Board splitting equipment

Abstract

The utility model discloses plate separating equipment, and relates to the technical field of plate sorting. The plate separating equipment is used for sorting stacked multiple layers of different types of plates and comprises a grabbing mechanism, a material stacking and placing mechanism and a material caching mechanism, the material stacking and placing mechanism is used for placing the stacked multiple layers of different types of plates, and the material caching mechanism is provided with a plurality of placing areas corresponding to the different types of plates; and the grabbing mechanism is used for identifying category information of the plates and conveying the plates on the material stacking and placing mechanism to the corresponding placing areas in the material caching mechanism according to the category information. According to the board splitting equipment, mechanical automatic board splitting can be carried out on multiple layers of different types of boards, and compared with a manual board splitting scheme, the board splitting efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the field of sheet material sorting technology, and in particular relates to a sheet material sorting device. Background Technology

[0002] A PCB (Printed Circuit Board) is the carrier of electronic components and one of the most important components in electronic devices, widely used in communications, computers, aerospace, and home appliances. With continuous technological advancements and the rapid development of the electronics industry, the demand for PCBs is constantly increasing, and the requirements for production efficiency and precision are also rising. In the PCB manufacturing process, workpiece transportation and loading / unloading are crucial production steps.

[0003] In recent years, some companies have begun to develop fully automated PCB conveying devices, equipped with loading and unloading equipment to provide loading and unloading services for PCB processing. Specifically, the conveyor belt of the loading and unloading equipment can interact with the PCB processing equipment to exchange boards. After the PCB processing equipment finishes processing the PCB stack (including aluminum plates, PCB boards, and cardboard stacked from top to bottom), the PCB stack needs to be separated. However, the current manual PCB separation solution is time-consuming and inefficient. Therefore, it is necessary to design a separation device that can perform mechanized and automated separation of PCB stacks to improve separation efficiency. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a PCB separation device that addresses the issues of long separation time and low separation efficiency in existing PCB separation solutions.

[0005] To address the aforementioned problems, this utility model provides a board sorting device for sorting stacked multi-layer boards of different categories. The device includes a gripping mechanism, a stacking mechanism, and a material buffer mechanism. The stacking mechanism is used to place the stacked multi-layer boards of different categories. The material buffer mechanism has multiple placement areas corresponding to different categories of boards. The gripping mechanism identifies the category information of the boards and, based on the category information, transports the boards from the stacking mechanism to the corresponding placement area in the material buffer mechanism.

[0006] As a further improvement to the above technical solution:

[0007] Optionally, the gripping mechanism includes a conveying component, a gripping bracket, a suction cup component, and a vision component. The gripping bracket is mounted on the conveying component, and the suction cup component and the vision component are mounted on the gripping bracket. The suction cup component is used to adsorb the board material to be sorted, and the vision component is used to identify the category information of the board material to be sorted.

[0008] Optionally, the gripping mechanism further includes a shaking component. The suction cup component includes a suction cup and an air extraction pipe. The air extraction pipe is used to extract air from the suction cup so that the suction cup can adsorb the sheet material to be sorted. The suction cup is mounted on the gripping bracket via the shaking component. The shaking component is used to shake off excess sheet material gripped by the suction cup.

[0009] Optionally, the shaking assembly includes a telescopic drive, a hinge base, and a connecting rod. The telescopic drive and the hinge base are both mounted on the gripping bracket. The connecting rod is rotatably hinged to the hinge base about a first axis, which intersects the vertical direction. The first end of the connecting rod is hinged to the telescopic drive. The suction cup is vertically guided and mounted on the hinge base. The second end of the connecting rod is hinged to the suction cup. The telescopic drive can extend and retract to drive the suction cup to shake up and down relative to the hinge base.

[0010] Optionally, the suction cup assembly further includes a pressure measuring element for detecting the pressure of the suction pipe, the pressure measuring element being mounted on the gripping bracket.

