CN220412049U - Manipulator equipment - Google Patents

Abstract

The utility model discloses a manipulator device, comprising: the device comprises a driving assembly and a grabbing assembly, wherein the driving assembly is used for driving the grabbing assembly to move between multiple layers of plates; the grabbing component comprises at least two groups of grabbing parts, and after the grabbing component stretches into the plate pile, one group of grabbing parts puts the grabbed first plate into the plate pile; the other group of grabbing parts grab the second plate from the plate pile; the first plate is a plate to be placed in the plate stack, the second plate is a plate to be taken out of the plate stack, and stacking positions of the first plate and the second plate in the plate stack are close to or adjacent to each other. Because different grabbing parts respectively bear the functions of placing the plates and taking out the plates, the driving assembly only needs to drive the grabbing assembly to enter the plate pile once, and the plurality of groups of grabbing parts can respectively finish the placement of the first plates and the taking out of the second plates. The working efficiency of the mechanical arm equipment is improved, and the efficient carrying of the plates is realized.

Description

Manipulator equipment

Technical Field

The utility model relates to the technical field of automation, in particular to a manipulator device.

Background

In the field of automated processing, it is often involved in the processing of sheet materials. For example, after a sheet material such as a glass plate or a circuit board is printed, the sheet material needs to be dried in an oven to solidify the ink. In the specific working process, the plate to be baked is placed into the oven through the manipulator, and then the baked plate is taken out of the oven.

In the prior art, after a first plate to be baked is inserted into an oven by a manipulator, the manipulator needs to be pulled out first and then inserted into a position where a second plate to be baked is located, so that the second plate is taken out from the oven. As can be seen, during this process, the robot needs to be repeatedly inserted and withdrawn in the oven, which affects the efficiency of the robot to handle the sheet material.

Accordingly, the above-mentioned problems in the prior art have yet to be resolved.

Disclosure of Invention

The utility model mainly aims to provide manipulator equipment, which aims to solve the problem of low efficiency of carrying boards by a manipulator.

In order to achieve the above object, the present utility model provides a robot apparatus for gripping or placing a sheet in a stack of sheets stacked with a plurality of layers of sheets; comprising the following steps: the driving assembly is used for driving the grabbing assembly to move among multiple layers of the plates; the grabbing component comprises at least two groups of grabbing parts, and after the grabbing component stretches into the plate pile, one group of grabbing parts is used for placing the grabbed first plate into the plate pile; the other group of grabbing parts grabs a second plate from the plate stack; the first plate is a plate to be put into the plate stack, the second plate is a plate to be taken out from the plate stack, and the stacking positions of the first plate and the second plate in the plate stack are close to or adjacent to each other.

Preferably, the grabbing component comprises two groups of grabbing parts, the two groups of grabbing parts are arranged in opposite directions, and grabbing directions are opposite, and the stacking positions of the first plate and the second plate in the plate stack are adjacent; after the first plate is placed into the plate stack by one group of grabbing parts, the driving assembly drives the grabbing assembly to be close to the second plate, so that the second plate is grabbed by the other group of grabbing parts.

Preferably, there is a gap between the stacked layers of sheet material in the stack, and the gripping portion enters the gap under the drive of the drive assembly to grip or place the sheet material.

Preferably, the grabbing assembly comprises a grabbing arm, and the grabbing part is arranged on the grabbing arm; the grabbing arm is connected with the driving component, and the driving component drives the grabbing arm to move among multiple layers of the plates.

Preferably, each group of the grabbing parts comprises at least one sucker respectively, the sucker is used for sucking the plate, and the sucker is arranged on the grabbing arm.

Preferably, the gripping arm is connected to the drive assembly by a telescopic assembly; gaps are formed among the stacked multi-layer plates in the plate stack, and when the telescopic assembly stretches, the grabbing arms enter the gaps; when the telescopic assembly is contracted, the grabbing arm is pulled out of the gap.

Preferably, the telescopic assembly comprises a first telescopic plate and a second telescopic plate, wherein the first telescopic plate is connected with the grabbing arm through a first sliding rail; the first expansion plate is connected with the second expansion plate through a second sliding rail, and the second expansion plate is connected with the driving assembly.

Preferably, the driving assembly comprises a driving motor, a transmission rod and synchronous belts, wherein the transmission rod is connected with an output shaft of the driving motor, the number of the synchronous belts is two, the synchronous belts are respectively arranged at two ends of the transmission rod, and the two synchronous belts respectively drive two ends of the telescopic assembly.

Preferably, the feeding part is used for conveying the first plate to the grabbing component, and the discharging part is used for receiving and conveying away the second plate grabbed by the grabbing component.

