An electronic tray feeding module

Abstract

This utility model provides an electronic tray loading module, including a tray, a temporary storage platform, and a gripper assembly. The gripper assembly expands its gripper head via a gripper cylinder, clamping the center hole of the tray. Combined with a large-area plastic lower pressure plate, it provides flexible pressing, dispersing clamping force and protecting the tray. A buffer device employs a buffer spring and guide rod design to provide flexible cushioning and enhance clamping stability. A lifting cylinder and a swing arm cylinder respectively realize the lifting and angle adjustment of the gripper assembly, accommodating various tray sizes. The temporary storage platform has a positioning groove to ensure stable tray placement. This utility model overcomes the problems of unstable clamping and tray damage through flexible pressing and buffering design, improving handling efficiency and reliability.

Description

Technical Field

[0001] This utility model relates to the field of electronic material tray handling technology, specifically to an electronic material tray loading module. Background Technology

[0002] Electronic tray loading modules are key equipment in the electronics manufacturing industry for automated handling and loading of electronic trays, widely used in semiconductor, electronic component production and assembly, and other industries. As the electronics manufacturing industry develops towards higher precision, higher efficiency, and intelligence, the role of tray loading modules in automated production lines is becoming increasingly important. In recent years, the miniaturization and high integration of electronic products have placed higher demands on the stability and flexibility of production equipment, prompting continuous advancements in loading module technology. Traditional manual handling methods have gradually been replaced by automated equipment. As a core component of the handling system, the design of robotic grippers directly affects the efficiency and safety of tray handling. Currently, the industry is committed to developing gripper mechanisms with better structures, greater adaptability, and more stable operation to meet the needs of diverse tray sizes and complex production environments. However, existing loading modules still have shortcomings in gripper design, flexible pressing, and cushioning performance, making it difficult to fully meet the requirements of high-precision handling and tray protection.

[0003] In existing technologies, robotic end effectors typically employ cylinder-driven gripper structures, using the gripper's expansion and contraction to hold the center hole or outer edge of a material tray. This design generally suffers from uneven gripping force when grasping the tray. Since the trays are often made of plastic or composite materials, excessive gripping force can lead to deformation or damage, while insufficient force can cause the tray to slip, affecting handling stability. Existing gripper designs lack an effective flexible pressing mechanism during gripping. When the gripper aligns with the center hole of the tray or performs an insertion action, the lack of sufficient guidance and cushioning makes it prone to gripping failure due to mechanical impact or positioning deviation. Especially in high-speed handling scenarios, the rapid opening, closing, and movement of the gripper generate significant impact forces, further increasing the risk of tray damage.

[0004] In existing technologies, to address the issues of clamping stability and tray protection, some designs attempt to improve clamping performance by increasing the contact area of ​​the grippers or optimizing the chuck shape. For example, some grippers use flexible materials to cover the chuck surface to reduce direct pressure on the tray. However, this method is prone to failure due to material wear over long-term use, and the adhesion of flexible materials is insufficient to cope with the diverse surface characteristics of trays. Some devices control the clamping force by adjusting the driving pressure of the cylinder, but this method is difficult to adjust precisely and may still result in uneven clamping force or excessive impact under complex working conditions. Some designs introduce simple spring buffer devices, but these devices are usually structurally simple, have limited buffering effect, and are difficult to adapt to the handling needs of trays of different sizes. Overall, existing technologies still have significant shortcomings in the flexible pressing and buffering design of grippers, making it difficult to simultaneously achieve clamping stability, tray protection, and high adaptability.

[0005] To address the aforementioned issues, some existing technologies improve clamping accuracy by adding auxiliary positioning devices to the gripper mechanism or improving the cylinder control system. For example, sensors are added to the grippers to detect the tray position, or multi-stage cylinder control is used to achieve segmented clamping. However, these improvements increase the complexity and cost of the equipment, and in high-speed handling, the response speed of the sensors and the real-time performance of the cylinder control are difficult to fully meet the requirements. Existing cushioning devices are mostly simple springs or elastic pads, lacking a coordinated design with the gripper's movement, making it difficult to provide a stable and flexible pressing effect during clamping. These solutions alleviate the problems of unstable clamping or tray damage to some extent, but they still do not fundamentally solve the comprehensive deficiencies of the grippers in terms of flexible pressing, cushioning performance, and adaptability.

