KR101663934B1 - Automatic sorting and feeding device - Google Patents

Abstract

The present invention relates to a transportation device capable of transporting a sort of ball pin with a round head part, which is slightly different from a pipe, and more specifically, to a device for automatically aligning and transporting a sort of ball pin, which can align the sort of ball pin during transportation, and can easily pick up and move the sort of ball pin using tongs. The device for automatically aligning and transporting a sort of ball pin, comprises: an aligning part which evenly aligns the sort of ball pin randomly supplied from an upper side, and removes oil on an outer surface of the sort of ball pin; a transportation part which is positioned at the bottom of the aligning part, sequentially receives the sort of ball pin aligned from the aligning part, and performs transportation when one unit quantity is formed by collecting a certain quantity; a pop-up part which is positioned on one lower side of the transportation part, lifts the unit quantity of the sort of ball pin moved by the transportation part to a certain height from the transportation part, and collects the unit quantity of the sort of ball pin; a packaging part which is positioned on one side of the transportation part, and picks up and moves the unit quantity of the sort of ball pin lifted to the certain height by the pop-up part for loading; a conveyance part which is positioned on an inner lower side of the packaging part, and loads the unit quantity of the sort of ball pin through a loading part to convey the ball pins to the outside; and a control part constructed on at least one outer surface among the aligning part, the transportation part, the pop-up pat, and the packaging part to control work. Accordingly, the device can automatically aligns the sort of ball pin during transportation, and can collect the sort of ball pin by arranging the pop-up part so as to easily be picked up and moved using the packaging tongs.

Description

[0001] Automatic sorting and feeding device [0002]

The present invention relates to an automatic aligning and conveying device for a ball pin, and more particularly, to a conveying device capable of conveying a ball pin having a round head part which is slightly different from a pipe, To an automatic aligning and conveying device for a ball pin.

Generally, a pipe cut into a certain length is inserted into a steering shaft of a steering apparatus of an automobile or a camshaft of an engine.

Such a cutting pipe cuts a pipe to a required length at a height of about 50 cm to 1 m and cuts the pipe at a height of about 50 cm to 1 m at the same time as cutting the pipe. The work is being done.

However, such a cut pipe is treated as a genuine article only when the appearance is not scratched, but the cut pipe is freely dropped at a height of 50 cm to 1 m at the same time as cutting, So that they are damaged each other, and a high defect rate is generated due to such damage, and the waste treatment frequently occurs.

In order to solve this problem, Korean Utility Model No. 20-2013-0001656 discloses a pipe cutter having an upper inclined receiving portion provided at a side of a free fall portion of a pipe cutter and sloped down to feed a slanted pipe, and an upper inclined receiving portion A conveying conveyor portion including a movable motor for moving the wire mesh conveyor belt and a wire mesh conveyor belt operation portion provided with a movable sprocket at a lower portion, And a lower inclined support portion arranged to be inclined in a downward direction.

In addition, Korean Patent No. 10-1494604 can easily convey a pipe-shaped conveyed matter and can grasp the conveyed matter without a clearance between the conveyed objects, so that the conveying speed can be shortened compared to the prior art, The present invention relates to a pipe conveying device having a conveying device having a conveying device for conveying an object to be conveyed in succession when there is no object to be conveyed between the conveying object and the conveying device, .

In general, it is possible to transfer general pipe types by the techniques disclosed in the prior art or in Korean Utility Model Nos. 20-2013 -0001656 and 10-1494604.

However, although it has a body shape similar to a pipe, it is difficult to apply a ball pin which has a rounded or multi-shaped head portion.

Since the head portion is larger than the body portion, it is difficult to arrange the head portion in a large amount. When the head portion is too large in volume, the volume of the head portion is large, but the body portion is bulkier than the head portion It is difficult to move more than a certain amount, and conventional techniques have not solved this problem.

Korean Utility Model Publication No. 20-2013-0001656 Korean Patent No. 10-1494604

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic aligning and conveying device for a ball pin which can be automatically aligned while conveying ball pins.

Another object of the present invention is to provide an automatic aligning and conveying device for a ball pin configured of a pop-up unit for collecting ball pins transferred in an aligned manner so as to be easily picked up by using a packaging tong.

