Plate planting and disassembling all-in-one machine

Abstract

The invention relates to the technical field of FPC board processing equipment, and discloses a board planting and disassembling all-in-one machine which comprises a rack, and a carrier track, an empty blister box bin, a full blister box bin, a blister box carrying manipulator mechanism and a double-four-axis manipulator assembly are arranged in the rack; the empty blister box stock bin and the full blister box stock bin are symmetrically arranged on the front face of the machine frame, and the blister box carrying mechanical arm mechanism is arranged between the two stock bins and used for carrying blister boxes in a cross-bin mode. The empty blister box stock bin and the full blister box stock bin are each provided with a lifting mechanism used for lifting and bearing stacked blister boxes. A steel sheet stock bin is fixedly mounted in the rack; the double-four-axis mechanical arm assembly comprises a front mechanical arm assembly and a rear mechanical arm assembly, the front mechanical arm assembly is used for taking, placing and implanting a PCB, and the rear mechanical arm assembly is used for taking, placing and implanting a steel sheet.

Description

Technical Field

[0001] This invention relates to the field of FPC board processing equipment technology, specifically to an integrated board planting and delamination machine. Background Technology

[0002] In the production and processing of FPC and PCB boards, board mounting (precisely assembling PCB boards, steel sheets and carriers) and board disassembly are key processes that directly affect the assembly accuracy and production efficiency of the products.

[0003] In the existing technology, the board installation and removal operation has the following defects: most equipment relies on manual assistance to complete the positioning of the carrier, material transfer and product picking and placing, which is labor-intensive, has low operation efficiency, and manual operation is prone to positioning deviation, affecting the product qualification rate. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an integrated board planting and dismantling machine, which solves the problems of most equipment relying on manual assistance to complete carrier positioning, material transfer and product picking and placing, resulting in high labor intensity, low work efficiency, and easy positioning deviation due to manual operation, affecting the product qualification rate.

[0005] This invention provides the following technical solution: a board planting and delamination integrated machine, including a frame, wherein the frame is internally provided with a carrier track, an empty blister box hopper, a full blister box hopper, a blister box handling robot mechanism, and a dual four-axis robot assembly; The empty blister box hopper and the full blister box hopper are symmetrically arranged on the front of the frame, and the blister box handling robot is located between the two hoppers for cross-hopper handling of blister boxes. Both the empty blister box hopper and the full blister box hopper are equipped with lifting mechanisms for lifting and supporting stacked blister boxes. A steel sheet hopper is fixedly installed inside the frame; The dual four-axis robotic arm assembly includes a front robotic arm assembly and a rear robotic arm assembly. The front robotic arm assembly is used for picking up, placing, and implanting PCB boards, and the rear robotic arm assembly is used for picking up, placing, and implanting steel sheets. The vehicle track is an automatic pitch-adjustable track with vehicle positioning, side clamping, and lifting functions. The vehicle track adopts an automatic pitch-adjustable structure driven by a ball screw, and the track width is adjusted by a servo motor. The vehicle track is equipped with a cylinder-driven blocking block and a side clamping device. After the vehicle flows in, the blocking block rises and positions itself, the side clamping device clamps the vehicle from both sides, and the lifting mechanism lifts the vehicle.

[0006] Preferred technical solution 1: The dual four-axis manipulator assembly includes two first lead screws rotatably mounted inside the frame. Each of the two first lead screws has a first lead screw sleeve threaded onto its surface. A mounting plate is fixedly connected between the two first lead screw sleeves. A second lead screw is rotatably mounted on the upper surface of the mounting plate. A second lead screw sleeve is threaded onto the surface of the second lead screw sleeve. A support frame is fixedly mounted on the upper surface of the second lead screw sleeve. Third lead screws are rotatably mounted on both sides of the support frame. Each of the two third lead screws has a third lead screw sleeve threaded onto its surface. A mounting box is fixedly connected to the surface of each of the two third lead screw sleeves. The front manipulator assembly and the rear manipulator assembly are respectively mounted on the two mounting boxes.

[0007] This solution enables the robotic arm to move precisely in multiple dimensions, improving positioning accuracy.

[0008] Preferred technical solution 2: The front robotic arm assembly and the rear robotic arm assembly have the same structure and both include an adsorption plate. The two adsorption plates are rotatably installed below the two mounting boxes. A first vacuum suction cup is provided below each of the two adsorption plates. A rotating motor is fixedly installed inside each of the two mounting boxes. The output ends of the two rotating motors pass through the mounting boxes and are fixedly connected to the corresponding adsorption plates.

