Cutting equipment
Through cutting equipment that automatically detects and corrects the product orientation, the high cost and low precision problems caused by manual adjustment in the prior art are solved, and a more efficient and accurate cutting process is achieved.
Patent Information
- Application Number
- CN202323448978.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-15
- Publication Date
- 2024-12-13
- Estimated Expiration
- 2033-12-15
AI Technical Summary
In the prior art, manual inspection and adjustment of product orientation is required before cutting, resulting in high labor costs and insufficient cutting accuracy.
A cutting device including a detection mechanism, a correction mechanism and a control system is designed to automatically detect the orientation of the product and correct it to ensure that the product is properly positioned and fixed before cutting.
It improves the degree of automation of cutting equipment, reduces labor costs, and significantly improves cutting accuracy.
Smart Images
Figure CN222155831U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of cutting devices, and in particular to a cutting device. Background Art
[0002] In the related art, before cutting some specific products to be processed, it is necessary to confirm the orientation of the products first, so as to facilitate cutting at specific positions of the products during cutting. In this way, at least one worker needs to be arranged to check the orientation of the products before the products enter the cutting position of the cutting machine, and then adjust the products to the required orientation before cutting; and the products also need to be fixed during cutting to prevent the products from shifting and causing errors in cutting accuracy. Therefore, the labor cost is high and the cutting accuracy needs to be improved. Utility Model Content
[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a cutting device that can automatically detect and correct the orientation of a product and position and fix the product before cutting by a cutting machine to improve the processing efficiency and processing accuracy of the product.
[0004] The cutting equipment according to the first aspect of the embodiment of the utility model includes: an adjusting mechanism, a second positioning mechanism, a cutting machine and a transplanting mechanism. The adjusting mechanism includes a detecting mechanism and a correcting mechanism. The detecting mechanism is arranged on one side of the correcting mechanism and is used to detect the orientation of the product. The correcting mechanism and the detecting mechanism are respectively connected to the control system. The correcting mechanism includes a first driving mechanism and a transfer table. The transfer table is used to place the product. The output end of the first driving mechanism is connected to the transfer table and is used to drive the transfer table to rotate. The second positioning mechanism is used to position and fix the product. The cutting machine is used to cut the positioned product. The transplanting mechanism is used to transplant the product and the transfer path of the output end of the transplanting mechanism passes through the adjusting mechanism and the second positioning mechanism.
[0005] According to the cutting device of the embodiment of the utility model, at least the following beneficial effects are achieved: the cutting device includes a transplanting mechanism, an adjusting mechanism, a second positioning mechanism and a cutting machine; when in use, the product is moved between the adjusting mechanism and the second positioning mechanism by the transplanting mechanism, so as to first adjust the orientation of the product, and then the cutting is achieved by the cutting machine under the fixation of the second positioning mechanism; specifically, the product is first tested for orientation by a detection mechanism located on one side of the turntable on the turntable, and when the detection mechanism detects that the orientation of the product is wrong, a signal of the wrong orientation is transmitted to the control system, and then the control system receives the signal and controls the first driving mechanism to drive the turntable to rotate so that the orientation of the product on the turntable is correct, and if the detection mechanism detects that the orientation of the product is correct, the product is directly transplanted to the second positioning mechanism by the transplanting mechanism for positioning, and then the cutting machine cuts the positioned and fixed product; therefore, the cutting device of the present application has the function of automatically detecting the orientation of the product and correcting the product with the wrong orientation, so that the cutting machine can cut the specific position of the product, thereby improving the automation degree of the entire cutting device, reducing labor costs, and improving cutting accuracy.
[0006] According to some embodiments of the utility model, the correction mechanism also includes a stopper, a first positioning member and a second driving member. A accommodating position for accommodating the product is provided on the turntable. The stopper and the first positioning member are respectively arranged at both ends of the accommodating position. The second driving member is fixed to the turntable, and the output end of the second driving member is connected to the first positioning member and is used to drive the first positioning member to move closer to or away from the stopper.
