L-shaped inserting frame type plate placing and collecting machine

Abstract

The utility model belongs to the technical field of PCB (printed circuit board) production, and particularly relates to an L-shaped inserting frame type board placing and collecting machine which comprises a feeding belt, a manipulator and an L-shaped inserting frame, a clamping part is arranged at the movable end of the manipulator and comprises a linear module, a fixed edge and a movable edge, the linear module is used for adjusting the distance between the fixed edge and the movable edge, a clamping area is arranged on the fixed edge, and the L-shaped inserting frame is arranged on the clamping area. The movable edge is provided with an adsorption area and a clamping area, the adsorption area comprises a plurality of clamping pieces, the clamping area and the adsorption area are provided with independent electromagnetic valves used for controlling the clamping pieces respectively, each clamping piece comprises a mounting base, a fixing column and an L-shaped clamp, a rotating air cylinder is mounted at the top of the mounting base, the fixing column is fixedly connected with the mounting base, and the L-shaped clamp is connected with an output shaft of the rotating air cylinder. A clamping position is formed between the bottom of the L-shaped clamp and the bottom of the fixing column, a plurality of suction cup sets are further arranged in the adsorption area along the movable edge, and a plurality of driving air cylinders are arranged on the movable edge. The plate inserted in the L-shaped insertion frame is pulled to the position where the clamping part can clamp the plate conveniently, and the accurate plate clamping effect is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of PCB production, in particular to an L-type rack type board loading and unloading machine. Background Art

[0002] With the advancement of intelligent manufacturing, the requirements of PCB production factories for automated equipment are getting higher and higher. At the same time, with the extensive use of robots in PCB production, the structure of equipment is getting simpler and the stability of equipment is getting higher. The existing carrier for PCB boards has an L-shaped rack. Such a rack structure is simple and has strong reliability. However, when the manipulator takes out the board from the rack, the side of the board that is not fixed by the rack is prone to tilt, and it is easy to cause the board to fall during clamping, resulting in damage. Content of the Utility Model

[0003] The purpose of the utility model is to provide an L-type rack type board loading and unloading machine, aiming to solve the technical problem that when the manipulator takes out the board from the rack in the prior art, the side of the board that is not fixed by the rack is prone to tilt, and it is easy to cause the board to fall during clamping, resulting in damage.

[0004] To achieve the above purpose, the embodiment of the utility model provides an L-type rack type board loading and unloading machine, which includes a feeding belt, a manipulator and an L-shaped rack. A clamping part is arranged at the movable end of the manipulator. The clamping part includes a linear module, a fixed side and a movable side. The linear module is used to adjust the distance between the fixed side and the movable side. A clamping area is arranged on the fixed side, and a suction area is arranged on the movable side. Both the clamping area and the suction area include a plurality of clamping pieces. Independent solenoid valves for controlling the clamping pieces are respectively arranged in the clamping area and the suction area. The clamping piece includes a mounting seat, a fixed column and an L-shaped clamp. A rotary cylinder is installed on the top of the mounting seat. The fixed column is fixedly connected with the mounting seat. The L-shaped clamp is connected with the output shaft of the rotary cylinder. A clamping position is formed between the bottom of the L-shaped clamp and the bottom of the fixed column for clamping the board. A plurality of suction cup groups are also arranged along the movable side in the suction area. A plurality of driving cylinders are arranged on the movable side for respectively realizing the lifting function of the suction cup groups.

[0005] Preferably, the clamping area is arranged on the side of the movable side away from the suction area. The clamping area arranged on the movable side and the clamping area arranged on the fixed side are controlled by the same solenoid valve. At least one clamping piece is arranged in the clamping area arranged on the movable side.

[0006] Preferably, the output shaft of each driving cylinder is connected with a connecting seat, and the connecting seat is fixedly installed with a suction cup group.

[0007] Preferably, one end of the connecting strip of the L-shaped clamp is provided with a rotary telescopic rod for realizing the rotational connection with the rotary cylinder, and the end face of the hook of the L-shaped clamp is provided with a PU rubber pad.

[0008] Preferably, the feeding belt includes a loading part and a discharging part. The end of the loading part is connected to the head end of the discharging part. The end of the loading part is provided with a lifting baffle, and the middle of the loading part is provided with a top plate mechanism for lifting the plate member.

