Welding equipment

Abstract

The regeneration ink box comprises a shell, a printing head and an old chip located on the shell, the old chip and the printing head are integrally formed and are in communication connection, and the welding equipment comprises a control center used for controlling all parts to work; the first turntable comprises at least one first placing cavity for placing the shell; the second turntable comprises at least one second placing cavity for placing the shell; the feeding station is used for conveying the shell to the first placing cavity; the soldering flux smearing station is used for smearing soldering flux to the shell located in the first containing cavity; the first grabbing station comprises a fourth manipulator used for grabbing the new chip located at the first grabbing station; the fourth mechanical arm is further used for grabbing the anti-tearing part located at the second grabbing station; the welding station is used for welding the new chip and the anti-tearing piece to the shell; the discharging station is used for transporting the welded shell; according to the scheme, manual operation is not needed in the welding process, and therefore the working efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the field of automatic production equipment, in particular to a welding device for welding a chip and an anti-tearing part on a recycled ink cartridge shell. Background Art

[0002] An existing ink cartridge at least includes an ink storage, a print head and a chip. The ink storage is used for storing ink, the chip is used for storing parameter information of the ink cartridge, a communication connection can be formed between the chip and the print head, and the print head is used for ejecting ink onto an imaging medium. The print head and the chip are integrally formed. After the ink in the ink cartridge is used up, the ink storage and the print head can still be reused. The parameter information includes the ink remaining amount. After the ink is used up, the chip records that the remaining ink amount is lower than the available amount. Even if the ink cartridge is refilled with ink to form a recycled ink cartridge, after the recycled ink cartridge is installed in an imaging device, the imaging device still prompts that ink needs to be replenished. Therefore, the original chip installed on the ink cartridge with the ink used up needs to be replaced.

[0003] Since the original chip and the print head are integrally formed, in the manufacturing process of the recycled ink cartridge, if the original chip is directly replaced, the still reusable print head will be replaced together. Therefore, there is a recycling method of covering a new chip on the original chip. The original chip will be covered by the new chip, and a communication connection can be formed between the new chip and the original chip. This recycling method requires the electrical contact parts on the new chip to be accurately docked with the corresponding electrical contact parts of the original chip. The existing production method is to manually weld the new chip to the original chip, and this production method has problems such as inaccurate docking of electrical contact parts and low efficiency. Summary of the Utility Model

[0004] The welding device provided by the utility model can at least solve at least one of the above problems. The specific solutions are as follows.

[0005] A welding device for processing a recycled ink cartridge. The recycled ink cartridge includes a shell, a print head and an old chip located on the shell. The old chip and the print head are integrally formed and form a communication connection. The welding device is used to weld a new chip to the shell of the recycled ink cartridge. The new chip is used to cover the old chip and form a communication connection with the old chip.

[0006] The welding device includes a control center and a device main body. The control center is used to control the operation of each component of the welding device. The following are provided on the device main body:

[0007] A first turntable including at least one first placement cavity for placing the shell of the recycled ink cartridge;

[0008] A second turntable including at least one second placement cavity for placing the shell of the recycled ink cartridge;

[0009] The loading station is used to transport the recycled ink cartridge housing to the first placement cavity;

[0010] The flux application station is used to apply flux to the recycled ink cartridge housing located in the first placement cavity;

[0011] The first grasping station includes a fourth manipulator, and the fourth manipulator is used to grasp a new chip disposed at the first grasping station;

[0012] The second grasping station, the fourth manipulator is also used to grasp an anti-tearing part disposed at the second grasping station, and the anti-tearing part is used to prevent the new chip from being damaged;

[0013] The welding station is used to weld the new chip and the anti-tearing part to the recycled ink cartridge housing;

[0014] The discharging station is used to transport the recycled ink cartridge housing after welding.

[0015] The loading station includes a first conveyor belt and a first manipulator. The first conveyor belt is used to convey the recycled ink cartridge housing, and the first manipulator is used to transport the recycled ink cartridge housing to the first placement cavity of the first turntable.

[0016] The flux application station includes a flux container and a second manipulator. The flux container is used to hold flux, and a working head for picking up flux in the flux container and applying the flux to the old chip is provided on the second manipulator.

