CN215557153U

CN215557153U - Manipulator unloader

Info

Publication number: CN215557153U
Application number: CN202122243178.7U
Authority: CN
Inventors: 刘峰; 刘洋
Original assignee: Chongqing Kaiyang Technology Development Co ltd
Current assignee: Chongqing Kaiyang Technology Development Co ltd
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-01-18
Anticipated expiration: 2031-09-16

Abstract

The application discloses a manipulator blanking device, which comprises a moving frame, wherein a first end of the moving frame is positioned above a first metal cap plate loading station, and a second end of the moving frame is positioned at a blanking position; the template grabbing mechanism is arranged on the first transferring mechanism and can reciprocate along the longitudinal direction of the transferring frame; the first template grabbing mechanism comprises a first mounting seat arranged on the first transfer mechanism, a first vertical driving part arranged on the first mounting seat, and a first clamping jaw assembly arranged at the lower end of the first vertical driving part and driven by the first vertical driving part to vertically move. The manipulator blanking device can automatically, efficiently and stably move the template provided with the metal cap to the position corresponding to the next process.

Description

Manipulator unloader

Technical Field

The application relates to a manipulator unloader.

Background

The plate loading process of the metal cap element comprises the working procedures of feeding, weighing, overturning, transferring, loading into a template, blanking and the like. The feeding procedure is to load the metal cap element into the bin and directly fall into the weighing station through a discharge port of the bin. After the weighing process, the metal cap-like elements fall into the turning station, which brings the caps of the metal caps downwards and loads them into a temporary flitch. And the transplanting procedure is to adsorb the turned metal caps and transplant the metal caps to a metal cap plate loading station. The plate loading station provides the template and pushes the template to the plate loading station to carry the transferred metal cap, so that the metal cap falls into the template. The blanking process is that after the template is mounted, the template filled with the metal caps is moved to a blanking position, and then the next process is carried out. In the traditional method, after the metal caps are arranged on the plates, the templates filled with the metal caps are manually moved to corresponding positions one by one for the next process. The manual transferring mode has low efficiency, long time consumption and high cost, and the template is easy to overturn and the metal cap is easy to demould.

SUMMERY OF THE UTILITY MODEL

To overcome the defects of the prior art, the technical problem to be solved by the application is that: the utility model provides an automatic, high-efficient, stable manipulator unloader.

In order to solve the technical problem, the application provides a manipulator blanking device which comprises a moving frame, wherein a first end of the moving frame is positioned above a first metal cap plate loading station, and a second end of the moving frame is positioned at a blanking position; the template grabbing mechanism is arranged on the first transferring mechanism and can reciprocate along the longitudinal direction of the transferring frame; the first template grabbing mechanism comprises a first mounting seat arranged on the first transfer mechanism, a first vertical driving part arranged on the first mounting seat, and a first clamping jaw assembly arranged at the lower end of the first vertical driving part and driven by the first vertical driving part to vertically move.

Further, the first clamping jaw assembly comprises a first mounting plate connected with the lower end of the first vertical driving portion, a first clamping jaw driving portion with a bidirectional horizontal driving shaft arranged on the first mounting plate, and two first clamping jaws connected with the two horizontal driving shafts of the first clamping jaw driving portion.

Furthermore, the first clamping jaw assembly further comprises a first fit pressing plate which is arranged below the first mounting plate and is attached to and pressed on the template, and the horizontal position of the first fit pressing plate is matched with the horizontal positions of the two first clamping jaws.

Further, the first mounting plate is pivoted to the lower end of the first vertical driving part; first clamping jaw subassembly still includes a first template angle modulation portion, first template angle modulation portion including arranging in the first pin joint portion and a lower extreme of the first end of first mounting panel with first pin joint portion pin joint, upper end with the vertical drive division of second that the lower extreme of first vertical drive portion is connected, the drive of the vertical drive portion of second upset is in order to adjust from top to bottom the inclination of first mounting panel, thereby the regulation quilt the inclination of the template of two first clamping jaw centre grippings.

Furthermore, first clamping jaw subassembly still includes a first spacing post, the upper end of first spacing post with keep away from on the first vertical drive portion the one end of second vertical drive portion is connected, the lower extreme of first spacing post is in first mounting panel offsets with it when being the level form.

