Discharging and placing mechanism for robot

Abstract

The utility model discloses a robot blanking wobble plate mechanism which comprises a mechanical arm and a material taking assembly, and the mechanical arm is provided with a moving end capable of moving in a four-axis mode. The material taking assembly is arranged at the moving end of the mechanical arm and comprises a positioning plate and a fixing piece, the positioning plate is horizontally arranged and can ascend or descend, a plurality of positioning holes are formed in the bottom of the positioning plate in the length direction of the positioning plate, and during material taking, the positioning plate can be pressed on the multiple magnetic assemblies at the same time; the positioning pin penetrating through the pressed magnetic assembly is embedded into the positioning hole so that the interval size of every two adjacent magnetic assemblies can be kept the same, the magnetic assemblies can be fixed to the positioning plate through the fixing part, the positioning plate descends to press the magnetic assemblies on the envelope plate to form a row or a column of magnetic assemblies in the plate placing process, and the fixing part can be unlocked and fixed. And the magnetic assembly is left on the envelope plate. According to the tray placing device, accurate tray placing is achieved during tray placing.

Description

Technical Field

[0001] This utility model relates to the field of magnetic component technology, and in particular to a material unloading and tray-stacking mechanism for robots. Background Technology

[0002] The existing magnetic components lack a positioning mechanism when arranging the plates, resulting in differences in the spacing between the various magnetic components and making precise plate arrangement impossible. Utility Model Content

[0003] The purpose of this invention is to provide a robot unloading and tray-laying mechanism that can control the spacing between various magnetic components to achieve precise tray placement.

[0004] To achieve the above objectives, the solution of this utility model is as follows:

[0005] A mechanism for robot unloading and tray placement, used for placing magnetic components, is located on a worktable. The worktable has a fixture on which multiple magnetic components are placed. Each magnetic component is provided with a positioning pin, which passes through the magnetic component. The worktable also has a demolding position containing an envelope plate. The mechanism includes a robotic arm and a material handling component. The robotic arm is mounted on the worktable and has a four-axis motion end. The material handling component is mounted on the robotic arm's motion end and includes a positioning plate and a fixing member. The positioning plate is horizontally positioned and can... The positioning plate has multiple positioning holes arranged along its length on its bottom. When picking up materials, the positioning plate can press on multiple magnetic components at the same time, so that the positioning pins passing through the pressed magnetic components are embedded in the positioning holes to keep the spacing between two adjacent magnetic components the same, so as to position the pressed magnetic components. The fixing part can fix the pressed magnetic components on the positioning plate. When arranging the tray, the positioning plate descends to press the magnetic components onto the envelope plate to form a row or column of magnetic components. The fixing part can be unlocked and fixed, and the positioning plate rises to leave the magnetic components on the envelope plate.

[0006] Furthermore, the fixture has multiple magnetic components arranged in a row, with multiple fixing parts and corresponding multiple positioning plates. The positioning plates are arranged side by side, and each positioning plate has multiple positioning holes. When picking up materials, one positioning plate descends first to pick up the materials. After picking up the materials, this positioning plate rises, and the next positioning plate is aligned with the next column of magnetic components by adjusting the spacing through a robotic arm, and then descends to pick up the materials. When setting up the tray, one positioning plate descends first to place a column of magnetic components on the envelope plate. After adjusting the spacing and position of the previous column of magnetic components through a robotic arm, the next positioning plate descends to place the next column of magnetic components on the envelope plate, and the next column of magnetic components is aligned with the previous column of magnetic components.

[0007] Furthermore, there are two fasteners and two corresponding positioning plates, which are arranged side by side, each with multiple positioning holes.

[0008] Furthermore, multiple magnetic components are arranged on the fixture, with one fixing component and a corresponding positioning plate. After the positioning plate descends to pick up a column of magnetic components and places this column of magnetic components onto the envelope plate, it picks up the next column of magnetic components. After the robot arm adjusts the distance between the next column of magnetic components and the previously picked-up magnetic components, the positioning plate descends again to place the components on the tray.

