CN205471574U - A device for retracting boards equipped with a manipulator - Google Patents

Abstract

The utility model relates to the technical field of material receiving and releasing mechanical equipment, in particular to a plate receiving and releasing device provided with a manipulator, which comprises a frame body, a material receiving and releasing mechanism and a manipulator which are positioned in the frame body, and a plate taking mechanism, a conveying mechanism, a cleaning mechanism, a positioning mechanism, a plate receiving and releasing mechanism and a jet printing mechanism which are arranged on the frame body; during the use, in installing the frame with the detector, get the plate mechanism and place on conveying mechanism with receiving and releasing mechanism's plate, the plate flows to positioning mechanism after clean mechanism handles, receive and release the plate mechanism and remove the plate on the positioning mechanism to the detector and detect, then will detect the plate and put aside, the manipulator picks up the plate that has detected and places on spouting seal mechanism after overturning the plate, spout seal mechanism and carry out data to the plate and spout the seal, the manipulator will spout the plate after the seal and put into receiving and releasing mechanism. The utility model discloses need not the manual work and receive and release the plate, promote the detection efficiency of plate greatly.

Description

A device for retracting boards equipped with a manipulator

technical field

The utility model relates to the technical field of mechanical equipment for retracting and unwinding materials, and in particular discloses a board retracting and unwinding device equipped with a manipulator.

Background technique

In the production process of PCB (that is, printed circuit board), it is necessary to detect the PCB in the processing process. The equipment used in the detection is mainly automatic optical detector (commonly known as AOI). AOI detects common defects in the PCB production process based on optical principles. Carry out inspection, and display defects through display or automatic marking for repairing by maintenance personnel. After the rise of AOI, it has developed very rapidly. Many PCB manufacturers use AOI for quality inspection, and AOI has gradually become one of the standard equipment in the PCB manufacturing process.

In actual use, it is necessary to configure special staff to send the PCB to be inspected into AOI, and then take out the PCB after the AOI inspection is completed. Personnel will turn over the removed PCB and put it into the AOI again for inspection. The work is heavy and it is not conducive to the improvement of inspection efficiency.

Contents of the invention

In order to overcome the shortcomings and deficiencies in the prior art, the purpose of this utility model is to provide a device for retracting and unwinding boards equipped with a manipulator, which does not require manual retracting and unwinding of boards, and greatly improves the detection efficiency of the detector.

In order to achieve the above purpose, a device for retracting and unwinding plates equipped with a manipulator of the present utility model includes a frame body, a material retracting and discharging mechanism located in the frame body, a plate taking mechanism, a conveying mechanism, a cleaning mechanism, and a positioning mechanism installed in the frame body. Mechanism, retractable plate mechanism and printing mechanism, also including the manipulator located in the frame body, the conveying mechanism is located between the retractable mechanism and the cleaning mechanism, the plate fetching mechanism is slidably connected between the retractable mechanism and the conveying mechanism, and the cleaning mechanism Located between the conveying mechanism and the positioning mechanism, it is used to detect the detector of the plate. The retractable plate mechanism is slidingly connected between the positioning mechanism and the detector. The detector is located between the positioning mechanism and the printing mechanism. Between the instrument and the feeding and discharging mechanism, the manipulator moves between the detector, the printing mechanism, and the feeding and discharging mechanism.

Preferably, the feeding and unwinding mechanism includes a first bracket, a discharging component, a receiving component and a moving component installed on the first bracket, and the discharging component and the receiving component both include a lifting member installed on the first bracket , the traversing component is slidingly connected between the discharging component and the receiving component.

Preferably, the conveying mechanism and the positioning mechanism both include a second bracket installed on the frame body, a plurality of rollers installed on the second bracket, and the second bracket of the positioning mechanism is also equipped with a baffle, and the baffle is located on the roller. above.

Preferably, the board removal mechanism includes a first mechanical arm mounted on the frame body, a second mechanical arm slidably connected to the first mechanical arm, the first mechanical arm and the second mechanical arm are arranged crosswise, and slidably connected to the second mechanical arm. The first suction part of the robotic arm.

