Automatic rewinding equipment

Abstract

This utility model discloses an automatic tray-turning device, comprising: a base plate, a basket loading / unloading mechanism, a transfer mechanism, a first offset platform, a second offset platform, a workpiece tray-turning mechanism, an extraction tray feeding mechanism, and an extraction tray unloading mechanism. The first and second offset platforms are fixed side-by-side on the base plate between the transfer mechanism and the workpiece tray-turning mechanism. The transfer mechanism can remove the tray containing the workpiece from the basket and move it onto the first offset platform. The first offset platform can drive the tray to move back and forth between the transfer mechanism and the workpiece tray-turning mechanism. The transfer mechanism can move the extraction tray from the extraction tray feeding mechanism to the second offset platform. The second offset platform can drive the extraction tray to move back and forth between the transfer mechanism and the workpiece tray-turning mechanism. This utility model has a high degree of automation.

Description

Technical Field

[0001] This utility model relates to automated equipment, and more particularly to an automatic tray-turning device. Background Technology

[0002] With the development of the times, industrial production technology is also developing rapidly, and automated equipment is being used more and more in industrial production. Workpieces are usually placed in baskets for easy transportation or storage. Each basket usually has multiple layers of trays to support the workpieces. In actual processing, the trays in the basket need to be removed, and the workpieces on the trays are placed on the tray for subsequent use. Currently, the operation of placing the workpieces in the basket onto the tray is usually done manually. Manual operation is not only costly but also inefficient. It lacks competitiveness in the industrial field that emphasizes cost reduction and efficiency improvement, and is not conducive to large-scale promotion and industrialized production. Utility Model Content

[0003] To overcome the above-mentioned defects, this utility model provides an automatic rewinding device, which has the advantage of a high degree of automation.

[0004] The technical solution adopted by this utility model to solve its technical problem is: an automatic tray-turning device, including: a base plate, a basket loading and unloading mechanism, a transfer mechanism, a first misaligned platform, a second misaligned platform, a workpiece tray-turning mechanism, an extraction tray feeding mechanism, and an extraction tray unloading mechanism. The transfer mechanism and the workpiece tray-turning mechanism are arranged opposite to each other. The first misaligned platform and the second misaligned platform are fixed side by side to the base plate between the transfer mechanism and the workpiece tray-turning mechanism. The basket loading and unloading mechanism is adjacent to the first end of the transfer mechanism, and the extraction tray feeding mechanism and the extraction tray unloading mechanism are adjacent to the second end of the transfer mechanism. The basket can approach the transfer mechanism under the drive of the basket loading and unloading mechanism. After removing the tray containing the workpiece from the basket, the tray is moved to the first misalignment platform. The first misalignment platform drives the tray to move back and forth between the transfer mechanism and the workpiece rewinding mechanism. The empty extraction tray can approach the transfer mechanism under the drive of the extraction tray feeding mechanism. The transfer mechanism can move the extraction tray from the extraction tray feeding mechanism to the second misalignment platform. The second misalignment platform drives the extraction tray to move back and forth between the transfer mechanism and the workpiece rewinding mechanism. The workpiece rewinding mechanism can rotate the workpiece on the tray and move it onto the extraction tray. The transfer mechanism can put the empty tray back into the basket. The transfer mechanism can place the extraction tray containing the workpiece onto the extraction tray unloading mechanism.

[0005] Optionally, the basket loading and unloading mechanism includes a first streamline, a second streamline, a first electric lead screw, a first top plate, a pushing cylinder, and a pushing plate. The second streamline is located directly above the first streamline. The first electric lead screw is located at one end of the first streamline near the transfer mechanism. The first top plate is fixed to the moving end of the first electric lead screw. The basket is hollow inside, and its side walls are spaced apart with multiple slots for inserting trays. The trays are spaced apart and inserted into the basket. The side of the basket facing the assembly mechanism has an opening for the trays to enter and exit. The pushing cylinder is fixed to the bottom plate above the first top plate, and the pushing plate is fixed to the pushing cylinder. The mobile end of the device allows the basket to be placed on the first streamline. The first top plate can be connected to either the first or second streamline under the drive of the first electric screw. When the first top plate is connected to the first streamline, the basket can move onto the first top plate under the drive of the first streamline. The basket on the first top plate can move back and forth along the Z-axis or stop at any position within the stroke range under the drive of the first electric screw. When the first top plate is connected to the second streamline, the push plate can push the basket under the drive of the pusher cylinder. The basket can move onto the second streamline under the push of the push plate and move away from the automatic rewinding device under the drive of the second streamline.

[0006] Optionally, the transfer mechanism includes a dual-actuator linear motor, a first cylinder, a second cylinder, a material handling module, a first suction cup holder, and a second suction cup holder. The dual-actuator linear motor is fixed to the base plate and has two movable ends that can move back and forth along the Y-axis. The first cylinder is fixed to one of the movable ends of the dual-actuator linear motor, and the second cylinder is fixed to the other movable end. The first suction cup holder is fixed to the movable end of the first cylinder, and the second cylinder is fixed to the movable end of the second cylinder. The bottom surface of the first suction cup holder is provided with at least one first suction cup, and the bottom surface of the second suction cup holder is provided with at least one second suction cup. Both the first and second suction cups are connected to a vacuum generator. The material handling module and the basket loading / unloading mechanism are arranged adjacent to each other. The material handling module includes a first motor, a first driving wheel, a first driven wheel, a slide, a first transmission belt, and cylinder grippers. The slide is slidably connected to the base plate via a first slide rail, and the slide is provided with two... A cylinder gripper, a first motor fixed to the base plate, a first drive wheel fixed to the rotating shaft of the first motor, a first driven wheel rotatably connected to the base plate, the first drive wheel and the first driven wheel connected by a first transmission belt, a slide connected to the first transmission belt, a double-acting linear motor that can drive the first suction cup seat to move back and forth between the material picking module and the first misalignment platform, the slide and the cylinder gripper can approach the basket lifted by the first top plate under the drive of the first motor, the cylinder gripper can grip or release the material tray, the material tray gripped on the cylinder gripper can approach the transfer mechanism under the drive of the first motor, the first cylinder can drive the first suction cup seat to move back and forth along the Z-axis, the first suction cup can pick up or put down the material tray, the double-acting linear motor that can drive the second suction cup seat to move back and forth between the extraction tray feeding mechanism, the extraction tray unloading mechanism and the second misalignment platform, the second cylinder can drive the second suction cup seat to move back and forth along the Z-axis, the second suction cup can pick up or put down the extraction tray.

[0007] Optionally, a barcode scanner is also included, which is disposed between the material handling module and the first misalignment platform, and is capable of reading the barcode on the bottom of the material tray.

