the present invention;

[0036] Figure 3 is a schematic structural diagram of a second guide member in an embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of a sheet inserting and removing device and a material docking frame in an embodiment of the present invention.

[0038] The figure marks of the above drawings are: 1. linear module; 2. first clamping mechanism; 21. sliding member; 22. connecting plate; 23. first clamping jaw; 31. first connecting rod; 32. second cylinder; 33. first cylinder; 34. guiding jaw; 35. first guide member; 4. second clamping mechanism; 41. fourth cylinder; 42. second clamping jaw; 5. guiding mechanism; 51. second connecting rod; 52. third cylinder; 53. second guide member; 6. sheet body. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and to distinguish similar objects. There is no order of precedence between the two, and they cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0041] Example: Combination Figure 1-4 As shown, this embodiment discloses a sheet inserting and removing device, which is used to insert a sheet into a material frame or remove a sheet from a material frame, including:

[0042] The first track is a linear module 1, which is an automation upgrade unit following the linear guide, linear motion module, and ball screw linear transmission mechanism. The linear and curved motion of the load can be realized by the combination of various units, making the automation of light load more flexible and the positioning more precise. A mechanical arm mounting position is provided on the linear module 1, and the sheet body 6 insertion and extraction device is connected to the mechanical arm through the mechanical arm mounting position, so that the sheet body 6 insertion and extraction device is moved by the mechanical arm.

[0043] The linear module 1 is slidably connected to a first clamping mechanism 2 via a slider 21. The slider 21 is connected to the driving part of the linear module 1, and the slider 21 is connected to a connecting plate 22, and the connecting plate 22 is perpendicular to the linear module 1. A first clamping jaw 23 is respectively provided at both ends of the connecting plate 22, and the first clamping jaw 23 is a pneumatic clamping jaw. The first clamping jaw 23 is used to clamp the sheet 6, and the two first clamping jaws 23 are driven to reciprocate along the extension direction of the linear module 1 through the linear module 1, thereby realizing the functions of inserting and taking the sheet.

[0044] Optionally, the connecting plate 22 may be a telescopic plate, so that the distance between the two first clamping jaws 23 can be adjusted according to the sheet bodies 6 of different sizes.

[0045] Optionally, a detection photoelectric device may be provided at the first clamping jaw 23 , and the detection photoelectric device can detect whether there is a sheet 6 at the first clamping jaw 23 , that is, the position of the sheet 6 , so as to improve the clamping accuracy of the first clamping jaw 23 .

[0046] The linear module 1 is connected to a guiding mechanism via a first connecting rod 31. The first connecting rod 31 is fixedly connected to one end of the linear module 1, and the first connecting rod 31 is perpendicular to the linear module 1. The two ends of the first connecting rod 31 are respectively connected to second cylinders 32, the driving end of the second cylinder 32 is connected to the first cylinder 33, and the driving end of the first cylinder 33 is connected to a guiding jaw 34, and the guiding jaw 34 is a pneumatic jaw. The two guiding jaws 34 are arranged opposite to each other. Among them, the first cylinder 33 is used to drive the guiding jaw 34 to move in the first direction, such as Figure 1 As shown, the first direction is the width direction of the sheet, that is, the first cylinder 33 is used to drive the guiding clamp 34 to move toward or away from the side of the sheet 6. The second cylinder 32 is used to drive the guiding clamp 34 to move in the second direction, such as Figure 1 As shown, the second direction is perpendicular to the sheet 6, that is, the second cylinder 32 is used to adjust the sheet to a preset position for the first clamping claw to clamp. It should be noted that the sheet at the preset position is parallel to the side wall forming the slot.

[0047] The driving end of the first cylinder 33 is also connected to a first guide member 35 . The first guide member 35 and the guiding clamp 34 are arranged in parallel, and the first guide member 35 moves synchronously with the guiding clamp 34 .

[0048] Optionally, a detection photoelectric device may be provided at the guiding clamp 34 , and the detection photoelectric device can detect whether there is a sheet body 6 or the position of the sheet body 6 at the guiding clamp 34 , so as to improve the clamping accuracy of the guiding clamp 34 .

[0049] When the sheet body 6 insertion and extraction device is used to extract the sheet body, the guiding mechanism is aligned with the slot of the material frame. When extracting the sheet body, the second cylinder 32 and the first cylinder 33 cooperate to drive the two guiding clamps 34 to hold the sheet body 6 from the opposite sides of the sheet body 6. Then, the relative position between the sheet body 6 and the slot of the material frame is adjusted by the driving of the second cylinder 32 and the first cylinder 33, so that the sheet body 6 remains parallel to the side wall forming the slot. The linear module 1 drives the first clamp 23 to move toward the material frame to clamp the sheet body 6. The linear module 1 drives the first clamp 23 to move away from the material frame to remove the sheet body 6 from the material frame. In the process of extracting the sheet body, the first cylinder 33 drives the first guide 35 to approach the sheet body 6 to limit the moving direction of the sheet body 6 to always remain parallel to the side wall forming the slot.