[0011] Optionally, the stacking and placement mechanism includes a stacking base and a stacking platform, the stacking platform being placed on the stacking base and used to place the sheet metal to be sorted.

[0012] Optionally, the material buffering mechanism includes multiple buffer racks, each buffer rack including a buffer seat and a buffer platform, the buffer platform being placed on the buffer seat and used to hold the sorted sheet material.

[0013] Optionally, it also includes a transfer mechanism for placing the stacking platform containing the sheet metal to be sorted onto the stacking base, and for moving the buffer platform containing the sorted sheet metal away from the buffer base.

[0014] Optionally, the transfer mechanism includes a moving component and a lifting component, the lifting component being mounted on the moving component and used to lift the stacking platform or the buffer platform.

[0015] Optionally, it also includes a flipping mechanism, wherein the gripping mechanism can transport and place the board material to be flipped according to the category information, and the flipping mechanism can flip the board material and place it in the corresponding material buffer mechanism.

[0016] Optionally, the flipping mechanism includes a flipping frame, a translation drive assembly, a flipping assembly, and a gripping assembly. The translation drive assembly is mounted on the flipping frame, the flipping assembly is mounted on the translation drive assembly, and the gripping assembly is mounted on the flipping assembly. The gripping assembly is used to grip the plate material, the flipping assembly is used to flip the plate material, and the translation drive assembly is used to translate the plate material and place it in the corresponding material buffer mechanism.

[0017] This utility model provides a slitting device that, compared with the prior art, has at least the following advantages: During slitting operations, firstly, multiple layers of stacked boards of different categories are placed on a stacking mechanism. Then, a gripping mechanism moves above the stacking mechanism, identifies the category information of the boards to be sorted, and finally, the gripping mechanism picks up the boards to be sorted and, according to the category information, transports and places them in the corresponding placement area of ​​the material buffer mechanism. This slitting device can mechanically and automatically slit multiple layers of stacked boards of different categories, improving slitting efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the planar layout of the plate-splitting device provided in one embodiment of the present utility model;

[0020] Figure 2 This is a schematic diagram of the gripping mechanism of the board separating device provided in one embodiment of the present utility model;

[0021] Figure 3 This is a schematic diagram of the stacking and transfer mechanism of the slitting equipment provided in one embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of the flipping component of the separating device provided in one embodiment of the present invention.

[0023] The reference numerals in the accompanying drawings are as follows:

[0024] 110. Gripping mechanism; 111. Gripping bracket; 112. Suction cup component; 113. Shaking component; 114. Pressure gauge; 120. Vision component; 130. Distance measuring component; 140. Detection mechanism; 200. Material stacking and placement mechanism; 210. Stacking seat; 220. Stacking platform; 300. Transfer mechanism; 310. Moving component; 320. Lifting component; 400. Flipping mechanism; 410. Flipping frame; 420. Translation drive component; 430. Tilting component; 440. Gripping component. Detailed Implementation

[0025] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0026] In the description of this utility model, it should be understood that the terms "longitudinal," "radial," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] like Figures 1 to 4 As shown, one embodiment of the present invention provides a board sorting device for sorting stacked multi-layer boards of different categories. The board sorting device includes a gripping mechanism 110, a stacking and placing mechanism 200 for placing stacked multi-layer boards of different categories. The material buffer mechanism is provided with multiple placement areas corresponding to different categories of boards. The gripping mechanism 110 is used to identify the category information of the boards and transport the boards on the stacking and placing mechanism 200 to the corresponding placement area in the material buffer mechanism according to the category information.

[0029] During the board separation process, firstly, multiple stacks of different types of boards are placed on the stacking and placement mechanism 200. Then, the gripping mechanism 110 moves above the stacking and placement mechanism 200, identifies the category information of the boards to be sorted, and finally, the gripping mechanism 110 grips the boards to be sorted and, according to the category information, transports and places them in the corresponding placement area in the material buffer mechanism. The board separation equipment provided in this embodiment of the present invention can mechanically and automatically separate multiple stacks of different types of boards, improving board separation efficiency.