Further, still include with the second mounting panel that the lower extreme of first vertical drive portion is connected, first mounting panel pin joint in the lower surface of second mounting panel, the upper end of second vertical drive portion with correspond to on the second mounting panel the first end of first pin joint portion is connected, the upper end of first spacing post with keep away from on the second mounting panel the second end of second vertical drive portion is connected.

Further, the first transfer mechanism comprises a third mounting plate arranged on one side of the transfer frame in the longitudinal direction of the transfer frame, two first guide rails arranged on the third mounting plate in parallel, and a first cylinder-free cylinder arranged between the two first guide rails in parallel, and the first mounting seat is connected with the first cylinder-free cylinder and the sliding blocks of the two first guide rails.

The template conveying device further comprises a second transfer mechanism arranged on the other side of the transfer rack in the transverse direction along the longitudinal direction of the transfer rack, and a second template grabbing mechanism arranged on the second transfer mechanism and capable of moving back and forth along the longitudinal direction of the transfer rack; the second template grabbing mechanism comprises a second mounting seat arranged on the second transfer mechanism, a second vertical driving part arranged on the second mounting seat, and a second clamping jaw assembly arranged at the lower end of the second vertical driving part and driven by the second vertical driving part to move vertically; the second transfer mechanism and the second template grabbing mechanism are symmetrically arranged with the first transfer mechanism and the first template grabbing mechanism.

Further, still include one and be used for the drive the second template snatchs mechanism pivoted slewing mechanism, slewing mechanism includes one and arranges in the second moves and carries the third mount pad that the mechanism was gone up and be higher than first mount pad and arrange in the rotation drive portion on third mount pad top, the second mount pad with the actuating shaft that rotates the drive portion is connected, the vertical drive portion of second is arranged in on the second mount pad and with first vertical drive portion is located same level. .

Furthermore, the third mounting seat comprises a vertical connecting plate arranged on the second transfer mechanism and a horizontal mounting plate horizontally extending outwards from the upper end of the vertical connecting plate, and the rotating mechanism is fixed on the lower surface of the horizontal mounting plate.

This application manipulator unloader, it is located to move the first end of carrier the first metal cap dress board station side, the second end is located metal cap unloading position, move and put the first mechanism that moves of following its length direction on the carrier, can effectively move the metal cap after the dress board is accomplished to next technology position department according to the different technology of metal cap. The first clamping jaw assembly effectively descends to a workpiece taking and placing position through a first vertical driving part; the metal cap can be effectively attached and pressed through the first inosculating pressing plate in the processes of clamping, clamping and transferring immediately before clamping, so that the metal cap is prevented from falling and shifting; through making first clamping jaw with the lower extreme pin joint of first vertical drive division for first clamping jaw is the gradient with template looks adaptation on the metal cap dress board station, and makes the gradient of first clamping jaw adjustable through first template angle adjustment part, and then makes the template gradient of pressing from both sides and get adjustable, still makes through first template angle adjustment part the template of pressing from both sides is adjusted to horizontal position, thereby can the level place in the unloading position. In conclusion, the manipulator blanking device can automatically, efficiently and stably move the template provided with the metal cap to the position corresponding to the next process.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of a first embodiment of the feeding device of the manipulator of the present application.

Figure 2 is a schematic view of the first jaw assembly of figure 1.

Fig. 3 is a schematic structural diagram of a second embodiment of the feeding device of the manipulator.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.

Referring to fig. 1 and 2, the robot blanking device of the present application is used to move a template filled with a metal cap to a blanking position for a next process. The robot blanking device includes a transfer carriage 100, a first transfer mechanism 200 disposed on one lateral side of the transfer carriage 100 along a longitudinal direction of the transfer carriage 100, and a first template gripping mechanism 300 disposed on the first transfer mechanism 200 so as to be capable of reciprocating along the longitudinal direction of the transfer carriage 100. The carriage 100 has a first end located above the first metal cap plate loading station and a second end located at a blanking position. The principle of this application manipulator unloader is as follows: after the metal caps are loaded on the template, the first template grabbing mechanism 300 sequentially performs the following actions at the metal cap loading station: and moving downwards to the position of the template on the metal cap plate loading station, grabbing the template, and moving upwards to return. Second, the first transfer mechanism 200 drives the first template grabbing mechanism 300 to move to the blanking position. Thirdly, the first template grabbing mechanism 300 sequentially executes the following actions at the blanking position: moving downwards to a material placing position, releasing the template, and moving upwards to return. Fourthly, the first transfer mechanism 200 drives the first template grabbing mechanism 300 to return to the metal cap plate loading station for the next action.