[0008] Optionally, it also includes auxiliary clamping cylinders, the number of which is four. The four auxiliary clamping cylinders are fixed to both sides of the first suction cup seat in pairs. Each auxiliary clamping cylinder has an auxiliary clamping block fixed on its moving end. The auxiliary clamping block can move closer to or away from the material tray adsorbed on the first suction cup under the drive of the auxiliary clamping cylinder. The auxiliary clamping block can be in close contact with the side wall of the material tray. Two rows of rollers are rotatably connected to the top surface of the first top plate.

[0009] Optionally, the first misalignment platform includes two second electric lead screws arranged side by side. A third cylinder is fixed to the moving end of each second electric lead screw, and a first fixed plate is fixed to the moving end of each third cylinder. A first platform is fixed to the first fixed plate, and a material tray can be placed on the first platform. The third cylinder, the first fixed plate, the first platform, and the material tray can move back and forth along the X-axis between the transfer mechanism and the workpiece rewinding mechanism under the drive of the second electric lead screws. The first fixed plate, the first platform, and the material tray can move along the Z-axis under the drive of the third cylinders. The second misalignment platform includes two third electric lead screws arranged side by side. A fourth cylinder is fixed to the moving end of each third electric lead screw. A second fixed plate is fixed to the moving end of each fourth cylinder. A second platform is fixed to the second fixed plate. The extraction tray can be placed on the second platform. The fourth cylinder, the second fixed plate, the second platform, and the extraction tray can move back and forth along the X-axis between the transfer mechanism and the workpiece rewinding mechanism under the drive of the third electric lead screw. The second fixed plate, the second platform, and the extraction tray can move back and forth along the Z-axis under the drive of the fourth cylinder.

[0010] Optionally, the extraction tray feeding mechanism includes a third streamline, a fourth electric screw, and a second top plate. The third streamline is located below the bottom plate, the fourth electric screw is located within the third streamline near the transfer mechanism, and the second top plate is fixed to the moving end of the fourth electric screw. The bottom plate has a first clearance opening corresponding to the second top plate. An empty extraction tray can move to a position near the transfer mechanism under the drive of the third streamline. The fourth electric screw can drive the second top plate to rise along the Z-axis and lift the empty extraction tray from the third streamline, allowing it to extend out from the first clearance opening. The transfer mechanism can absorb the empty extraction tray extending from the first clearance opening. The extraction tray unloading mechanism... It includes a fourth streamline, a fifth electric lead screw, and a third top plate. The fourth streamline is located below the base plate. The fifth electric lead screw is located within the fourth streamline near the transfer mechanism. The third top plate is fixed to the moving end of the fifth electric lead screw. The base plate has a second clearance opening corresponding to the third top plate, through which the third top plate can extend. The transfer mechanism can place a tray full of workpieces onto the third top plate. The fifth electric lead screw can drive the third top plate and the tray full of workpieces to descend along the Z-axis and place the tray full of workpieces onto the fourth streamline. The tray full of workpieces can move away from the automatic tray-turning device under the drive of the fourth streamline.

[0011] Optionally, the workpiece turning mechanism includes a three-moving linear motor and a rotary adsorption module. The three-moving linear motor has three movable ends that can move back and forth along the Y-axis. The rotary adsorption module includes a vertical fixed plate, a horizontal fixed plate, a second motor, a third motor, and a connecting pipe. The vertical fixed plate is fixed to the middle movable end of the three-moving linear motor, and the horizontal fixed plate is fixed to the bottom of the vertical fixed plate. The connecting seat is slidably connected to the vertical fixed plate via a second slide rail. The second motor is fixed to the vertical fixed plate, and a second driving wheel is fixed to the rotating shaft of the second motor. A second driven wheel is rotatably connected to the vertical fixed plate directly above the second driving wheel. The second driving wheel and the second driven wheel are connected by a second transmission belt. The connecting seat is fixed to the second transmission belt, and the connecting pipe is rotatably connected to the connecting seat. The connecting pipe is axially fixed to the connecting seat by a snap ring. The top end of the connecting pipe is provided with a rotary joint for connecting a vacuum generator. The outer peripheral wall has multiple keyways along its own axial direction. The third motor is fixed to the horizontal fixed plate. The third driving wheel is fixed on the rotating shaft of the third motor. The third driven wheel is rotatably connected to the horizontal fixed plate. The third driving wheel and the third driven wheel are connected by a third transmission belt. The center of the third driven wheel has a first through hole. The horizontal fixed plate has a second through hole. The side wall of the first through hole is provided with key teeth that can cooperate with the keyway. The connecting tube can slide and connect with the first through hole and be circumferentially fixed by the keyway and the third driven wheel. The bottom end of the connecting tube can pass through the second through hole. The bottom end of the connecting tube is provided with a third suction cup. The rotary adsorption module can move back and forth between the first misaligned platform and the second misaligned platform under the drive of the three-motor linear motor. The second motor can drive the connecting seat, the connecting tube and the third suction cup to move back and forth along the Z-axis. The third suction cup can adsorb or put down the workpiece. The third motor can drive the connecting tube, the third suction cup and the workpiece to rotate.

[0012] Optionally, the system also includes a first downward-viewing camera, a second downward-viewing camera, and a top-viewing camera. The first downward-viewing camera and the second downward-viewing camera are respectively fixed to the two moving ends of the three-moving linear motor located at the edge. The top-viewing camera is fixed between the first misaligned platform and the second misaligned platform. The first downward-viewing camera can capture the top surface of the workpiece placed on the first misaligned platform, the second downward-viewing camera can capture the extraction plate placed on the second misaligned platform, and the top-viewing camera can capture the bottom surface of the workpiece adsorbed on the third suction cup.

[0013] Optionally, a defective product buffer mechanism is also included, which includes a sixth electric lead screw and a third platform. The sixth electric lead screw and the second misalignment platform are arranged adjacent to each other. The third platform is fixed to the moving end of the sixth electric lead screw. A defective product tray can be placed on the third platform. The third platform and the defective product tray can move back and forth along the X-axis under the drive of the sixth electric lead screw. The workpiece rewinding mechanism can place defective workpieces on the defective product tray.

