CN116730016A - Composite robot for taking, placing and transporting base plate material boxes - Google Patents

Abstract

The application discloses a composite robot for taking, placing and transporting a base plate material box, which is characterized by comprising a transportation trolley, wherein the transportation trolley moves among processing equipment; the conveying rack is arranged on the conveying trolley and used for accommodating the material boxes; the material box clamping device is used for clamping and transferring the material box between the processing equipment and the conveying material rack, and is arranged at the processing equipment or on the conveying trolley; the clamping and transferring device for the material box is used for clamping and transferring the material box between the material conveying device and the processing equipment, so that the material box feeding and discharging operation is not needed to be manually performed, the labor is saved, and the production efficiency is improved.

Description

Composite robot for taking, placing and transporting base plate material boxes

Technical Field

The application relates to the technical field of substrate transportation, in particular to a composite robot for taking, placing and transporting a substrate box.

Background

In the process of processing the substrate, the substrate is required to be processed on a plurality of different devices according to different production process links, namely, the substrate is required to be processed in different production links; in order to facilitate the transportation of the substrate between different production links, the substrate is generally placed in the middle of a substrate material box for transportation, a plurality of substrates can be placed in the middle of one substrate material box, the substrate material box can play a role in protecting the substrate in the middle of the transportation process, and the substrate can be safely transferred between different production links.

When the base plate material box is transported, the base plate material box can be transported through the transportation trolley, but the base plate material box is placed on the transportation trolley and the base plate material box is taken down from the transportation trolley, so that the base plate material box is manually operated, a large amount of manpower is wasted, and the production efficiency is reduced.

Disclosure of Invention

Aiming at the defects of the prior art, the application aims to provide a composite robot for taking, placing and transporting a base plate material box, which clamps and transfers the material box between a transporting material and processing equipment through a material box clamping device, does not need to manually carry out feeding and discharging operations of the material box, saves manpower and improves the production efficiency.

In order to achieve the above purpose, the present application provides the following technical solutions: the composite robot for taking, placing and transporting the base plate material boxes comprises a transport trolley, wherein the transport trolley moves among processing equipment;

the conveying rack is arranged on the conveying trolley and used for accommodating the material boxes;

and the material box clamping device is used for clamping and transferring the material box between the processing equipment and the conveying material frame, and is arranged at the processing equipment or on the conveying trolley.

The application is further provided with: the material box clamping device comprises a mechanical arm which is arranged on the transportation trolley or beside the production equipment;

the clamping mechanism is arranged on the mechanical arm and driven by the mechanical arm to move in position;

the clamping mechanism comprises clamping fingers, two groups of clamping fingers are arranged, and the two groups of clamping fingers move towards directions approaching to and separating from each other so as to clamp and loosen the material box.

The application is further provided with: each group of clamping mechanism comprises a plurality of clamping fingers, the two groups of clamping fingers correspond to each other one by one, the clamping fingers of the same group are distributed along the distribution direction of the material boxes, and each material box is clamped at least by the two corresponding clamping fingers.

The application is further provided with: the clamping mechanism further comprises a guide rail, and the position of the guide rail is fixed;

and a slider provided on the connection plate and slidable on the guide rail in a sliding direction of the clip fingers.

The application is further provided with: the material box clamping device further comprises a material stirring mechanism, the material stirring mechanism comprises two material stirring plates, at least one of the two material stirring plates is arranged to be a movable material stirring plate, the movable material stirring plate is used for controlling the distance between the two material stirring plates through sliding, and the sliding direction of the movable material stirring plate is arranged along the arrangement direction of the plurality of material boxes.

The application is further provided with: the material box clamping device further comprises a pressing mechanism, and the pressing mechanism is pressed on the top of the material box.

The application is further provided with: the conveying material rack comprises a rack body, wherein the rack body is fixedly connected to the top of the conveying trolley, and a plurality of accommodating spaces are formed in the rack body;

a pallet which is arranged in each accommodating space, extends out of and retracts into the accommodating space by sliding, and is used for bearing a material box;

and a pressing mechanism for pressing the magazine against the pallet retracted in the receiving space.

