Multi-angle rotary automatic plate arranging device for injection molding machine

Abstract

The utility model discloses a kind of multi-angle rotary automatic plate arrangement equipment of injection molding machine side, including cabinet, man-machine control box, the operation platform of cabinet includes middle area and relatively symmetrical left area, right area, left area is equipped with first blister tray up-down conveying mechanism, right area is equipped with second blister tray up-down conveying mechanism, middle area is equipped with injection molding product secondary positioning fixture, the rear side of left area and right area is equipped with four-axis handling module, four-axis handling module includes the handling plate arrangement Y axis module of being horizontally arranged in the rear side of left area and right area, handling plate arrangement Y axis module is equipped with handling plate arrangement X axis module, one side of handling plate arrangement X axis module is equipped with first handling plate arrangement Z axis module, another side of handling plate arrangement X axis module is equipped with second handling plate arrangement Z axis module, and handling plate arrangement R axis mechanism is equipped on second handling plate arrangement Z axis module. The present scheme is replaced by four-axis handling module four-axis robot, and it is conducive to saving the purchase cost of equipment.

Description

Technical Field

[0001] This disclosure relates to the field of automated tray loading technology, and in particular to an automated tray loading device with multi-angle rotation at the side of an injection molding machine. Background Technology

[0002] After injection molding, the product shell is removed by an injection molding robot and placed onto the production line, requiring manual picking and tray placement. Due to large order volumes and the inefficiency of manual operations, engineers in this field are designing automated tray placement equipment to improve production efficiency and reduce manual labor. However, existing automated tray placement systems often suffer from significant discrepancies between the injection mold positioning and the blister pack position, requiring the product to rotate circumferentially within the blister pack before being placed in its designated placement position. Current technologies utilize four-axis or six-axis robots for product gripping and circumferential rotation; however, these robots are expensive, typically costing tens to hundreds of thousands of yuan. Therefore, there is a need to design an automated tray placement system that can achieve multi-angle rotation of the injection molding machine, replacing four-axis and six-axis robots. Utility Model Content

[0003] To achieve the above objectives, this disclosure proposes an automated tray-swivel device with multi-angle rotation on the side of an injection molding machine.

[0004] The technical solution of this utility model is a multi-angle rotating automated tray-stacking device for injection molding machines, including a cabinet and a human-machine control box. The working platform of the cabinet includes a middle area and symmetrical left and right areas. The left area is provided with a first blister tray vertical conveying mechanism, and the right area is provided with a second blister tray vertical conveying mechanism. The middle area is provided with a secondary positioning fixture for injection molded products. A four-axis transport module is provided on the rear side of the left and right areas. The four-axis transport module includes a transport tray Y-axis module horizontally arranged on the rear side of the left and right areas, a transport tray X-axis module on the transport tray Y-axis module, a first transport tray Z-axis module on one side of the transport tray X-axis module, a second transport tray Z-axis module on the other side of the transport tray X-axis module, and a transport tray R-axis mechanism on the second transport tray Z-axis module. The first blister tray vertical conveying mechanism is used to transport empty blister trays to the left area of ​​the work platform. The first transport tray Z-axis module transports empty blister trays to the right area of ​​the work platform through the transport tray Y-axis module. The transport tray R-axis mechanism obtains injection molded products from the secondary positioning fixture of injection molded products through the transport tray Y-axis module, transport tray X-axis module, and second transport tray Z-axis module. The transport tray R-axis mechanism rotates the injection molded products circumferentially and places them into the empty blister tray in the right area. The second blister tray vertical conveying mechanism is used to transport blister trays filled with injection molded products downwards.

[0005] Furthermore, the Y-axis module of the transport plate adopts a first embedded slide, and the X-axis module of the transport plate adopts a second embedded slide. The bottom of the second embedded slide and the side on which the first transport plate Z-axis module is installed are provided with connecting brackets. The bottom of the connecting brackets is connected and fixed to the first slide on the first embedded slide.

[0006] Furthermore, the first transport plate Z-axis module uses a cylinder. The cylinder is equipped with a fixed bracket and a base plate. The fixed bracket fixes the cylinder and is connected to the connecting bracket. The base plate is equipped with multiple first vacuum suction heads. The cylinder drives the base plate to move up and down. The multiple first vacuum suction heads are connected to a vacuum pump through pipelines.