[0030] In this embodiment, the multilayered boards of different types are PCB stacks, which include aluminum plates, PCB boards, and cardboard.

[0031] In a separation device provided in one embodiment of this utility model, such as Figure 2 As shown, the gripping mechanism 110 includes a conveying component, a gripping bracket 111, a suction cup component, and a vision component 120. The gripping bracket 111 is mounted on the conveying component, and the suction cup component and the vision component 120 are mounted on the gripping bracket 111. The suction cup component is used to adsorb the board material to be sorted, and the vision component 120 is used to identify the category information of the board material to be sorted.

[0032] The gripping bracket 111 provides an installation position for the suction cup components. In this embodiment, multiple suction cup components are installed on the gripping bracket 111 in an array, and the suction ends of all the suction cup components are coplanar, which facilitates their joint action to adsorb the board material to be sorted.

[0033] During the board sorting process, the PCB stacks are first placed on the stacking mechanism 200. Then, the handling component drives the gripping mechanism 110 to move above the stacking mechanism 200. After that, the vision component 120 identifies the position information of the board to be sorted. The handling component adjusts the position of the gripping mechanism 110 so that the gripping mechanism 110 is directly above the board to be sorted. Finally, the vision component 120 identifies the category information of the board to be sorted. The handling component drives the gripping mechanism 110 to grip the board to be sorted and, according to the category information, transports and places the board to be sorted in the corresponding placement area of ​​the material buffer mechanism.

[0034] In a separation device provided in one embodiment of this utility model, such as Figure 2As shown, the sorting device also includes a ranging component 130, which is used to detect the height of the vision component. When the vision component 120 needs to identify the location and category information of the board to be sorted, the conveying component drives the gripping mechanism 110 to move above the stacking and placing mechanism 200. The ranging component 130 detects the height of the vision component from the board to be sorted in real time. When the ranging component 130 detects that the height of the vision component from the board to be sorted is within a preset range, such as 20cm to 30cm, the vision component identifies the location and category information of the board to be sorted.

[0035] Setting the ranging component 130 to detect the height of the vision component from the board to be sorted in real time can ensure that the vision component is at the same height as the board to be sorted during recognition. This facilitates the vision component in recognizing the position and category information of the board to be sorted, ensuring that the vision component can recognize the position and category information of the board to be sorted.

[0036] In one specific embodiment, the ranging component 130 includes a displacement sensor mounted on the gripping mechanism 110. The displacement sensor detects the displacement of the vision component to determine its height. The sheet metal to be sorted is equipped with an information code, which the vision component can scan to obtain the sheet metal's category information. The information code can be a QR code or a barcode; it is only necessary to be able to obtain the sheet metal's category information through scanning, and is not limited thereto.

[0037] In this embodiment, the information code is a QR code, which is located in the middle of the upper surface of the sheet material to be sorted, so that the vision component can scan the QR code. Of course, it is understood that the information code can also be located in other positions on the sheet material to be sorted. For example, the information code can be located on both the upper and lower surfaces, or it can be located in other positions on the surface of the sheet material to be sorted, as long as it can be ensured that the vision component can scan the information code.

[0038] In a separation device provided in one embodiment of this utility model, such as Figure 2As shown, the slab separation equipment also includes a detection mechanism 140, which is installed on the gripping mechanism 110. The detection mechanism 140 is used to detect whether there are slabs to be sorted in the stacking and placing mechanism 200. The handling component drives the gripping mechanism 110 to move above the stacking and placement mechanism 200. Then, the detection mechanism 140 detects whether there are any boards to be sorted in the stacking and placement mechanism 200. When the detection mechanism 140 detects that there are boards to be sorted in the stacking and placement mechanism 200, the vision component 120 identifies the position information of the boards to be sorted. The handling component adjusts the position of the gripping mechanism 110 so that the gripping mechanism 110 is directly above the boards to be sorted. Finally, the vision component 120 identifies the category information of the boards to be sorted. The handling component drives the gripping mechanism 110 to grip the boards to be sorted and, according to the category information, transports and places the boards to be sorted in the corresponding material buffer mechanism. When the detection mechanism 140 detects that there are no boards to be sorted in the stacking and placement mechanism 200, the vision component 120 is in a standby or off state.