[0017] A third manipulator for grasping the recycled ink cartridge housing from the first placement cavity to the second placement cavity is further provided on the equipment main body.

[0018] The first grasping station includes a first robotic arm connected to the fourth manipulator. The control center controls the rotation of the first robotic arm so that the fourth manipulator can rotate between the first grasping station and the second grasping station. The first robotic arm is arranged to rotate between the first grasping station and the second grasping station.

[0019] The first grasping station at least further includes a new chip tray, a new chip tray placement rack and a first camera. The new chip tray is used to hold new chips, the new chip tray placement rack is used to place the new chip tray, and the first camera is used to scan and photograph the identification features on the old chip to determine the grasping position of the fourth manipulator for the new chip; the old chip includes an electrical contact part for forming a communication connection with the print head, and the identification feature is the position of the electrical contact part on the old chip.

[0020] The second grasping station includes a transmission component and a second camera. The transmission component is used to transfer the anti-tearing part, and the second camera is used to photograph the new chip grasped by the fourth manipulator to determine whether the new chip is grasped stably and accurately.

[0021] The welding station adopts laser welding, ultrasonic welding or pulse welding methods.

[0022] The discharging station includes a fifth manipulator, a conveying part and a blanking conveyor belt. The welded recycled ink cartridge housing is transported by the fifth manipulator to the conveying part and then conveyed to the blanking conveyor belt through the conveying part.

[0023] In the present utility model, a welding device is used to weld at least a new chip to an old chip on the recycled ink cartridge housing. The welding process does not require manual operation, which can improve the working efficiency of the welding device.

[0024] In addition, the welding device is provided with a first camera at the first grasping station. The first camera can take pictures of the recognition features of the old chip for positioning, which can improve the accuracy of welding the new chip to the old chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a perspective view of the recycled ink cartridge related to the present utility model.

[0026] Figure 2A 、 Figure 3A and Figure 4A are perspective views of the welding device related to the present utility model.

[0027] Figure 2B is Figure 2A an enlarged view of the partial A in

[0028] Figure 3B is Figure 3A an enlarged view of the partial B in

[0029] Figure 4B is Figure 4A an enlarged view of the partial C in DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

[0031] The recycled ink cartridge 200 can be detachably installed on an inkjet imaging device, such as Figure 1 and Figure 2AAs shown, the recycled ink cartridge 200 includes a housing 210 and an ink chamber formed inside the housing 210 for containing ink. The recycled ink cartridge 200 further includes a print head (spray head) and an old chip (original chip) 240 communicatively connected to the print head. The print head is used to eject ink onto an imaging medium. The old chip 240 is integrally formed with the print head. The old chip 240 includes a substrate and an electrical contact portion. The electrical contact portion is located on the substrate and forms a communication connection with the print head. The substrate is provided as a flexible circuit board. An operation surface 220 is provided on the housing 210 of the recycled ink cartridge 200. At least a part of the old chip 240 is located on the operation surface 220, and the old chip 240 is bent between the operation surface 220 and the side of the housing where the print head is installed.

[0032] The present utility model provides a welding device 100 capable of processing the recycled ink cartridge 200. Specifically, the welding device 100 is used to weld a new chip 230 to the housing 210 of the recycled ink cartridge. The new chip 230 can cover the old chip 240 and form a communication connection with the old chip 240.

[0033] In some embodiments, the recycled ink cartridge 200 further includes a tear-proof member 61 for covering the new chip 230 to prevent the new chip 230 from being damaged. The welding device 100 can also weld the tear-proof member 61 to the housing 210 of the recycled ink cartridge.

[0034] As Figure 2A 、 Figure 3A and Figure 4A As shown, the welding device 100 includes a control center 110, a device main body 120, and a first turntable 10, a second turntable 20, a loading station 30, a flux application station 40, a first gripping station 50, a second gripping station 60, a welding station 70, and an unloading station 80 located on the device main body 120. The control center 110 is used to control the operation of each component in the welding device 100. At least one first placement cavity 11 for placing the housing 210 of the recycled ink cartridge is provided on the first turntable 10, and at least one second placement cavity 21 for placing the housing 210 of the recycled ink cartridge is provided on the second turntable 20. The loading station 30, the flux application station 40, the first gripping station 50, the second gripping station 60, the welding station 70, and the unloading station 80 are arranged around the second turntable 20.

