CN212831373U - Transportation manipulator and transportation system - Google Patents

Abstract

The utility model discloses a transportation manipulator and a transportation system, which comprises a bracket; a space moving unit provided on the bracket; and a first pickup unit provided on the space moving unit. Thereby can use this transportation manipulator to install by the device of putting the product is got to needs, get the spatial position of a unit through the first adjustment of space mobile unit to get through first getting a unit and get the product and put, in order to replace manual operation, thereby avoid because of product quality problem and the safety problem that artifical maloperation leads to.

Description

Transportation manipulator and transportation system

Technical Field

The utility model relates to a transportation structure, concretely relates to transportation manipulator and conveying system.

Background

In the production process, the steps related to the product taking and placing are generally operated by hands. However, manual operation is prone to product quality problems due to misoperation, and manual operation may also cause safety accidents.

SUMMERY OF THE UTILITY MODEL

Get product quality problem and the safety problem of putting through artifical maloperation and leading to in order to solve production process in, according to the utility model discloses an aspect provides the transportation manipulator.

The transport robot comprises a support; a space moving unit provided on the bracket; and a first pickup unit provided on the space moving unit.

Thereby can use this transportation manipulator to install by the device of putting the product is got to needs, get the spatial position of a unit through the first adjustment of space mobile unit to get through first getting a unit and get the product and put, in order to replace manual operation, thereby avoid because of product quality problem and the safety problem that artifical maloperation leads to.

In some embodiments, the transport robot further includes a first turnover mechanism, and the first pickup unit is disposed on the space moving unit through the first turnover mechanism. Therefore, the conveying manipulator can also be used for changing the direction of the product after being taken and placed so as to adapt to different working conditions.

In some embodiments, the transport manipulator further comprises a second pick-up unit arranged on the first turnover mechanism, and the second pick-up unit is arranged away from the pick-up direction of the first pick-up unit. Therefore, the first picking unit can be used for picking and placing blanks, and the second picking unit can be used for picking and placing finished products, so that full-automatic production is realized.

In some embodiments, the transport robot further comprises a second flipping mechanism; the second pickup unit is arranged on the first turnover mechanism or the first pickup unit through the second turnover mechanism. Therefore, the first taking unit and the second taking unit can be adjusted in the spatial rotating direction through the first turnover mechanism and the second turnover mechanism so as to adapt to different working conditions.

In some embodiments, the tilt axis of the second flipping mechanism is disposed parallel to the tilt axis of the first flipping mechanism. So that adjust the first direction of getting a unit and the second direction of getting a unit through second tilting mechanism and first tilting mechanism to avoid first when getting a unit during operation, the second gets a unit and hits the machine or hit the product, avoid simultaneously that the second gets a unit during operation, first unit of getting hits the machine or hits the product.

In some embodiments, the tilt axis of the first flipping mechanism is disposed in a horizontal direction. So as to drive the first piece taking unit and the second piece taking unit to rotate through the first turnover mechanism, and when one of the first piece taking unit and the second piece taking unit faces downwards, the first turnover mechanism is beneficial to taking and placing blanks or finished products.

In some embodiments, the transport manipulator further comprises a position adjusting mechanism, at least two picking mechanisms are arranged on at least one of the first picking unit and the second picking unit, and the picking mechanism of the second picking unit is arranged on the second turnover mechanism through one position adjusting mechanism; the pick-up mechanism of the first pick-up unit is arranged on the first turnover mechanism through a position adjusting mechanism. Therefore, the position between the taking mechanisms can be adjusted through the position adjusting mechanism so as to clamp blanks placed at different positions or clamp finished products of different specifications.

In some embodiments, the space moving unit includes a first horizontal moving mechanism, a second horizontal moving mechanism, and a vertical moving mechanism connected in sequence; the first horizontal moving mechanism is arranged on the support, the first turnover mechanism is arranged on the vertical moving mechanism, and the driving directions of the first horizontal moving mechanism and the second horizontal moving mechanism are not parallel.

Therefore, the position of the first turnover mechanism in the space can be adjusted through the first horizontal moving mechanism, the second horizontal moving mechanism and the vertical moving mechanism, and then the positions of the first pickup unit and the second pickup unit in the space are adjusted, so that the picking and placing of blanks and finished products are realized through the first pickup unit and the second pickup unit.