Preferably, the number of the second mechanical arms is two, the first mechanical arm is equipped with a first lead screw, the first lead screw is covered with a slide plate, and the two second mechanical arms are connected to the slide plate.

Preferably, the cleaning mechanism includes a third bracket installed on the frame body, a dust-sticking roller and a dust-collecting roller hinged on the third bracket, the viscosity of the dust-collecting roller is greater than that of the dust-sticking roller, and the dust-collecting roller is attached to the Sticky roller.

Preferably, the retractable board mechanism includes a third mechanical arm installed on the frame body, a fourth mechanical arm slidably connected to the third mechanical arm, the third mechanical arm and the fourth mechanical arm are arranged crosswise, and the fourth mechanical arm The sliding connection has a second suction piece.

Preferably, the manipulator is a six-axis manipulator, the aforementioned mechanisms are arranged around the manipulator, and the manipulator includes a plurality of sequentially connected arms, and the end of the arm is connected with a third suction member.

Preferably, the manipulator includes a first arm, a second arm hinged to the first arm, a third arm hinged to the second arm, and a hinge shaft between the first arm and the second arm Perpendicular to the hinge axis between the second arm and the third arm, and hinged to the fourth arm of the third arm, the hinge axis between the second arm and the third arm is connected to the third arm, The hinge axis between the fourth arm is parallel and hinged to the fifth arm of the fourth arm, the hinge axis between the third arm and the fourth arm is the same as that between the fourth arm and the fifth arm The hinge axis of the arm is perpendicular to the mounting plate of the fifth arm, the hinge axis between the fourth arm and the fifth arm is perpendicular to the hinge axis between the fifth arm and the mounting plate, and the third suction piece Hinged to the mounting plate, the hinge axis between the fifth arm and the mounting plate is perpendicular to the hinge axis between the mounting plate and the third suction member.

Preferably, the printing mechanism includes a fifth mechanical arm installed on the frame body, the fifth mechanical arm is equipped with a second lead screw and a guide rail, the guide rail and the second lead screw are arranged at intervals, and are sleeved on the second lead screw The printed parts, the printed parts are stuck on the guide rail.

Beneficial effects of the utility model: in actual use, the detector is installed in the frame body, and the plate taking mechanism places the plates in the feeding and unwinding mechanism on the conveying mechanism, and the plates flow to the positioning mechanism after being processed by the cleaning mechanism, and are collected. The plate release mechanism moves the plate on the positioning mechanism to the detector for detection, and then removes the tested plate. The manipulator picks up the tested plate and turns it over and places it on the printing mechanism. The mechanism prints data on the plate, and the manipulator puts the printed plate into the feeding and unwinding mechanism. The utility model does not need to manually retract and unwind the board, and greatly improves the detection efficiency of the board.

Description of drawings

Fig. 1 is the top view of the utility model;

Fig. 2 is the front view of the utility model;

Fig. 3 is the three-dimensional structure schematic diagram of the feeding and unwinding mechanism of the utility model;

Fig. 4 is the three-dimensional structure schematic diagram of the conveying mechanism of the present utility model;

Fig. 5 is a three-dimensional structural schematic diagram of the positioning mechanism of the present invention;

Fig. 6 is a schematic diagram of the three-dimensional structure of the plate taking mechanism of the present invention after the first suction piece is hidden;

Fig. 7 is the front view of the plate taking mechanism of the present utility model;

Fig. 8 is the right side view of the plate taking mechanism of the present utility model;

Fig. 9 is a schematic diagram of the three-dimensional structure of the cleaning mechanism of the present invention;

Fig. 10 is a three-dimensional structural schematic diagram of the retractable board mechanism of the present invention;

Fig. 11 is a schematic diagram of the three-dimensional structure of the manipulator of the present invention;

Fig. 12 is a three-dimensional structural schematic diagram of the spray printing mechanism of the present invention.

