Edge punching and milling machine

Abstract

The invention relates to the technical field of edge punching and milling, in particular to an edge punching and milling machine. The edge punching and milling machine comprises a feeding mechanism, an edge punching mechanism, an edge milling mechanism and a wobble plate mechanism, the edge punching mechanism is arranged beside the feeding mechanism. The edge milling mechanism is arranged on the side of the edge punching mechanism, and the wobble plate mechanism is arranged on the side of the edge punching mechanism. The feeding mechanism is used for providing original materials. Materials can pass through the edge punching mechanism, the edge milling mechanism and the wobble plate mechanism, punching, edge milling and wobble plate mechanism are correspondingly completed, manual intervention is not needed in the process, the automation degree is high, procedure connection is tight, and production efficiency can be improved.

Description

Technical Field

[0001] The invention relates to the technical field of edge punching and milling, in particular to an edge punching and milling machine. Background Art

[0002] In the field of injection molding or die-casting production, after the product is produced, it is usually connected with the waste materials of the nozzle material and the exhaust duct. After the product is produced, it needs to be removed to meet the production requirements, and finally placed in the material tray for use.

[0003] There are some devices on the market that can perform punching and milling independently, but these devices are usually independent and cannot perform punching, milling, and plate placement at the same time. The process continuity is poor, which affects production efficiency.

[0004] For example, the automatic punching machine disclosed in Chinese patent application number CN202022763388.4 and the punching machine disclosed in CN202222490408.4 can only perform punching but cannot perform milling and plate placing. The process continuity is poor, which affects production efficiency.

[0005] For example, the double-sided milling machine disclosed in Chinese patent application number: CN202120529548.0 and the CNC milling machine disclosed in CN202021081612.5 can only perform milling but not punching and placing. The process continuity is poor, which affects production efficiency. Summary of the invention

[0006] In view of this, the present invention aims at the deficiencies in the prior art, and its main purpose is to provide a punching and milling machine that can perform punching, milling and plate setting, has good process continuity, is conducive to improving production efficiency, and thus overcomes the shortcomings of the prior art.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions: The present application provides a punching and milling machine, comprising a feeding mechanism, a punching mechanism, a milling mechanism, and a swing plate mechanism; the punching mechanism is arranged on the side of the feeding mechanism; the milling mechanism is arranged on the side of the punching mechanism, and the swing plate mechanism is arranged on the side of the punching mechanism.

[0008] Preferably, the feeding mechanism includes a first conveyor belt, a cooling box arranged on the upper side of the first conveyor belt, and a first transfer device arranged on the side of the first conveyor belt; the first transfer device includes a first robotic arm, a first clamp arranged at the first robotic arm, a second clamp arranged at the output end of the first conveyor belt, a sensor, and a material baffle.

[0009] Preferably, the clamping openings of the first clamp and the second clamp are in a cylindrical structure, and the cylindrical structure clamps the nozzle material on the material.

[0010] Preferably, the punching mechanism includes a punching device, a folding device, and a second transfer device arranged on the side of the punching device; the second transfer device includes a second robotic arm, a third clamp arranged on the second robotic arm, and a first suction cup module; the third clamp clamps the material delivered by the feeding mechanism and loads the material into the punching device; the first suction cup module absorbs the material in the punching device and loads the material into the folding device.

[0011] Preferably, the punching device comprises a first die, a second die, a first hopper, and a first enclosure; the first die and the second die can be closed together, the first enclosure is arranged at the periphery of the second die, and the first hopper is arranged at the lower side of the second die.

[0012] Preferably, the folding device comprises a folding die set and a punching die set, the folding die set comprises a third die and a fourth die, the fourth die comprises a folding seat and a folding block arranged beside the folding seat, and the folding die core of the third die is pressed on the folding seat; The punching and cutting die set comprises a fifth die, a sixth die, and a second enclosure arranged on the periphery of the sixth die. The fifth die and the sixth die can be closed together.