In some embodiments, the transport robot further includes a control module, and the first horizontal moving mechanism, the second horizontal moving mechanism, the vertical moving mechanism, the first turnover mechanism, the second turnover mechanism, the first pickup unit, and the second pickup unit are started or stopped according to a control signal output by the control module.

Therefore, a program can be embedded into the control module in advance, the sequence of the operation of the first horizontal moving mechanism, the second horizontal moving mechanism, the vertical moving mechanism, the first turnover mechanism, the second turnover mechanism, the first pickup unit and the second pickup unit is controlled, and the full-automatic picking and placing of blanks and products is realized through the conveying manipulator.

Get product quality problem and the safety problem of putting through artifical maloperation and leading to in order to solve production process in, according to the utility model discloses an aspect provides the conveying system.

The transportation system comprises the transportation manipulator; the first conveying mechanism is used for conveying the blanks to the feeding end of the conveying manipulator; and a second conveying mechanism for conveying the products at the discharge end of the transport robot. Therefore, the blank can be continuously conveyed into the production equipment through the conveying system, and the finished product can be conveyed out of the production equipment, so that continuous automatic production is realized.

Drawings

Fig. 1 is a schematic structural view of a transport robot according to an embodiment of the present invention;

FIG. 2 is a schematic view of another perspective of the transport robot of FIG. 1;

FIG. 3 is an enlarged schematic view of the transport robot at A in FIG. 1;

FIG. 4 is an enlarged schematic view of the transport robot shown in FIG. 1 at B;

fig. 5 is an enlarged schematic view of the transport robot shown in fig. 1 at C;

fig. 6 is a schematic structural diagram of a first turnover mechanism, a second turnover mechanism, a first pickup unit and a second pickup unit according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of the first turnover mechanism, the second turnover mechanism, the first pickup unit and the second pickup unit shown in fig. 6 in a turnover state;

FIG. 8 is a structural view illustrating a disassembled state of the first horizontal moving mechanism;

fig. 9 is a schematic structural diagram of the first turnover mechanism, the second turnover mechanism, the first pickup unit and the second pickup unit shown in fig. 6 from another view angle;

fig. 10 is a schematic structural view of a transportation system according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 to 8 schematically show a transport robot according to an embodiment of the present invention.

Referring to fig. 1 and 2, the transport robot includes a support 100, a space moving unit 20, and a first pick-up unit 50; the space moving unit 20 is arranged on the bracket 100, the first pickup unit 50 is arranged on the space moving unit 20, and the space moving unit 20 is arranged to drive the first pickup unit 50 to move in a three-dimensional space so as to adjust the spatial position of the first pickup unit 50; the first pickup unit 50 is provided to be able to pick up or put down an item.

Fig. 1 and 2 schematically show a first embodiment of the space moving unit 20, the space moving unit 20 including a first horizontal moving mechanism 21, a second horizontal moving mechanism 22, and a vertical moving mechanism 23 connected in this order; wherein, the first horizontal moving mechanism 21 is arranged on the bracket 100, the first turnover mechanism 30 is arranged on the vertical moving mechanism 23, and the driving directions of the first horizontal moving mechanism 21 and the second horizontal moving mechanism 22 are not parallel; the first horizontal moving mechanism 21 drives the second horizontal moving mechanism 22 to reciprocate along a first direction in a horizontal plane, the second horizontal moving mechanism 22 drives the vertical moving mechanism 23 to reciprocate along a second direction in the horizontal plane, wherein the first direction is not parallel to the second direction, and the vertical moving mechanism 23 drives the first pickup unit 50 to reciprocate along a vertical direction, that is, the direction Z shown in fig. 1 and 2 reciprocates.

With continued reference to fig. 1 and 2, in some embodiments, the second horizontal moving mechanism 22 is disposed such that the direction (direction Y) in which the vertical moving mechanism 23 is moved is perpendicular to the direction (direction X) in which the first horizontal moving mechanism 21 moves the second horizontal moving mechanism 22. So as to quickly adjust the spatial position of the first pickup unit 50.

