Variable-pitch taking and placing assembly and automatic sub-packaging equipment

Abstract

The utility model relates to the technical field of material taking and placing mechanisms, and discloses a variable-pitch taking and placing assembly and automatic split charging equipment, which specifically comprises a power driving part, a variable-pitch sliding table and a material taking module. The material taking module comprises material taking units, and a linkage mechanism is formed between the material taking units through a connecting rod, a limiting piece and a connecting block. When the material taking unit at the driving end and the connecting rod connected with the material taking unit move towards the driving end under the action of the power driving assembly, the limiting piece, located at the driven end, of the connecting rod abuts against the connecting block of the adjacent material taking unit, the adjacent material taking unit is pushed through the connecting block, and other material taking units are sequentially driven to move under the linkage action. Due to the uniformity of the connecting rod structure, the variable-pitch taking and placing assembly achieves the effect of equal-distance dispersion, then batch taking and split charging of products are achieved, and the production efficiency is improved.

Description

Technical Field

[0001] This utility model belongs to the technical field of material handling mechanisms, specifically relating to a variable-pitch material handling component and an automatic dispensing equipment. Background Technology

[0002] In the production process of assembly lines, improving the production efficiency of the assembly line has always been an important research and development direction.

[0003] Especially in the material handling process, there is often a need to disperse and assemble large quantities of materials into blister packs. In traditional material handling, this is usually done manually, leading to low and inconsistent production efficiency. In partially automated production processes, robotic arms often match materials to pre-positioned positions on the blister pack. While this solves the problem of inconsistent production efficiency, it remains relatively low and cannot handle large-volume material distribution. Furthermore, some materials, such as rigid boards, often appear as multiple pieces stuck together during loading. Therefore, during material handling, the materials must be dispersed before they can be individually packaged.

[0004] Based on the placement of blister packs and the characteristics of some materials, providing a variable-distance pick-and-place component to improve production efficiency is of great significance to R&D personnel in related industries. Utility Model Content

[0005] To address the shortcomings of the prior art, this utility model provides a variable-pitch pick-and-place assembly and its automatic packaging equipment. By optimizing the structure between the picking units and cooperating the variable-pitch slide table with the picking units, variable-pitch pick-and-place is achieved, thereby improving production efficiency.

[0006] The technical effects to be achieved by this utility model are realized through the following technical aspects:

[0007] Firstly, this utility model provides a variable-pitch pick-and-place assembly, including...

[0008] Power drive components;

[0009] Variable pitch slide; and

[0010] The material handling module includes at least two material handling units arranged along the variable pitch slide, each material handling unit including a connecting block and at least one material handling component; in the arrangement direction of the material handling units, one end is the active end and the other end is the driven end;

[0011] In adjacent material handling units, a connecting rod is connected through different connecting blocks, and the active end of the connecting rod is provided with a driving part; at the driving part, the material handling unit is fixed relative to the connecting rod; the driven end of the connecting rod is provided with a limiting member for abutting against the adjacent connecting block, and the limiting member is located at the driven end of the connecting block;

[0012] In the material handling module, the output end of the power drive unit is driven to the material handling unit located at the end of the active end, so as to drive the material handling unit and the connected connecting rod to move toward the active end, and to move the other material handling units in conjunction.

[0013] A gap is formed between the driving part and the limiting member, and the lengths of different gaps are the same in the same material picking module.

[0014] Preferably, the connecting block includes a first connecting block and a second connecting block, and the connecting rod includes a first connecting rod and a second connecting rod. The first connecting block and the second connecting block are respectively disposed in the material handling unit in the vertical direction, and the first connecting rod and the second connecting rod are respectively connected to the first connecting block and the second connecting block.

[0015] Preferably, the limiting member is movably connected to the connecting rod to adjust the length of the spacing portion.

[0016] Preferably, the material handling unit includes a connecting part and a mounting plate. The material handling unit is connected to the variable pitch slide, the power drive component, and adjacent material handling units through the connecting part. The mounting plate is detachably connected to the connecting part, and the material handling component is disposed on the mounting plate.