[0013] Preferably, the second transfer device is connected to a third transfer device, and the second transfer device drives the third transfer device to move back and forth; the third transfer device includes a third mechanical arm, and a second suction cup module arranged on the third mechanical arm, Preferably, there are two groups of the first suction cup module and the second suction cup module, the first side of the second die is provided with a first transfer seat, and the second side of the second die is provided with a second transfer seat; the third clamp can load the material on the first transfer seat to the second die; the first suction cup module of the first group can load the material on the second transfer seat to the second transfer seat, and the first suction cup module of the second group can load the material on the second transfer seat to the fourth die; the second suction cup module of the first group can load the material on the fourth die to the sixth die, and the second suction cup module of the second group can load the material on the sixth die to the milling mechanism.

[0014] Preferably, the edge milling mechanism includes a positioning module and a milling cutter module, and the milling cutter module includes a fourth mechanical arm and a milling cutter head arranged on the fourth mechanical arm; The positioning module includes a base, a top block arranged on the base, a clamping block arranged on the side of the base, and a driving block arranged on the side of the base; a slit is arranged at the end of the driving block; the clamping block presses the material on the base, the driving block is inserted into the top block, and the top block presses the material upward; the milling cutter head mills the material on the base.

[0015] Preferably, a fourth transfer module is further arranged between the edge milling mechanism and the swing plate mechanism; the fourth transfer module includes a fifth robotic arm and a rotatable fourth suction cup module arranged on the fifth robotic arm; the fourth suction cup module can load the material in the edge milling mechanism into the swing plate mechanism.

[0016] Preferably, the plate swing mechanism includes a second conveyor belt, a sixth mechanical arm arranged beside the second conveyor belt, a rotatable fifth suction cup module arranged on the sixth mechanical arm, and a material tray module arranged beside the second conveyor belt; Among them, the tray module includes a tray, a first top plate arranged on the side of the tray movement track, and a linear module arranged on the lower side of the tray. The first top plate can lift the tray in the silo, and the linear module can lift the tray and transport it.

[0017] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical solution that the punching mechanism is arranged on the side of the feeding mechanism; the milling mechanism is arranged on the side of the punching mechanism, and the swing plate mechanism is arranged on the side of the punching mechanism. The feeding mechanism is used to provide the original material. The material will pass through the punching mechanism, the milling mechanism, and the swing plate mechanism to complete the punching, milling mechanism, and swing plate mechanism. This process does not require manual intervention, has a high degree of automation, and the process is closely connected, which helps to improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention.

[0019] Figure 2 It is a top view schematic diagram of an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of a feeding mechanism according to an embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of the punching mechanism and the milling mechanism of an embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of part of the edge punching mechanism and the edge milling mechanism of an embodiment of the present invention.

[0023] Figure 6 It is a schematic diagram of the second transfer device and the third transfer device of an embodiment of the present invention.

[0024] Figure 7 It is a schematic diagram of a partial edge milling mechanism of an embodiment of the present invention.

[0025] Figure 8 It is a schematic diagram of a partial edge milling mechanism of an embodiment of the present invention.

[0026] Fig. 9Schematic diagram of a plate swing mechanism according to an embodiment of the present invention.

[0027] Fig.10 It is a schematic diagram of a portion of the plate swing mechanism of an embodiment of the present invention.

[0028] Fig.11 It is a schematic diagram of material changes in an embodiment of the present invention.

[0029] Description of the accompanying drawings: 10. Feeding mechanism; 11. First conveyor belt; 12. Cooling box; 110. First transfer device; 111. First mechanical arm; 112. The first fixture; 113, the second fixture; 114, the sensor; 115, the material blocking plate; 20, the edge punching mechanism; 210, the edge punching device; 211, the first punching die; 212, the first transfer seat; 213, the second punching die; 214, the second transfer seat; 215, the first hopper; 216, the first enclosure; 220, the folding device; 221, the folding module; 222, the third die; 223, the fourth die; 224, the folding seat; 225, the folding block; 226, the punching module; 227, the fifth die; 228, the sixth die; 229, the second enclosure; 230, the second transfer device; 231, the second mechanical arm; 232, the third fixture 233, the first suction cup module; 234, the second hopper; 240, third transfer device; 241, third robotic arm; 242, second suction cup module; 243, connecting rod; 30, milling mechanism; 310, positioning module; 311, base; 312, top block; 313, pressing block; 314, driving block; 315, slitting; 320, milling cutter module; 321, fourth robotic arm; 322, milling cutter head; 330, fourth transfer module; 331, fifth robotic arm; 332, fourth suction cup module; 40, swing plate mechanism; 41, second conveyor belt; 42, sixth robotic arm; 43, fifth suction cup module; 410, tray module; 411, tray; 412, first top plate; 413, linear module; 414, second top plate; 50, material. DETAILED DESCRIPTION

