Stacking device for sheets

Abstract

The application belongs to the technical field of printed circuit board manufacturing, and particularly relates to a plate stacking device, which comprises a manipulator, a material taking module connected with the tail end of the manipulator, and multiple stations arranged on the circumferential side of the manipulator. The stations comprise fixed stations and feeding stations, and the multiple feeding stations are respectively used for storing different materials. The manipulator controls the material taking module to sequentially move the materials on the multiple feeding stations to the fixed stations respectively to assemble plate assemblies, and stack the assembled multiple plate assemblies. The multiple stations of the application can independently feed and discharge respectively, have high degrees of freedom, high work efficiency, and compact overall structure and small space occupation.

Description

Technical Field

[0001] This application relates to the field of printed circuit board manufacturing technology, and more specifically, to a board stacking device. Background Technology

[0002] In related technologies, the material preparation process before drilling printed circuit boards (PCBs) includes PCB loading, pad loading, and cover loading. Usually, various materials are stacked manually, and drilling of the PCB can only begin after all materials are matched and ready. This process has low flexibility and greatly affects work efficiency.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0004] The purpose of this application is to provide a sheet metal stacking device, which provides multiple workstations that can independently load and unload materials, has a high degree of freedom, high work efficiency, and a compact overall structure that occupies little space.

[0005] Therefore, this application provides a sheet metal stacking device, including: a robot arm; a material handling module connected to the end of the robot arm; and multiple workstations disposed around the robot arm, the workstations including fixed workstations and feeding workstations, the multiple feeding workstations being used to store different materials respectively, the robot arm controlling the material handling module to move the materials on the multiple feeding workstations to the fixed workstations in sequence to assemble them into sheet metal components, and stacking the assembled multiple sheet metal components.

[0006] In one possible implementation, the material handling module includes: a fixed base with a flange seat for fixed connection to the end effector of a robotic arm; a suction device disposed on the fixed base for suctioning material from the loading station; a gripper device disposed on the fixed base, the gripper device including a retractable gripper in a direction away from the flange seat for clamping or releasing the material suctioned by the suction device; and a moving device movably disposed on the fixed base and fixedly connected to the gripper device for moving the gripper device closer to or away from the edge of the material.

[0007] In one possible implementation, the gripper device further includes a guide sleeve, with the gripper disposed on one side of the guide sleeve; the moving device includes a first driving device, a transmission mechanism, and a guide shaft, the first driving device being fixedly connected to a fixed base, the output shaft of the first driving device being connected to the transmission mechanism to drive the transmission mechanism to perform linear motion, the output end of the transmission mechanism being fixedly connected to the guide sleeve, one end of the guide shaft being connected to the fixed base, and the other end of the guide shaft being slidably connected to the guide sleeve.

[0008] In one possible implementation, the transmission mechanism includes a lead screw and a support frame. One end of the lead screw is coaxially connected to or integrally formed with the output shaft of the first drive device. The support frame is provided with a nut that is threadedly connected to the lead screw. The support frame is also provided with a position sensor for detecting the edge of the material.

[0009] In one possible implementation, the gripper device further includes a second drive device, which is located on the other side of the guide sleeve. The output end of the second drive device is connected to the gripper to drive the gripper to extend and retract.

[0010] In one possible implementation, the suction device includes an air passage assembly and a suction cup. One end of the air passage assembly is connected to an external vacuum system, and the other end of the air passage assembly is connected to the suction cup. The suction cup is connected to a fixed base via a snap-fit ​​connector for adsorbing materials.

[0011] In one possible implementation, there are two moving devices, which are symmetrically arranged on both sides of the flange seat.

[0012] In one possible implementation, there are multiple gripper devices, which are spaced apart on the periphery of the fixed base and fixedly connected to the moving device respectively.

[0013] In one possible implementation, there are multiple suction devices, which are spaced apart on the fixed base and located between the moving device and the flange base.

