A palletizing robot and a material picking and placing method thereof

Abstract

The present invention relates to the field of palletizing technology, and in particular to a palletizing robot and a material taking and placing method thereof, which comprises a displacement device, a carrier, a discharging mechanism arranged on one side of the carrier, and a paper picking mechanism arranged on the other side of the carrier, wherein the paper picking mechanism is used to take and place the spacer paper, the displacement device is used to drive the carrier to move back and forth, and the discharging mechanism is used to push the material on the carrier to the palletizing station; the material taking and placing method comprises step S1, the discharging mechanism moves and opens the carrier; step S2, the displacement device drives the carrier to move to the material receiving station, the paper picking mechanism takes the spacer paper, and at the same time, the external feeding device pushes the material to the carrier; step S3, the displacement device drives the carrier to move to the palletizing station; step S4, the paper picking mechanism puts down the spacer paper; step S5, the discharging mechanism pushes the material on the carrier to the spacer paper of the palletizing station. The present invention improves the palletizing efficiency, reduces multiple picking and placing strokes, and is convenient for transportation.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing, in particular to a palletizing robot and a material taking and placing method thereof. Background Art

[0002] At present, the stacking of books and periodicals in China is still carried out manually; after printing, these books and periodicals are generally stacked together and then bundled or wrapped to form a stack block for easy transportation. The stack blocks (mainly the upper and lower stack blocks) are often separated by separators to improve the stability of the stack and facilitate transportation. However, the existing stacking equipment on the market takes out the separator paper and materials separately when taking out materials, which increases the equipment travel. In addition, the material taking device and the separator paper taking device are independently controlled, which occupies the equipment volume and space, which is not conducive to transportation. Summary of the invention

[0003] In view of the problems of the prior art, the present invention provides a palletizing robot and a material picking and placing method thereof, which are cleverly designed and can realize the picking and placing of separator paper and materials to achieve automated palletizing, reduce the cost of manual participation, realize integrated automation of multiple functional structures, improve convenience, and thus improve palletizing efficiency, reduce multiple picking and placing trips, reduce the size of the equipment and the space occupied by the equipment, and facilitate transportation.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The present invention provides a palletizing robot, comprising a displacement device, a carrier frame, a discharging mechanism arranged on one side of the carrier frame, and a paper picking mechanism arranged on the other side of the carrier frame, wherein the paper picking mechanism is used to take and place separator paper, the displacement device is used to drive the carrier frame to move back and forth, and the discharging mechanism is used to push the material on the carrier frame to a palletizing station.

[0006] Wherein, the discharging mechanism comprises a flip driving assembly and a flip push plate drivingly connected to the flip driving assembly;

[0007] Bases are provided on both sides of the top of the flip push plate, a connecting block is rotatably provided on one side of the base, and a first guide sliding block is rotatably provided on the other side of the base;

[0008] First guide rails are provided on both sides of the top of the carrier frame, and the first guide slide block is slidably connected to the first guide rails;

[0009] The flip drive assembly includes a discharging drive member and a first synchronous shaft, wherein the discharging drive member is used to drive the first synchronous shaft to rotate, the first synchronous shaft is rotatably arranged on the carrier, and the discharging drive member is installed on the top of the carrier;

[0010] Sliding guides are provided on both sides of the top of the carrier, and first driven sprockets are rotatably provided at the rear ends of the sliding guides. Both ends of the first synchronous shaft are rotatably connected to the front ends of the two sliding guides, and first driving sprockets are provided at both ends of the first synchronous shaft; a first synchronous belt is wound between the first driving sprocket and the first driven sprocket;

[0011] The connecting block is connected to the first synchronous belt.

[0012] Wherein, a pressure wheel is rotatably provided on the sliding guide frame, and the pressure wheel abuts against the first synchronous belt.

[0013] A sliding baffle is slidably arranged at the rear end of the support frame, and a baffle driving member for driving the baffle to move up and down is also arranged at the rear end of the support frame.

[0014] The paper picking mechanism comprises a paper picking drive and a paper picking strip block drivingly connected to the paper picking drive, and a plurality of suction nozzles are arranged in a row at equal intervals at the bottom of the paper picking strip block.