[0014] The beneficial technical effects of this utility model are as follows: The automatic tray reversing device includes: a base plate, a basket loading and unloading mechanism, a transfer mechanism, a first misaligned platform, a second misaligned platform, a workpiece reversing mechanism, an extraction tray feeding mechanism, and an extraction tray unloading mechanism. In use, the basket loading and unloading mechanism feeds the basket, and the transfer mechanism removes the tray from the basket and places it on the first misaligned platform. Simultaneously, the transfer mechanism removes the empty extraction tray from the extraction tray feeding mechanism and places it on the second misaligned platform. Then, the first misaligned platform moves the tray to the workpiece reversing mechanism, and the second misaligned platform moves the extraction tray to the workpiece reversing mechanism. The workpiece reversing mechanism then rotates the workpiece on the tray and moves it onto the extraction tray. After the first and second misaligned platforms reset, the transfer mechanism returns the empty tray to the basket and places the empty extraction tray on the extraction tray unloading mechanism, thus achieving automated workpiece reversing. Compared to manual reversing, this method has a higher degree of automation and offers the advantage of a high degree of automation. Attached Figure Description

[0015] Figure 1 This is a three-dimensional view of the entire machine of this utility model;

[0016] Figure 2 This is a top view of the entire machine of this utility model;

[0017] Figure 3 This is a perspective view of the basket loading and unloading mechanism of this utility model;

[0018] Figure 4 This is a perspective view of the transfer mechanism of this utility model;

[0019] Figure 5 This is a perspective view of the material handling module of this utility model;

[0020] Figure 6 This is a perspective view of the first misaligned platform and the second misaligned platform of this utility model;

[0021] Figure 7 This is a front view of the first misaligned platform and the second misaligned platform of this utility model;

[0022] Figure 8 This is a three-dimensional view of the workpiece turning mechanism of this utility model;

[0023] Figure 9 This is a three-dimensional view of the rotating adsorption module of this utility model;

[0024] Figure 10 This is a side view of the rotary adsorption module of this utility model;

[0025] Figure 11 This is a perspective view of the connecting pipe of this utility model;

[0026] Figure 12 This is a perspective view of the third driven wheel of this utility model;

[0027] Figure 13 This is a perspective view of the extraction tray feeding mechanism and the extraction tray unloading mechanism of this utility model;

[0028] Figure 14 This is a perspective view of the defective product buffer mechanism of this utility model;

[0029] Figure 15 This is a perspective view of the basket and tray of this utility model;

[0030] in:

[0031] 1. Base plate; 2. Basket loading / unloading mechanism; 21. First streamline; 22. Second streamline; 23. First electric lead screw; 24. First top plate; 25. Pushing cylinder; 26. Push plate; 3. Transfer mechanism; 31. Double-acting linear motor; 32. First cylinder; 33. Second cylinder; 34. First motor; 35. First driven wheel; 36. Slide; 37. Cylinder gripper; 38. First driving wheel; 39. First transmission belt; 310. First suction cup seat; 311. Second suction cup seat;

[0032] 312. Auxiliary clamping block; 4. First misaligned platform; 41. Second electric lead screw; 42. Third cylinder; 43. First fixed plate; 44. First platform; 5. Second misaligned platform; 51. Third electric lead screw; 52. Fourth cylinder; 53. Second fixed plate; 54. Second platform; 6. Code scanner; 7. Workpiece reversing mechanism; 71. Three-moving linear motor; 72. Vertical fixed plate; 73. Horizontal fixed plate; 74. Second motor; 75. Third motor; 76. Connecting pipe; 77. Connecting seat; 78. Second driving wheel; 79. Second driven wheel; 710. Second transmission belt; 711. Rotary joint; 712. Third driving wheel; 713. Third driven wheel; 714. Third transmission belt;

[0033] 715. Keyway; 716. Key tooth; 8. Extraction tray feeding mechanism; 81. Third streamline; 82. Fourth electric lead screw; 83. Second top plate; 9. Extraction tray unloading mechanism; 91. Fourth streamline; 92. Third top plate; 10. First downward-viewing camera; 20. Second downward-viewing camera; 30. Upward-viewing camera; 40. Defective product buffer mechanism; 401. Sixth electric lead screw; 402. Third platform; 50. Basket; 501. Slot; 60. Material tray; 601. Workpiece. Detailed Implementation

[0034] In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0035] This specific embodiment describes in detail the automatic rewinding device described in this application, such as... Figures 1-15 As shown, the automatic tray-turning device includes: a base plate 1, a basket loading / unloading mechanism 2, a transfer mechanism 3, a first misaligned platform 4, a second misaligned platform 5, a workpiece tray-turning mechanism 7, a tray feeding mechanism 8, and a tray unloading mechanism 9. The transfer mechanism 3 and the workpiece tray-turning mechanism 7 are arranged opposite to each other. The first misaligned platform 4 and the second misaligned platform 5 are fixed side-by-side on the base plate 1 between the transfer mechanism 3 and the workpiece tray-turning mechanism 7. The basket loading / unloading mechanism 2 is adjacent to the first end of the transfer mechanism 3, and the tray feeding mechanism 8 and the tray unloading mechanism 9 are adjacent to the second end of the transfer mechanism 3. The basket 50 can approach the transfer mechanism 3 under the drive of the basket loading / unloading mechanism 2, and the transfer mechanism 3 can remove the workpiece 601 placed in the basket 50. After the tray 60 is moved to the first misalignment platform 4, the first misalignment platform 4 can drive the tray 60 to move back and forth between the transfer mechanism 3 and the workpiece rewinding mechanism 7. The empty extraction tray can approach the transfer mechanism 3 under the drive of the extraction tray feeding mechanism 8. The transfer mechanism 3 can move the extraction tray at the extraction tray feeding mechanism 8 to the second misalignment platform 5. The second misalignment platform 5 can drive the extraction tray to move back and forth between the transfer mechanism 3 and the workpiece rewinding mechanism 7. The workpiece rewinding mechanism 7 can rotate the workpiece 601 on the tray 60 and move it to the extraction tray. The transfer mechanism 3 can put the empty tray 60 back into the basket 50. The transfer mechanism 3 can place the extraction tray containing the workpiece 601 on the extraction tray unloading mechanism 9. In operation, the basket 50 is fed by the basket loading and unloading mechanism 2, and the material tray 60 is removed from the basket 50 and placed on the first misaligned platform 4 by the transfer mechanism 3. Simultaneously, the empty extraction tray is removed from the extraction tray feeding mechanism 8 by the transfer mechanism 3 and placed on the second misaligned platform 5. The first misaligned platform 4 then moves the material tray 60 to the workpiece rewinding mechanism 7, and the second misaligned platform 5 moves the extraction tray to the workpiece rewinding mechanism 7. The workpiece rewinding mechanism 7 then rotates the workpiece 601 on the material tray 60 and moves it onto the extraction tray. After the first and second misaligned platforms 4 and 5 are reset, the transfer mechanism 3 returns the empty material tray 60 to the basket 50 and places the empty extraction tray on the extraction tray unloading mechanism 9, thus achieving automated rewinding of the workpiece 601. Compared to manual rewinding, this method offers a higher degree of automation and has the advantage of a high degree of automation.