Reference signs include:

1—frame 10—support plate 2—Retracting and unwinding mechanism

21—first bracket 22—Discharging component 23—receiving component

24—Moving Components 25—Roller 26—Grip rod

27—lifting member 30—conveying mechanism 31—positioning mechanism

32—second bracket 33—Roller 34—Baffle

4—Plate taking mechanism 41—first mechanical arm 42—Skateboard

43—Second Robotic Arm 44—first suction piece 5—Cleaning Mechanism

51—Third bracket 52—sticky roller 53—dust roller

6—Retractable plate mechanism 61—Third robotic arm 62—Fourth robotic arm

63—Second suction piece 7—Robot 70—the third suction piece

71—first arm 72—second arm 73—third arm

74—fourth arm 75—fifth arm 76—Installation Disk

8—Printing mechanism 81—Fifth robotic arm 82—second lead screw

83—rail 84—jet printing 9—Detector.

detailed description

In order to facilitate the understanding of those skilled in the art, the utility model will be further described below in conjunction with the embodiments and drawings, and the content mentioned in the implementation mode is not to limit the utility model.

Please refer to Fig. 1 and Fig. 2, a kind of retractable board device for board inspection equipment of the present utility model includes a frame body 1, and a retractable material mechanism 2 located in the frame body 1 is installed on the frame body 1 The plate taking mechanism 4, the transport mechanism 30, the cleaning mechanism 5, the positioning mechanism 31, the retractable plate mechanism 6 and the printing mechanism 8 also include the manipulator 7 located in the frame body 1, and the conveying mechanism 30 is located between the retractable mechanism 2 and the printing mechanism 8. Between the cleaning mechanism 5, the plate taking mechanism 4 is slidably connected between the receiving and discharging mechanism 2 and the conveying mechanism 30, the cleaning mechanism 5 is located between the conveying mechanism 30 and the positioning mechanism 31, and the detector 9 for detecting the plate is The board release mechanism 6 is slidingly connected between the positioning mechanism 31 and the detector 9, the detector 9 is located between the positioning mechanism 31 and the spray printing mechanism 8, the spray printing mechanism 8 is located between the detector 9 and the feeding and unwinding mechanism 2, and the manipulator 7 moves between the detector 9, the printing mechanism 8, and the feeding and discharging mechanism 2, that is, the manipulator 7 moves back and forth between the detector 9, the printing mechanism 8, and the feeding and discharging mechanism 2.

In actual use, the detector 9 is installed in the frame body 1, and the plate taking mechanism 4 places the plates in the feeding and unwinding mechanism 2 on the conveying mechanism 30, and the plates on the conveying mechanism 30 flow after being processed by the cleaning mechanism 5. On the positioning mechanism 31, the retractable plate mechanism 6 moves the plate on the positioning mechanism 31 to the detector 9 for detection, and then removes the detected plate, and the manipulator 7 picks up the detected plate and places the plate After being turned over, it is placed above the printing mechanism 8 , the printing mechanism 8 performs data printing on the plate, and the manipulator 7 puts the printed plate into the feeding mechanism 2 . The utility model does not need to manually retract and unwind the board, and greatly improves the detection efficiency of the board.

The frame body 1 is roughly in the shape of a hollow cuboid, and the frame body 1 is connected by a plurality of steel pipes. In order to prevent the bottom end of the frame body 1 from directly contacting the ground and being corroded by moisture, as required, those skilled in the art can A plurality of support plates 10 are installed at the bottom of the body 1, and the frame body 1 is placed on the ground through the support plates.

Please refer to Fig. 1 and Fig. 3, described retracting and unwinding mechanism 2 comprises first bracket 21, and first bracket 21 is connected by a plurality of steel pipes likewise, and the material discharging component 22 that is installed on the first bracket 21, the material receiving component 23 and the moving assembly 24, the feeding assembly 22 and the receiving assembly 23 are spaced apart from each other and arranged approximately flush, the moving assembly 24 is slidably connected between the discharging assembly 22 and the receiving assembly 23, in order to facilitate the movement of the receiving and discharging mechanism 2 , those skilled in the art can install a plurality of rollers 25 at the bottom end of the first bracket 21 , and install a grip bar 26 at the side end of the first bracket 21 .