In order to accomplish the above object, the present invention provides an air purifier comprising: an alignment unit for aligning ball pins randomly supplied from above, and removing oil buried on an outer surface of the ball pin; A conveying unit located at a lower end of the aligning unit, sequentially receiving the aligned ball pins from the aligning unit, conveying the consecutive pieces when a certain number of units are collected, A pop-up unit located at a lower end of one side of the conveyance unit, raising a unit quantity of ball pins moving through the conveyance unit to a predetermined height from the conveyance unit, collecting the unit quantities of the ball pins; A packaging unit which is located at one side of the transfer unit and picks up and loads the unit volume of the ball pins raised to a predetermined height through the pop-up unit; A transporting unit located at an inner lower end of the packaging unit and loading and transporting a unit quantity of the ball pins through the loading unit to the outside; And a control unit attached to an outer surface of at least one of the alignment unit, the transfer unit, the pop-up unit, and the packaging unit to control the operation.

The alignment unit may include an alignment body which is opened at an upper side to receive the ball pins randomly supplied from the upper side and discharges the supplied ball pins at a lower side, And at least one pair of brushes for removing the oil buried in the outer surface of the ball pin and for aligning the ball pins.

In this case, the brushes are formed in a pair in the horizontal direction, and are arranged in the vertical direction to have a multistage shape.

At least one of the brushes may have a groove formed in the outer surface of the brush so that the brush is removed in a spiral shape.

The conveying unit may include a conveying passage capable of conveying the ball pins sequentially received from the aligning unit, a conveying support member positioned at a lower end of the conveying passage and supporting the conveying passage at a predetermined height, A first pushing device formed on one side of the first pushing device and pivoting the ball punches from one side to the other side when the ball pins are gathered in a predetermined amount to form one unit of water; And a second pushing device which feeds the balls through the repetitive motion of a predetermined section using a plate having at least one or more balls.

The apparatus further includes an alignment stopper positioned between the primary push device and the secondary push device and aligning the ball pins with each other.

At this time, the alignment stopper may include a stopper body positioned in a direction opposite to the ball pin conveyed through the primary pushing device and having one side of the ball pin struck to align the ball pins, and a stopper body And a stopper lift device capable of moving up and down.

The pop-up unit includes a pop-up body positioned at a lower end of one side of the conveyance unit, and a unit body of the ball pins positioned in the same position as the conveyance unit and moved through the conveyance unit, A pop-up cradle for lifting the pop-up cradle to a predetermined height, and a power transmission device for providing the power required for the pop-up cradle to ascend and descend to a predetermined height.

In this case, the pop-up cradle is formed in a form of a vertical stripe.

The packaging robot includes a packaging body in the form of a frame, the packaging robot communicating with one side of the transfer unit, a packaging robot positioned on the packaging body and movable in three axial directions, And a packing jig for picking up the unit volume of the ball pins arranged through the unit and transferring the ball pins to the transportation unit.

At this time, when the packaging tongs are installed on one side of the packaging tongs and are loaded on the transportation unit using the packaging tongs, And a packaging sensor unit.

Further, the packaging robot is driven by the air cylinder in the Z-axis direction.

As can be clearly seen from the above description, the present invention has the advantage that it can be automatically aligned during transport of ball pins.

In addition, there is an advantage that a pop up part can be assembled so that the ball pins moved and aligned can be easily picked up using the packaging tongs.

1 is a view of a conventional pipe conveying apparatus.
2 is a side view of a ball pin alignment and transfer device in accordance with an embodiment of the present invention.
3 is a plan view of an automatic alignment and transfer device for a ball pin according to an embodiment of the present invention.
4 is a front view of a ball pin alignment and transfer apparatus according to an embodiment of the present invention.
5 is a front view of an alignment unit according to an embodiment of the present invention.
6 is a view of a brush according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention.

FIG. 2 is a side view of the automatic aligning and conveying device for a ball pin according to an embodiment of the present invention, FIG. 3 is a plan view of an automatic aligning and conveying device for a ball pin according to an embodiment of the present invention, FIG. 5 is a front view of an alignment unit according to an embodiment of the present invention, and FIG. 6 is a view of a brush according to an embodiment of the present invention.

