Feeding and discharging device

Abstract

The invention discloses a feeding and discharging device which comprises a feeding platform and a plurality of grabbing units, the feeding platform is arranged on a platform mounting frame in a liftable mode through a lifting mechanism, and each grabbing unit is connected with the feeding platform through an adjustable grabbing mounting base. The grabbing unit comprises a base plate, a cover plate located below the base plate and fixedly connected with the base plate, supporting blocks arranged on the cover plate in pairs and a clamping jaw assembly, the lower surfaces of the supporting blocks are lower than the lower surface of the cover plate, and the clamping jaw assembly comprises two clamping jaws capable of moving oppositely or oppositely. And the epoxy feeding assemblies comprise a plurality of epoxy containing barrels arranged at intervals in the first direction, and the positions of the epoxy containing barrels and the feeding platform can be adjusted through containing barrel mounting bases. The position of the sheet can be calibrated before the sheet on the conveying line is grabbed, and offset of the sheet on the conveying line is compensated.

Description

Technical Field

[0001] This invention relates to the field of semiconductor component packaging equipment, and more particularly to a loading and unloading device. Background Technology

[0002] In the semiconductor packaging process, wafers are transported to the picking station by a conveyor line, where a gripping mechanism picks them up and moves them to a designated location. The gripping mechanism uses claws to hold the wafer and a cover plate to press it down. However, the wafer's position may shift while being transported on the conveyor line. Existing gripping mechanisms cannot adjust the wafer's position on the conveyor line, and the cover plate pressing down on the wafer causes deformation, hindering subsequent processing. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the present invention aims to provide a loading and unloading device that can calibrate the position of the sheet before gripping it on the conveyor line and compensate for the offset of the sheet on the conveyor line.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is: a loading and unloading device, comprising a loading platform, wherein the loading platform is vertically and flexibly mounted on a platform mounting frame via a lifting mechanism.

[0005] Multiple gripping units are provided, each of which is connected to the feeding platform via an adjustable gripping mounting base. Each gripping unit includes a base plate, a cover plate located below and fixedly connected to the base plate, a pair of support blocks disposed on the cover plate, and a gripper assembly. The lower surface of the support block is lower than the lower surface of the cover plate. The gripper assembly includes two grippers that can move relative to or away from each other. When the two grippers move relative to each other, they can push the sheet on the conveyor line to shift to correct its position and clamp the sheet between the grippers and the cover plate. Multiple epoxy feeding assemblies, each comprising a plurality of epoxy placement cylinders spaced apart along a first direction, wherein each epoxy placement cylinder is connected to the feeding platform in an adjustable position via a placement cylinder mounting seat.

[0006] Furthermore, the support block includes a support portion disposed on the outside of the cover plate, the lower surface of the support portion being lower than the lower surface of the cover plate. When the support portion abuts against the conveyor line, a cavity for adjusting the position of the sheet is formed between the cover plate, the support block, and the conveyor line.

[0007] Furthermore, two pairs of support blocks are provided, located on both sides of the cover plate along its length; multiple sets of gripper assemblies are provided along the length of the substrate. The addition of support blocks prevents the gripper assemblies from being pressed down by the cover plate when gripping the sheet; the sheet can still move and its position can be corrected by the gripper assemblies. After the gripper assemblies grip the sheet, the cover plate can limit the height of the sheet and flatten the sheet on the gripper assemblies.

[0008] Furthermore, the gripper includes an L-shaped connecting portion and a gripping portion. The gripping portion is horizontally positioned and includes a bearing surface. The bearing surface is located below the lower surface of the cover plate and above the lower surface of the support block. A clearance groove is provided on the conveyor line to allow space for the gripping portion. The distance between the bearing surface and the lower surface of the cover plate is greater than the thickness of the sheet. The edge of the sheet rests on the bearing surface and is confined between the lower surface of the cover plate and the bearing surface.

[0009] Furthermore, the lifting mechanism includes a pair of drive motors respectively vertically mounted at opposite ends of the loading platform and lifting screws respectively vertically mounted at opposite ends of the platform mounting frame. One end of the lifting screw is threaded into the screw mounting seat on the platform mounting frame, and the other end is connected to the loading platform through a lifting connecting plate. The drive end of the drive motor is connected to the lifting screw through a transmission part.