[0030] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0031] Please refer to Figures 1 to 11 As shown, it shows the specific structure of a preferred embodiment of the present invention, which is a punching and milling machine.

[0032] Among them, the feeding mechanism 10 provides the original material 50, and the material 50 passes through the punching mechanism 20 and the milling mechanism 30 to complete the punching and milling, and finally completes the plate placing mechanism 40. The whole process does not require human intervention, has a high degree of automation, and helps to improve production efficiency.

[0033] The present application provides a punching and milling machine, comprising a feeding mechanism 10, a punching mechanism 20, a milling mechanism 30, and a swinging plate mechanism 40; the punching mechanism 20 is arranged at the side of the feeding mechanism 10; the milling mechanism 30 is arranged at the side of the punching mechanism 20, and the swinging plate mechanism 40 is arranged at the side of the punching mechanism 20. During production, the material 50 is fed from the feeding mechanism 10 to the punching mechanism 20, the punching mechanism 20 first performs the first punching on the material 50, and then is sent to the milling mechanism 30, the milling mechanism 30 performs the bending and second punching on the material 50, and after the punching is completed, it is sent to the swinging plate mechanism 40 for swinging. This process does not require manual intervention, the process is closely connected, and the work efficiency is greatly improved.

[0034] Preferably, the feeding mechanism 10 includes a first conveyor belt 11, a cooling box 12 arranged on the upper side of the first conveyor belt 11, and a first transfer device 110 arranged on the side of the first conveyor belt 11; the first transfer device 110 includes a first mechanical arm 111, a first clamp 112 arranged on the first mechanical arm 111, a second clamp 113 arranged at the output end of the first conveyor belt 11, a sensor 114, and a material blocking plate 115. Preferably, the clamping openings of the first clamp 112 and the second clamp 113 are cylindrical structures, and the cylindrical structure clamps the water outlet material on the material 50. A cooling fan is arranged in the cooling box 12, and the cooling fan cools the material 50 produced by die casting or injection molding to meet subsequent requirements. The material 50 is fed from the first conveyor belt 11, and then the cooling box 12 dissipates heat for the material 50, and the material 50 is blocked by the material blocking plate 115, and the sensor 114 (preferably a photoelectric sensor or a pressure sensor) senses the position information of the material 50. When the material 50 is in place, the second clamp 113 clamps the material 50 at the sprue position, and then the first clamp 112 on the first mechanical arm 111 clamps the material 50 at the sprue position, and the second clamp 113 releases the material 50, and the first clamp 112 loads the material 50 to the first transfer seat 212, where the material 50 waits for the next process. The clamping openings of the first clamp 112 and the second clamp 113 are cylindrical structures, which facilitates the clamps to clamp the material 50 without loosening. The first mechanical arm 111 is preferably an XY mechanical arm or an XYZ mechanical arm.

[0035] Preferably, the punching mechanism 20 includes a punching device 210, a folding device 220, and a second transfer device 230 arranged beside the punching device 210; the second transfer device 230 includes a second mechanical arm 231, a third clamp 232 arranged on the second mechanical arm 231, and a first suction cup module 233; the third clamp 232 clamps the material 50 sent by the feeding mechanism 10, and loads the material 50 into the punching device 210; the first suction cup module 233 absorbs the material 50 in the punching device 210, and loads the material 50 into the folding device 220. The punching device 210 punches the material 50 for the first time, and the sprue material and part of the waste material will be punched away by the punching device 210. The folding device 220 bends the remaining waste material on the product to wait for the second punching. This design is punching when the waste material is bent, and a certain amount can be reserved to facilitate subsequent milling. The second transfer device 230 can play a role of transfer.