2 to 6, the ball pin automatic aligning and transferring apparatus 100 according to the present invention aligns the ball pins 600 randomly supplied from the upper side and aligns the ball pins 600 on the outer surface of the ball pin 600 An alignment unit 200 for removing buried oil; A transfer unit 300 located at a lower end of the aligning unit 200 and sequentially collecting a predetermined number of the ball pins 600 aligned from the aligning unit 200 to transfer one unit of water; The unit amount of the ball pins 600 which are positioned at the lower end of one side of the transfer unit 300 and are moved through the transfer unit 300 is raised to a predetermined height from the transfer unit 300, A pop-up unit 400 for collecting a plurality of images; A packaging unit 500 located at one side of the pop-up unit 400 and picking up and transporting the ball pins 600 of a unit quantity raised to a predetermined height through the pop-up unit 400; A conveying part 700 located at an inner lower end of the packaging part 500 and carrying the ball pints 600 in a unit quantity through the packaging part 500 to be transported to the outside; And a control unit 800 installed on an outer surface of at least one of the alignment unit 200, the transfer unit 300, the pop-up unit 400, and the packaging unit 500 to control the operation.

Hereinafter, each configuration will be described in detail.

The alignment unit 200 aligns the supplied ball pins 600 and removes the oil buried on the outer surface of the ball pins 600. The alignment body 210 and the brush unit The upper body is opened to supply the produced ball pins 600 or the ball pins 600 that are being stored, and the lower side is supplied to the upper side And the brush part 220 is formed of a pair of brush parts 220 which are rotated in the inward direction while facing each other. In an embodiment of the present invention, the brush units 220 are three pairs, and the bristles 220 facing each other in the horizontal position are the same in diameter, but they are different in diameter depending on the upper and lower positions. Also, in the embodiment of the present invention, the diameter of the brush part 220 gradually decreases as it goes downward. However, the brush part 220 is not necessarily constructed as described above, and may be variously configured as needed.

The pair of brushes 220 are rotated in the inward direction. More specifically, the brushes 220 on the left rotate in the clockwise direction. In the case of the brushes 220 on the right, It rotates counterclockwise. This is because the ball pins 600 supplied from the upper side can be supplied downward.

At this time, the pair of brushes 220 rotate inward to mutually remove the oil film remaining on the outer surface while the ball pins 600 are produced.

In the case of the ball pin 600, the head part is heavier than the body part. Therefore, the heavy head part naturally falls off first. When the brush part 220 passes through the brush part 220 The heavy head portion first falls downward and thus the body portion is dropped. When the brush portion 220 passes through the brush portion 220, the heavy head portion moves to the transfer portion 300 located at the lower end of the alignment portion 200. At this time, the head portion of the ball pin 600 is first dropped to the transfer portion 300, and thus the body portion is dropped. Accordingly, the impact applied to the ball pin 600 is relieved, Scratches and defective products are not generated on the outer surface.

At least one of the multistage brush portions 220 arranged in the vertical direction may be formed in a groove (not shown) in which the brush 221 formed on the outer surface of the brush portion 220 is removed in a spiral shape Respectively.

The grooves designate the alignment direction of the ball pins 600 passing through the brush part 200. As described above, in the case of the ball pin 600, since the head portion is heavier than the body portion, the heavy head portion is lowered earlier than the body portion. At this time, the head portion of the ball pin 600 is held and fixed in a spiral (or screw) groove formed in the brush portion 200. (However, the term "fixedly engaged" as described herein means that the movable member can be moved in the spiral direction along the groove along the groove rather than being firmly fixed, which does not mean that the movable member is absolutely fixed and does not move.) Thus, The ball pin 600 is naturally fixed to the ball pin 600 in accordance with the rotation direction of the brush part 200

And the body portion of the ball pin 600 is naturally moved along with the movement of the head portion of the ball pin 600. As a result, the alignment direction of the ball pin 600 is naturally designated.

The ball pin 600 moves stably while removing the oil buried in the outer surface while passing through the aligning part 200. When the ball pin 600 moves to the conveying part 300 located at the lower end of the aligning part 200, The ball pins 600 are aligned in the same direction.

The conveying unit 300 receives the aligned ball pins 600 sequentially from the aligning unit 200 and transfers the same to the conveying path 310 in order to collect a certain amount of water and to transfer the same when the unit amount is reached. A support base 320, a primary push device 330, and a secondary push device 340.