[0006] This application aims to address the shortcomings of existing gripper designs in terms of clamping stability, tray protection, and adaptability, and to provide an electronic tray loading module that is simple in structure, stable in operation, and can effectively protect the tray. Utility Model Content

[0007] To solve the above-mentioned technical problems, this utility model provides an electronic tray loading module. Its purpose is to expand the chuck by driving the chuck with a unique gripper cylinder, and to achieve flexible pressing and buffering in conjunction with a large-area plastic pressure plate and spring guide post buffer device, thereby enhancing the clamping stability, protecting the tray from damage, and adapting to various tray specifications to improve handling efficiency and reliability.

[0008] An electronic material tray loading module includes a material tray, a temporary storage platform, and a gripper assembly. The gripper assembly is fixedly installed at the lower end of the material tray. The gripper assembly includes a material pick-and-place gripper cylinder, a chuck, a material pick-and-place pressure plate, and a buffer device.

[0009] The cylinder body of the pick-and-place gripper cylinder is fixedly connected to the lower end surface of the material tray. The chuck is mechanically connected to and driven by the output end of the pick-and-place gripper cylinder to achieve expansion or contraction, and is used to clamp the center hole of the material tray.

[0010] The material-picking lower pressure plate is a large-area plastic part, which is fixedly installed below the material-picking and dispensing claw cylinder and arranged around the circumference of the chuck. When the material tray is clamped, the lower surface of the material-picking lower pressure plate directly contacts the upper surface of the material tray to provide flexible pressing.

[0011] The buffer device includes a buffer spring and a guide rod. The guide rod is arranged vertically, with its lower end fixedly connected to the upper surface of the material-retrieving lower pressure plate, and its upper end slidably connected to the guide hole of the material tray. The buffer spring is sleeved on the outer periphery of the guide rod and located between the material-retrieving lower pressure plate and the material tray. The buffer spring is compressed by the material-retrieving lower pressure plate when the clamp is inserted into the center hole of the material tray, so as to provide flexible buffering and enhance clamping stability.

[0012] Furthermore, the gripper assembly also includes a material picking and placing lifting cylinder, which is fixedly installed inside the material tray. Its output end is fixedly connected to the upper end of the material picking and placing gripper cylinder, and is used to drive the gripper assembly to rise and fall vertically to align with the center hole of the material tray.

[0013] Furthermore, the buffer device also includes a buffer limiting bolt, which is fixedly installed on the bottom of the material tray and coaxially arranged with the guide rod, and is used to limit the sliding stroke of the guide rod to control the compression degree of the buffer spring.

[0014] Furthermore, the material tray also includes a material pick-and-place swing arm cylinder, which is fixedly installed inside the material tray. Its output end is hinged to the gripper assembly and is used to drive the gripper assembly to rotate around a horizontal axis to adjust the gripping angle.

[0015] Furthermore, the outer surface of the chuck is provided with a flexible pad layer, which is made of rubber material and covers the clamping surface of the chuck, in order to reduce the direct pressure on the material tray when clamping the center hole of the material tray.

[0016] Furthermore, the output end of the material handling lifting cylinder is fixedly connected to the upper end of the material handling gripper cylinder via a connecting flange, and the connecting flange extends horizontally to enhance the connection rigidity.

[0017] Furthermore, the upper surface of the temporary storage platform is provided with a positioning groove, the shape of which matches the bottom contour of the material tray, to provide positioning constraints when the material tray is placed on the temporary storage platform.

[0018] Furthermore, the buffer device also includes a buffer guide bearing, which is embedded in the guide hole of the material tray and slides in cooperation with the guide rod to reduce the frictional resistance when the guide rod slides.