[0015] The displacement device comprises a displacement frame, a lifting drive assembly is arranged on the displacement frame, the lifting drive assembly is connected to a lifting platform, a horizontal support rod is arranged on the lifting platform, both sides of the carrier are slidably arranged on the horizontal support rod, a front and rear drive assembly is also arranged on the carrier, and a horizontal chain is arranged on the top of the horizontal support rod;

[0016] The front and rear drive components include front and rear drive members and a second synchronous shaft, the second synchronous shaft is rotatably arranged on the support frame, second driving sprockets are arranged at both ends of the second synchronous shaft, and the second driving sprocket is meshed and drivenly connected with the horizontal chain.

[0017] The present invention also provides a material picking and placing method for a palletizing robot, comprising the following steps:

[0018] Step S1, the discharging mechanism moves and opens the carrier;

[0019] Step S2, the displacement device drives the carrier to move to the material receiving station, the paper taking mechanism takes the spacer paper, and at the same time, the external feeding device pushes the material onto the carrier from the opening on one side of the carrier;

[0020] Step S3, the displacement device drives the carrier to move to the palletizing station;

[0021] Step S4, the paper picking mechanism puts down the separator paper;

[0022] Step S5, the discharging mechanism pushes the material on the support frame out of the opening on the other side of the support frame onto the separator paper of the stacking station.

[0023] Beneficial effects of the present invention:

[0024] The present invention has a novel structure and an ingenious design. When working, the displacement device drives the carrier to move to the corresponding material receiving position, and the external loading device pushes the material onto the carrier. At the same time, the paper picking mechanism is used to pick up the spacer paper, and then the displacement device drives the carrier to move to the stacking station, and the spacer paper is lowered to the stacking station by the paper picking mechanism, and then the material on the carrier is pushed out to the spacer paper at the stacking station by the discharging mechanism, so as to realize the taking and placing of the spacer paper and the taking and placing of the materials, thereby realizing automatic stacking and reducing the cost of manual participation. The discharging mechanism and the paper picking mechanism are combined at the front and rear ends of the carrier, and the displacement device synchronously controls the positions of the carrier, the discharging mechanism and the paper picking mechanism, so as to realize the integrated automation of multiple functional structures, improve convenience, and then improve the stacking efficiency, reduce multiple picking and placing strokes, reduce the size of the equipment and the space occupied by the equipment, and facilitate transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The figure is a schematic structural diagram of a palletizing robot of the present invention.

[0026] Figure 2 It is a schematic structural diagram of the displacement device of the present invention.

[0027] Figure 3 It is a schematic structural diagram of the cooperation between the support frame, the discharging mechanism, the paper picking mechanism, the horizontal support rod and the horizontal chain of the present invention.

[0028] Figure 4 It is a schematic diagram of the structure of the present invention after the displacement device is hidden.

[0029] Figure 5 This is a schematic diagram of the structure from another viewing angle after the displacement device of the present invention is hidden.

[0030] Figure 6 for Figure 6 Schematic diagram of part of the structure.

[0031] Figure 7 for Figure 6 Another perspective structural diagram of .

[0032] exist Figures 1 to 7 Reference numerals in the drawings include:

[0033] 1. Displacement device; 2. Carrying frame; 3. Discharging mechanism; 4. Paper picking mechanism; 5. Flip push plate; 6. Base; 7. Connecting block; 8. First guide slide block; 9. First guide rail; 10. Discharging drive member; 11. First synchronous shaft; 12. Sliding guide frame; 13. First active sprocket; 14. First synchronous belt; 15. Pressing wheel; 16. Sliding baffle; 17. Baffle drive member; 18. Paper picking drive member; 19. Paper picking strip block; 20. Suction nozzle; 21. Displacement frame; 22. Lifting drive assembly; 23. Lifting platform; 24. Horizontal support rod; 25. Horizontal chain; 26. Front and rear drive members; 27. Second synchronous shaft; 28. Second active sprocket. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with the embodiments and drawings, and the contents mentioned in the embodiments are not intended to limit the present invention. The present invention is described in detail below in conjunction with the drawings.