[0014] In one possible implementation, the multiple loading stations include a plate loading station, a pad loading station, and a cover loading station. The pad loading station and the cover loading station are located on one side of the robot arm, and the plate loading station and the fixed station are located on the other side of the robot arm. The pad loading station and the fixed station are arranged opposite to each other, and the plate loading station and the cover loading station are arranged opposite to each other.

[0015] According to the sheet metal stacking equipment provided in this application, by setting multiple independent working stations around the robot arm, the material picking module at the end of the robot arm can automatically grab the material from any loading station at any time and move it to a fixed station for assembly without affecting the loading and unloading of other stations. It has a high degree of freedom, high work efficiency, and a compact overall structure with a small footprint. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of the sheet metal stacking equipment provided in the embodiments of this application; Figure 2 for Figure 1 The diagram shows the structure of the material handling module in the sheet metal stacking equipment. Figure 3 for Figure 2 A schematic diagram of the gripper device in the material handling module shown; Figure 4 for Figure 2 A schematic diagram of the moving device in the material handling module shown; Figure 5 for Figure 2 The diagram shows the structure of the suction device in the material handling module.

[0017] Explanation of key figure labels: 100. Sheet metal stacking equipment; 1. Robotic arm; 2. Material handling module; 21. Fixing base; 211. Flange seat; 22. Gripper device; 221. Gripper; 222. Guide sleeve; 223. Second drive device; 23. Suction device; 231. Suction cup; 24. Moving device; 241. First driving device; 242. Guide shaft; 243. Lead screw; 244. Support frame; 245. Nut; 246. Position sensor; 31. Fixed workstation; 321. Sheet material loading station; 322. Pad plate loading station; 323. Cover plate loading station. Detailed Implementation

[0018] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0019] Figure 1 This is a structural schematic diagram of the plate stacking equipment provided in an embodiment of this application.

[0020] See Figure 1 This application provides a sheet metal stacking device 100, including a robotic arm 1, a material handling module 2, and multiple workstations.

[0021] Robotic arm 1 is generally a multi-degree-of-freedom robot, such as a four-degree-of-freedom or six-degree-of-freedom robot, which can perform spatial rotation, movement and other operations, depending on the specific task to be performed by the robot.

[0022] The material handling module 2 is connected to the end of the robot arm 1. Multiple workstations are set around the robot arm 1. The workstations include fixed workstations 31 and loading workstations. The multiple loading workstations are used to store different materials. The robot arm 1 controls the material handling module 2 to move the materials on the multiple loading workstations to the fixed workstations 31 in sequence to assemble them into sheet metal components. The assembled sheet metal components are then stacked.

[0023] In this embodiment, the board stacking equipment 100 can be used in the PCB manufacturing field, mainly for the material preparation process at the front end of the mechanical drilling process of PCB. Through the high degree of freedom of the robot arm 1 and the material picking module 2 connected to its end, the material is driven to move back and forth between multiple workstations, realizing highly flexible working characteristics and creating conditions for the automation and intelligence of mechanical drilling rigs.

[0024] Specifically, multiple workstations are set around the robot arm 1. The workstations include fixed workstations 31 and loading workstations. The loading workstations can be used by manual labor or automatic transport vehicles to transport the required materials to the loading workstations. The multiple loading workstations are used to store different materials, such as, but not limited to, PCB boards, pads, and cover plates. Then, the robot arm 1 controls the material picking module 2 to move the materials from the multiple loading workstations to the fixed workstations 31 in sequence. The materials are then assembled into board components at the fixed workstations 31 by manual labor or automatic equipment. The assembled board components are then stacked in a cross shape, so that there are gaps between adjacent layers of board components, which facilitates the subsequent mechanical drilling equipment to pick up and put down the board components.