[0009] Furthermore, the fixing component is a magnetic suction head, and a slot is provided on the positioning plate. The slot extends vertically through the positioning plate and along the length of the positioning plate. The magnetic suction head is located directly above the slot. When picking up materials, the magnetic suction head moves downward and inserts into the slot to reduce the distance between itself and the magnetic component, thereby increasing the attraction force of the magnetic component and attracting it to the positioning plate. When setting up the tray, the magnetic suction head moves upward and pulls out of the slot to increase the distance between itself and the magnetic component, thereby reducing the attraction force of the magnetic component and causing it to fall off the positioning plate.

[0010] Furthermore, the material handling assembly also includes a first driving mechanism and a second driving mechanism. The number of first driving mechanisms corresponds to the number of positioning plates, and the number of second driving mechanisms corresponds to the number of magnetic heads. One first driving mechanism drives one positioning plate, and one second driving mechanism drives one magnetic head. The positioning plate is located at the bottom of the first driving mechanism. The first driving mechanism is used to drive the positioning plate to rise and fall. The second driving mechanism is located on the side of the first driving mechanism. The magnetic head is located at the bottom of the second driving mechanism and above the positioning plate. While driving the positioning plate to rise or fall, the first driving mechanism also drives the second driving mechanism and the magnetic head to rise or fall synchronously with the positioning plate. The second driving mechanism can drive the magnetic head to fall independently.

[0011] Furthermore, a buffer mechanism is provided between the first drive mechanism and the robot arm so that when the positioning plate presses down against the magnetic assembly or envelope plate, the buffer mechanism can cause the first drive mechanism and the second drive mechanism as a whole to move upward relative to the robot arm for buffering.

[0012] Furthermore, it also includes a loading and unloading plate mechanism, which is also set on the moving end of the robot arm and located next to the material handling component. The loading and unloading plate mechanism is used to place the envelope plate on the demolding position and transfer the envelope plate with the magnetic component in place to the discharge port of the worktable. It includes a connecting plate connected to the moving end of the robot arm, a fixed seat set horizontally on the connecting plate, and a buffer suction cup set vertically on the fixed seat.

[0013] Furthermore, the envelope plate is an iron plate with a paper sleeve, which has an attractive force on the magnetic components.

[0014] After adopting the above solution, the beneficial effects of this utility model are as follows:

[0015] In this invention, during material handling, a positioning plate descends and presses down on multiple magnetic components. The positioning pins of the pressed magnetic components are embedded in the positioning holes. The fixing part secures the back-pressed magnetic components to the positioning plate, ensuring that the spacing between adjacent magnetic components remains constant. The positioning plate then lifts the fixed magnetic components. During tray placement, the positioning plate descends and presses the magnetic components onto the envelope plate, forming a row or column of magnetic components. The fixing part unlocks and secures the components, and the positioning plate rises to leave the magnetic components on the envelope plate. This invention, through the positioning holes on the positioning plate, allows control over the spacing between each magnetic component. Furthermore, the robotic arm adjusts the spacing between the next magnetic component placed on the envelope plate relative to the previous one, ensuring that the next magnetic component is placed side-by-side or aligned with the previous one. This achieves precise tray placement and improves tray placement efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the application environment of this utility model;

[0017] Figure 2 This is a schematic diagram of the upper and lower plate mechanism and the material handling component of this utility model;

[0018] Figure 3 yes Figure 2 The left view;

[0019] Figure 4 This is a bottom view of the material handling assembly;

[0020] Figure 5 This is a schematic diagram of the jig and magnetic components.

[0021] Label Explanation:

[0022] 10. Robotic arm; 20. Material handling assembly; 21. Positioning plate; 211. Positioning hole; 212. Slot; 22. Fixture; 221. Magnetic head; 2211. Magnetic plug; 23. First drive mechanism; 24. Second drive mechanism; 30. Upper and lower plate mechanism; 31. Connecting plate; 32. Fixture; 33. Buffer suction cup; 40. Buffer mechanism; 41. First plate; 42. Spring; 43. Slide rail; 44. Slider; 45. Mounting base; 451. Blocking plate; 50. Worktable; 60. Fixture; 61. Magnetic assembly; 62. Positioning pin; 70. Demolding position; 80. Envelope plate. Detailed Implementation

[0023] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0024] like Figures 1 to 5As shown, this embodiment provides a mechanism for robot unloading and tray placement, for placing magnetic components 61 on a workbench 50. The workbench 50 has a fixture 60, on which multiple magnetic components 61 are placed. The fixture 60 is provided with a positioning pin 62 corresponding to each magnetic component 61. The positioning pin 62 passes through the magnetic component 61. The workbench 50 is also provided with a demolding position 70, and an envelope plate 80 is provided in the demolding position 70.