The application is further provided with: the pressing mechanism comprises pressing plates, each accommodating space corresponds to at least one pressing plate, and the pressing plates press the material box on the supporting plate retracted in the accommodating space.

The application is further provided with: the pressing part mechanism further comprises a lifting part, and the lifting part is used for driving the pressing part plate to lift up and down so as to control the pressing part plate to press and loosen the material box.

The application is further provided with: the flexible rail that is provided with in layer board both sides, flexible rail includes fixed part and sliding part, and the fixed part is fixed on the support body, and the sliding part slides on the fixed part, thereby the layer board is connected with the sliding part makes the sliding part drive the layer board and stretches out and retract accommodation space.

In summary, compared with the prior art, the application has the following beneficial effects: according to the application, the clamping and transferring of the material box are carried out between the conveying material and the processing equipment through the material box clamping device, so that the feeding and discharging operation of the material box is not required to be carried out manually, the labor is saved, and the production efficiency is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of an embodiment;

FIG. 2 is a schematic view of a cartridge gripping device according to an embodiment;

FIG. 3 is a schematic view of a gripping mechanism of an embodiment;

FIG. 4 is an enlarged schematic view of portion A of FIG. 3;

FIG. 5 is a schematic diagram of an embodiment of a kick-out mechanism;

FIG. 6 is a schematic view of a hold-down mechanism of an embodiment;

FIG. 7 is a schematic view of a transport rack of an embodiment;

FIG. 8 is an enlarged schematic view of portion B of FIG. 7;

FIG. 9 is a schematic view of a follower mechanism of an embodiment;

FIG. 10 is a schematic view of an embodiment showing a lifting member;

fig. 11 is a schematic view of a pallet of an embodiment.

In the figure: 1. a transport trolley; 2. a magazine clamping device; 21. a mechanical arm; 22. a support plate; 23. a clamping mechanism; 231. a clamping finger; 232. a connecting plate; 233. a guide rail; 234. a slide block; 235. a slide bar; 236. a positioning block; 24. a stirring mechanism; 241. a kick-out plate; 242. a synchronous belt; 243. a fixing plate; 25. a compressing mechanism; 251. a pressing plate; 252. a spring; 253. a fixing member; 2531. a guide hole; 2532. a limiting hole; 254. a guide rod; 255. an elastic cushion pad; 256. a bolt; 257. a transition sleeve; 3. transporting the material rack; 31. a frame body; 311. an accommodation space; 32. a supporting plate; 321. positioning a stop block; 33. a pressing part mechanism; 331. a pressing piece plate; 332. a mounting plate; 333. an optical axis; 334. a fixing seat; 335. a guide block; 336. a lifting member; 34. a telescopic rail; 341. a fixing part; 342. a sliding part.

Detailed Description

In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described in the following with reference to the accompanying drawings, and based on the embodiments of the present application, other similar embodiments obtained by those skilled in the art without making any inventive effort should be included in the scope of protection of the present application. In addition, directional words such as "upper", "lower", "left", "right", and the like, as used in the following embodiments are merely directions with reference to the drawings, and thus, the directional words used are intended to illustrate, not to limit, the application.

The application will be further described with reference to the drawings and preferred embodiments.

Embodiment one: a composite robot for taking, placing and transporting a base plate material box, referring to fig. 1-11, comprises a transportation trolley 1 moving between processing equipment, a transportation material frame 3 arranged on the transportation trolley 1 and a material box clamping device 2 for clamping and transferring the material box between the processing equipment and the transportation material frame 3, wherein the material box clamping device 2 is arranged at the processing equipment or on the transportation trolley 1.

Specifically, the cartridge gripping device 2 includes a robot arm 21, a support plate 22 provided on the robot arm 21, and a gripping mechanism 23 provided on the support plate 22; the mechanical arm 21 is arranged on the transport trolley 1 or beside the production equipment; when the mechanical arm 21 is arranged on the transport trolley 1, the mechanical arm 21 can move along with the transport trolley 1, and when the transport trolley 1 moves beside the equipment to take and place the material box, the mechanical arm 21 can drive the clamping mechanism 23 to move to finish the process; when the mechanical arm 21 is arranged beside the production equipment, one mechanical arm 21 is arranged beside each production equipment, and when the transportation trolley 1 moves to the production equipment, the clamping mechanism 23 is driven by the mechanical arm 21 beside the production equipment to take and place the material box. In the present embodiment, the robot arm 21 is provided on the transportation cart 1. The robot arm 21 is provided as a six-axis robot arm 21.