[0025] Since multiple loading stations are used for loading different materials without interfering with each other, the robotic arm 1 and its end-effector picking module 2 can automatically switch materials at any time according to production needs, without having to wait for the quantities of all materials to match before assembly begins. This results in high freedom of movement, high work efficiency, and highly flexible operation. Furthermore, the multiple loading stations are located around the perimeter of the robotic arm 1, allowing it to easily pick up and place materials via its end-effector picking module 2 by rotation, reducing the overall size of the sheet metal stacking equipment 100 and saving space.

[0026] According to the sheet metal stacking equipment 100 provided in this application, by setting multiple independent working stations around the robot arm 1, the material picking module 2 at the end of the robot arm 1 can automatically grab the material from any loading station at any time and move it to the fixed station 31 for assembly without affecting the loading and unloading of other stations. It has a high degree of freedom, high work efficiency, and a compact overall structure with a small space occupation.

[0027] Figure 2 for Figure 1 The diagram shows the structure of the material handling module in the sheet metal stacking equipment.

[0028] In some embodiments, the material handling module 2 includes a fixed base 21, a gripper device 22, a suction device 23, and a moving device 24.

[0029] like Figure 2 As shown, the fixed base 21 is provided with a flange seat 211, which is used for fixed connection with the end effector of the robot arm 1. The fixed base 21 can be an I-shaped frame made of aluminum alloy profiles, which has high structural strength, light weight, and low cost. The flange seat 211 is set on the crossbeam in the middle of the I-shaped frame, and the end effector of the robot arm 1 is fixedly connected to the flange seat 211.

[0030] The suction device 23 is mounted on the fixed base 21 and is used to adsorb materials at the feeding station. Optionally, the suction device 23 adsorbs materials by means of vacuum adsorption or magnetic adsorption.

[0031] The gripper device 22 is mounted on the fixed base 21. The gripper device 22 includes a gripper 221 that is retractable in the direction away from the flange seat 211. The gripper 221 is used to clamp or release the material adsorbed by the suction device 23. The gripper 221 is retractable in the direction away from the flange seat 211. When the gripper 221 is extended, it can release or pick up the material. When the gripper 221 is shortened, it can clamp the material.

[0032] The moving device 24 is movably mounted on the fixed base 21 and fixedly connected to the gripper device 22. The moving device 24 is used to move the gripper device 22 closer to or away from the edge of the material. The movement of the moving device 24 relative to the fixed base 21 can move the gripper device 22 closer to the edge of the material, making it easier for the gripper 221 to clamp the material, and for the robot arm 1 to move the material to the fixed station 31 through the material handling module 2; or, at the fixed station 31, after the gripper 221 releases the material, the moving device 24 moves the gripper device 22 away from the edge of the material, making it easier to position the material at the fixed station 31.

[0033] Figure 3 for Figure 2 The diagram shown is a structural schematic of the gripper device in the material handling module. Figure 4 for Figure 2 The diagram shows the structure of the moving device in the material handling module.

[0034] In some embodiments, the gripper device 22 further includes a guide sleeve 222, and the gripper 221 is disposed on one side of the guide sleeve 222; the moving device 24 includes a first driving device 241, a transmission mechanism and a guide shaft 242, the first driving device 241 is fixedly connected to the fixed base 21, the output shaft of the first driving device 241 is connected to the transmission mechanism to drive the transmission mechanism to perform linear motion, the output end of the transmission mechanism is fixedly connected to the guide sleeve 222, one end of the guide shaft 242 is connected to the fixed base 21, and the other end of the guide shaft 242 is slidably connected to the guide sleeve 222.

[0035] like Figure 3 and Figure 4 As shown, the first driving device 241 cooperates with the transmission mechanism to convert the rotational motion of the first driving device 241 into linear motion. The first driving device 241 can be a rotary motor. The output end of the transmission mechanism is fixedly connected to the guide sleeve 222 and is used to drive the guide sleeve 222 to make linear motion. One end of the guide shaft 242 is connected to the fixed base 21, and the other end of the guide shaft 242 extends into the guide sleeve 222. The cooperation between the guide shaft 242 and the guide sleeve 222 plays a guiding role, so that the gripper device 22 can move back and forth in a straight line relative to the fixed base 21, which is convenient for approaching or moving away from the edge of the material.

