Tray type material transfer device

Abstract

The utility model belongs to the technical field of machinery, and particularly relates to a charging tray type material transferring device which comprises a supporting frame, a charging tray stacking mechanism, a first pushing-out mechanism, a pushing mechanism, a collecting and stacking mechanism and a second pushing-out mechanism. The trays are stacked and limited through the tray stacking mechanism; the stacked and limited trays are clamped to the supporting plate through the lower grabbing mechanism; the trays on the supporting plate are pushed out of the stacking cavity along the first receding groove through a first pushing-out mechanism; the material tray is pushed to the material channel along the second receding groove through the pushing mechanism and is pushed forwards along the material channel; the collecting and stacking mechanism is used for receiving the trays pushed out by the pushing mechanism and stacking the trays; and the stacked material trays are pushed to the supporting platform through the second pushing mechanism, material tray deformation caused by manual operation is avoided, and material transferring can be achieved on the premise that the material trays are not damaged.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical technology, and in particular relates to a material transfer device of the material tray type. Background Technology

[0002] To reduce costs, existing plastic trays on the market are manufactured very thinly, making them prone to deformation during manual disassembly and transfer. Once deformed, the trays are difficult to restore to their original shape. Deformed trays not only fail to stably support products but also cause inconvenience to subsequent operational processes. Utility Model Content

[0003] The purpose of this utility model is to provide a material transfer device with a material tray, which aims to solve the technical problem that manual operation in the prior art can easily cause deformation of the material tray, and can realize material transfer without damaging the material tray.

[0004] To achieve the above objectives, this utility model provides a tray-type material transfer device, located on one side of a picking robot, for collecting materials output by the picking robot or for providing materials to be picked up by the picking robot. The tray-type material transfer device includes a support frame, a tray stacking mechanism, a first ejection mechanism, a pushing mechanism, a collecting and stacking mechanism, and a second ejection mechanism, wherein:

[0005] The support frame includes a support plate, and the support plate is provided with a material channel for guiding the material tray to move on the support plate;

[0006] The tray stacking mechanism includes a limiting frame and limiting components. The limiting frame is disposed on the support plate and has a stacking cavity for stacking the trays. The limiting components are provided on both sides of the bottom end of the limiting frame. The limiting components include limiting members that alternately extend into the stacking cavity for supporting the trays stacked in the stacking cavity.

[0007] The first ejection mechanism includes a first linear module and a first push plate. The first linear module is disposed on the bottom side of the support plate. The support plate is provided with a first clearance groove, which extends along the length of the support plate. The two ends of the first clearance groove are located at the front and rear sides of the limiting frame, respectively. The connecting part of the first push plate passes through the first clearance groove and connects to the first linear module. The height of the first push plate is lower than the support height of the limiting component.

[0008] The pushing mechanism includes a second linear module, a first lifting module, and a clamping and limiting component. The second linear module is disposed on the bottom side of the support plate, and the support plate is provided with a second clearance groove, which extends from one side of the limiting frame to one end of the support plate. The first lifting module is disposed on the second linear module, and the clamping and limiting component is connected to the first lifting module. The clamping and limiting component includes two sets of grippers, which are used to clamp the two sides of the material tray.

[0009] The collecting and stacking mechanism is located on one side of the support frame and is used to receive the tray pushed out by the pushing mechanism. The collecting and stacking mechanism includes a second lifting module and a carrier plate, and the carrier plate is located on the second lifting module.

[0010] The second ejection mechanism is located on one side of the collecting and stacking mechanism and is used to eject the trays stacked on the carrier plate.

[0011] As an optional solution of this utility model, the collecting and stacking mechanism further includes two side plates, which directly form a stacking channel. The second ejection mechanism is located at one end of the stacking channel, and a support platform is provided at the other end of the stacking channel.

