Robot flexible multipurpose feeding device

Abstract

The utility model relates to the technical field of screening and feeding, in particular to a robot flexible multipurpose feeding device which comprises a workbench, a vibration screening mechanism, a first grabbing mechanism, a feeding mechanism and a screening camera, the vibration screening mechanism is installed on the workbench, the first grabbing mechanism is installed on the workbench, and the feeding mechanism is installed on the screening camera. The feeding mechanism is used for conveying materials to the feeding position from the middle position, the screening camera is used for obtaining the positions of the materials in the vibration screening mechanism, and then the first grabbing mechanism grabs the materials and conveys the grabbed materials to the middle position from the vibration screening mechanism. Through mutual cooperation of the vibration screening mechanism and the feeding mechanism, materials can be firstly screened and then fed, screening and feeding of different types of materials can be achieved, screening and feeding of the different types of materials can be achieved without replacing parts, and the screening and feeding efficiency is improved. The feeding efficiency of materials can be improved, and the space occupied by the whole robot flexible multipurpose feeding device can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of screening and feeding technology, and in particular to a robot flexible multi-purpose feeding device. Background Technology

[0002] A feeder is a mechanical device used to transport materials to production equipment or production lines. It is a highly efficient and reliable automated mechanical device that plays an important role in many industrial fields. Through proper operation and maintenance, the long-term stable operation of the feeder can be ensured, thereby improving production efficiency and product quality.

[0003] Currently, the material feeding methods available on the market include:

[0004] 1. Manual operation method: This method consumes a lot of manpower and resources, which will affect the material feeding efficiency;

[0005] 2. Palletized feeding method: This method is not compatible with the production of products of various specifications, requires a large number of pallets for turnover, consumes a lot of materials, and occupies a large space. Utility Model Content

[0006] The technical problem to be solved by this utility model is: in order to solve the technical problems of low efficiency and large space occupation of existing feeding methods, this utility model provides a robot flexible multi-purpose feeding device. By improving the feeding method, the feeding efficiency of materials can be improved and the space occupied by the feeding device can be shortened.

[0007] The technical solution adopted by this utility model to solve its technical problem is: a robot flexible multi-purpose feeding device, including: a workbench, a vibrating screening mechanism, a first gripping mechanism, a feeding mechanism, and a screening camera. The vibrating screening mechanism is installed on the workbench and is used to vibrate and screen materials. The first gripping mechanism is installed on the workbench. The feeding mechanism is installed on the workbench and is used to transport materials from the middle position to the feeding position. The screening camera is located directly above the vibrating screening mechanism and is used to obtain the position of the materials in the vibrating screening mechanism. After that, the first gripping mechanism grips the materials and transports the gripped materials from the vibrating screening mechanism to the middle position.

[0008] Therefore, through the cooperation of the vibrating screening mechanism and the feeding mechanism, materials can be screened before being fed, and different types of materials can be screened and fed. Compared with existing manual feeding, pallet feeding and traditional vibrating feeding methods, this method has a simple structure, is easy to operate, and can screen and feed different types of materials without changing parts. It can improve the feeding efficiency of materials and reduce the space occupied by the entire robot flexible multi-purpose feeding device. In addition, it can also screen and feed materials, and screen out materials that do not meet the requirements before feeding, thereby improving the screening effect. The screening camera can obtain the position of the material to be conveyed and send the position information to the first gripping mechanism so that the first gripping mechanism can grasp the material.

[0009] Furthermore, two vibrating screening mechanisms are provided. Therefore, the two vibrating screening mechanisms enable uninterrupted screening and feeding operations, thereby improving material feeding efficiency.

[0010] Furthermore, the number of the first gripping mechanisms is equal to the number of the vibrating screening mechanisms.

[0011] Furthermore, the vibrating screen material mechanism includes: a feeding bin, a flexible vibrating screen tray, and a receiving box. The discharge port of the feeding bin is located above the flexible vibrating screen tray, and the flexible vibrating screen tray is mounted on the receiving box. Both the feeding bin and the receiving box are connected to the workbench. The screening camera is located directly above the flexible vibrating screen tray. Thus, the feeding bin can hold the material to be fed, and the flexible vibrating screen tray can screen the material. Material that meets the requirements after screening remains on the flexible vibrating screen tray, while material that does not meet the requirements falls into the receiving box.

