CN203753998U - Tray grabbing mechanism for automatic material loading system and tray separating device - Google Patents
Tray grabbing mechanism for automatic material loading system and tray separating device Download PDFInfo
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- CN203753998U CN203753998U CN201420091813.1U CN201420091813U CN203753998U CN 203753998 U CN203753998 U CN 203753998U CN 201420091813 U CN201420091813 U CN 201420091813U CN 203753998 U CN203753998 U CN 203753998U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 109
- 239000000463 material Substances 0.000 title abstract description 26
- 210000000078 claw Anatomy 0.000 claims abstract description 42
- 238000012546 transfer Methods 0.000 claims description 24
- 238000005194 fractionation Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
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Abstract
The utility model discloses a tray grabbing mechanism for an automatic material loading system and a tray separating device. The tray grabbing mechanism comprises a connecting arm, a gripper lifting mechanism and a gripper assembly, wherein the gripper lifting mechanism is used for driving the connecting arm to move in the vertical direction, the gripper assembly comprises a claw and a rotating mechanism installed on the connecting arm, the rotating mechanism is used for driving the claw to rotate around a rotating shaft in the vertical direction so that the claw can be screwed into or screwed out of a grabbing notch in a frame of a tray. The tray grabbing mechanism can separate and push stacked trays, and staff only need to periodically load materials in a batch mode and take away the empty trays in a batch mode; moreover, the tray grabbing mechanism further has the advantages of being low in use and maintenance cost.
Description
Technical field
The utility model relates to a kind of feeding system of realizing automatic charging on manufacturing line, relates in particular to the pallet grasping mechanism that can capture pallet in feeding system and the pallet detachment device that can carry out to the pallet being stacked deconsolidation process.
Background technology
For providing the feeding system of the required parts of each operation ubiquitous on manufacturing line, especially for example, for the heavier parts that cannot realize manual material loading, engine cylinder-body.Existing for providing the material-uploading style of heavier parts to be mainly robot material loading or suspender material loading, the former is for utilizing robot to capture parts, then be placed in the assigned address on manufacturing line, the problem that robot material loading exists is: purchase and maintenance cost are all higher; The latter is placed in the assigned address on manufacturing line for after manually utilizing suspender that parts are sling, and the problem that suspender material loading exists is: loading efficiency is low and be unfavorable for carrying out batch manufacturing.
Utility model content
An object of the present utility model is in order to address the above problem, provide a kind of simple in structure, cost is low for capturing the pallet grasping mechanism of pallet.
To achieve these goals, the technical solution adopted in the utility model is: a kind of pallet grasping mechanism of automatical feeding system, comprising:
Connecting arm;
Handgrip lifting mechanism, for driving described connecting arm vertically to move; And,
Handgrip assembly, comprise claw and rotating mechanism, described rotating mechanism is installed on described connecting arm, described rotating mechanism is for driving described claw to rotate around the rotating shaft of vertical direction, described claw is screwed in the crawl breach on the frame of pallet, and described claw is screwed out from described crawl breach.
Preferably, described pallet grasping mechanism is provided with two pairs of described handgrip assemblies, and every pair of described handgrip assembly is oppositely arranged on the Width of described pallet.
Preferably, described rotating mechanism comprises:
Installing sleeve, is fixedly installed on described connecting arm, and the line of centers of described installing sleeve vertically extends;
Rotating shaft, is installed togather rotatably with described installing sleeve, and described claw is fixedly mounted in described rotating shaft;
Gear, limits it with described rotating shaft and is installed togather in relative rotation.
Tooth bar, is slidably installed with described connecting arm, and described tooth bar is meshed with described gear; And,
Actuator, for driving described tooth bar to slide.
Preferably, described connecting arm is by the vertically sliding connection of installation frame of guidepost and pallet grasping mechanism.
Preferably, described claw along continuous straight runs arranges.
Another object of the present utility model is in order to address the above problem, provide a kind of and can carry out the in batches pallet of material loading to the mode to be stacked from top to bottom and split, the independent pallet splitting out is carried out to the follow-up pallet detachment device of reaching the standard grade and processing.