[0019] Furthermore, the bottom surface of the material-taking pressure plate is provided with a plurality of evenly distributed flexible protrusions, which are made of elastic polymer and are used to further disperse the pressing pressure when in contact with the upper surface of the material tray.

[0020] Furthermore, the output end of the material handling arm cylinder is connected to the gripper assembly via a rotating shaft. The axis of the rotating shaft is perpendicular to the length direction of the material tray, which is used to achieve precise angle adjustment of the gripper assembly.

[0021] This utility model provides an electronic tray loading module, which significantly improves the clamping stability and tray protection during tray handling through a unique gripper assembly design. The gripper assembly's pneumatically driven grippers precisely expand or contract, firmly clamping the tray's center hole. Combined with a large-area plastic lower pressure plate that directly contacts the tray's upper surface, it provides flexible pressure, effectively dispersing clamping force and preventing deformation or damage due to excessive force. Simultaneously, the buffer device employs a synergistic design of a buffer spring and guide rod. When the gripper inserts into the tray's center hole, the buffer spring is compressed, providing flexible cushioning for the gripper's movement, reducing mechanical impact, further protecting the tray's integrity, and enhancing clamping stability.

[0022] Driven by a lifting cylinder, the gripper assembly can precisely move vertically, ensuring the gripper head aligns with the center hole of the material tray, thus improving gripping accuracy and efficiency. The introduction of a swing arm cylinder allows the gripper assembly to rotate around a horizontal axis, flexibly adjusting the gripping angle to adapt to the handling needs of trays of different sizes and angles. The buffer limit bolts and buffer guide bearings in the buffer device further optimize the sliding stroke control of the guide rod and reduce frictional resistance, making the buffering action smoother and more reliable. The positioning groove design of the temporary storage platform matches the bottom contour of the material tray, providing additional positioning constraints to prevent the material tray from shifting during placement.

[0023] The flexible padding on the outer surface of the chuck and the flexible protrusions on the bottom surface of the material-picking pressure plate further enhance the protection of the material tray. The use of flexible materials effectively reduces direct pressure during clamping while increasing the friction between the clamping surface and the material tray, preventing slippage. These designs work together to enable this invention to adapt to various material tray sizes, significantly improving handling efficiency and reliability while reducing the material tray damage rate, providing an efficient and stable material feeding solution for automated production lines in the electronics manufacturing industry. Attached Figure Description

[0024] Appendix Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0025] Appendix Figure 2 This is a schematic diagram showing the material tray placed on the temporary storage platform in this utility model.

[0026] Appendix Figure 3 This is a schematic diagram of the material being taken from the material string according to this utility model.

[0027] Appendix Figure 4 This is a partially enlarged schematic diagram of the material being pressed down during the material handling process of this utility model.

[0028] Appendix Figure 5 This is a schematic diagram showing the state in which the gripper of this utility model is open and supports the central hole wall of the material tray.

[0029] Appendix Figure 6 This is a schematic diagram of the gripper of this utility model in the open state.

[0030] Appendix Figure 7 This is a schematic diagram showing the state of the gripper of this utility model aligned with the center hole of the material tray.

[0031] Appendix Figure 8 This is a schematic diagram showing the state of the gripper of this utility model inserted into the center hole of the material tray.

[0032] Appendix Figure 9 This is a schematic diagram of the material handling arm of this utility model.

[0033] Appendix Figure 10 This is a schematic diagram of the buffer device of this utility model.

[0034] Figure reference numerals: 1. Material tray - 2. Temporary storage platform - 3. Swing arm gripper - 4. Material tray temporary storage table - 5. Downward pressure spring compression guide rod - 6. Gripper center hole wall support - 7. Gripper open state - 8. Gripper center hole alignment - 9. Gripper center hole insertion - 10. Swing arm cylinder - 11. Buffer spring device - 12. Gripper cylinder - 13. Downward pressure plate - 14. Lifting cylinder - 15. Limit bolt - 16. Guide bearing - 17. Buffer spring - 18. Detailed Implementation

[0035] The technical solution of this utility model will now be clearly and completely described in conjunction with the accompanying drawings. 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., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They 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. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0036] 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. The utility model will be further described below with reference to the accompanying drawings.