[0050] When the sheet 6 insertion device is used to insert the sheet, the sheet 6 insertion device clamps the sheet 6 from the production line, and the robot arm controls the sheet 6 insertion device to move the guide mechanism to face the slot of the material frame. The linear module 1 drives the first clamping claw 23 holding the sheet 6 to move toward the slot of the material frame, and the first cylinder 33 drives the first guide member 35 to approach the sheet 6 to limit the moving direction of the sheet 6 to always remain parallel to the side wall forming the slot.

[0051] Through the above solution, whether taking out or inserting the sheet, it can be ensured that the sheet body 6 always remains parallel to the side wall forming the slot, avoiding friction between the sheet body 6 and the material frame, thereby preventing the appearance of the sheet body 6 from being worn.

[0052] In the present application, the first connecting rod 31 is also connected to a second clamping mechanism, and the second clamping mechanism 4 is located on the side of the guiding mechanism facing the first clamping mechanism 2. The second clamping mechanism includes a fourth cylinder 41 fixedly connected to both ends of the first connecting rod 31, and a second clamping jaw 42 connected to the driving end of the fourth cylinder 41, and the second clamping jaw 42 is a pneumatic clamping jaw. The two second clamping jaws 42 are arranged opposite to each other, and the fourth cylinder 41 can drive the second clamping jaw 42 away from or close to the side of the sheet body 6.

[0053] When taking out the sheet, after the first clamp 23 completely takes the sheet 6 out of the slot of the material frame, the fourth cylinder 41 drives the second clamp 42 to approach the sheet 6, and the second clamp 42 clamps the sheet 6. After taking out the sheet, the robotic arm drives the sheet insertion device to move to the next working position. During this process, the first clamp 23 and the second clamp 42 both maintain the clamping action to prevent swinging and deviation during the movement of the robotic arm.

[0054] When inserting the sheet, the sheet 6 insertion device clamps the sheet 6 from the production line. At this time, the second clamp 42 and the first clamp 23 clamp the sheet 6 at the same time. When the linear module 1 drives the first clamp 23 to insert the sheet 6 into the material frame, the second clamp 42 releases the sheet 6.

[0055] Optionally, a detection photoelectric device may be provided at the second clamping jaw 42 , and the detection photoelectric device can detect whether there is a sheet 6 at the second clamping jaw 42 , that is, the position of the sheet 6 , so as to improve the clamping accuracy of the second clamping jaw 42 .

[0056] The linear module 1 is also connected to a guide mechanism 5 via a second connecting rod 51. The guide mechanism 5 is located on the side of the second clamping mechanism facing the first clamping mechanism 2. The second connecting rod 51 is perpendicular to the linear module 1, and the two ends of the second connecting rod 51 are respectively connected to a third cylinder 52, and the driving end of the third cylinder 52 is connected to a second guide member 53, and the third cylinder 52 is used to adjust the position of the second guide member 53, thereby adjusting the moving direction of the sheet 6. In the process of taking or inserting a sheet, if the first clamping jaw 23 does not have enough holding force, the sheet 6 may be offset, so a second guide member 53 is provided to avoid the occurrence of offset.

[0057] The first guide member 35 and the second guide member 53 respectively include a first guide wheel and a second guide wheel. When the first clamping jaw clamps the sheet 6 and moves, the sheet 6 is located between the first guide wheel and the second guide wheel. The first guide wheel and the second guide wheel both use rubber-coated bearings. When limiting the displacement direction of the sheet 6, the first guide wheel and the second guide wheel rotate with the movement of the sheet 6, so that there is no static friction between the sheet 6 and the first guide wheel and the second guide wheel, thereby preventing the guide wheels from scratching the sheet 6.

[0058] Optionally, the first guide wheel and the second guide wheel are driven to rotate by a motor, and the rotation speed of the first guide wheel and the second guide wheel is equivalent to the speed at which the first clamping jaw 23 clamps the sheet body 6 and moves.

[0059] Optionally, the first clamping jaw 23, the guiding clamping jaw 34 and the second clamping jaw 42 in the present application are all made of polyetheretherketone. Polyetheretherketone is a special engineering plastic with excellent properties such as high temperature resistance, self-lubrication, easy processing and high mechanical strength. Using polyetheretherketone to make the clamping jaw can prevent the clamping jaw from scratching the sheet body 6.

[0060] When the sheet inserting and taking device is used to take the sheet: the mechanical arm drives the sheet inserting and taking device to move to make the guiding mechanism dock with the slot outlet of the material frame, detect the position of the sheet by photoelectric recognition, the first cylinder 32 and the second cylinder 33 cooperate to drive the guiding jaw 34 to clamp the sheet, and the second cylinder 33 acts to adjust the sheet to be parallel to the side wall forming the slot. It should be noted that at this time, the first guide wheel and the second guide wheel of the first guide member 35 also clamp the sheet 6 to achieve the guiding function. The linear module 1 drives the first jaw 23 to clamp the sheet 6, and the guiding jaw 34 releases the sheet 6. The linear module 1 drives the first jaw 23 clamping the sheet to move in the direction away from the guiding mechanism. During the movement, the sheet 6 will pass between the first guide wheel and the second guide wheel of the second guide member 53 until the sheet 6 is completely taken out of the material frame, the linear module 1 stops, the fourth cylinder 41 drives the second jaw 42 to clamp the sheet 6, and the mechanical arm drives the sheet inserting and taking device to move to the next processing position.