[0007] According to some embodiments of the present invention, the detection mechanism is a visual positioning mechanism.
[0008] According to some embodiments of the utility model, the correction mechanism also includes a third driving member, the detection end of the visual positioning mechanism is arranged on the side of the stop member away from the first positioning member, the third driving member is fixed to the turntable, the output end of the third driving member is connected to the stop member, and is used to drive the stop member to rise and fall to avoid detection by the detection end.
[0009] According to some embodiments of the present invention, the second positioning mechanism includes a chuck, a second positioning member and a fourth driving member, and the output end of the fourth driving member is connected to the second positioning member and is used to drive the second positioning member to move closer to or away from the chuck.
[0010] According to some embodiments of the utility model, the second positioning mechanism also includes a core rod and a fifth driving member. The core rod is inserted into the chuck. The output end of the fifth driving member is connected to one end of the core rod and is used to drive the other end of the core rod to penetrate the product.
[0011] According to some embodiments of the utility model, the second positioning mechanism also includes a sixth driving member, the chuck is an elastic chuck for clamping the product, and the output end of the sixth driving member is connected to the elastic chuck and is used to drive the elastic chuck to rotate.
[0012] According to some embodiments of the utility model, at least two cutting machines are provided, and are respectively arranged on both sides of the adjustment mechanism. The transplanting mechanism is a manipulator, and the manipulator includes two clamping ends, which are respectively used to clamp the product to be processed and the processed product.
[0013] According to some embodiments of the utility model, a destacking tray mechanism is also included. The destacking tray mechanism is arranged between the two cutting machines and is located on one side of the adjusting mechanism. The destacking tray mechanism is located on the moving path of the robot and is used to split the stacked trays into single trays and then stack the trays filled with processed products together.
[0014] According to some embodiments of the utility model, the tray unpacking and stacking mechanism includes a frame, a tray unpacking mechanism, a tray stacking mechanism and a moving mechanism. The tray unpacking mechanism is used to split the tray containing the products to be processed into individual trays. The tray stacking mechanism is used to stack the trays filled with the processed products together. A pick-up and placement position is formed between the tray unpacking mechanism and the tray stacking mechanism. The pick-up and placement position is used to temporarily place a single tray. The tray located at the pick-up and placement position is used to provide the products to be processed to the robot and to hold the processed products. The moving mechanism is arranged below the tray unpacking mechanism and the tray stacking mechanism, and is used to move the tray.
[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:
[0017] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the cutting device of the utility model;
[0018] Figure 2 for Figure 1 A schematic diagram of the structure of the adjustment mechanism in the cutting device shown in ;
[0019] Figure 3 for Figure 1 A schematic structural diagram of a second positioning mechanism and a cutting machine in a cutting device shown in ;
[0020] Figure 4 for Figure 3 A local enlarged view of the A shown in FIG.
[0021] Figure 5 for Figure 1A schematic diagram of the structure of the transplanting mechanism in the cutting device shown in ;
[0022] Figure 6 for Figure 1 Schematic diagram of the structure of the destacking disk mechanism in the cutting device shown in .
[0023] Reference numerals:
[0024] Cutting machine 100; adjusting mechanism 200; detecting mechanism 210; correcting mechanism 220; first driving mechanism 221; turntable 222; accommodating position 2221; stopping member 223; first positioning member 224; second driving member 225; third driving member 226; second positioning mechanism 300; chuck 310; second positioning member 320; fourth driving member 330; core rod 340; fifth driving member 350; transplanting mechanism 400; clamping end 410; tray disassembling mechanism 500; frame 510; tray disassembling mechanism 520; tray stacking mechanism 530; pick-up and placement position 540; product 600. DETAILED DESCRIPTION
[0025] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.
[0026] In the description of the present application, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.