The moving frame 100 is L-shaped as a whole, and includes a vertical frame 110 and a top cross frame 120 vertically connected to the top end of the vertical frame 110, the vertical frame 110 can be fixed to the side of the first metal cap plate-loading station, one end of the top cross frame 120 close to the vertical frame 110 is the first end of the moving frame 100, and the other end far away from the vertical frame 110 is the second end of the moving frame 100. The first transfer mechanism 200 is disposed at a lateral position of the top cross frame 120 along the longitudinal direction of the top cross frame 120. It is understood that the structure of the transfer carriage 100 is not limited to the above-described embodiment, and in some embodiments, the transfer carriage 100 may only include a top cross frame 120 suspended and fixed between the first metal cap loading station and the blanking position by any fixing means. In other embodiments, the carriage 100 may also adopt a gantry structure and the like, which is not described in detail herein.

The first transfer mechanism 200 includes a third mounting plate 210 disposed on one lateral side of the transfer carriage 100 in the longitudinal direction of the transfer carriage 100, two first guide rails 220 disposed in parallel on the third mounting plate 210, and a first non-cylinder 230 disposed in parallel between the two first guide rails 220. The lengths of the third mounting plate 210, the two first guide rails 220, and the first cylinder-free cylinder 230 are all adapted to (consistent with or close to) the length of the top cross frame 120, the first template grabbing mechanism 300 is connected to the first cylinder-free cylinder 230 and the sliding blocks of the two first guide rails 220, and the first cylinder-free cylinder 230 drives the first template grabbing mechanism 300 to slide on the two first guide rails 220 in a reciprocating manner, so that the first template grabbing mechanism 300 can move between the first metal cap plate loading station and the blanking position. Both ends of third mounting panel 210 all are provided with first travel switch 240 and first buffer 250, first travel switch 240 is connected with the controller electricity, is used for right first template snatchs the position that mechanism 300 went to both ends department and responds to spacingly, first buffer 250 is used for slowing down the speed that mechanism 300 was snatched to first template, has effects such as the first jar-free cylinder 230 of protection, first template snatchs mechanism 300. A first drag chain 260 is optionally mounted to the upper end of the first panel for pulling, restraining, and protecting cables of electrical components. It is understood that, in some embodiments, the first transferring mechanism 200 may further adopt a combination structure of a screw pair, a guide rail, and the like according to requirements, and is not limited to the structure specifically defined in this embodiment.

The first template grasping mechanism 300 includes a first mounting seat 310 disposed on the first transfer mechanism 200, a first vertical driving part 320 disposed on the first mounting seat 310, and a first jaw assembly 330 disposed at a lower end of the first vertical driving part 320 to move vertically under the driving thereof. One end of the first mounting base 310 is connected to the first cylinder-less cylinder 230 and the sliding blocks of the two first guide rails 220, and the other end of the first mounting base 310 is connected to the first vertical driving portion 320. The first vertical driving part 320 may be a first lifting cylinder, and a driving shaft of the first lifting cylinder is connected to the first jaw assembly 330 vertically and downwardly. It will be appreciated that in some embodiments, the first vertical drive 320 may also be a hydraulic lift drive, an electric lift drive, or the like.

