A curing device with automatic loading and unloading

Abstract

The present invention relates to an automatic loading and unloading curing device, comprising a loading module, a curing module and a unloading module arranged in sequence, wherein a carrier for placing workpieces is arranged on the loading module; a first XYZ axis conveying mechanism is arranged between the loading module and the curing module; a high temperature channel and a downstream conveying assembly running through the high temperature channel are arranged on the curing module; a reflux conveying assembly is arranged correspondingly below the downstream conveying assembly; the transport length of the reflux conveying assembly is greater than the transport length of the downstream conveying assembly; a second XYZ axis conveying mechanism is arranged between the curing module and the unloading module. The structure runs smoothly, has a high degree of automation, is easy to operate, saves labor costs and time costs, has high practicality, and workers do not need to work at the feed port and the loading port of the curing module, thereby ensuring the safety of the workers.

Description

Technical Field

[0001] The invention relates to the field of curing technology, and more particularly to a curing device for automatic loading and unloading. Background Art

[0002] With the continuous development of electronic equipment, people have more and more demands for electronic equipment components. In order to make the performance of components better, curing furnaces are generally used to bake and cure the components. Most of the existing curing furnaces are manually loaded and unloaded, which not only has low work efficiency and high labor intensity, but also workers have to come into close contact with the equipment to load and unload, which poses certain safety hazards. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a curing device with automatic loading and unloading in view of the above-mentioned defects of the prior art.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an automatic loading and unloading curing device, comprising a loading module, a curing module and a unloading module arranged in sequence, wherein the loading module is provided with a carrier for placing workpieces; a first XYZ axis conveying mechanism is provided between the loading module and the curing module; a high-temperature channel and a downstream conveying component passing through the high-temperature channel are provided on the curing module; a reflux conveying component is correspondingly provided below the downstream conveying component; the transport length of the reflux conveying component is greater than the transport length of the downstream conveying component; a second XYZ axis conveying mechanism is provided between the curing module and the unloading module;

[0005] The automatic loading and unloading curing device of the present invention, wherein the curing module comprises a base and an outer cover mounted on the base; the high temperature channel is arranged in the outer cover; a constant temperature chamber is formed between the outer cover and the high temperature channel; the reflux conveying assembly is arranged in the base; one end of the high temperature channel is a feed port, and the other end is a discharge port; the feed port and the discharge port are both provided with independently controlled lifting door assemblies;

[0006] The automatic loading and unloading curing device of the present invention, wherein the downstream conveying assembly comprises two mounting seats fixedly arranged on both sides of the base; the mounting seats are provided with a plurality of roller units arranged in parallel and equidistantly and a first driving mechanism driving the plurality of roller units to rotate synchronously;

[0007] The automatic loading and unloading curing device of the present invention, wherein the roller unit comprises a roller; one end of the roller passes through a fixed block and a first gear fixedly connected to the mounting seat in sequence; the roller is rotatably connected to the fixed block and fixedly connected to the first gear; the roller unit further comprises a second gear meshing with the first gear; a plurality of the second gears are sleeved on the rotating shaft; the first driving mechanism drives the rotating shaft to rotate;

[0008] The automatic loading and unloading curing device of the present invention, wherein the reflux conveying assembly comprises two transport assemblies mounted in the base, and a second driving mechanism driving the two transport assemblies to move synchronously in the same direction;

[0009] The automatic loading and unloading curing device of the present invention, wherein the loading module comprises a first X-axis feeding and transporting mechanism, a first X-axis reflux transporting mechanism and a first Y-axis transporting mechanism for transporting the carrier; the first Y-axis transporting mechanism is located at one end of the loading module away from the curing module; the first Y-axis transporting mechanism is provided with a first conveying assembly for placing the workpiece and a third driving mechanism for driving the first conveying assembly to rotate horizontally and intermittently; a first manipulator for carrying the workpiece to the carrier for stacking and placement is also provided on one side of the first X-axis feeding and transporting mechanism; the first manipulator moves back and forth between the first X-axis feeding and transporting mechanism and the first Y-axis transporting mechanism;

