CN112248528B

CN112248528B - Corrugated carton assembling system

Info

Publication number: CN112248528B
Application number: CN202011107763.8A
Authority: CN
Inventors: 张春; 石兰
Original assignee: Chongqing Weibo Power Science And Technology Co ltd
Current assignee: Chongqing Weibo Power Science And Technology Co ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2021-06-25
Anticipated expiration: 2040-10-16
Also published as: CN112248528A

Abstract

The invention discloses a corrugated case assembling system which comprises a supporting frame, a turntable, a first transfer device, a gluing device, a second transfer device, a third transfer device and a testing device. The center of the rotary table is connected with an output shaft of the first rotating part, and a plurality of grooves are equidistantly distributed in the circumferential direction of the rotary table; the first transfer device is used for transferring the box body to the position inserted into the groove and moving the box body in the groove out; the gluing device is used for coating viscose on the outer side wall of the frame ring; the second transfer device is arranged corresponding to the gluing device and is used for moving the frame ring through the gluing device and then inserting the frame ring into the box body positioned in the groove; the third transfer device is used for transferring the box cover to the frame ring inserted on the first box body; and the testing device is used for pulling the box cover away from the box body and can detect the acting force required for pulling the box cover away from the box body. Through above-mentioned structure, can carry out corrugated box's assembly, reduce manual operation, improve production efficiency.

Description

Corrugated carton assembling system

Technical Field

The invention relates to the technical field of corrugated carton production, in particular to a corrugated carton assembling system.

Background

With the development of life, more and more products are packaged by corrugated boxes for transportation, however, the corrugated boxes are generally used as disposable articles, and after a user opens the package, the corrugated boxes need to be discarded, so that waste is caused. For this reason, some corrugated cases are designed to be usable as storage boxes. For example, as shown in fig. 1, a corrugated case made of corrugated cardboard as a main raw material includes a case body 71 and a case cover 72, the case body 71 is open upward, a frame ring 73 is inserted into the open of the case body 71, an adhesive is provided between an outer side wall of the frame ring 73 and an inner side wall of the case body 71, the case cover 72 has a protrusion 721, and the protrusion 721 is wound with an adhesive tape 74. When the corrugated carton is used, the box cover 72 is covered on the box body 71, the convex part 721 of the box cover 72 is inserted into the frame ring 73, the outer side surface of the adhesive tape 74 is contacted with the inner side surface of the frame ring 73 to play a sealing role, and the corrugated carton can be used for packaging products and can also be used as a containing box after the products are taken out. Half of the corrugated cartons are assembled manually, so that the production efficiency is low, and the labor intensity of operators is high.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a corrugated case assembling system which can assemble corrugated cases.

A corrugated box assembly system according to an aspect embodiment of the invention includes: the supporting frame is provided with a first rotating piece and a control device; the center of the rotary disc is connected with the output shaft of the first rotating part, and a plurality of grooves are equidistantly distributed in the circumferential direction of the rotary disc; the first transfer device is used for transferring the box body to the position inserted into the groove and moving the box body in the groove out; the gluing device is used for coating glue on the outer side wall of the frame ring; the second transfer device is arranged corresponding to the gluing device and used for moving the frame ring through the gluing device and then inserting the frame ring into the box body positioned in the groove; a third transfer device for transferring the box cover to the frame ring inserted on the first box body; the testing device is used for pulling the box cover out of the box body and can detect the acting force required for pulling the box cover out of the box body; the first transfer device, the second transfer device, the third transfer device and the testing device are sequentially distributed on the periphery of the turntable along the rotation direction of the turntable.

According to some embodiments of the invention, the first transfer device comprises: the device comprises three first belt conveyors arranged in parallel, wherein the end part of a rack of each first belt conveyor is provided with a first baffle arranged vertically; the first manipulator is provided with a first clamp; the first robot may drive a first gripper to move past the three first belt conveyors and the carousel.