[0035] Example 1

[0036] This embodiment 1 provides a palletizing robot, such as Figures 1 to 7 As shown, it includes a displacement device 1, a carrier frame 2, a discharging mechanism 3 arranged on one side of the carrier frame 2, and a paper picking mechanism 4 arranged on the other side of the carrier frame 2, the paper picking mechanism 4 is used to take and place separator paper, the displacement device 1 is used to drive the carrier frame 2 to move back and forth, and the discharging mechanism 3 is used to push the material of the carrier frame 2 to the stacking station.

[0037] Specifically, the present embodiment has a novel structure and an ingenious design. When working, after the displacement device 1 drives the carrier frame 2 to move to the corresponding material receiving position, the external loading device pushes the material onto the carrier frame 2. At the same time, the paper picking mechanism 4 is used to pick up the spacer paper, and then the displacement device 1 drives the carrier frame 2 to move to the stacking station, and the spacer paper is lowered to the stacking station by the paper picking mechanism 4, and then the material on the carrier frame 2 is pushed out to the spacer paper at the stacking station by the discharging mechanism 3, so as to realize the taking and placing of the spacer paper and the taking and placing of the materials, thereby realizing automatic stacking and reducing the cost of manual participation. The discharging mechanism 3 and the paper picking mechanism 4 are combined at the front and rear ends of the carrier frame 2, and the displacement device 1 synchronously controls the positions of the carrier frame 2, the discharging mechanism 3 and the paper picking mechanism 4, so as to realize the integrated automation of multiple functional structures, improve convenience, and then improve the stacking efficiency, reduce multiple picking and placing strokes, reduce the size of the equipment and the space occupied by the equipment, and facilitate transportation.

[0038] In this embodiment, the discharging mechanism 3 includes a flip driving component and a flip push plate 5 drivingly connected to the flip driving component;

[0039] Bases 6 are provided on both sides of the top of the flip push plate 5, a connecting block 7 is rotatably provided on one side of the base 6, and a first guide slider 8 is rotatably provided on the other side of the base 6;

[0040] First guide rails 9 are provided on both sides of the top of the carrier 2, and the first guide slide block 8 is slidably connected to the first guide rail 9; the first guide slide block 8 moves along the first guide rail 9, so as to conveniently drive the flip push plate 5 to move linearly along the first guide rail 9, so as to facilitate pushing the material;

[0041] The flip drive assembly includes a discharging drive member 10 and a first synchronous shaft 11, wherein the discharging drive member 10 is used to drive the first synchronous shaft 11 to rotate, the first synchronous shaft 11 is rotatably arranged on the carrier 2, and the discharging drive member 10 is installed on the top of the carrier 2;

[0042] Sliding guides 12 are provided on both sides of the top of the carrier 2, and the rear ends of the sliding guides 12 are rotatably provided with first driven sprockets, the two ends of the first synchronous shaft 11 are respectively rotatably connected with the front ends of the two sliding guides 12, and the two ends of the first synchronous shaft 11 are provided with first driving sprockets 13; the first driving sprocket 13 is located at the front end of the sliding guide 12; a first synchronous belt 14 is wound between the first driving sprocket 13 and the first driven sprocket; the connecting block 7 is connected to the first synchronous belt 14; under this arrangement, it is easy to drive the flip push plate 5 to rotate and flip up along the first driving sprocket 13.

[0043] Specifically, the discharging mechanism 3 is used to push the materials on the carrier 2 to the stacking station when it is working; when the discharging mechanism 3 is working, the discharging driving member 10 drives the first synchronous shaft 11 to rotate, drives the first active sprockets 13 at both ends to rotate, drives the first synchronous belt 14 to rotate, and the rotation of the first synchronous belt 14 drives the flip push plate 5 to move; when the external feeding device needs to push the materials onto the carrier 2, it drives the flip push plate 5 to move and drives the connecting block 7 to bypass the first active sprocket 13, thereby driving the flip push plate 5 to flip up at the front end of the slide rail guide frame, and then facilitates the external feeding device to push the materials onto the carrier 2; after the external feeding device pushes the materials onto the carrier 2, the discharging driving member 10 drives the first synchronous shaft 11 to rotate to drive the connecting block 7 to move and reset, thereby driving the flip push plate 5 to push the materials on the carrier 2. On the one hand, the materials can be shifted to make way for the next group of materials to enter the carrier 2, and on the other hand, the materials can also be pushed from the carrier 2 to the stacking station.

