CN-117775766-B - Square material receiving equipment

Abstract

The invention discloses square block material receiving equipment, which is characterized in that a feeding conveying mechanism conveys full material carrier plates to a receiving positioning conveying mechanism, the receiving positioning conveying mechanism firstly positions the full material carrier plates for receiving by a receiving robot, and after the receiving robot receives the full material, the empty carrier plates are conveyed to an empty carrier plate output mechanism, the receiving robot transfers square block material products at the full material carrier plates to a receiving turnover mechanism, the receiving turnover mechanism receives block material products, the empty carrier plate output mechanism conveys the empty carrier plates to a preset empty carrier plate, the receiving carrier plate mechanism transfers the empty carrier plates at the preset empty carrier plates to the empty carrier plates for stacking, and after the number of the empty carrier plates at the receiving carrier plate mechanism reaches the preset number, the empty carrier plates at the empty carrier plates are transferred to an empty carrier plate recycling trolley for workers to take away.

Inventors

• Yuan Songyi
• WANG TINGHUI
• WU BINGHUI
• XU XIAOSHENG
• SONG SIZHE
• RUAN HAOFENG
• ZHAO HUI
• WANG QIAOHUI
• LI JIQIN
• WANG BIN

Assignees

• 宁波韵升智能技术有限公司
• 宁波韵升股份有限公司
• 宁波韵升智能软件有限公司
• 宁波韵升新能源汽车材料有限公司

Dates

Publication Date

20260505

Application Date

20231208

Claims (7)