The discharging assembly 22 and the receiving assembly 23 both include a lifting member 27 installed on the first support 21, the lifting member 27 includes a threaded rod installed on the first support 21, a bearing plate sleeved on the threaded rod , is installed on the first bracket 21 and is used to drive the first driving member to rotate the threaded rod. In this embodiment, the first driving member is a driving motor. The user places the plates together with the tray on the loading plate of the discharging assembly 22. After the plate taking mechanism 4 removes the top plate of the loading plate, the first driving part drives the loading plate to rise by a preset distance. The board mechanism 4 is ready to take the board next time. After the boards in each tray are taken, the moving assembly 24 moves the empty tray to the loading plate of the receiving assembly 23 .

The moving assembly 24 includes conveyor belts installed on the opposite sides of the first bracket 21, a second driver mounted on the first bracket 21 and driving the conveyor belt to rotate, and a clamping cylinder installed on the conveyor belt. After the inner plate is taken out, the clamping cylinders at both ends of the tray clamp it, and the second drive member drives the conveyor belt to rotate, and then moves the tray to the top of the loading plate of the receiving assembly 23, and the clamping cylinder is released , and then place the tray on the loading plate of the receiving assembly 23 . In addition, according to specific needs, those skilled in the art can also directly install the retracting and unwinding mechanism 2 on the frame body 1 , and at this time connect the first bracket 21 and the frame body 1 together.

Please refer to Fig. 1, Fig. 4 and Fig. 5, described conveying mechanism 30, positioning mechanism 31 all comprise the second bracket 32 that is installed on the support body 1, and the second bracket 32 is roughly rectangular, is installed on the second bracket 32 A plurality of rollers 33 on the top, a conveyor chain or a conveyor belt connecting a plurality of rollers 33, a third driver installed on the second bracket 32 or frame body 1, the third driver drives the conveyor chain or conveyor belt to rotate, and the conveyor chain Or the conveyor belt drives a plurality of rollers 33 to rotate so as to move the plates placed on the rollers 33 forward. The second support 32 of the positioning mechanism 31 is also equipped with a baffle plate 34, the baffle plate 34 is positioned at the top of the cylinder 33, the baffle plate 34 is used for positioning the plate on the cylinder 33, avoiding excessive movement of the plate, and preventing the plate from moving to Out of the range of the board retracting mechanism 6 , the board retracting mechanism 6 cannot pick up the plate on the positioning mechanism 31 .

Please refer to Fig. 1, Fig. 6, Fig. 7 and Fig. 8, the plate taking mechanism 4 includes a first mechanical arm 41 installed on the frame body 1, a second mechanical arm 43 slidably connected to the first mechanical arm 41 , the first mechanical arm 41 and the second mechanical arm 43 are intersected, preferably, the first mechanical arm 41 is perpendicular to the second mechanical arm 43, and the fourth driving member installed on the first mechanical arm 41 or the frame body 1, The fourth driving member drives the second mechanical arm 43 to slide along the first mechanical arm 41 . The first absorber 44 that is slidably connected on the second mechanical arm 43 is installed on the fifth drive member on the first mechanical arm 41 or the second mechanical arm 43, and the fifth drive member drives the first absorber 44 along the second mechanical arm. The arm 43 slides up and down. In this embodiment, the first suction member 44 is a vacuum suction nozzle.

In actual use, the first suction member 44 picks up the plate on the discharge assembly 22, the fifth drive member drives the first suction member 44 to rise upward along the second mechanical arm 43, and the fourth drive member drives the second mechanical arm 43 to move upward along the second mechanical arm 43. The first mechanical arm 41 slides, and then moves the first suction part 44 together with the plate to the top of the conveying mechanism 30, and the fifth driving part drives the first suction part 44 to move down to the roller 33 of the conveying mechanism 30, the first The suction part 44 releases the plate, and puts the plate on the roller 33 of the conveying mechanism 30 . The plate taking mechanism 4 drives the first suction member 44 to reset again, so as to get ready for the next time taking the plate.

In this embodiment, the number of the second mechanical arms 43 is two, and the first suction member 44 is connected to the two second mechanical arms 43, the first lead screw is installed on the first mechanical arm 41, the first The screw cover is provided with a slide plate 42 , and the two second mechanical arms 43 are connected to the slide plate 42 , and the two second mechanical arms 43 are spaced apart from each other. During use, a first suction part 44 picks up the plate in the discharging assembly 22, and another first suction part 44 picks up the plate in the receiving assembly 23, and then the second mechanical arm 43 mechanical arm moves along the first mechanical arm 41 Sliding, one first suction part 44 is placed on the conveying mechanism 30 with the plate that picks up, and another first suction part 44 is placed on the plate that picks up on the feeding assembly, so repeats the cycle, reduces the time that the second mechanical arm 43 moves distance, shorten the time taken by the first suction member 44 to transfer the board, and further assist in improving production efficiency.