[0010] Furthermore, the lifting mechanism also includes a guide assembly, which comprises guide rods and bushings vertically arranged on both sides of the lifting screw. One end of each guide rod is located inside the bushing, and the other end is fixedly connected to the lifting connecting plate. A spring is fitted onto the portion of the guide rod located between the bushing and the lifting connecting plate. The guide rods provide guidance for the lifting of the loading platform, making the lifting of the platform more stable. The springs cushion the downward movement of the lifting connecting plate, preventing it from colliding with or damaging the sheet material due to excessive descent speed.

[0011] Furthermore, the gripping mounting base includes a first mounting base and a second mounting base arranged in a cross shape. The second mounting base is horizontally arranged through the first mounting base. At least one waist-shaped hole is opened at each of the opposite ends of the first and second mounting bases along the X-axis and Y-axis, respectively, to adjust the position of the gripping unit relative to the loading platform in the X-axis and Y-axis directions.

[0012] Furthermore, each of the gripping units is equipped with an epoxy feeding assembly on its side. The placement cylinder mounting base includes a mounting base plate arranged along the X-axis and an adjusting top plate arranged above and parallel to the mounting base plate. The mounting base plate has several oblong holes parallel to the Y-axis along its length. Each epoxy placement cylinder has a through groove for the adjusting top plate to pass through laterally. At least one oblong hole parallel to the length of the adjusting top plate is opened at each opposite end of the epoxy placement cylinder along the X-axis. This allows for position adjustment of a single epoxy placement cylinder relative to the feeding platform in the X and Y-axis directions, ensuring more precise positioning of the epoxy placement cylinder.

[0013] Furthermore, the gripper assembly also includes a cylinder corresponding to each gripper. The cylinder is located inside the base plate, and the piston of the cylinder is fixedly connected to the gripper and used to drive the corresponding gripper to move.

[0014] Furthermore, the substrate is provided with an air passage, which includes a branch air passage that is connected to each of the cylinders and a main air passage formed by the sum of all the branch air passages. The main air passage is connected to an air supply pipe.

[0015] One air tube supplies air to the air passage, which means it supplies air to all the cylinders. When the cylinders are supplied with air, the piston extends, driving the grippers away from the substrate. At this time, the paired grippers move away from each other. When the air tube is cut off, the piston rod of the cylinder automatically returns to its original position, causing the grippers to move closer to the substrate. At this time, the paired grippers move closer to each other.

[0016] The beneficial effects of this invention are: 1. In this invention, the substrate, cover plate, support block, and gripper assembly cooperate with each other. After the support block and the conveyor line come into contact, there is still a gap between the cover plate and the sheet, that is, the cover plate is not pressed tightly on the sheet. The support block is located outside the cover plate and does not come into contact with the sheet. It only limits the position of the cover plate. At this time, the sheet is not pressed tightly and can still move. When the two grippers move relative to each other, they can push the sheet that has shifted in the cavity and correct the position of the sheet. After the substrate moves up and grips the sheet, the sheet has been adjusted to the correct position and will not shift. The position of the sheet can be calibrated before gripping the sheet on the conveyor line to compensate for the shift of the sheet on the conveyor line. 2. In this invention, the lifting screw is linked to the drive motor through the transmission part, which converts the rotational motion of the lifting screw into linear motion that can drive the loading platform to move up and down; the drive motor has good synchronization and can realize synchronous lifting of all parts of the loading platform, ensuring that the lifting of both ends of the lifting platform is always consistent. 3. In this application, by opening oblong holes with different directions on mounting base one, mounting base two, mounting base plate and epoxy placement cylinder, the position of gripping unit and epoxy placement cylinder relative to the loading platform in the X and Y axis directions can be adjusted. Attached Figure Description