[0012] Furthermore, the first gripping mechanism includes a robot and a gripper unit, wherein the robot is connected to the worktable and the gripper unit is connected to the robot.

[0013] Furthermore, the gripper unit includes: a mounting part, two gripper parts, and a second driving member. The mounting part is connected to the robot, the gripper parts are connected to the mounting part, and the second driving member is connected to the mounting part. The driving end of the second driving member is connected to the gripper parts. The second driving member drives the two gripper parts to move towards each other or relative to each other. Therefore, when gripping materials, the robot and the second driving member cooperate to grasp the materials. When the two gripper parts move towards each other, they can grasp the materials; when the two gripper parts move relative to each other, the grasped materials can be released from the grippers.

[0014] Furthermore, it also includes a recognition camera, which is located in the middle position near the screening camera. Thus, the recognition camera can identify the direction of the material to be placed in the middle position, ensuring that the material is neatly arranged before feeding, thereby further improving the material feeding efficiency.

[0015] Furthermore, the feeding mechanism includes a belt unit and a carrier. The belt unit is connected to the worktable, and the carrier is connected to the belt unit. The belt unit drives the carrier to move, thereby conveying material from the intermediate position to the feeding position. Thus, the material to be fed is placed in the carrier, and the belt unit moves the carrier to convey the material from the intermediate position to the feeding position, ultimately completing the feeding action.

[0016] Furthermore, there are two belt units; wherein: the belt unit closer to the first gripping mechanism is used to transport the material from the first sub-intermediate position to the second sub-intermediate position, and the belt unit farther away from the first gripping mechanism is used to transport the material from the third sub-intermediate position to the loading position.

[0017] Furthermore, it also includes: two second gripping mechanisms, one second gripping mechanism located on one side of the feeding mechanism, and the other second gripping mechanism located on the other side of the feeding mechanism; wherein: one second gripping mechanism is used for gripping the carrier between the first sub-intermediate position and the feeding position, and the other second gripping mechanism is used for gripping the carrier between the second sub-intermediate position and the third sub-intermediate position.

[0018] Compared with the prior art, the beneficial effects of this utility model are:

[0019] By cooperating with the vibrating screening mechanism and the feeding mechanism, materials can be screened before being fed, and different types of materials can be screened and fed. Compared with existing manual feeding, pallet feeding and traditional vibrating feeding methods, this method has a simple structure, is easy to operate, and can screen and feed different types of materials without changing parts. It can improve the feeding efficiency of materials and reduce the space occupied by the entire robot flexible multi-purpose feeding device. In addition, it can also screen materials before feeding, and screen out materials that do not meet the requirements, thereby improving the screening effect of materials. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the structure of the robot flexible multi-purpose feeding device of this utility model;

[0022] Figure 2This is a top view of the robot flexible multi-purpose feeding device of this utility model;

[0023] Figure 3 This is a schematic diagram of the structure of the vibrating screen mechanism of this utility model;

[0024] Figure 4 This is a schematic diagram of the gripper unit of this utility model;

[0025] Figure 5 This is a schematic diagram of the installation of the feeding mechanism, the second gripping mechanism, the first positioning mechanism, and the second positioning mechanism of this utility model.

[0026] Figure 6 This is a schematic diagram of the mechanism of the vehicle of this utility model;

[0027] Figure 7 This is a schematic diagram of the structure of the first positioning mechanism of this utility model;

[0028] Figure 8 This is a schematic diagram of the structure of the second positioning mechanism of this utility model;

[0029] Figure 9 This is a control block diagram of the robot flexible multi-purpose feeding device of this utility model;

[0030] Figure 10 This diagram shows the positional relationship between the material tray, the middle position, and the feeding position of the flexible vibrating screen of this utility model.