Please refer to Fig. 1 and Fig. 9, described cleaning mechanism 5 comprises the 3rd bracket 51 that is installed on frame body 1, the sticky dust roller 52 that is hinged on the 3rd bracket 51 and dust collection roller 53, sticky dust roller 52 and The dust collecting rollers 53 are arranged parallel to each other, and the outer surface of the dust collecting roller 53 is attached to the outer surface of the dust-sticking roller 52. The dust collection rollers 53 are respectively located on the upper and lower sides of a plurality of sticky dust rollers 52, and are installed on the third support 51 or the sixth driving member on the frame body 1, and the sixth drive member drives the sticky dust rollers 52 and the dust collection rollers 53 to rotate . After the plate is transported to the cleaning mechanism 5 by the conveying mechanism 30, the plate passes between a plurality of dust-sticking rollers 52, and the dust and tiny particles on the surface of the plate adhere to the surface of the dust-sticking rollers 52 to avoid Dust, tiny particles, etc. on the board block the detection results of the detector 9, effectively reducing the misjudgment of the detector 9, and also preventing dust, tiny particles, etc. from polluting the table of the detector 9. The outer surface of the dust collecting roller 53 is pasted on the outer surface of the sticky dust roller 52, the viscosity of the dust collecting roller 53 is greater than that of the sticky dust roller 52, and the dust, tiny particles, etc. On the roller 53, avoid the dust etc. on the sticky roller 52 from sticking on the plate again. According to specific needs, the dust collecting roller 53 is cleaned regularly, so that the cleaning mechanism 5 maintains a good cleaning effect.

Please refer to Fig. 1 and Fig. 10, described retractable board mechanism 6 comprises the 3rd mechanical arm 61 that is installed on the frame body 1, the 4th mechanical arm 62 that is slidably connected on the 3rd mechanical arm 61, the 3rd mechanical arm 61 intersects with the fourth mechanical arm 62 . In this embodiment, the third mechanical arm 61 is perpendicular to the fourth mechanical arm 62 , and the second suction member 63 is connected to the fourth mechanical arm 62 . A seventh drive member is installed on the third mechanical arm 61 or on the frame body 1, and the seventh drive member drives the fourth mechanical arm 62 to move left and right along the third mechanical arm 61, and an eighth drive member is installed on the fourth mechanical arm 62, The eighth driving member drives the second suction member 63 to move up and down along the fourth mechanical arm 62 .

In actual use, the second suction member 63 picks up the plate on the positioning mechanism 31, the eighth driving member drives the second suction member 63 to move upward, and then the seventh driving member drives the fourth mechanical arm 62 to move along the third mechanical arm 61, The plate on the positioning mechanism 31 is moved to the tester 9 for detection. After the tester 9 has finished testing, the second suction member 63 moves the plate out of the tester 9, and then the manipulator 7 picks up the detected plate and removes it. The plate is moved to the spray printing mechanism 8, and the retractable plate mechanism 6 is reset to get ready for the next action.

1 and 11, the manipulator 7 is a six-axis manipulator 7, the manipulator 7 includes a plurality of sequentially connected arms, the end of the arm is connected with a third suction piece 70, to ensure that the manipulator 7 can hold the third suction piece 70 moves to any position in the space, and the retracting and unwinding mechanism 2, the plate taking mechanism 4, the conveying mechanism 30, the cleaning mechanism 5, the positioning mechanism 31, the retracting and releasing mechanism 6, and the spray printing mechanism 8 are arranged around the manipulator 7. Among them, the manipulator 7 is roughly located in the center of the frame body 1, and the retractable and unloading mechanism 2, the plate taking mechanism 4, the conveying mechanism 30, the cleaning mechanism 5, the positioning mechanism 31, the retractable plate mechanism 6 and the printing mechanism 8 are respectively located on the frame. Around the body 1, on the one hand, shorten the distance between the manipulator 7 and the detector 9, the printing mechanism 8, and the feeding and discharging mechanism 2, save the time required for the movement of the manipulator 7, and assist in improving production efficiency; on the other hand, it serves as a backup Function, that is, when one of the mechanisms is damaged, the manipulator 7 can be used to temporarily replace the damaged mechanism, so as to avoid the failure of the normal use of the retractable plate device.