Figures 1, 2 and 8 schematically show a first embodiment of the first horizontal displacement mechanism 21, taking the first horizontal moving mechanism 21 as an example, the first horizontal moving mechanism 21 includes a guide rail 211 and a slider 212, a track 213, a first rotating motor 214 and a first gear 215, which are mutually adapted, the guide rail 211 is installed on the bracket 100 along the horizontal direction, the slider 212 is adapted on the guide rail 211, the base of the first rotating motor 214 is installed on the slider 212, the first gear 215 is coaxially installed on the rotating shaft of the first rotating motor 214, for example, the first gear 215 may be mounted on the rotation shaft of the first rotation motor 214 by a coupling, the first gear 215 is engaged with the track 213, the track 213 is disposed along the extending direction of the guide rail 211, therefore, the first gear 215 can be driven by the first rotating motor 214 to move the caterpillar band 213, thereby driving the sliding block 212 to move along the direction of the guiding rail 211, and the moving direction of the sliding block 212 is adjusted by the rotating direction of the first rotating motor 214.

The second embodiment of the first horizontal moving mechanism 21 is that the first horizontal moving mechanism includes a guide rail and a slider which are matched with each other, a first rotating motor, and a screw rod and a nut which are matched with each other, the guide rail is installed on the bracket, the slider is matched with the guide rail, a base of the first rotating motor is installed on the slider, the screw rod is pivotally installed on the guide rail along the extending direction of the guide rail, the screw rod is coaxially connected with a rotating shaft of the first rotating motor through a coupler, and the nut is matched with the screw rod and connected with the slider (not shown in the figure).

The second horizontal moving mechanism 22 and the vertical moving mechanism 23 may adopt any one of the same embodiments as the first horizontal moving mechanism 21, and a detailed description thereof is omitted. The guide rail of the second horizontal movement mechanism 22 is installed on the slider of the first horizontal movement mechanism 21 in the horizontal direction, and is not parallel to the extending direction of the first horizontal movement mechanism 21. The guide rail of the vertical moving mechanism 23 is mounted on the slider of the second horizontal moving mechanism 22 in the vertical direction, and the first pickup unit 50 is mounted on the slider of the vertical moving mechanism 23.

Fig. 6 schematically shows an embodiment of the first pickup unit 50, the first pickup unit 50 comprising a clamping mechanism. The clamping mechanism may employ a finger cylinder 51, for example, a parallel pneumatic air gripper clamp rail robot cylinder of model MHZ 2. The object is taken and placed by the finger cylinder 51.

With continued reference to fig. 6, another embodiment of the first pick-off unit 50 may employ a vacuum chuck 61.

When the conveying manipulator is used, the conveying manipulator can be installed beside a device needing to take and place products, the space position of the first taking unit 50 is adjusted through the space moving unit 20, the products are taken and placed through the first taking unit 50, manual operation is replaced, and the product quality problem and the safety problem caused by manual misoperation are avoided.

In some embodiments, the transport robot further includes a control module, which may adopt, for example, a PLC embedded with a control program in advance, and the first horizontal moving mechanism 21, the second horizontal moving mechanism 22, the vertical moving mechanism 23, and the first pickup unit 50 are started or stopped according to a control signal output by the control module.

Referring to fig. 1 to 3 and 5, in some embodiments, the transport robot further includes a first turnover mechanism 30, and the first pickup unit 50 is provided on the space moving unit 20 by the first turnover mechanism 30. Therefore, the conveying manipulator can also be used for changing the direction of the product after being taken and placed so as to adapt to different working conditions.

Referring to fig. 1 and 2, in some embodiments, a first turnover mechanism 30 is provided on the vertical moving mechanism 23. The vertical moving mechanism 23 drives the first turnover mechanism 30 to reciprocate in the vertical direction.

Referring to FIG. 3, in some embodiments, the tilt axis of first tilt mechanism 30 is oriented horizontally. So as to drive the first pick-up unit 50 to rotate through the first turnover mechanism 30, and when the first pick-up unit 50 faces downwards, the first pick-up unit is beneficial to picking and placing blanks or finished products.

With continued reference to fig. 3, in some embodiments, the flipping axis of the first flipping mechanism 30 is disposed parallel to the driving direction of the first horizontal moving mechanism 21 or the second horizontal moving mechanism 22.

In some embodiments, the pick head of the first pick unit 50 is disposed perpendicular to the flip axis. So that the direction of the first pickup unit 50 is adjusted by the first turnover mechanism 30.