Specifically, the gripping mechanism 23 includes two sets of gripping fingers 231, and gripping and releasing of the cartridge is achieved by moving the two sets of gripping fingers 231 in directions toward and away from each other. When clamping the material boxes, in order to improve the clamping efficiency, a plurality of material boxes need to be clamped at one time; the plurality of cartridges are arranged along a horizontal direction, and when the cartridges are clamped, two groups of clamping fingers 231 can be clamped at two ends of the arrangement direction of the plurality of cartridges, but when the cartridges close to the middle position in the arrangement direction are clamped in the clamping mode, the condition that the cartridges are not completely clamped easily occurs, so that the cartridges positioned in the middle position in the arrangement direction are easy to fall off in the process of picking and placing; in this embodiment, two sets of clamping fingers 231 are provided to clamp the cartridges from both sides in the arrangement direction of the cartridges, and in order to enable each of the cartridges to be clamped by the clamping fingers 231, each set of clamping fingers 231 is provided with a plurality of clamping fingers 231. The two groups of the plurality of clamping fingers 231 are in one-to-one correspondence, and when clamping is performed, the corresponding two clamping fingers 231 clamp the same cartridge and each cartridge is arranged to be clamped at least by the corresponding two clamping fingers 231, so that each cartridge can be firmly clamped.

In order to achieve the clamping of the cartridge by the clamping fingers 231, the clamping fingers 231 are provided to slide in a horizontal direction and the sliding direction of the clamping fingers 231 is perpendicular to the arrangement direction of the cartridge.

Specifically, in order to maintain uniform movement of the same set of clamping fingers 231, in this embodiment, the clamping mechanism 23 further includes a connecting plate 232, each set of clamping fingers 231 corresponds to one connecting plate 232, the plurality of clamping fingers 231 of the same set are fixedly connected with the connecting plate 232 corresponding to the set of clamping fingers 231, and the plurality of clamping fingers 231 of the same set are driven to move simultaneously by movement of the connecting plate 232.

Specifically, the clamping mechanism 23 further includes a power member, and the power member is in driving connection with the connection plate 232, and drives the connection plate 232 to move through the power member, so as to drive the plurality of clamping fingers 231 of the same group to move simultaneously. Specifically, in this embodiment, the power member is configured as a cylinder; the clamping mechanism 23 is arranged at the bottom of the supporting plate 22, the cylinder body of the power piece is fixedly connected to the supporting frame, and the piston rod is fixedly connected to the connecting plate 232, so that the connecting plate 232 can be driven to move through the expansion and contraction of the piston rod.

Specifically, in order to guide the sliding direction of the connection plate 232, the gripping mechanism 23 further includes a guide rail 233 and a slider 234, the guide rail 233 is fixedly connected to the support plate 22, the slider 234 is fixedly connected to the connection plate 232, and the slider 234 can slide on the guide rail 233 along the sliding direction of the gripping finger 231; in the gripping mechanism 23, at least one set of the guide rail 233 and the slider 234 is provided, and preferably, in the present embodiment, two sets of the guide rail 233 and the slider 234 are provided and the two sets of the guide rail 233 and the slider 234 are symmetrically provided with respect to the longitudinal direction of the connection plate 232.

Specifically, the guide rail 233 and the sliding blocks 234 are disposed on the sides of the two connection plates 232 that are close to each other, a sliding rod 235 and a positioning block 236 are disposed on the side of each sliding block 234 that is far away from the connection plate 232 connected thereto, the length direction of the sliding rod 235 is set along the sliding direction of the connection plate 232, and the sliding rod 235 passes through the positioning block 236 along the length direction thereof and slides on the positioning block 236 along the length direction thereof; the sliding rod 235 is fixedly connected to the sliding block 234, and the positioning block 236 is fixedly connected to the supporting plate 22; when the clamping finger 231 clamps the cartridge, the sliding block 234 contacts with the positioning block 236, so that the clamping finger 231 cannot continuously increase the force for clamping the cartridge, and damage to the cartridge caused by excessive clamping of the cartridge by the clamping finger 231 is prevented.