[0009] This solution enables stable adsorption and is suitable for multi-angle pick-and-place operations.

[0010] Preferred technical solution three: The dual four-axis manipulator assembly further includes two first slide rails with fixed mounting rods inside the frame. A first slider is slidably mounted on each of the two first slide rails. Both first sliders are fixedly connected to the mounting plate. Two second slide rails are fixedly mounted on the upper surface of the mounting plate. A second slider is slidably mounted on each of the two second slide rails. Both second sliders are fixedly connected to the support frame. A set of third slide rails is fixedly mounted on both sides of the support frame. A third slider is slidably mounted on each of the third slide rails. Each set of third sliders is fixedly connected to the corresponding mounting box.

[0011] This solution can provide guidance and limit, prevent movement deviation, and enhance stability.

[0012] Preferred technical solution four: Two first motors are fixedly connected inside the frame, and the output ends of the two first motors are fixedly connected to the two first lead screws respectively. A second motor is fixedly connected to the upper surface of the mounting plate, and the output end of the second motor is fixedly connected to the second lead screw. Two third motors are fixedly installed on the support frame, and the two third motors are driven by the two third lead screws through chains and sprockets. The two third motors provide power for the rotation of the two third lead screws.

[0013] This solution can provide reliable power output.

[0014] Preferred technical solution 5: An upper-mounted follower camera is fixedly installed on the side of the support frame, and two lower-mounted cameras are fixedly installed inside the frame. The two lower-mounted cameras are located on both sides of the vehicle track. The upper-mounted follower camera is model MV-CE200-10GMG, and the two lower-mounted cameras are model MV-CS050-10GM.

[0015] This solution can accurately identify and locate, ensuring assembly precision and information traceability.

[0016] Preferred technical solution six: The lifting mechanism includes fixed plates fixedly installed on the back of the empty blister box hopper and the full blister box hopper. A fourth lead screw is rotatably installed on the lower surface of each of the two fixed plates. A fourth lead screw sleeve is threaded onto the surface of each of the two fourth lead screws. A connecting frame is fixedly sleeved onto the surface of each of the two fourth lead screw sleeves. Each of the two connecting frames extends to the front of the corresponding hopper and is fixedly connected to a set of bearing plates. A set of movable grooves is opened on the surface of both the empty blister box hopper and the full blister box hopper. The connecting frame can move inside the corresponding movable groove. A fourth motor is fixedly connected to the upper surface of each of the two fixed plates. The output ends of the two fourth motors are respectively driven by chains and sprockets to the corresponding fourth lead screws. A set of limiting rods is fixedly installed on the lower surface of each of the two fixed plates. A limiting sleeve is slidably sleeved onto the surface of each limiting rod. The two sets of limiting sleeves are fixedly connected to the two connecting frames respectively.

[0017] This solution enables the materials in the silo to rise and fall smoothly and accurately, preventing tilting and deviation.

[0018] Preferred technical solution seven: The blister box handling robot mechanism includes a long plate fixedly installed inside the frame. A drive sprocket is rotatably installed on the upper surface of one end of the long plate, and a driven sprocket is rotatably installed on the upper surface of the other end of the long plate. A transmission chain is connected between the drive sprocket and the driven sprocket. A connecting seat is fixedly installed on the surface of the transmission chain. A support seat is fixedly installed on the upper surface of the connecting seat. A first cylinder is fixedly installed on the support seat. A crossbeam is fixedly installed at the output end of the first cylinder. Two cross plates are fixedly installed on the lower surface of the crossbeam. A second cylinder is fixedly installed at both ends of the two cross plates. A short plate is fixedly installed at the output end of each second cylinder. A set of second vacuum suction cups is installed on the surface of each short plate.

[0019] This solution is compatible with different blister packs and is stable and reliable during handling.

[0020] Preferred technical solution eight: A fifth motor is fixedly installed on the upper surface of the long plate, the output end of the fifth motor is fixedly connected to the drive sprocket, a fourth slide rail is fixedly connected to the upper surface of the long plate, a fourth slider is slidably installed on the fourth slide rail, and the fourth slider is fixedly connected to the support base.