[0009] Preferably, the top plate mechanism includes a top plate cylinder and a fixed beam disposed on the output shaft of the top plate cylinder. A plurality of top brackets are arranged on the top of the fixed beam, and a plurality of clearance grooves are formed on the top of the top brackets. Each of the clearance grooves is in clearance fit with a corresponding clamping member.

[0010] Preferably, a temporary insertion rack is provided on the top of the feeding belt. The temporary insertion rack is of an L-shaped structure and is provided with a plate placing groove for fixing the plate member.

[0011] Preferably, a plurality of fixing slots are uniformly distributed along the inner side wall of the L-shaped insertion rack. The fixing slots are of an L-shaped structure.

[0012] Preferably, it further includes a frame. The feeding belt and the manipulator are disposed inside the frame. The frame is provided with a feeding position, and a positioning plate is disposed inside the feeding position. The positioning plate is provided with a lifting tooth rod that is vertically connected inside the feeding position.

[0013] Preferably, the bottom of the L-shaped insertion rack is provided with a positioning hole and a verification hole. The top of the positioning plate is provided with a positioning pin and a sensor. The positioning pin is in positioning fit with the positioning hole, and the sensor is used for detecting the verification hole.

[0014] One or more of the above technical solutions in the L-shaped insertion rack type plate placing and receiving machine provided by the embodiments of the present invention at least have one of the following technical effects:

[0015] During use, the clamping part is driven by a manipulator to place or retrieve the board. The fixed side and the movable side are adjusted by a linear module to clamp boards of different sizes. When the manipulator drives the clamping part to place the board, the board in the L-shaped insertion rack is transported to the feeding belt. During this process, the manipulator drives the clamping part to one side of the L-shaped insertion rack and makes the clamping part approach the board on the L-shaped insertion rack. First, each driving cylinder in the adsorption area pushes several suction cup groups towards the board and the suction cup groups suck a corner of the board that is not fixed by the L-shaped insertion rack. Then, by contracting the driving cylinder, the board on the L-shaped insertion rack is pulled into the clamping part. At the same time, the board is parallel to the fixed side and the movable side. First, the clamping parts in the clamping area are used to clamp the board, then the clamping parts in the adsorption area are used to clamp the other side of the board. Finally, the manipulator drives the clamping part to take the board out of the L-shaped insertion rack and place it on the feeding belt for discharging. When the manipulator drives the clamping part to retrieve the board, the board on the feeding belt is transported to the L-shaped insertion rack. During this process, the manipulator drives the clamping part above the feeding belt. The clamping parts in the clamping area and the adsorption area are used to clamp the board on the feeding belt, and then the manipulator transports the board into the L-shaped insertion rack for fixing. By setting the suction cup groups, when the clamping part clamps the board on the L-shaped insertion rack, first, each driving cylinder pushes each suction cup group towards the board on the L-shaped insertion rack and adsorbs on the upper middle part of the side of the board that is not clamped by the L-shaped insertion rack. Then, by contracting each driving cylinder, each suction cup group is pulled in the reverse direction, and the board is pulled to a position parallel to the fixed side and the movable side. First, the clamping parts in the adsorption area are used to clamp the side of the board that is not clamped by the L-shaped insertion rack to adjust and fix the posture of the board, and then the clamping parts in the clamping area are used to clamp the other side of the board to achieve overall stability when clamping the board and achieve a better clamping effect. Description of the Drawings

[0016] Figure 1 Schematic structural diagram of the frame of the L-shaped insertion rack type board placing and retrieving machine provided by an embodiment of the present invention;

[0017] Figure 2 Schematic structural diagram of the feeding position of the L-shaped insertion rack type board placing and retrieving machine provided by an embodiment of the present invention;

[0018] Figure 3 Schematic internal structural diagram of the L-shaped insertion rack type board placing and retrieving machine provided by an embodiment of the present invention;

[0019] Figure 4 Schematic overall structural diagram of the feeding belt of the L-shaped insertion rack type board placing and retrieving machine provided by an embodiment of the present invention;

[0020] Figure 5 Schematic overall structural diagram of the top plate mechanism of the L-shaped insertion rack type board placing and retrieving machine provided by an embodiment of the present invention;