[0007] Furthermore, the second transport plate Z-axis module adopts a third embedded slide, the bottom of which is connected to the second slide block on the second embedded slide.

[0008] Furthermore, the R-axis mechanism of the transport tray includes a vertical plate connected to a third slide block on a third embedded slide table. A synchronous gear box is connected to the lower end of the vertical plate. The synchronous gear box includes a box body and a set of gears arranged in a row and meshing with each other inside the box body. The gear set includes a drive gear, at least two material-picking rotary gears, and at least one reversing gear. A first servo motor is provided on the drive gear, and the output shaft of the first servo motor drives the drive gear to rotate. The drive gear meshes with a material-picking rotary gear, and the other side of the material-picking rotary gear meshes with a reversing gear. The other side of the reversing gear meshes with another material-picking rotary gear. The drive gear, the material-picking rotary gear, and the reversing gear are all gears with a central through hole. A second vacuum suction head passes through the central through hole of the material-picking rotary gear. The upper end of the second vacuum suction head passes through the synchronous gear box and is connected to a vacuum pump through a pipeline. The second vacuum suction head is driven to rotate circumferentially by the material-picking rotary gear.

[0009] Furthermore, the box body includes a hollow rectangular box body with an open top, and a box cover plate disposed on the rectangular box body. The box cover plate has a plurality of stepped holes arranged in a row, and a bearing is embedded in the stepped holes. The upper end of the second vacuum suction head passes through the inner ring hole of the bearing.

[0010] Furthermore, the first and second blister tray vertical conveying mechanisms have the same structure, both including a blister tray drawer-type loading and unloading mechanism and a blister tray vertical transport mechanism. The left and right regions are provided with square openings for blister tray output or insertion. The blister tray drawer-type loading and unloading mechanism is located directly below the square openings. The blister tray vertical transport mechanism is used to transport the blister tray placed on the blister tray drawer-type loading and unloading mechanism upwards, or to transport the blister tray on the blister tray vertical transport mechanism downwards to the blister tray drawer-type loading and unloading mechanism.

[0011] Furthermore, the blister tray drawer-type loading and unloading mechanism includes a first supporting base plate, first guide rails arranged parallel to each other on both sides of the first supporting base plate, a first slider on the first guide rail, a second supporting base plate on the first slider, linear bearings arranged parallel to each other on both sides of the second supporting base plate, a slide rod on the linear bearing, a front end bracket and a rear end bracket on the front and rear ends of the slide rod, a pull handle with a baffle on the front end bracket, a third supporting base plate on the front end bracket and the rear end bracket, and multiple limiting rods vertically arranged on the third supporting base plate and distributed on both sides and the rear end. The middle position of the third supporting base plate along the pulling direction is provided with a notch.

[0012] Furthermore, the blister tray vertical transport mechanism includes a fixed side plate vertically arranged inside the square opening, a second guide rail located on the front of the fixed side plate and parallel to both sides, a second slider on the second guide rail, a movable side plate on the second slider, and a support platform located at the upper end of the movable side plate and perpendicular to the movable side plate. A lead screw is provided between the second guide rails, and a lead screw nut seat is provided on the lead screw. The lead screw nut seat is connected to the bottom of the movable side plate. Fixed bearing seats are provided at both ends of the lead screw. A coupling is connected to the lower end of the lead screw, and a second servo motor is connected to the coupling. The second servo motor is fixed on the fixed side plate and drives the support platform to move up and down. The width of the support platform is smaller than the width of the notch.

[0013] Furthermore, the edge of the square opening is provided with a limiting spring for outputting or inserting the blister tray. The upper and lower ends of the limiting spring are outwardly flared. The edge of the square opening is provided with a through-beam photoelectric sensor for detecting whether there is a blister tray. The edge of the square opening is provided with a reflective fiber optic sensor for detecting whether the blister tray is placed upright or backward. The edge of the square opening is provided with oppositely arranged push cylinders. The push rod of the push cylinder is connected to an L-shaped clamp for fixing the blister tray.