[0021] This solution ensures stable operation, precise movement trajectory, and improved handling efficiency.

[0022] Preferred technical solution nine: The front and back of the frame are provided with protective doors, the two sides of the frame are provided with vehicle entrances and exits, the front of the frame is provided with a control computer, and the top of the frame is provided with a three-color alarm light.

[0023] This solution is user-friendly and easy to operate and monitor.

[0024] Compared with the prior art, the present invention provides an integrated plate planting and demounting machine, which has the following beneficial effects: This integrated board planting and dismantling machine achieves fully automated operation of the board planting and dismantling process through automatic positioning of the carrier track, precise picking and placing of dual four-axis robotic arms, cross-warehouse handling of blister box handling robotic arms, and automatic feeding of the lifting mechanism. It requires no manual intervention, greatly improves work efficiency, and reduces labor intensity.

[0025] This integrated PCB insertion and removal machine features dual four-axis robotic arms employing a transmission structure with multi-screw and slide rails. Combined with visual positioning from an upper-mounted follow camera and a lower-mounted camera, it achieves high motion and positioning accuracy, ensuring precise insertion of the PCB board and steel sheet, and improving product yield. This integrated plate planting and delamination machine uses a design where each transmission mechanism is coordinated with a lead screw, sprocket, chain, and slide rail to provide precise guidance for movement and prevent deviation; the vacuum suction cup provides stable adsorption, ensuring that materials will not fall during loading and unloading, and guaranteeing continuous operation. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the front structure of the present invention; Figure 2 This is a schematic diagram of the rear structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of the frame of the present invention; Figure 4 This is a schematic diagram of the internal structure of the frame of the present invention; Figure 5 This is a schematic diagram of the dual four-axis robotic arm assembly structure of the present invention; Figure 6 This is a schematic diagram of the dual four-axis robotic arm assembly structure of the present invention; Figure 7This is a schematic diagram of the front and rear robotic arm components of the present invention; Figure 8 This is a schematic diagram of the blister box handling robot mechanism of the present invention; Figure 9 This is a schematic diagram of the blister box handling robot mechanism of the present invention; Figure 10 This is a schematic diagram of the empty blister pack hopper and the full blister pack hopper of the present invention; Figure 11 This is a schematic diagram of the lifting mechanism and hopper structure of the present invention; Figure 12 This is a schematic diagram of the vehicle track structure of the present invention; Figure 13 This is a schematic diagram of the lower-mounted camera structure of the present invention; Figure 14 This is a flowchart of the process of the present invention.

[0027] In the diagram: 1. Frame; 2. Carrier track; 3. Empty blister box hopper; 4. Full blister box hopper; 5. Blister box handling robot mechanism; 6. Dual four-axis robot assembly; 7. Front robot assembly; 8. Rear robot assembly; 9. Steel sheet hopper; 10. First lead screw; 11. First lead screw sleeve; 12. Mounting plate; 13. Second lead screw; 14. Second lead screw sleeve; 15. Support frame; 16. Mounting box; 17. Adsorption plate; 18. First vacuum suction cup; 19. Rotary motor; 20. First slide rail; 21. First slider; 22. Second slide rail; 23. Second slider; 24. Third slide rail; 25. Third slider; 26. First motor; 27. Second motor 28. Third motor; 29. ​​Upper-mounted follower camera; 30. Lower-mounted camera; 31. Fixing plate; 32. Fourth lead screw; 33. Fourth lead screw sleeve; 34. Connecting frame; 35. Bearing plate; 36. Fourth motor; 37. Limiting rod; 38. Limiting sleeve; 39. Long plate; 40. Drive sprocket; 41. Driven sprocket; 42. Transmission chain; 43. Connecting seat; 44. Support seat; 45. First cylinder; 46. Cross frame; 47. Cross plate; 48. Second cylinder; 49. Short plate; 50. Second vacuum suction cup; 51. Fifth motor; 52. Fourth slide rail; 53. Fourth slider; 54. Protective door; 55. Third lead screw; 56. Third lead screw sleeve. Detailed Implementation