[0031] In the diagram: 1. Workbench; 2. Vibrating screen material mechanism; 201. Feeding bin; 202. Flexible vibrating screen material tray; 203. Receiving box; 3. First gripping mechanism; 301. Robot; 302. Gripper unit; 3021. Mounting part; 3022. Gripper part; 3023. Second drive component; 4. Feeding mechanism; 401. Belt unit; 402. Carrier; 4021. Positioning seat; 4022. Positioning hole; 5. Screening camera; 6. Recognition camera; 7. Second gripping mechanism; 701 702. Track plate; 703. Swing rod; 704. Connector; 705. Gripper cylinder; 8. First positioning mechanism; 801. Fifth driving component; 802. Baffle; 803. Sixth driving component; 804. Positioning pin; 805. Seventh driving component; 806. Blocking post; 9. Second positioning mechanism; 901. Eighth driving component; 902. First positioning post; 903. Fiber optic sensor; 904. Ninth driving component; 905. Second positioning post; 10. Controller. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0033] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating the orientation or positional relationship shown in the accompanying drawings, 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, and therefore should not be construed as a limitation of this utility model. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0034] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] like Figures 1 to 10The diagram shows the preferred embodiment of this utility model. The robot flexible multi-purpose feeding device of this embodiment includes: a workbench 1, a vibrating screening mechanism 2, a first gripping mechanism 3, a feeding mechanism 4, and a screening camera 5. The vibrating screening mechanism 2 is installed on the workbench 1 and is used to vibrate and screen materials. The first gripping mechanism 3 is installed on the workbench 1, and the feeding mechanism 4 is installed on the workbench 1 and is used to transport materials from the middle position to the feeding position. The screening camera 5 is located directly above the vibrating screening mechanism 2 and is used to obtain the position of the materials in the vibrating screening mechanism 2. After the first gripping mechanism 3 grips the materials, it transports the gripped materials from the vibrating screening mechanism 2 to the middle position. Therefore, through the cooperation of the vibrating screening mechanism 2 and the feeding mechanism 4, the material can be screened before feeding, and different types of materials can be screened and fed. Compared with the existing manual feeding, pallet feeding and traditional vibrating feeding methods, this method has a simple structure, is easy to operate, and can screen and feed different types of materials without changing parts. It can improve the feeding efficiency of materials and reduce the space occupied by the entire robot flexible multi-purpose feeding device. In addition, it can also screen and feed materials, and screen out materials that do not meet the requirements before feeding, thereby improving the screening effect of materials. The screening camera 5 can obtain the position of the material to be conveyed and send the position information to the first gripping mechanism 3 so that the first gripping mechanism 3 can grip the material.

[0036] In this embodiment, there are two vibrating screening mechanisms 2; the number of first gripping mechanisms 3 is equal to the number of vibrating screening mechanisms 2. Therefore, the two vibrating screening mechanisms 2 enable uninterrupted screening and feeding operations, thereby improving material feeding efficiency.

[0037] In this embodiment, the vibrating screen mechanism 2 includes: a feeding bin 201, a flexible vibrating screen tray 202, and a receiving box 203. The discharge port of the feeding bin 201 is located above the flexible vibrating screen tray 202, and the flexible vibrating screen tray 202 is mounted on the receiving box 203. Both the feeding bin 201 and the receiving box 203 are connected to the workbench 1. The screening camera 5 is located directly above the flexible vibrating screen tray 202. Thus, the feeding bin 201 can hold the material to be fed, and the flexible vibrating screen tray 202 can screen the material. Material that meets the requirements after screening remains on the flexible vibrating screen tray 202, while material that does not meet the requirements falls into the receiving box 203.

[0038] Specifically, the flexible vibrating screen tray 202 has a built-in light source, which can improve the accuracy of the images taken by the screening camera 5.

[0039] Specifically, the flexible vibrating screen tray 202 can be used to feed materials of different materials such as plastic, metal and rubber.