1. 1. A square block material receiving device is characterized by comprising a control processing system, a material feeding and conveying mechanism, a material receiving and positioning conveying mechanism, a material receiving robot, a material receiving and positioning conveying mechanism, an empty carrier output mechanism, an empty carrier transfer mechanism and an empty carrier recovery trolley, wherein the control processing system is respectively connected with the material feeding and conveying mechanism, the material receiving and positioning conveying mechanism, the material receiving robot, the material receiving and positioning conveying mechanism, the material receiving and conveying mechanism, the empty carrier output mechanism, the material receiving and positioning conveying mechanism, the material receiving and the empty carrier transfer mechanism are in cooperation, the material receiving and conveying mechanism is used for outputting a front working procedure to the carrier of a block material in the space carrier, namely conveying mechanism is used for conveying the full carrier to the material receiving mechanism, the full carrier transfer mechanism is used for changing the material receiving and conveying mechanism to the empty carrier transfer mechanism, the empty carrier transfer mechanism is used for completing the material receiving and positioning of the block material receiving and conveying mechanism to the empty carrier after the full carrier is full carrier transfer mechanism, the full carrier is used for conveying mechanism, the empty carrier transfer mechanism is used for carrying the product in the space carrier transfer mechanism, and the empty carrier transfer mechanism is completed after the full carrier transfer mechanism is full of the material receiving and is full of the carrier. The receiving turnover mechanism is used for receiving square material products transferred to the receiving robot, the empty load plate output mechanism is used for conveying empty load plates transferred to the receiving turnover mechanism to a preset empty load plate, the receiving turnover mechanism is used for transferring the empty load plates at the preset empty load plate to the receiving turnover mechanism to form a stack of empty load plates, and the empty load plate transfer mechanism is used for transferring a stack of empty load plates at the receiving turnover mechanism to the empty load plate when the number of the empty load plates in the stack of empty load plates reaches a preset number, and transferring all the empty load plates to the empty load plate recovery trolley for taking away after the number of the empty load plates in the empty load plate mechanism reaches the preset number; The feeding conveying mechanism comprises a roller assembly line, a carrier plate correcting device and a first sensor, wherein the first sensor is arranged at the forefront end of the roller assembly line, is connected with the control processing system, and is used for sensing whether a carrier plate enters the roller assembly line or not, generating corresponding signals and sending the signals to the control processing system; the carrier plate guide device comprises a guide block, a first cylinder, a cylinder mounting bottom plate, The second cylinder and the guide device mounting plate, the guide block is composed of a block body and a buffer layer attached to the top of the block body, the buffer layer is made of flexible materials, and the first cylinder and the second cylinder are respectively connected with the control processing system; the guide device mounting plate is arranged below the roller assembly line and behind the first sensor, the second cylinder is arranged on the guide device mounting plate, the cylinder mounting bottom plate is arranged above the second cylinder and fixedly arranged at the tail end of an output rod of the second cylinder, the first cylinder is arranged above the cylinder mounting bottom plate and fixedly arranged on the cylinder mounting bottom plate, the guide block is arranged above the first cylinder and fixedly arranged at the tail end of an output rod of the first cylinder, the first cylinder is used for driving the guide block to move left and right, and the second cylinder is used for driving the cylinder mounting bottom plate, When the second cylinder drives the cylinder mounting bottom plate, the first cylinder and the guide block to synchronously move upwards, the guide block can extend out from a gap between two adjacent rollers in the roller assembly line to the upper part of the roller assembly line to block a full material carrier plate conveyed on the roller assembly line, the front end surface of the guide block is perpendicular to the conveying direction of the roller assembly line, and the control processing system is pre-provided with guide time, A first delay time and a second delay time; in an initial state, the second cylinder is in a retracted state, at this time, the upper end surface of the guide block is lower than the upper surface of the roller assembly line, when the control processing system controls the roller assembly line to enter a working state, the roller assembly line starts to transmit, when a full carrier plate enters the roller assembly line, the roller assembly line transmits the full carrier plate from front to back, when the full carrier plate enters the sensing area of the first sensor, the first sensor senses the full carrier plate and is triggered, a corresponding signal is generated and sent to the control processing system, at this time, the control processing system starts timing, and synchronously controls the second cylinder to enter an extended state, an output rod of the second cylinder extends upwards, so that the guide block extends upwards above the roller assembly line, the roller assembly line transmits the full carrier plate to the guide block, the full carrier plate is blocked by the guide block, if the full carrier plate enters the sensing area of the first sensor, the full carrier plate is in contact with the full carrier plate in a state, and the full carrier plate continuously keeps the end surface of the guide block, and the full carrier plate continuously keep the full carrier plate in a state due to the fact that the full carrier plate is in a flat state, and the full carrier plate is in a continuous state, and if the full carrier plate is in a flat state, and the full carrier plate is in a continuous state, and the full carrier plate is continuously in a full carrier plate state, and the full carrier plate is continuously in a full carrier state, the control processing system restarts timing and synchronously controls the second cylinder to enter a retracted state, an output rod of the second cylinder is reset, the guide block returns to an initial state, at the moment, a full material carrier plate in a straight state continues to be conveyed forwards on the roller assembly line, when the current timing of the control processing system reaches a first delay time, the full material carrier plate is positioned