[0039] The detection mechanism 140 is configured to monitor in real time whether there are any sheets to be sorted in the stacking and placement mechanism 200. When there are no sheets to be sorted in the stacking and placement mechanism 200, the handling components, gripping mechanism 110, and vision component 120 can be put into standby or off state, thereby reducing unnecessary energy consumption. In this embodiment, the detection mechanism 140 is a photoelectric switch, which can detect whether there are any sheets to be sorted in the stacking and placement mechanism 200.

[0040] In one specific embodiment, the handling assembly includes a handling base and a handling robotic arm. The fixed end of the handling robotic arm is mounted on the handling base, and the gripping mechanism 110 is mounted on the moving end of the handling robotic arm. The handling robotic arm can be a six-axis robotic arm, which has multiple degrees of freedom and is flexible for easy handling.

[0041] In a separation device provided in one embodiment of this utility model, such as Figure 2 As shown, the gripping mechanism 110 also includes a shaking component 113. The suction cup assembly includes a suction cup component 112 and an air extraction pipe. The air extraction pipe is used to control the suction cup component 112 to adsorb the board material to be sorted. The suction cup component 112 is mounted on the gripping bracket 111 via the shaking component 113, which is used to shake off excess board material gripped by the suction cup component 112. When the air extraction pipe controls the suction cup component 112 to adsorb the board material to be sorted, multiple boards may stick together due to static electricity or other reasons, causing the suction cup component 112 to adsorb multiple layers of board material to be sorted simultaneously. The shaking component 113 is provided to shake off excess board material gripped by the suction cup component 112, so that the suction cup component 112 adsorbs a single layer of board material to be sorted, thereby completing the board sorting operation.

[0042] In this embodiment, the material shaking assembly 113 includes a telescopic drive, a hinge base, and a connecting rod. Both the telescopic drive and the hinge base are mounted on the gripping bracket 111. The connecting rod is rotatably hinged to the hinge base around a first axis, which intersects the vertical direction. The first end of the connecting rod is hinged to the telescopic drive. The suction cup 112 is vertically guided and mounted on the hinge base. The second end of the connecting rod is hinged to the suction cup 112. The telescopic drive can extend and retract to drive the suction cup 112 to shake up and down relative to the hinge base. By extending and retracting the telescopic drive to drive the suction cup 112 to shake up and down relative to the hinge base, excess boards gripped by the suction cup 112 can be shaken off, ensuring that the suction cup 112 can only pick up one board at a time.

[0043] The suction cup assembly also includes a pressure measuring element. In this embodiment, the pressure measuring element is a pressure gauge 114, which is used to detect the pressure of the suction pipe. The pressure gauge 114 is mounted on the gripping bracket 111. The pressure gauge 114 can detect the pressure of the suction pipe in real time during adsorption. When adsorption fails or the sheet material falls off during transportation, the reading of the pressure gauge 114 will issue an alarm message to remind on-site personnel.

[0044] In this embodiment, the multi-layered different types of boards include aluminum plates, PCB boards, and cardboard, and the material buffering mechanism includes aluminum plate buffer racks, PCB board buffer racks, and cardboard buffer racks.

[0045] Another embodiment of the present invention provides a board separation device, such as... Figure 3 As shown, the stacking and placement mechanism 200 includes a stacking base 210 and a stacking platform 220. The stacking platform 220 is placed on the stacking base 210 and is used to place the boards to be sorted. The buffer rack includes a buffer base and a buffer platform. The buffer platform is placed on the buffer base and is used to place the sorted boards. The board sorting equipment also includes a transfer mechanism 300, which is used to place the stacking platform 220 containing the boards to be sorted on the stacking base 210 and to move the buffer platform containing the sorted boards away from the buffer base.