The manipulator 7 includes a first arm 71, a second arm 72 hinged on the first arm 71, a third arm 73 hinged on the second arm 72, the first arm 71, the second arm The hinge axis between the first arm portion 72 and the second arm portion 72 is perpendicular to the hinge axis between the second arm portion 72 and the third arm portion 73, wherein the hinge axis between the first arm portion 71 and the second arm portion 72 is vertically arranged, and the second The hinge shaft between the arm portion 72 and the third arm portion 73 is arranged horizontally; the fourth arm portion 74 hinged on the third arm portion 73, the hinge shaft between the second arm portion 72 and the third arm portion 73 is connected with the fourth arm portion 73 The hinge shaft between the three arm parts 73 and the fourth arm part 74 is parallel; the fifth arm part 75 hinged on the fourth arm part 74, the hinge shaft between the third arm part 73 and the fourth arm part 74 and The hinge axis between the fourth arm portion 74 and the fifth arm portion 75 is perpendicular; the mounting plate 76 hinged on the fifth arm portion 75, the hinge axis between the fourth arm portion 74, the fifth arm portion 75 and the fifth arm portion 75 The hinge axis between the fifth arm portion 75 and the mounting plate 76 is perpendicular, and the hinge axis between the fifth arm portion 75 and the mounting plate 76 is parallel to the hinge axis between the second arm portion 72 and the third arm portion 73 The third suction piece 70 is hinged on the mounting plate 76, and the hinge axis between the fifth arm portion 75 and the mounting plate 76 is perpendicular to the hinge axis between the mounting plate 76 and the third suction piece 70.

Please refer to Fig. 1 and Fig. 12, described printing mechanism 8 comprises the fifth mechanical arm 81 that is installed on the frame body 1, and the fifth mechanical arm 81 is equipped with the second lead screw 82 and guide rail 83, and guide rail 83 and the first The two lead screws 82 are arranged at intervals, the spray printing part 84 sleeved on the second lead screw 82, the spray print part 84 is clamped on the guide rail 83, the ninth drive part installed on the fifth mechanical arm 81, the ninth drive The part drives the printing part 84 to slide along the second lead screw 82 to adjust the specific position of the printing part 84, so as to facilitate the printing part 84 to print data on the board. By setting the guide rail 83 , the running of the printing member 84 is made more stable, preventing the printing member 84 from slipping during the printing work, and ensuring the printing quality of the printing mechanism 8 . The printed boards are moved by the manipulator 7 to the receiving assembly 23 of the feeding and unwinding mechanism 2, and circulated sequentially. After the inspection of the batches on the A side of the boards is completed, the batches on the B side of the boards are then subjected to the same inspection operation. , so as to realize the double-sided inspection of the board. During the re-inspection of the printed boards, the detection results of the previous section can be queried in time, which is convenient for targeted re-inspection and helps to improve the production efficiency of the boards.

The board retractable device of the utility model cancels the operation mode that the current detector 9 uses manual retractable boards, and realizes double-sided detection of the boards, that is, first detects the front batches of the boards, and then detects the reverse batches of the boards. Automatic cleaning, board placement, board collection, and printing, with a high degree of automation, greatly reduce the poor contact of boards caused by personnel operations, effectively solve the low output rate caused by manual board collection and release, and provide efficient and stable production capacity .

To sum up, it can be seen that the utility model has the above-mentioned excellent characteristics, so that it can improve the performance that is not available in the prior art in use, and has practicality, and becomes a product with great practical value.

The above content is only a preferred embodiment of the present utility model. For those of ordinary skill in the art, according to the idea of the present utility model, there will be changes in the specific implementation and scope of application. The content of this specification should not be understood as Limitations on the Invention.