[0036] Preferably, the punching device 210 includes a first die 211, a second die 213, a first hopper 215, and a first enclosure 216. The first die 211 and the second die 213 can be closed together, the first enclosure 216 is arranged at the periphery of the second die 213, and the first hopper 215 is arranged at the lower side of the second die 213. The second mechanical arm 231 is preferably an XYZ mechanical arm or an XY mechanical arm. When the punching device 210 is working, the third fixture 232 loads the material 50 of the first transfer seat 212 into the second die 213, and then the first die 211 and the second die 213 are closed together to complete the first punching, which will punch the gate material and part of other waste materials (such as airway waste). The punched waste will be blocked by the first enclosure 216 and then fall into the first hopper 215. After the material 50 completes the first punching, the first suction cup module 233 continues to transfer the material 50 to the second transfer seat 214 for subsequent folding and secondary punching.

[0037] Preferably, the folding device 220 includes a folding module 221 and a punching module 226, wherein the folding module 221 includes a third die 222 and a fourth die 223, wherein the fourth die 223 includes a folding seat 224 and a folding block 225 disposed on the side of the folding seat 224, and the folding core of the third die 222 is pressed on the folding seat 224; the punching module 226 includes a fifth die 227, a sixth die 228, and a second enclosure 229 disposed on the periphery of the sixth die 228, and the fifth die 227 and the sixth die 228 can be closed together. The folding module 221 is used to fold the waste on the material 50 so that the waste can be punched twice in a certain bending state. The punching module 226 punches the material 50 twice, and after the material 50 is punched twice, it is sent to the milling mechanism 30 for milling processing. When the material 50 is loaded into the folding module 221, the material 50 is placed on the folding seat 224. When the third mold 222 and the fourth mold 223 are closed, the folding block 225 will push the waste upward, so that the waste can be tilted upward at a certain angle. In this embodiment, the folding angle of the folding block 225 is preferably 45%, so that the waste can be tilted up at a 45° angle. After the product is folded, the second suction cup module 242 transfers the material 50 on the folding module 221 to the punching module 226, and the punching module 226 performs secondary punching on the product. In this embodiment, the punching position of the punching module 226 is at the 45° folding position of the waste. The fifth mold 227 and the sixth mold 228 are closed, and the product completes the secondary punching. The cut waste will be blocked by the second enclosure 229 and then fall into the second hopper 234.

[0038] Preferably, the second transfer device 230 is connected to a third transfer device 240, and the second transfer device 230 drives the third transfer device 240 to move back and forth; the third transfer device 240 includes a third mechanical arm 241, and a second suction cup module 242 arranged on the third mechanical arm 241. The third mechanical arm 241 is preferably an XYZ mechanical arm or an XY mechanical arm. A connecting rod 243 is arranged between the third transfer device 240 and the second transfer device 230 to transmit power so that the two can move synchronously. This design is conducive to ensuring mutual synchronization. The second suction cup module 242 can be used to absorb the material 50 and transfer the material 50.

[0039] Preferably, the first suction cup module 233 and the second suction cup module 242 are each provided with two groups, the first side of the second punch die 213 is provided with a first intermediate transfer seat 212, and the second side of the second punch die 213 is provided with a second intermediate transfer seat 214. During production, the third fixture 232 loads the material 50 on the first intermediate transfer seat 212 to the second punch die 213; after the first punching is completed, the first suction cup module 233 of the first group loads the material 50 on the second punch die 213 to the second intermediate transfer seat 214, and the first suction cup module 233 of the second group loads the material 50 on the second intermediate transfer seat 214 to the fourth die 223; the second suction cup module 242 of the first group can load the material 50 on the fourth die 223 to the sixth die 228, and the second suction cup module 242 of the second group can load the material 50 on the sixth die 228 to the milling mechanism 30. There are two groups of the first suction cup modules 233 and the second suction cup modules 242, respectively. This design helps to ensure the synchronization between the punching device 210 and the folding device 220, forming an alternating working mode, which helps to improve production efficiency.