Fig. 1 and 3 schematically show one embodiment of the first turnover mechanism 30, the first turnover mechanism 30 comprising a first cylinder 31, a rack 32 and a second gear 33; wherein, the cylinder body of the first cylinder 31 is installed on the slide block of the vertical moving mechanism 23, the piston rod of the first cylinder 31 is arranged downwards, the rack 32 is installed on the piston rod of the first cylinder 31, and the rack 32 extends along the extending direction of the piston rod of the first cylinder 31, the cylinder body of the first cylinder 31 is installed with the first installation plate 34, the second gear 33 is pivotally installed on the first installation plate 34 and is engaged on the rack 32, the pivot axis of the second gear 33 is coincident with the axis thereof, and the first pickup unit 50 is arranged on the second gear 33. Therefore, the rack 32 can be driven by the first cylinder 31 to move up and down, and the second gear 33 is driven to rotate, so that the first pickup unit 50 is driven to overturn.

Referring to fig. 3, in some embodiments, the direction of extension of the axis of the second gear 33 is parallel to the direction X.

In some embodiments, first flipping mechanism 30 is activated or deactivated in response to a control signal output by the control module.

Referring to fig. 1 to 4, in some embodiments, the transport robot further includes a second pick-up unit 60, the second pick-up unit 60 is disposed on the space moving unit 20, and the second pick-up unit 60 is disposed away from the pick-up direction of the first pick-up unit 50.

With continued reference to fig. 1-4, in some embodiments, a first pick unit 50 and a second pick unit 60 are provided on the space moving unit 20 by the first flipping mechanism 30. The first turnover mechanism 30 drives the first pickup unit 50 and the second pickup unit 60 to turn over before and after turning over, which is shown in fig. 6 and 7.

In some embodiments, the first pick unit 50 and the second pick unit 60 are provided on the second gear 33.

Referring to fig. 1 to 3, in order to facilitate the installation of the first pickup unit 50 and the second pickup unit 60, the first pickup unit 50 and the second pickup unit 60 are installed on the second gear 33 through the second installation plate 35.

The second pickup unit 60 may adopt any one of the embodiments of the first pickup unit 50, and will not be described herein.

In some embodiments, the second pickup unit 60 is activated or deactivated according to a control signal output by the control module.

Referring to fig. 1-4, 6 and 9, in some embodiments, the transport robot further includes a second flipping mechanism 40; the second pickup unit 60 is disposed on the first turnover mechanism 30 or the first pickup unit 50 through the second turnover mechanism 40. Therefore, the spatial rotation directions of the first pickup unit 50 and the second pickup unit 60 can be adjusted through the first turnover mechanism 30 and the second turnover mechanism 40 so as to adapt to different working conditions.

Referring to FIG. 9, in some embodiments, the tilt axis of second flipping mechanism 40 is disposed parallel to the tilt axis of first flipping mechanism 30. So that the orientations of the first pickup unit 50 and the second pickup unit 60 can be adjusted by the second turnover mechanism 40 and the first turnover mechanism 30, so as to prevent the second pickup unit 60 from colliding with the machine or the product when the first pickup unit 50 works, and prevent the first pickup unit 50 from colliding with the machine or the product when the second pickup unit 60 works.

With continued reference to FIG. 9, in some embodiments, the second canting mechanism 40 is identical to the first canting mechanism 30, including a fourth cylinder 41, a second rack 42, and a third gear 43; the cylinder body of the fourth cylinder 41 is mounted on the first turnover mechanism 30 or the first pickup unit 50, and specifically mounted on the second gear 33, the second mounting plate 35 or the first pickup unit 50; the piston rod of the fourth cylinder 41 is arranged perpendicular to the axis of the second gear 33, the second rack 42 is mounted on the piston rod of the fourth cylinder 41, the second rack 42 extends along the extending direction of the piston rod of the fourth cylinder 41, the third mounting plate is mounted on the cylinder body of the fourth cylinder 41, the third gear 43 is pivotally mounted on the third mounting plate and meshed with the second rack 42, the pivot shaft of the third gear 43 is coincident with the axis of the third gear, and the second pickup unit 60 is arranged on the third gear 43. Therefore, the second rack 42 can be driven by the fourth cylinder 41 to reciprocate, so as to drive the third gear 43 to rotate, and thus drive the second pickup unit 60 to overturn.

With continued reference to fig. 9, in some embodiments, the pickup directions of the first pickup unit 50 and the second pickup unit 60 are perpendicular to the flipping axis of the first flipping mechanism 30. So that the orientations of the first pickup unit 50 and the second pickup unit 60 are adjusted by the first turnover mechanism 30 and the second turnover mechanism 40.