[0014] The advantages of this invention compared to existing technologies lie in its design of a cabinet operating platform divided into a middle area, a left area, and a right area. The left and right areas are symmetrically designed. It employs identical first and second blister tray vertical transport mechanisms, along with a four-axis transport module. The first transport tray Z-axis module, through the lateral movement of the transport tray Y-axis module, transports empty blister trays from the left area to the right area of ​​the operating platform. The transport tray R-axis mechanism, through the transport tray Y-axis, transport tray X-axis, and second transport tray Z-axis modules, retrieves injection-molded products from the secondary positioning fixture. Simultaneously, the transport tray R-axis mechanism rotates the injection-molded products circumferentially and places them onto empty blister trays in the right area. The second blister tray vertical transport mechanism downwards transports blister trays filled with injection-molded products. This solution integrates blister tray transport and automated injection-molded product placement into a single unit, resulting in a simple and practical machine design. Replacing a four-axis robot with a four-axis transport module helps reduce equipment costs. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the main components of the automated multi-angle rotating tray device for injection molding machines according to this utility model.

[0016] Figure 2 This is a schematic diagram of the assembly structure of the four-axis handling module of this utility model.

[0017] Figure 3 This is a schematic diagram of the four-axis handling module assembly structure from another perspective.

[0018] Figure 4 This is a schematic diagram showing the assembly position of the working platform and the upper and lower conveying mechanism of the first blister tray of the cabinet of this utility model.

[0019] Figure 5 This is a schematic diagram of the Z-axis module structure of the first transporter plate of this utility model.

[0020] Figure 6 This is a schematic diagram of the secondary positioning fixture for injection molded products and the injection molded product of this utility model.

[0021] Figure 7 This is a schematic diagram of the four-axis handling module for handling blister trays according to this utility model.

[0022] Figure 8 This is an exploded view of the R-axis mechanism of the transport and tilting plate of this utility model.

[0023] Figure 9 This is a schematic diagram of the bottom of the R-axis mechanism of the transport and tilting tray of this utility model and the rotary injection molded product.

[0024] Figure 10This is a schematic diagram of the overall upper and lower conveying mechanism of the first blister tray of this utility model.

[0025] Figure 11 This is a schematic diagram of the drawer-type detachable mechanism for the blister tray of this utility model.

[0026] Figure 12 A schematic diagram showing the blister tray drawer-type retrieval mechanism of this utility model with a blister tray inserted.

[0027] Figure 13 This is a schematic diagram of the upper and lower transport mechanism of the blister tray of this utility model.

[0028] Figure 14 This is a schematic diagram of the separation structure of the support platform of the blister tray vertical transport mechanism of this utility model.

[0029] Figure 15 This is a schematic diagram of the blister tray placed upright as an example of this utility model.

[0030] Figure 16 This is a reverse schematic diagram of the blister tray used in this utility model.

[0031] Figure 17 This is a schematic diagram of the square opening and the components along the edge of the square opening in the left area of ​​the working platform of this utility model.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Cabinet; 2. HMI control box; 3. First blister tray conveying mechanism; 31. Blister tray drawer-type loading and unloading mechanism; 310. Limiting rod; 311. First support base plate; 312. First guide rail; 313. First slider; 314. Second support base plate; 315. Linear bearing; 316. Sliding rod; 317. Front bracket; 318. Rear bracket; 319. Pull-out handle with baffle; 320. Third support base plate; 32. Blister tray conveying mechanism 321. Handling mechanism; 322. Fixed side plate; 323. Second guide rail; 324. Second slider; 325. Movable side plate; 326. Support platform; 327. Lead screw; 328. Lead screw nut seat; 329. Fixed bearing seat; 330. Coupling; 331. Second servo motor; 4. Second blister tray up and down conveying mechanism; 5. Secondary positioning fixture for injection molded products; 51. Injection molded product; 51a. Protrusion of injection molded product; 6. Four-axis handling module; 61. First embedded slide table; 611. First slide block; 62. Second embedded slide table; 621. Connecting bracket; 622. Second slide block; 63. Z-axis module of transporting tray; 631. Cylinder; 632. Fixed bracket; 633. Base plate; 634. First vacuum suction head; 64. Third embedded slide table; 641. Third slide block; 65. R-axis mechanism of transporting tray; 651. Vertical plate; 652. Synchronous gear box; 6521. Rectangular box body ; 6522, Box cover plate; 6523, Drive gear; 6524, Material picking rotary gear; 6525, Reversing gear; 6526, Second vacuum suction head; 6527, Bearing; 653, First servo motor; 34, Square opening; 341, Limiting spring; 342, Push cylinder; 343, L-shaped clamp; 344, Through-beam photoelectric sensor; 345, Reflective fiber optic sensor; 100, Blister tray; 100a, Blister tray upright or reversed identification position. Detailed Implementation