[0044] Among them, bases 6 are provided on both sides of the top of the flip push plate 5, a connecting block 7 is rotatably provided on one side of the base 6, and a first guide sliding block 8 is rotatably provided on the other side of the base 6. Under this setting, the first guide sliding block 8 and the connecting block 7 can both rotate relative to the base 6, which facilitates the flipping and movement of the flip push plate 5 and ensures the smoothness of the flipping and movement of the flip push plate 5.

[0045] Furthermore, in the present embodiment, a sliding baffle 16 is slidably provided at the rear end of the carrier frame 2, and a baffle driving component 17 for driving the baffle to move up and down is also provided at the rear end of the carrier frame 2; wherein, the paper picking mechanism 4 includes a paper picking driving component 18 and a paper picking strip block 19 drivingly connected to the paper picking driving component 18, and a plurality of suction nozzles 20 are evenly spaced in a row at the bottom of the paper picking strip block 19; further, the paper picking strip block 19 is slidably provided up and down on the sliding baffle 16; the paper picking driving component 18 is mounted on the sliding baffle 16.

[0046] Specifically, the sliding baffle 16 is located at the rear end of the carrier frame 2. The material enters the carrier frame 2 from the front end of the carrier frame 2. The sliding baffle 16 plays a blocking role to prevent the pushing mechanism from falling when pushing the material onto the carrier frame 2, thereby improving working reliability.

[0047] Among them, the paper picking mechanism 4 is integrated and assembled on the sliding baffle 16. When the baffle driving member 17 drives the sliding baffle 16 to move upward, it can drive the paper picking mechanism 4 to move upward as a whole. When the displacement device 1 drives the carrier frame 2 to move, it can drive the paper picking mechanism 4 and the discharge mechanism 3 to move synchronously as a whole, which is conducive to realizing the integrated automation of multiple functional structures, improving convenience, reducing the size of the equipment and the space occupied by the equipment, and has a novel structure and ingenious design.

[0048] In this embodiment, a pressing wheel 15 is rotatably provided on the sliding guide frame 12, and the pressing wheel 15 abuts against the first synchronous belt 14. Specifically, under this arrangement, the tension of the first synchronous belt 14 is increased to prevent it from loosening, thereby improving its working stability and reliability.

[0049] In this embodiment, the displacement device 1 includes a displacement frame 21, a lifting drive assembly 22 is provided on the displacement frame 21, the lifting drive assembly 22 is connected to a lifting platform 23, a horizontal support rod 24 is provided on the lifting platform 23, both sides of the carrier frame 2 are slidably provided on the horizontal support rod 24, a front and rear drive assembly is further provided on the carrier frame 2, and a horizontal chain 25 is provided on the top of the horizontal support rod 24; a protective fence is provided on the periphery of the displacement frame 21 to play a role of enclosure and improve safety;

[0050] Specifically, when the displacement device 1 is working, the lifting drive assembly 22 drives the lifting platform 23 to move up and down, thereby driving the horizontal support rod 24 to move up and down, and then driving the carrier 2 to move up and down, so as to facilitate the carrier 2 to move to the position corresponding to the external loading device for receiving materials, and also facilitate the carrier 2 to be transferred to the stacking station for unloading;

[0051] The front and rear drive components include front and rear drive members 26 and a second synchronization shaft 27 . The second synchronization shaft 27 is rotatably disposed on the support frame 2 . Second driving sprockets 28 are disposed at both ends of the second synchronization shaft 27 . The second driving sprocket 28 is meshed and drivenly connected with the horizontal chain 25 .

[0052] Specifically, the front and rear driving members 26 drive the second synchronous shaft 27 to rotate, driving the second active sprocket 28 to rotate, and the second active sprocket 28 moves along the horizontal chain 25, thereby driving the carrier frame 2 to move forward and backward along the horizontal chain 25. The structure is novel, the operation is stable and reliable, and the moving direction is precise.