The picking direction of the first picking unit 50 is such that when the first turnover mechanism 30 drives the first picking unit 50 to rotate until the picking direction extends in the horizontal plane. In some embodiments, the pickup direction of the first pickup unit 50 is set parallel to the driving direction of the first horizontal movement mechanism 21 or the second horizontal movement mechanism 22.

The second pick-up unit 60 has a pick-up direction, which is when the second turnover mechanism 40 drives the second pick-up unit 60 to rotate until the pick-up direction extends in the horizontal plane.

In some embodiments, second flipping mechanism 40 is activated or deactivated in response to a control signal output by the control module.

Referring to fig. 6, in some embodiments, the transportation robot further includes a position adjusting mechanism 70, at least two picking mechanisms are provided on at least one of the first picking unit 50 and the second picking unit 60, and the picking mechanisms of the second picking unit 60 are each provided on the second turnover mechanism 40 through one position adjusting mechanism 70; the pickup mechanisms of the first pickup unit 50 are all separately provided on the first turnover mechanism 30 through a position adjustment mechanism 70. So that the position between the pickup mechanisms can be adjusted by the position adjusting mechanism 70 to grip blanks placed at different positions or grip finished products of different specifications.

Fig. 6 schematically illustrates one embodiment of a position adjustment mechanism 70. The position adjusting mechanism 70 comprises a first guide rail 71 and a first slide block 72 which are matched with each other and are provided with a locking mechanism, and a second guide rail 73 and a second slide block 74, wherein the second guide rail 73 is arranged on the first slide block 72, and the picking mechanism is arranged on the second slide block 74; a first guide rail 71 of a position adjusting mechanism 70 connected with the first pickup unit 50 is mounted on the first turnover mechanism 30, specifically on the second gear 33 or the second mounting plate 35; the first rail 71 of the position adjusting mechanism 70 connected to the second pick-up unit 60 is mounted on the second flipping mechanism 40, specifically, on the third gear 43.

Referring to fig. 3, in some embodiments, the locking mechanism is implemented by machining a screw hole for communicating the first rail 71 or the second rail 73 with the outside on the first slider 72 or the second slider 74, and fitting a screw into the screw hole, and tightening the screw to implement a locking function.

In some embodiments, the first rail 71 and the second rail 73 are disposed perpendicular to each other.

Referring to fig. 6, in other embodiments, the locking mechanism is realized by integrally forming or processing a sliding groove on the first rail 71 or the second rail 73, and integrally forming or processing a through hole or a through groove adapted to the sliding groove on the first slider 72 and the second slider 74. The bolt passes through the through hole or the through groove of the first slider 72 and the sliding groove of the first guide rail 71 and is connected with the nut, and the locking function is realized by screwing the nut; the bolt passes through the through hole or the through groove of the second slider 74 and the sliding groove of the second rail 73 and is connected with a nut, and the locking function is realized by tightening the nut.

Referring to fig. 6, when the first picking unit 50 or the second picking unit 60 includes at least two picking mechanisms, in order to avoid that one of the picking mechanisms picks a blank and a product, the other picking mechanism collides with the other picking blank and the product, the transport robot further includes a second air cylinder 52, each picking mechanism of the first picking unit 50 is separately arranged on the first turnover mechanism 30, specifically on the second gear 33 or the second mounting plate 35, through the second air cylinder 52, that is, each picking mechanism is arranged on a piston rod of the second air cylinder 52, and a cylinder body of the second air cylinder 52 is arranged on the first turnover mechanism 30, specifically on the second gear 33 or the second mounting plate 35.

In some embodiments, the driving direction of the second air cylinder 52 is perpendicular to the flipping axis of the first flipping mechanism 30, i.e., the driving direction of the second air cylinder 52 is disposed parallel to the driving direction of the first horizontal moving mechanism 21 or the second horizontal moving mechanism 22.