[0027] In the description of this application, "several" means more than one, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.
[0028] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.
[0029] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.
[0030] Reference below Figures 1 to 6 The cutting device according to the embodiment of the utility model is described.
[0031] like Figure 1 to Figure 2 As shown, the cutting equipment according to the embodiment of the utility model includes: an adjusting mechanism 200, a second positioning mechanism 300, a cutting machine 100 and a transplanting mechanism 400, the adjusting mechanism 200 includes a detecting mechanism 210 and a correcting mechanism 220, the detecting mechanism 210 is arranged on one side of the correcting mechanism 220, and is used to detect the orientation of the product 600, the correcting mechanism 220 and the detecting mechanism 210 are respectively connected to the control system, the correcting mechanism 220 includes a first driving mechanism 221 and a transfer table 222, the transfer table 222 is used to place the product 600, the output end of the first driving mechanism 221 is connected to the transfer table 222, and is used to drive the transfer table 222 to rotate; the second positioning mechanism 300 is used to position and fix the product 600; the cutting machine 100 is used to cut the positioned product 600; the transplanting mechanism 400 is used to transplant the product 600 and the transfer path of the output end of the transplanting mechanism 400 passes through the adjusting mechanism 200 and the second positioning mechanism 300.
[0032] It can be understood that this cutting device includes a transplanting mechanism 400, an adjusting mechanism 200, a second positioning mechanism 300 and a cutting machine 100; when in use, the product 600 is moved between the adjusting mechanism 200 and the second positioning mechanism 300 by the transplanting mechanism 400, so as to first adjust the orientation of the product 600, and then cut by the cutting machine 100 under the fixation of the second positioning mechanism 300; specifically, the product 600 is first tested for orientation on the transfer table 222 by the detection mechanism 210 located on one side of the transfer table 222, and when the detection mechanism 210 detects that the orientation of the product 600 is wrong, a signal of the orientation error is transmitted to the control system, and then the control system receives the signal, And control the first driving mechanism 221 to drive the turntable 222 to rotate so that the product 600 on the turntable 222 is oriented correctly. If the detection mechanism 210 detects that the orientation of the product 600 is correct, the transplanting mechanism 400 directly transplants the product 600 to the second positioning mechanism 300 for positioning, and then the cutting machine 100 cuts the positioned and fixed product 600; therefore, the cutting equipment of the present application has the function of automatically detecting the orientation of the product 600 and correcting the product 600 with the wrong orientation, so that the cutting machine 100 can cut the specific position of the product 600, thereby improving the degree of automation of the entire cutting equipment, reducing labor costs, and improving cutting accuracy.
[0033] It can be understood that the correction mechanism 220 further includes a stopper 223, a first positioning member 224 and a second driving member 225. The transfer table 222 is provided with a receiving position 2221 for receiving the product 600. The stopper 223 and the first positioning member 224 are respectively arranged at both ends of the receiving position 2221. The second driving member 225 is fixed to the transfer table 222, and the output end of the second driving member 225 is connected to the first positioning member 224 and is used to drive the first positioning member 224 to move closer to or away from the stopper 223. For example, Figure 2 As shown, in the present embodiment, a receiving position 2221 is provided on the transfer table 222, and the stopper 223 and the first positioning member 224 are respectively located at the two ends of the receiving position 2221, so that after the transplanting mechanism 400 places the product 600 in the receiving position 2221, the first positioning member 224 can be driven by the second driving member 225 to approach the stopper 223, thereby clamping the product 600 between the stopper 223 and the first positioning member 224, thereby realizing the first positioning of the product 600; subsequently, after the product 600 is corrected in direction and removed, the first positioning member 224 can be driven by the second driving member 225 to move away from the stopper 223, so that the next product 600 can be placed between the stopper 223 and the first positioning member 224.