[0017] Preferably, the connecting part includes a slider movably connected to the variable pitch slide, a first connecting member for connecting to the connecting rod, and a second connecting member for connecting to the output end of the power drive component; the slider, the second connecting member, and the first connecting member are connected in sequence, and the first connecting member is detachably connected to the mounting plate.

[0018] Secondly, this utility model also provides an automatic dispensing device, characterized in that it includes...

[0019] The product feeding mechanism is used to provide products to be packaged.

[0020] A blister tray feeding mechanism is used to provide blister trays; and

[0021] The material handling robot includes a moving component and any of the above-mentioned variable-distance handling components. The variable-distance handling component moves between the product feeding mechanism and the blister tray feeding mechanism under the action of the moving component to pick up the product and pack it onto the blister tray.

[0022] Preferably, the material handling robot further includes a fixed block and a blister tray handling assembly, wherein the blister tray handling assembly and the variable-distance handling assembly are connected to the fixed block.

[0023] Preferably, a vertical drive cylinder is provided between the blister tray picking and placing component and the fixed block, and the blister tray picking and placing component moves under the action of the vertical drive cylinder; the blister tray picking and placing component and the variable distance picking and placing component are respectively located on both sides of the fixed block.

[0024] Preferably, the picking and placing robot is also connected to a vision inspection mechanism, which is positioned toward the variable-distance picking and placing component.

[0025] Preferably, it further includes a blister tray unloading mechanism, wherein the blister tray picking and placing component moves between the blister tray loading mechanism and the blister tray unloading mechanism under the action of the moving component.

[0026] In summary, this utility model has at least the following advantages:

[0027] 1. The variable-pitch pick-and-place assembly provided by this utility model optimizes the structure between the pick-and-place units and integrates a variable-pitch slide table with the pick-and-place units to achieve variable-pitch pick-and-place, thereby improving production efficiency. The power drive provides power for the variable-pitch between the pick-and-place units, and the variable-pitch slide table provides a moving track for the pick-and-place units. The pick-and-place units are linked by connecting rods, limiting members, and connecting blocks to form a linkage mechanism. As the pick-and-place unit at the active end and its connected connecting rod move towards the active end under the action of the power drive assembly, the limiting member at the driven end of the connecting rod abuts against the connecting block of the adjacent pick-and-place unit, and pushes the adjacent pick-and-place unit through the connecting block. Under this linkage, other pick-and-place units are moved sequentially. Specifically, the spacing between the limiting members in the same connecting rod is the same. When the linkage is completed, all the limiting members abut against the connecting block, thus ensuring that each pair of pick-and-place units also has the same spacing. This achieves an equidistant effect after the pitch is changed, which is beneficial for achieving equidistant product dispersion, thereby enabling batch pick-and-place and packaging, and improving production efficiency.

[0028] 2. The present invention provides an automatic dispensing device for dispersing and dispensing products one by one into the corresponding placement positions of the blister tray. The product feeding mechanism is used to provide the products to be dispensed, the blister tray feeding mechanism is used to provide the blister tray, and the picking and placing robot realizes the adsorption, equidistant dispersion, movement and dispensing of products through the variable distance picking and placing component. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the variable-pitch pick-and-place assembly before the pitch is changed in Embodiment 1 of this utility model.

[0030] Figure 2 This is a schematic diagram of the variable-pitch pick-and-place assembly after pitch change in Embodiment 1 of this utility model.

[0031] Figure 3 This is a schematic diagram of the connecting rod and connecting block of the variable pitch pick-and-place assembly in Embodiment 1 of this utility model.

[0032] Figure 4 This is a schematic diagram of the structure of the connecting part of the variable pitch pick-and-place assembly in Embodiment 1 of this utility model.

[0033] Figure 5 This is a schematic diagram of the automatic dispensing equipment according to Embodiment 2 of this utility model.

[0034] Figure 6 This is a schematic diagram of the material handling robot of Embodiment 2 of this utility model.

[0035] Figure 7 This is a schematic diagram of the automatic dispensing equipment according to Embodiment 3 of this utility model.