[0035] As Figure 2A and Figure 2BAs shown, the loading station 30 is used to transport the recycled ink cartridge housing 210 to the first placement cavity 11. The loading station 30 includes a first conveyor belt 31 and a first manipulator 32. The first conveyor belt 31 is used to convey the recycled ink cartridge housing 210, and the first manipulator 32 is used to transport the recycled ink cartridge housing 210 onto the first turntable 10. The recycled ink cartridge housings 210 are arranged in sequence on the first conveyor belt 31 and are placed with the operation surface 220 facing upward; As Figure 2B As shown, the first manipulator 32 has a grasping state 32a and a placing state 32b. In the grasping state 32a, the first manipulator 32 grasps the recycled ink cartridge housing 210 at the first conveyor belt 31. In the placing state 32b, the first manipulator 32 moves to the first turntable 10 and places the recycled ink cartridge housing 210 into the first placement cavity 11.

[0036] As Figure 2A 、 Figure 3A and Figure 3B As shown, the flux application station 40 is used to apply flux to the recycled ink cartridge housing 210 located in the first placement cavity 11. The flux application station 40 includes a flux container 41 and a second manipulator 42. The flux container 41 is used to hold the flux. A working head 421 is provided on the second manipulator 42. The working head 421 is used to pick up the flux in the flux container 41 and apply the flux to the old chip 240 of the recycled ink cartridge housing 210; As Figure 3B As shown, the second manipulator 42 has a first state 42a and a second state 42b. In the first state 42a, the second manipulator 42 controls the working head 421 to pick up the flux. In the second state 42b, the second manipulator 42 controls the working head 421 to apply the flux to the old chip 240.

[0037] In some embodiments, the flux container 41 is provided as a sponge box.

[0038] In some embodiments, the first turntable 10 is circular. This setting facilitates the working head 421 to apply the flux to the old chip 240 on the recycled ink cartridge housing 210 located in the first placement cavity 11.

[0039] In some embodiments, the second turntable 20 is triangular, which can make the second placement cavities 21 arranged in a straight line on the equipment main body 120. In this way, the space of the equipment main body can be saved and the structural complexity of the welding equipment 100 can be reduced. In addition, compared with a circular turntable, the triangular turntable can also better position.

[0040] As Figure 3A and Figure 3BAs shown, a third manipulator 22 is further provided on the device main body 120 for grasping the recycled ink cartridge housing 210 from the first placement cavity 11 to the second placement cavity 21 of the second turntable 20, such as Figure 3B As shown, the third manipulator 22 has a grasping state 22a and a placement state (not shown). In the grasping state 22a, the third manipulator 22 grasps the recycled ink cartridge housing 210 from the first placement cavity 11. In the placement state, the third manipulator 22 moves to the second turntable 20 and places the recycled ink cartridge housing 210 into the second placement cavity 21.

[0041] As Figure 3A shown, the first grasping station 50 includes a fourth manipulator 90 and a first robotic arm 91 connected to each other. The fourth manipulator 91 includes a first suction cup and a second suction cup. The control center 110 controls the rotation of the first robotic arm 91 so that the fourth manipulator 90 can rotate between the first grasping station 50 and the second grasping station 60. The first suction cup of the fourth manipulator 90 is used to grasp a new chip 230 at the first grasping station 50, and the second suction cup is used to grasp the following anti-tearing member 61 at the second grasping station 60. The fourth manipulator 90 is also used to place the new chip 230 and the anti-tearing member 61 on the operation surface 220; the first robotic arm 91 is arranged to rotate between the first grasping station 50 and the second grasping station 60.

[0042] The fourth manipulator 90 also has a grasping state and a placement state. In the grasping state, the fourth manipulator 90 grasps the new chip 230 and the anti-tearing member 61 respectively. In the placement state, the fourth manipulator 90 moves to the second turntable 20 and places the new chip 230 and the anti-tearing member 61 on the operation surface 220 of the recycled ink cartridge housing 210.