[0010] The automatic loading and unloading curing device of the present invention, wherein the unloading module comprises a second X-axis feeding and transporting mechanism, a second X-axis reflux transporting mechanism and a second Y-axis transporting mechanism for transporting the carrier; the second Y-axis transporting mechanism is located at one end of the unloading module away from the curing module; the second Y-axis transporting mechanism is provided with a second conveying assembly for placing the workpiece and a fourth driving mechanism for driving the second conveying assembly to rotate horizontally and intermittently; a second manipulator for carrying the workpiece on the carrier to the second conveying assembly is also provided on one side of the second X-axis feeding and transporting mechanism; the second manipulator moves back and forth between the second X-axis feeding and transporting mechanism and the second Y-axis transporting mechanism;

[0011] The automatic loading and unloading curing device of the present invention, wherein the carrier comprises a material frame; a plurality of positioning posts arranged opposite to each other are fixedly arranged on the upper frame of the material frame; barbs are also fixedly arranged on the opposite outer walls of the material frame;

[0012] The automatic loading and unloading curing device of the present invention, wherein the loading module and the unloading module are both provided with a self-locking mechanism for locking the carrier and an unlocking mechanism for unlocking the self-locking mechanism; the self-locking mechanism and the unlocking mechanism are arranged in parallel;

[0013] The automatic loading and unloading curing device described in the present invention, wherein the self-locking mechanism includes a cover plate covering the carrier and a plurality of lock bodies fixed on the cover plate; a first through hole for the positioning column to pass through is dug on the lock body; a plurality of second through holes for the unlocking needle to pass through are circumferentially arranged around the first through hole; a limiting cavity is also provided between two adjacent second through holes; one end of the limiting cavity is through-connected with the first through hole, and both side edges are through-connected with two adjacent second through holes respectively; a limiting block is fixed on the outside of the limiting cavity; a locking block is slidably provided in the limiting cavity, and a reset component that provides elastic force to the locking block and the limiting block.

[0014] The beneficial effects of the present invention are: The structure runs smoothly, has a high degree of automation, and is easy to operate. The workpiece is manually placed on the loading module, the first manipulator stacks the workpiece in the carrier, and the first XYZ-axis transport mechanism moves the carrier to the downstream conveying component; the downstream conveying component moves the carrier to the high-temperature channel to heat and cure the workpiece, and then moves the carrier to one end of the discharge port; the second XYZ-axis transport mechanism moves the carrier from the downstream conveying mechanism to the unloading module, the second manipulator moves the workpiece out of the carrier, and then the second XYZ-axis transport mechanism moves the carrier from the unloading module to the reflux conveying mechanism, the carrier moves to one side of the loading mechanism with the reflux conveying mechanism, and then the first XYZ-axis transport mechanism moves the carrier to the first X-axis reflux transport mechanism of the loading mechanism, completing automatic loading and unloading, which can not only quickly stack and load materials, but also save the step of manually transporting the cooled carrier to one end of the feed port of the curing furnace, and also saves labor costs and time costs, with high practicality, and workers do not need to work at the feed port and loading port of the curing module, thereby ensuring the safety of workers.

[0015] The loading module and the unloading module are also provided with a self-locking mechanism and an unlocking mechanism with a simple structure. The self-locking component is positioned by the positioning column, and is quickly locked on the positioning column, so that the self-locking component and the carrier are quickly fixed and the self-locking component is locked on the carrier. This not only enhances the stability of the structure, but also prevents the workpiece from falling out of the carrier easily; by inserting multiple unlocking pins into all the second through holes, the self-locking component can be quickly unlocked to separate the self-locking component from the carrier; and disassembly and assembly are convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work:

[0017] Figure 1 It is a structural schematic diagram of a curing device for automatic loading and unloading of a preferred embodiment of the present invention;

[0018] Figure 2 It is a structural schematic diagram of a curing module in a preferred embodiment of the present invention;

[0019] Figure 3 It is a structural schematic diagram of a downstream conveying assembly of a preferred embodiment of the present invention;

[0020] Figure 4 It is a structural schematic diagram of a feeding module in a preferred embodiment of the present invention;

[0021] Figure 5 is a structural schematic diagram of a carrier according to a preferred embodiment of the present invention;