[0012] As an optional solution of this utility model, a lifting cylinder is also provided on one side of the second lifting module. The lifting cylinder is provided with a telescopic cylinder, and the telescopic end of the telescopic cylinder is provided with a hook plate for hooking the material tray to fit against the inner side of the two side plates.

[0013] As an optional embodiment of this utility model, one end of the material channel extends out of the support plate and extends toward the collection and stacking mechanism; the collection and stacking mechanism is further provided with support mechanisms on both sides, the support mechanism including a support member and a cylinder connecting the support member, the support member being located on the bottom side of the material channel.

[0014] As an optional solution of this utility model, the limiting component includes a first supporting cylinder and a second supporting cylinder, the first supporting cylinder and the second supporting cylinder being arranged vertically; the telescopic end of the first supporting cylinder is provided with a first limiting plate, and the telescopic end of the second supporting cylinder is provided with a second limiting plate.

[0015] As an optional solution of this utility model, the bottom side of the support plate is also provided with a pull-down mechanism for clamping the material tray at the bottom end of the stacking cavity and pulling it down onto the support plate; the pull-down mechanism includes a third lifting module, a base plate and two sets of clamping members; the base plate is disposed on the third lifting module, the two sets of clamping members are disposed opposite to each other on the base plate, and the support plate is provided with a third clearance groove for clearing the clamping members.

[0016] As an optional solution of this utility model, the second ejection mechanism includes a linear cylinder and a second push plate, the second push plate being disposed on the linear cylinder, and the height of the second push plate being not less than the height of the material trays stacked on the carrier plate.

[0017] As an optional solution of this utility model, the tray-type material transfer device further includes a frame, and the support frame, the picking robot, the first ejection mechanism, the pushing mechanism, the collecting and stacking mechanism and the second ejection mechanism are all disposed on the frame.

[0018] The above-mentioned technical solutions of one or more technical solutions in the tray-type material transfer device provided by this utility model embodiment have at least one of the following technical effects:

[0019] This application provides a tray-type material transfer device, which can stack and limit the trays through a tray stacking mechanism; clamp the stacked and limited trays onto a support plate through a gripping mechanism; push the trays on the support plate into the stacking cavity through a first ejection mechanism along a first clearance groove; push the trays onto the material channel through a pushing mechanism along a second clearance groove and push them forward along the material channel; receive the trays pushed out by the pushing mechanism through a collecting and stacking mechanism and stack them; and push the stacked trays onto a support platform through a second pushing mechanism. This avoids tray deformation caused by manual operation and can achieve material transfer without damaging the trays. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of a tray-type material transfer device provided for an embodiment of the present utility model.

[0022] Figure 2 A schematic diagram of the support frame of a tray-type material transfer device provided in an embodiment of this utility model.

[0023] Figure 3 This is a schematic diagram of the stacking mechanism of a tray-type material transfer device provided in an embodiment of the present utility model.

[0024] Figure 4 This is a schematic diagram of the structure of the first ejection mechanism of a tray-type material transfer device provided in an embodiment of the present utility model.

[0025] Figure 5This is a schematic diagram of the pushing mechanism of a tray-type material transfer device provided in an embodiment of the present utility model.

[0026] Figure 6 This is a schematic diagram of the collection and stacking mechanism and the second ejection mechanism of a tray-type material transfer device provided in an embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of the structure of a limiting component of a tray-type material transfer device provided in an embodiment of the present utility model.

[0028] Figure 8 This is a schematic diagram of the pull-down mechanism of a tray-type material transfer device provided in an embodiment of the present utility model.