[0053] Example 2

[0054] This embodiment 2 also provides a material picking and placing method of a palletizing robot, comprising the following steps:

[0055] Step S1, the discharging mechanism 3 moves and opens the carrier 2;

[0056] Step S2, the displacement device 1 drives the carrier 2 to move to the material receiving station, and the paper taking mechanism 4 takes the separator paper. At the same time, the external feeding device pushes the material from the opening on one side of the carrier to the carrier 2;

[0057] Step S3, the displacement device 1 drives the carrier 2 to move to the palletizing station;

[0058] Step S4, the paper picking mechanism 4 puts down the separator paper;

[0059] Step S5, the discharging mechanism 3 pushes the material on the carrier 2 out from the opening on the other side of the carrier to the spacer paper of the stacking station.

[0060] Specifically, through the above-mentioned material taking and placing method, when the external loading device needs to push the material onto the carrier 2, the displacement device 1 drives the carrier 2 to move to the corresponding material receiving position, and then the external loading device pushes the material onto the carrier 2. At the same time, the paper picking mechanism 4 is used to pick up the separator paper, and then the displacement device 1 drives the carrier 2 to move to the stacking station, and the separator paper is lowered to the stacking station by the paper picking mechanism 4, and then the material on the carrier 2 is pushed out to the separator paper at the stacking station by the discharging mechanism 3, so as to realize the taking and placing of the separator paper and the taking and placing of the materials, thereby realizing automatic stacking, reducing the cost of manual participation, and the discharging mechanism 3 and the paper picking mechanism 4 can move synchronously, and the displacement device 1 synchronously controls the positions of the carrier 2, the discharging mechanism 3 and the paper picking mechanism 4, so as to realize the integrated automation of multiple functional structures, improve convenience, and then improve the stacking efficiency, reduce multiple picking and placing strokes, reduce the size of the equipment and the space occupied by the equipment, and facilitate transportation.

[0061] Among them, the discharge mechanism 3 is driven to move and open and flip up, and then the external loading device is convenient to push the material onto the carrier rack 2; after the external loading device pushes the material onto the carrier rack 2, the discharge mechanism 3 moves and resets, and then pushes the material on the carrier rack 2. On the one hand, the material can be shifted to make way for the next group of materials to enter the carrier rack 2, and on the other hand, the material can also be pushed from the carrier rack 2 to the stacking station.

[0062] Among them, in this embodiment, the material can enter from one side of the carrier 2, and then be pushed out from the other side of the carrier 2 for unloading to the stacking station, so that the automated stacking sequence is clear and has a transition process, thereby improving the stability and quality of the stacking.

[0063] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention is disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent changes and modifications made to the above embodiments according to the technology of the present invention are within the scope of the technical solution of the present invention without departing from the content of the technical solution of the present invention.