In some embodiments, the transport robot may be used to transport blanks to the injection molding machine and to remove products molded by the injection molding machine. Particularly for conveying inserts to an injection molding machine. The conveying manipulator replaces the conveying manipulator and then enters the mold to pick and place products, so that the clamping event caused by mold closing during the fault or misoperation of the injection molding machine can be avoided. Moreover, the product is transported by the transportation manipulator, so that one operator can simultaneously operate a plurality of injection molding machines, the labor is saved, and the working efficiency is improved. Get the product through this transportation manipulator, can not leave the fingerprint on the product because of high temperature, produce the defective products. The transportation manipulator can also avoid the problem of mold damage caused by mold closing because the product is forgotten to be taken during manual operation. The transport manipulator has fixed workpiece taking time, and can not cause the problems of shrinkage, deformation and the like of a product due to overlong time of the product left on a mold.

Fig. 10 schematically shows a transport system according to an embodiment of the invention.

Referring to fig. 10, the transport system includes the aforementioned transport robot; a first conveying mechanism 80 for conveying the blanks to the feed end of the transport robot; and a second conveyor mechanism 90 for conveying products from the discharge end of the transport robot. Therefore, the blank can be continuously conveyed into the production equipment through the conveying system, and the finished product can be conveyed out of the production equipment, so that continuous automatic production is realized.

With continued reference to fig. 10, the first embodiment of the first conveyor mechanism 80 and the second conveyor mechanism 90 is a conveyor belt 91.

With continued reference to fig. 10, the second embodiment of the first conveying mechanism 80 and the second conveying mechanism 90 includes a horizontal guide rail 81, a horizontal slide 82 fitted on the horizontal guide rail 81, and a third air cylinder mounted on the horizontal tamping drum, a piston rod of the third air cylinder is arranged along the horizontal direction, a plurality of blanks or products are placed on the horizontal slide 82 along the direction in which the horizontal guide rail 81 extends, and the blanks or products are pushed to the picking position of the first picking unit 50 or the second picking unit 60 by the third air cylinder.

What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.

Claims (8)

1. Transportation manipulator, its characterized in that includes:

a bracket (100);

a space moving unit (20) provided on the support (100);

and a first pickup unit (50) provided on the space moving unit (20);

the device also comprises a first turnover mechanism (30), and the first pickup unit (50) is arranged on the space moving unit (20) through the first turnover mechanism (30);

the automatic workpiece taking device is characterized by further comprising a second workpiece taking unit (60) arranged on the first turnover mechanism (30), wherein the second workpiece taking unit (60) is arranged in a mode of deviating from the workpiece taking direction of the first workpiece taking unit (50).

2. The transport robot of claim 1, further comprising a second flipping mechanism (40); the second pickup unit (60) is arranged on the first turnover mechanism (30) or the first pickup unit (50) through the second turnover mechanism (40).

3. Transport robot as claimed in claim 2, characterized in that the turning axis of the second turning mechanism (40) is arranged parallel to the turning axis of the first turning mechanism (30).

4. Transport robot according to claim 3, characterized in that the turning axis of the first turning mechanism (30) is arranged in a horizontal direction.

5. The transport robot of any one of claims 2 to 4, further comprising a position adjustment mechanism (70), wherein at least one of the first pick unit (50) and the second pick unit (60) is provided with at least two pick mechanisms, and the pick mechanism of the second pick unit (60) is provided on the second turnover mechanism (40) by one position adjustment mechanism (70) alone; the pick-up mechanism of the first pick-up unit (50) is arranged on the first turnover mechanism (30) through a position adjusting mechanism (70) alone.

6. The transport robot according to claim 5, characterized in that the spatial movement unit (20) comprises a first horizontal movement mechanism (21), a second horizontal movement mechanism (22) and a vertical movement mechanism (23) connected in sequence; the first horizontal moving mechanism (21) is arranged on the support (100), the first turnover mechanism (30) is arranged on the vertical moving mechanism (23), and the driving directions of the first horizontal moving mechanism (21) and the second horizontal moving mechanism (22) are not parallel.

7. The transport robot of claim 6, further comprising a control module, wherein the first horizontal moving mechanism (21), the second horizontal moving mechanism (22), the vertical moving mechanism (23), the first turnover mechanism (30), the second turnover mechanism (40), the first pick-up unit (50), and the second pick-up unit (60) are activated or deactivated according to a control signal output by the control module.

8. A transportation system, comprising:

a transport robot;

a first conveying mechanism (80) for conveying blanks to the feed end of the transport robot;

and a second conveying mechanism (90) for conveying products at the discharge end of the transport robot;

wherein the transport robot is the transport robot of any one of claims 1 to 7.

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