[0029] The following are the labeling elements in the figure:

[0030] 1. Support frame; 2. Tray stacking mechanism; 3. First ejection mechanism; 4. Pushing mechanism; 5. Collection and stacking mechanism; 6. Second ejection mechanism; 7. Pickup robot; 8. Frame; 9. Pull-down mechanism; 10. Tray; 101. Material channel; 102. Support plate; 1021. First clearance slot; 1022. Second clearance slot; 1023. Third clearance slot; 201. Limiting frame; 202. Limiting component; 2021. First support cylinder; 2022. Second support cylinder; 2023. First limiting plate; 2024. Second limiting plate; 301. First linear module; 302, first push plate; 401, second linear module; 402, first lifting module; 403, clamping and limiting component; 4031, gripper; 501, second lifting module; 502, carrier plate; 503, side plates; 504, support platform; 5051, lifting cylinder; 5052, telescopic cylinder; 5053, hook plate; 506, support mechanism; 5061, support component; 5062, cylinder; 601, second push plate; 602, linear cylinder; 901, third lifting module; 902, base plate; 903, clamping component. Detailed Implementation

[0031] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0032] In the description of the embodiments of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of 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.

[0033] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0034] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0035] In one embodiment of this utility model, such as Figures 1-8 As shown, a tray-type material transfer device is provided, including a support frame 1, a tray stacking mechanism 2, a first ejection mechanism 3, a pushing mechanism 4, a collecting and stacking mechanism 5, and a second ejection mechanism 6, wherein:

[0036] Reference Figure 2 The support frame 1 includes a support plate 102, which is connected to several support columns to maintain a certain support height between the support plate 102 and the frame 8, facilitating the installation of the first ejection mechanism 3 and the pushing mechanism 4 under the support plate 102. The support plate 102 is provided with a material channel 101 for guiding the material tray 10 to move on the support plate 102.

[0037] Reference Figure 3The tray stacking mechanism 2 includes a limiting frame 201 and limiting components 202. The limiting frame 201 is disposed on the support plate 102 and has a stacking cavity for stacking trays 10. In a specific embodiment of this utility model, the limiting frame is formed by the inward opening of the included angle of four L-shaped limiting posts. Each limiting post includes a fixing post fixed to the support plate and an L-shaped baffle. The L-shaped baffle is fixed to the fixing post and maintains a fixed height with the support plate 102, which is at least greater than the height of the first push rod 301. Limiting components 202 are provided on both sides of the bottom end of the limiting frame 201. The limiting components 202 include limiting members that alternately extend into the stacking cavity for supporting the trays 10 stacked in the stacking cavity.

[0038] Reference Figure 4 The first ejection mechanism 3 includes a first linear module 301 and a first push plate 302. The first linear module 301 is located on the bottom side of the support plate 102. The support plate 102 has a first clearance groove 1021 that extends along the length of the support plate 102. The two ends of the first clearance groove 102 are located at the front and rear sides of the limiting frame 201, respectively. Therefore, the first ejection mechanism 3 is used to eject the tray 10 from the stacking cavity. The connecting part of the first push plate 302 passes through the first clearance groove 1021 and connects to the first linear module 301. This connecting part is a vertical rod with fixing screw holes at both ends. One end is vertically connected to the first push plate 302 to minimize the space of the first clearance groove 1021, and the other end is fixed to the slide of the first linear module 301, so that the first push rod 302 ejects the tray 10 along the long side of the support plate. The height of the first push plate 302 is lower than the support height of the limiting component 202 to facilitate the smooth passage of the first push plate 302.

[0039] Reference Figure 5 The pushing mechanism 4 includes a second linear module 401, a first lifting module 402, and a clamping and limiting component 403. The second linear module 401 is located on the bottom side of the support plate 102. The support plate 102 has a second clearance groove 1022 for two sets of grippers to pass through and clamp the tray 10. The second clearance groove 1022 extends from one side of the limiting frame 201 to one end of the support plate 102, so that the pushing mechanism 4 can push the tray 10 to one end of the support plate. The first lifting module 402 is located on a slide on the second linear module 401, and the clamping and limiting component 403 is connected to the first lifting module 402. The clamping and limiting component 403 includes two sets of grippers 4031, which are used to clamp the two sides of the tray 10 to prevent the tray 10 from shifting when the picking robot clamps or collects material, thus affecting the process operation.