[0037] This utility model provides an electronic tray loading module, aiming to automate the handling and loading of electronic trays, and solve the problems of insufficient clamping stability and easy damage to the trays in the prior art. The overall structure is shown in the attached figure. Figure 1 As shown, the electronic tray loading module mainly includes a tray 1, a temporary storage platform 2, and a gripper assembly. The tray 1 is a long, rectangular mechanical structure, bolted to the end of the handling robot, forming the main frame supporting and driving the gripper assembly, used for gripping, moving, and placing the tray. The temporary storage platform 2 is a horizontally positioned rectangular platform; its upper surface is used to temporarily support the tray, as shown in the attached diagram. Figure 2 As shown, the status of the material tray temporary storage platform 4 ensures the positional stability and safety of the material tray during the handling process. The gripper assembly is fixedly installed at the lower end of the material tray 1. As the core actuator, it is responsible for accurately gripping and releasing the material tray to realize the full automation of the process from picking up the material from the material string to placing it.

[0038] The structural design of the gripper assembly is the core innovation of this utility model, including a gripper cylinder 13, a chuck, a lower pressure plate 14, and a buffer spring device 12. The cylinder body of the gripper cylinder 13 is firmly fixed to the lower surface of the material tray 1 by bolts, and its output end is fixedly connected to the chuck via a mechanical connector. The chuck consists of multiple movable claw-shaped components, which, driven by the gripper cylinder 13, can expand or contract to grip the center hole of the material tray. (See attached image) Figure 2 The state of the swing arm gripper 3 is shown, displaying the ready posture of the gripper in its initial open state 8. (Attached) Figure 5 This demonstrates the state of the gripper's central hole wall support 7. The expansion of the gripper ensures that the claw-shaped components fit tightly against the inner wall of the material tray's central hole, guaranteeing a secure grip. (Attached) Figure 6 The image further illustrates the gripper open state 8, showing the structure of the gripper when fully open, highlighting the flexible padding layer covering its outer surface. The lower pressure plate 14 is made of a large-area plastic component, fixed to the underside of the gripper cylinder 13 by screws, and evenly distributed around the circumference of the gripper. The lower surface of the lower pressure plate 14 directly contacts the upper surface of the material tray when gripping it, forming a large-area flexible pressing force, dispersing the clamping force, and effectively preventing the material tray from deforming or being damaged due to excessive localized force, as shown in the attached image. Figure 4 As shown, the state of the compression of the guide rod 6 by the downward spring further illustrates its flexible pressing function.

[0039] The design of the buffer spring device 12 further enhances the stability and protection during clamping, including a buffer spring 18, a guide rod, a limiting bolt 16, and a guide bearing 17. The guide rod is a vertically oriented metal rod, its lower end of which is threaded to the upper surface of the lower pressure plate 14, and its upper end of which is slidably connected to the guide hole of the material tray 1. The buffer spring 18 is a helical compression spring, sleeved on the outer circumference of the guide rod, located between the lower pressure plate 14 and the material tray 1. During the insertion of the chuck into the center hole of the material tray 10, as shown in the attached... Figure 8 As shown, the reaction force on the upper surface of the receiving plate of the lower pressure plate 14 moves upward, causing the guide rod to slide within the guide hole and compress the buffer spring 18, as shown in the attached diagram. Figure 4 As shown, the compression of the guide rod 6 by the downward spring effectively absorbs mechanical impact, providing flexible cushioning and reducing the impact force on the material tray. The limiting bolt 16 is threaded to the bottom of the material tray 1 and coaxially arranged with the guide rod, used to limit the maximum sliding stroke of the guide rod, thereby controlling the compression degree of the buffer spring 18. The guide bearing 17 is embedded in the guide hole of the material tray 1 and slides with the guide rod, significantly reducing sliding friction resistance and ensuring the smoothness of the cushioning action, as shown in the attached figure. Figure 10 As shown in the schematic diagram of the buffer spring device 12, the interrelationship of these components is clearly illustrated.