To achieve these goals, the technical solution adopted in the utility model is: a kind of pallet detachment device of automatical feeding system, comprising:
Microscope carrier, for weight tray;
Pallet grasping mechanism, comprising:
Connecting arm;
Handgrip lifting mechanism, for driving described connecting arm vertically to move; And,
Handgrip assembly, comprise claw and rotating mechanism, described rotating mechanism is installed on described connecting arm, described rotating mechanism is for driving described claw to rotate around the rotating shaft of vertical direction, described claw is screwed in be arranged in the crawl breach on the frame of the inferior bottom pallet on microscope carrier that pallet splits position, to capture all pallets on bottom pallet that are stacked on the microscope carrier that is positioned at pallet fractionation position under the drive at handgrip lifting mechanism, make described bottom pallet become independent pallet, and make to screw out in the crawl breach of described claw from the frame of described bottom pallet, the all pallets that grab are positioned over again on the vacant microscope carrier that is repositioned to described pallet fractionation position, and,
Microscope carrier transfer mechanism, for transferring described microscope carrier, so that the each row parts on described independent pallet are transferred to pusher station in turn, and transfers back pallet fractionation position, the Width that the direction of wherein said row is independent pallet by vacant microscope carrier.
Preferably, on described microscope carrier, locating piece is installed, described locating piece for material-pulling device by a line parts that arrive described pusher station when described independent pallet is released, apply and the release power opposite effect power of described material-pulling device to described independent pallet.
Preferably, described locating piece is the location hornblock for fitting with the corner of described independent pallet.
Preferably, on described microscope carrier, be also provided with the actuator for driving the hornblock motion of described location.
The beneficial effects of the utility model are: pallet grasping mechanism of the present utility model and pallet detachment device can split pusher processing to the pallet being stacked from top to bottom, staff only need regularly carry out batch material loading and take in batches the empty pallet on empty pallet stacking position away like this, on period is kept an eye on without staff, and pallet grasping mechanism of the present utility model and pallet detachment device have and use and the low feature of maintenance cost.
Brief description of the drawings
Fig. 1 is a kind of front view of implementing structure of the automatical feeding system related according to the utility model;
Fig. 2 is the birds-eye view of automatical feeding system shown in Fig. 1;
Fig. 3 be in Fig. 1 A-A to schematic cross-section;
Fig. 4 be shown in Fig. 3 according to the front view of pallet grasping mechanism described in the utility model;
Fig. 5 is a kind of schematic diagram of structure on a visual angle of implementing of rotating mechanism shown in Fig. 3;
Fig. 6 is the schematic diagram of rotating mechanism shown in Fig. 5 on another visual angle.
Description of reference numerals:
1-pallet detachment device; 11-microscope carrier;
12-pallet grasping mechanism; 13-microscope carrier transfer mechanism;
121-connecting arm; 122-handgrip lifting mechanism;
123-handgrip assembly; 1231-claw;
1232-installing sleeve; 1233-rotating shaft;
1234-gear; 1235-tooth bar;
1236-actuator; 124-guidepost;
2-empty pallet bunching device; 22-empty pallet grasping mechanism;
23-empty pallet transfer mechanism; 3-pusher station;
4-pallet feeding and conveying device; Material level on 41-pallet;
42-pallet storing position; 5-rollgang.
Detailed description of the invention
Describe embodiment of the present utility model below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, only for explaining the utility model, and can not be interpreted as restriction of the present utility model.