[0022] Figure 6 It is a structural schematic diagram of the self-locking mechanism of a preferred embodiment of the present invention;

[0023] Figure 7 It is a structural schematic diagram of the unlocking mechanism of a preferred embodiment of the present invention;

[0024] The reference numerals are as follows:

[0025] 1-workpiece; 2-carrier; 21-material frame; 22-positioning column; 23-barb; 100-feeding module;

[0026] 101-first XYZ axis transport mechanism; 102-first X axis feeding transport mechanism;

[0027] 103-first X-axis reflux transport mechanism; 104-first Y-axis transport mechanism; 105-first transmission assembly; 106-third drive mechanism; 107-first manipulator; 108-self-locking mechanism; 1081-cover plate;

[0028] 1082 - lock body; 1083 - first through hole; 1084 - unlocking pin; 1085 - second through hole;

[0029] 1086-limiting block; 109-unlocking mechanism; 1091-fifth driving mechanism; 200-curing module;

[0030] 201-lifting door assembly; 202-downstream conveying assembly; 2021-mounting seat; 2022-first driving mechanism; 2023-roller; 2024-fixing block; 2025-first gear; 2026-second gear; 2027-rotating shaft; 203-return conveying assembly; 2031-transportation assembly; 204-base; 205-outer cover; 206-feed port; 207-discharge port; 300-unloading module; 301-second XYZ axis handling mechanism. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the following will be described clearly and completely in combination with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of the present invention.

[0032] A preferred embodiment of the present invention is an automatic loading and unloading curing device, such as Figure 1-7 As shown, it includes a loading module 100, a curing module 200 and a unloading module 300 which are arranged in sequence, wherein a carrier 2 for placing a workpiece 1 is provided on the loading module 100; a first XYZ-axis transport mechanism 101 is provided between the loading module 100 and the curing module 200; a high-temperature channel (not shown in the figure) and a downstream conveying component 202 passing through the high-temperature channel (not shown in the figure) are provided on the curing module 200; a reflux conveying component 203 is correspondingly provided below the downstream conveying component 202; the transport length of the reflux conveying component 203 is greater than the transport length of the downstream conveying component 202; a second XYZ-axis transport mechanism 301 is provided between the curing module 200 and the unloading module 300.

[0033] The structure runs smoothly, has a high degree of automation and is easy to operate. The workpiece is manually placed on the loading module, and the first XYZ-axis transport mechanism moves the carrier to the downstream conveying component; the downstream conveying component moves the carrier to the high-temperature channel to heat and cure the workpiece, and then moves the carrier to one side of the unloading module; the second XYZ-axis transport mechanism moves the carrier from the downstream conveying mechanism to the unloading module, and after the workpiece is taken out of the carrier, the second XYZ-axis transport mechanism moves the carrier from the unloading module to the reflux conveying mechanism, and the carrier moves to the side of the loading mechanism with the reflux conveying mechanism, and then the first XYZ-axis transport mechanism moves the carrier to the loading mechanism to complete automatic loading and unloading, which can not only quickly stack and load materials, but also save the step of manually transporting the cooled carrier to one end of the feed port of the curing furnace, and also saves labor costs and time costs, and is highly practical.

[0034] Specifically, the first XYZ-axis transport mechanism and the second XYZ-axis transport mechanism both include a transport claw, an X-axis transport assembly that drives the transport claw to move along the X-axis, a Y-axis transport assembly that drives the transport claw to move along the Y-axis, and a lifting assembly that drives the transport claw to move along the Z-axis; the X-axis transport assembly, the Y-axis transport assembly and the lifting assembly are all existing technologies and are flexible to use.

[0035] like Figure 2As shown, the curing module 200 includes a base 204 and an outer cover 205 installed on the base 204; a high-temperature channel (not shown in the figure) is arranged in the outer cover 205; a constant temperature chamber is formed between the outer cover 205 and the high-temperature channel (not shown in the figure); a reflux conveying component 203 is arranged in the base 204; one end of the high-temperature channel (not shown in the figure) is a feed port 206, and the other end is a discharge port 207; a heating component (not shown in the figure) is also arranged in the high-temperature channel (not shown in the figure); the heating component (not shown in the figure) is located above the downstream conveying component 202.