[0036] Figure 8 This is a schematic diagram of the material handling robot of Embodiment 3 of this utility model.

[0037] Marked in the image:

[0038] 1000. Automated dispensing equipment;

[0039] 100. Material handling robot; 10. Variable pitch material handling assembly; 101. Power drive component; 102. Variable pitch slide; 103. Material handling module; 104. Active end; 105. Driven end; 1. Material handling unit; 11. Material handling component; 12. Connecting block; 121. First connecting block; 122. Second connecting block; 13. Connecting rod; 131. First connecting rod; 132. Second connecting rod; 14. Limiting component; 15. Drive unit; 16. Mounting plate; 17. Slider; 18. First connecting component; 19. Second connecting component; 21. Push rod; 22. Push block; 30. Moving assembly; 31. Fixing block; 32. Vertical drive cylinder; 40. Blister tray handling assembly; 50. Vision inspection mechanism;

[0040] 200. Product feeding mechanism;

[0041] 300. Blister tray feeding mechanism;

[0042] 400. Vacuum forming tray unloading mechanism. Detailed Implementation

[0043] To facilitate understanding of this utility model, a more comprehensive description will be given below with reference to the accompanying drawings and specific embodiments. The drawings illustrate preferred embodiments of this utility model. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model.

[0044] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0045] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0047] Example 1:

[0048] Please see the appendix Figure 1-4 The variable-pitch pick-and-place assembly 10 of this utility model includes a power drive component 101, a variable-pitch slide 102, and a pick-and-place module 103. The pick-and-place module 103 includes several pick-and-place units 1. By optimizing the structure between the pick-and-place units 1, the variable-pitch pick-and-place assembly 10 enables the pick-and-place units 1 to move together, thereby dispersing the products at equal intervals while handling them, which helps to achieve batch packaging.

[0049] Specifically, the material handling module 103 is mounted on the variable-pitch slide table 102 and includes at least two material handling units 1 arranged along the slide table 102. Each material handling unit 1 has at least one material handling component 11 for picking up and placing products; the material handling component 11 can be a gripper, suction cup, or other structure. Each material handling unit 1 also has a connecting block 12, and a connecting rod 13 connects adjacent connecting blocks 12 of each material handling unit 1. The connecting rod 13 is parallel to the arrangement direction of the material handling units 1. Along the arrangement direction of the material handling units 1, one end is the active end 104, and the other end is the driven end 105.

[0050] The active end 104 of the connecting rod 13 is provided with a drive unit 15, and the material taking unit 1 is fixed relative to the connecting rod 13 at the drive unit 15; the driven end 105 of the connecting rod 13 is provided with a limiting member 14 for abutting against the adjacent connecting block 12, and the limiting member 14 is located on the side where the driven end 105 of the connecting block 12 is located.

[0051] In the material handling module 103, the material handling unit 1 located at the end of the active end 104 is driven to be connected to the output end of the power drive unit 101. Under the action of the power drive unit 101, the material handling unit 1 located at the end of the active end 104 and its connected connecting rod 13 move toward the active end 104 as a whole, and the limiting member 14 of the driven end 105 of the connecting rod 104 abuts against the connecting block 12 of the adjacent material handling unit 1, and pushes the adjacent material handling unit 1 through the connecting block 12. Under this linkage, other material handling units 1 are moved in sequence, so that the material handling module 103 changes from a material handling state in which several material handling units 1 are closely arranged to a material feeding state in which the material handling units 1 are dispersed.

[0052] Specifically, a spacing portion is formed between the drive unit 15 and the limiting member 14, and the lengths of different spacing portions are the same in the same material picking module 103. When the linkage is completed, the limiting member 14 abuts against the connecting block 12, so that the two picking units 1 also have the same spacing, thereby achieving the effect of equal spacing after the change of spacing, realizing the equal distribution of products, which is conducive to batch picking and packaging, and improving production efficiency.