As shown in Figure 1 to Figure 3, the automatical feeding system that the utility model relates to comprises pallet detachment device 1, material-pulling device (not shown), empty pallet ejecting device (not shown) and empty pallet bunching device 2.This pallet detachment device comprises microscope carrier 11, pallet grasping mechanism 12 and microscope carrier transfer mechanism 13, and this microscope carrier 11 is for weight tray; This pallet grasping mechanism is for capturing all pallets on bottom pallet that are stacked on the microscope carrier that is positioned at pallet fractionation position, make bottom pallet become independent pallet, and for by capture all pallets be again positioned over be reset to pallet split position vacant microscope carrier, with etc. pending again split; This microscope carrier transfer mechanism is for transferring microscope carrier along first direction, and then handover is positioned at the independent pallet on microscope carrier, so that the each row parts on independent pallet are transferred to pusher station 3 in turn, and vacant microscope carrier is transferred go back to pallet fractionation position, to receive all pallets that capture before pallet grasping mechanism 12, the direction (Width of pallet) of wherein said row and first direction are orthogonal, this microscope carrier 11 can with the slide rail bearing fit arranging along first direction, with the directivity that ensures that microscope carrier 11 moves.This material-pulling device is for releasing a line parts that arrive pusher station from described independent pallet, this material-pulling device is as long as completing the mechanism that applies release power along second direction, what for example, this material-pulling device can comprise charging ram and drive that charging ram moves along second direction is for example the actuator of cylinder.This empty pallet ejecting device is all pushed out and becomes after stacking empty pallet for the each row parts on independent pallet, to treat that stacking empty pallet releases from microscope carrier, make microscope carrier vacant, this empty pallet ejecting device is as long as completing the mechanism that applies release power, for example, this empty pallet ejecting device can comprise pushing block and drive pushing block to do straight-line is for example the actuator of cylinder, at this, in order to save installing space, the release direction of these parts with treat that the release direction of stacking empty pallet is preferably in second direction opposite each other.This empty pallet bunching device 2 comprises empty pallet transfer mechanism 23 and empty pallet grasping mechanism 22, wherein, this empty pallet transfer mechanism 23 is for treating that stacking empty pallet is transferred to vacant empty pallet stacking position, and it can adopt motor to drive the structure for conveying of transport roller; This empty pallet grasping mechanism 22 is for capturing all empty pallets that are stacked on empty pallet stacking position, make described empty pallet stacking position vacant, and for arriving behind empty pallet stacking position until stacking empty pallet, all empty pallets of picking up are stacked on and are treated on stacking empty pallet, complete the stacking for the treatment of stacking empty pallet, like this, staff only need regularly utilize fork truck that empty pallet is transported in batches.
The automatic charging method that automatical feeding system of the present utility model is corresponding is: pallet grasping mechanism 12 captures on pallet fractionation position and is stacked on all pallets on bottom pallet, make bottom pallet become independent pallet, even if bottom pallet and stacking all pallets are thereon separated, can transfer separately this bottom pallet, at this, " stacking " mentioned in the utility model refers to stack manner from top to bottom, in addition, in the utility model, mentioned " pallet " refers to have on it pallet of the parts that are for example engine cylinder; Microscope carrier transfer mechanism 13 is transferred this independent pallet along first direction, make the each row parts on independent pallet arrive in turn pusher station, for example, on independent pallet, be the embodiment that 3 × 3 matrix forms are arranged for parts, this step needs stepping three times, three row parts is transferred to pusher station in turn, wherein, direction and the above-mentioned first direction of row are orthogonal, and the direction of row is consistent with above-mentioned first direction; Material-pulling device is released a line parts that arrive pusher station from independent pallet, in actual applications, be specially and be pushed out on the rollgang 5 that manufacturing line reaches the standard grade, to complete material loading, be for parts the embodiment that 3 × 3 matrix forms are arranged, three parts of each release, pushing away altogether three times can all release the each row parts on independent pallet; Each row parts on independent pallet are all pushed out and become after stacking empty pallet, and empty pallet ejecting device will treat that stacking empty pallet releases from microscope carrier, make microscope carrier 11 vacant; Microscope carrier transfer mechanism 13 is transferred back pallet by vacant microscope carrier and is split position; Pallet grasping mechanism 12 is positioned over all pallets that grab on the vacant microscope carrier 11 that is repositioned to pallet fractionation position again, to wait for, remaining all pallets is split again, and fractured operation is until only remain a pallet on microscope carrier 11; Empty pallet grasping mechanism 22 captures all empty pallets that are positioned on empty pallet stacking position, makes empty pallet stacking position vacant; Empty pallet transfer mechanism 23 will treat that stacking empty pallet is transferred to vacant empty pallet stacking position; Empty pallet grasping mechanism 22, after stacking empty pallet arrives empty pallet stacking position, is stacked on all empty pallets of picking up to treat on stacking empty pallet, makes to treat that stacking empty pallet becomes the bottom empty pallet that is positioned at bottom on empty pallet stacking position.Loop above automatic charging method can by material loading to pallet split position the each pallet being stacked in the supreme product line of the equal material loading of parts on, at this, because automatic charging method of the present utility model is specially adapted to heavier parts, take parts as example as engine cylinder-body, the about 40kg of weight of each engine cylinder-body, if placing 9 engine cylinder-bodies according to each pallet calculates, the maximum weight of each pallet is just up to 360kg, in this kind of situation, common stacking two-layer pallet in practical application, if need stacking more pallet, need to increase the performance of whole system, this can make cost increase.