[0028] Please see Figure 1-13 , Example 1: A board planting and delamination integrated machine includes a frame 1, and the inside of the frame 1 is provided with a carrier track 2, an empty blister box hopper 3, a full blister box hopper 4, a blister box handling robot mechanism 5, and a dual four-axis robot assembly 6; Empty blister box hopper 3 and full blister box hopper 4 are symmetrically arranged on the front of the frame 1. The blister box handling robot arm mechanism 5 is located between the two hoppers and is used for cross-hopper handling of blister boxes. Both the empty blister box hopper 3 and the full blister box hopper 4 are equipped with lifting mechanisms for lifting and supporting stacked blister boxes. A steel sheet hopper 9 is fixedly installed inside the frame 1; The dual four-axis robotic arm assembly 6 includes a front robotic arm assembly 7 and a rear robotic arm assembly 8. The front robotic arm assembly 7 is used for picking up and placing PCB boards and implanting them, while the rear robotic arm assembly 8 is used for picking up and placing steel sheets and implanting them. The vehicle track 2 is an automatic variable pitch and width adjustment track with vehicle positioning blocking, side clamping and lifting functions. The vehicle track 2 adopts an automatic variable pitch and width adjustment structure driven by ball screws. The track width is adjusted by servo motor. The vehicle track 2 is equipped with cylinder-driven blocking blocks and side clamping devices. After the vehicle flows in, the blocking blocks rise and position, the side clamping devices clamp the vehicle from both sides, and the lifting mechanism lifts the vehicle.

[0029] Example 2: The difference between this example and Example 1 is that the dual four-axis manipulator assembly 6 includes two first lead screws 10 rotatably mounted inside the frame 1. Each of the two first lead screws 10 has a first lead screw sleeve 11 threaded onto its surface. A mounting plate 12 is fixedly connected between the two first lead screw sleeves 11. A second lead screw 13 is rotatably mounted on the upper surface of the mounting plate 12. A second lead screw sleeve 14 is threaded onto the surface of the second lead screw 13. A support frame 15 is fixedly mounted on the upper surface of the second lead screw sleeve 14. Third lead screws 55 are rotatably mounted on both sides of the support frame 15. A third lead screw sleeve 56 is threaded onto the surface of each of the two third lead screw sleeves 55. A mounting box 16 is fixedly connected to the surface of each of the two third lead screw sleeves 56. The front manipulator assembly 7 and the rear manipulator assembly 8 are respectively mounted on the two mounting boxes 16.

[0030] Example 3: The difference between this example and Example 1 is that the front robotic arm assembly 7 and the rear robotic arm assembly 8 have the same structure and both include an adsorption plate 17. The two adsorption plates 17 are rotatably installed below the two mounting boxes 16. A first vacuum suction cup 18 is provided below each of the two adsorption plates 17. A rotating motor 19 is fixedly installed inside each of the two mounting boxes 16. The output ends of the two rotating motors 19 pass through the connected mounting boxes 16 and are fixedly connected to the corresponding adsorption plates 17.

[0031] Example 4: The difference between this example and Example 1 is that the dual four-axis manipulator assembly 6 further includes two first slide rails 20 with fixed mounting rods inside the frame 1. Each of the two first slide rails 20 has a first slider 21 slidably mounted on it. Both first sliders 21 are fixedly connected to the mounting plate 12. Two second slide rails 22 are fixedly mounted on the upper surface of the mounting plate 12. Each of the two second slide rails 22 has a second slider 23 slidably mounted on it. Both second sliders 23 are fixedly connected to the support frame 15. A set of third slide rails 24 are fixedly mounted on both sides of the support frame 15. Each third slide rail 24 has a third slider 25 slidably mounted on it. Each set of third sliders 25 is fixedly connected to the corresponding mounting box 16.

[0032] Example 5: The difference between this example and Example 1 is that, in this example, two first motors 26 are fixedly connected inside the frame 1, and the output ends of the two first motors 26 are fixedly connected to the two first lead screws 10 respectively. A second motor 27 is fixedly connected to the upper surface of the mounting plate 12, and the output end of the second motor 27 is fixedly connected to the second lead screw 13. Two third motors 28 are fixedly installed on the support frame 15. The two third motors 28 are driven by the two third lead screws 55 through chains and sprockets. The two third motors 28 provide power for the rotation of the two third lead screws 55.

[0033] Example 6: The difference between this example and Example 1 is that an upper-mounted follower camera 29 is fixedly installed on the side of the support frame 15, and two lower-mounted cameras 30 are fixedly installed inside the frame 1. The two lower-mounted cameras 30 are located on both sides of the vehicle track 2. The upper-mounted follower camera 29 is model MV-CE200-10GMG, and the two lower-mounted cameras 30 are model MV-CS050-10GM.