right above the guide block, the control processing system restarts timing and simultaneously controls the second cylinder to enter an extended state, the guide block moves upwards to jack the full material carrier plate above the guide block so as to enable the full material carrier plate to be separated from the roller assembly line, then the control processing system controls the first cylinder to enter the extended state, driving the guide block to move to a preset position in the direction of the left side edge or the right side edge of the roller assembly line serving as a reference edge, if the current full material carrying plate is in contact with the reference edge of the roller assembly line, keeping the current position unchanged, guiding the full material carrying plate to be in a preset accurate position in a straight state, if the full material carrying plate is not in contact with the reference edge of the roller assembly line, stopping moving after the guide block moves to be in contact with the reference edge of the roller assembly line, guiding the full material carrying plate to be in the straight state to be in the preset accurate position, when the current timing of the control processing system reaches a second delay time, controlling the second cylinder to enter a retracted state by the control processing system, controlling the first cylinder to enter the retracted state by the control processing system, returning the guide block to the initial state, and the full material carrier plate falls to the roller assembly line to continue moving.
2. 2. The square stock collecting device as set forth in claim 1, wherein said collecting and positioning conveyor is located at a rear side of said feeding conveyor, said collecting and positioning conveyor comprises a double-speed chain, The carrier positioning device is used for sensing whether a carrier enters the speed doubling chain or not, generating corresponding signals and sending the signals to the control processing system, the front end of the speed doubling chain is in butt joint with the rear end of the roller assembly line, the roller assembly line can transmit an uploading board to the speed doubling chain, the control processing system can control the speed doubling chain to transmit or stop transmitting, a third delay time is preset at the control processing system, the carrier positioning device is arranged below the speed doubling chain, and comprises two reference blocks, Two first supporting plates, a supporting plate bottom plate, a third cylinder, a jacking block, a fourth cylinder, a fifth cylinder, a blocking cylinder bracket, a sixth cylinder, a seventh cylinder, two first positioning blocks and two side cylinder mounting brackets, the third cylinder, the fourth cylinder, the fifth cylinder, The sixth cylinder and the seventh cylinder are respectively connected with the control processing system, the fifth cylinder is a blocking cylinder, the third cylinder is arranged below the speed-doubling chain, the pallet base plate is arranged above the third cylinder and is arranged at the tail end of an output rod of the third cylinder, two first pallets are distributed above the pallet base plate at intervals left and right and are fixed on the pallet base plate, two reference blocks are in one-to-one correspondence with the two first pallets, one reference block is arranged in one first pallet, the reference blocks are arranged above the first pallets and are fixed at the rear end of the first pallets, the front end faces of the two reference blocks are all planes perpendicular to the transmission direction of the speed-doubling chain, the fourth cylinder is arranged on the pallet base plate, the jacking block is arranged on the output rod of the fourth cylinder, the fourth cylinder is used for driving the jacking block to move forwards and backwards, and the third cylinder is used for driving the pallet, The two first supporting plates, the two reference blocks, the fourth cylinder and the material ejection block synchronously move up and down, the two first supporting plates, the two reference blocks and the ejection block can extend to the upper part of the speed doubling chain from the upper part when moving upwards, the blocking cylinder support is arranged below the speed doubling chain, the fifth cylinder is fixed on the blocking cylinder support and is positioned in the middle area of the speed doubling chain along the left and right directions, when the fifth cylinder is in an extending state, the output rod of the fifth cylinder is higher than the upper end surface of the speed doubling chain, when the fifth cylinder is in a retracting state, the output rod of the fifth cylinder is not higher than the upper end surface of the speed doubling chain, the fifth cylinder is positioned behind the fourth cylinder, the fourth cylinder is positioned in front of the two reference blocks, the two side cylinder mounting supports are respectively fixed on the left side and the right side of the speed doubling chain, the sixth cylinder and the seventh cylinder are respectively arranged on the two side cylinder mounting supports and are opposite to each other, when the fifth cylinder is in a retracting state, the output rod of the fifth cylinder is not higher than the upper end surface of the speed doubling chain, the fifth cylinder is positioned on the right side of the speed doubling chain, the distance between the two opposite side of the fifth cylinder is equal to the right side of the speed doubling chain, and the speed doubling chain is equal to the distance between the first cylinder and the first end surface is positioned on the right side of the opposite side of the speed doubling chain, and the speed doubling chain is in the opposite direction between the speed between the two side is opposite to the speed doubling chain, and the speed between the speed doubling chain is respectively, the fourth cylinder, the sixth cylinder and the seventh cylinder are all in a retracted state, and the fifth cylinder is in an extended state.