[0034] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are also within the scope of protection of this disclosure.

[0035] Please refer to Figures 1 to 17This technical solution discloses a specific embodiment of an automated multi-angle rotating tray-stacking device for injection molding machines, comprising a cabinet 1 and a human-machine control box 2. The working platform of the cabinet 1 includes a central area and symmetrical left and right areas. The left area is provided with a first blister tray vertical conveying mechanism 3, and the right area is provided with a second blister tray vertical conveying mechanism 4. The central area is provided with a secondary positioning fixture 5 for injection molded products. A four-axis transport module 6 is provided on the rear side of the left and right areas. The four-axis transport module 6 includes a transport tray Y-axis module horizontally arranged on the rear side of the left and right areas, a transport tray X-axis module on the transport tray Y-axis module, a first transport tray Z-axis module 63 on one side of the transport tray X-axis module, a second transport tray Z-axis module 63 on the other side of the transport tray X-axis module, and a transport tray R-axis mechanism 65 on the second transport tray Z-axis module 63. The first blister tray vertical conveying mechanism 3 is used to transport an empty blister tray to the left area of ​​the work platform. The first transport tray Z-axis module 63 transports an empty blister tray to the right area of ​​the work platform through the transport tray Y-axis module. The transport tray R-axis mechanism 65 obtains the injection molded product on the injection molded product secondary positioning fixture 5 through the transport tray Y-axis module, the transport tray X-axis module, and the second transport tray Z-axis module 63. The transport tray R-axis mechanism 65 rotates the injection molded product circumferentially and places it into an empty blister tray in the right area. The second blister tray vertical conveying mechanism 4 is used to transport a blister tray filled with injection molded products downwards.

[0036] Preferably, the Y-axis module of the transport tray adopts a first embedded slide 61, and the X-axis module of the transport tray adopts a second embedded slide 62. The bottom of the second embedded slide 62 and the side on which the first transport tray Z-axis module 63 is installed are provided with a connecting bracket 621. The bottom of the connecting bracket 621 is connected and fixed to the first slide block 611 on the first embedded slide 61.

[0037] Preferably, the first transport tray Z-axis module 63 adopts a cylinder 631. The cylinder 631 is provided with a fixed bracket 632 and a base plate 633. The fixed bracket 632 fixes the cylinder and is connected to the connecting bracket 621. The base plate 633 is provided with a plurality of first vacuum suction heads 634. The cylinder 631 drives the base plate 633 to move up and down. The plurality of first vacuum suction heads 634 are connected to a vacuum pump through pipelines.

[0038] Preferably, the second transport plate Z-axis module 63 adopts a third embedded slide 64, the bottom of which is connected to the second slide block 622 on the second embedded slide 62.

[0039] Preferably, the transport and tilting plate R-axis mechanism 65 includes a vertical plate 651 connected to a third slide block 641 on a third embedded slide table 64. A synchronous gear box 652 is connected to the lower end of the vertical plate 651. The synchronous gear box 652 includes a box body and a set of gears arranged in a row and meshing within the box body. The gear set includes a drive gear 6523, at least two material-picking rotary gears 6524, and at least one reversing gear 6525. A first servo motor 653 is mounted on the drive gear 6523, and the output shaft of the first servo motor 653 drives the drive gear 6523 to rotate. The drive gears 6523 mesh with each other. A unified material-picking rotary gear 6524 is provided, with its other side meshing with a reversing gear 6525. The other side of the reversing gear 6525 meshes with another material-picking rotary gear 6524. The drive gear 6523, the material-picking rotary gear 6524, and the reversing gear 6525 are all gears with a central through hole. A second vacuum suction head 6526 is installed through the central through hole of the material-picking rotary gear 6524. The upper end of the second vacuum suction head 6526 extends out of the synchronous gear box 652 and is connected to a vacuum pump through a pipeline. The second vacuum suction head 6526 is driven to rotate circumferentially by the material-picking rotary gear 6524.