Because of parts heavier, in the limited situation of the stackable pallet number of plies that allows, put pallet and reduce operating personal is put cycle from pallet to automatical feeding system for the ease of staff, automatical feeding system of the present utility model also can comprise pallet feeding and conveying device 4, this pallet feeding and conveying device 4 is during for pallet-free in pallet detachment device, the pallet entirety being stacked is from top to bottom transferred on microscope carrier 11, in order to ensure the directivity of tray conveying, this pallet feeding and conveying device can arrange the guided way that is positioned at delivery track both sides.In order further to reduce operating personal is put cycle from pallet to automatical feeding system, as shown in Figure 2, this pallet material loading transfer device 4 can comprise on the pallet of initiating terminal material level 41 and on pallet material level 41 and pallet split at least one the pallet storing position 42 between position, in the embodiment shown in Fig. 1 and Fig. 2, be provided with two pallet storing positions 42.This pallet material loading transfer device 4 can have with pallet on material level and the each pallet storing position pallet material loading transfer mechanism of individual drive each other one to one, moving by the each pallet material loading of timesharing control transfer mechanism, can complete after tray conveying operation at next pallet material loading transfer mechanism like this, a upper pallet material loading transfer mechanism again by the tray conveying on it to next pallet material loading transfer mechanism, ensure the stability transferred and accurately.At this, because the motion control accuracy requirement to this part is relatively low, this pallet material loading transfer mechanism can adopt the structure of motor drive sprocket.The relative pallet material loading transfer mechanism of above-mentioned microscope carrier transfer mechanism 13 requires to have higher kinematic accuracy, therefore can adopt motor to drive the mechanism of feed screw nut kinematic pair, and above-mentioned microscope carrier 11 coordinates with threads of lead screw as nut.
Move for fear of independent pallet relative microscope carrier 11 in the time that material-pulling device carries out pusher, can on microscope carrier 11, locating piece be installed, this locating piece at least for material-pulling device by a line parts that arrive pusher station when independent pallet is released, apply and the release power opposite effect power of material-pulling device to independent pallet.In order to carry out failure-free location to independent pallet, this locating piece can be the location hornblock for fitting with the corner of independent pallet, in addition, this location hornblock can be fixedly installed on microscope carrier 11, also can adopt the structure of microscope carrier motion relatively, by being for example that the actuator of cylinder drives hornblock motion of this location, for this kind of structure, the location hornblock at two diagonal angles can be set on microscope carrier, so that independent pallet is fixedly clamped reliably on microscope carrier 11, and can in the time that independent pallet become until stacking empty pallet, unclamp and treat stacking empty pallet, empty pallet ejecting device can be released it smoothly from microscope carrier 11.