[0040] In this embodiment, the first gripping mechanism 3 includes a robot 301 and a gripper unit 302. The robot 301 is connected to the workbench 1, and the gripper unit 302 is connected to the robot 301. The gripper unit 302 includes a mounting part 3021, two gripper parts 3022, and a second driving member 3023. The mounting part 3021 is connected to the robot 301, the gripper parts 3022 are connected to the mounting part 3021, and the second driving member 3023 is connected to the mounting part 3021. The driving end of the second driving member 3023 is connected to the gripper parts 3022. The second driving member 3023 is used to drive the two gripper parts 3022 to move towards each other or relative to each other. Therefore, when gripping materials, the robot 301 and the second drive unit 3023 cooperate to grip the materials; when the two gripper parts 3022 move towards each other, they can grip the materials; when the two gripper parts 3022 move relative to each other, they can make the gripped materials detach from the grippers.

[0041] Specifically, the gripper 3022 is installed with the robot 301 by magnetic attraction, that is, the gripper 3022 is installed and removed from the robot 301 by magnets, so that the installation and removal of the two gripper 3022 can be completed quickly.

[0042] Specifically, the gripper 3022 can be customized according to the shape of the material to be fed, and can be a square material, a round material or other irregularly shaped material.

[0043] It should be noted that the robot 301 and the gripper unit 302 cooperate to grasp the material. The two gripping positions of the material are not limited, including but not limited to the material being transported from the vibrating screen mechanism 2 to the middle position in this embodiment, as long as it is at any position within the working range of the robot 301.

[0044] For example, robot 301 is a SCARA robot, coordinate robot or six-axis robot, and the second drive component 3023 is a cylinder.

[0045] In this embodiment, a recognition camera 6 is also included, located in the middle position near the screening camera 5. Thus, the recognition camera 6 can identify the direction of the material to be placed in the middle position, ensuring that the material is neatly arranged before feeding, thereby further improving the material feeding efficiency.

[0046] In this embodiment, the feeding mechanism 4 includes a belt unit 401 and a carrier 402. The belt unit 401 is connected to the workbench 1, and the carrier 402 is connected to the belt unit 401. The belt unit 401 drives the carrier 402 to move, thereby conveying material from the intermediate position to the feeding position. Two belt units 401 are provided. The belt unit 401 closer to the first gripping mechanism 3 conveys material from the first sub-intermediate position to the second sub-intermediate position, and the belt unit 401 farther from the first gripping mechanism 3 conveys material from the third sub-intermediate position to the feeding position. Thus, the material to be fed is placed in the carrier 402, and the belt unit 401 moves the carrier 402, thereby conveying the material from the intermediate position to the feeding position, ultimately completing the material feeding action.

[0047] Specifically, the belt unit 401 includes two belts, two third drive components, and a frame. The belts and third drive components correspond one-to-one. The belts and third drive components are all mounted on the frame, which is mounted on the worktable 1. The third drive components drive the belts to rotate, thereby moving the carrier 402 and enabling the material loading operation. The third drive component is a motor.

[0048] Specifically, the carrier 402 includes a positioning seat 4021 and a positioning hole 4022. The positioning hole 4022 is opened on the positioning seat 4021. When the material is changed, the carrier 402 can be replaced to achieve the compatibility between the carrier 402 and the material.

[0049] In this embodiment, it also includes: two second gripping mechanisms 7, one second gripping mechanism 7 located on one side of the feeding mechanism 4, and the other second gripping mechanism 7 located on the other side of the feeding mechanism 4; wherein: one second gripping mechanism 7 is used for gripping the carrier 402 between the first sub-intermediate position and the feeding position, and the other second gripping mechanism 7 is used for gripping the carrier 402 between the second sub-intermediate position and the third sub-intermediate position. Specifically, the second gripping mechanism 7 includes: a fourth drive member 701, a track plate 702, a swing rod 703, a connector 704, and a gripper cylinder 705. The fourth drive member 701 is connected to the track plate 702, and the drive end of the fourth drive member 701 is connected to the connector 704 through the swing rod 703. The gripper cylinder 705 is connected to the connector 704. After the material on the carrier 402 is loaded, one second gripping mechanism 7 grips the empty carrier 402 from the loading position to the first sub-intermediate position to realize the cyclic reciprocating motion of the carrier 402. Another second gripping mechanism 7 grips the carrier 402 carrying the material from the second sub-intermediate position to the third sub-intermediate position. In this way, the material can be moved away from the belt conveyor of the first gripping mechanism 3 from the belt conveyor of the first gripping mechanism 3.