[0040] Furthermore, the box body includes a hollow rectangular box body 6521 with an open top, and a box cover plate 6522 disposed on the rectangular box body 6521. The box cover plate 6522 has a plurality of stepped holes arranged in a row, and a bearing 6527 is embedded in the stepped holes. The upper end of the second vacuum suction head 6526 passes through the inner ring hole of the bearing 6527.

[0041] Furthermore, the first blister tray vertical conveying mechanism 3 and the second blister tray vertical conveying mechanism 4 have the same structure, both including a blister tray drawer-type loading and unloading mechanism 31 and a blister tray vertical transport mechanism 32. The left and right regions are provided with square openings 34 for blister tray output or insertion. The blister tray drawer-type loading and unloading mechanism 31 is located directly below the square openings 34. The blister tray vertical transport mechanism 32 is used to transport the blister tray placed on the blister tray drawer-type loading and unloading mechanism 31 upwards, or to transport the blister tray on the blister tray vertical transport mechanism 32 downwards to the blister tray drawer-type loading and unloading mechanism 31. Specifically, the blister tray drawer-type loading and unloading mechanism 31 includes a first supporting base plate 311, a first guide rail 312 arranged parallel to both sides of the first supporting base plate 311, a first slider 313 arranged on the first guide rail 312, a second supporting base plate 314 arranged on the first slider 313, linear bearings 315 arranged parallel to both sides of the second supporting base plate 314, a slide rod 316 arranged on the linear bearing 315, a front end bracket 317 and a rear end bracket 318 arranged at the front and rear ends of the slide rod 316, a pull handle 319 with a baffle arranged on the front end bracket 317, a third supporting base plate 320 arranged on the front end bracket 317 and the rear end bracket 318, and multiple limiting rods 310 vertically arranged on the third supporting base plate 320 and distributed on both sides and the rear end. The third supporting base plate 320 is provided with a notch at the middle position along the pulling direction.

[0042] Furthermore, the blister tray vertical transport mechanism 32 includes a fixed side plate 321 vertically arranged below the inner side of the square opening 34, second guide rails 322 disposed on the front of the fixed side plate 321 and parallel to both sides, a second slider 323 disposed on the second guide rails 322, a movable side plate 324 disposed on the second slider 323, and a support platform 325 disposed on the upper end of the movable side plate 324 and perpendicular to the movable side plate 324. A lead screw 326 is provided between the second guide rails 322. A lead screw nut seat 327 is provided on the upper part, and the lead screw nut seat 327 is connected to the bottom of the movable side plate 324. Fixed bearing seats 329 are provided at both ends of the lead screw 326. A coupling 330 is connected to the lower end of the lead screw 326. A second servo motor 331 is connected to the coupling 330. The second servo motor 331 is fixed on the fixed side plate 321. The support platform 325 is driven to move up and down by the second servo motor 331. The width of the support platform 325 is smaller than the width of the notch.

[0043] Preferably, the edge of the square opening 34 is provided with a limiting spring 341 for outputting or inserting the blister tray. The upper and lower ends of the limiting spring 341 are outwardly opened. The edge of the square opening 34 is provided with a photoelectric sensor 344 for detecting whether there is a blister tray. The edge of the square opening 34 is provided with a reflective fiber optic sensor 345 for detecting whether the blister tray is placed upright or backward. The edge of the square opening 34 is provided with oppositely arranged pushing cylinders 342. The push rod of the pushing cylinder 342 is connected to an L-shaped clamp 343 for fixing the blister tray.