The first clamping jaw assembly 330 comprises a first mounting plate 331 connected with the lower end of the first vertical driving part 320, a first clamping jaw driving part 332 with a bidirectional horizontal driving shaft arranged on the first mounting plate 331, two first clamping jaws 333 connected with the two horizontal driving shafts of the first clamping jaw driving part 332 and a first anastomosis pressing plate arranged in parallel below the first mounting plate 331 and used for being pasted and pressed on the template, wherein the horizontal position of the first anastomosis pressing plate is matched with the horizontal position of the two first clamping jaws 333. The lower end of the first vertical driving portion 320 is detachably connected with a second mounting plate 321, and the first mounting plate 331 is pivoted with the lower surface of the second mounting plate 321 through a second pivoting portion. The second pivot portion includes a second sleeve 341 formed on the lower surface of the second mounting plate 321, two second pivot lugs 342 formed on the first mounting plate 331 and corresponding to two ends of the second sleeve 341, and a second pivot shaft passing through the second sleeve 341 and the two second pivot lugs 342, the longitudinal direction of the second pivot shaft is identical to the longitudinal direction of the carriage 100, and the first mounting plate 331 can rotate around the axis of the second pivot shaft. The first jaw 333 driving part 332 is a bidirectional driving cylinder having two horizontal driving shafts that are pushed out in opposite directions, and the two horizontal driving shafts are pushed out in the longitudinal direction of the carriage 100. The two first jaws 333 are connected to the two horizontal driving shafts, respectively, and are opened when the two horizontal driving shafts are pushed out, and are clamped when the two horizontal driving shafts are retracted. The two first clamping jaws 333 are provided with clamping grooves 333a which are formed by bending towards opposite directions, and the two clamping grooves 333a are used for inserting two side edges of the template.

The first inosculating pressure plate is inosculated with the template in shape and is used for combining and pressing the metal cap with the upper surface of the template when clamping and transferring the template, thereby ensuring that the metal cap does not fall off and shift in the processes of clamping and transferring at the moment before clamping. In this embodiment, two side frames are provided at both end portions of the first mounting plate 331, and the upper surface of the first engaging pressure plate is connected to the lower ends of the two side frames, so as to be disposed in parallel below the first mounting plate 331 and to be adapted to the horizontal position of the first clamping jaw 333.

In this application, because template on the metal cap dress board station is the slope form, consequently manipulator unloader will the template moves to need place the template level in when the unloading position department. Therefore, the first jaw assembly 330 further includes a first template angle adjustment portion and a first horizontal position-limiting portion. The first template angle adjusting part is used for adjusting the inclination angle of the template after the first clamping jaw 333 clamps the template, and the first horizontal limiting part is used for matching with the first template angle adjusting part to limit the template so as to enable the template to be in a horizontal state.

First template angle adjustment portion including arrange in the first pin joint portion 334 and a lower extreme of the first end of first mounting panel 331 with first pin joint portion 334 pin joint, upper end with the vertical drive portion 335 of second that the lower extreme of first vertical drive portion 320 is connected, the drive of the vertical drive portion 335 first mounting panel 331 overturns from top to bottom in order to adjust the inclination of first mounting panel 331 to the regulation quilt the inclination of the template of first clamping jaw 333 centre gripping. The first pivot portion 334 includes two first pivot lugs 334a disposed at a first end of the first mounting plate 331 and a first pivot 334b pivotally connected to the two first pivot lugs 334a, the first pivot 334b is parallel to the second pivot, and a pivot hole penetrating the first pivot 334b is disposed at a lower end of the driving shaft of the second vertical driving portion 335. The second vertical driving part 335 may be a vertical driving cylinder, a hydraulic cylinder, an electric driving mechanism, or the like. The second vertical driving part 335 is fixed to the lower end of the first vertical driving part 320 by a mounting upright 3351. Further, the lower end of the mounting upright plate 3351 is connected to the first end of the second mounting plate 321 corresponding to the first pivot portion 334, and the upper end is used for mounting the second vertical driving portion 335 thereon. The first horizontal limiting part is a first limiting column 336, the upper end of the first limiting column 336 is connected with one end, away from the second vertical driving part 335, of the first vertical driving part 320 (specifically connected with the second end of the second mounting plate 321), and the lower end of the first limiting column 336 abuts against the first mounting plate 331 when the first mounting plate 331 is horizontal.