[0021] Figure 6 Schematic diagram of the overall structure of the top frame of the L-shaped insert rack type plate loading and unloading machine provided by the embodiment of the present utility model;

[0022] Figure 7 Schematic diagram of the overall structure of the L-shaped insert rack of the L-shaped insert rack type plate loading and unloading machine provided by the embodiment of the present utility model;

[0023] Figure 8 One of the schematic diagrams of the structure of the clamping part of the L-shaped insert rack type plate loading and unloading machine provided by the embodiment of the present utility model;

[0024] Figure 9 Another schematic diagram of the structure of the clamping part of the L-shaped insert rack type plate loading and unloading machine provided by the embodiment of the present utility model.

[0025] Among them, each reference numeral in the figure:

[0026] 1 - Feeding belt, 10 - Machine frame, 101 - Feeding position, 102 - Positioning plate, 103 - Lifting tooth rod, 104 - Positioning pin, 105 - Sensor, 11 - Loading part, 12 - Discharging part, 13 - Lifting baffle, 14 - Top plate mechanism, 141 - Top plate cylinder, 142 - Fixed beam, 143 - Top frame, 144 - Clearance groove, 15 - Temporary insert rack, 151 - Plate placing groove, 2 - Manipulator, 3 - L-shaped insert rack, 31 - Fixed insertion slot, 32 - Positioning hole, 33 - Verification hole, 4 - Clamping part, 41 - Linear module, 42 - Fixed side, 43 - Movable side, 431 - Driving cylinder, 432 - Connecting seat, 44 - Suction cup group, 5 - Clamping piece, 51 - Mounting seat, 511 - Rotary cylinder, 52 - Fixed column, 53 - L-shaped clamp, 531 - Rotary telescopic rod, 532 - PU rubber pad. Detailed implementation manners

[0027] The following details the embodiments of the present utility model. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are intended to explain the embodiments of the present utility model, and should not be construed as a limitation to the present utility model.

[0028] In the description of the embodiments of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model.

[0029] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present utility model, the meaning of "a plurality of" is two or more, unless otherwise specifically defined.

[0030] In the embodiments of the present utility model, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0031] In one embodiment of the present utility model, as Figures 1 to 9 shown, a L-shaped insert rack type plate feeding and receiving machine is provided, which includes a feeding belt 1, a manipulator 2, and an L-shaped insert rack 3. A clamping part 4 is provided at the movable end of the manipulator 2. The clamping part 4 includes a linear module 41, a fixed side 42, and a movable side 43. The linear module 41 is used to adjust the distance between the fixed side 42 and the movable side 43. A clamping area is provided on the fixed side 42, and a suction area is provided on the movable side 43. The clamping area and the suction area both include a plurality of clamping members 5. Independent solenoid valves for controlling the clamping members 5 are respectively provided in the clamping area and the suction area. The clamping member 5 includes a mounting seat 51, a fixed column 52, and an L-shaped clamp 53. A rotary cylinder 511 is mounted on the top of the mounting seat 51. The fixed column 52 is fixedly connected to the mounting seat 51. The L-shaped clamp 53 is connected to the output shaft of the rotary cylinder 511. A clamping position is formed between the bottom of the L-shaped clamp 53 and the bottom of the fixed column 52 for clamping a plate. A plurality of suction cup groups 44 are also arranged along the movable side 43 in the suction area. A plurality of driving cylinders 431 are provided on the movable side 43 for respectively realizing the lifting of the suction cup groups 44.