3. 3. The square stock collecting device as claimed in claim 2, wherein the collecting robot is disposed at the rear of the collecting positioning conveying mechanism, the collecting robot comprises a four-axis robot, a robot support, a first vacuum chuck and a vacuum pump, the four-axis robot is mounted on the robot support, the four-axis robot is connected with the control processing system, the first vacuum chuck is mounted on the four-axis robot and can move up and down under the driving of the four-axis robot, the vacuum pump is connected to the first vacuum chuck through an air pipe to provide suction for the first vacuum chuck, and the vacuum pump is connected with the control processing system; when the full material carrying plate is positioned at the material receiving positioning conveying mechanism and is positioned at a preset positioning point at the material receiving positioning conveying mechanism, the control processing system firstly controls the four-axis robot to move the first vacuum chuck to the position above the full material carrying plate at the preset positioning point at the material receiving positioning conveying mechanism, at the moment, the first vacuum chuck is at a distance of 0.8mm to 1mm from the upper end face of the square material product in the full material carrying plate, then the control processing system controls the vacuum pump to start to work to provide suction force for the first vacuum chuck, the first vacuum chuck obtains suction force to adsorb the square material product in the full material carrying plate, then the control processing system controls the four-axis robot to move the first vacuum chuck adsorbed with the square material product to the position above the preset turnover box at the material receiving mechanism, and then the control processing system controls the vacuum pump to stop working, the first vacuum chuck loses suction, the square material product which is originally adsorbed on the first vacuum chuck falls into the turnover box from the first vacuum chuck, and then the control processing system controls the four-axis robot to reset, and meanwhile, the material receiving robot completes one material receiving action.
4. 4. A block material receiving apparatus according to claim 3, wherein said idler plate output mechanism is disposed at a rear side of said receiving positioning conveyor mechanism, said idler plate output mechanism includes a roller line for conveying idler plates, a third sensor, a fourth sensor and a second positioning block, said roller line for conveying idler plates is referred to as an idler plate output roller line, said idler plate output roller line is connected to said control processing system, said control processing system is capable of controlling said idler plate output roller line to be turned on or off, said third sensor and said fourth sensor are respectively connected to said control processing system, said third sensor is disposed at a foremost inlet of said idler plate output roller line for sensing whether an idler plate is transferred to said idler plate output mechanism and generating a corresponding signal to said control processing system, said second positioning block is disposed at a rearmost end of said positioning block output roller line, said fourth sensor is disposed at a position below said idler plate output roller line for sensing whether said idler plate is in a condition of said idler plate receiving mechanism, said idler plate is not being transferred to said idler plate output mechanism, said idler plate is in a condition of being completed by said receiving mechanism, said idler plate output mechanism is not being moved to said idler plate receiving mechanism, said idler plate output mechanism is in a condition of being completed by said idler plate receiving mechanism, the empty carrier plate enters the induction area of the third sensor to be sensed by the third sensor, the third sensor is triggered to generate a corresponding signal to be sent to the control processing system, the control processing system controls the empty carrier plate output roller line to start to work, the empty carrier plate conveyed to the empty carrier plate continuously conveys the empty carrier plate from front to back, when the empty carrier plate conveys the empty carrier plate to be in contact with the second positioning block, the empty carrier plate enters the induction area of the fourth sensor to be sensed by the fourth sensor, the fourth sensor is triggered to generate a corresponding signal to be sent to the control processing system, at the moment, the control processing system controls the empty carrier plate output roller line to stop, and at the moment, the empty carrier plate reaches the preset empty carrier plate receiving position of the empty carrier plate output mechanism.
5. 5. The square stock collecting device as set forth in claim 4, wherein said collecting and carrying plate mechanism is mounted on either one of left and right sides of a rear end of said empty-load plate output roller line, said collecting and carrying plate mechanism comprising a first profile bracket, The device comprises a first section bracket, an empty plate left-right moving mechanism and an empty plate up-down moving mechanism, wherein the empty plate left-right moving mechanism and the empty plate up-down moving mechanism are respectively arranged on the first section bracket, the empty plate left-right moving mechanism and the empty plate up-down moving mechanism are respectively connected with a control processing system, the empty plate left-right moving mechanism is used for firstly sucking an empty plate at a preset empty plate receiving position at an empty plate output mechanism under the control of the control processing system, then moving the sucked empty plate to the upper part of the empty plate up-down moving mechanism along the left-right direction, and then stacking the empty plate on the empty plate up-down moving mechanism to form a stack of empty plates, the empty plate up-down moving mechanism is used for moving along the up-down direction under the control of the control processing system so as to adjust the position of a stack of the empty plates at the position, and the empty plate left-right moving mechanism comprises a linear moving module, The vacuum generator comprises a first driving motor, m second vacuum chucks, a chuck mounting plate, an eighth cylinder, a receiving and releasing carrier plate cylinder mounting plate, a linear movement module mounting plate, a vacuum generator and a vacuum generator bracket, wherein m is an integer greater than or equal to 10, the first driving motor, The vacuum generator is respectively connected with the control processing system in a control manner, a fourth time delay is preset at the control processing system, the first driving motor is arranged on the linear movement module and is used for providing power for the linear movement module, the linear movement module is arranged on the linear movement module mounting plate, the linear movement module mounting plate is fixed on the first section bar bracket, m second vacuum chucks are arranged below the suction cup mounting plate at equal intervals, m second vacuum chucks are arranged on the lower end surface of the suction cup mounting plate at equal intervals, the suction cup mounting plate is fixed at the tail end of an output rod of the eighth cylinder, the eighth cylinder is used for driving the suction cup mounting plate and m second vacuum chucks to move up and down, the eighth cylinder is arranged on the suction cup mounting plate cylinder mounting plate, the suction cup mounting plate cylinder mounting plate is arranged on the linear movement module, when the first driving motor is controlled by the control processing system, the suction cup mounting plate is provided with the linear movement module mounting plate, the suction cup is arranged on the suction cup mounting plate, and the suction cup is respectively connected with the suction cup mounting plate in the direction of the linear movement module mounting plate