[0025] It includes a robotic arm 10 and a material handling assembly 20. The robotic arm 10 is mounted on a worktable 50 and has a motion end capable of four-axis motion.

[0026] The material handling component 20 is set on the moving end of the robot arm 10. The material handling component 20 includes a positioning plate 21 and a fixing member 22. The positioning plate 21 is set horizontally and can rise or fall. Multiple positioning holes 211 are arranged along its length at the bottom of the positioning plate 21. When picking up materials, the positioning plate 21 can press on multiple magnetic components 61 at the same time, so that the positioning pins 62 passing through the pressed magnetic components 61 are embedded in the positioning holes 211 to keep the spacing between two adjacent magnetic components 61 the same, so as to position the pressed magnetic components 61. The fixing member can fix the pressed magnetic components 61 on the positioning plate 21. When arranging the tray, the positioning plate 21 descends to press the magnetic components 61 on the envelope plate 80 to form a row or column of magnetic components 61. The fixing member can unlock and fix, and the positioning plate 21 rises to leave the magnetic components 61 on the envelope plate 80.

[0027] Specifically, the robotic arm 10 adjusts the spacing between the magnetic component 61 placed on the envelope plate 80 next time and the magnetic component 61 placed on the envelope plate 80 last time, so that the magnetic component 61 next time is placed side by side or aligned with the magnetic component 61 of the previous time.

[0028] This invention allows for control of the spacing between various magnetic components 61 via the positioning holes 211 on the positioning plate 21. Furthermore, the robotic arm 10 adjusts the spacing between the next magnetic component 61 placed on the envelope plate 80 by the material handling component 20 and the previous magnetic component 61 placed on the envelope plate 80, ensuring that the next magnetic component 61 is placed side-by-side or aligned with the previous one. This achieves precise tray placement and improves tray placement efficiency.

[0029] Furthermore, multiple magnetic components 61 are arranged on the fixture 60, and multiple fixing members 22 are provided. Correspondingly, multiple positioning plates 21 are also provided. The multiple positioning plates 21 are arranged side by side, and each positioning plate 21 has multiple positioning holes 211. When picking up materials, one positioning plate 21 first descends to pick up materials. After picking up materials, this positioning plate 21 rises. The next positioning plate 21 is aligned with the next column of magnetic components 61 after the spacing is adjusted by the robot arm 10, and then descends to pick up materials. When setting up the tray, one positioning plate 21 first descends to place a column of magnetic components 61 on the envelope plate 80. After the spacing and position of the previous column of magnetic components 61 are adjusted by the robot arm 10, the next positioning plate 21 descends to place the next column of magnetic components 61 on the envelope plate 80, and the next column of magnetic components 61 is aligned with the previous column of magnetic components 61.

[0030] like Figure 2 As shown, in one specific embodiment, there are two fixing members 22 and two corresponding positioning plates 21. The two positioning plates 21 are arranged side by side, and each has multiple positioning holes 211. The material picking and placing methods are the same as above.

[0031] In another specific embodiment, multiple magnetic components 61 are arranged on the fixture 60, with one fixing member 22 and a corresponding positioning plate 21. After the positioning plate 21 descends to pick up a column of magnetic components 61 and places this column of magnetic components 61 onto the envelope plate 80, it picks up the next column of magnetic components 61. After the spacing between the next column of magnetic components 61 picked up and the previously picked up magnetic components 61 is adjusted by the robot arm 10, the positioning plate 21 descends again to place the components on the tray.

[0032] Preferably, a row of magnetic components 61 consists of five magnetic components 61. Two rows of magnetic components 61 are placed on the fixture 60. Each magnetic component 61 on the fixture 60 is simultaneously pierced by two positioning pins 62. The two positioning pins 62 on a magnetic component 61 are arranged side by side. Therefore, positioning a magnetic component 61 requires two positioning holes 211. These two positioning holes 211 are spaced apart in a direction perpendicular to the length of the positioning plate 21, and such two positioning holes 211 form a positioning group. One positioning group positions one magnetic component 61. The positioning plate 21 has multiple positioning groups along its length.