[0017] Figure 1 This is an axonometric view of the overall structure of an embodiment of the present invention; Figure 2 This is an axonometric view of the overall structure of an embodiment of the present invention from another perspective; Figure 3 This is a top view of the overall structure of an embodiment of the present invention; Figure 4 for Figure 3 A magnified structural diagram of A in the middle; Figure 5 This is an isometric view of the overall structure of a lifting drive mechanism according to an embodiment of the present invention; Figure 6 This is a schematic cross-sectional view of the gripping unit structure according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the overall structure of the grasping unit according to an embodiment of the present invention; Figure 8 for Figure 7 A magnified structural diagram of B in the diagram; In the diagram: 1. Feeding platform; 2. Platform mounting frame; 3. Lifting mechanism; 31. Drive motor; 32. Lifting screw; 33. Screw mounting seat; 34. Lifting connecting plate; 35. Guide rod; 36. Spring; 37. Bushing; 38. Transmission unit; 381. Transmission belt; 4. Gripping unit; 41. Base plate; 42. Cover plate; 421. Lower surface of cover plate; 43. Support block; 431. Support part; 432. Support 44. Lower surface of the part; 44. Gripper assembly; 441. Gripper; 442. Connecting part; 443. Gripping part; 4431. Bearing surface; 5. Gripping mounting base; 51. Mounting base one; 52. Mounting base two; 6. Waist-shaped hole; 7. Epoxy feeding assembly; 71. Epoxy placement cylinder; 72. Placement cylinder mounting base; 721. Mounting base plate; 722. Adjusting top plate; 8. Cylinder; 9. Air passage; 10. Rotary lifting assembly. Detailed Implementation

[0018] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0019] See appendix Figures 1 to 8 As shown, a loading and unloading device in this embodiment includes a loading platform 1. The loading platform 1 is elliptical and equidistantly mounted on a platform mounting frame 2 via a lifting mechanism 3. The lifting mechanism 3 enables the overall lifting and lowering of the loading platform 1, facilitating the adjustment of its relative distance to subsequent processing stations in the vertical direction. Multiple gripping units 4 are provided, each of which is connected to the feeding platform 1 via an adjustable gripping mounting base 5. Each gripping unit 4 includes a base plate 41, a cover plate located below and fixedly connected to the base plate 41, a pair of support blocks 43 arranged on the cover plate, and a gripper assembly 44. The sheet is gripped between the cover plate and the gripper assembly 44. After the gripping unit grips the sheet, the cover plate can flatten the sheet.

[0020] The lower surface of the support block 43 is lower than the lower surface of the cover plate. When the substrate 41 moves down, the support block 43 first comes into contact with the upper surface of the conveyor belt support, so that the cover plate will not press directly down on the sheet, and a cavity for adjusting the position of the sheet is formed between the cover plate, the support block 43 and the conveyor belt.

[0021] The gripper assembly 44 includes two grippers that can move relative to or away from each other. When the two grippers move relative to each other, they can push the sheet on the conveyor line to shift to correct its position and clamp the sheet between the grippers and the cover plate. The grippers grab the sheet on the conveyor line and calibrate the position of the sheet to compensate for the offset of the sheet on the conveyor line, so as to ensure that the sheet is accurately aligned when it is conveyed to the next processing station.

[0022] Multiple epoxy feeding assemblies 7 are provided, each comprising a plurality of epoxy placement cylinders 71 spaced apart along a first direction. Each epoxy placement cylinder 71 is arbitrarily connected to the feeding platform 1 via a placement cylinder mounting base 72. This addresses the problem of difficulty in reordering the epoxy placement cylinders 71 due to mold thermal expansion when transferring them to the next station, ensuring the positional accuracy of the epoxy placement cylinders 71.

[0023] The first direction is parallel to the length direction of the substrate 41.

[0024] The support block 43 includes a support portion 431 disposed on the outside of the cover plate. The lower surface 432 of the support portion 431 is lower than the lower surface 421 of the cover plate. When the support portion abuts against the conveyor line, a cavity for adjusting the position of the sheet is formed between the cover plate, the support block 43 and the conveyor line.

[0025] When the substrate 41 moves downward, the cover plate, support block 43, and gripper assembly 44 move downward simultaneously. After the support block 43 comes into contact with the conveyor line, there is still a gap between the cover plate and the sheet, meaning the cover plate is not pressed firmly onto the sheet. The support block 43 is located outside the cover plate and does not come into contact with the sheet; it merely limits the position of the cover plate. At this time, the sheet is not pressed firmly and can still move. When the two grippers move relative to each other, they can push the offset sheet in the cavity and correct the position of the sheet. After the substrate 41 moves upward and grips the sheet, the sheet has been adjusted to the correct position and will not shift.

[0026] Two pairs of support blocks 43 are provided, with the two pairs of support blocks 43 located on both sides of the cover plate along its length; multiple sets of gripper assemblies 44 are provided along the length of the substrate 41. The addition of support blocks 43 prevents the gripper assemblies 44 from being pressed down by the cover plate 42 when gripping the sheet; the sheet can still move and its position can be corrected by the gripper assemblies 44. After the gripper assemblies 44 grip the sheet, the cover plate can limit the height of the sheet and flatten the sheet on the gripper assemblies 44.