This application manipulator unloader, it is located to move the first end of carrier 100 first metal cap dress board station side, second end are located metal cap unloading position, it has along its length direction's first transfer mechanism 200 to move the overhead of carrier 100, can effectively move to next technology position department through the metal cap after the dress board is accomplished according to the different technology of metal cap. The first clamping jaw assembly 330 is effectively lowered to a workpiece taking and placing position through the arranged first vertical driving part 320; the metal cap can be effectively attached and pressed through the first inosculating pressing plate in the processes of clamping, clamping and transferring immediately before clamping, so that the metal cap is prevented from falling and shifting; the first clamping jaw 333 is pivoted with the lower end of the first vertical driving part 320, so that the first clamping jaw 333 is inclined to match with a template on a metal cap plate loading station, the inclination of the first clamping jaw 333 is adjustable through the first template angle adjusting part, the inclination of the clamped template is adjustable, the clamped template is adjusted to be in a horizontal position through the first template angle adjusting part and the first horizontal limiting part, and the clamped template can be horizontally placed at the blanking position. In conclusion, the manipulator blanking device can automatically, efficiently and stably move the template provided with the metal cap to the position corresponding to the next process.

Referring to fig. 3, the second embodiment of the robot blanking device of the present application can be used to simultaneously transfer the templates filled with metal caps from the first metal cap loading station and the second metal cap loading station to the same blanking position. The first metal cap plate loading station and the second metal cap plate loading station are arranged oppositely, and the first end of the manipulator blanking device is arranged between the first metal cap plate loading station and the second metal cap plate loading station. Specifically, the manipulator blanking device includes a moving frame, a first transfer mechanism, and a first template gripping mechanism, which have the same or similar structure or function as those of the first embodiment, and the manipulator blanking device further includes a second transfer mechanism 400 disposed on the other lateral side of the transfer frame in a manner opposite to the first transfer mechanism, and a second plate gripping mechanism disposed on the second transfer mechanism 400 in a manner opposite to the first template gripping mechanism. The second transfer mechanism 400 and the second template grabbing mechanism 500 are symmetrically arranged with the first transfer mechanism and the first template grabbing mechanism. The second template gripping mechanism 500 includes a second mounting seat 510 disposed on the second transfer mechanism 400, a third vertical driving portion disposed on the second mounting seat 510, and a second jaw assembly disposed at a lower end of the third vertical driving portion to move vertically under the driving of the third vertical driving portion. The second mounting seat 510, the third vertical driving portion, and the second clamping jaw assembly have the same or similar structures or functions as the first mounting seat, the first vertical driving portion, and the first clamping jaw assembly, respectively. The second clamping jaw assembly comprises a second mounting plate with the structure or function the same as or similar to that of the first mounting plate structure or function, a second clamping jaw driving part with the structure or function the same as or similar to that of the first clamping jaw driving part, a second clamping jaw with the structure or function the same as or similar to that of the two first clamping jaws, a second anastomosis pressing plate with the structure or function the same as or similar to that of the first anastomosis pressing plate, a second template angle adjusting part with the structure or function similar to that of the first template angle adjusting part, a fourth vertical driving part with the structure or function the same as or similar to that of the second vertical driving part, a second spacing column and the like, and the structures and the functions are not repeated one by one.

The difference between the second embodiment and the first embodiment of the manipulator blanking device is as follows: still include one and be used for the drive second template snatchs mechanism 500 pivoted slewing mechanism 600, slewing mechanism 600 includes one to be arranged in the second moves and carries the third mount pad 610 that just is higher than first mount pad on the mechanism 400 and arrange in the rotation drive portion 620 on third mount pad 610 top, second mount pad 510 with the actuating shaft of rotation drive portion 620, the vertical drive portion of second is arranged in on the second mount pad 510 and with first vertical drive portion is located same level. The third mounting seat 610 includes a vertical connecting plate 611 disposed on the second transfer mechanism 400, and a horizontal mounting plate 612 extending horizontally outward from an upper end of the vertical connecting plate 611, and the rotating mechanism 600 is fixed to a lower surface of the horizontal mounting plate 612. In this embodiment, the rotating mechanism 600 is a rotating cylinder.

This application manipulator unloader sets up two sets of templates and snatchs the mechanism and press from both sides respectively and get the template on two metal cap dress board stations to remove to the unloading position respectively, make two sets of templates snatch the mechanism and remove to the unloading position with the template of filling with the metal cap simultaneously or not simultaneously. Through rotating 180 degrees to second template snatch mechanism 500 for the template direction that the second clamping jaw was got is rotated to the same direction with the template that the first clamping jaw was got, is convenient for next technology to the unified requirement of template direction. On the basis of the first embodiment, the efficiency is multiplied.