[0034] It is understandable that the detection mechanism 210 is a visual positioning mechanism. Figure 2As shown, in this embodiment, the detection mechanism 210 is a visual positioning mechanism, that is, a camera is used to obtain an image of one end of the product 600, and then the orientation of the product 600 is analyzed to confirm whether the orientation is correct. It should be understood that in some other embodiments, the orientation of the product 600 can also be confirmed by a sensor for a product 600 of a specific shape.
[0035] It can be understood that the correction mechanism 220 further includes a third driving member 226, the detection end of the visual positioning mechanism is arranged on the side of the stopper 223 away from the first positioning member 224, the third driving member 226 is fixed to the transfer table 222, and the output end of the third driving member 226 is connected to the stopper 223 and is used to drive the stopper 223 to rise and fall to avoid detection by the detection end. Figure 2 As shown, in the present embodiment, the correction mechanism 220 also includes a third driving member 226 fixedly mounted on the turntable 222, and the visual positioning mechanism is disposed at one end of the stop member 223 away from the first positioning member 224. When the stop member 223 and the first positioning member 224 position the product 600, the stop member 223 will block the line of sight of the visual positioning mechanism for obtaining the image of the product 600. Therefore, the stop member 223 is driven downward by the third driving member 226, so that the stop member 223 can be avoided.
[0036] It can be understood that the second positioning mechanism 300 includes a clamp 310, a second positioning member 320 and a fourth driving member 330. The output end of the fourth driving member 330 is connected to the second positioning member 320 and is used to drive the second positioning member 320 to move closer to or away from the clamp 310. Figure 3 to Figure 4 As shown, in this embodiment, the second positioning mechanism 300 includes a chuck 310 and a second positioning member 320, and the second positioning member 320 is driven by the fourth driving member 330 to move closer to or away from the chuck 310, thereby realizing the second positioning of the product 600 located between the chuck 310 and the second positioning member 320, so as to facilitate the cutting machine 100 to cut the specific position of the product 600.
[0037] It is understandable that the second positioning mechanism 300 further includes a mandrel 340 and a fifth driving member 350. The mandrel 340 is inserted into the chuck 310. The output end of the fifth driving member 350 is connected to one end of the mandrel 340 and is used to drive the other end of the mandrel 340 to penetrate the product 600. Figure 3 to Figure 4As shown, in this embodiment, the second positioning mechanism 300 includes a core rod 340 and a fifth driving member 350. The output end of the fifth driving member 350 is connected to the core rod 340 and is used to drive the core rod 340 to pass through the chuck 310 to penetrate the product 600, thereby supporting the inside of the product 600. When in use, the transplanting mechanism 400 first moves the product 600 between the chuck 310 and the second positioning member 320, and then the core rod 340 passes through the chuck 310 under the drive of the fifth driving member 350 to penetrate the product 600. Then the transplanting mechanism 400 releases the product 600, and the second positioning member 320 moves in the direction close to the chuck 310 to push the product 600 into place, and then the chuck 310 clamps the product 600 that has moved into place.
[0038] It is understandable that the second positioning mechanism 300 further includes a sixth driving member, the chuck 310 is an elastic chuck 310 for clamping the product 600, and the output end of the sixth driving member is connected to the elastic chuck 310 and is used to drive the elastic chuck 310 to rotate. For example, in this embodiment, the second positioning mechanism 300 further includes a sixth driving member for driving the chuck 310 to rotate. After the chuck 310 clamps the product 600, as the cutting machine 100 cuts, the sixth driving member drives the product 600 to rotate, so as to cut a circle at a specific position of the product 600.