[0036] Optionally in this embodiment, the basket loading and unloading mechanism 2 includes a first streamline 21, a second streamline 22, a first electric lead screw 23, a first top plate 24, a pushing cylinder 25, and a pushing plate 26. The second streamline 22 is located directly above the first streamline 21. The first electric lead screw 23 is located at one end of the first streamline 21 near the transfer mechanism 3. The first top plate 24 is fixed to the moving end of the first electric lead screw 23. The basket 50 is hollow inside. The side wall of the basket 50 is provided with multiple slots 501 for inserting material trays 60. The material trays 60 are spaced apart and inserted into the basket 50. The side of the basket 50 facing the assembly mechanism has an opening for the material trays 60 to enter and exit. The pushing cylinder 25 is fixed to the bottom plate 1 above the first top plate 24. The pushing plate 26 is fixed to the pushing cylinder. At the moving end of cylinder 25, basket 50 can be placed on the first streamline 21. The first top plate 24 can be connected to the first streamline 21 or the second streamline 22 under the drive of the first electric screw 23. When the first top plate 24 is connected to the first streamline 21, basket 50 can move to the first top plate 24 under the drive of the first streamline 21. Basket 50 on the first top plate 24 can move back and forth along the Z-axis or stay at any position within the stroke range under the drive of the first electric screw 23. When the first top plate 24 is connected to the second streamline 22, push plate 26 can push basket 50 under the drive of push cylinder 25. Basket 50 can move to the second streamline 22 under the push of push plate 26 and move away from the automatic rewinding device under the drive of the second streamline 22.

[0037] Optionally in this embodiment, the transfer mechanism 3 includes a dual-actuator linear motor 31, a first cylinder 32, a second cylinder 33, a material handling module, a first suction cup holder 310, and a second suction cup holder 311. The dual-actuator linear motor 31 is fixed to the base plate 1 and has two moving ends that can move back and forth along the Y-axis. The first cylinder 32 is fixed to one of the moving ends of the dual-actuator linear motor 31, and the second cylinder 33 is fixed to the other moving end of the dual-actuator linear motor 31. The first suction cup holder 310 is fixed to the moving end of the first cylinder 32, and the second cylinder 310... 3. Fixed to the moving end of the second cylinder 33, the bottom surface of the first suction cup seat 310 is provided with at least one first suction cup, and the bottom surface of the second suction cup seat 311 is provided with at least one second suction cup. Both the first and second suction cups are connected to the vacuum generator. The material handling module and the basket loading / unloading mechanism 2 are arranged adjacent to each other. The material handling module includes a first motor 34, a first driving wheel 38, a first driven wheel 35, a slide 36, a first transmission belt 39, and a cylinder gripper 37. The slide 36 is slidably connected to the base plate 1 through a first slide rail, and two cylinder grippers are provided on the slide 36. The first motor 34 is fixed to the base plate 1, the first drive wheel 38 is fixed to the rotating shaft of the first motor 34, the first driven wheel 35 is rotatably connected to the base plate 1, and the first drive wheel 38 and the first driven wheel 35 are connected by a first transmission belt 39. The slide 36 is connected to the first transmission belt 39. The dual-actuator linear motor 31 can drive the first suction cup seat 310 to move back and forth between the material picking module and the first misaligned platform 4. The slide 36 and the cylinder gripper 37 can approach the basket 50 lifted by the first top plate 24 under the drive of the first motor 34. The cylinder 37 can clamp or release the material tray 60. The material tray 60 clamped on the cylinder 37 can approach the transfer mechanism 3 under the drive of the first motor 34. The first cylinder 32 can drive the first suction cup seat 310 to move back and forth along the Z-axis. The first suction cup can attract or release the material tray 60. The double-actuator linear motor 31 can drive the second suction cup seat 311 to move back and forth between the extraction tray feeding mechanism 8, the extraction tray unloading mechanism 9, and the second misalignment platform 5. The second cylinder 33 can drive the second suction cup seat 311 to move back and forth along the Z-axis. The second suction cup can attract or release the extraction tray. The first motor 34 drives the first drive wheel 38 to rotate, thereby driving the first transmission belt 39 to move, thereby driving the slide 36 and the cylinder 37 to approach or move away from the basket 50 lifted by the first top plate 24. The lifting and lowering of the basket 50 and the material tray 60 is achieved by setting the first electric lead screw 23, so as to ensure that the material tray 60 of each layer in the basket 50 can be aligned with the cylinder 37.

[0038] Optionally, this embodiment also includes a barcode scanner 6, which is disposed between the material handling module and the first misalignment platform 4. The barcode scanner 6 can read the barcode on the bottom of the material tray 60. The number of the material tray 60 is determined by reading the barcode on the bottom of the material tray 60 through the barcode scanner 6.

[0039] Optionally, this embodiment also includes four auxiliary clamping cylinders, which are fixed in pairs to both sides of the first suction cup seat 310. Each auxiliary clamping cylinder has an auxiliary clamping block 312 fixed to its moving end. Driven by the auxiliary clamping cylinder, the auxiliary clamping block 312 can move closer to or further away from the material tray 60 adsorbed on the first suction cup. The auxiliary clamping block 312 can closely adhere to the side wall of the material tray 60. Two rows of rollers are rotatably connected to the top surface of the first top plate 24. The auxiliary clamping block 312 improves the stability of the transfer mechanism 3 in picking up the material tray 60.

[0040] Optionally in this embodiment, the first misalignment platform 4 includes two second electric lead screws 41 arranged side by side. A third cylinder 42 is fixed to the moving end of each second electric lead screw 41. A first fixing plate 43 is fixed to the moving end of each third cylinder 42. A first platform 44 is fixed to the first fixing plate 43. The material tray 60 can be placed on the first platform 44. The third cylinder 42, the first fixing plate 43, the first platform 44, and the material tray 60 can move back and forth along the X-axis between the transfer mechanism 3 and the workpiece rewinding mechanism 7 under the drive of the second electric lead screws 41. The first fixing plate 43, the first platform 44, and the material tray 60 can move back and forth along the X-axis under the drive of the third cylinder 42. The second misalignment platform 5, which moves back and forth along the Z-axis, includes two third electric lead screws 51 arranged side by side. A fourth cylinder 52 is fixed on the moving end of each third electric lead screw 51. A second fixed plate 53 is fixed on the moving end of each fourth cylinder 52. A second platform 54 is fixed on the second fixed plate 53. The extraction tray can be placed on the second platform 54. The fourth cylinder 52, the second fixed plate 53, the second platform 54 and the extraction tray can move back and forth along the X-axis between the transfer mechanism 3 and the workpiece rewinding mechanism 7 under the drive of the third electric lead screws 51. The second fixed plate 53, the second platform 54 and the extraction tray can move back and forth along the Z-axis under the drive of the fourth cylinder 52. When the two first platforms 44 interfere with each other during movement, one of the third cylinders 42 can drive the first platform 44 connected to it to move upward, thus offsetting the two first platforms 44 in the vertical direction and preventing them from colliding. When the two second platforms 54 interfere with each other during movement, one of the fourth cylinders 52 can drive the second platform 54 connected to it to move upward, thus offsetting the two second platforms 54 in the vertical direction and preventing them from colliding. In this embodiment, the X-axis and Y-axis are perpendicular to each other but parallel to the ground, and the Z-axis is perpendicular to the ground.