[0033] like Figure 2 , Figure 4As shown, preferably, the fixing member 22 is a magnetic suction head 221. The positioning plate 21 is provided with a slot 212, which penetrates the positioning plate 21 vertically and extends along the length of the positioning plate 21. The magnetic suction head 221 is located directly above the slot 212. When picking up materials, the magnetic suction head 221 moves downward and inserts into the slot 212 to reduce the distance between itself and the magnetic component 61, thereby increasing the attraction force of the magnetic component 61 and attracting the magnetic component 61 onto the positioning plate 21. When setting up the tray, the magnetic suction head 221 moves upward and pulls out of the slot 212 to increase the distance between itself and the magnetic component 61, thereby reducing the attraction force of the magnetic component 61 and causing the magnetic component 61 to fall off the positioning plate 21.

[0034] Specifically, the positioning plate 21 forms two slots 212 perpendicular to its extension direction, with the two slots 212 spaced apart. Two parallel magnetic plugs 2211 are formed on the magnetic head 221. When the magnetic head 221 moves downwards, the two magnetic plugs 2211 are inserted into the two slots 212 respectively, thereby attracting the magnetic component 61 onto the positioning plate 21. It can be understood that the magnetic plugs 2211 fit the shape of the slots 212. It can be understood that a magnetic component 61 is attracted to the bottom of the positioning plate 21 in a manner that simultaneously spans both slots 212. Specifically, the positioning plate 21 has no attractive force on the magnetic component 61 or the magnetic head 221. Specifically, the slots 212 prevent the positioning plate 21 from obstructing the magnetic head 221, which helps the magnetic head 221 attract the magnetic component 61, thus improving the attraction effect of the magnetic head 221 on the magnetic component 61.

[0035] Furthermore, the material handling assembly 20 also includes a first driving mechanism 23 and a second driving mechanism 24. The number of first driving mechanisms 23 corresponds to the number of positioning plates 21, and the number of second driving mechanisms 24 corresponds to the number of magnetic heads 221. One first driving mechanism 23 drives one positioning plate 21, and one second driving mechanism 24 drives one magnetic head 221. The positioning plate 21 is located at the bottom of the first driving mechanism 23. The first driving mechanism 23 is used to drive the positioning plate 21 to rise and fall. The second driving mechanism 24 is located on the side of the first driving mechanism 23. The magnetic head 221 is located at the bottom of the second driving mechanism 24 and above the positioning plate 21. While driving the positioning plate 21 to rise or fall, the first driving mechanism 23 also drives the second driving mechanism 24 and the magnetic head 221 to rise or fall synchronously with the positioning plate 21. The second driving mechanism 24 can drive the magnetic head 221 to fall independently.

[0036] Specifically, during material handling, when a positioning plate 21 is aligned with a row of magnetic components 61, the first drive mechanism 23 first drives the positioning plate 21, the second drive mechanism 24, and the magnetic suction head 221 to descend as a whole, causing the positioning plate 21 to press onto the row of magnetic components 61. All the positioning pins 62 on this row of magnetic components 61 are inserted into the positioning holes 211. Then, the second drive mechanism 24 individually drives the magnetic suction head 221 to descend closer to the magnetic components 61, thereby reducing the distance between the magnetic components 61 and increasing the attraction force on the magnetic components 61, thus adsorbing and fixing the magnetic components 61 onto the positioning plate 21. The second drive mechanism 24 remains stationary. Then, the first drive mechanism 23 simultaneously drives the positioning plate 21... The second drive mechanism 24, the magnetic suction head 221, and the magnetic component 61 on the positioning plate 21 rise simultaneously. During material placement, the first drive mechanism 23 first drives the positioning plate 21, the magnetic component 61 on the positioning plate 21, the second drive mechanism 24, and the magnetic suction head 221 to fall simultaneously, and makes the magnetic suction head 221 contact the envelope plate 80 of the demolding position 70. Then the first drive mechanism 23 remains stationary, and the second drive mechanism 24 drives the magnetic suction head 221 to rise alone, so as to increase the distance between it and the magnetic component 61 and reduce the attraction force of the magnetic component 61 until the attraction force disappears. Then the first drive mechanism 23 drives the positioning plate 21, the second drive mechanism 24, and the magnetic suction head 221 to rise simultaneously.