As shown in Figures 3 to 6, above-mentioned pallet grasping mechanism 12 can comprise connecting arm 121, handgrip lifting mechanism 122 and handgrip assembly 123, this handgrip lifting mechanism 122 is for driving connecting arm 121 vertically to move, it can be realized by the stronger hydraulic ram of load-carrying capacity, at this, in order to ensure the sense of motion of connecting arm 121, this connecting arm 121 can be by guidepost 124 and vertically bearing fit of installation frame; Each handgrip assembly 123 is installed on connecting arm 121, for capturing and unclamping pallet, captures and place action to coordinate handgrip lifting mechanism 122 to complete.This handgrip assembly 123 can comprise claw 1231 and be installed on the rotating mechanism on connecting arm 121, this rotating mechanism is for driving claw 1231 to rotate around the rotating shaft of vertical direction, claw 1231 can be screwed in the crawl breach on the frame of time bottom pallet (i.e. the direct pallet contacting with bottom pallet), like this, under the effect of handgrip lifting mechanism 122, can complete above-mentioned crawl and be stacked on the operation of all pallets on bottom pallet, by claw 1231 and the effect of time bottom pallet, all pallet entirety on bottom pallet be lifted; In addition, this rotating mechanism also splits when position for drive all pallets that grab to drop to pallet at handgrip lifting mechanism 122, control in the crawl breach of claw 1231 from the frame of inferior bottom pallet and screw out, described all pallets of picking up are positioned over to the operation on vacant microscope carrier again to complete, now, this bottom pallet is by the bottom pallet becoming on microscope carrier.
In the present embodiment, rotating mechanism drives claw 1231 cws, left-hand revolution 90 to spend, and can complete screw-in, screw out and control, in this embodiment, claw 1231 is parallel with the frame of time bottom pallet after back-out, after screw-in with the frame perpendicular of time bottom pallet.
At this, pallet grasping mechanism structure of the present utility model, it is mainly the structure of handgrip assembly wherein, not be limited to the above-mentioned specific embodiment providing, known according to the above description, as long as above-mentioned handgrip assembly can realize can set up and releasing and pallet between annexation, for example, this handgrip assembly 123 also can comprise claw 1231 and be installed on the translation mechanism on connecting arm 121, this translation mechanism is used for driving claw 1231 to insert the crawl breach of pallet, and drives claw 1231 to exit from this crawl breach; In addition, this handgrip assembly can also comprise the claw of pair of opposing, and the drive a pair of claw driver train of motion in opposite directions or dorsad, and this kind of handgrip assembly can establish a connection by the frame of holding tray and pallet.
It should be apparent to those skilled in the art that, the quantity of handgrip assembly and installation site should interfere as condition with other motions pallet steadily can being lifted and avoids, at this, pallet grasping mechanism 12 of the present utility model can be arranged on a pair of handgrip assembly relative in second direction, or be arranged on two pairs of relative handgrip assemblies of second direction, or relative a pair of handgrip assembly be in a first direction set and relative a pair of handgrip assembly in second direction.
Above-mentioned empty pallet grasping mechanism 22 can have the structure identical with pallet grasping mechanism, and it comprises connecting arm 121, handgrip lifting mechanism 122 and handgrip assembly 123, and this handgrip lifting mechanism is used for driving connecting arm 121 vertically to move; This handgrip assembly comprises claw 1231 and is installed on the rotating mechanism on connecting arm 121, this rotating mechanism is for driving claw 1231 to rotate around the rotating shaft of vertical direction, claw 1231 is screwed in the crawl breach on the frame of the bottom empty pallet on empty pallet stacking position, like this, under the effect of handgrip lifting mechanism 122, can complete the operation that above-mentioned crawl is stacked on all empty pallets on empty pallet stacking position, by claw 1231 and the effect of bottom empty pallet, all empty pallets be lifted; In addition, this rotating mechanism also for drive all empty pallets that grab to drop at handgrip lifting mechanism 122 to arrive empty pallet stacking position on stacking empty pallet time, control in the crawl breach of claw 1231 from the frame of bottom empty pallet and screw out, to complete, all empty pallets of picking up are stacked on to the operation for the treatment of on stacking empty pallet.
As shown in Figure 5 and Figure 6, above-mentioned rotating mechanism can comprise installing sleeve 1232, rotating shaft 1233, gear 1234, tooth bar 1235 and actuator 1236, and this installing sleeve 1232 is fixedly installed on connecting arm 121, and the line of centers of installing sleeve vertically extends; Rotating shaft 1233 is installed togather rotatably with installing sleeve 1232, and claw 1231 is fixedly mounted in rotating shaft 1233; Gear 1234 limits it with rotating shaft 1233 and is installed togather in relative rotation; Tooth bar 1235 is slidably installed with connecting arm 121, and tooth bar 1235 is meshed with gear 1234; Actuator 1236, for driving tooth bar 1235 to slide, to drive rotating shaft 1233 by tooth bar 1235, further drives claw 1231 to rotate.Above-mentioned rotating mechanism has the advantages that cost is low and load-carrying capacity is strong.Certainly, this rotating mechanism also can adopt other to realize and rotate the winding machine of controlling, such as oscillating cylinder, motor driving etc.