[0041] Optionally in this embodiment, the extraction tray feeding mechanism 8 includes a third streamline 81, a fourth electric lead screw 82, and a second top plate 83. The third streamline 81 is located below the bottom plate 1, and the fourth electric lead screw 82 is located within the third streamline 81 near the transfer mechanism 3. The second top plate 83 is fixed to the moving end of the fourth electric lead screw 82. The bottom plate 1 has a first clearance opening at the corresponding position of the second top plate 83. An empty extraction tray can move to a position near the transfer mechanism 3 under the drive of the third streamline 81. The fourth electric lead screw 82 can drive the second top plate 83 to rise along the Z-axis and lift the empty extraction tray from the third streamline 81, allowing it to extend from the first clearance opening. The transfer mechanism 3 can absorb the empty extraction tray extending from the first clearance opening. The extraction tray unloading mechanism 9 includes the fourth streamline... 91. A fifth electric lead screw and a third top plate 92, and a fourth streamline 91 are located below the base plate 1. The fifth electric lead screw is located within the fourth streamline 91 near the transfer mechanism 3. The third top plate 92 is fixed to the moving end of the fifth electric lead screw. The base plate 1 has a second clearance opening at the corresponding position of the third top plate 92. The third top plate 92 can extend out from the second clearance opening. The transfer mechanism 3 can place a tray 60 filled with workpieces 601 on the third top plate 92. The fifth electric lead screw can drive the third top plate 92 and the tray 60 filled with workpieces 601 to descend along the Z-axis and place the tray 60 filled with workpieces 601 on the fourth streamline 91. The tray 60 filled with workpieces 601 can move away from the automatic rewinding device under the drive of the fourth streamline 91.

[0042] Optionally in this embodiment, the workpiece rewinding mechanism 7 includes a three-moving linear motor 71 and a rotary adsorption module. The three-moving linear motor 71 has three moving ends that can move back and forth along the Y-axis. The rotary adsorption module includes a vertical fixing plate 72, a horizontal fixing plate 73, a second motor 74, a third motor 75, and a connecting pipe 76. The vertical fixing plate 72 is fixed to the middle moving end of the three-moving linear motor 71, the horizontal fixing plate 73 is fixed to the bottom end of the vertical fixing plate 72, and the connecting seat 77 is slidably connected to the vertical fixing plate 72 via a second slide rail. The second motor 74 is fixed... A second driving wheel 78 is fixed on the rotating shaft of the second motor 74, which is fixed to the vertical fixed plate 72. A second driven wheel 79 is rotatably connected to the vertical fixed plate 72 and located directly above the second driving wheel 78. The second driving wheel 78 and the second driven wheel 79 are connected by a second transmission belt 710. A connecting seat 77 is fixed to the second transmission belt 710. A connecting pipe 76 is rotatably connected to the connecting seat 77. The connecting pipe 76 is axially fixed by a snap ring and the connecting seat 77. A rotary joint 711 for connecting a vacuum generator is provided at the top end of the connecting pipe 76. The outer peripheral wall of the connecting pipe 76... Multiple keyways 715 are formed along the axial direction of the device. A third motor 75 is fixed to a horizontal fixed plate 73. A third driving wheel 712 is fixed on the rotating shaft of the third motor 75. A third driven wheel 713 is rotatably connected to the horizontal fixed plate 73. The third driving wheel 712 and the third driven wheel 713 are connected by a third transmission belt 714. A first through hole is formed in the center of the third driven wheel 713. A second through hole is formed on the horizontal fixed plate 73. The sidewall of the first through hole is provided with key teeth 716 that can mate with the keyways 715. The connecting pipe 76 can slide and connect with the first through hole. The keyway 715 and the third driven wheel 713 keep the circumferentially fixed. The bottom end of the connecting tube 76 can pass through the second through hole. The bottom end of the connecting tube 76 is provided with a third suction cup (not shown in the figure). The rotary adsorption module can move back and forth between the first misaligned platform 4 and the second misaligned platform 5 under the drive of the three-moving linear motor 71. The second motor 74 can drive the connecting seat 77, the connecting tube 76 and the third suction cup to move back and forth along the Z-axis. The third suction cup can adsorb or put down the workpiece 601. The third motor 75 can drive the connecting tube 76, the third suction cup and the workpiece 601 to rotate. The second drive wheel 78 is driven by the second motor 74 to rotate, thereby driving the second transmission belt 710 to move. This drives the connecting seat 77, connecting pipe 76 and third suction cup to move back and forth along the Z-axis. The third drive wheel 712 is driven by the third motor 75 to rotate, thereby driving the third driven wheel 713 to rotate. Since the third driven wheel 713 and the connecting pipe 76 are circumferentially fixed by the keyway 715 and key teeth 716, the connecting pipe 76 and the workpiece 601 can also rotate together with the third driven wheel 713. The rotary joint 711 is connected to the vacuum generator through the air pipe. Since the rotary joint 711 can rotate freely while maintaining a seal with the connecting pipe 76, it can offset the effect of the rotation of the connecting pipe 76 on the air pipe.In this embodiment, the rotary joint, barcode scanner, electric lead screw, double-acting linear motor, triple-acting linear motor, and cylinder gripper are all commercially available equipment.

[0043] Optionally, this embodiment also includes a first downward-viewing camera 10, a second downward-viewing camera 20, and an upward-viewing camera 30. The first downward-viewing camera 10 and the second downward-viewing camera 20 are respectively fixed to the two moving ends of the three-moving linear motor 71 located at the edge. The upward-viewing camera 30 is fixed between the first misaligned platform 4 and the second misaligned platform 5. The first downward-viewing camera 10 can photograph the top surface of the workpiece 601 placed on the first misaligned platform 4, the second downward-viewing camera 20 can photograph the extraction plate placed on the second misaligned platform 5, and the upward-viewing camera 30 can photograph the bottom surface of the workpiece 601 adsorbed on the third suction cup.