[0043] Continuing as Figure 3A shown, the first grasping station 50 further includes a new chip tray placement rack 51, a second robotic arm 52, a first camera 53, an empty tray placement rack 54, a new chip tray 55, an empty tray 56, a carrier 57 and a control member 58. Both the new chip tray placement rack 51 and the empty tray placement rack 54 are provided with a carrier 57 and a control member 58. The carrier 57 is used to carry the new chip tray 55 and the empty tray 56. The new chip tray 55 is provided with a plurality of grids for accommodating the new chips 230. The new chip tray placement rack 51 is used to place the new chip tray 55, and the empty tray placement rack 54 is used to place the empty tray 56. The empty tray 56 is the tray after all the new chips 230 on the new chip tray 55 have been grasped.

[0044] The control member 58 is used to control the carrier member 57 to move step by step in a direction away from the device main body 120 or in a direction close to the device main body 120. The second robotic arm 52 is provided with at least one suction nozzle 521. The suction nozzle 521 is used to suck the empty tray 56 from the new chip tray rack 51 and place the empty tray 56 in the empty tray rack 54. The second robotic arm 52 can move between the new chip tray rack 51 and the empty tray rack 54. The first camera 53 is used to scan and photograph the recognition features of the old chip 240 on the recycled ink cartridge housing 210 for positioning, so as to determine the grasping position of the new chip 230 by the fourth robotic arm 90.

[0045] In a specific operation process, the new chip tray 55 is placed in the new chip tray rack 51. The control member 58 controls the new chip tray 55 to move step by step in a direction away from the device main body 120, so that the new chip 230 can be grasped by the fourth robotic arm 90. After all the new chips 230 on the new chip tray 55 are grasped, the empty tray 56 is sucked by the suction nozzle 521 and placed in the empty tray rack 54. The empty tray 56 is supported by the chassis 57 in the empty tray rack 54. The control member 58 controls the chassis 57 to move step by step in a direction close to the device main body 120. Such cyclic operation is performed until the empty tray rack 54 is filled with the empty trays 56. Then, the empty tray 56 is removed, so that a new round of new chip trays 55 can be placed in the new chip tray rack 51.

[0046] In some embodiments, before the welding device 100 works, the new chip tray 55 completely fills the new chip tray rack 51. At this time, the carrier member 57 does not move until all the new chips 230 in the first new chip tray 55 are grasped. Such a setting can make the new chip tray rack 51 be fully utilized, save the time for placing the new chip tray 55, and improve the working efficiency of the welding device 100.

[0047] In some embodiments, the control member 58 is a cylinder.

[0048] In some embodiments, the recognition feature is the position of the electrical contact part on the old chip 240. The first camera 53 takes a picture of the electrical contact part of the old chip 240 to determine the grasping position of the new chip 230 by the fourth robotic arm 90.

[0049] In some embodiments, the first camera 53 is also used to take pictures of the chips on the new chip tray rack 51 to facilitate the fourth robotic arm 90 to grasp the new chips 230.

[0050] Such as Figure 2A and Figure 3AAs shown, the second grasping station 60 includes a transmission assembly 62 and a second camera 63. The anti-tearing member 61 is disposed at the second grasping station 60. The transmission assembly 62 is used to transfer the anti-tearing member 61, and the second camera 63 is used to take a picture of the new chip 230 grasped by the fourth manipulator 90 to determine whether the new chip 230 is grasped stably and accurately.

[0051] As Figure 4A and Figure 4B shown, the welding station 70 is used for welding the new chip 230 and the anti-tearing member 61 onto the operation surface 220 of the recycled ink cartridge housing 210. The welding station 70 can adopt laser welding, ultrasonic welding, or pulse welding. The discharging station 80 is used for transporting the welded recycled ink cartridge housing 210. The discharging station 80 includes a fifth manipulator 81, a conveying part 82, and a blanking conveyor belt 83. The welded recycled ink cartridge housing 210 is transported by the fifth manipulator 81 to the conveying part 82 and then conveyed to the blanking conveyor belt 83 through the conveying part 82. As Figure 4B shown, the fifth manipulator 81 also has a grasping state (not shown) and a placing state 81a. In the grasping state, the fifth manipulator 81 grabs the recycled ink cartridge housing 210 from the second placement cavity 21. In the placing state 81a, the fifth manipulator 81 places the recycled ink cartridge housing 210 into the conveying part 82.