[0061] When the sheet body insertion device is used to insert the sheet: the sheet body insertion device clamps the sheet body 6 on the production line. At this time, the first clamp 23 and the second clamp 42 both clamp the sheet body 6, and the first guide wheel and the second guide wheel of the first guide member 35 and the second guide member 53 also clamp the sheet body 6. The robot arm drives the sheet body insertion device to move so that the guide mechanism docks with the slot outlet of the material frame. The second clamp 42 releases the sheet body 6, and the linear module 1 drives the first clamp 23 to move toward the material frame to insert the sheet body into the slot, and the first clamp 23 releases. It should be noted that during the sheet insertion process, the first guide member 35 and the second guide member 53 act as two fulcrums to limit the movement trajectory of the sheet body 6 to prevent the sheet body from tilting the side plate.

[0062] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A sheet inserting and removing device, used for inserting a sheet into a material frame or removing a sheet from a material frame, characterized in that: include: Track 1; a first clamping jaw, the first clamping jaw being slidably connected to the first track, the first clamping jaw being connected to a driving device; A guiding mechanism, wherein the guiding mechanism is arranged on at least one side of the moving direction of the first clamp, and the guiding mechanism includes a guiding clamp, a first cylinder connected to the guiding clamp, the first cylinder can drive the guiding clamp to move in the first direction, and a second cylinder connected to the first cylinder, the second cylinder can drive the first cylinder to move in the second direction. The first cylinder drives the guiding clamp to move to the sheet to be guided, the guiding clamp holds the sheet, and the second cylinder moves the sheet to a preset position for the first clamp to clamp.

2. The sheet inserting and removing device according to claim 1, characterized in that: The guiding mechanism also includes a first guide member, which is connected to the first cylinder. The first guide member and the guiding clamp are arranged in parallel, and the first guide member is arranged on the side of the guiding clamp facing the first clamp. When the first clamp clamps the sheet and moves, the first cylinder drives the first guide member to approach the sheet, so that the displacement direction of the sheet is limited by the first guide member.

3. The sheet inserting and removing device according to claim 1, characterized in that: It also includes a guiding mechanism, which is connected to the first track and is arranged on the side of the guiding mechanism facing the first clamp. The guiding mechanism includes a second guide member and a third cylinder connected to the second guide member, and the third cylinder is used to drive the second guide member to move in the second direction.

4. The sheet inserting and removing device according to claim 3, characterized in that: The first guide member and the second guide member both include a first guide wheel and a second guide wheel. When the first clamping jaw clamps the sheet body and moves, the sheet body is located between the first guide wheel and the second guide wheel.

5. The sheet inserting and removing device according to claim 1 or 2, characterized in that: The guiding mechanism is connected to a second clamp, and the second clamp is arranged on the side of the guiding mechanism facing the first clamp. The second clamp is connected to a fourth cylinder. When the sheet insertion device needs to grasp and fix the sheet, the fourth cylinder drives the second clamp to approach the sheet, and the second clamp clamps the sheet.

6. The sheet inserting and removing device according to claim 5, characterized in that: The sheet inserting and removing device comprises at least two first clamping jaws arranged in parallel; The guiding mechanism comprises at least two guiding jaws, and the guiding jaws are arranged on both sides of the sheet body along the first direction; The guiding mechanism is connected with at least two second clamping jaws, and the second clamping jaws are located on both sides of the sheet along the first direction.

7. The sheet inserting and removing device according to claim 2, characterized in that: The guiding mechanism comprises at least two first guide members, and the first guide members are arranged on both sides of the sheet body along the first direction; The guide mechanism comprises at least two second guide members, and the second guide members are arranged on both sides of the sheet along the first direction.

8. The sheet inserting and removing device according to claim 5, characterized in that: The first clamp and the second clamp are provided with detection photoelectric devices, and the detection photoelectric devices are used to detect whether there is a sheet body at the first clamp and the second clamp, that is, the position of the sheet body; The sheet inserting and taking device is provided with a mechanical arm connection position for connecting an external mechanical arm, and the mechanical arm is used to control the movement of the sheet inserting and taking device.

9. The sheet inserting and removing device according to claim 2, characterized in that: The first clamping jaw, the guiding clamping jaw and the second clamping jaw are all driven by a clamping jaw cylinder, and the first clamping jaw, the guiding clamping jaw and the second clamping jaw are all made of polyetheretherketone material.

10. The sheet inserting and removing device according to claim 3, characterized in that: The first guide wheel and the second guide wheel both adopt rubber-coated bearings. When limiting the displacement direction of the sheet body, there is no static friction between the sheet body and the first guide wheel and the second guide wheel.

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