Specifically, the cartridge gripping device 2 further includes a kick-out mechanism 24; when a plurality of feed boxes are arranged together, in order to guarantee that each feed box can be smoothly got to the clamp of clamping jaw, stir the feed box through dialling feed mechanism 24 along the direction of arranging of feed box for a plurality of feed boxes paste tightly each other, make each feed box can be put together by returning to the palm, thereby conveniently carry out the snatch of feed box through the clamping jaw.

Specifically, the material stirring mechanism 24 includes two material stirring plates 241, the two material stirring plates 241 are disposed at the bottom of the supporting plate 22, at least one material stirring plate 241 of the two material stirring plates 241 is configured to move the material stirring plates 241, and the distance between the two material stirring plates 241 can be adjusted by moving the material stirring plates 241; specifically, two shifting plates 241 are arranged along the arrangement direction of the material boxes, and the moving direction of the moving shifting plates 241 is also arranged along the arrangement direction of the material boxes; through the removal of removing the stirring board 241, can shorten the distance between two stirring boards 241 to drive a plurality of magazine each other and paste together through two stirring boards 241, realize putting together the magazine.

In this embodiment, one of the material stirring plates 241 is set as a fixed material stirring plate 241, the other material stirring plate 241 is set as a movable material stirring plate 241, the fixed material stirring plate 241 is fixedly connected to the supporting plate 22, the movable material stirring plate 241 slides on the supporting plate 22, and the distance between the two material stirring plates 241 is changed by sliding the movable material stirring plates 241.

Specifically, the material stirring mechanism 24 further includes a synchronous belt 242, the synchronous belt 242 is supported by two synchronous belt 242 wheels, and the synchronous belt 242 wheels are connected to the support plate 22 in a rotating manner; the length direction of the synchronous belt 242 wheels is parallel to the sliding direction of the movable material stirring plate 241, the movable material stirring plate 241 is fixedly connected to the synchronous belt 242, and the movable material stirring plate 241 is driven to move through the synchronous belt 242.

The supporting plate 22 is fixedly connected with a guide rail 233, the guide rail 233 is provided with a guide block, and the guide block slides on the guide rail 233 along the sliding direction of the movable material shifting plate 241; a fixed plate 243 is fixedly connected to the guide block, the movable deflector 241 is fixedly connected to the fixed plate 243, and the fixed plate 243 is fixedly connected to the timing belt 242.

In particular, the cartridge gripping device 2 further comprises a hold-down mechanism 25. The pressing mechanism 25 is pressed on the top of the material box, and when the clamping mechanism 23 clamps the material box, the pressing mechanism 25 is pressed on the top of the material box; the clamping mechanism 23 has certain gaps in the vertical direction among the parts and the cooperation between the parts and the supporting plate 22, so that the problem of vertical shaking of the material box easily occurs when the mechanical arm 21 acts, and a downward force is applied to the parts of the clamping mechanism 23 through the compaction of the compacting mechanism 25, so that the parts in the clamping mechanism 23 cannot shake up and down due to the gaps, and the clamped material box cannot fall easily.

Specifically, the hold-down mechanism 25 includes a hold-down plate that engages the top of the cartridge and a spring 252 for providing downward pressure to the hold-down plate; during the process of aligning the supporting plate 22 with the cartridge and moving downwards, the pressing plate 251 is contacted with the cartridge, so that the spring 252 is pressed by the pressing plate 251 until the clamping fingers 231 are positioned at two sides of the cartridge, at this time, the spring 252 provides downward pressure for the pressing plate 251, and after the clamping fingers 231 clamp the cartridge and lift the cartridge upwards, the spring 252 applies the downward pressure on the clamping mechanism 23, so that each component of the clamping mechanism 23 is pressed at the bottom of the assembly gap in the assembly gap, and no up-down shaking occurs.