According to some embodiments of the invention, the second transfer device comprises: the end part of the frame of the second belt conveyor is provided with a second baffle plate which is vertically arranged; the second manipulator is provided with a second rotating part, and an output shaft of the second rotating part is connected with a second clamp; the second manipulator may drive the second rotating member to move so that the second gripper moves past the second belt conveyor and the turntable.

According to some embodiments of the invention, the glue spreading device comprises: a first glue spreading frame; the gluing transverse moving mechanism comprises a gluing transverse moving motor arranged on the first gluing frame and a gluing screw rod connected with the gluing transverse moving motor, and the gluing screw rod is transversely arranged; the second gluing frame is matched with the gluing screw rod and is arranged on the first gluing frame in a sliding mode, and the second gluing frame is sleeved on the gluing screw rod; the gluing longitudinal moving cylinder is vertically arranged on the second gluing frame; the third gluing frame is connected with the gluing longitudinal moving cylinder; and the gluing head is arranged on the third gluing frame.

According to some embodiments of the invention, the third transfer device comprises: the end part of a frame of the third belt conveyor is provided with a third baffle plate which is vertically arranged; the third manipulator is provided with a material taking frame, and the material taking frame is provided with a sucker; the third manipulator can drive the material taking frame to move through the third belt conveyor and the turntable.

According to some embodiments of the invention, the test device comprises: a first test frame; the test transverse moving mechanism comprises a first test motor arranged on the first test frame and a first test screw rod connected with the first test motor, and the first test screw rod is transversely arranged; the second testing frame is matched with the first testing screw rod and can be slidably arranged on the first testing frame, and the second testing frame is sleeved on the first testing screw rod; the test longitudinal moving mechanism comprises a second test motor arranged on the second test frame and a second test screw rod connected with the second test motor, and the second test screw rod is vertically arranged; the third testing frame is matched with the second testing screw rod and can be slidably arranged on the second testing frame; the two groups of third clamps are arranged on a third test frame in an up-down mode; the fourth testing frame is arranged on the third testing frame in a vertically sliding mode, a pressure sensor is arranged between the bottom of the fourth testing frame and the third testing frame, and the pressure sensor is electrically connected with the control device; and the fourth clamp is arranged on the fourth test frame.

The corrugated box assembling system provided by the embodiment of the invention has at least the following beneficial effects: through the structure, the corrugated case can be assembled, manual operation is reduced, production efficiency is improved, and labor intensity of operators is reduced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is an exploded schematic view of a corrugated box;

FIG. 2 is a top view of an embodiment of the corrugated container assembly system of the present invention;

FIG. 3 is a block diagram of a first robot and a first gripper;

FIG. 4 is a structural view of a second robot and a second jig;

FIG. 5 is a structural view of a glue applying apparatus;

FIG. 6 is a view showing the structure of a third robot and a material-taking frame;

fig. 7 is a structural view of the test apparatus.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, if there are first and second described only for the purpose of distinguishing technical features, it is not understood that relative importance is indicated or implied or that the number of indicated technical features or the precedence of the indicated technical features is implicitly indicated or implied.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

As shown in fig. 2 to 7, a corrugated box assembling system according to an embodiment of the present invention includes a support frame (not shown), a rotary table 10, a first transfer device 20, a glue applying device 30, a second transfer device 40, a third transfer device 50, and a testing device 60.

Wherein, a first rotating member and a control device are arranged on the supporting frame, and the control device is respectively electrically connected with the first transfer device 20, the gluing device 30, the second transfer device 40, the third transfer device 50 and the testing device 60 so as to control the operation of the first transfer device, the gluing device 30, the second transfer device 40, the third transfer device 50 and the testing device 60. The center of carousel 10 is connected with the output shaft of first rotating member, and it has a plurality of recesses 11 to distribute at the circumference equidistance of carousel 10, and recess 11 can supply box 71 to insert and establish to fix a position box 71 on carousel 10. The first transfer device 10 is used for transferring the box body 71 until the box body 71 is inserted into the groove 11, and the first transfer device 20 can move out the box body 71 in the groove 11. The glue applicator 30 is used for applying glue on the outer side wall of the frame ring 73. The second transfer device 40 is disposed corresponding to the glue spreading device 30, the second transfer device 40 is configured to move the frame ring 73 through the glue spreading device 30, the glue spreading device 30 applies glue to the frame ring 73 on the second transfer device 40, and then the second transfer device 40 inserts the frame ring 73 into the box 71 in the groove 11. The third transfer device 50 is used to insert the case cover 72 into the frame ring 73 on the first case 71. The testing device 60 is used to pull the cover 72 away from the case 71, and can detect the pulling force required to pull the cover 72 away from the case 71. The first transfer device 20, the second transfer device 40, the third transfer device 50, and the test device 60 are sequentially distributed on the circumferential side of the turntable 10 along the rotation direction of the turntable 10. The first rotating member may be provided as a motor.