[0034] Example 7: The difference between this example and Example 1 is that the lifting mechanism includes fixed plates 31 fixedly installed on the back of the empty blister box hopper 3 and the full blister box hopper 4. A fourth lead screw 32 is rotatably mounted on the lower surface of both fixed plates 31. A fourth lead screw sleeve 33 is threaded onto the surface of each of the two fourth lead screws 32. A connecting frame 34 is fixedly sleeved onto the surface of each of the two fourth lead screw sleeves 33. Both connecting frames 34 extend to the front of the corresponding hopper and are fixedly connected to a set of bearing plates 35. The empty blister box hopper 3... The surface of the blister box hopper 4 is provided with a set of movable slots, and the connecting frame 34 can move inside the corresponding movable slots. The upper surfaces of the two fixed plates 31 are fixedly connected with a fourth motor 36. The output ends of the two fourth motors 36 are respectively driven by the corresponding fourth lead screws 32 through chains and sprockets. The lower surfaces of the two fixed plates 31 are fixedly installed with a set of limiting rods 37. Each limiting rod 37 is slidably fitted with a limiting sleeve 38. The two sets of limiting sleeves 38 are fixedly connected to the two connecting frames 34 respectively.

[0035] Example 8: The difference between this example and Example 1 is that the blister box handling robot mechanism 5 includes a long plate 39 fixedly installed inside the frame 1. A drive sprocket 40 is rotatably installed on the upper surface of one end of the long plate 39, and a driven sprocket 41 is rotatably installed on the upper surface of the other end of the long plate 39. A transmission chain 42 is connected between the drive sprocket 40 and the driven sprocket 41. A connecting seat 43 is fixedly installed on the surface of the transmission chain 42. A support seat 44 is fixedly installed on the upper surface of the connecting seat 43. A first cylinder 45 is fixedly installed on the support seat 44. A crossbeam 46 is fixedly installed at the output end of the first cylinder 45. Two cross plates 47 are fixedly installed on the lower surface of the crossbeam 46. A second cylinder 48 is fixedly installed at both ends of the two cross plates 47. A short plate 49 is fixedly installed at the output end of each second cylinder 48. A set of second vacuum suction cups 50 is installed on the surface of each short plate 49.

[0036] Example 9: The difference between this example and Example 1 is that a fifth motor 51 is fixedly installed on the upper surface of the long plate 39, the output end of the fifth motor 51 is fixedly connected to the drive sprocket 40, a fourth slide rail 52 is fixedly connected to the upper surface of the long plate 39, a fourth slider 53 is slidably installed on the fourth slide rail 52, and the fourth slider 53 is fixedly connected to the support base 44.

[0037] Example 10: The difference between this example and Example 1 is that the frame 1 has protective doors 54 on both the front and back, vehicle entrances and exits on both sides, a control computer on the front, and a three-color alarm light on the top.

[0038] In summary, the control method and detailed connection means of this integrated board planting and removal machine are well-known technologies in the field. Those skilled in the art can connect all electrical components and their compatible power supplies through wires, and should select a suitable controller according to the actual situation to meet the control requirements. The detailed connection means and control scheme are well-known technologies in the field. The following mainly introduces the working principle and process, and will not explain the electrical control. During operation, the carrier enters the carrier track 2 through the carrier inlet / outlet on the side of the frame 1. The track's blocking block rises, the side clamping device clamps the carrier, and the lifting mechanism lifts the carrier to complete positioning. The first vacuum suction cup 18 of the front robotic arm assembly 7 adsorbs the PCB board in the material picking area, and the coarse positioning structure in the material picking area assists in positioning. The front robotic arm assembly 7 carries the PCB board to the lower camera 30 to capture the PCB board's mark point, while the upper follow camera 29 captures the carrier's mark point. The system performs secondary calibration. The front robotic arm assembly 7 accurately implants the PCB board into the carrier according to the calibration parameters. The first vacuum suction cup 18 of the rear robotic arm assembly 8 adsorbs the steel sheet in the steel sheet hopper 9, and the rotating motor 19 adjusts the angle of the adsorption plate 17 as needed. The rear robotic arm assembly 8 moves to another lower camera 30, which captures the steel sheet's mark point. The system calculates the calibration parameters. The rear robotic arm assembly 8 adjusts its posture according to the calibration parameters and accurately implants the steel sheet into the carrier. The upper follow camera 29 scans the carrier, steel sheet, and PCB board respectively. The system scans the QR code on the board and uploads the information to the control computer for storage. The system verifies whether the board is qualified. If it is qualified, it proceeds to the next step. If it is unqualified, it triggers a three-color alarm light and emits a red fault signal. The lifting mechanism resets, the side clamping device is released, the blocking block is lowered, and the carrier flows out through the carrier track 2 and the carrier inlet and outlet on the other side of the frame 1. The blister box handling robot mechanism 5 transfers empty blister boxes from the empty blister box hopper 3 to the full blister box hopper 4 for storing products that have been processed later. The lifting mechanism automatically adjusts the lifting position according to the stacking height of the blister boxes.