[0036] Specifically, in order to save energy, independently controlled lifting door assemblies 201 are provided on the feed port 206 and the discharge port 207; the lifting door assembly 201 includes a baffle, a driving cylinder for driving the baffle to rise and fall, and a sensor; the sensor and the driving cylinder are both fixedly mounted on the outer cover 205; this can prevent the heat generated by heating inside the high-temperature channel from being dissipated to the outside, wasting a large amount of heat.

[0037] like Figure 3 As shown, the downstream conveying component 202 includes two mounting seats 2021 fixedly arranged on both sides of the base 204; the mounting seats 2021 are provided with multiple groups of roller units arranged in parallel and equidistantly and a first driving mechanism 2022 that drives the multiple groups of roller units to rotate synchronously; the first driving mechanism 2022 is a driving motor, which is the prior art.

[0038] Specifically, the roller unit includes a roller 2023; one end of the roller 2023 passes through a fixed block 2024 and a first gear 2025 which are fixedly connected to the mounting seat 2021 in sequence; the roller 2023 is rotatably connected to the fixed block 2024 and is fixedly connected to the first gear 2025; the roller unit also includes a second gear 2026 which is meshed with the first gear 2025; a plurality of second gears 2026 are all sleeved on the rotating shaft 2027; and the first driving mechanism 2022 drives the rotating shaft 2027 to rotate.

[0039] The reflux conveying assembly 203 includes two transport assemblies 2031 mounted in the base 204, and a second driving mechanism (not shown in the figure) that drives the two transport assemblies 2031 to move synchronously in the same direction; the transport assembly can be a screw rod parallel to the rotating shaft, or it can be a plurality of rotating wheels and a conveyor belt connecting all the rotating wheels, or other existing technologies that can transport; the second driving mechanism is a driving motor, which is existing technology.

[0040] like Figure 4As shown, the loading module 100 includes a first X-axis feeding and transporting mechanism 102, a first X-axis reflux transporting mechanism 103 and a first Y-axis transporting mechanism 104 of the transport carrier 2; the first X-axis reflux transporting mechanism 103 may be provided with a plurality; the first Y-axis transporting mechanism 104 is located at one end of the loading module 100 away from the curing module 200; the first Y-axis transporting mechanism 104 is provided with a first conveying component 105 for placing the workpiece 1 and a third driving mechanism 106 for driving the first conveying component 105 to rotate horizontally and intermittently; a first robot 107 for transporting the workpiece 1 to the carrier 2 for stacking and placing is also provided on one side of the first X-axis feeding and transporting mechanism 102; the first robot 107 moves back and forth between the first X-axis feeding and transporting mechanism 102 and the first Y-axis transporting mechanism 104.

[0041] The workpiece is manually placed on the first conveying assembly, and the first Y-axis transport mechanism moves the first conveying assembly to the side of the first X-axis feeding and transport mechanism; the third driving mechanism rotates the first conveying assembly to be perpendicular to the first X-axis feeding and transport mechanism, and the first manipulator transports the workpiece to the carrier for stacking. After the carrier is full of workpieces, the first X-axis feeding and transport mechanism moves the carrier to the side of the curing module, and the first XYZ three-axis transport mechanism transports the carrier to the downstream conveying assembly for processing, and the workpiece in the carrier is taken out through the unloading module, and the empty carrier is moved by the reflux conveying assembly to the side of the loading module, and is moved by the first XYZ three-axis transport mechanism to the first X-axis reflux transport mechanism to complete the loading; stacking the workpieces in the carrier not only has high loading efficiency, but also saves a lot of labor costs and time costs.

[0042] Specifically, the first X-axis feeding and transporting mechanism 102 and the first X-axis reflux transporting mechanism 103 each include two X-axis slide rails, a first mounting plate slidably connected to the X-axis slide rails, and a screw motor that drives the first mounting plate to intermittently move along the X-axis slide rails; a plurality of first X-axis feeding and transporting mechanisms 102 are arranged in parallel, and the first X-axis feeding and transporting mechanism can also be other mechanisms in the prior art that can transport carriers, and is not limited to the structure shown in the figure.