The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A manipulator blanking device is characterized by comprising a moving frame, wherein a first end of the moving frame is positioned above a first metal cap plate loading station, and a second end of the moving frame is positioned at a blanking position; the template grabbing mechanism is arranged on the first transferring mechanism and can reciprocate along the longitudinal direction of the transferring frame; the first template grabbing mechanism comprises a first mounting seat arranged on the first transfer mechanism, a first vertical driving part arranged on the first mounting seat, and a first clamping jaw assembly arranged at the lower end of the first vertical driving part and driven by the first vertical driving part to vertically move.

2. The manipulator blanking device of claim 1, wherein: the first clamping jaw assembly comprises a first mounting plate connected with the lower end of the first vertical driving part, a first clamping jaw driving part with a bidirectional horizontal driving shaft arranged on the first mounting plate, and two first clamping jaws connected with two horizontal driving shafts of the first clamping jaw driving part.

3. The robot unloader of claim 2, wherein: the first clamping jaw assembly further comprises a first fit pressing plate which is arranged below the first mounting plate and is attached to and pressed on the template, and the horizontal position of the first fit pressing plate is matched with the horizontal positions of the two first clamping jaws.

4. The robot unloader of claim 2, wherein: the first mounting plate is pivoted to the lower end of the first vertical driving part; first clamping jaw subassembly still includes a first template angle modulation portion, first template angle modulation portion including arranging in the first pin joint portion and a lower extreme of the first end of first mounting panel with first pin joint portion pin joint, upper end with the vertical drive division of second that the lower extreme of first vertical drive portion is connected, the drive of the vertical drive portion of second upset is in order to adjust from top to bottom the inclination of first mounting panel, thereby the regulation quilt the inclination of the template of two first clamping jaw centre grippings.

5. The robot unloader of claim 4, wherein: the first clamping jaw assembly further comprises a first limiting column, the upper end of the first limiting column is connected with one end of the second vertical driving portion, which is far away from the first vertical driving portion, and the lower end of the first limiting column is abutted to the first mounting plate when the first mounting plate is in a horizontal shape.

6. The robot unloader of claim 5, wherein: still include with the second mounting panel that the lower extreme of first vertical drive portion is connected, first mounting panel pin joint in the lower surface of second mounting panel, the upper end of second vertical drive portion with correspond to on the second mounting panel the first end of first pin joint portion is connected, the upper end of first spacing post with keep away from on the second mounting panel the second end of second vertical drive portion is connected.

7. The robot unloader of any one of claims 1 to 6, wherein: first move and carry mechanism include along move the carrier vertically arrange in move the third mounting panel of carrier horizontal one side, parallel arrangement in two first guide rails on the third mounting panel and parallel arrangement in the first no jar cylinder between two first guide rails, first mount pad with the slider of first no jar cylinder and two first guide rails is all connected.

8. The robot unloader of any one of claims 1 to 6, wherein: the template grabbing mechanism is arranged on the second transfer mechanism and can reciprocate along the longitudinal direction of the transfer rack; the second template grabbing mechanism comprises a second mounting seat arranged on the second transfer mechanism, a second vertical driving part arranged on the second mounting seat, and a second clamping jaw assembly arranged at the lower end of the second vertical driving part and driven by the second vertical driving part to move vertically; the second transfer mechanism and the second template grabbing mechanism are symmetrically arranged with the first transfer mechanism and the first template grabbing mechanism.

9. The robot unloader of claim 8, wherein: still include one and be used for the drive the second template snatchs mechanism pivoted slewing mechanism, slewing mechanism includes one and arranges in the second moves and carries the third mount pad that the mechanism was gone up and is higher than first mount pad and arrange in the rotation drive portion on third mount pad top, the second mount pad with the actuating shaft that rotates the drive portion is connected, the vertical drive portion of second is arranged in on the second mount pad and with first vertical drive portion is located same level.

10. The robot unloader of claim 9, wherein: the third mount pad includes one and arranges in vertical connecting plate on the second moves the mechanism and certainly the horizontal mounting panel that vertical connecting plate upper end level extended outward formed, slewing mechanism is fixed in the horizontal mounting panel lower surface.