Claims

1. A board planting and depaneling integrated machine, comprising a frame (1), characterized in that: The frame (1) is equipped with a carrier track (2), an empty blister box hopper (3), a full blister box hopper (4), a blister box handling robot arm mechanism (5), and a dual four-axis robot arm assembly (6). The empty blister box hopper (3) and the full blister box hopper (4) are symmetrically arranged on the front of the frame (1), and the blister box handling robot (5) is located between the two hoppers for cross-hopper handling of blister boxes. Both the empty blister box hopper (3) and the full blister box hopper (4) are equipped with lifting mechanisms for lifting and supporting stacked blister boxes; A steel sheet hopper (9) is fixedly installed inside the frame (1); The dual four-axis robotic arm assembly (6) includes a front robotic arm assembly (7) and a rear robotic arm assembly (8). The front robotic arm assembly (7) is used for picking up and placing PCB boards and implanting them, and the rear robotic arm assembly (8) is used for picking up and placing steel sheets and implanting them. The vehicle track (2) is an automatic pitch-adjustable track with vehicle positioning blocking, side clamping and lifting functions. The vehicle track (2) adopts an automatic pitch-adjustable structure driven by ball screws. The track width is adjusted by servo motor. The vehicle track (2) is equipped with a cylinder-driven blocking block and a side clamping device. After the vehicle flows in, the blocking block rises and positions itself, the side clamping device clamps the vehicle from both sides, and the lifting mechanism lifts the vehicle.

2. The integrated plate planting and demounting machine according to claim 1, characterized in that: The dual four-axis manipulator assembly (6) includes two first lead screws (10) rotatably mounted inside the frame (1). The surfaces of the two first lead screws (10) are threaded with first lead screw sleeves (11). A mounting plate (12) is fixedly connected between the two first lead screw sleeves (11). A second lead screw (13) is rotatably mounted on the upper surface of the mounting plate (12). A second lead screw sleeve (14) is threaded on the surface of the second lead screw (13). A support frame (15) is fixedly mounted on the upper surface of the second lead screw sleeve (14). A third lead screw (55) is rotatably mounted on both sides of the support frame (15). A third lead screw sleeve (56) is threaded on the surfaces of the two third lead screw sleeves (55). A mounting box (16) is fixedly connected to the surfaces of the two third lead screw sleeves (56). The front manipulator assembly (7) and the rear manipulator assembly (8) are respectively mounted on the two mounting boxes (16).

3. The integrated plate planting and demounting machine according to claim 2, characterized in that: The front robotic arm assembly (7) and the rear robotic arm assembly (8) have the same structure and both include an adsorption plate (17). The two adsorption plates (17) are rotatably installed below the two mounting boxes (16). A first vacuum suction cup (18) is provided below each of the two adsorption plates (17). A rotating motor (19) is fixedly installed inside each of the two mounting boxes (16). The output ends of the two rotating motors (19) pass through the mounting boxes (16) and are fixedly connected to the corresponding adsorption plates (17).

4. The integrated plate planting and demounting machine according to claim 3, characterized in that: The dual four-axis manipulator assembly (6) further includes two first slide rails (20) fixedly installed inside the frame (1). Each of the two first slide rails (20) has a first slider (21) slidably installed on it. Each of the two first sliders (21) is fixedly connected to the mounting plate (12). The upper surface of the mounting plate (12) has two second slide rails (22) fixedly installed on it. Each of the two second slide rails (22) has a second slider (23) slidably installed on it. Each of the two second sliders (23) is fixedly connected to the support frame (15). Each of the two sides of the support frame (15) has a set of third slide rails (24) fixedly installed on it. Each of the third slide rails (24) has a third slider (25) slidably installed on it. Each set of third sliders (25) is fixedly connected to the corresponding mounting box (16).