The conveying path 310 is located at the lower end of the aligning part 200 and has a rectangular parallelepiped shape having an upper end opened in the longitudinal direction and the ball pin 600 moves through the inside of the conveying path 310 . At the lower end of the conveyance path 310, the conveyance path 310 is raised to a predetermined height, and the conveyance support 320 for supporting and fixing the conveyance path 310 is formed.

The first pushing device 330 and the second pushing device 340 are means for conveying the ball pin 600 through the conveying path 310. In the case of the primary pushing device 330, the ball pin 600 is formed at one side of the conveyance passage 310 so that when the ball pins 600 are gathered at a certain amount to obtain one unit water, The first pushing device 330 is moved to a predetermined distance by pushing the ball pin 600 in a unit quantity in a direction from the left to the right in FIG. 3, and the first pushing device 330 is repeatedly operated do.

The secondary push device 340 is positioned at the rear end of the ball pin 600 while the primary push device 330 pushes a certain distance and then returns to its original position. At this time, the secondary pushing device 340 moves the ball pin 600 by repeatedly moving a predetermined section with at least one plate.

More specifically, in an embodiment of the present invention, the secondary pushing device 340 is formed of three plates, and all three plates are moved by one power source, thereby exhibiting the same movement. For simplicity's sake, the leftmost first plate is referred to as the first plate 341, the second plate is referred to as the second plate 342, and the third plate is referred to as the third plate 343 I will explain it.

The first plate 341 is positioned at the rear end of the ball pin 600 moved through the primary pushing device 330 and while moving through the primary pushing device 330, The push device 340 is not located in the transfer passage 310 but is floated at a position higher than the unit number of the ball pins 600.

When the primary pushing device 330 is located on the left side of the transfer path 310 and the ball pin 600 is in a predetermined unit quantity as in the embodiment of the present invention, The second pushing device 340 moves from the transfer path 310 to the ball pin 600 in a unit amount higher than the ball pin 600 in a unit amount, And then moves downward to the rear end of the ball pin 600 in the process of returning to the original position after the primary pushing device 330 pushes it. The first plate 341 of the secondary push device 340 is moved to a position higher than the unit number of the ball pins 600 after a certain distance in the traveling direction (left to right direction in the embodiment of the present invention) And then return to their original position in a floating state. (The first position refers to a floating position when the first pushing device 330 pushes the ball pin 600), and the first plate 341 again moves to the first pushing device The second plate 342 is positioned at the rear end of the ball pin 600 that the first plate 341 moves when the first plate 341 is positioned at the rear end of the ball pin 600 supplied by the first plate 341. The third plate 343 is located at the rear end of the ball pin 600 which is moved by the second plate 342 and the second plate 342 is located at the rear end of the first plate 341, The first plate 341 is located at the rear end of the ball pin 600 moved by the first pushing device 330 and is repeatedly pushed And is located at the rear end of the newly supplied ball pin 600.

There is a particular reason for constructing the transfer part 300 in this way in the present invention. Generally, the conveying device uses a lot of conveyor belts as suggested in the prior art. However, according to the present invention, when the conveyor belt is used due to the morphological characteristics of the ball pin 600, it is required to collect the ball pins 600 through a separate process at the final destination. However, When the pushing method is used, the ball pins 600 are naturally collected in the moving process. In order to utilize this, the push method was used instead of the conveyor belt method generally used. Since one process can be omitted according to the use of the pushing method, it is possible to carry out the rapid transportation and packaging operation as the process is simplified because it does not need to add a separate process in spite of the morphological characteristics possessed by the ball pin 600 It can also have the advantage of.

In this case, an alignment stopper (not shown) may be further provided between the primary pushing device 330 and the secondary pushing device 340 so as to align the ball pins 600 uniformly.

The alignment stopper is disposed in a direction opposite to the ball pin 600 conveyed through the primary pushing device 330 and is engaged with one end of the ball pin 600 so that the ball pin 600 is aligned. And a stopper lift device capable of lifting and lowering the stopper body from the conveyance passage 310.

The alignment stopper will be described in more detail below.

The alignment stopper is positioned between the primary pushing device 330 and the secondary pushing device 340 and more precisely at a certain distance in the direction in which the primary pushing device advances Lt; / RTI >

The operation of the alignment stopper is simple in terms of upward and downward reciprocating movements to the reference (or the lowest point) of the conveyance passage 310 and is meaningless when it is operated in conjunction with the driving of the primary pushing device 330 .