[0053] The variable-pitch pick-and-place assembly 10 of this embodiment will be described in detail below:

[0054] In some embodiments, to ensure good linkage between adjacent material handling units 1 and structural compactness, the positions of the connecting blocks 12 and connecting rods 13 can be further refined. The connecting blocks 12 may include a first connecting block 121 and a second connecting block 122, and the connecting rods 13 may include a first connecting rod 131 and a second connecting rod 132, which are respectively connected to the first connecting blocks 121 and 122. Specifically, the first connecting blocks 121 and 122 are vertically disposed on the material handling units 1. The material handling units 1 are connected to adjacent material handling units 1 on both sides via connecting blocks 12 and connecting rods 13 located at different positions, ensuring that adjacent linkages do not interfere with each other. Compared to placing all connecting rods 13 on the same horizontal plane, this staggered arrangement of connecting rods 13 can reduce the thickness of the variable-pitch pick-and-place assembly 10, ensuring that the material handling units 1 can be tightly arranged in the initial state and improving the smoothness of linkage.

[0055] Furthermore, in order to increase the flexibility of the variable-pitch pick-and-place assembly 10, the limiting member 14 can be movably adjusted to the connecting rod 13 to adjust the length of the spacing section, thereby adjusting the distance between products as needed to adapt to different blister trays.

[0056] It should be noted that in some embodiments, the material picking unit 1 located relative to the active end 104 can also be movably connected to the connecting rod 13. Correspondingly, the driving part 15 of the connecting rod 13 is also provided with a limiting member 14. The limiting member 14 at the driving part 15 is preferably provided at the active end 104 of the adjacent connecting block 12. When the material picking unit 1 located relative to the active end 104 moves toward the active end 104 under the action of the power driving member 101, or under the action of the limiting member 14 and the connecting block 12, the connecting block 12 of the material picking unit 1 located relative to the active end 104 will abut against the limiting member 14 at the active end 104, thereby fixing the material picking unit 1 relative to the connecting rod 13 at the driving part 15. In this case, the length between the spacing parts can be changed by adjusting the limiting member 14 of the driving part 15. It is understood that in some embodiments, the material picking unit 1 located relative to the active end 104 can be substantially fixedly connected to the driving part 15 of the connecting rod 13.

[0057] In some embodiments, the material handling unit 1 further includes a connecting portion and a mounting plate 16. The material handling unit 1 is connected to the variable pitch slide 102, the power drive unit 101, and adjacent material handling units 1 via the connecting portion. The material handling component 11 is mounted on the mounting plate 16, and the mounting plate 16 is detachably connected to the connecting portion. When needed, the mounting plate 16 and the connected material handling component 11 can be replaced as required to meet the needs of products of different sizes, dimensions, spacing, and quantities.

[0058] Furthermore, the connecting part includes a slider 17, a first connecting member 18, and a second connecting member 19. The slider 17 has a groove that matches the protruding track on the variable pitch slide 102. The slider 17 is slidably connected to the variable pitch slide 102 via the groove to move along the track of the variable pitch slide 102. The first connecting member 18 has a connecting block 12. In this embodiment, both the upper and lower ends of the first connecting member 18 have protruding connecting blocks 12, and the connecting block 12 has a limiting hole in the middle for the connecting rod 13 to pass through. The second connecting member 19 is used to connect to the output end of the power drive unit 101. In this embodiment, one side of the second connecting member 19 has a groove that matches the slider 17 and is nested outside the slider 17; the other side is a plane that connects to the first connecting member 18, and the upper end surface is used to connect to the output end of the power drive unit 101. The output end of the power drive unit 101 is provided with a telescopic push rod 21. The push rod 21 is connected to a push block 22 fixed to the second connector 19. As the push rod 21 extends and retracts, the material picking unit 1 located at the end of the active end 104 moves along the variable pitch slide table 102.

[0059] Example 2:

[0060] Please refer to the reference. Figures 5 to 6 This embodiment, based on Embodiment 1, provides an automatic packaging equipment 1000, including a product feeding mechanism 200, a blister tray feeding mechanism 300, and a picking and placing robot 100. The picking and placing robot 100 includes the variable-distance picking and placing component 10 from Embodiment 1. The automatic packaging equipment 1000 uses the variable-distance picking and placing component 10 to pick up, disperse, and unload products, thereby placing the products at equal intervals in the blister tray, achieving automated packaging and improving production efficiency.