[0043] Specifically, positioning components for preventing the carrier 2 from sliding down are fixedly mounted on both ends of the first mounting plate; the positioning components are detachably connected to the first mounting plate.

[0044] Specifically, the first Y-axis transport mechanism includes two Y-axis slide rails fixed to one side of the X-axis slide rail, a second mounting plate slidably connected to the Y-axis slide rail, and a screw motor driving the second mounting plate to intermittently move along the Y-axis slide rail; the first transmission assembly 105 is mounted on the second mounting plate; the first transmission assembly 105 is provided with multiple groups;

[0045] Specifically, the first transmission assembly 105 includes a driving wheel, a driven wheel, a synchronous belt that drives the driving wheel and the driven wheel to move synchronously, and a driving motor that drives the driving wheel to rotate.

[0046] Similar to the structure of the above-mentioned loading module, the unloading module includes a second X-axis feeding and transporting mechanism of the transport carrier, a second X-axis reflux transporting mechanism and a second Y-axis transporting mechanism; the second Y-axis transporting mechanism is located at one end of the unloading module away from the curing module; the second Y-axis transporting mechanism is provided with a second conveying assembly for placing the workpiece and a fourth driving mechanism for driving the second conveying assembly to rotate horizontally and intermittently; a second robot for moving the workpiece on the carrier to the second conveying assembly is also provided on one side of the second X-axis feeding and transporting mechanism; the second robot moves back and forth between the second X-axis feeding and transporting mechanism and the second Y-axis transporting mechanism.

[0047] like Figure 5 As shown, the carrier 2 includes a material frame 21 ; a plurality of positioning posts 22 arranged opposite to each other are fixedly disposed on the upper frame of the material frame 21 ; and barbs 23 are also fixedly disposed on the outer walls of the material frame 21 on both sides opposite to each other.

[0048] Specifically, in order to prevent the carrier from tipping over due to unstable transportation during transportation and causing unnecessary trouble to the workers, the loading module 100 and the unloading module 300 are both provided with a self-locking mechanism 108 for locking the carrier 2, and an unlocking mechanism 109 for unlocking the self-locking mechanism 108; the self-locking mechanism 108 and the unlocking mechanism 109 are arranged in parallel.

[0049] like Figure 5 and Figure 6 As shown, the self-locking mechanism 108 includes a cover plate 1081 covering the carrier 2 and a plurality of lock bodies 1082 fixed on the cover plate 1081; a first through hole 1083 for the positioning column 22 to pass through is dug on the lock body 1082; a plurality of second through holes 1085 for the unlocking pin 1084 to pass through are circumferentially arranged around the first through hole 1083; a limiting cavity (not shown in the figure) is also provided between two adjacent second through holes 1085; one end of the limiting cavity (not shown in the figure) is through-connected with the first through hole 1083, and both side edges are through-connected with two adjacent second through holes 1085 respectively; a limiting block 1086 is fixed on the outside of the limiting cavity (not shown in the figure); a locking block is slidably provided in the limiting cavity (not shown in the figure), and a reset component (not shown in the figure) that provides elastic force to the locking block and the limiting block 1086, and the reset component is a reset spring, which is the prior art.

[0050] Specifically, the locking block includes a boss and a ejector pin integrally connected to the boss; the side surface of the boss forms a limiting surface that fits the inner wall of the limiting cavity; when self-locking, the limiting surface at least partially protrudes from the second through hole 1085, and the ejector pin at least partially protrudes from the first through hole 1083. It has a simple structure, flexible self-locking, and does not require other external force to lock.

[0051] like Figure 7As shown, the unlocking mechanism 109 includes an unlocking pin 1084 and a fifth driving mechanism 1091 that drives the unlocking pin 1084 to move closer to or away from the lock body 1082; the fifth driving mechanism 1091 is a driving cylinder, which is the prior art; the unlocking mechanism has a simple structure and is convenient for automatic unlocking.