In production, the first transfer device 20 first transfers the box 71 to be inserted into the flute 11, then the turntable 10 rotates, so that the box 71 located in the flute 11 passes through the second transfer device 40, the third transfer device 50 and the testing device 60 in sequence, and finally returns to the position of the first transfer device 20, and in the process, the corrugated case can be assembled and tested. When the case 71 located in the pocket 11 is returned to the position where the first transfer device 20 is located, the case 71 is taken out of the pocket 11 by the first transfer device 20.

Specifically, the first transfer device 20 includes a first belt conveyor 21, a first robot 22, and a first gripper 23. The number of the first belt conveyors 21 is three, the three first belt conveyors 21 are arranged in parallel, a first baffle 211 is vertically arranged at an end portion of a frame of the first belt conveyor 21, and the first gripper 23 is arranged on the first robot 22. The first robot 22 may drive the first gripper 23 to move past the three first belt conveyors 21 and the carousel 10. As one of the structures of the first clamp 23, the first clamp 23 includes a thumb cylinder and two clamping jaws disposed on the thumb cylinder, and the thumb cylinder can drive the two clamping jaws to move towards each other to clamp the box 71.

In operation, the box 71 to be assembled is conveyed via one of the first belt conveyors 21 until the box 71 abuts against the first baffle 211, the first manipulator 22 drives the first clamp 23 to move, the box 71 is clamped by the first clamp 23, the first clamp 23 is then moved to above the groove 11, and the first clamp 23 descends and releases to insert the box 71 into the groove 11. The assembled cassette 71 is clamped by the first clamp 23 and transferred to the remaining two first belt conveyors 21 by the first robot 22.

The first manipulator 22 includes a first bracket 221, a first motor 222, a first lead screw 223, a first mounting bracket 224, a first cylinder 225 and a second mounting bracket 226, the first motor 222 is disposed on the first bracket 221, the first lead screw 223 is connected to an output shaft of the first motor 222, the first lead screw 223 is transversely disposed, the first mounting bracket 224 is transversely slidably disposed on the first bracket 221, the first mounting bracket 224 is sleeved on the first lead screw 223 and is matched with the first lead screw 223, the first cylinder 225 is disposed on the first mounting bracket 224, the second mounting bracket 226 is vertically slidably disposed on the first mounting bracket 224, and the second mounting bracket 226 is connected to the first cylinder 225. The first clamp 23 is disposed on the second frame 226.

In some embodiments, the first motor 222 and the first lead screw 223 may be replaced by an air cylinder, a motor-driven rack and pinion mechanism, or a motor-driven timing belt mechanism.

The second transfer device 40 includes a second belt conveyor 41, a second robot 42, a second rotating member 43, and a second gripper 44. The end of the frame of the second belt conveyor 41 is provided with a vertically arranged second baffle 411, the second manipulator 42 is provided with the second rotating member 43, and the output shaft of the second rotating member 43 is connected with the second clamp 44. The second robot arm 42 can drive the second turning member 43 to move so that the second gripper 44 moves past the second belt conveyor 41 and the turntable 10.