The pressing mechanism 25 further comprises a fixing piece 253, and the fixing piece 253 is fixedly connected to the supporting plate 22; a guide rod 254 is fixedly connected to the top of the pressing plate 251, and the guide rod 254 is inserted into the fixing member 253 and can slide up and down on the fixing member 253 to guide the moving direction of the pressing plate 251; the guide rod 254 is sleeved with a spring 252, and two ends of the spring 252 are respectively connected to a fixing piece 253 and a pressing plate 251.

Guide holes 2531 formed in the fixing piece 253 are formed in two sides of the guide rod 254, the guide holes 2531 penetrate through the fixing piece 253 downwards, limiting holes 2532 are formed in the tops of the guide holes 2531, and the limiting holes 2532 penetrate through the fixing piece 253 upwards; the size of the limiting hole 2532 is larger than the size of the guide hole 2531; the two sides of the guide rod 254 are respectively provided with a bolt 256, the head of the bolt 256 is positioned in the limit hole 2532, and the screw rod part of the bolt 256 passes through the guide hole 2531 to be fixedly connected with the pressing plate 251; the pressing plate 251 cannot be thoroughly separated from the fixing piece 253 by the arrangement of the bolts 256 and the arrangement of the limiting holes 2532; specifically, a transition sleeve 257 is sleeved outside the screw, the transition sleeve 257 passes through the limiting hole 2532, and two ends of the transition sleeve are respectively abutted against the head of the bolt 256 and the pressing plate 251; an elastic buffer 255 is provided between the fixing piece 253 and the support plate 22 to prevent the head of the bolt 256 from directly contacting the support plate 22 to generate a hard collision.

Specifically, the transporting material rack 3 includes a rack body 31 fixedly connected to the top of the transporting trolley 1, a plurality of supporting plates 32 arranged in the rack body 31, and a pressing member mechanism 33 arranged on the rack body 31; specifically, a plurality of accommodating spaces 311 are provided on the frame body 31, a pallet 32 is provided in each accommodating space 311, and the pallet 32 is extended from and retracted into the accommodating space 311 by horizontal sliding; the pallet 32 is convenient to take off the cartridge on the pallet 32 or to place the cartridge on the pallet 32 when it is extended from the accommodation space 311; after the cartridge is placed on the pallet 32, the cartridge is accommodated in the accommodating space 311 by sliding of the pallet 32; the pressing means 33 are provided for pressing the cartridge against the pallet 32 retracted in the receiving space 311. Through accommodation space 311 to the accomodate of magazine and through the compress tightly of casting die mechanism 33 to the magazine for accomodate the magazine in the middle of to accommodation space 311 is fixed, thereby makes in the middle of travelling bogie 1 carries out the in-process of transportation to the magazine, and the magazine is difficult to bump and empty, thereby is difficult to cause the damage to the base plate in the middle of the magazine.

Specifically, the accommodating space 311 passes through the frame 31 in the horizontal direction, and the plurality of accommodating spaces 311 are arranged on the frame 31 in the vertical direction; at least one cartridge is placed on top of each pallet 32.

Specifically, the pressing mechanism 33 includes pressing plates 331, each accommodating space 311 corresponds to at least one pressing plate 331, and the pressing plate 331 corresponding to the accommodating space 311 is used for pressing the cartridge accommodated in the accommodating space 311, so that the cartridge is pressed on the pallet 32.

Preferably, in the present embodiment, each of the accommodating spaces 311 corresponds to a plurality of pressing plates 331, and the plurality of pressing plates 331 are arranged in a horizontal direction. Specifically, the cartridges on the pallet 32 are arranged on the pallet 32 along the horizontal direction, the arrangement direction of the plurality of pressing plates 251 in the accommodating space 311 is the same as the arrangement direction of the cartridges on the pallet 32, and when the cartridges on the pallet 32 are accommodated in the accommodating space 311, each of the cartridges is at least pressed against one of the pressing plates 331, so that each of the cartridges on the pallet 32 can be firmly pressed against the pallet 32.

Specifically, the pressing mechanism 33 further includes a lifting member 336, where the lifting member 336 is configured to drive the pressing plate 331 to lift up and down, so as to control the pressing and releasing of the pressing plate 331 on the cartridge.