Claims

1. A palletizing robot, characterized in that: It includes a displacement device, a carrier, a discharging mechanism arranged on one side of the carrier, and a paper picking mechanism arranged on the other side of the carrier, wherein the paper picking mechanism is used to pick up and place the separator paper, the displacement device is used to drive the carrier to move back and forth, and the discharging mechanism is used to push the material on the carrier to the stacking station; After the displacement device drives the carrier to move to the corresponding material receiving position, the external loading device pushes the material onto the carrier, and at the same time, the paper picking mechanism picks up the separator paper, and then the displacement device drives the carrier to move to the stacking station, and the separator paper is lowered to the stacking station by the paper picking mechanism, and then the material on the carrier is pushed out to the separator paper at the stacking station by the discharging mechanism; The discharging mechanism and the paper picking mechanism are combined at the front and rear ends of the carrier frame, and the displacement device synchronously controls the positions of the carrier frame, the discharging mechanism and the paper picking mechanism; The discharging mechanism comprises a flip driving assembly and a flip push plate drivingly connected to the flip driving assembly; Bases are provided on both sides of the top of the flip push plate, a connecting block is rotatably provided on one side of the base, and a first guide sliding block is rotatably provided on the other side of the base; First guide rails are provided on both sides of the top of the carrier frame, and the first guide slider is slidably connected to the first guide rails; the first guide slider moves along the first guide rails, so as to conveniently drive the flip push plate to move linearly along the first guide rails; The flip drive assembly includes a discharging drive member and a first synchronous shaft, wherein the discharging drive member is used to drive the first synchronous shaft to rotate, the first synchronous shaft is rotatably arranged on the carrier, and the discharging drive member is installed on the top of the carrier; Sliding guides are provided on both sides of the top of the carrier, and first driven sprockets are rotatably provided at the rear ends of the sliding guides. Both ends of the first synchronous shaft are rotatably connected to the front ends of the two sliding guides, and first driving sprockets are provided at both ends of the first synchronous shaft; a first synchronous belt is wound between the first driving sprocket and the first driven sprocket; The connecting block is connected to the first synchronous belt, driving the flip push plate to rotate and flip up along the first active sprocket; When the discharging mechanism is working, it is used to push the materials on the carrier rack to the stacking station; when the discharging mechanism is working, the discharging driving member drives the first synchronous shaft to rotate, drives the first active sprocket wheels at both ends to rotate, drives the first synchronous belt to rotate, and the rotation of the first synchronous belt drives the flip push plate to move; when the external feeding device needs to push the materials onto the carrier rack, it drives the flip push plate to move and drives the connecting block to bypass the first active sprocket wheel, thereby driving the flip push plate to flip up at the front end of the slide rail guide frame, and then facilitates the external feeding device to push the materials onto the carrier rack; after the external feeding device pushes the materials onto the carrier rack, the discharging driving member drives the first synchronous shaft to rotate to drive the connecting block to move and reset, thereby driving the flip push plate to push the materials on the carrier rack; The first guide slide block and the connecting block can both rotate relative to the base to achieve the flipping and movement of the flip push plate; A sliding baffle is slidably provided at the rear end of the carrier, and a baffle driving member for driving the baffle to move up and down is also provided at the rear end of the carrier; The paper picking mechanism comprises a paper picking drive and a paper picking strip block drivingly connected to the paper picking drive, wherein a plurality of suction nozzles are arranged in a row at equal intervals at the bottom of the paper picking strip block; The paper picking strip block is slidably arranged on the sliding baffle plate; the paper picking driving member is installed on the sliding baffle plate; The paper picking mechanism is integrated and assembled on the sliding baffle. When the baffle driving member drives the sliding baffle to move upward, it can drive the paper picking mechanism to move upward as a whole. When the displacement device drives the carrier to move, it drives the paper picking mechanism and the discharging mechanism to move synchronously as a whole. The displacement device comprises a displacement frame, a lifting drive assembly is arranged on the displacement frame, the lifting drive assembly is connected to a lifting platform, a horizontal support rod is arranged on the lifting platform, both sides of the carrier are slidably arranged on the horizontal support rod, a front and rear drive assembly is also arranged on the carrier, and a horizontal chain is arranged on the top of the horizontal support rod; When the displacement device is working, the lifting drive assembly drives the lifting platform to move up and down, drives the horizontal support rod to move up and down, and then drives the carrier to move up and down, so as to move the carrier to the position corresponding to the external loading device for receiving materials and to transfer the carrier to the palletizing station for unloading; The front and rear drive assembly includes a front and rear drive member and a second synchronous shaft, the second synchronous shaft is rotatably arranged on the carrier, both ends of the second synchronous shaft are provided with a second driving sprocket, and the second driving sprocket is meshed and drivenly connected with the horizontal chain; The front and rear driving members drive the second synchronous shaft to rotate, driving the second driving sprocket to rotate, and the second driving sprocket moves along the horizontal chain, thereby driving the carrier to move forward and backward along the horizontal chain.

2. A palletizing robot according to claim 1, characterized in that: The sliding guide frame is also rotatably provided with a pressing wheel, and the pressing wheel abuts against the first synchronous belt.

3. A method for picking and placing materials using the palletizing robot according to claim 1, characterized in that: The following steps are involved: Step S1, the discharging mechanism moves and opens the carrier; Step S2, the displacement device drives the carrier to move to the material receiving station, the paper taking mechanism takes the spacer paper, and at the same time, the external feeding device pushes the material onto the carrier from the opening on one side of the carrier; Step S3, the displacement device drives the carrier to move to the palletizing station; Step S4, the paper picking mechanism puts down the separator paper; Step S5, the discharging mechanism pushes the material on the support frame out of the opening on the other side of the support frame onto the separator paper of the stacking station.

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