[0044] Optionally, this embodiment also includes a defective product buffer mechanism 40, which includes a sixth electric lead screw 401 and a third platform 402. The sixth electric lead screw 401 and the second misalignment platform 5 are arranged adjacent to each other. The third platform 402 is fixed to the moving end of the sixth electric lead screw 401. A defective product tray can be placed on the third platform 402. The third platform 402 and the defective product tray can move back and forth along the X-axis under the drive of the sixth electric lead screw 401. The workpiece rewinding mechanism 7 can place defective workpieces on the defective product tray.

[0045] Working process: The basket 50 contains multiple trays 60, spaced apart along the Z-axis. Workpieces 601 are placed on each tray 60. First, the basket 50 is placed on the first streamline 21. Driven by the first streamline 21, the basket 50 moves to the first top plate 24. Then, driven by the first electric screw 23, the basket 50 moves upward until the bottommost tray 60 aligns with the cylinder gripper 37. Driven by the first motor 34, the cylinder gripper 37 approaches the basket 50 and clamps the tray 60 aligned with it. The first motor 34 then drives the cylinder gripper 37 to reset. Finally, the double-acting linear motor 31 drives the first cylinder 32 and the first suction cup seat 310 to move directly above the tray 60. Cylinder 32 drives the first suction cup seat 310 to approach the material tray 60. After the first suction cup picks up the material tray 60, the cylinder gripper 37 releases the material tray 60. Then, the double-acting linear motor 31 drives the material tray 60 to move to the first misalignment platform 4. During this process, the barcode scanner 6 reads the barcode on the bottom of the material tray 60. After the first suction cup releases the material tray 60, the material tray 60 containing the workpiece 601 is placed on the first carrier 44. At the same time, the empty extraction tray placed on the third streamline 81 can move to the vicinity of the transfer mechanism 3 under the drive of the third streamline 81. Then, the fourth electric screw 82 drives the second top plate 83 to rise along the Z-axis and lifts the empty extraction tray from the third streamline 81 and extends it out from the first clearance port. At this time, the double-acting linear motor 31 drives the second cylinder 33 and The second suction cup holder 311 moves above the empty extraction tray. Then, the second cylinder 33 drives the second suction cup holder 311 to approach the extraction tray. After the second suction cup picks up the extraction tray, the dual-actuator linear motor 31 drives the extraction tray to move to the second misalignment platform 5. The second suction cup places the empty extraction tray on the second stage 54. Then, the tray 60 containing the workpiece 601 moves to the workpiece rewinding mechanism 7 under the drive of the first misalignment platform 4. The empty extraction tray moves to the workpiece rewinding mechanism 7 under the drive of the second misalignment platform 5. Then, the three-actuator linear motor 71 drives the first downward-looking camera 10 to move above the tray 60. The first downward-looking camera 10 photographs the top surface of the workpiece 601 to detect the appearance of the workpiece 601 and determine the position of the tray 60. At the same time, the three-actuator linear motor... The second downward-facing camera 20 is driven by motor 71 to photograph the extraction tray to determine its position, so that the workpiece reversing mechanism 7 can accurately place the workpiece 601 onto the extraction tray. Then, the three-moving linear motor 71 drives the rotary adsorption module to move above the material tray 60. The second motor 74 drives the connecting pipe 76 and the third suction cup to approach the material tray 60. After the third suction cup adsorbs the workpiece 601, the third motor 75 drives the workpiece 601 to rotate at a set angle. Then, the upward-facing camera 30 photographs the bottom surface of the workpiece 601. If both the top and bottom surfaces of the workpiece 601 are qualified, the workpiece reversing mechanism 7 drives the workpiece 601 to move onto the extraction tray. If either the top or bottom surface of the workpiece 601 is unqualified, the workpiece reversing mechanism 7 drives the workpiece 601 to move onto the unqualified material tray.During the rewinding process, if all the workpieces 601 in a row on the tray 60 are removed, the second electric screw 41 drives the tray 60 to move along the X-axis by the distance of one row of workpieces 601, ensuring that all workpieces 601 on the tray 60 can be removed. Simultaneously, when the extraction tray is full of one row of workpieces 601, the third electric screw 51 drives the extraction tray to move along the X-axis by the distance of one row of workpieces 601, ensuring that the extraction tray is full of workpieces 601. Similarly, when the defective product tray is also full of defective workpieces, the sixth electric screw 401 drives the... The qualified product tray moves along the X-axis by the distance of one row of workpieces to ensure that the unqualified product tray can be filled with unqualified workpieces. When all the workpieces 601 on the tray 60 are removed, the first misalignment platform 4 drives the empty tray 60 to move close to the transfer mechanism 3. The first suction cup picks up the empty tray 60 and moves it to the cylinder gripper 37. The cylinder gripper 37 holds the empty tray 60, and the first motor 34 drives the cylinder gripper 37 to approach the lifting basket 50 and reset the empty tray 60 to its original position. Then, the first electric screw 23 drives the lifting basket 50 to move closer to the basket 50. The basket 50 rises one tray 60 distance so that the unloaded tray 60 aligns with the cylinder gripper 37, allowing the transfer mechanism 3 to replenish the full tray 60 to the first misalignment platform 4. Once all the workpieces 601 in the basket 50 have been removed, the first electric screw 23 drives the first top plate 24 to engage with the second flow line 22. The pusher cylinder 25 drives the pusher plate 26 to push the basket 50 onto the second flow line 22. The empty basket 50 moves away from the automatic tray rewinding device under the drive of the second flow line 22. Meanwhile, when the tray on the second misalignment platform 5 is filled with workpieces 601... Then, the second misalignment platform 5 drives the full extraction tray to the transfer mechanism 3. The second suction cup then picks up the full extraction tray and moves it to the extraction tray unloading mechanism 9. The fifth electric screw drives the third top plate 92 upwards and extends it from the second clearance port. The transfer mechanism 3 places the full extraction tray on the third top plate 92. Then, the fifth electric screw drives the full extraction tray downwards and places it on the fourth flow line 91. The full extraction tray is then moved away from the automatic tray rewinding device under the drive of the fourth flow line 91. This process is repeated to achieve automated tray rewinding of the workpiece.

[0046] The automatic rewinding device in this embodiment has the advantage of a high degree of automation.