[0050] Specifically, it also includes: a first positioning mechanism 8, located at a belt, for positioning the carrier 402 on the first belt; the first positioning mechanism 8 includes: a fifth driving member 801, a baffle 802, a sixth driving member 803, a positioning pin 804, a seventh driving member 805, and a blocking post 806. The driving end of the fifth driving member 801 is connected to the baffle 802, the driving end of the sixth driving member 803 is connected to the positioning pin 804, and the driving end of the seventh driving member 805 is connected to the blocking post 806. The fifth driving member 801 drives the baffle 802 to extend and block the carrier 402, the sixth driving member 803 drives the positioning pin 804 to extend and insert into the positioning hole 4022 to achieve precise positioning of the carrier 402, and the seventh driving member 805 drives the blocking post 806 to extend and block subsequent carriers 402; wherein: the fifth driving member 801, the sixth driving member 803, and the seventh driving member 805 are all cylinders.

[0051] Specifically, it also includes: a second positioning mechanism 9, located at another belt, which positions the carrier 402 on the other belt; the second positioning mechanism 9 includes: an eighth drive member 901, a first positioning post 902, a fiber optic sensor 903, a ninth drive member 904, and a second positioning post 905. The drive end of the eighth drive member 901 is connected to the first positioning post 902, the fiber optic sensor 903 is located above the first positioning post 902, and the drive end of the ninth drive member 904 is connected to the second positioning post 905. The eighth drive member 901 drives the first positioning post 902 to extend, so as to correct the forward and backward positioning of the carrier 402. The fiber optic sensor 903 is used to detect whether there is material on the carrier 402. The ninth drive member 904 drives the second positioning post 905 to extend, so as to correct the misalignment of the material on the carrier 402; wherein: the eighth drive member 901 and the ninth drive member 904 are both cylinders.

[0052] Specifically, it also includes: controller 10, flexible vibrating screen tray 202, robot 301, second drive component 3023, third drive component, screening camera 5, recognition camera 6, fourth drive component 701, gripper cylinder 705, fifth drive component 801, sixth drive component 803, seventh drive component 805, eighth drive component 901, fiber optic sensor 903 and ninth drive component 904 are all connected to controller 10, so controller 10 can control the screening and feeding process of the entire robot flexible multi-purpose feeding device.

[0053] It should be noted that: the methods of selecting camera 5 and identifying camera 6 for photo location are existing technologies.

[0054] The material feeding process of this utility model is as follows: First, the material to be fed is placed into the feeding bin 201; then, the material is screened by the flexible vibrating screen tray 202; then, through the cooperation of the screening camera 5 and the first gripping mechanism 3, the screened material is conveyed to the first sub-intermediate position by the flexible vibrating screen tray 202; next, the belt unit 401 close to the first gripping mechanism 3 is started to convey the material from the first sub-intermediate position to the second sub-intermediate position; then, the material is gripped from the second sub-intermediate position to the third sub-intermediate position by another second gripping mechanism 7; finally, the belt unit 401 away from the first gripping mechanism 3 is started to convey the material from the third sub-intermediate position to the feeding position. After the material is fed from the feeding position, the empty carrier 402 is gripped from the feeding position to the first sub-intermediate position by a second gripping mechanism 7 to realize the recycling of the carrier 402.

[0055] In summary, this utility model, through the cooperation of the vibrating screening mechanism 2 and the feeding mechanism 4, can achieve material screening before feeding, and can screen and feed different types of materials. Compared with existing manual feeding, pallet feeding and traditional vibrating feeding methods, this method has a simple structure, is easy to operate, and can screen and feed different types of materials without changing parts. It can improve the material feeding efficiency and reduce the space occupied by the entire robot flexible multi-purpose feeding device. In addition, it can also screen and feed materials, and screen out materials that do not meet the requirements before feeding, thereby improving the material screening effect.