In operation, the frame ring 73 is placed on the second belt conveyor 41, the frame ring 73 is conveyed by the second belt conveyor 41 until the frame ring 73 abuts against the second baffle 411, the second manipulator 42 is operated to move the second clamp 44 close to the frame ring 73, the frame ring 73 is clamped by the second clamp 44, the second manipulator 42 is operated continuously to move the frame ring 73 to the position of the gluing device 30, glue is applied to the outer side wall of the frame ring 73 by the gluing device 30, and then the second manipulator 42 is operated continuously to drive the frame ring 73 to move to be inserted into the box body 71.

The second gripper 44 may have the same structure as the first gripper 23, and the second robot 42 may have the same structure as the first robot 22, which will not be described in detail. The second rotating member 43 may be provided as an electric motor or a pneumatic motor.

The gluing device 30 comprises a first gluing frame 31, a gluing transverse moving mechanism 32, a second gluing frame 33, a gluing longitudinal moving cylinder 34, a third gluing frame 35 and a gluing head 36. The gluing transverse moving mechanism 32 comprises a gluing transverse moving motor 321 and a gluing screw rod 322, the gluing transverse moving motor 321 is arranged on a first gluing frame 31, the gluing screw rod 322 is connected with an output shaft of the gluing transverse moving motor 321, the gluing screw rod 322 is transversely arranged, a second gluing frame 33 is slidably arranged on the first gluing frame 31, the second gluing frame 33 is sleeved on the gluing screw rod 322, the second gluing frame 33 is matched with the gluing screw rod 322, a gluing longitudinal moving cylinder 34 is vertically arranged on the second gluing frame 33, a third gluing frame 35 is connected with a gluing longitudinal moving cylinder 34, the third gluing frame 35 can be driven to move up and down by the gluing longitudinal moving cylinder 34, and a gluing head 36 is arranged on the third gluing frame 35.

The frame ring 73 is rectangular and can be glued as follows: the second transfer device 40 drives the frame ring 73 to move to the position of the gluing device 30, and the gluing longitudinal movement cylinder 34 drives the gluing head 36 to move upwards to be close to the outer side wall of the frame ring 73; the gluing head 36 shoots out the glue, and the gluing traversing mechanism 32 drives the second gluing frame 33 to traverse so that the gluing head 36 traverses along the outer side wall of the frame ring 73 to coat the glue on the outer side wall of the frame ring 73; the gluing transverse moving cylinder drives the gluing head 36 to move downwards; the second rotating member 43 drives the frame ring 73 to rotate and reverse, so that the other outer side wall of the frame ring 73 can face the gluing device 30; the glue application head 36 is first moved up and then moved laterally to apply glue to the other outer side wall of the frame ring 73. After the glue is applied, the frame ring 73 is moved to be inserted into the box body 71, and the outer side wall of the frame ring 73 applied with the glue is attached to the inner side wall of the box body 71.

When the length and the width of the frame ring 73 are the same, the four outer side walls of the frame ring 73 can be coated with adhesive; when the frame ring 73 has different lengths and widths, the two outer side walls with larger lengths can be coated with adhesive. When the glue is applied, the frame ring 73 does not need to be moved, only a space for rotating the frame ring 73 needs to be arranged between the turntable 10 and the second belt conveyor 41, and a moving space for applying the glue to the frame ring 73 does not need to be arranged, so that the space between the turntable 10 and the second belt conveyor 41 can be reduced, and the occupied area is reduced.

In some embodiments, the second robot 42 may be configured as a three-axis robot structure, i.e., the frame ring 73 has X, Y, Z three-directional movements. Thus, when the frame ring 73 has different lengths and widths, after the second rotating member 43 drives the frame ring 73 to rotate, the second manipulator 42 can drive the frame ring 73 to move close to the glue applying head 36, so that the four outer side walls of the frame ring 73 can be applied with glue.

The third transfer device 50 includes a third belt conveyor 51, a third robot arm 52, and a material take-out frame 53. The end of the frame of the third belt conveyor 51 is provided with a vertically arranged third baffle 511, the material taking frame 53 is provided on the third manipulator 52, the suction cup 54 is provided on the material taking frame 53, and the third manipulator 52 can drive the material taking frame 53 to move through the third belt conveyor 51 and the turntable 10.