[0040] Preferably, the milling mechanism 30 includes a positioning module 310 and a milling cutter module 320, wherein the milling cutter module 320 includes a fourth mechanical arm 321 and a milling cutter head 322 arranged on the fourth mechanical arm 321; the positioning module 310 includes a base 311, a top block 312 arranged on the base 311, a pressing block 313 arranged on the side of the base 311, and a driving block 314 arranged on the side of the base 311; a slit 315 is arranged at the end of the driving block 314; the pressing block 313 presses the material 50 on the base 311, the driving block 314 is inserted into the top block 312, and the top block 312 presses the material 50 upward; the milling cutter head 322 mills the material 50 on the base 311. The positioning module 310 is used to fix the material 50 for subsequent milling processing. The fourth mechanical arm 321 is preferably an XYZ mechanical arm or an XY mechanical arm. When the milling mechanism 30 is processing, the material 50 is placed on the base 311, the pressing block 313 presses the material 50, and the cylinder drives the driving block 314 to insert the top block 312, and the top block 312 presses the material 50 upward. After the material 50 is fixed, the milling cutter head 322 performs milling processing on the material 50. Among them, the slit 315 at the end of the driving block 314 allows the top block 312 to press on the material 50 with a relatively soft force, which can prevent the material 50 from being crushed.

[0041] Preferably, a fourth transfer module 330 is further provided between the edge milling mechanism 30 and the swing plate mechanism 40; the fourth transfer module 330 includes a fifth mechanical arm 331 and a rotatable fourth suction cup module 332 provided on the fifth mechanical arm 331; the fourth suction cup module 332 can load the material 50 in the edge milling mechanism 30 to the swing plate mechanism 40. The fifth mechanical arm 331 is preferably an XYZ mechanical arm. After the material 50 is milled, the fourth suction cup module 332 absorbs the material 50 on the positioning module 310, and then transfers the material 50 to the second conveyor belt 41 for subsequent swing plate action. The rotary cylinder drives the fourth suction cup module 332 to rotate, and the fourth suction cup module 332 can rotate to facilitate the adjustment of the direction of the material 50, making the subsequent swing plate more convenient.

[0042] Preferably, the swing plate mechanism 40 includes a second conveyor belt 41, a sixth mechanical arm 42 disposed beside the second conveyor belt 41, a rotatable fifth suction cup module 43 disposed on the sixth mechanical arm 42, and a material tray module 410 disposed beside the second conveyor belt 41; wherein the material tray module 410 includes a material tray 411, a first top plate 412 disposed beside the motion track of the material tray 411, and a linear module 413 disposed under the material tray 411, wherein the first top plate 412 can lift up the material tray 411 in the material bin, and the linear module 413 can lift up the material tray 411 and transport it. The sixth mechanical arm 42 is preferably an XYZ mechanical arm, and the rotary cylinder drives the fifth suction cup module 43 to rotate.

[0043] The fourth suction cup module 332 puts the product into the second conveyor belt 41, and the material 50 moves to the second baffle position on the second conveyor belt 41; the fifth suction cup module 43 sucks the product, adjusts the position of the material 50, and then puts the material 50 into the tray 411. After the multi-layer tray 411 is placed in the silo, when the tray 411 needs to be loaded, the first top plate 412 lifts up part of the tray 411, and then the tray 411 of the bottom layer is lifted up by the second top plate 414 on the linear module 413, and then the tray 411 of the bottom layer is transported to the lower layer of the fifth suction cup module 43 to be loaded with the material 50. This loading method of the tray 411 is simple and efficient.

[0044] To sum up, the design focus of the present invention is that the punching and milling machine, the punching mechanism 20 is arranged on the side of the feeding mechanism 10; the milling mechanism 30 is arranged on the side of the punching mechanism 20, and the swing plate mechanism 40 is arranged on the side of the punching mechanism 20. With the joint cooperation of the feeding mechanism 10, the punching mechanism 20, the milling mechanism 30 and the swing plate mechanism 40, the loading, punching, milling and swinging processes are completed, and automated production is realized, the processes are closely connected, and the production efficiency is higher.