[0040] The collecting and stacking mechanism 5 is located on one side of the support frame 1 and is used to receive the material tray 10 pushed out by the pushing mechanism 4. The collecting and stacking mechanism 5 includes a second lifting module 501 and a carrier plate 502. The carrier plate 502 is located on the slide table on the second lifting module 501 and can move vertically to reduce the height difference between the carrier plate and the material tray 10 when receiving the material tray 10, thus preventing damage to the material tray 10.

[0041] The second ejection mechanism 6 is located on one side of the collection and stacking mechanism 5 and is used to eject the trays 10 stacked on the carrier plate 502.

[0042] In another embodiment of this utility model, such as Figure 6 As shown, the collecting and stacking mechanism also includes two side plates 503, which directly form a stacking channel to fix the front and rear positions of the trays 10, making the trays 10 more neat when stacked. The second ejection mechanism 6 is located at one end of the stacking channel, and the other end of the stacking channel is provided with a support platform 504. The second ejection mechanism 6 pushes the trays 10 on the carrier plate 502 onto the support platform 504.

[0043] In another embodiment of this utility model, such as Figure 6 As shown, a lifting cylinder 5054 is also provided on one side of the second lifting module 501. A telescopic cylinder 5052 is provided on the lifting cylinder 5051. A hook plate 5053 is provided at the telescopic end of the telescopic cylinder 5052 for hooking the material tray 10 to fit against the inner side of the two side plates 503. When the material tray 10 is pushed into the stacking channel, the lifting cylinder 5051 drives the hook plate 5053 to rise vertically, and the telescopic cylinder 5052 drives the hook plate 5053 to extend horizontally above the material tray 10. Then, the lifting cylinder 5051 drives the hook plate 5053 to descend vertically. Finally, the telescopic cylinder 5052 drives the hook plate 5053 to retract. During the retraction process, the hook plate abuts against one end of the material tray 10, causing the material tray 10 to pull back until it fits against the inner side of the two side plates 503.

[0044] In another embodiment of this utility model, such as Figure 6 As shown, one end of the feed channel 10 extends out of the support plate 102 and towards the collecting and stacking mechanism 5, for continuing to transport the tray 10 to the collecting and stacking mechanism 5. Support mechanisms 506 are also provided on both sides of the collecting and stacking mechanism 5. Each support mechanism 506 includes a support member 5061 and a cylinder 5062 connected to the support member. The support member 5061 is located on the bottom side of the feed channel 10 and is used to support the tray 10 moving at the extension of the feed channel 10. When the tray 10 is successfully pulled back to the inner side of the two side plates 503, the cylinder 5062 will cause the support member 5061 to pop outwards, and the tray 10 will then fall onto the carrier plate 502, thereby achieving the stacking of the tray 10 on the carrier plate 502.

[0045] In another embodiment of this utility model, such as Figure 7As shown, the limiting assembly 202 includes a first support cylinder 2021 and a second support cylinder 2022. The first support cylinder 2021 and the second support cylinder 2022 are arranged vertically, which facilitates the control of the support cylinders to separate the limiting plates from adjacent material trays. The telescopic end of the first support cylinder 2021 is provided with a first limiting plate 2023, and the telescopic end of the second support cylinder 2022 is provided with a second limiting plate 2024. The first limiting plate 2023 and the second limiting plate 2024 have protrusions in the horizontal direction, which can abut against the bottom of the material tray. As the first limiting plate 2023 and the second limiting plate 2024 alternately extend into the gap between adjacent material trays, the adjacent material trays are initially separated. It is worth noting that, considering that the limiting plate also serves to support the material tray, during the process of the first supporting cylinder 2021 and the second supporting cylinder 2022 controlling the alternating extension of the first limiting plate 2023 and the second limiting plate 2024, the first limiting plate 2023 and the second limiting plate 2024 are allowed to be in the extended state at the same time, but the first limiting plate 2023 and the second limiting plate 2024 are not allowed to be in the extended state at the same time.