[0061] Specifically, the product feeding mechanism 200 is used to provide products to be packaged, which can be rigid boards or other structures. This embodiment uses a rigid board as an example for explanation.

[0062] To improve production efficiency, rigid boards are typically fed in a close arrangement to enable batch packaging. Therefore, the robotic arm 100 needs to individually pick up and distribute the rigid boards at equal intervals into the blister pack.

[0063] The material handling robot 100 includes a moving component 30 and a variable-pitch handling component 10 connected to the moving component 30. The moving component 30 includes a multi-level robotic arm for flexibility. The variable-pitch handling component 10 moves between the product loading mechanism 200 and the blister tray loading mechanism 300 under the action of the moving component 30.

[0064] The blister tray feeding mechanism 300 is used for feeding blister trays, wherein the blister trays have equally spaced placement compartments.

[0065] During operation, the material handling robot 100 moves to the product loading mechanism 200. Initially, the material handling units 1 in the variable-pitch material handling assembly 10 are closely arranged, with the positions of the material handling parts 11 on them corresponding one-to-one with the rigid boards, and they adsorb the rigid boards one by one. Subsequently, the moving assembly 30 moves the variable-pitch material handling assembly 10, which has completed adsorbing the rigid boards, to the vacuum forming board loading mechanism. During this process, the power drive 101 works, causing the material handling unit 1 located at the end of the active end 104 to move towards the active end 104, and sequentially moving other material handling units 1 until the material handling module 103 completes the variable pitch. At this time, equal spacing is formed between different material handling units 1, and the spacing is adapted to the spacing of the placement grids on the vacuum forming board, ultimately realizing the centered placement of the rigid boards in the placement grids, achieving automated packaging.

[0066] Example 3:

[0067] This embodiment further refines the structure of the automatic dispensing equipment 1000 based on Embodiment 2 above. For similarities, please refer to Embodiments 1 and 2. The differences are explained below.

[0068] Please refer to the reference. Figures 7 to 8 In some embodiments, multiple blister packs are stacked for feeding, thus requiring the blister packs to be separated. Therefore, the automatic dispensing equipment 1000 may also include a blister pack unloading mechanism 400, and the picking and placing robot 100 may also include a fixing block 31 and a blister pack picking and placing assembly 50. Both the blister pack picking and placing assembly 50 and the picking and placing robot 100 are connected to the fixing block 31, and the picking and placing robot 100 performs both the functions of blister pack unloading and rigid board picking and placing.

[0069] The picking and placing robot 100 picks up the blister tray from the blister tray loading mechanism 300 via the blister tray picking and placing component 50, and places the single blister tray at the blister tray unloading mechanism 400. Then the picking and placing robot 100 picks up the rigid board and places the rigid board separately in the blister tray at the blister tray unloading mechanism 400.

[0070] Specifically, the blister tray unloading mechanism 400 and the product loading mechanism 200 are arranged adjacent to each other and the conveyor belts are parallel, so that the picking and placing robot 100 can pick up the rigid board while placing the blister tray, reducing the movement time of the moving component 30 and further improving production efficiency.

[0071] Furthermore, a vertical drive cylinder 32 is provided between the blister tray picking and placing assembly 50 and the fixing block 31, and the blister tray picking and placing assembly 50 moves under the action of the vertical drive cylinder 32; the blister tray picking and placing assembly 50 and the variable-pitch picking and placing assembly 10 are respectively located on both sides of the fixing block 31, so that the blister tray picking and placing assembly 50 and the variable-pitch picking and placing assembly 10 can operate independently without affecting each other. The vertical drive cylinder 32 enables the blister tray picking and placing assembly 50 to adapt to different heights of the blister tray, so as to smoothly complete the handling of the blister tray.