5. The integrated plate planting and demounting machine according to claim 4, characterized in that: The frame (1) is internally fixedly connected to two first motors (26), the output ends of the two first motors (26) are fixedly connected to the two first lead screws (10) respectively. The upper surface of the mounting plate (12) is fixedly connected to a second motor (27), the output end of the second motor (27) is fixedly connected to the second lead screw (13). The support frame (15) is fixedly mounted with two third motors (28), the two third motors (28) are driven by the two third lead screws (55) through chains and sprockets, and the two third motors (28) provide power for the rotation of the two third lead screws (55).

6. The integrated plate planting and demounting machine according to claim 2, characterized in that: An upper-mounted follower camera (29) is fixedly installed on the side of the support frame (15), and two lower-mounted cameras (30) are fixedly installed inside the frame (1). The two lower-mounted cameras (30) are located on both sides of the vehicle track (2). The upper-mounted follower camera (29) is model MV-CE200-10GMG, and the two lower-mounted cameras (30) are model MV-CS050-10GM.

7. The integrated plate planting and demounting machine according to claim 1, characterized in that: The lifting mechanism includes fixed plates (31) fixedly installed on the back of the empty blister box hopper (3) and the full blister box hopper (4). A fourth lead screw (32) is rotatably mounted on the lower surface of each of the two fixed plates (31). A fourth lead screw sleeve (33) is threaded onto the surface of each of the two fourth lead screws (32). A connecting frame (34) is fixedly sleeved onto the surface of each of the two fourth lead screw sleeves (33). Each of the two connecting frames (34) extends to the front of the corresponding hopper and is fixedly connected to a set of bearing plates (35). The empty blister box hopper (3) and the full blister box hopper (4)... Each surface is provided with a set of movable slots, and the connecting frame (34) can move inside the corresponding movable slot. The upper surfaces of the two fixed plates (31) are fixedly connected with a fourth motor (36). The output ends of the two fourth motors (36) are respectively driven by the corresponding fourth lead screw (32) through chains and sprockets. The lower surfaces of the two fixed plates (31) are fixedly installed with a set of limiting rods (37). Each limiting rod (37) is slidably fitted with a limiting sleeve (38). The two sets of limiting sleeves (38) are respectively fixedly connected to the two connecting frames (34).

8. The integrated plate planting and demounting machine according to claim 1, characterized in that: The blister pack handling robot (5) includes a long plate (39) fixedly installed inside the frame (1). A drive sprocket (40) is rotatably mounted on the upper surface of one end of the long plate (39), and a driven sprocket (41) is rotatably mounted on the upper surface of the other end of the long plate (39). A transmission chain (42) is connected between the drive sprocket (40) and the driven sprocket (41). A connecting seat (43) is fixedly mounted on the surface of the transmission chain (42), and the upper surface of the connecting seat (43) is fixedly mounted with... A support base (44) is provided, on which a first cylinder (45) is fixedly installed. A crossbeam (46) is fixedly installed at the output end of the first cylinder (45). Two cross plates (47) are fixedly installed on the lower surface of the crossbeam (46). A second cylinder (48) is fixedly installed at both ends of the two cross plates (47). A short plate (49) is fixedly installed at the output end of each second cylinder (48). A set of second vacuum suction cups (50) is installed on the surface of each short plate (49).

9. The integrated plate planting and demounting machine according to claim 8, characterized in that: A fifth motor (51) is fixedly installed on the upper surface of the long plate (39). The output end of the fifth motor (51) is fixedly connected to the drive sprocket (40). A fourth slide rail (52) is fixedly connected to the upper surface of the long plate (39). A fourth slider (53) is slidably installed on the fourth slide rail (52). The fourth slider (53) is fixedly connected to the support base (44).

10. The integrated plate planting and demounting machine according to claim 1, characterized in that: The frame (1) is provided with protective doors (54) on both the front and back sides. The frame (1) is provided with vehicle entrances and exits on both sides. The frame (1) is provided with a control computer on the front side. The frame (1) is provided with a three-color alarm light on the top.

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