As described above, when the ball pins 600, which are sequentially supplied from the aligning unit 200, are collected in a predetermined quantity to form one unit quantity, the second pushing device (not shown) 340). At this time, the alignment stopper is positioned between the primary pushing device 330 and the secondary pushing device 340 to block the unit quantity of the ball pinning 600 moving through the primary pushing device 330 So that the ball pin 600 hits the alignment stopper (or the stopper body). It is possible to arrange the ball pins 600 supplied through the aligning unit 200 in a uniform manner. A little easier to explain is that when we first use chopsticks, we think it is the same as aligning the chopsticks against the table to align them in length.

After the ball pins 600 moved through the primary pushing device 330 are aligned (collided) through the alignment stopper, the primary pushing device 330 again moves to a position where the secondary pushing device 340 So that it is moved to the place where it is moved.

Since the lengths and sizes of the ball pins 600 may vary, the lengths of the ball pins 600 may be different each time the ball is transported and aligned. Therefore, The distance between the aligning stoppers and the distance between the aligning portions 200 and the distance between the aligning portions 200 is larger than the distance between the aligning portions 200, The first pushing device 330 may strike the alignment stopper by a sensor capable of recognizing the size (using length recognition, impact recognition, or the like) or a user under a predetermined time condition, It is desirable to make it so.

The ball pins 600 transferred through the transfer unit 300 are picked up and transferred from the transfer unit 300 so that the ball pins 600 transferred through the transfer unit 300 can be easily picked up. And a pop-up unit 400 for raising and collecting the image at a predetermined height.

The pop-up unit 400 includes a pop-up body 410 positioned at a lower end of the conveyance unit 300, a pop-up body 410 positioned at the lower end of the conveyance unit 300, A pop-up cradle 420 for lifting up the pop-up cradle 600 to a predetermined height, a power transmission device 430 for providing power necessary for the pop-up cradle 420 to move up and down to a predetermined height, ). In this case, the pop-up cradle 420 may be formed in a shape of an upper wall so that the lower end of the pop-up cradle 420 is narrowed so that the ball pints 600 of a unit quantity can be gathered well.

The packaging unit 500 is configured to pick up and transport the ball pints 600 having a predetermined unit volume up through the pop-up unit 400.

The packaging part 500 includes a packaging body 510 in the form of a frame and communicating with one side of the transfer part 300, a packaging robot 510 positioned above the packaging body 510 and movable in three axial directions And a packaging tongue 530 which is coupled to one side of the packaging robot 520 and picks up the unit quantity of the ball pins 600 aligned through the pop-up unit 400 and transfers the ball pints 600 to the transport unit 700 .

At this time, when the packaging tongue 530 is installed on one side of the packaging tongue 530 and is loaded on the transportation unit 700 using the packaging tongue 530, And a packaging sensor unit 540 for preventing a predetermined amount or more from being loaded on the carrier unit 700. The packaging unit 500 prevents the packaging unit 500 from loading too much of the ball fins 600 into the transportation unit 700 through the packaging sensor unit 540, The packaging sensor unit 540 may be attached in order to stably load the ball pins 600 at a constant height because the outer surface of the ball pins 600 may be scratched or defective products may be generated It is desirable.

When the packaging tongue 530 picks up and transports the ball pints 600 in a unit quantity, the packaging robot 520 has the largest load due to the weight of the ball pins 600, (Up-and-down direction) of the load caused by the load. Accordingly, it is preferable that the packaging robot 520 is driven by the air cylinder in order to withstand the load applied to the Z-axis direction of the packaging robot 520 and to reduce the failure rate. At this time, the robot system is used for the X, Y and Z axis directions. However, in the Z axis direction, the air cylinder for weight-balance is mounted in the robot system, so that the weight of the vertical transfer is limited to the weight of the ball pin 600 in the no-load state, thereby enabling high-speed operation. Can be minimized.

The conveying unit 700 is located at the inner lower end of the packaging unit 500 and is used as a conveying unit for conveying the unitized quantity of the ball pins 600 through the packaging unit 500 to the outside It can be seen as a cart and a vehicle.