[0040] To improve clamping accuracy and adaptability, the gripper assembly also includes a lifting cylinder 15. The cylinder body is bolted to the internal cavity of the material tray 1, and its output end is fixedly connected to the upper end of the gripper cylinder 13 via a connecting flange. The lifting cylinder 15 drives the entire gripper assembly to move vertically up and down, precisely adjusting the height of the gripper relative to the center hole of the material tray, as shown in the attached diagram. Figure 7As shown, aligning the center hole of the gripper with 9 ensures that the gripper can be accurately positioned and inserted into the center hole of the tray. The tray 1 also contains a swing arm cylinder 11, whose cylinder body is fixed inside the swing arm. Its output end is connected to the gripper assembly via a hinge, used to drive the gripper assembly to rotate around a horizontal axis, adjusting the gripping angle to accommodate trays of different sizes or tilt angles, as shown in the attached diagram. Figure 9 As shown in the diagram, the structural schematic of the swing arm cylinder 11 clearly illustrates the installation and connection method of the swing arm cylinder 11 and the lifting cylinder 15.

[0041] The design of temporary storage platform 2 further optimizes the placement stability of the tray. Its upper surface is equipped with positioning grooves whose shape precisely matches the bottom contour of the tray. These grooves provide positioning constraints when the tray is stored on temporary storage platform 4, preventing the tray from shifting or sliding during placement or handling. (See attached image.) Figure 2 As shown. The outer surface of the chuck has a flexible pad made of rubber material, which covers the clamping surface of the chuck, as shown in the attached image. Figure 6 As shown, the open jaws state 8 demonstrates the coverage of the flexible padding layer when the jaws expand. When clamping the center hole of the tray, the flexible padding layer reduces direct pressure on the hole wall, increases friction, prevents the tray from slipping, and further protects the tray surface. The bottom surface of the lower pressure plate 14 has multiple evenly distributed flexible protrusions made of elastic polymer material, which further disperse the pressing pressure when in contact with the upper surface of the tray, enhancing the protective effect.

[0042] In actual operation, the electronic tray loading module completes the tray handling according to the following steps: First, the lifting cylinder 15 drives the gripper assembly to move vertically, adjusting the gripper height to align the gripper center hole 9, as shown in the attached diagram. Figure 7 As shown. Next, the gripper cylinder 13 drives the gripper to expand, completing the insertion of the gripper center hole 10 and forming the gripper center hole wall support 7, as shown in the attached figure. Figure 5 and attached Figure 8 As shown. The lower pressure plate 14 contacts the upper surface of the material tray, and the buffer spring 18 is compressed to provide flexible cushioning, as shown in the attached diagram. Figure 4 As shown, this is the state of the guide rod 6 compressed by the downward pressure spring. After the gripper assembly picks up the material from the feed string, as shown in the attached diagram... Figure 3 As shown, the angle of the gripper assembly is adjusted by the swing arm cylinder 11 to stably place the material tray into the positioning slot of the temporary storage platform 2, as shown in the attached diagram. Figure 2 As shown. The entire process, through flexible pressing and cushioning design, ensures the stability of clamping and the integrity of the tray.

[0043] In another embodiment, the chuck's expansion range can be adjusted according to the size of the tray's central hole. The thickness and material of the flexible pad can be selected according to different specifications based on specific application scenarios to optimize the clamping effect and tray protection performance. The positioning groove of the temporary storage platform 2 can be customized according to the bottom contour of different trays to ensure higher positioning accuracy and versatility. The hinged connection of the swing arm cylinder 11 can be further adapted to the tray handling requirements at special angles by adjusting the length or angle range of the rotating shaft. (See attached image) Figure 3 The dynamic process of the swing arm gripper assembly 5 is demonstrated, clearly showing the flexibility of the gripper assembly driven by the material tray 1. These variations, through structural optimization, significantly improve the adaptability and practicality of this invention. This embodiment, through the organic synergy of the above structures, overcomes the problems of uneven clamping force, easy damage to the material tray, and insufficient adaptability in the prior art, achieving efficient, stable, and safe automated material tray handling, and providing a reliable material loading solution for the electronics manufacturing industry.