[0046] In another embodiment of this utility model, such as Figure 8 As shown, a pull-down mechanism 9 is also provided on the bottom side of the support plate 102. This is because after the limiting component 202 completes the initial separation of adjacent trays, there is still a certain adsorption force between adjacent trays, which cannot fall smoothly onto the support plate by the weight of the trays. Therefore, the pull-down mechanism 9 is provided to clamp the tray 10 at the bottom of the stacking cavity and pull it down onto the support plate 102. The pull-down mechanism 9 includes a third lifting module 901, a base plate 902, and two sets of clamping members 903. The base plate 902 is located on the third lifting module 901, and the two sets of clamping members 903 are arranged opposite to each other at the four corners of the base plate 902. The support plate 102 is provided with a third clearance groove 1023 for clearance clamping members 903.

[0047] In another embodiment of this utility model, such as Figure 6 As shown, the second ejection mechanism 6 includes a linear cylinder 602 and a second push plate 601. The second push plate 601 is mounted on the linear cylinder 602. To provide a balanced thrust, in this specific embodiment of the invention, the linear cylinder 602 employs a dual-axis cylinder in the middle and a single-axis cylinder on each side. The height of the second push plate 601 is not less than the height of the stacked trays 10 on the carrier plate 502, facilitating the second push plate 601 to eject all the stacked trays 10 on the carrier plate 502 onto the support platform.

[0048] In another embodiment of this utility model, such as Figure 1 As shown, the tray-type material transfer device also includes a frame 8, a support frame 1, a picking robot 7, a first ejection mechanism 3, a pushing mechanism 4, a collection and stacking mechanism 5, and a second ejection mechanism 6, all of which are mounted on the frame.

[0049] This application provides a tray-type material transfer device for collecting materials output by the picking robot, and its working process is as follows:

[0050] The stacked empty trays are placed into the stacking cavity within the limiting frame. The first support cylinder in the limiting assembly pushes the first limiting plate into the stacking cavity, pressing against the bottom tray to maintain a certain support height with the support plate. Next, the second support cylinder in the limiting assembly pushes the second limiting plate into the stacking cavity, pressing against the tray adjacent to the bottom tray, separating it from the bottom tray. Then, the clamping member of the pull-down mechanism clamps the tray through the third clearance groove. Simultaneously, the first limiting plate extends out of the stacking cavity, clamping the tray onto the support plate. The first push plate, under the action of the first module, pushes the tray out of the stacking cavity. Then, the first lifting module drives the clamping and limiting... The components are held on both sides of the tray by the second clearance groove. Under the action of the second linear module, the tray is pushed onto the material channel along the extension direction of the third clearance groove. During the movement of the tray in the material channel, the picking robot picks up the product and places it on the empty tray. The tray filled with products is pushed along the material channel to the collection and stacking mechanism. The support mechanism at the bottom of the material channel supports the tray, and then the hook plate hooks the tray and pulls it along the support mechanism to the stacking channel formed by the two side plates. The support mechanism extends under the control of the cylinder, and the tray is received on the carrier plate. Finally, the second push-out mechanism located on one side of the collection and stacking mechanism pushes the tray on the carrier plate to the support platform at the other end of the stacking channel.

[0051] This application provides a tray-type material transfer device for providing the picking robot with the material to be picked up. Its working process is basically the same as that for collecting the material output by the picking robot. The difference is that when the tray moves in the material channel, the picking robot picks up the product on the tray.

[0052] This application provides a tray-type material transfer device. By setting up a support frame, a tray stacking mechanism, a first push mechanism, a collection and stacking mechanism, a second push mechanism, and a pull-down mechanism, the above-mentioned workflow can be realized, avoiding tray deformation caused by manual operation and enabling material transfer without damaging the tray.