[0036] In some embodiments, the transmission mechanism includes a lead screw 243 and a support frame 244. One end of the lead screw 243 is coaxially connected to or integrally disposed with the output shaft of the first drive device 241. The support frame 244 is provided with a nut 245 that is threadedly connected to the lead screw 243. The support frame 244 is also provided with a position sensor 246 for detecting the edge of the material.

[0037] like Figure 4 As shown, the transmission mechanism can be a lead screw 243 and a nut 245. The lead screw 243 can be coaxially connected to the output shaft of the first drive device 241 via a coupling. Alternatively, the lead screw 243 can be the output shaft that passes through the first drive device 241. Through the threaded transmission between the lead screw 243 and the nut 245, the rotational motion of the first drive device 241 can be converted into linear motion. The nut 245 is embedded in the support frame 244. The support frame 244 is also equipped with a position sensor 246 for detecting the edge of the material, so that the position sensor 246 can follow the support frame 244 in linear motion. When the distance between the support frame 244 and the edge of the material reaches the detection threshold of the position sensor 246, the position sensor 246 sends an electrical signal. At this time, the gripper 221 reaches the edge of the material, and the first drive device 241 stops rotating.

[0038] In some embodiments, the gripper device 22 further includes a second driving device 223, which is disposed on the other side of the guide sleeve 222. The output end of the second driving device 223 is connected to the gripper 221 to drive the gripper 221 to extend and retract.

[0039] The second drive device 223 can be any of an electric push rod, a pneumatic cylinder, or a hydraulic cylinder. The output shaft of the second drive device 223 passes through the guide sleeve 222 and is connected to the gripper 221 to drive the gripper 221 to perform telescopic movement. The gripper device 22 has a compact overall structure and occupies little space.

[0040] Figure 5 for Figure 2 The diagram shows the structure of the suction device in the material handling module.

[0041] In some embodiments, the suction device 23 includes an air passage assembly and a suction cup 231. One end of the air passage assembly is connected to an external vacuum system, and the other end of the air passage assembly is connected to the suction cup 231. The suction cup 231 is connected to the fixed base 21 by a snap-fit ​​component and is used to adsorb materials.

[0042] like Figure 5 As shown, the suction cup 231 of the suction device 23 is located on the side of the fixed base 21 away from the flange base 211. The air circuit assembly includes air pipes, switches, etc. The suction cup 231 is connected to the external vacuum system through the air pipes. The air pipes are controlled to open or close through the switches. This vacuum adsorption method adsorbs materials and has a simple and reliable structure.

[0043] In some embodiments, the number of moving devices 24 is two, and the two moving devices 24 are symmetrically arranged on both sides of the flange seat 211. For example... Figure 4 As shown, the moving device 24 is symmetrically arranged on both sides of the flange seat 211, and can drive the gripper device 22 to move closer to or away from the two sides of the material to clamp or release the material.

[0044] In some embodiments, there are multiple gripper devices 22, which are spaced apart on the periphery of the fixed base 21 and are respectively fixedly connected to the moving device 24.

[0045] like Figure 4 As shown, there are four gripper devices 22, which are spaced apart at the corners of the fixed base 21. Two gripper devices 22 are fixedly connected to one of the moving devices 24, and the other gripper device 22 is fixedly connected to the other moving device 24. The four gripper devices 22 together clamp the peripheral edge of the sheet material, ensuring a secure positioning.

[0046] In some embodiments, there are multiple suction devices 23, which are spaced apart on the fixed base 21 and located between the moving device 24 and the flange seat 211.

[0047] like Figure 4 As shown, there are four suction devices 23, which are spaced apart on the fixed base 21. The suction devices 23 are located between the moving device 24 and the flange seat 211 and are used to suction the plate material at four positions. The four suction devices 23 work together to adsorb the plate material and are firmly positioned.