[0039] It can be understood that at least two cutting machines 100 are provided, and they are respectively provided on both sides of the adjustment mechanism 200. The transplanting mechanism 400 is a manipulator, and the manipulator includes two clamping ends 410, and the two clamping ends 410 are respectively used to clamp the product 600 to be processed and the processed product 600. Figures 1 to 5 As shown, in the present embodiment, the manipulator is provided with two clamping ends 410, so that after the cutting machine 100 has processed a product 600, one clamping end 410 of the manipulator can clamp a product 600 to be processed and move it to the position of the cutting machine 100, and after the other clamping end 410 of the manipulator takes away the processed product 600, the manipulator adjusts the positions of the two clamping ends 410 by rotating, so that the clamping end 410 with the product 600 to be processed can move the product 600 to the position to be cut, and after the second positioning mechanism 300 positions the product 600 to be processed, the cutting machine 100 can cut, and the manipulator can move the processed product 600 to a specific position, thereby improving the efficiency of the manipulator's transplanting; at the same time, the cutting machine 100 is provided with at least two and is respectively located on both sides of the adjustment mechanism 200, that is, one manipulator cooperates with at least two cutting machines 100, thereby improving the overall processing efficiency of the cutting equipment.
[0040] It is understandable that a destacking tray mechanism 500 is also included. The destacking tray mechanism 500 is disposed between the two cutting machines 100 and on one side of the adjusting mechanism 200. The destacking tray mechanism 500 is located on the moving path of the robot and is used to separate the stacked trays into individual trays and then stack the trays filled with processed products 600 together. Figures 1 to 6 As shown, in the present embodiment, the cutting device further comprises a destacking tray mechanism 500, which is used to destacking a tray filled with products to be processed 600 into individual trays so that a robot can take the materials, and the individual trays are also used to support the processed products 600 to be transferred by the robot. In this way, when the individual trays are full of processed products 600, the destacking tray mechanism 500 stacks the trays containing the processed products 600 together so that workers can take them away. The destacking tray mechanism 500 is located between the two cutting machines 100 and on one side of the adjusting mechanism 200, so as to facilitate transfer by the robot.
[0041] It can be understood that the tray disassembling and stacking mechanism 500 includes a frame 510, a tray disassembling mechanism 520, a tray stacking mechanism 530 and a moving mechanism. The tray disassembling mechanism 520 is used to disassemble a tray containing products 600 to be processed into individual trays. The tray stacking mechanism 530 is used to stack trays filled with processed products 600 together. A pick-up and placement position 540 is formed between the tray disassembling mechanism 520 and the tray stacking mechanism 530. The pick-up and placement position 540 is used to temporarily place a single tray. The tray located at the pick-up and placement position 540 is used to provide the robot with products 600 to be processed and to hold processed products 600. The moving mechanism is arranged below the tray disassembling mechanism 520 and the tray stacking mechanism 530 and is used to move the tray. For example, Figure 6 As shown, in the present embodiment, the tray dismantling mechanism 500 includes a frame 510, a tray dismantling mechanism 520, a tray stacking mechanism 530 and a moving mechanism. A pick-up and placement position 540 is formed between the tray dismantling mechanism 520 and the tray stacking mechanism 530 for temporarily placing a single tray, and the moving mechanism is located between the tray dismantling mechanism 520 and the tray stacking mechanism 530, and is used to move the tray between the tray dismantling mechanism 520, the pick-up and placement position 540 and the tray stacking mechanism 530. In this way, after the tray dismantling mechanism 520 separates a plurality of stacked trays into a single tray, the moving mechanism moves the single tray to the pick-up and placement position 540 for a robot to take away the product 600 to be processed on the single tray, and the robot places the cut product 600 on the single tray. When the single tray is filled with the processed products 600, the moving mechanism moves the single tray to the tray stacking mechanism 530 for stacking so that the worker can take it away.
[0042] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.