through the suction cup mounting plate, and the suction cup mounting plate is arranged on the suction cup mounting plate; in the initial state, m second vacuum chucks are positioned above the second positioning blocks of the empty-load plate conveying mechanism, the eighth cylinder is in the retracted state, the vacuum generator is in a non-working state, and the no-load plate up-down moving mechanism comprises a second driving motor, The motor support, the first belt pulley, the second belt pulley, the first synchronous belt, the first screw rod, the first linear guide rail, the upper and lower assembly mounting plate, the upper and lower fixed plates, the two support material supporting plates, the fifth sensor and the sixth sensor, the second driving motor, The fifth sensor and the sixth sensor are respectively connected with the control processing system, the fifth sensor and the sixth sensor are respectively arranged on the first profile bracket, the fifth sensor is positioned above the sixth sensor, the fifth sensor is used for sensing the top-layer empty-load plate of the empty-load plate laminated at the carrier receiving plate mechanism and generating corresponding signals to be sent to the control processing system, the sixth sensor is used for sensing the bottom-layer empty-load plate of the empty-load plate laminated at the carrier receiving plate mechanism and generating corresponding signals to be sent to the control processing system, the second driving motor is arranged on the motor bracket, the motor bracket is arranged on the upper and lower component mounting plate, the first belt wheel is arranged on the output shaft of the second driving motor, the second belt wheel is arranged on the first screw rod, the first synchronous belt is connected with the first belt wheel and the second belt wheel, the second belt wheel is arranged on the first belt wheel and the lower supporting plate of the first belt wheel, the first belt wheel is fixedly arranged on the first belt wheel and the lower supporting plate of the first belt wheel, the second belt wheel is fixedly arranged on the first guide rail and the second belt wheel is fixedly arranged on the upper and lower supporting plate of the first guide rail respectively The second belt wheel and the first synchronous belt realize the up-and-down movement and positioning of an up-and-down fixed plate and two material supporting support plates which are arranged on the first screw rod, the first linear guide rail is arranged on the up-and-down component mounting plate, the up-and-down component mounting plate is arranged on the first section bar bracket, in an initial state, the two material supporting support plates are positioned at the preset highest position, and when the empty load plate left-and-right moving mechanism moves to the position above the empty load plate up-and-down moving mechanism, the empty load plate is positioned right above the two material supporting support plates.
6. 6. A square stock collecting apparatus as set forth in claim 5, wherein said empty-load plate transfer mechanism is disposed behind said collecting plate mechanism, said empty-load plate transfer mechanism comprising a first stage roller line, a second stage roller line, a third stage roller line, a seventh sensor, an eighth sensor, a ninth cylinder, a three-color warning lamp, a three-stage roller mounting plate, and a three-stage roller bracket, said three-color warning lamp being disposed on top of said first section bar bracket, said three-color warning lamp, said first stage roller line, said second stage roller line, said third stage roller line, said seventh sensor, said eighth sensor, said ninth sensor, and said ninth cylinder being connected to said control processing system, respectively, said third stage roller line, said second stage roller line, and said third roller being disposed in sequence in a rearward order, said seventh sensor being mounted on top of said third section bar bracket, said third stage roller line, said third roller line being mounted at a distance from said third stage roller mounting plate, said third roller being mounted at a distance from said third stage roller mounting plate, said third stage roller being mounted at a distance from said third stage roller mounting plate, the ninth cylinder is arranged on the three-stage roller support, the first-stage roller assembly line, the second-stage roller assembly line and the three-stage roller support are respectively placed on the ground, the upper surfaces of the first-stage roller assembly line and the second-stage roller assembly line are on the same plane, the size of the third-stage roller assembly line along the left-right direction is smaller than the length of the carrier plate along the left-right direction, a notch penetrating up and down is formed in the empty-load plate recycling trolley, the third-stage roller assembly line can move up and down in the notch, and the size of the notch along the left-right direction is smaller than the length of the carrier plate along the left-right direction.
7. 7. The square stock collecting device as set forth in claim 6, wherein the collecting turnover mechanism is disposed at the rear of the collecting robot, the collecting turnover mechanism comprises a lifting table mechanism and a collecting trolley, the lifting table mechanism is disposed at the front of the collecting trolley, the lifting table mechanism comprises a tenth sensor, a roller pipeline for receiving materials, a tenth cylinder and a lifting table type frame, the roller pipeline for receiving materials is called a receiving roller pipeline, the tenth sensor, the receiving roller pipeline and the tenth cylinder are respectively connected with the control processing system, the tenth sensor is mounted at the uppermost part of the lifting table type frame, the receiving roller pipeline is mounted at the tail end of an output rod of the tenth cylinder, the tenth cylinder is used for driving the material receiving roller assembly line to move up and down, the tenth cylinder is arranged on the lifting workbench section bar frame, the material receiving trolley comprises two roller assembly lines, an eleventh sensor and a twelfth sensor, the two roller assembly lines are arranged up and down, the upper roller assembly line is called an upper roller assembly line, the lower roller assembly line is called a lower roller assembly line, the upper roller assembly line, the lower roller assembly line, the eleventh sensor and the twelfth sensor are respectively connected with the control processing system, the eleventh sensor is arranged at the forefront end of the upper roller assembly line, the twelfth sensor is arranged at the forefront end of the lower roller assembly line, the material receiving turnover mechanism is in an initial state, the tenth cylinder is in an extending state, the material receiving roller assembly line is positioned at an upper position, and the upper surface of the material receiving roller assembly line is leveled with the upper surface of the upper roller assembly line.