[0044] Please refer to Figure 16 , Figure 17 The photoelectric sensor 344 detects whether the square opening 34 in the left area has been transported to the square opening 34 position by the blister tray lifting and lowering mechanism 32. The optical fiber sensor 345 detects the blister tray 100's orientation (right or wrong) identification position 100a. This identification position is a beveled sidewall. When the blister tray 100 is upright, the light from the optical fiber sensor 345 is reflected by the sidewall of the blister tray 100; when it is reversed, the light from the optical fiber sensor 345 is not reflected. This allows the system to identify whether the blister tray 100 is upright or reversed. Because all blister trays are stacked in one direction, multiple blister trays would be tightly stacked together, making it impossible to remove them individually.

[0045] The working principle of this solution is as follows: It identifies whether the blister tray in the left square opening 34 is placed upright or upside down. The human-machine interface control box 2 controls the rotation parameters of the first servo motor 653 of the transport tray R-axis mechanism 65, thereby rotating the transported injection-molded product 51 circumferentially to a certain angle. Please refer to... Figure 6 , Figure 8 , Figure 9 , Figure 16 The injection-molded product 51 has a protrusion 51a, which corresponds to a groove in the blister pack 100's mounting cavity. Therefore, the injection-molded product 51 needs to be rotated to a certain angle before it can be placed in the blister pack 100's mounting cavity. Please refer to... Figures 1 to 10 First, the cylinder of the first transport plate Z-axis module 63 and the first vacuum suction head 634 move laterally through the first embedded slide 61 to transport the empty blister tray in the left area to the right area of ​​the work platform. The transport plate R-axis mechanism 65 uses the first embedded slide 61, the second embedded slide 62, the third embedded slide 64 and the second vacuum suction head 6526 of the transport plate R-axis mechanism 65 to obtain the injection molded product on the injection molded product secondary positioning fixture 5. At the same time, the transport plate R-axis mechanism 65 rotates the injection molded product 51 circumferentially and places it into the empty blister tray 100 in the right area. The second blister tray up and down conveying mechanism 4 is used to convey the blister tray 100 filled with injection molded products 51 downwards.

[0046] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A multi-angle rotary automated tray placing apparatus for injection molding machines, characterized by, The system includes a cabinet and a human-machine interface control box. The cabinet's operating platform includes a central area and symmetrical left and right areas. The left area is equipped with a first blister tray vertical conveying mechanism, and the right area is equipped with a second blister tray vertical conveying mechanism. The central area is equipped with a secondary positioning fixture for injection molded products. A four-axis transport module is located at the rear of the left and right areas. The four-axis transport module includes a transport tray Y-axis module horizontally positioned at the rear of the left and right areas, a transport tray X-axis module on the transport tray Y-axis module, a first transport tray Z-axis module on one side of the transport tray X-axis module, a second transport tray Z-axis module on the other side of the transport tray X-axis module, and a transport tray R-axis mechanism on the second transport tray Z-axis module. The first blister tray vertical conveying mechanism is used to transport empty blister trays to the left area of ​​the work platform. The first transport tray Z-axis module transports empty blister trays to the right area of ​​the work platform through the transport tray Y-axis module. The transport tray R-axis mechanism obtains injection molded products from the secondary positioning fixture of injection molded products through the transport tray Y-axis module, transport tray X-axis module, and second transport tray Z-axis module. The transport tray R-axis mechanism rotates the injection molded products circumferentially and places them into the empty blister tray in the right area. The second blister tray vertical conveying mechanism is used to transport blister trays filled with injection molded products downwards.

2. The multi-angle rotary automated depanning apparatus of claim 1, wherein, The Y-axis module of the transport plate adopts a first embedded slide, and the X-axis module of the transport plate adopts a second embedded slide. The bottom of the second embedded slide and the side on which the first transport plate Z-axis module is installed are provided with connecting brackets. The bottom of the connecting brackets is connected and fixed to the first slide on the first embedded slide.

3. The multi-angle rotary automated depanning apparatus of claim 2, wherein, The first transport plate Z-axis module uses a cylinder. The cylinder is equipped with a fixed bracket and a base plate. The fixed bracket fixes the cylinder and is connected to the connecting bracket. The base plate is equipped with multiple first vacuum suction heads. The cylinder drives the base plate to move up and down. The multiple first vacuum suction heads are connected to a vacuum pump through pipelines.

4. The multi-angle rotary automated depanning apparatus of claim 2, wherein, The second transport plate Z-axis module adopts a third embedded slide, the bottom of which is connected to the second slide on the second embedded slide.