[0048] In some embodiments, the plurality of loading stations include a plate loading station 321, a pad loading station 322, and a cover loading station 323. The pad loading station 322 and the cover loading station 323 are located on one side of the robot 1, the plate loading station 321 and the fixed station 31 are located on the other side of the robot 1, and the pad loading station 322 and the fixed station 31 are arranged opposite to each other, and the plate loading station 321 and the cover loading station 323 are arranged opposite to each other.

[0049] like Figure 1 As shown, the sheet metal loading station 321, the pad loading station 322, the cover loading station 323, and the fixed station 31 are arranged around the robot arm 1. The pad loading station 322 and the cover loading station 323 are located on one side of the robot arm 1, while the sheet metal loading station 321 and the fixed station 31 are located on the other side of the robot arm 1. The pad loading station 322 and the fixed station 31 are arranged opposite each other, and the sheet metal loading station 321 and the cover loading station 323 are arranged opposite each other. Since the robot arm 1 is generally a multi-degree-of-freedom robot that can rotate in space, this arrangement of multiple stations helps to shorten the movement stroke of the robot arm 1 and further improves work efficiency.

[0050] The robotic arm 1 first moves the pad from the pad loading station 322 to the fixed station 31 via the material handling module 2, then moves the PCB board from the board loading station 321 to the fixed station 31, and finally moves the cover plate from the cover loading station 323 to the fixed station 31. Then, the pad, PCB board and cover plate are fixed at the fixed station 31 by means of pins, tape and other methods to assemble into a board assembly. The assembly process can be carried out manually, by other automatic equipment, or by a combination of manual and automatic equipment to complete one work cycle.

[0051] Therefore, the operation steps of the board stacking device 100 provided in this application embodiment are as follows: Step S1: Transport multiple pads to pad loading station 322, multiple PCB boards to board loading station 321, and multiple cover plates to cover loading station 323 by manual or automated transport trolley. Step S2: The robotic arm 1 moves the pad from the pad loading station 322 to the fixed station 31 through the material picking module 2 at its end; Step S3: The robotic arm 1 moves the PCB board from the board loading station 321 to the fixed station 31 through the material picking module 2 at its end. Step S4: The robotic arm 1 moves the cover plate from the cover plate loading station 323 to the fixed station 31 through the material picking module 2 at its end; Step S5: At fixed station 31, the pad, PCB board and cover are assembled into a board assembly by means of pins, tape and other methods to complete one work cycle.

[0052] During the process of fixing the pad to the PCB board at the fixed station 31, the robot arm 1 can continue to transport the cover plate from the cover plate loading station 323 to the fixed station 31 via the material handling module 2. During the process of fixing the cover plate to the PCB board at the fixed station 31, the robot arm 1 can continue to transport the pad from the pad plate loading station 322 to the fixed station 31 via the material handling module 2, completing one work cycle, i.e., completing the assembly of one board assembly. Then, the robot arm 1 can continue to the next work cycle via the material handling module 2. The board assembly for the next work cycle can be placed on top of the previous board assembly, and multiple board assemblies are arranged alternately in a cross shape to facilitate the subsequent mechanical drilling equipment in handling board assemblies.

[0053] It should be understood that, in the embodiments of this application, unless otherwise expressly specified and limited, the terms "connection," "fixed connection," "contact," etc., should be interpreted broadly. Those skilled in the art can understand the specific meanings of the various terms in the embodiments of this application according to the specific circumstances.

[0054] For example, the "connection" can be a fixed connection, a rotating connection, a flexible connection, a sliding connection, a one-piece molding, an electrical connection, a contact connection, or other connection methods; it can be a direct connection, or an indirect connection through an intermediate medium, or a connection within two components or an interaction between two components.