[0072] Specifically, to facilitate the adjustment of the variable-pitch pick-and-place assembly 10, to facilitate real-time monitoring of the working status of the variable-pitch pick-and-place assembly 10, or to assist the variable-pitch pick-and-place assembly 10, the pick-and-place robot 100 is also connected to a vision inspection mechanism 60, which is positioned towards the variable-pitch pick-and-place assembly 10. In this embodiment, the vision inspection mechanism 60 is located directly above the variable-pitch pick-and-place assembly 10.

[0073] The above description is merely an example and illustration of the structure of this utility model, and while the description is quite specific and detailed, it should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these obvious substitutions all fall within the protection scope of this utility model.

Claims

1. A variable-pitch pick-and-place assembly, characterized in that, include: Power drive components; Variable pitch slide table; as well as The material handling module includes at least two material handling units arranged along the variable pitch slide, each material handling unit including a connecting block and at least one material handling component; in the arrangement direction of the material handling units, one end is the active end and the other end is the driven end; In adjacent material handling units, a connecting rod is connected through different connecting blocks, and the active end of the connecting rod is provided with a driving part; at the driving part, the material handling unit is fixed relative to the connecting rod; the driven end of the connecting rod is provided with a limiting member for abutting against the adjacent connecting block, and the limiting member is located at the driven end of the connecting block; In the material handling module, the output end of the power drive unit is driven to the material handling unit located at the end of the active end, so as to drive the material handling unit and the connected connecting rod to move toward the active end, and to move the other material handling units in conjunction. A gap is formed between the driving part and the limiting member, and the lengths of different gaps are the same in the same material picking module.

2. The variable-pitch pick-and-place assembly according to claim 1, characterized in that, The connecting block includes a first connecting block and a second connecting block, and the connecting rod includes a first connecting rod and a second connecting rod. The first connecting block and the second connecting block are respectively disposed in the material picking unit in the vertical direction, and the first connecting rod and the second connecting rod are respectively connected to the first connecting block and the second connecting block.

3. The variable-pitch pick-and-place assembly according to claim 1, characterized in that, The limiting member is movably connected to the connecting rod to adjust the length of the spacing section.

4. The variable-pitch pick-and-place assembly according to claim 1, characterized in that, The material handling unit includes a connecting part and a mounting plate. The material handling unit is connected to the variable pitch slide, the power drive component and the adjacent material handling unit through the connecting part. The mounting plate is detachably connected to the connecting part, and the material handling component is disposed on the mounting plate.

5. The variable-pitch pick-and-place assembly according to claim 4, characterized in that, The connecting part includes a slider movably connected to the variable pitch slide, a first connecting member for connecting to the connecting rod, and a second connecting member for connecting to the output end of the power drive component; the slider, the second connecting member and the first connecting member are connected in sequence, and the first connecting member is detachably connected to the mounting plate.

6. An automatic dispensing device, characterized in that, include The product feeding mechanism is used to provide products to be packaged. A blister tray feeding mechanism is used to provide blister trays; as well as A material handling robot, comprising a moving component and a variable-distance handling component as described in any one of claims 1 to 5, wherein the variable-distance handling component moves between the product feeding mechanism and the blister tray feeding mechanism under the action of the moving component to pick up products and dispense them onto the blister tray.

7. The automatic dispensing equipment according to claim 6, characterized in that, The material handling robot also includes a fixed block and a blister tray handling assembly, wherein the blister tray handling assembly and the variable distance handling assembly are connected to the fixed block.

8. The automatic dispensing equipment according to claim 7, characterized in that, A vertical drive cylinder is provided between the blister tray picking and placing component and the fixed block, and the blister tray picking and placing component moves under the action of the vertical drive cylinder; the blister tray picking and placing component and the variable distance picking and placing component are respectively located on both sides of the fixed block.

9. The automatic dispensing equipment according to claim 6, characterized in that, The material handling robot is also connected to a vision inspection mechanism, which is positioned toward the variable-distance handling component.

10. The automatic dispensing equipment according to claim 7, characterized in that, It also includes a blister tray unloading mechanism, wherein the blister tray picking and placing component moves between the blister tray loading mechanism and the blister tray unloading mechanism under the action of the moving component.

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