5. The multi-angle rotary automated depanning apparatus of claim 4, wherein, The R-axis mechanism of the transport tray includes a vertical plate connected to a third slide block on a third embedded slide table. A synchronous gear box is connected to the lower end of the vertical plate. The synchronous gear box includes a box body and a gear set arranged in a row and meshing with each other inside the box body. The gear set includes a drive gear, at least two material-picking rotary gears, and at least one reversing gear. A first servo motor is provided on the drive gear, and the output shaft of the first servo motor drives the drive gear to rotate. The drive gear meshes with a material-picking rotary gear, and the other side of the material-picking rotary gear meshes with a reversing gear. The other side of the reversing gear meshes with another material-picking rotary gear. The drive gear, material-picking rotary gear, and reversing gear are all gears with a central through hole. A second vacuum suction head passes through the central through hole of the material-picking rotary gear. The upper end of the second vacuum suction head passes through the synchronous gear box and is connected to a vacuum pump through a pipeline. The second vacuum suction head is driven to rotate circumferentially by the material-picking rotary gear.

6. The multi-angle rotary automated depanning apparatus of claim 5, wherein, The box body includes a hollow rectangular box body with an open top and a box cover plate disposed on the rectangular box body. The box cover plate has a plurality of stepped holes arranged in a row. Bearings are embedded in the stepped holes, and the upper end of the second vacuum suction head passes through the inner ring hole of the bearing.

7. The multi-angle rotary automated depanning apparatus of claim 1, wherein, The first and second blister tray vertical conveying mechanisms have the same structure, both including a blister tray drawer-type loading and unloading mechanism and a blister tray vertical transport mechanism. The left and right regions are provided with square openings for blister tray output or placement. The blister tray drawer-type loading and unloading mechanism is located directly below the square openings. The blister tray vertical transport mechanism is used to transport the blister tray placed on the blister tray drawer-type loading and unloading mechanism upwards, or to transport the blister tray on the blister tray vertical transport mechanism downwards to the blister tray drawer-type loading and unloading mechanism.

8. The multi-angle rotary automated depanning apparatus of claim 7, wherein, The blister tray drawer-type loading and unloading mechanism includes a first support base plate, first guide rails arranged parallel to each other on both sides of the first support base plate, a first slider on the first guide rail, a second support base plate on the first slider, linear bearings arranged parallel to each other on both sides of the second support base plate, a slide rod on the linear bearing, a front end bracket and a rear end bracket on the front and rear ends of the slide rod, a pull handle with a baffle on the front end bracket, a third support base plate on the front end bracket and the rear end bracket, and multiple limiting rods vertically arranged on the third support base plate and distributed on both sides and the rear end. The middle position of the third support base plate along the pulling direction is provided with a notch.

9. The multi-angle rotary automated depanning apparatus of claim 8, wherein, The blister tray vertical transport mechanism includes a fixed side plate vertically arranged inside the square opening, a second guide rail located on the front of the fixed side plate and parallel to both sides, a second slider on the second guide rail, a movable side plate on the second slider, and a support platform located at the upper end of the movable side plate and perpendicular to the movable side plate. A lead screw is provided between the second guide rails, and a lead screw nut seat is provided on the lead screw. The lead screw nut seat is connected to the bottom of the movable side plate. Fixed bearing seats are provided at both ends of the lead screw. A coupling is connected to the lower end of the lead screw, and a second servo motor is connected to the coupling. The second servo motor is fixed on the fixed side plate and drives the support platform to move up and down. The width of the support platform is smaller than the width of the notch.

10. The multi-angle rotary automated depanning apparatus of claim 7, wherein, The edge of the square opening is provided with a limiting spring for outputting or inserting the blister tray. The upper and lower ends of the limiting spring are outwardly flared. The edge of the square opening is provided with a photoelectric sensor for detecting whether there is a blister tray. The edge of the square opening is provided with a reflective fiber optic sensor for detecting whether the blister tray is placed upright or backward. The edge of the square opening is provided with oppositely arranged push cylinders. The push rod of the push cylinder is connected to an L-shaped clamp for fixing the blister tray.

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