[0044] The above are merely preferred embodiments of this utility model. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model. Other parts of this utility model not described in detail belong to the prior art and will not be elaborated upon here.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An electronic tray feeding module, comprising a tray, a temporary storage platform and a gripper assembly, characterized in that, The gripper assembly is fixedly installed at the lower end of the material tray. The gripper assembly includes a material pick-and-place gripper cylinder, a chuck, a material pick-and-place pressure plate, and a buffer device. The cylinder body of the pick-and-place gripper cylinder is fixedly connected to the lower end surface of the material tray. The chuck is mechanically connected to and driven by the output end of the pick-and-place gripper cylinder to achieve expansion or contraction, and is used to clamp the center hole of the material tray. The material-picking lower pressure plate is a large-area plastic part, which is fixedly installed below the material-picking and dispensing claw cylinder and arranged around the circumference of the chuck. When the material tray is clamped, the lower surface of the material-picking lower pressure plate directly contacts the upper surface of the material tray to provide flexible pressing. The buffer device includes a buffer spring and a guide rod. The guide rod is arranged vertically, with its lower end fixedly connected to the upper surface of the material-retrieving lower pressure plate, and its upper end slidably connected to the guide hole of the material tray. The buffer spring is sleeved on the outer periphery of the guide rod and located between the material-retrieving lower pressure plate and the material tray. The buffer spring is compressed by the material-retrieving lower pressure plate when the clamp is inserted into the center hole of the material tray, so as to provide flexible buffering and enhance clamping stability.

2. The electronic tray feeding module according to claim 1, wherein, The gripper assembly also includes a material pick-and-place lifting cylinder, which is fixedly installed inside the material tray. Its output end is fixedly connected to the upper end of the material pick-and-place gripper cylinder, and is used to drive the gripper assembly to move up and down in the vertical direction to align with the center hole of the material tray.

3. The electronic tray feeding module of claim 1, wherein, The buffer device also includes a buffer limiting bolt, which is fixedly installed at the bottom of the material tray and coaxially arranged with the guide rod to limit the sliding stroke of the guide rod in order to control the compression degree of the buffer spring.

4. The electronic tray feeding module of claim 1, wherein, The material tray also includes a material pick-and-place swing arm cylinder, which is fixedly installed inside the material tray. Its output end is hinged to the gripper assembly and is used to drive the gripper assembly to rotate around a horizontal axis to adjust the gripping angle.

5. The electronic tray feeding module of claim 1, wherein, The outer surface of the chuck is provided with a flexible pad layer, which is made of rubber material and covers the clamping surface of the chuck, in order to reduce the direct pressure on the material tray when clamping the center hole of the material tray.

6. The electronic tray feeding module of claim 2, wherein, The output end of the material handling lifting cylinder is fixedly connected to the upper end of the material handling gripper cylinder via a connecting flange, and the connecting flange extends horizontally to enhance the connection rigidity.

7. The electronic tray feeding module of claim 1, wherein, The upper surface of the temporary storage platform is provided with a positioning groove, the shape of which matches the bottom contour of the material tray, and is used to provide positioning constraints when the material tray is placed on the temporary storage platform.

8. The electronic tray feeding module according to claim 3, characterized in that, The buffer device further includes a buffer guide bearing, which is embedded in the guide hole of the material tray and slides with the guide rod to reduce the frictional resistance when the guide rod slides.

9. The electronic tray feeding module of claim 1, wherein, The bottom surface of the material-receiving pressure plate is provided with a plurality of evenly distributed flexible protrusions. The flexible protrusions are made of elastic polymer and are used to further disperse the pressing pressure when in contact with the upper surface of the material tray.

10. The electronic tray feeding module of claim 4, wherein, The output end of the material handling arm cylinder is connected to the gripper assembly via a rotating shaft. The axis of the rotating shaft is perpendicular to the length direction of the material tray, which is used to achieve precise angle adjustment of the gripper assembly.

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