[0045] 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 has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A punching and milling machine, characterized in that: It includes a feeding mechanism, a punching mechanism, a milling mechanism, and a swinging mechanism; the punching mechanism is arranged on the side of the feeding mechanism; the milling mechanism is arranged on the side of the punching mechanism, and the swinging mechanism is arranged on the side of the punching mechanism.

2. The edge punching and milling machine according to claim 1, characterized in that: The feeding mechanism includes a cooling box arranged on the upper side of the first conveyor belt, and a first transfer device arranged on the side of the first conveyor belt; the first transfer device includes a first mechanical arm, a first clamp arranged on the first mechanical arm, a second clamp arranged at the output end of the first conveyor belt, a sensor, and a material baffle plate; the clamping openings of the first clamp and the second clamp are cylindrical structures, and the cylindrical structure clamps the water outlet material on the material.

3. The edge punching and milling machine according to claim 1, characterized in that: The punching mechanism includes a punching device, a folding device, and a second transfer device arranged on the side of the punching device; the second transfer device includes a second robotic arm, a third clamp arranged on the second robotic arm, and a first suction cup module; the third clamp clamps the material sent by the feeding mechanism and loads the material into the punching device; the first suction cup module absorbs the material in the punching device and loads the material into the folding device.

4. The edge punching and milling machine according to claim 3, characterized in that: The punching device comprises a first punching die, a second punching die, a first hopper, and a first enclosure. The first punching die and the second punching die can be closed together, the first enclosure is arranged at the periphery of the second punching die, and the first hopper is arranged at the lower side of the second punching die.

5. The edge punching and milling machine according to claim 4, characterized in that: The folding device comprises a folding die set and a punching die set, the folding die set comprises a third die and a fourth die, the fourth die comprises a folding seat and a folding block arranged beside the folding seat, and the folding die core of the third die is pressed on the folding seat; The punching and cutting die set comprises a fifth die, a sixth die, and a second enclosure arranged on the periphery of the sixth die. The fifth die and the sixth die can be closed together.

6. The edge punching and milling machine according to claim 5, characterized in that: The second transfer device is connected to a third transfer device, and the second transfer device is connected to the third transfer device; the third transfer device includes a third mechanical arm, and a second suction cup module arranged on the third mechanical arm.

7. The edge punching and milling machine according to claim 6, characterized in that: There are two groups of the first suction cup module and the second suction cup module respectively. The first side of the second die is provided with a first transfer seat, and the second side of the second die is provided with a second transfer seat. The third clamp can load the material on the first transfer seat to the second die. The first suction cup module of the first group can load the material on the second transfer seat to the second transfer seat, and the first suction cup module of the second group can load the material on the second transfer seat to the fourth die. The second suction cup module of the first group can load the material on the fourth die to the sixth die, and the second suction cup module of the second group can load the material on the sixth die to the milling mechanism.

8. The edge punching and milling machine according to claim 1, characterized in that: The edge milling mechanism includes a positioning module and a milling cutter module, and the milling cutter module includes a fourth mechanical arm and a milling cutter head arranged on the fourth mechanical arm; The positioning module includes a base, a top block arranged on the base, a clamping block arranged on the side of the base, and a driving block arranged on the side of the base; a slit is arranged at the end of the driving block; the clamping block presses the material on the base, the driving block is inserted into the top block, and the top block presses the material upward; the milling cutter head mills the material on the base.

9. The edge punching and milling machine according to claim 1, characterized in that: A fourth transfer module is also arranged between the edge milling mechanism and the swing plate mechanism; the fourth transfer module includes a fifth mechanical arm and a rotatable fourth suction cup module arranged on the fifth mechanical arm; the fourth suction cup module can load the material in the edge milling mechanism into the swing plate mechanism.

10. The edge punching and milling machine according to claim 1 or 9, characterized in that: The plate swing mechanism includes a second conveyor belt, a sixth mechanical arm arranged beside the second conveyor belt, a rotatable fifth suction cup module arranged on the sixth mechanical arm, and a material tray module arranged beside the second conveyor belt; Among them, the tray module includes a tray, a first top plate arranged on the side of the tray movement track, and a linear module arranged on the lower side of the tray. The first top plate can lift the tray in the silo, and the linear module can lift the tray and transport it.

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