Specifically, the elevating member 336 is provided as an air cylinder; the cylinder body of the lifting member 336 is fixedly connected with the frame 31, and in this embodiment, a fixing base 334 is fixedly connected to the frame 31, and the cylinder body of the lifting member 336 is fixedly connected to the fixing base 334.

Specifically, the pressing mechanism 33 includes an optical axis 333 and a mounting plate 332, each accommodating space 311 corresponds to one mounting plate 332, and the mounting plate 332 is fixedly connected with the pressing plates 331 in the accommodating space 311, so that the plurality of pressing plates 331 in the accommodating space 311 can be driven to move up and down together by the mounting plate 332.

The optical axis 333 is vertically arranged and is fixedly connected with all the mounting plates 332, the piston rod of the power part is fixedly connected with the optical axis 333 through a flat plate, and the power part drives the optical axis 333 to move in the vertical direction, so that the mounting plates 332 are driven to move vertically to drive the pressing part plate 331 to move in the vertical direction.

Specifically, the transporting material rack 3 further includes a guide block 335, each optical axis 333 corresponds to at least one guide block 335, the optical axis 333 passes through the guide block 335 in the vertical direction and can slide on the guide block 335 in the vertical direction, and the vertical sliding of the optical axis 333 can be guided by the arrangement of the guide block 335. Specifically, each optical axis 333 corresponds to two guide blocks 335, the two guide blocks 335 are arranged along the vertical direction, and the two guide blocks 335 are fixedly connected to the frame 31.

Preferably, two optical axes 333 are provided in the present embodiment, and the two optical axes 333 are arranged along the horizontal direction.

Specifically, in this embodiment, two ends of the accommodating space 311 are respectively provided with an open end and a closed end, the supporting plate 32 extends out of the accommodating space 311 from the open end of the accommodating space 311, and a baffle is provided at the closed end of the accommodating space 311, and the supporting plate 32 is blocked by the baffle from sliding out of the closed end of the accommodating space 311; the baffle is fixedly connected to one side of the frame 31, and blocks the pallet 32 among the plurality of accommodating spaces 311 through the baffle.

Specifically, a positioning stop block 321 is arranged at the top of the supporting plate 32, the positioning stop block 321 is arranged at the front end and the rear end of the supporting plate 32 extending out of the accommodating space 311, and the positioning stop block 321 is used for blocking the material box from sliding off the supporting plate 32.

Specifically, two telescopic rails 34 are provided on both sides of the pallet 32, the telescopic rails 34 include a fixed portion 341 and a sliding portion 342, the fixed portion 341 is fixed on the frame 31, the sliding portion 342 is provided on the fixed portion 341 and is capable of sliding on the fixed portion 341, and the sliding direction of the sliding portion 342 on the fixed portion 341 is the same as the sliding direction of the pallet 32;

specifically, front and rear end baffles are provided at both ends of the fixed portion 341, respectively, and are fixed to the frame 31 such that the position of the fixed portion 341 on the frame 31 is fixed.

Specifically, at least one of the telescopic rails 34 is provided with an air cylinder, the cylinder body of the air cylinder is fixedly connected with the fixed portion 341, the piston rod of the air cylinder is fixedly connected with the sliding portion 342, and the sliding of the sliding portion 342 on the fixed portion 341 is controlled through the expansion and contraction of the piston rod of the air cylinder.

Embodiment two: the difference between the first embodiment and the second embodiment is that the magazine clamping device 2 further comprises a camera component, a laser sensor and an inclination sensor; the camera assembly includes a light source and a camera; the camera assembly, the laser sensor and the tilt sensor are all arranged on the support plate 22, by means of which the support plate 22 and the magazine can be positioned such that the gripping mechanism 23 and the ejector mechanism 24 can be aligned with the magazine.

The above description is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above examples, and all technical solutions belonging to the concept of the present application belong to the protection scope of the present application. It should be noted that modifications and adaptations to the present application may occur to one skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.