Claims (10)

1. the folding and unfolding panel assembly being configured with mechanical hand, including support body, it is positioned at the unwinding mechanism of support body, it is installed in the plate taking-out mechanism of support body, conveying mechanism, cleaning mechanism, detent mechanism, retraction plate machine structure and spray printing mechanism, it is characterized in that: also include being positioned at the mechanical hand of support body, conveying mechanism is between unwinding mechanism and cleaning mechanism, plate taking-out mechanism is slidably connected between unwinding mechanism and conveying mechanism, cleaning mechanism is between conveying mechanism and detent mechanism, for detecting the detector of plate, retraction plate machine structure is slidably connected between detent mechanism and detector, detector is between detent mechanism and spray printing mechanism, spray printing mechanism is between detector and unwinding mechanism, mechanical hand is displaced into detector, spray printing mechanism, between unwinding mechanism.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 1, it is characterized in that: described unwinding mechanism includes the first support, it is installed in the blowing assembly of the first support, rewinding assembly and moving assembly, blowing assembly, rewinding assembly all include the lift component being installed in the first support, and traversing component slippage is connected between blowing assembly and rewinding assembly.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 1, it is characterized in that: described conveying mechanism, detent mechanism all include being installed in the second support of support body, it is installed in multiple cylinders of the second support, second support of detent mechanism is also equiped with baffle plate, and baffle plate is positioned at the top of cylinder.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 1, it is characterized in that: described plate taking-out mechanism includes being installed in the first mechanical arm of support body, it is slidably connected to the second mechanical arm of the first mechanical arm, first mechanical arm and the second mechanical arm are arranged in a crossed manner, are slidably connected to the first suction piece of the second mechanical arm.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 4, it is characterised in that: the quantity of described second mechanical arm is two, and the first mechanical arm is equiped with the first leading screw, and the first screw set is provided with slide plate, and two the second mechanical arms are all connected with slide plate.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 1, it is characterized in that: described cleaning mechanism includes being installed in the 3rd support of support body, being articulated with Roller for sticking dust and the dust roller of the 3rd support, the viscosity of dust roller is more than the viscosity of Roller for sticking dust, and dust roller is attached at Roller for sticking dust.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 1, it is characterized in that: described retraction plate machine structure includes being installed in the three-mechanical arm of support body, it is slidably connected to the 4th mechanical arm of three-mechanical arm, three-mechanical arm and the 4th mechanical arm are arranged in a crossed manner, and the 4th mechanical arm slidably connects the second suction piece.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 1, it is characterized in that: described mechanical hand is six axis robot, each mechanism aforementioned is arranged around mechanical hand, and mechanical hand includes multiple arm being sequentially connected with, and the end of arm connects the 3rd suction piece.

nullThe folding and unfolding panel assembly being configured with mechanical hand the most according to claim 8，It is characterized in that: described mechanical hand includes the first arm，It is articulated with the second arm of the first arm，It is articulated with the 3rd arm of the second arm，First arm、Jointed shaft between second arm and the second arm、Jointed shaft between 3rd arm is perpendicular，It is articulated with the 4th arm of the 3rd arm，Second arm、Jointed shaft between 3rd arm and the 3rd arm、Jointed shaft between 4th arm is parallel，It is articulated with the 5th arm of the 4th arm，3rd arm、Jointed shaft between 4th arm and the 4th arm、Jointed shaft between 5th arm is perpendicular，It is articulated with the mounting disc of the 5th arm，4th arm、Jointed shaft between 5th arm and the 5th arm、Jointed shaft between mounting disc is perpendicular，3rd suction piece is articulated with mounting disc，5th arm、Jointed shaft between mounting disc and mounting disc、Jointed shaft between 3rd suction piece is perpendicular.

The folding and unfolding panel assembly being configured with mechanical hand the most according to claim 1, it is characterized in that: described spray printing mechanism includes being installed in the 5th mechanical arm of support body, 5th mechanical arm is equiped with the second leading screw and guide rail, guide rail and the second leading screw interval are arranged, being sheathed on the spray printing part of the second leading screw, spray printing part is fastened in guide rail.