[0037] like Figure 3 As shown, a buffer mechanism 40 is provided between the first drive mechanism 23 and the robot arm 10, so that when the positioning plate 21 presses down against the magnetic component 61 or the envelope plate 80, the buffer mechanism 40 can buffer the first drive mechanism 23 and the second drive mechanism 24 as a whole to move upward relative to the robot arm 10; preferably, the fixed base 32 is a rectangular plate, and there are four buffer suction cups 33, which are respectively arranged at the four corners of the fixed base 32.

[0038] Specifically, the buffer mechanism 40 includes a vertically arranged first plate 41, which is mounted on the moving end of the robot arm 10. The top of the first plate 41 extends horizontally, and a vertically arranged slide rail 43 is provided on the first plate 41. A slider 44 is mounted on the slide rail 43. The first drive mechanism 23 is mounted on a mounting base 45, which is connected to the slider 44. The buffer mechanism 40 also includes a spring 42, which is vertically arranged. Its lower end is connected to the top of the mounting base 45, and its upper end is connected to the horizontally extended portion of the first plate 41. When the mounting base 45 moves upward, it compresses the spring 42; when the mounting base 45 moves downward, it stretches the spring. 42. Therefore, when the positioning plate 21 presses down against the magnetic component 61, under the influence of the reaction force, the mounting base 45, the first drive mechanism 23 and the second drive mechanism 24 slide upward on the slide rail 43 via the slider 44, thereby moving upward relative to the robot arm 10 to buffer the movement, so that the positioning pin 62 fits perfectly in the positioning hole 211. A blocking plate 451 is horizontally set at the top of the mounting base 45. The blocking plate 451 is used to abut against the upper end of the slide rail 43 to prevent the slider 44 from disengaging from the lower end of the slide rail 43 due to the downward movement of the mounting base 45 caused by gravity. Preferably, the lower end of the spring 42 can be connected to the blocking plate 451.

[0039] like Figures 1 to 3 As shown, it also includes a loading and unloading plate mechanism 30, which is also set on the moving end of the robot arm 10 and located next to the material handling component 20. The loading and unloading plate mechanism 30 is used to place the envelope plate 80 on the demolding position 70 and to move the envelope plate 80 with the magnetic component 61 placed on it to the discharge port of the worktable 50. It includes a connecting plate 31 connected to the moving end of the robot arm 10, a fixed seat 32 horizontally set on the connecting plate 31, and a buffer suction cup 33 vertically set on the fixed seat 32. Specifically, when the robot arm 10 descends and drives the buffer suction cup 33 to descend and contact the envelope plate 80, the buffer suction cup 33 can move upward relative to the fixed seat 32 to buffer.

[0040] Furthermore, the envelope plate 80 is an iron plate with a paper sleeve, which has an attractive force on the magnetic component 61. In this embodiment, the magnetic suction head 221 rises, increasing the distance between itself and the magnetic component 61, and reducing the attractive force of the magnetic component 61. This makes the attractive force of the magnetic suction head 221 on the magnetic component 61 less than the attractive force of the envelope plate 80 on the magnetic component 61, so that the magnetic component 61 can be left on the envelope plate 80 when the positioning plate 21 rises.

[0041] The directional terms used in this specification are defined relative to the structures shown in the accompanying drawings. They are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive.

[0042] The above description is only a preferred embodiment of this utility model and is not a limitation on the design of this case. All equivalent changes made based on the key design of this case shall fall within the protection scope of this case.

Claims

1. A robot unloading and tray-laying mechanism for arranging magnetic components, located on a worktable, the worktable having a fixture on which multiple magnetic components are placed, the fixture having a positioning pin corresponding to each magnetic component, the positioning pin passing through the magnetic component, the worktable also having a demolding position, the demolding position having an envelope plate disposed therein, characterized in that: It includes a robotic arm and a material handling assembly. The robotic arm is set on the worktable and has a motion end capable of four-axis motion. The material handling assembly is mounted on the moving end of the robotic arm. The assembly includes a positioning plate and a fixing component. The positioning plate is horizontally positioned and can rise or fall. Multiple positioning holes are arranged along the length of the bottom of the positioning plate. During material handling, the positioning plate can simultaneously press on multiple magnetic components, causing the positioning pins passing through the pressed magnetic components to embed into the positioning holes, thus maintaining the same spacing between adjacent magnetic components and positioning the pressed magnetic components. The fixing component can fix the pressed magnetic components on the positioning plate. During tray loading, the positioning plate descends to press the magnetic components onto the envelope plate, forming a row or column of magnetic components. The fixing component can unlock and fix the magnetic components, and the positioning plate rises to leave the magnetic components on the envelope plate.