[0032] Further, a clamping area is provided on the side of the movable edge 43 away from the adsorption area. The clamping area provided on the movable edge 43 and the clamping area provided on the fixed edge 42 are controlled by the same solenoid valve. At least one clamping member 5 is provided in the clamping area provided on the movable edge 43. Specifically, an adsorption area and a clamping area are provided on the movable edge 43 in total. The clamping area provided on the movable edge 43 and the clamping area provided on the fixed edge 42 are controlled by the same solenoid valve. It should be noted that the four sides of the plate are the first side edge, the bottom edge, the second side edge, and the fixed edge. When the plate is fixed on the L-shaped plug 3, the first side edge and the bottom surface of the plate are fixed by the L-shaped plug 3, while the second side edge and the top surface of the plate are not fixed. When the manipulator 2 drives the clamping part 4 to place the plate, during this process, the manipulator 2 drives the clamping part 4 to one side of the L-shaped plug 3 and makes the clamping part 4 approach the plate on the L-shaped plug 3. The suction cup group 44 includes several suction cups. First, each driving cylinder 431 in the adsorption area pushes the several suction cup groups 44 to move towards the plate and the suction cup groups 44 suck a corner of the plate that is not fixed by the L-shaped plug 3. By pulling the driving cylinder 431 in the opposite direction, the plate is pulled to a posture parallel to the fixed edge 42 and the movable edge 43. The clamping member 5 in the clamping area clamps the first side edge of the plate fixed by the L-shaped plug 3, and then the clamping member 5 in the adsorption area clamps the upper middle part of the second side edge of the plate that is not fixed by the L-shaped plug 3. At the same time, the clamping member 5 in the clamping area provided on the movable edge 43 clamps the lower part of the second side edge of the plate that is not fixed by the L-shaped plug 3. Since the upper middle part of the second side edge of the plate is preliminarily fixed by the suction cup group 44, and the clamping member 5 in the adsorption area clamps the upper middle part of the second side edge of the plate. After the clamping members 5 and the suction cup group 44 in the clamping area fix both sides of the plate in balance, it can be avoided that the plate tilts when the clamping area on the fixed edge 42 clamps the first side edge of the plate. After the clamping effect in the adsorption area takes effect, the lower parts of the first side edge and the second side edge are clamped simultaneously; the advantage is that since the first side edge and the bottom edge of the plate are clamped by the L-shaped plug 3, the stability is relatively good, and the lower part of the second side edge is located close to the bottom edge, and the stability is also relatively good. It should be noted that there is a certain loose space in the fixed slot 31 of the L-shaped plug 3 after clamping the plate, so that the plate can swing within a certain range on the L-shaped plug 3. The best solution during the clamping of the plate is to first fix the upper middle part of the second side edge of the plate, and then pull the plate towards the direction close to the clamping part by the driving cylinder 431, so that the plate is parallel to the fixed edge 42 and the movable edge 43 and then clamped by the clamping member 5 in the adsorption area, so that the plate can be better clamped and taken out by the clamping part 4.

[0033] Furthermore, the output shaft of each driving cylinder 431 is connected to a connecting seat 432, and the connecting seat 432 is fixedly installed with a suction cup group 44; a rotating telescopic rod 531 is provided at one end of the connecting bar of the L-shaped clip 53, which is used to realize rotational connection with the rotating cylinder 511, and a PU rubber pad 532 is provided on the end face of the clamping hook of the L-shaped clip 53. Specifically, when the clamping member 5 clamps the plate, the L-shaped clip 53 is driven to rotate by the rotating cylinder 511, and the L-shaped clip 53 is guided by the rotating telescopic rod 531 during rotation to achieve a telescopic effect. When the L-shaped clip 53 is in a holding state, a clamping groove is formed between the clamping hook of the L-shaped clip 53 and the fixed column 52, which is used to clamp and fix the plate. When clamping the plate, the PU rubber pad 532 can have a good protective effect on the plate to prevent the plate from being scratched.

[0034] Furthermore, the feeding belt 1 includes a feeding part 11 and a discharging part 12, the end of the feeding part 11 is connected to the head end of the discharging part 12, a lifting baffle 13 is provided at the end of the feeding part 11, and a top plate mechanism 14 is provided in the middle of the feeding part 11 for lifting the plate; the top plate mechanism 14 includes a top plate cylinder 141 and a fixed beam 142 arranged on the output shaft of the top plate cylinder 141, a plurality of top frames 143 are arranged on the top of the fixed beam, a plurality of air avoidance grooves 144 are formed on the top of the top frame 143, and each of the air avoidance grooves 144 is respectively matched with one of the clamping members 5 for air avoidance. Specifically, when the manipulator 2 drives the clamping part 4 to collect the plate, the plate on the feeding belt 1 is moved to the L-shaped rack 3. During this process, the top plate cylinder 141 of the loading part 11 pushes the fixed beam 142, and the fixed beam 142 pushes the top rack 143 to lift the plate upward. The manipulator 2 drives the clamping part 4 to the top of the feeding belt 1, and clamps the plate on the feeding belt 1 by the clamping members 5 in the clamping area and the adsorption area. When the clamping members 5 clamp the plate, each air avoidance groove 144 will avoid the position of the clamping members 5; when the manipulator 2 drives the clamping part 4 to release the plate, the plate in the L-shaped rack 3 is moved to the feeding belt 1 for unloading. Both the operations of collecting and releasing the plate can be performed at the same time.