Describe structure of the present utility model, feature and action effect in detail according to the embodiment shown in graphic above; the foregoing is only preferred embodiment of the present utility model; but the utility model does not limit practical range with shown in drawing; every change of doing according to conception of the present utility model; or be revised as the equivalent embodiment of equivalent variations; when not exceeding yet specification sheets and illustrating contain spiritual, all should be in protection domain of the present utility model.
Claims (9)
1. a pallet grasping mechanism for automatical feeding system, is characterized in that, comprising:
Connecting arm;
Handgrip lifting mechanism, for driving described connecting arm vertically to move; And,
Handgrip assembly, comprise claw and rotating mechanism, described rotating mechanism is installed on described connecting arm, described rotating mechanism is for driving described claw to rotate around the rotating shaft of vertical direction, described claw is screwed in the crawl breach on the frame of pallet, and described claw is screwed out from described crawl breach.
2. pallet grasping mechanism according to claim 1, is characterized in that, described pallet grasping mechanism is provided with two pairs of described handgrip assemblies, and every pair of described handgrip assembly is oppositely arranged on the Width of described pallet.
3. pallet grasping mechanism according to claim 1, is characterized in that, described rotating mechanism comprises:
Installing sleeve, is fixedly installed on described connecting arm, and the line of centers of described installing sleeve vertically extends;
Rotating shaft, is installed togather rotatably with described installing sleeve, and described claw is fixedly mounted in described rotating shaft;
Gear, limits it with described rotating shaft and is installed togather in relative rotation;
Tooth bar, is slidably installed with described connecting arm, and described tooth bar is meshed with described gear; And,
Actuator, for driving described tooth bar to slide.
4. pallet grasping mechanism according to claim 1, is characterized in that, described connecting arm is by the vertically sliding connection of installation frame of guidepost and pallet grasping mechanism.
5. pallet grasping mechanism according to claim 1, is characterized in that, described claw along continuous straight runs arranges.
6. a pallet detachment device for automatical feeding system, is characterized in that, comprising:
Microscope carrier, for weight tray;
Pallet grasping mechanism, comprising:
Connecting arm;
Handgrip lifting mechanism, for driving described connecting arm vertically to move; And,
Handgrip assembly, comprise claw and rotating mechanism, described rotating mechanism is installed on described connecting arm, described rotating mechanism is for driving described claw to rotate around the rotating shaft of vertical direction, described claw is screwed in be arranged in the crawl breach on the frame of the inferior bottom pallet on microscope carrier that pallet splits position, to capture all pallets on bottom pallet that are stacked on the microscope carrier that is positioned at pallet fractionation position under the drive at handgrip lifting mechanism, make described bottom pallet become independent pallet, and make to screw out in the crawl breach of described claw from the frame of described bottom pallet, the all pallets that grab are positioned over again on the vacant microscope carrier that is repositioned to described pallet fractionation position, and,
Microscope carrier transfer mechanism, for transferring described microscope carrier, so that the each row parts on described independent pallet are transferred to pusher station in turn, and transfers back pallet fractionation position, the Width that the direction of the row of wherein said parts is independent pallet by vacant microscope carrier.
7. pallet detachment device according to claim 6, it is characterized in that, on described microscope carrier, locating piece is installed, described locating piece for material-pulling device by a line parts that arrive described pusher station when described independent pallet is released, apply and the release power opposite effect power of described material-pulling device to described independent pallet.
8. pallet detachment device according to claim 7, is characterized in that, described locating piece is the location hornblock for fitting with the corner of described independent pallet.
9. pallet detachment device according to claim 8, is characterized in that, is also provided with the actuator for driving the hornblock motion of described location on described microscope carrier.
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