Claims
1. Cutting equipment, characterized in that include: The adjusting mechanism (200) comprises a detection mechanism (210) and a correction mechanism (220), wherein the detection mechanism (210) is arranged on one side of the correction mechanism (220) and is used to detect the orientation of the product (600), the correction mechanism (220) and the detection mechanism (210) are respectively connected to a control system, the correction mechanism (220) comprises a first driving mechanism (221) and a transfer table (222), the transfer table (222) is used to place the product (600), and the output end of the first driving mechanism (221) is connected to the transfer table (222) and is used to drive the transfer table (222) to rotate; A second positioning mechanism (300) is used to position and fix the product (600); A cutting machine (100) for cutting the positioned product (600); The transplanting mechanism (400) is used for transplanting the product (600), and the transfer path of the output end of the transplanting mechanism (400) passes through the adjustment mechanism (200) and the second positioning mechanism (300).
2. The cutting device according to claim 1, characterized in that The correction mechanism (220) further comprises a stopper (223), a first positioning member (224) and a second driving member (225); a receiving position (2221) for receiving the product (600) is provided on the transfer table (222); the stopper (223) and the first positioning member (224) are respectively arranged at two ends of the receiving position (2221); the second driving member (225) is fixed to the transfer table (222); and an output end of the second driving member (225) is connected to the first positioning member (224) and is used to drive the first positioning member (224) to move towards or away from the stopper (223).
3. The cutting device according to claim 2, characterized in that The detection mechanism (210) is a visual positioning mechanism.
4. The cutting device according to claim 3, characterized in that The correction mechanism (220) also includes a third driving member (226). The detection end of the visual positioning mechanism is arranged on a side of the stop member (223) away from the first positioning member (224). The third driving member (226) is fixed to the transfer table (222). The output end of the third driving member (226) is connected to the stop member (223) and is used to drive the stop member (223) to rise and fall to avoid detection by the detection end.
5. The cutting device according to claim 1, characterized in that The second positioning mechanism (300) comprises a chuck (310), a second positioning member (320) and a fourth driving member (330); an output end of the fourth driving member (330) is connected to the second positioning member (320) and is used to drive the second positioning member (320) to move closer to or away from the chuck (310).
6. The cutting device according to claim 5, characterized in that The second positioning mechanism (300) also includes a core rod (340) and a fifth driving member (350), wherein the core rod (340) is passed through the chuck (310), and the output end of the fifth driving member (350) is connected to one end of the core rod (340) and is used to drive the other end of the core rod (340) to pass through the product (600).
7. The cutting device according to claim 6, characterized in that The second positioning mechanism (300) further comprises a sixth driving member, the chuck (310) is an elastic chuck (310) for clamping the product (600), and the output end of the sixth driving member is connected to the elastic chuck (310) and is used to drive the elastic chuck (310) to rotate.
8. The cutting device according to claim 1, characterized in that The cutting machines (100) are provided with at least two and are respectively provided on both sides of the adjusting mechanism (200); the transplanting mechanism (400) is a manipulator, and the manipulator includes two clamping ends (410), and the two clamping ends (410) are respectively used to clamp the product (600) to be processed and the product (600) after processing.
9. The cutting device according to claim 8, characterized in that The invention also includes a stacking tray mechanism (500), which is arranged between the two cutting machines (100) and located on one side of the adjusting mechanism (200). The stacking tray mechanism (500) is located on the moving path of the robot and is used to split the stacked trays into individual trays and then stack the trays filled with the processed products (600) together.
10. The cutting device according to claim 9, characterized in that The tray disassembling and stacking mechanism (500) comprises a frame (510), a tray disassembling mechanism (520), a tray stacking mechanism (530) and a moving mechanism. The tray disassembling mechanism (520) is used to disassemble a tray containing the product (600) to be processed into individual trays. The tray stacking mechanism (530) is used to stack the trays filled with the processed products (600) together. A pick-up and placement position (540) is formed between the tray disassembling mechanism (520) and the tray stacking mechanism (530). The pick-up and placement position (540) is used to temporarily place a single tray. The tray located at the pick-up and placement position (540) is used to provide the robot with the product (600) to be processed and to hold the processed product (600). The moving mechanism is arranged below the tray disassembling mechanism (520) and the tray stacking mechanism (530) and is used to move the tray.