[0052] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. An automatic loading and unloading curing device, comprising a loading module, a curing module and a unloading module arranged in sequence, characterized in that: The loading module is provided with a carrier for placing workpieces; a first XYZ-axis transport mechanism is provided between the loading module and the curing module; a high-temperature channel and a downstream conveying assembly running through the high-temperature channel are provided on the curing module; a return conveying assembly is provided correspondingly below the downstream conveying assembly; the transport length of the return conveying assembly is greater than the transport length of the downstream conveying assembly; a second XYZ-axis transport mechanism is provided between the curing module and the unloading module; The curing module comprises a base and an outer cover mounted on the base; the high temperature channel is arranged in the outer cover; a constant temperature chamber is formed between the outer cover and the high temperature channel; the reflux conveying assembly is arranged in the base; one end of the high temperature channel is a feed port, and the other end is a discharge port; the feed port and the discharge port are both provided with independently controlled lifting door assemblies; The downstream conveying assembly comprises two mounting seats fixedly arranged on both sides of the base; the mounting seats are provided with a plurality of roller units arranged in parallel and equidistantly and a first driving mechanism driving the plurality of roller units to rotate synchronously; The carrier comprises a material frame; a plurality of positioning posts arranged opposite to each other are fixedly arranged on the upper frame of the material frame; barbs are also fixedly arranged on the opposite outer walls of the material frame respectively; The loading module and the unloading module are both provided with a self-locking mechanism for locking the carrier and an unlocking mechanism for unlocking the self-locking mechanism; the self-locking mechanism and the unlocking mechanism are arranged in parallel; The self-locking mechanism includes a cover plate covering the carrier and a plurality of lock bodies fixed on the cover plate; a first through hole for the positioning column to pass through is dug on the lock body; a plurality of second through holes for the unlocking pin to pass through are circumferentially arranged around the first through hole; a limiting cavity is also arranged between two adjacent second through holes; one end of the limiting cavity is through-connected with the first through hole, and both side edges are through-connected with two adjacent second through holes respectively; a limiting block is fixed on the outside of the limiting cavity; a locking block is slidably arranged in the limiting cavity, and a reset component that provides elastic force to the locking block and the limiting block.

2. The automatic loading and unloading curing device according to claim 1 is characterized in that: The roller unit includes a roller; one end of the roller passes through a fixed block fixedly connected to the mounting seat and a first gear in sequence; the roller is rotatably connected to the fixed block and fixedly connected to the first gear; the roller unit also includes a second gear meshing with the first gear; a plurality of second gears are all sleeved on a rotating shaft; and the first driving mechanism drives the rotating shaft to rotate.

3. The automatic loading and unloading curing device according to claim 2 is characterized in that: The reflux conveying assembly comprises two transport assemblies mounted in the base, and a second driving mechanism driving the two transport assemblies to move synchronously in the same direction.

4. The automatic loading and unloading curing device according to any one of claims 1 to 3, characterized in that: The loading module includes a first X-axis feeding and transporting mechanism, a first X-axis reflux transporting mechanism and a first Y-axis transporting mechanism for transporting the carrier; the first Y-axis transporting mechanism is located at one end of the loading module away from the curing module; the first Y-axis transporting mechanism is provided with a first conveying assembly for placing the workpiece and a third driving mechanism for driving the first conveying assembly to rotate horizontally and intermittently; a first robot for transporting the workpiece to the carrier for stacking and placing is also provided on one side of the first X-axis feeding and transporting mechanism; the first robot moves back and forth between the first X-axis feeding and transporting mechanism and the first Y-axis transporting mechanism.

5. The automatic loading and unloading curing device according to claim 4 is characterized in that: The unloading module includes a second X-axis feeding and transporting mechanism, a second X-axis reflux transporting mechanism and a second Y-axis transporting mechanism for transporting the carrier; the second Y-axis transporting mechanism is located at one end of the unloading module away from the curing module; the second Y-axis transporting mechanism is provided with a second conveying assembly for placing the workpiece and a fourth driving mechanism for driving the second conveying assembly to rotate horizontally and intermittently; a second manipulator for moving the workpiece on the carrier to the second conveying assembly is also provided on one side of the second X-axis feeding and transporting mechanism; the second manipulator moves back and forth between the second X-axis feeding and transporting mechanism and the second Y-axis transporting mechanism.

Images