[0052] In some embodiments, a third robotic arm 130 is further provided on the equipment main body 120. Both the third manipulator 22 and the fifth manipulator 81 are disposed on the third robotic arm 130. The third manipulator 22 and the fifth manipulator 81 move simultaneously under the action of the third robotic arm 130 to grab different recycled ink cartridge housings 210, and the third manipulator 22 and the fifth manipulator 81 do not interfere with each other.

[0053] In some embodiments, the third manipulator 22 and the fifth manipulator 81 can also be disposed on different robotic arms / rails according to their movement trajectories.

[0054] The overall working process of the welding equipment 100 according to the present utility model is as follows:

[0055] The recycled ink cartridge housing 210 is placed on the first conveyor belt 31 of the loading station 30. The first manipulator 32 grabs and places the recycled ink cartridge housing 210 in the first placement cavity 11 of the first turntable 10. At this time, the operation surface 220 of the recycled ink cartridge housing 210 is not blocked / covered. Subsequently, the control center 110 controls the first turntable 10 to rotate to the flux application station 40. The second manipulator 42 operates the application head 421 to apply the flux to the old chip 240. The control center 110 then controls the first turntable 10 to rotate to the second turntable 20, so that the third manipulator 22 can grab and place the recycled ink cartridge housing 210 coated with flux in the second placement cavity 21 of the second turntable 20. The feeding position from the first turntable 10 to the second turntable 20 (the position where the third manipulator 22 grabs the recycled ink cartridge housing 210 coated with flux) is below the track where the third manipulator 22 is located.

[0056] During this process, the first turntable 10 rotates continuously. The recycled ink cartridge housings 210 in the first placement cavity 11 are coated with flux one by one and then moved to the second turntable 20. The empty first placement cavities 11 are replenished one by one by the first manipulator 32 at any time.

[0057] After that, at the first grasping station 50, the operator places the new chips 230 one by one in the new chip tray 55 and then places them on the new chip tray placement rack 51. The control member 58 pushes the new chip tray 55 step by step in the direction away from the equipment main body 120. Through the rotation of the first robotic arm 91, the fourth manipulator 90 rotates to the new chip tray 55. The first suction cup of the fourth manipulator 90 grabs the new chip 230. The first robotic arm 91 rotates again, driving the fourth manipulator 90 to rotate to the second grasping station 60. The second camera 63 takes a picture of the grabbed new chip 230 to determine whether the new chip 230 is grabbed stably and accurately. Then, the fourth manipulator 90 rotates to the transmission assembly 62 and the second suction cup grabs the anti-tearing piece 61. Further, the first robotic arm 91 rotates to the second turntable 20. The first camera 53 takes a picture and scans the position of the electrical contact part of the old chip 240 on the recycled ink cartridge housing 210 in the second placement cavity 21 to confirm the grasping position of the new chip 230. The fourth manipulator 90 first places the grabbed new chip 230 on the operation surface 220, and then pastes the anti-tearing piece 61 on the new chip 230. Further, for the new chips 230 that the first suction cup fails to accurately grab, the control center 110 controls the first robotic arm 91 to rotate back to the new chip tray 55 and grab them again.

[0058] Finally, the control center 110 controls the second turntable 20 to rotate to the welding station 70. The welding station 70 welds the new chip 230 and the anti-tearing piece 61 onto the operation surface 220. Then, the second turntable 20 rotates to the discharging station 80. The fifth manipulator 81 transports the welded regenerated ink cartridge housing 210 from the second placement cavity 21 to the conveying part 82, and the conveying part 82 transports the regenerated ink cartridge housing 210 to the discharging conveyor belt 83.

[0059] In some embodiments, there are 4 second placement cavities 21 in each row of the second turntable 20. Only after the 4 second placement cavities 21 in each row have completed the previous process, the second turntable 20 rotates to prepare for the next process.

[0060] [Beneficial effects]

[0061] The welding device 100 provided by the present utility model can at least weld the new chip 230 onto the regenerated ink cartridge housing 210. The new chip 230 can cover the old chip 240 and form an electrical connection with the old chip 240. The welding device 100 has the following beneficial effects:

[0062] First, in the present utility model, the welding device 100 is used to at least weld the new chip 230 to the old chip 240 of the regenerated ink cartridge housing 210. The welding process does not require manual operation, which can improve the working efficiency of the welding device 100.