In addition, a controller (not shown) may be installed on the outer surface of at least one of the alignment unit 200, the transfer unit 300, the pop-up unit 400, and the packaging unit 500 to perform an overall control of the operation, 800 are formed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be apparent to those skilled in the art that various modifications may be made without departing from the scope and spirit of the invention.

100: Automatic alignment and transfer of ball pins
200:
210: Alignment body
220: Brush part
221: Brushes
300:
310:
320: Feed support
330: primary push device
340: Secondary push device
341: First Edition
342: Second Edition
343: Third Edition
400: Popup section
410: pop-up body
420: pop-up holder
430: Power transmission device
500: packaging section
510: packaging body
520: Packaging robot
530: Packaging tongs
540: packaging sensor unit
600: ball pinch
700:
800:

Claims (12)

An aligning unit for aligning the ball pins randomly supplied from the upper side and removing the oil buried on the outer surface of the ball pin;
A conveying unit positioned at a lower end of the aligning unit, sequentially receiving the aligned ball pins from the aligning unit, conveying the consecutive pieces when a predetermined number of units are collected,
A pop-up unit located at a lower end of one side of the conveyance unit, raising a unit quantity of ball pins moving through the conveyance unit to a predetermined height from the conveyance unit, collecting the unit quantities of the ball pins;
A packaging unit which is located at one side of the transfer unit and picks up and loads the unit volume of the ball pins raised to a predetermined height through the pop-up unit;
A conveying unit located at an inner lower end of the packaging unit and loading the unitary quantity of the ball pins through the loading unit and delivering the ball pins to the outside; And
And a control unit attached to an outer surface of at least one of the aligning unit, the transferring unit, the pop-up unit, and the packaging unit to control the operation of the aligning unit, the transferring unit, the pop-up unit, and the packaging unit. Alignment and transfer device. The method according to claim 1,
The alignment unit may include:
An alignment body which is opened at an upper side to receive the ball pins randomly supplied from the upper side and discharges the supplied ball pins at a lower side and an alignment body which is located inside the alignment body and buried in the outer surface of the ball pin And at least one pair of brushes for removing the oil and aligning the ball pins. 3. The method of claim 2,
Wherein the brush unit is formed in a pair in the horizontal direction, and is arranged in a vertical direction so as to have a multistage shape. The method of claim 3,
Wherein at least one of the multistage brush portions arranged in the vertical direction is formed with grooves in which the brush formed on the outer surface of the brush portion is removed in a spiral shape. The method according to claim 1,
The transfer unit
A conveying path for conveying the ball pins sequentially supplied from the aligning unit, a conveying support member positioned at a lower end of the conveying passage and supporting the conveying passage at a predetermined height, A first pushing device which pushes the pinch flow from one side to the other side when the pinch flows are gathered at a predetermined quantity to form one unit of water, and a second pushing device which is located at an intermediate portion of the transferring passage, And a second pushing device for moving the plate by a repetitive motion of a predetermined section using at least one plate. 6. The method of claim 5,
Further comprising an alignment stopper positioned between the primary push device and the secondary push device for aligning the ball pins. The method according to claim 6,
The alignment stopper
A stopper body positioned in a direction opposite to the ball pin conveyed through the primary pushing device so that one side of the ball pin collides with the ball pin to align the ball pin, a stopper body capable of moving up and down from the transfer passage, And a lift device for automatically aligning and conveying the ball pins. The method according to claim 1,
The pop-
A pop-up body positioned at a lower end of the conveying unit, and a pop-up unit that is positioned in the same position as the conveying unit and is moved through the conveying unit, And a power transmission device for providing the power required for the pop-up stand to ascend and descend to a predetermined height. 9. The method of claim 8,
Wherein the pop-up cradle is formed in a shape of a vertical stripe. The method according to claim 1,
The packaging unit includes:
A packaging robot which is disposed on an upper portion of the packaging body and is movable in three axial directions, and a packaging robot which is coupled to one side of the packaging robot and is arranged in a unit And a packaging tongue for picking up and transferring the balls to the transporting unit. 11. The method of claim 10,
And a packaging sensor installed on one side of the packaging tongs to load the packaging tongs on the transportation unit, Wherein the ball pin array is further configured to include a plurality of ball pins. 11. The method of claim 10,
Wherein the packaging robot is driven by an air cylinder in the Z-axis direction.

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