Claims

1. An automatic reel-turning device, characterized in that, include: The system comprises a base plate (1), a basket loading / unloading mechanism (2), a transfer mechanism (3), a first misaligned platform (4), a second misaligned platform (5), a workpiece rewinding mechanism (7), an extraction tray feeding mechanism (8), and an extraction tray unloading mechanism (9). The transfer mechanism (3) and the workpiece rewinding mechanism (7) are arranged opposite to each other. The first misaligned platform (4) and the second misaligned platform (5) are fixed side by side to the base plate (1) between the transfer mechanism (3) and the workpiece rewinding mechanism (7). The basket loading / unloading mechanism (2) is arranged adjacent to the first end of the transfer mechanism (3). The extraction tray feeding mechanism (8) and the extraction tray unloading mechanism (9) are arranged adjacent to the second end of the transfer mechanism (3). The basket (50) can approach the transfer mechanism (3) under the drive of the basket loading / unloading mechanism (2). The transfer mechanism (3) can remove the tray (60) containing the workpiece (601) inside the basket (50). Then the material tray (60) is moved to the first misalignment platform (4). The first misalignment platform (4) can drive the material tray (60) to move back and forth between the transfer mechanism (3) and the workpiece rewinding mechanism (7). The empty extraction tray can approach the transfer mechanism (3) under the drive of the extraction tray feeding mechanism (8). The transfer mechanism (3) can move the extraction tray at the extraction tray feeding mechanism (8) to the second misalignment platform (5). The second misalignment platform (5) can drive the extraction tray to move back and forth between the transfer mechanism (3) and the workpiece rewinding mechanism (7). The workpiece rewinding mechanism (7) can rotate the workpiece (601) on the material tray (60) and move it to the extraction tray. The transfer mechanism (3) can put the empty material tray (60) back into the basket (50). The transfer mechanism (3) can place the extraction tray with the workpiece (601) on the extraction tray unloading mechanism (9).

2. The automatic tray unstacking apparatus of claim 1, wherein: The basket loading and unloading mechanism (2) includes a first streamline (21), a second streamline (22), a first electric screw (23), a first top plate (24), a pushing cylinder (25), and a pushing plate (26). The second streamline (22) is located directly above the first streamline (21). The first electric screw (23) is located at one end of the first streamline (21) near the transfer mechanism (3). The first top plate (24) is fixed to the moving end of the first electric screw (23). The basket (50) is hollow inside. The side wall of the basket (50) is provided with multiple slots (501) for inserting trays (60). The trays (60) are inserted into the basket (50) at intervals. The side of the basket (50) facing the assembly mechanism has an opening for the trays (60) to enter and exit. The pushing cylinder (25) is fixed to the bottom plate (1) above the first top plate (24). The pushing plate (26) is fixed to the pushing cylinder. (25) The moving end of the basket (50) can be placed on the first streamline (21). The first top plate (24) can be connected to the first streamline (21) or the second streamline (22) under the drive of the first electric screw (23). When the first top plate (24) is connected to the first streamline (21), the basket (50) can be moved to the first top plate (24) under the drive of the first streamline (21). The basket (50) on the first top plate (24) can move back and forth along the Z-axis or stay at any position within the stroke range under the drive of the first electric screw (23). When the first top plate (24) is connected to the second streamline (22), the push plate (26) can push the basket (50) under the drive of the push cylinder (25). The basket (50) can be moved to the second streamline (22) under the push of the push plate (26) and move away from the automatic rewinding device under the drive of the second streamline (22).

3. The automatic tray inverting apparatus according to claim 2, characterized by: The transfer mechanism (3) includes a dual-actuator linear motor (31), a first cylinder (32), a second cylinder (33), a material handling module, a first suction cup holder (310), and a second suction cup holder (311). The dual-actuator linear motor (31) is fixed to the base plate (1). The dual-actuator linear motor (31) has two moving ends that can move back and forth along the Y-axis. The first cylinder (32) is fixed to one of the moving ends of the dual-actuator linear motor (31), and the second cylinder (33) is fixed to the other moving end of the dual-actuator linear motor (31). The first suction cup holder (310) is fixed to the moving end of the first cylinder (32), and the second cylinder (33) is fixed to the second suction cup holder (311). The moving end of the cylinder (33) has at least one first suction cup on the bottom surface of the first suction cup seat (310) and at least one second suction cup on the bottom surface of the second suction cup seat (311). Both the first and second suction cups are connected to the vacuum generator. The material handling module and the basket loading and unloading mechanism (2) are arranged adjacent to each other. The material handling module includes a first motor (34), a first driving wheel (38), a first driven wheel (35), a slide (36), a first transmission belt (39), and cylinder grippers (37). The slide (36) is slidably connected to the base plate (1) through a first slide rail. Two cylinder grippers (37) are provided on the slide (36). The first motor ( 34) Fixed to the base plate (1), the first driving wheel (38) is fixed to the rotating shaft of the first motor (34), the first driven wheel (35) is rotatably connected to the base plate (1), the first driving wheel (38) and the first driven wheel (35) are connected by the first transmission belt (39), the slide (36) is connected to the first transmission belt (39), the double-acting linear motor (31) can drive the first suction cup seat (310) to move back and forth between the material picking module and the first misaligned platform (4), the slide (36) and the cylinder gripper (37) can approach the basket (50) lifted by the first top plate (24) under the drive of the first motor (34), the cylinder gripper (310) 7) The material tray (60) can be clamped or released. The material tray (60) clamped on the cylinder gripper (37) can approach the transfer mechanism (3) under the drive of the first motor (34). The first cylinder (32) can drive the first suction cup seat (310) to move back and forth along the Z-axis. The first suction cup can adsorb or release the material tray (60). The double-acting linear motor (31) can drive the second suction cup seat (311) to move back and forth between the extraction tray feeding mechanism (8), the extraction tray unloading mechanism (9), and the second misaligned platform (5). The second cylinder (33) can drive the second suction cup seat (311) to move back and forth along the Z-axis. The second suction cup can adsorb or release the extraction tray.

4. The automatic tray unstacking apparatus of claim 3, wherein: It also includes a barcode scanner (6), which is located between the material picking module and the first misalignment platform (4). The barcode scanner (6) can read the barcode on the bottom of the material tray (60).

5. The automatic tray unstacking apparatus of claim 3, wherein: It also includes auxiliary clamping cylinders, and there are four auxiliary clamping cylinders. The four auxiliary clamping cylinders are fixed in pairs on both sides of the first suction cup seat (310). Each auxiliary clamping cylinder has an auxiliary clamping block (312) fixed on its moving end. The auxiliary clamping block (312) can move closer to or away from the material tray (60) adsorbed on the first suction cup under the drive of the auxiliary clamping cylinder. The auxiliary clamping block (312) can be close to the side wall of the material tray (60). The top surface of the first top plate (24) is rotatably connected with two rows of rollers.