[0053] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A tray-type material transfer device, disposed on one side of a picking robot, for collecting materials output by the picking robot, or for providing materials to be picked up by the picking robot; characterized in that, The tray-type material transfer device includes a support frame, a tray stacking mechanism, a first ejection mechanism, a pushing mechanism, a collecting and stacking mechanism, and a second ejection mechanism, wherein: The support frame includes a support plate, and the support plate is provided with a material channel for guiding the material tray to move on the support plate; The tray stacking mechanism includes a limiting frame and limiting components. The limiting frame is disposed on the support plate and has a stacking cavity for stacking the trays. The limiting components are provided on both sides of the bottom end of the limiting frame. The limiting components include limiting members that alternately extend into the stacking cavity for supporting the trays stacked in the stacking cavity. The first ejection mechanism includes a first linear module and a first push plate. The first linear module is disposed on the bottom side of the support plate. The support plate is provided with a first clearance groove, which extends along the length of the support plate. The two ends of the first clearance groove are located at the front and rear sides of the limiting frame, respectively. The connecting part of the first push plate passes through the first clearance groove and connects to the first linear module. The height of the first push plate is lower than the support height of the limiting component. The pushing mechanism includes a second linear module, a first lifting module, and a clamping and limiting component. The second linear module is disposed on the bottom side of the support plate, and the support plate is provided with a second clearance groove, which extends from one side of the limiting frame to one end of the support plate. The first lifting module is disposed on the second linear module, and the clamping and limiting component is connected to the first lifting module. The clamping and limiting component includes two sets of grippers, which are used to clamp the two sides of the material tray. The collecting and stacking mechanism is located on one side of the support frame and is used to receive the tray pushed out by the pushing mechanism. The collecting and stacking mechanism includes a second lifting module and a carrier plate, and the carrier plate is located on the second lifting module. The second ejection mechanism is located on one side of the collecting and stacking mechanism and is used to eject the trays stacked on the carrier plate.

2. The material transfer device of the tray type according to claim 1, characterized in that, The collecting and stacking mechanism also includes two side plates, which directly form a stacking channel. The second ejection mechanism is located at one end of the stacking channel, and a support platform is provided at the other end of the stacking channel.

3. The material transfer device of the tray type according to claim 2, characterized in that, The second lifting module is also provided with a lifting cylinder on one side. The lifting cylinder is provided with a telescopic cylinder. The telescopic end of the telescopic cylinder is provided with a hook plate for hooking the material tray and attaching it to the inner side of the two side plates.

4. A tray-type material transfer device according to any one of claims 1 to 3, characterized in that, One end of the material channel extends out of the support plate and extends toward the collection and stacking mechanism; the collection and stacking mechanism is also provided with support mechanisms on both sides, the support mechanism including a support member and a cylinder connected to the support member, the support member being located on the bottom side of the material channel.

5. A tray-type material transfer device according to any one of claims 1 to 3, characterized in that, The limiting component includes a first support cylinder and a second support cylinder, which are arranged vertically; the telescopic end of the first support cylinder is provided with a first limiting plate, and the telescopic end of the second support cylinder is provided with a second limiting plate.

6. The material transfer device of the tray type according to claim 1, characterized in that, The bottom side of the support plate is also provided with a pull-down mechanism for clamping the material tray at the bottom end of the stacking cavity and pulling it down onto the support plate; the pull-down mechanism includes a third lifting module, a base plate and two sets of clamping members; the base plate is disposed on the third lifting module, the two sets of clamping members are disposed opposite to each other on the base plate, and the support plate is provided with a third clearance groove for clearing the clamping members.

7. The material transfer device of the tray type according to claim 1, characterized in that, The second ejection mechanism includes a linear cylinder and a second push plate. The second push plate is disposed on the linear cylinder, and the height of the second push plate is not less than the height of the material trays stacked on the carrier plate.

8. The material transfer device of the tray type according to claim 1, characterized in that, The tray-type material transfer device also includes a frame, on which the support frame, the picking robot, the first ejection mechanism, the pushing mechanism, the collecting and stacking mechanism, and the second ejection mechanism are all mounted.

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