[0063] Second, the welding device 100 is provided with a first camera 53 at the first grasping station 50 and a second camera 63 at the second grasping station 60. The second camera 63 is used to take pictures of the new chip 230 grasped by the fourth manipulator 90 to determine whether the new chip 230 is grasped stably and accurately. The first camera 53 can take pictures of the recognition features of the old chip 240 for positioning. For example, it scans and takes pictures of the position of the electrical contact part to position the installation position of the new chip, which can improve the accuracy of welding the new chip 230 to the old chip 240.

[0064] Third, the welding device 100 welds the new chip 230 and the anti-tearing piece 61 by means of laser welding, ultrasonic welding, or pulse welding, so that the new chip 230 and the anti-tearing piece 61 can be more stably fixed on the regenerated ink cartridge housing 210.

Claims

1. A welding device for processing a regenerated ink cartridge, wherein the regenerated ink cartridge comprises a housing, a print head and an old chip on the housing, wherein the old chip and the print head are integrally formed and form a communication connection, and the welding device is used to weld a new chip to the housing of the regenerated ink cartridge, wherein the new chip is used to cover the old chip and form a communication connection with the old chip; It is characterized in that The welding equipment includes a control center and an equipment body. The control center is used to control the operation of various components of the welding equipment. The equipment body is provided with: The first rotating disk comprises at least one first placement cavity for placing a regenerated ink cartridge housing; The second rotating disk comprises at least one second placement cavity for placing the regenerated ink cartridge housing; A loading station, used for transporting the regenerated ink cartridge housing to the first placement chamber; A soldering flux applying station, used for applying soldering flux to the regenerated ink cartridge housing located in the first placement cavity; The first grabbing station includes a fourth manipulator, and the fourth manipulator is used to grab a new chip set at the first grabbing station; The second grabbing station, the fourth manipulator is also used to grab the tear-proof piece set at the second grabbing station, and the tear-proof piece is used to prevent the new chip from being damaged; A welding station for welding new chips and tear-proof parts to the remanufactured ink cartridge housing; The unloading station is used to transport the welded recycled ink cartridge shells.

2. The welding device according to claim 1, characterized in that The loading station includes a first conveyor belt and a first robot. The first conveyor belt is used to convey the regenerated ink cartridge housing, and the first robot is used to transport the regenerated ink cartridge housing to the first placement cavity of the first turntable.

3. The welding device according to claim 1, characterized in that The solder flux applying station comprises a solder flux container and a second manipulator, wherein the solder flux container is used to contain solder flux, and the second manipulator is provided with an action head for picking up solder flux from the solder flux container and applying the solder flux to the old chip.

4. The welding device according to claim 1, characterized in that: The device body is also provided with a third manipulator for grabbing the regenerated ink cartridge housing from the first placement cavity to the second placement cavity.

5. The welding device according to claim 1, characterized in that: The first grabbing station includes a first robot arm connected to a fourth robot arm. The control center controls the rotation of the first robot arm so that the fourth robot arm can rotate between the first grabbing station and the second grabbing station. The first robot arm is configured to rotate between the first grabbing station and the second grabbing station.

6. The welding device according to claim 5, characterized in that The first grabbing station also includes at least a new chip tray, a new chip tray placement rack and a first camera. The new chip tray is used to accommodate new chips, the new chip tray placement rack is used to place the new chip tray, and the first camera is used to scan and photograph the identification features on the old chip to determine the grabbing position of the new chip by the fourth robot.

7. The welding device according to claim 6, characterized in that The old chip includes electrical contacts for forming a communication connection with the print head, and the identification feature is a position of the electrical contacts on the old chip.

8. The welding device according to claim 6, characterized in that The second grabbing station includes a transmission assembly and a second camera. The transmission assembly is used to transfer the tear-proof piece. The second camera is used to take a picture of the new chip grabbed by the fourth manipulator to determine whether the new chip is grabbed smoothly and accurately.

9. The welding device according to claim 1, characterized in that The welding station adopts laser welding, ultrasonic welding or pulse welding.

10. The welding device according to claim 1, characterized in that The unloading station includes a fifth robot, a conveying part and a material unloading conveyor belt. The welded regenerated ink cartridge shell is transported to the conveying part by the fifth robot and then to the material unloading conveyor belt through the conveying part.

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