2. The material unloading and tray-stacking mechanism for robots as described in claim 1, characterized in that: Multiple magnetic components are arranged on the fixture, with multiple fixing parts and corresponding multiple positioning plates. The positioning plates are arranged side by side, and each positioning plate has multiple positioning holes. When picking up materials, one positioning plate descends first to pick up the materials. After picking up the materials, this positioning plate rises, and the next positioning plate is aligned with the next column of magnetic components by adjusting the spacing through a robotic arm, and then descends to pick up the materials. When setting up the tray, one positioning plate descends first to place a column of magnetic components on the envelope plate. After adjusting the spacing and position of the previous column of magnetic components through a robotic arm, the next positioning plate descends to place the next column of magnetic components on the envelope plate, and the next column of magnetic components is aligned with the previous column of magnetic components.

3. The material unloading and tray-stacking mechanism for robots as described in claim 2, characterized in that: There are two fasteners and two corresponding positioning plates. The two positioning plates are arranged side by side, and each has multiple positioning holes.

4. The material unloading and tray-stacking mechanism for robots as described in claim 1, characterized in that: Multiple magnetic components are arranged on the fixture. There is one fixing piece and one corresponding positioning plate. After the positioning plate descends to pick up a column of magnetic components, it places the column of magnetic components onto the envelope plate and then picks up the next column of magnetic components. After the spacing between the next column of magnetic components is adjusted by the robot arm and the previous column of magnetic components, the positioning plate descends again and places the components on the tray.

5. A material unloading and tray-stacking mechanism for robots as described in claim 1, 2, 3, or 4, characterized in that: The fixing component is a magnetic suction head. The positioning plate is provided with a slot that runs through the positioning plate vertically and extends along the length of the positioning plate. The magnetic suction head is located directly above the slot. When picking up materials, the magnetic suction head moves downward and inserts into the slot to reduce the distance between itself and the magnetic component, thereby increasing the attraction force of the magnetic component and attracting it to the positioning plate. When setting up the tray, the magnetic suction head moves upward and pulls out of the slot to increase the distance between itself and the magnetic component, thereby reducing the attraction force of the magnetic component and causing it to fall off the positioning plate.

6. A material unloading and tray-stacking mechanism for robots as described in claim 5, characterized in that: The material handling assembly also includes a first drive mechanism and a second drive mechanism. The number of first drive mechanisms corresponds to the number of positioning plates, and the number of second drive mechanisms corresponds to the number of magnetic heads. One first drive mechanism drives one positioning plate, and one second drive mechanism drives one magnetic head. The positioning plate is located at the bottom of the first drive mechanism. The first drive mechanism is used to drive the positioning plate to rise and fall. The second drive mechanism is located on the side of the first drive mechanism. The magnetic head is located at the bottom of the second drive mechanism and above the positioning plate. While driving the positioning plate to rise or fall, the first drive mechanism also drives the second drive mechanism and the magnetic head to rise or fall synchronously with the positioning plate. The second drive mechanism can drive the magnetic head to fall independently.

7. A material unloading and tray-stacking mechanism for robots as described in claim 6, characterized in that: A buffer mechanism is provided between the first drive mechanism and the robot arm so that when the positioning plate presses down against the magnetic assembly or the envelope plate, the buffer mechanism can cause the first drive mechanism and the second drive mechanism as a whole to move upward relative to the robot arm for buffering.

8. A material unloading and tray-stacking mechanism for robots as described in claim 1, characterized in that: It also includes a loading and unloading plate mechanism, which is also set on the moving end of the robot arm and located next to the material handling component. The loading and unloading plate mechanism is used to place the envelope plate on the demolding position and transfer the envelope plate with the magnetic component in place to the discharge port of the worktable. It includes a connecting plate connected to the moving end of the robot arm, a fixed seat set horizontally on the connecting plate, and a buffer suction cup set vertically on the fixed seat.

9. A material unloading and tray-stacking mechanism for robots as described in claim 1, characterized in that: The envelope plate is an iron plate with a paper sleeve, which has an attractive force on the magnetic components.

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