In operation, the box cover 72 is conveyed by the third belt conveyor 51 until the box cover 72 abuts against the third baffle 511, the box cover 72 can be sucked by the suction cups 54, and the third manipulator 52 can drive the material taking frame 53 to move, so that the box cover 72 can be transferred from the third belt conveyor 51 to insert the box cover 72 into the frame ring 73 on the box body 71.

The third robot arm 52 may have the same structure as the first robot arm 22.

The testing device 60 includes a first testing jig 61, a testing traverse mechanism 62, a second testing jig 63, a testing longitudinal movement mechanism 64, a third testing jig 65, a third jig 66, a fourth testing jig 67, and a fourth jig 68. The test traversing mechanism 62 comprises a first test motor 621 arranged on the first test rack 61 and a first test screw 622 connected with the first test motor 621, and the first test screw 622 is transversely arranged. The second testing frame 63 is matched with the first testing screw rod 622, the second testing frame 63 is slidably arranged on the first testing frame 61, and the second testing frame 63 is sleeved on the first testing screw rod 622. The test longitudinal moving mechanism 64 includes a second test motor 641 disposed on the second test frame 63 and a second test screw 642 connected to the second test motor 641, and the second test screw 642 is vertically disposed. The third testing jig 65 is matched with the second testing screw 642, the third testing jig 65 can be slidably arranged on the second testing jig 63, and the third testing jig 65 is sleeved on the second testing screw 642. The third jigs 66 are provided in two sets, and the two sets of the third jigs 66 are arranged up and down on the third test frame 65. The fourth test jig 67 is slidably disposed on the third test jig 65 up and down, a pressure sensor 69 is disposed between the bottom of the fourth test jig 67 and the third test jig 65, the pressure sensor 69 is electrically connected to the control device, and the pressure sensor 69 feeds back the detected pressure value to the control device. The fourth jig 68 is provided to the fourth test rack 67.

When the fourth clamp 68 does not clamp the cover 72, the pressure value detected by the pressure sensor 69 is a reference value. When the test traversing mechanism 62 works, the second test rack 63 is driven by the test traversing mechanism 62 to move towards the turntable 10, the two third clamps 66 act, the lower third clamp 66 clamps the box body 71, and the upper third clamp 66 clamps the frame ring 73; the test longitudinal movement mechanism 64 drives the third test frame 65 to move upwards to approach the fourth clamp 68, so that the box body 71 is separated from the groove 11, and the box cover 72 is clamped by the fourth clamp 68; the test longitudinal movement mechanism 64 drives the third test frame 65 to move downwards so as to pull the box cover 72 out of the box body 71, in the process, the pressure value detected by the pressure sensor 69 is increased, and the maximum value of the pressure value is the acting force required for pulling the box cover 72 out of the box body 71; the test longitudinal movement mechanism 64 drives the third test rack 65 to move upwards so as to insert the box cover 72 into the frame ring 73 on the box body 71 again, and the fourth clamp 68 is released; the test longitudinal movement mechanism 64 drives the third test rack 65 to move downwards, and the box body 71 is inserted into the groove 11.

The control device is provided with a data storage module which stores a preset acting force range value. And after receiving the pressure value fed back by the pressure sensor, the control device compares the maximum value of the pressure value with the acting force range value. When the maximum value of the pressure value is smaller than the range value, the rubber strip 74 on the box cover 72 does not form a good seal with the frame ring 73; when the maximum value of the pressure value is larger than the range value, the joint between the rubber strip 74 on the box cover 72 and the frame ring 73 is too tight. The two conditions can be judged as unqualified products.

The third jig 66 and the fourth jig 68 may each adopt the same structure as the first jig 23.