[0027] The gripper 441 includes an L-shaped connecting portion 442 and a gripping portion 443. The gripping portion 443 is horizontally arranged and includes a bearing surface 4431. The bearing surface 4431 is located below the lower surface 421 of the cover plate and above the lower surface of the support block 43. A clearance groove is provided on the conveyor line to allow space for the gripping portion 443. The distance between the bearing surface 4431 and the lower surface 421 of the cover plate is greater than the thickness of the sheet. The edge of the sheet is supported on the bearing surface 4431 and is confined between the lower surface 421 of the cover plate and the bearing surface 4431.

[0028] The connecting part 442 is connected to the cylinder 8, and the vertical connecting part 442 can push the sheet material that is displaced in the cavity to guide the sheet material.

[0029] The bearing surface 4431 is lower than the sheet on the conveyor line, allowing it to be inserted below the sheet to grip it. The bearing surface 4431 is located above the lower surface of the support block 43, and a clearance groove is provided on the conveyor line to allow the gripping part 443 to move. The gripper moves from the clearance groove through the edge of the conveyor line to the position of the sheet.

[0030] The lifting mechanism 3 includes a pair of drive motors 31 that are vertically mounted on the loading platform 1 at opposite ends, and lifting screws 32 that are vertically mounted on the platform mounting frame 2 at opposite ends. One end of the lifting screw 32 is threaded into the screw mounting seat 33 on the platform mounting frame 2, and the other end is connected to the loading platform 1 through the lifting connecting plate 34. The driving end of the drive motor 31 is connected to the lifting screw 32 through the transmission part 38.

[0031] In the prior art, cylinder 8 is usually set to directly drive the lifting and lowering of the loading platform 1. However, the synchronicity of the lifting and lowering of cylinder 8 is poor. During use, the loading platform 1 will tilt to one side. This will cause the guide rod 35 on the platform mounting frame 2 to be prone to wear due to stress, which will affect its service life.

[0032] In this application, the lifting screw 32 is linked with the drive motor 31 through the transmission part 38, which converts the rotational motion of the lifting screw 32 into linear motion that can drive the loading platform 1 to move up and down; and the drive motor 31 has good synchronization, and its paired configuration can synchronously drive the opposite ends of the loading platform 1 to move up or down, thereby realizing synchronous lifting of all parts of the loading platform 1 and ensuring that the lifting of the two ends of the lifting platform is always consistent.

[0033] In some embodiments, the top end of the lifting screw 32 is connected to the lifting connecting plate 34 bearing. The lifting screw 32 and the drive motor 31 are located on the same side, which facilitates the connection between the two through the transmission part 38. At the same time, it can also reduce the space occupied by the lifting screw 32 and the drive motor 31 on the platform mounting frame 2 and the loading platform 1.

[0034] Specifically, the transmission unit 38 includes a drive wheel fixedly connected to the drive end of the drive motor 31, a driven wheel fixedly connected to the lifting screw 32, and a transmission belt 381 surrounding the drive wheel and the driven wheel. The drive end of the drive motor 31 drives the drive wheel to rotate, and the drive wheel drives the driven wheel to rotate through the transmission belt 381. The driven wheel is fixed on the lifting screw 32, so it can drive the lifting screw 32 to rotate and rise within the screw fixing seat. One end of the lifting screw 32 is connected to the loading platform 1 through the lifting connecting plate 34, which can drive the loading platform 1 to move upward.

[0035] The lifting mechanism 3 also includes a guide assembly, which includes guide rods 35 and bushings 37 arranged vertically on both sides of the lifting screw 32. One end of the guide rod 35 is located inside the bushing 37, and the other end is fixedly connected to the lifting connecting plate 34. A spring 36 is sleeved on the portion of the guide rod 35 located between the bushing 37 and the lifting connecting plate 34. The guide rods 35 provide guidance for the lifting of the loading platform 1, making the lifting of the loading platform 1 more stable. The spring 36 buffers the downward movement of the lifting connecting plate 34, preventing it from colliding with or damaging the sheet material due to excessive descent speed.