6. The automatic tray unstacking apparatus of claim 3, wherein: The first misalignment platform (4) includes two second electric lead screws (41) arranged side by side. A third cylinder (42) is fixed on the moving end of each second electric lead screw (41). A first fixing plate (43) is fixed on the moving end of each third cylinder (42). A first platform (44) is fixed on the first fixing plate (43). The material tray (60) can be placed on the first platform (44). The third cylinder (42), the first fixing plate (43), the first platform (44) and the material tray (60) can move back and forth between the transfer mechanism (3) and the workpiece rewinding mechanism (7) along the X-axis under the drive of the second electric lead screws (41). The first fixing plate (43), the first platform (44) and the material tray (60) can move along the X-axis under the drive of the third cylinder (42). The Z-axis moves back and forth. The second misalignment platform (5) includes two third electric screws (51) arranged side by side. Each third electric screw (51) has a fourth cylinder (52) fixed on its moving end. Each fourth cylinder (52) has a second fixed plate (53) fixed on its moving end. The second fixed plate (53) has a second platform (54) fixed on its second fixed plate (53). The extraction plate can be placed on the second platform (54). The fourth cylinder (52), the second fixed plate (53), the second platform (54) and the extraction plate can move back and forth along the X-axis between the transfer mechanism (3) and the workpiece rewinding mechanism (7) under the drive of the third electric screw (51). The second fixed plate (53), the second platform (54) and the extraction plate can move back and forth along the Z-axis under the drive of the fourth cylinder (52).

7. The automatic tray inverting apparatus according to claim 6, characterized by: The extraction tray feeding mechanism (8) includes a third streamline (81), a fourth electric screw (82), and a second top plate (83). The third streamline (81) is located below the bottom plate (1). The fourth electric screw (82) is located within the third streamline (81) near the transfer mechanism (3). The second top plate (83) is fixed to the moving end of the fourth electric screw (82). The bottom plate (1) has a first clearance opening at the corresponding position of the second top plate (83). An empty extraction tray can move to a position near the transfer mechanism (3) under the drive of the third streamline (81). The fourth electric screw (82) can drive the second top plate (83) to rise along the Z-axis and lift the empty extraction tray from the third streamline (81) and extend it out from the first clearance opening. The transfer mechanism (3) can absorb the empty extraction tray extending out from the first clearance opening. The extraction tray unloading mechanism (9) includes a fourth streamline (91), a fifth... An electric lead screw and a third top plate (92) and a fourth streamline (91) are located below the base plate (1). A fifth electric lead screw is located inside the fourth streamline (91) near the transfer mechanism (3). The third top plate (92) is fixed to the moving end of the fifth electric lead screw. The base plate (1) has a second clearance opening at the corresponding third top plate (92). The third top plate (92) can extend out from the second clearance opening. The transfer mechanism (3) can place a tray (60) filled with workpieces (601) on the third top plate (92). The fifth electric lead screw can drive the third top plate (92) and the tray (60) filled with workpieces (601) to descend along the Z-axis and place the tray (60) filled with workpieces (601) on the fourth streamline (91). The tray (60) filled with workpieces (601) can move away from the automatic rewinding device under the drive of the fourth streamline (91).

8. The automatic tray inverting apparatus according to claim 7, characterized by: The workpiece reversing mechanism (7) includes a three-moving linear motor (71) and a rotary adsorption module. The three-moving linear motor (71) has three moving ends that can move back and forth along the Y-axis. The rotary adsorption module includes a vertical fixing plate (72), a horizontal fixing plate (73), a second motor (74), a third motor (75), and a connecting pipe (76). The vertical fixing plate (72) is fixed to the middle moving end of the three-moving linear motor (71), the horizontal fixing plate (73) is fixed to the bottom end of the vertical fixing plate (72), the connecting seat (77) is slidably connected to the vertical fixing plate (72) through a second slide rail, and the second motor (74) is fixed to the vertical fixing plate (72). A fixed plate (72) is attached to the rotating shaft of the second motor (74), and a second driven wheel (78) is fixed on it. A second driven wheel (79) is rotatably connected to the vertical fixed plate (72) located directly above the second driven wheel (78). The second driven wheel (78) and the second driven wheel (79) are connected by a second transmission belt (710). A connecting seat (77) is fixed to the second transmission belt (710). A connecting pipe (76) is rotatably connected to the connecting seat (77). The connecting pipe (76) is axially fixed by a snap ring and the connecting seat (77). A rotary joint (711) for connecting a vacuum generator is provided at the top end of the connecting pipe (76). The outer peripheral wall has multiple keyways (715) along its own axial direction. The third motor (75) is fixed to the horizontal fixed plate (73). The third driving wheel (712) is fixed on the rotating shaft of the third motor (75). The third driven wheel (713) is rotatably connected to the horizontal fixed plate (73). The third driving wheel (712) and the third driven wheel (713) are connected by a third transmission belt (714). The center of the third driven wheel (713) has a first through hole. The horizontal fixed plate (73) has a second through hole. The side wall of the first through hole is provided with key teeth (716) that can cooperate with the keyway (715). The connecting pipe (76) can connect with the first The through hole is slidably connected and is kept circumferentially fixed by the keyway (715) and the third driven wheel (713). The bottom end of the connecting tube (76) can pass through the second through hole. The bottom end of the connecting tube (76) is provided with a third suction cup. The rotary adsorption module can move back and forth between the first misaligned platform (4) and the second misaligned platform (5) under the drive of the three-moving linear motor (71). The second motor (74) can drive the connecting seat (77), the connecting tube (76) and the third suction cup to move back and forth along the Z-axis. The third suction cup can adsorb or put down the workpiece (601). The third motor (75) can drive the connecting tube (76), the third suction cup and the workpiece (601) to rotate.

9. The automatic tray inverting apparatus according to claim 8, characterized by: It also includes a first downward-viewing camera (10), a second downward-viewing camera (20), and an upward-viewing camera (30). The first downward-viewing camera (10) and the second downward-viewing camera (20) are respectively fixed to the two moving ends of the three-moving linear motor (71) located at the edge. The upward-viewing camera (30) is fixed between the first misaligned platform (4) and the second misaligned platform (5). The first downward-viewing camera (10) can photograph the top surface of the workpiece (601) placed on the first misaligned platform (4). The second downward-viewing camera (20) can photograph the extraction plate placed on the second misaligned platform (5). The upward-viewing camera (30) can photograph the bottom surface of the workpiece (601) adsorbed on the third suction cup.

10. The automatic disc dropping apparatus according to claim 9, characterized by: It also includes a defective product buffer mechanism (40), which includes a sixth electric lead screw (401) and a third platform (402). The sixth electric lead screw (401) and the second misalignment platform (5) are arranged adjacent to each other. The third platform (402) is fixed to the moving end of the sixth electric lead screw (401). The defective product tray can be placed on the third platform (402). The third platform (402) and the defective product tray can move back and forth along the X-axis under the drive of the sixth electric lead screw (401). The workpiece rewinding mechanism (7) can place the defective workpiece on the defective product tray.

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