[0055] For example, a "fixed connection" can be a component that can be directly or indirectly fixedly connected to another component; a fixed connection can include mechanical connection, welding, bonding or integral molding, etc., wherein mechanical connection can include riveting, bolting, threaded connection, keying, snap-fit ​​connection, locking connection, plugging, etc., and bonding can include adhesive bonding and solvent bonding, etc.

[0056] It should also be understood that the “parallel” or “perpendicular” described in the embodiments of this application can be understood as “approximately parallel” or “approximately perpendicular”.

[0057] It should also be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0058] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature and the second feature are in direct contact, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0059] It should also be understood that the terms “length,” “width,” “up,” “down,” “front,” “back,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship (if any) based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the claims. In conclusion, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A sheet metal stacking device, characterized in that, include: robotic arm; The material handling module is connected to the end effector of the robotic arm; as well as Multiple workstations are arranged around the periphery of the robot arm. Each workstation includes a fixed workstation and a loading workstation. The multiple loading workstations are used to store different materials. The robot arm controls the material picking module to move the materials on the multiple loading workstations to the fixed workstations in sequence to assemble them into sheet metal components. The assembled sheet metal components are then stacked.

2. The plate stacking equipment according to claim 1, characterized in that, The material handling module includes: The fixed base is provided with a flange seat, which is used to fix and connect to the end of the robot arm; A suction device is installed on the fixed base and is used to absorb the material at the feeding station; A gripper device, disposed on the fixed base, includes grippers that are retractable in a direction away from the flange seat, the grippers being used to clamp or release the material adsorbed by the suction device; and A movable device is movably mounted on the fixed base and fixedly connected to the gripper device. The movable device is used to move the gripper device closer to or away from the edge of the material.

3. The plate stacking equipment according to claim 2, characterized in that, The gripper device further includes a guide sleeve, and the gripper is disposed on one side of the guide sleeve; The moving device includes a first driving device, a transmission mechanism, and a guide shaft. The first driving device is fixedly connected to the fixed base. The output shaft of the first driving device is connected to the transmission mechanism to drive the transmission mechanism to perform linear motion. The output end of the transmission mechanism is fixedly connected to the guide sleeve. One end of the guide shaft is connected to the fixed base, and the other end of the guide shaft is slidably connected to the guide sleeve.

4. The plate stacking equipment according to claim 3, characterized in that, The transmission mechanism includes a lead screw and a support frame. One end of the lead screw is coaxially connected to or integrally formed with the output shaft of the first drive device. The support frame is provided with a nut that is threadedly connected to the lead screw. The support frame is also provided with a position sensor for detecting the edge of the material.

5. The plate stacking equipment according to claim 3, characterized in that, The gripper device further includes a second driving device, which is located on the other side of the guide sleeve. The output end of the second driving device is connected to the gripper to drive the gripper to extend and retract.

6. The plate stacking equipment according to claim 2, characterized in that, The suction device includes an air path assembly and a suction cup. One end of the air path assembly is connected to an external vacuum system, and the other end of the air path assembly is connected to the suction cup. The suction cup is connected to the fixed base by a snap-fit ​​component and is used to adsorb materials.

7. The plate stacking equipment according to claim 2, characterized in that, The number of the moving devices is two, and the two moving devices are symmetrically arranged on both sides of the flange seat.

8. The plate stacking equipment according to claim 2, characterized in that, The number of gripper devices is multiple, and the multiple gripper devices are spaced apart on the periphery of the fixed base and are respectively fixedly connected to the moving device.

9. The plate stacking equipment according to claim 2, characterized in that, The number of suction devices is multiple, and the multiple suction devices are spaced apart on the fixed base and located between the moving device and the flange base.

10. The plate stacking equipment according to any one of claims 1 to 9, characterized in that, The plurality of loading stations include a plate loading station, a pad loading station, and a cover loading station. The pad loading station and the cover loading station are located on one side of the robot arm, the plate loading station and the fixed station are located on the other side of the robot arm, and the pad loading station and the fixed station are arranged opposite to each other.

Images