[0035] Furthermore, a temporary rack 15 is provided on the top of the feed belt 1. The temporary rack 15 is an L-shaped structure, and the temporary rack 15 is provided with a plate placing slot 151 for fixing the plate. Specifically, by providing the temporary rack 15, the plate on the feed belt 1 that cannot be stored in time through the L-shaped rack 3 can be stored. The manipulator 2 drives the clamping part 4 to clamp and place it in the temporary rack 15 for temporary storage; it should be noted that the structure of the temporary rack 15 is basically the same as that of the L-shaped rack 3, the difference is that the capacity of the temporary rack 15 is smaller, and the temporary rack 15 is fixedly installed on the feed belt 1. When the manipulator 2 takes out the plate from the temporary rack 15, its operation is consistent with the action of the connecting hand to perform the plate placing operation, which will not be repeated here.

[0036] Further, a plurality of fixing slots 31 are uniformly distributed along the inner side wall of the L-shaped inserting frame 3, and the fixing slots 31 are of an L-shaped structure. Specifically, there is a certain loose space for the fixing slots 31 of the L-shaped inserting frame 3 after clamping the plate member, so that the plate member can swing on the L-shaped inserting frame 3 by a certain amplitude, achieving a buffering effect and preventing the plate member from being bent.

[0037] Further, it further includes a frame 10, the feeding belt 1 and the manipulator 2 are arranged in the frame 10, the frame 10 is provided with a feeding position 101, a positioning plate 102 is arranged in the feeding position 101, and the positioning plate 102 is provided with a lifting tooth rod 103 that is connected to the feeding position 101 in a lifting manner; a positioning hole 32 and a verification hole 33 are arranged at the bottom of the L-shaped inserting frame 3, a positioning pin 104 and a sensor 105 are arranged at the top of the positioning plate 102, the positioning pin 104 is in positioning fit with the positioning hole 32, and the sensor 105 is used to detect the verification hole 33.

[0038] Working principle: When in use, the clamping part 4 is driven by the manipulator 2 to place or retrieve the plate. The fixed edge 42 and the movable edge 43 are adjusted by the linear module 41 to clamp plates of different sizes. When the manipulator 2 drives the clamping part 4 to place the plate, the plate in the L-shaped plug-in frame 3 is transported to the feeding belt 1. During this process, the manipulator 2 drives the clamping part 4 to one side of the L-shaped plug-in frame 3 and makes the clamping part 4 approach the plate on the L-shaped plug-in frame 3. First, each driving cylinder 431 in the adsorption area pushes several suction cup groups 44 to move towards the plate and the suction cup groups 44 suck the corner of the plate that is not fixed by the L-shaped plug-in frame 3. Then, by the contraction of the driving cylinder 431, the plate on the L-shaped plug-in frame 3 is pulled into the clamping part 4. At the same time, the plate is parallel to the fixed edge 42 and the movable edge 43. First, the clamping member 5 in the adsorption area clamps the plate, and then the clamping member 5 in the clamping area clamps the other side of the plate. Finally, the manipulator 2 drives the clamping part 4 to take the plate out of the L-shaped plug-in frame 3 and place it on the feeding belt 1 for discharging. When the manipulator 2 drives the clamping part 4 to retrieve the plate, the plate on the feeding belt 1 is transported to the L-shaped plug-in frame 3. During this process, the manipulator 2 drives the clamping part 4 above the feeding belt 1. The clamping member 5 in the clamping area and the adsorption area clamps the plate on the feeding belt 1, and then the manipulator 2 transports the plate into the L-shaped plug-in frame 3 for fixing. By setting the suction cup groups 44, when the clamping part 4 clamps the plate on the L-shaped plug-in frame 3, first, each driving cylinder 431 pushes each suction cup group 44 to move towards the plate on the L-shaped plug-in frame 3 and adsorbs on the upper middle part of the side of the plate that is not clamped by the L-shaped plug-in frame 3. Then, by the contraction of each driving cylinder 431, each suction cup group 44 is pulled in the reverse direction, and the plate is pulled to a position parallel to the fixed edge 42 and the movable edge 43. First, the clamping member 5 in the adsorption area clamps the side of the plate that is not clamped by the L-shaped plug-in frame 3 to adjust and fix the posture of the plate, and then the clamping member 5 in the clamping area clamps the other side of the plate to achieve the overall stability when clamping the plate and achieve a better clamping effect.