[0036] In some embodiments, the lifting connecting plate 34 includes an L-shaped connecting horizontal plate and a connecting vertical plate. The tops of the guide rod 35 and the lifting screw 32 are both connected to the connecting horizontal plate, and the side of the connecting vertical plate away from the connecting horizontal plate is connected to the feeding platform 1.

[0037] The gripping mounting base 5 includes a first mounting base 51 and a second mounting base 52 arranged in a cross shape. The second mounting base 52 is horizontally arranged through the first mounting base 51. At least one waist-shaped hole 6 is opened at the opposite ends of the first mounting base 51 and the second mounting base 52 along the X-axis and Y-axis, respectively, to adjust the position of the gripping unit 4 relative to the loading platform 1 in the X-axis and Y-axis directions.

[0038] In some embodiments, see Appendix Figure 1Multiple gripping units 4 are arrayed on the loading platform 1. The two ends of the mounting base 2 52 in the length direction are fixedly connected to the corresponding threaded holes on the loading platform 1 by adjusting screws passing through the waist-shaped holes 6 on its upper part. The waist-shaped holes 6 on the mounting base 2 52 are opened along the Y-axis direction indicated in the attached figure, so that the position of the mounting base 2 52 relative to the loading platform 1 is adjustable in the Y-axis direction. The gripping unit 4 is connected to the upper surface of the mounting base 51 via the rotary lifting assembly 10. The mounting base 51 is fixedly connected to the corresponding threaded hole on the mounting base 52 via an adjusting screw passing through its oblong hole 6. The oblong hole 6 of the mounting base 51 is set along the X-axis direction as shown in the attached drawings, allowing the position of the mounting base 51 relative to the mounting base 52 to be adjusted along the X-axis. This means that the position of a single gripping unit 4 relative to the feeding platform 1 can be adjusted in both the X and Y axes, thereby allowing the gripping unit 4 to grip the sheet more accurately.

[0039] Each gripping unit 4 has an epoxy feeding assembly 7 on its side. The placement cylinder mounting base 72 includes a mounting base plate 721 arranged along the X-axis and an adjusting top plate 722 arranged above and parallel to the mounting base plate 721. The mounting base plate 721 has several waist-shaped holes 6 parallel to the Y-axis along its length. Each epoxy placement cylinder 71 has a through groove for the adjusting top plate 722 to pass through laterally. At least one waist-shaped hole 6 parallel to the length of the adjusting top plate 722 is opened at each opposite end of the epoxy placement cylinder 71 along the X-axis. This allows for position adjustment of a single epoxy placement cylinder 71 relative to the feeding platform 1 in the X and Y-axis directions, ensuring more precise positioning of the epoxy placement cylinder 71.

[0040] The mounting base plate 721 is connected to the corresponding threaded hole on the loading platform 1 via a locking member passing through its upper waist-shaped hole 6, so as to adjust the position of the multiple epoxy placement cylinders 71 fixed on the mounting base plate 721 relative to the loading platform 1 in the Y-axis direction; each epoxy placement cylinder 71 is connected to the corresponding threaded hole on the mounting base plate 721 via a locking member passing through its upper waist-shaped hole 6, so that the position of a single epoxy placement cylinder 71 relative to the loading platform 1 in the X-axis direction can be adjusted individually.

[0041] The adjusting top plate 722 is fixedly connected to the feeding platform 1 through the support base and passes through the through groove on each epoxy placement cylinder 71 to prevent the epoxy placement cylinder 71 from rotating circumferentially.

[0042] The gripper assembly 44 also includes a cylinder 8 corresponding to each of the grippers 441. The cylinder 8 is located inside the base plate 41. The piston of the cylinder 8 is fixedly connected to the gripper and is used to drive the corresponding gripper to move.

[0043] An air passage 9 is provided on the substrate 41. The air passage 9 includes a branch air passage that is connected to each of the cylinders 8 and a main air passage formed by the sum of all the branch air passages. The main air passage is connected to an air supply pipe.

[0044] One air pipe supplies air to the air passage 9, which in turn supplies air to all cylinders 8. When air is supplied to cylinder 8, the piston extends, driving the grippers away from the base plate 41. At this time, the paired grippers move away from each other. When the air supply is cut off, the piston rod of cylinder 8 automatically resets, driving the grippers closer to the base plate 41. At this time, the paired grippers move closer to each other.