Claims (10)

1. A compound robot that is used for base plate material box to get to put transportation, its characterized in that: comprises a transport trolley (1), wherein the transport trolley (1) moves between processing equipment;

a transport rack (3), the transport rack (3) being arranged on the transport trolley (1) and being used for accommodating the cartridges;

and a material box clamping device (2), wherein the material box clamping device (2) is used for clamping and transferring the material box between processing equipment and a conveying material frame (3), and the material box clamping device (2) is arranged at the processing equipment or on a conveying trolley (1).

2. A composite robot for picking, placing and transporting a base plate material box according to claim 1, wherein: the material box clamping device (2) comprises a mechanical arm (21), and the mechanical arm (21) is arranged on the transport trolley (1) or beside production equipment;

the clamping mechanism (23) is arranged on the mechanical arm (21) and is driven by the mechanical arm (21) to move in position;

the clamping mechanism (23) comprises clamping fingers (231), the clamping fingers (231) are provided with two groups, and the two groups of clamping fingers (231) move towards directions approaching to each other and away from each other so as to clamp and loosen the material box.

3. A composite robot for picking, placing and transporting a base plate material box according to claim 2, wherein: each group of clamping mechanism (23) comprises a plurality of clamping fingers (231), the plurality of clamping fingers (231) of the two groups are in one-to-one correspondence, the plurality of clamping fingers (231) of the same group are arranged along the arrangement direction of the material boxes, and each material box is clamped at least by the two corresponding clamping fingers (231).

4. A composite robot for pick-and-place transportation of a base sheet cassette as defined in claim 3, wherein: the clamping mechanism (23) further comprises a guide rail (233), and the position of the guide rail (233) is fixed;

and a slider (234), the slider (234) being provided on the connection plate (232) and being slidable on the guide rail (233) in the sliding direction of the clip finger (231).

5. A composite robot for pick-and-place transportation of a base sheet cassette as defined in claim 4, wherein: the material box clamping device (2) further comprises a material stirring mechanism (24), the material stirring mechanism (24) comprises material stirring plates (241), two material stirring plates (241) are arranged, at least one material stirring plate (241) in each material stirring plate (241) is arranged to be a movable material stirring plate (241), the movable material stirring plate (241) is used for controlling the distance between the two material stirring plates (241) through sliding, and the sliding direction of the movable material stirring plate (241) is arranged along the arrangement direction of a plurality of material boxes.

6. A composite robot for pick-and-place transportation of a base sheet cassette as defined in claim 5, wherein: the material box clamping device (2) further comprises a pressing mechanism (25), and the pressing mechanism (25) is pressed on the top of the material box.

7. A composite robot for picking, placing and transporting a base plate material box according to claim 1, wherein: the conveying material rack (3) comprises a rack body (31), the rack body (31) is fixedly connected to the top of the conveying trolley (1), and a plurality of accommodating spaces (311) are formed in the rack body (31);

a pallet (32), each accommodating space (311) is provided with a pallet (32), the pallet (32) extends out of and retracts into the accommodating space (311) by sliding, and the pallet (32) is used for bearing a material box;

and a pressing mechanism (33), wherein the pressing mechanism (33) is used for pressing the material box on the supporting plate (32) retracted in the accommodating space (311).

8. A composite robot for pick-and-place transportation of a base sheet cassette as defined in claim 7, wherein: the pressing mechanism (33) comprises pressing plates (331), each accommodating space (311) corresponds to at least one pressing plate (331), and the pressing plates (331) press the material box on the supporting plate (32) retracted in the accommodating space (311).

9. A composite robot for pick-and-place transportation of a base sheet cassette as defined in claim 8, wherein: the pressing mechanism (33) further comprises a lifting piece (336), and the lifting piece (336) is used for driving the pressing plate (331) to lift up and down so as to control the pressing plate (331) to press and loosen the material box.

10. A composite robot for pick-and-place transportation of a base sheet cassette as defined in claim 9, wherein: the utility model discloses a flexible package structure, including layer board (32), flexible rail (34) are provided with in layer board (32) both sides, flexible rail (34) are including fixed part (341) and sliding part (342), and fixed part (341) are fixed on support body (31), and sliding part (342) slide on fixed part (341), thereby layer board (32) are connected with sliding part (342) so that sliding part (342) drive layer board (32) stretches out and withdraws into accommodation space (311).