[0046] Specifically, such as Figure 3 As shown, the transfer mechanism 300 includes a moving component 310 and a lifting component 320. The lifting component 320 is mounted on the moving component 310. The moving component 310 is used to move the lifting component 320, and the lifting component 320 is used to lift the stacking platform 220 or the buffer platform. In this embodiment, the moving component 310 is an AGV (Automated Guided Vehicle).

[0047] During the board separation process, the PCBs are first stacked and placed on the stacking platform 220. The stacking platform 220 is placed on the lifting component 320 of the AGV trolley. The lifting component 320 lifts the stacking platform 220 until it is higher than the upper surface of the stacking base 210. The AGV trolley moves to the stacking base 210, and the lifting component 320 lowers so that the stacking platform 220 is placed on the upper surface of the stacking base 210. After that, the AGV trolley exits the stacking base 210. Then, the transport component drives the gripping mechanism 110 to move above the stacking and placing mechanism 200. After that, the vision component 120 identifies the boards to be separated. The position information of the picked board material is obtained, and the handling component adjusts the position of the gripping mechanism 110 so that the gripping mechanism 110 is directly above the board material to be sorted. Finally, the vision component 120 identifies the category information of the board material to be sorted, and the handling component drives the gripping mechanism 110 to grab the board material to be sorted. According to the category information, the board material to be sorted is transported and placed in the corresponding material buffer mechanism. After the board sorting operation is completed, the AGV trolley moves to the buffer seat, and the lifting component 320 lifts the buffer platform so that the buffer platform is detached from the buffer seat. The AGV trolley moves to move the sorted board material buffered on the buffer seat to the next material rack.

[0048] Another embodiment of the present invention provides a board separation device, such as... Figure 4 As shown, the board separating equipment also includes a flipping mechanism 400. The conveying component can convey and place the board to be flipped in the flipping mechanism 400 according to the category information. The flipping mechanism 400 can flip the board and place it in the corresponding material buffer mechanism.

[0049] Since PCB stacking consists of aluminum plates, PCB boards, and cardboard stacked from top to bottom, sorting aluminum plates and PCB boards do not require flipping operations, while sorting cardboard requires flipping operations before being placed on the cardboard buffer platform so that the sorted cardboard can be reused.

[0050] When the vision component 120 identifies the type information of the board to be sorted as cardboard, the conveying component drives the gripping mechanism 110 to grip the board to be sorted, and transports and places the board to be sorted in the flipping mechanism 400. The flipping mechanism 400 can flip the board and place it in the corresponding material buffer mechanism so that the sorted cardboard can be reused.

[0051] In this embodiment, as Figure 4As shown, the flipping mechanism 400 includes a flipping frame 410, a translation drive assembly 420, a flipping assembly 430, and a gripping assembly 440. The translation drive assembly 420 is mounted on the flipping frame 410, the flipping assembly 430 is mounted on the translation drive assembly 420, and the gripping assembly 440 is mounted on the flipping assembly 430. The gripping assembly 440 is used to grip the sheet material, the flipping assembly 430 is used to flip the sheet material, and the translation drive assembly 420 is used to translate and place the sheet material into the corresponding material buffer mechanism. The flipping frame 410 is provided with a translation guide rail, and the flipping assembly 430 is slidably mounted on the translation guide rail. The translation guide rail can improve the stability and consistency of the movement direction of the flipping assembly 430.

[0052] When the vision component 120 identifies the type information of the board material to be sorted as cardboard, the handling component drives the gripping mechanism 110 to grip the board material to be sorted, and transports and places the board material to be sorted on the gripping plate component 440. The gripping plate component 440 grips the cardboard, then the flipping component 430 flips the cardboard, and finally the translation drive component 420 translates the cardboard and places it in the corresponding material buffer mechanism, thereby completing the flipping operation of the cardboard.