[0045] The air tube passes upward through the rotary lifting assembly 10 and connects to an external air supply unit. It should be noted that the structure of the rotary lifting assembly 10 is not limited, as long as it is a known mechanical structure that can drive the gripping unit 4 to move up and down or rotate by an angle.

[0046] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A loading and unloading device, characterized in that: include A loading platform, wherein the loading platform is mounted on a platform mounting frame in a height-adjustable manner via a lifting mechanism; Multiple gripping units are provided, each of which is connected to the feeding platform via an adjustable gripping mounting base. Each gripping unit includes a base plate, a cover plate located below and fixedly connected to the base plate, a pair of support blocks disposed on the cover plate, and a gripper assembly. The lower surface of the support block is lower than the lower surface of the cover plate. The gripper assembly includes two grippers that can move relative to or away from each other. When the two grippers move relative to each other, they can push the sheet on the conveyor line to shift to correct its position and clamp the sheet between the grippers and the cover plate. Multiple epoxy feeding assemblies, each comprising a plurality of epoxy placement cylinders spaced apart along a first direction, wherein each epoxy placement cylinder is connected to the feeding platform in an adjustable position via a placement cylinder mounting seat.

2. The loading and unloading device according to claim 1, characterized in that: The support block includes a support portion disposed on the outside of the cover plate. The lower surface of the support portion is lower than the lower surface of the cover plate. When the support portion abuts against the conveyor line, a cavity for adjusting the position of the sheet is formed between the cover plate, the support block and the conveyor line.

3. The loading and unloading device according to claim 1, characterized in that: The support blocks are provided in two pairs, and the two pairs of support blocks are located on both sides of the cover plate along the length direction; the gripper assembly is provided in multiple sets along the length direction of the substrate.

4. The loading and unloading device according to claim 1, characterized in that: The gripper includes an L-shaped connecting part and a gripping part. The gripping part is horizontally arranged and includes a bearing surface. The bearing surface is located below the lower surface of the cover plate and above the lower surface of the support block. The conveyor line is provided with a clearance groove to make way for the gripping part.

5. The loading and unloading device according to claim 1, characterized in that: The lifting mechanism includes a pair of drive motors vertically mounted at opposite ends of the loading platform and lifting screws vertically mounted at opposite ends of the platform mounting frame. One end of the lifting screw is threaded into a screw mounting seat on the platform mounting frame, and the other end is connected to the loading platform through a lifting connecting plate. The drive end of the drive motor is connected to the lifting screw through a transmission part.

6. The loading and unloading device according to claim 5, characterized in that: The lifting mechanism also includes a guide assembly, which includes guide rods and bushings that are vertically arranged on both sides of the lifting screw. One end of the guide rod is located inside the bushing, and the other end is fixedly connected to the lifting connecting plate. A spring is sleeved on the part of the guide rod located between the bushing and the lifting connecting plate.

7. The loading and unloading device according to claim 1, characterized in that: The gripping mounting base includes a first mounting base and a second mounting base arranged in a cross shape. The second mounting base is horizontally arranged through the first mounting base. At least one waist-shaped hole is opened at each of the opposite ends of the first and second mounting bases along the X-axis and Y-axis, respectively, to adjust the position of the gripping unit relative to the loading platform in the X-axis and Y-axis directions.

8. The loading and unloading device according to claim 1, characterized in that: Each gripping unit is provided with an epoxy feeding assembly on its side. The placement cylinder mounting base includes a mounting base plate arranged along the X-axis and an adjusting top plate arranged above and parallel to the mounting base plate. The mounting base plate has a plurality of waist-shaped holes parallel to the Y-axis along its length. Each epoxy placement cylinder has a through groove for the adjusting top plate to pass through laterally. At least one waist-shaped hole parallel to the length direction of the adjusting top plate is respectively opened at opposite ends of the epoxy placement cylinder along the X-axis.

9. The loading and unloading device according to claim 1, characterized in that: The gripper assembly also includes a cylinder corresponding to each gripper. The cylinder is located inside the base plate, and the piston of the cylinder is fixedly connected to the gripper and used to drive the corresponding gripper to move.

10. A loading and unloading device according to claim 9, characterized in that: The base plate has an air passage, which includes a branch air passage that is connected to each of the cylinders and a main air passage formed by the sum of all the branch air passages. The main air passage is connected to an air supply pipe.

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