As described above, in the corrugated box assembling system, the first transfer device 20 transfers the box body 71 to the notch 11 of the first rotary table 10, and then the rotary table 10 rotates so that the box body 71 located in the notch 11 passes through the second transfer device 40, the third transfer device 50 and the testing device 60 in this order, the frame ring 73 is mounted via the second transfer device 40, the box cover 72 is mounted via the third transfer device 50, the test is performed via the testing device 60, and finally, the position where the first transfer device 20 is located is returned. When the box 71 located at the pocket 11 returns to the position of the first transfer device 20, the defective products are transferred to one of the remaining two first belt conveyors 21, and the defective products are transferred to the other of the remaining two first belt conveyors 21.

The invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. A corrugated box assembly system, comprising:

the supporting frame is provided with a first rotating piece and a control device;

the center of the rotary disc is connected with the output shaft of the first rotating part, and a plurality of grooves are equidistantly distributed in the circumferential direction of the rotary disc;

the first transfer device is used for transferring the box body to the position inserted into the groove and moving the box body in the groove out;

the gluing device is used for coating glue on the outer side wall of the frame ring;

the second transfer device is arranged corresponding to the gluing device and used for moving the frame ring through the gluing device and then inserting the frame ring into the box body positioned in the groove;

a third transfer device for transferring the box cover to the frame ring inserted on the first box body;

the testing device is used for pulling the box cover out of the box body and can detect the acting force required for pulling the box cover out of the box body;

the first transfer device, the second transfer device, the third transfer device and the testing device are sequentially distributed on the peripheral side of the turntable along the rotation direction of the turntable;

the test device includes:

a first test frame;

the test transverse moving mechanism comprises a first test motor arranged on the first test frame and a first test screw rod connected with the first test motor, and the first test screw rod is transversely arranged;

the second testing frame is matched with the first testing screw rod and can be slidably arranged on the first testing frame, and the second testing frame is sleeved on the first testing screw rod;

the test longitudinal moving mechanism comprises a second test motor arranged on the second test frame and a second test screw rod connected with the second test motor, and the second test screw rod is vertically arranged;

the third testing frame is matched with the second testing screw rod and can be slidably arranged on the second testing frame;

the two groups of third clamps are arranged on a third test frame in an up-down mode;

the fourth testing frame is arranged on the third testing frame in a vertically sliding mode, a pressure sensor is arranged between the bottom of the fourth testing frame and the third testing frame, and the pressure sensor is electrically connected with the control device;

and the fourth clamp is arranged on the fourth test frame.

2. A corrugated box assembly system as recited in claim 1, wherein the first transfer device comprises:

the device comprises three first belt conveyors arranged in parallel, wherein the end part of a rack of each first belt conveyor is provided with a first baffle arranged vertically;

the first manipulator is provided with a first clamp;

the first robot may drive a first gripper to move past the three first belt conveyors and the carousel.

3. A corrugated box assembly system as recited in claim 2, wherein the second transfer device comprises:

the end part of the frame of the second belt conveyor is provided with a second baffle plate which is vertically arranged;

the second manipulator is provided with a second rotating part, and an output shaft of the second rotating part is connected with a second clamp;

the second manipulator may drive the second rotating member to move so that the second gripper moves past the second belt conveyor and the turntable.

4. A corrugated box assembly system as recited in claim 3, wherein the glue applicator comprises:

a first glue spreading frame;

the gluing transverse moving mechanism comprises a gluing transverse moving motor arranged on the first gluing frame and a gluing screw rod connected with the gluing transverse moving motor, and the gluing screw rod is transversely arranged;

the second gluing frame is matched with the gluing screw rod and is arranged on the first gluing frame in a sliding mode, and the second gluing frame is sleeved on the gluing screw rod;

the gluing longitudinal moving cylinder is vertically arranged on the second gluing frame;

the third gluing frame is connected with the gluing longitudinal moving cylinder;

and the gluing head is arranged on the third gluing frame.

5. A corrugated box assembly system as claimed in claim 1, 2, 3 or 4, wherein said third transfer means comprises:

the end part of a frame of the third belt conveyor is provided with a third baffle plate which is vertically arranged;

the third manipulator is provided with a material taking frame, and the material taking frame is provided with a sucker;

the third manipulator can drive the material taking frame to move through the third belt conveyor and the turntable.