[0056] Based on the preferred embodiments of this utility model described above, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A flexible multi-purpose feeding device for robots, characterized in that, include: Workbench (1), and Vibrating screening mechanism (2), the vibrating screening mechanism (2) is installed on the workbench (1), and the vibrating screening mechanism (2) is used for vibrating screening of materials; The first gripping mechanism (3) is installed on the workbench (1); The feeding mechanism (4) is installed on the workbench (1) and is used to transport materials from the middle position to the feeding position; The screening camera (5) is located directly above the vibrating screening mechanism (2). After the screening camera (5) obtains the position of the material in the vibrating screening mechanism (2), the first gripping mechanism (3) grips the material and transports the gripped material from the vibrating screening mechanism (2) to the middle position.

2. The robot flexible multi-purpose feeding device according to claim 1, characterized in that, There are two vibrating screen material mechanisms (2).

3. The robot flexible multi-purpose feeding device according to claim 2, characterized in that, The number of the first gripping mechanism (3) is equal to the number of the vibrating screen mechanism (2).

4. The robot flexible multi-purpose feeding device according to claim 2, characterized in that, The vibrating screen mechanism (2) includes: The feeding bin (201), the flexible vibrating screen tray (202), and the receiving box (203) are provided. The discharge port of the feeding bin (201) is located above the flexible vibrating screen tray (202). The flexible vibrating screen tray (202) is installed on the receiving box (203). The feeding bin (201) and the receiving box (203) are both connected to the workbench (1). Wherein: the screening camera (5) is located directly above the flexible vibrating screen tray (202).

5. The robot flexible multi-purpose feeding device according to claim 3, characterized in that, The first grasping mechanism (3) includes: A robot (301) and a gripper unit (302) are provided, wherein the robot (301) is connected to the workbench (1) and the gripper unit (302) is connected to the robot (301).

6. The robot flexible multi-purpose feeding device according to claim 5, characterized in that, The gripper unit (302) includes: The robot comprises a mounting part (3021), two gripper parts (3022), and a second drive member (3023). The mounting part (3021) is connected to the robot (301), the gripper parts (3022) are connected to the mounting part (3021), the second drive member (3023) is connected to the mounting part (3021), and the drive end of the second drive member (3023) is connected to the gripper parts (3022). Wherein: the second driving member (3023) is used to drive the two gripper portions (3022) to move toward each other or relative to each other.

7. The robot flexible multi-purpose feeding device according to claim 2, characterized in that, Also includes: The identification camera (6) is located in the middle position on one side close to the screening camera (5).

8. The robot flexible multi-purpose feeding device according to claim 1, characterized in that, The feeding mechanism (4) includes: A belt unit (401) and a carrier (402), wherein the belt unit (401) is connected to the workbench (1) and the carrier (402) is connected to the belt unit (401); Wherein: the belt unit (401) is used to drive the carrier (402) to move so as to realize the material being transported from the middle position to the loading position.

9. The robot flexible multi-purpose feeding device according to claim 8, characterized in that, Two belt units (401) are provided in total; Wherein: the belt unit (401) close to the first gripping mechanism (3) is used to transport the material from the first sub-intermediate position to the second sub-intermediate position, and the belt unit (401) far away from the first gripping mechanism (3) is used to transport the material from the third sub-intermediate position to the loading position.

10. The robot flexible multi-purpose feeding device according to claim 9, characterized in that, Also includes: Two second gripping mechanisms (7), one second gripping mechanism (7) is located on one side of the feeding mechanism (4), and the other second gripping mechanism (7) is located on the other side of the feeding mechanism (4); Wherein: one of the second gripping mechanisms (7) is used for gripping the carrier (402) between the first sub-intermediate position and the loading position, and the other of the second gripping mechanisms (7) is used for gripping the carrier (402) between the second sub-intermediate position and the third sub-intermediate position.

Images