Description

Square material receiving equipment Technical Field The invention relates to receiving equipment, in particular to square block receiving equipment. Background Along with the continuous development of the permanent magnet motor, the application is continuously expanded, and the market demand is also continuously increased. The magnetic steel square block product is used as a key component in the permanent magnet motor, and the production scale of the magnetic steel square block product is also enlarged year by year. In the conventional production process of square magnetic steel blocks, a large amount of manual intervention is required. The links such as feeding and receiving are particularly serious, the working strength is high, the working efficiency is low, and due to the fact that working environments are full of noise and dust, workers stay in the working environments for a long time, and the bodies of the workers are greatly damaged. Disclosure of Invention The invention aims to solve the technical problem of providing square and block material collecting equipment which is low in labor intensity, high in working efficiency and capable of reducing the damage to the body of a worker. The invention solves the technical problems by adopting the technical scheme that the square block material receiving equipment comprises a control processing system, a material receiving and conveying mechanism, a material receiving and positioning conveying mechanism, a material receiving robot, a material receiving and turnover mechanism, an empty load plate output mechanism, a material receiving and load plate mechanism, an empty load plate transferring mechanism and an empty load plate recycling trolley, wherein the control processing system is respectively connected with the material receiving and positioning conveying mechanism, the material receiving and conveying mechanism, the material receiving robot, the material receiving and turnover mechanism, the empty load plate output mechanism, the material receiving and conveying mechanism, the material receiving and loading plate mechanism and the empty load plate transferring mechanism, the control processing system is used for controlling the material receiving and conveying mechanism, the material receiving and positioning conveying mechanism, the material receiving and turnover mechanism, the empty load plate output mechanism, the empty load plate mechanism and the empty load plate transferring mechanism to work cooperatively, the material receiving and conveying mechanism is used for outputting a front channel procedure to a full block material loading plate where the material receiving and conveying mechanism is positioned at the material receiving and conveying mechanism, the empty load plate transferring mechanism is used for positioning the material receiving and conveying mechanism to the empty load plate when the material receiving and conveying mechanism is fully loaded by the material receiving and turnover mechanism, the material receiving and conveying mechanism is positioned by the empty load plate transferring mechanism, the empty load plate transferring mechanism is positioned by the material receiving and the empty load plate transferring mechanism to the material receiving and the empty load plate transferring mechanism is positioned by the material receiving and the machine when the material receiving and completely loaded by the material receiving and turnover mechanism is fully loaded by the material receiving mechanism is fully loaded and completely, the full material carrier plate is changed into no empty carrier plate without square material products, the material receiving turnover mechanism is used for receiving square material products transferred to the receiving robot, the empty carrier plate output mechanism is used for conveying empty carrier plates transferred to the receiving turnover mechanism to the preset empty carrier plate, the receiving turnover mechanism is used for transferring empty carrier plates at the preset empty carrier plate to the empty carrier plate to be stacked to form a stack of empty carrier plates, and the empty carrier plate transfer mechanism is used for transferring the stack of empty carrier plates at the receiving turnover mechanism to the receiving turnover mechanism when the number of the empty carrier plates reaches the preset number, and transferring all the empty carrier plates to the empty carrier plate recovery trolley for taking away after the number of the empty carrier plates reaches the preset number. The feeding conveying mechanism comprises a roller assembly line, a carrier plate correcting device and a first sensor, wherein the first sensor is arranged at the forefront end of the roller assembly line, is connected with the control processing system, and is used for sensing whether a carrier plate enters the roller assembly line or not, generating corresponding signals and sending the signals t