[0053] In one specific embodiment, the translation guide rail is arranged in a vertical direction, the flipping component 430 includes a rotary stepper motor, and the translation drive component 420 includes a drive motor.

[0054] The above-described embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be included within the protection scope of this utility model.

Claims

1. A slab sorting device for sorting stacked multi-layered slabs of different categories, characterized in that, The device includes a gripping mechanism, a stacking and placing mechanism, and a material buffering mechanism. The stacking and placing mechanism is used to place multiple stacks of different types of sheet metal. The material buffering mechanism is provided with multiple placement areas corresponding to different types of sheet metal. The gripping mechanism is used to identify the type information of the sheet metal and transport the sheet metal on the stacking and placing mechanism to the corresponding placement area in the material buffering mechanism according to the type information.

2. The plate separating equipment according to claim 1, characterized in that, The gripping mechanism includes a conveying component, a gripping bracket, a suction cup component, and a vision component. The gripping bracket is mounted on the conveying component, and the suction cup component and the vision component are mounted on the gripping bracket. The suction cup component is used to adsorb the board material to be sorted, and the vision component is used to identify the category information of the board material to be sorted.

3. The plate separating equipment according to claim 2, characterized in that, The gripping mechanism further includes a shaking component. The suction cup component includes a suction cup and an air extraction pipe. The air extraction pipe is used to extract air from the suction cup so that the suction cup can adsorb the board material to be sorted. The suction cup is mounted on the gripping bracket via the shaking component. The shaking component is used to shake off excess board material gripped by the suction cup.

4. The plate separating equipment according to claim 3, characterized in that, The shaking assembly includes a telescopic drive, a hinge base, and a connecting rod. The telescopic drive and the hinge base are both mounted on the gripping bracket. The connecting rod is rotatably hinged to the hinge base around a first axis, which intersects the vertical direction. The first end of the connecting rod is hinged to the telescopic drive. The suction cup is vertically guided and mounted on the hinge base. The second end of the connecting rod is hinged to the suction cup. The telescopic drive can extend and retract to drive the suction cup to shake up and down relative to the hinge base.

5. The plate separating equipment according to claim 3, characterized in that, The suction cup assembly also includes a pressure measuring element for detecting the pressure of the air extraction pipe, and the pressure measuring element is mounted on the gripping bracket.

6. The plate separating equipment according to claim 1, characterized in that, The stacking and placement mechanism includes a stacking base and a stacking platform. The stacking platform is placed on the stacking base and is used to place the sheet material to be sorted.

7. The plate separating equipment according to claim 6, characterized in that, The material buffering mechanism includes multiple buffer racks, each buffer rack including a buffer base and a buffer platform. The buffer platform is placed on the buffer base and is used to place the sorted sheet material.

8. The plate separating equipment according to claim 7, characterized in that, It also includes a transfer mechanism for placing the stacking platform containing the boards to be sorted onto the stacking base, and for moving the buffer platform containing the sorted boards away from the buffer base.

9. The plate separating equipment according to claim 8, characterized in that, The transfer mechanism includes a moving component and a lifting component. The lifting component is mounted on the moving component and is used to lift the stacking platform or the buffer platform.

10. The plate separating equipment according to claim 1, characterized in that, It also includes a flipping mechanism, wherein the gripping mechanism can transport and place the board material to be flipped according to the category information, and the flipping mechanism can flip the board material and place it in the corresponding material buffer mechanism.

11. The plate separating device according to claim 10, characterized in that, The flipping mechanism includes a flipping frame, a translation drive assembly, a flipping assembly, and a gripping assembly. The translation drive assembly is mounted on the flipping frame, the flipping assembly is mounted on the translation drive assembly, and the gripping assembly is mounted on the flipping assembly. The gripping assembly is used to grip the plate material, the flipping assembly is used to flip the plate material, and the translation drive assembly is used to translate the plate material and place it in the corresponding material buffer mechanism.

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