[0039] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. An L-type rack-mounted plate placing and collecting machine, characterized in that: It includes a feeding belt, a manipulator and an L-shaped insertion rack. A clamping part is provided at the movable end of the manipulator. The clamping part includes a linear module, a fixed side and a movable side. The linear module is used to adjust the distance between the fixed side and the movable side. A clamping area is provided on the fixed side, and a suction area is provided on the movable side. Both the clamping area and the suction area include a number of clamping members. Independent solenoid valves for controlling the clamping members are respectively provided in the clamping area and the suction area. The clamping member includes a mounting seat, a fixed column and an L-shaped clamp. A rotary cylinder is installed on the top of the mounting seat. The fixed column is fixedly connected to the mounting seat. The L-shaped clamp is connected to the output shaft of the rotary cylinder. A clamping position is formed between the bottom of the L-shaped clamp and the bottom of the fixed column for clamping a plate. A number of suction cup groups are also arranged along the movable side in the suction area. A number of driving cylinders are provided on the movable side for respectively realizing the lifting function of the suction cup groups.

2. The L-shaped insert rack type plate placing and collecting machine according to claim 1, wherein: The clamping area is provided on the side of the movable side away from the suction area. The clamping area provided on the movable side and the clamping area provided on the fixed side are controlled by the same solenoid valve. At least one clamping member is provided in the clamping area provided on the movable side.

3. The L-shaped insert rack type plate placing and collecting machine according to claim 1, wherein: The output shaft of each driving cylinder is connected with a connecting seat, and the connecting seat is fixedly installed with a suction cup group.

4. The L-type inserting frame type plate placing and collecting machine according to claim 1, wherein: One end of the connecting bar of the L-shaped clamp is provided with a rotary telescopic rod for realizing the rotational connection with the rotary cylinder. A PU rubber pad is provided on the clamping hook end face of the L-shaped clamp.

5. The L-type insert rack type plate placing and collecting machine according to claim 1, wherein: The feeding belt includes a loading part and an unloading part. The end of the loading part is connected to the head end of the unloading part. A lifting baffle is provided at the end of the loading part. A top plate mechanism is provided in the middle of the loading part for lifting the plate.

6. The L-type insert rack type plate placing and collecting machine according to claim 5, characterized in that: The top plate mechanism includes a top plate cylinder and a fixed beam provided on the output shaft of the top plate cylinder. A number of top brackets are arranged on the top of the fixed beam. A number of clearance grooves are formed on the top of the top brackets. Each clearance groove is in clearance fit with a clamping member respectively.

7. The L-shaped rack type plate placing and collecting machine according to claim 1, characterized in that: A temporary insertion rack is provided on the top of the feeding belt. The temporary insertion rack is of an L-shaped structure. A plate placing groove for fixing the plate is provided on the temporary insertion rack.

8. The L-type insert rack type plate placing and collecting machine according to claim 1, characterized in that: A number of fixed insertion slots are evenly distributed along the inner side wall of the L-shaped insertion rack. The fixed insertion slots are of an L-shaped structure.

9. The L-shaped rack type plate placing and collecting machine according to claim 1, characterized in that: It also includes a frame. The feeding belt and the manipulator are arranged in the frame. The frame is provided with a feeding position. A positioning plate is provided in the feeding position. The positioning plate is provided with a lifting tooth rod that is vertically connected in the feeding position.

10. The L-shaped shelf type plate placing and collecting machine according to claim 9, characterized in that: The bottom of the L-shaped insertion rack is provided with a positioning hole and a verification hole. The top of the positioning plate is provided with a positioning pin and a sensor. The positioning pin is in positioning fit with the positioning hole. The sensor is used to detect the verification hole.

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