Self-rotation conveying device with lifting platform, equipment and control method

The invention discloses a self-rotation conveying device with a lifting platform, equipment and a control method, and the device comprises a first tray, a conveying belt module, a sensor module, an air cylinder lifting module, an air cylinder lifting control module, a conveying belt control module, a detection module and a controller; a first air cylinder lifting platform and a second air cylinder lifting platform of the air cylinder lifting module correspond to a plate taking and placing station and a second waiting station respectively; the conveying belt module comprises four conveying belts arranged on the upper surfaces of the two air cylinder lifting platforms and the planes where different working states are located. The controller determines the current station of the first tray according to signals of the sensor module, controls the first air cylinder lifting platform and the second air cylinder lifting platform to be alternately located in the first working state and the second working state, corres