Preferably, the feeding part comprises a feeding slide rail and a feeding claw, and the discharging part comprises a discharging slide rail and a discharging claw; the feeding claw is connected with the feeding sliding rail, and is used for grabbing the first plate and moving to the position where the grabbing component is located along the feeding sliding rail; the blanking claw is connected with the blanking slide rail, and is used for grabbing the second plate released by the grabbing component and moving away from the position where the grabbing component is located along the blanking slide rail.

Preferably, the grabbing arm of the grabbing assembly comprises at least two first support rods, and the grabbing part is arranged on the first support rods; the blanking claw comprises at least two second supporting rods, the second supporting rods are provided with fixing parts used for fixing the second plates, and after the grabbing parts release the second plates, the fixing parts fix the second plates.

Preferably, at least two of the first support rods and at least two of the second support rods are staggered with each other.

Preferably, the multiple layers of plates of the plate pile are stacked in the vertical direction, and the driving assembly drives the grabbing assembly to move in the vertical direction;

the second supporting rod is connected with the blanking slide rail through a blanking slide block, and the blanking slide block is used for sliding along the blanking slide rail; wherein; in the vertical direction, the upper surface of the second supporting rod is higher than the upper surface of the blanking slide block.

Preferably, the second supporting rod is in an L-shaped arrangement and comprises a vertical arm and a horizontal arm, and the fixing part is arranged on the horizontal arm; gaps are arranged among the plurality of layers of plates stacked in the plate stack, and the first bearing rod is used for extending into the gaps so that the grabbing part grabs the second plate; the free end of the horizontal arm is opposite to the direction in which the free end of the first support rod is pointed.

The manipulator device provided by the utility model comprises: the device comprises a driving assembly and a grabbing assembly, wherein the driving assembly is used for driving the grabbing assembly to move between multiple layers of plates; the grabbing component comprises at least two groups of grabbing parts, and after the grabbing component stretches into the plate pile, one group of grabbing parts puts the grabbed first plate into the plate pile; the other group of grabbing parts grab the second plate from the plate pile; the first plate is a plate to be placed in the plate stack, the second plate is a plate to be taken out of the plate stack, and stacking positions of the first plate and the second plate in the plate stack are close to or adjacent to each other. Because different grabbing parts respectively bear the functions of placing the plates and taking out the plates, the driving assembly only needs to drive the grabbing assembly to enter the plate pile once, and the plurality of groups of grabbing parts can respectively finish the placement of the first plates and the taking out of the second plates. The working efficiency of the mechanical arm equipment is improved, and the efficient carrying of the plates is realized.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a perspective view of a manipulator apparatus provided in an embodiment of the present application;

FIG. 2 is a side view of a robot apparatus provided in an embodiment of the present application;

fig. 3 is a reference diagram of a working state of a manipulator device according to an embodiment of the present application;

FIG. 4 is a perspective view of another embodiment of a robotic device provided in an embodiment of the present application;

fig. 5 is a top view of another embodiment of a manipulator apparatus provided in an embodiment of the present application.

Reference numerals illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				1	Grabbing component	2	Driving assembly
11	Gripping part	12	Grabbing arm
				111	First sucking disc	112	Second sucking disc
3	Telescopic assembly	31	First expansion plate
				32	Second expansion plate	31a	First slide rail
21	Driving motor	22	Transmission rod
				23	Synchronous belt	4	Feeding part
5	Discharging part	41	Feeding slide rail
				42	Feeding claw	51	Discharging slide rail
52	Discharging claw	121	First supporting rod
				521	Second supporting rod	522	Fixing part
523	Blanking slider	521a	Vertical arm
				521b	Horizontal arm

The achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present utility model, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.

In the field of automated processing, it is often involved in the processing of sheet materials. For example, after a sheet material such as a glass plate or a circuit board is printed, the sheet material needs to be dried in an oven to solidify the ink. In the specific working process, the plate to be baked is placed into the oven through the manipulator, and then the baked plate is taken out of the oven.

At present, after the manipulator inserts the first panel that will toast into the oven, the manipulator needs to draw out earlier, inserts the position that the second panel that accomplishes toasting was located again to take out the second panel from the oven. As can be seen, during this process, the robot needs to be repeatedly inserted and withdrawn in the oven, which affects the efficiency of the robot to handle the sheet material.

Therefore, in order to solve the above-mentioned problem, this application embodiment provides a manipulator equipment, through setting up two sets of snatchs portion, the manipulator one-time motion can accomplish release panel and snatch two actions of panel to improve operating speed, solved the lower problem of manipulator transport panel efficiency.

For easy understanding, the manipulator apparatus provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

The manipulator device provided by the embodiment of the application is used for grabbing or placing the plates in the plate pile stacked with the plurality of layers of plates. It should be noted that, for the purposes of the type of the plate, the stacking mode of the plate and stacking the plate in the embodiment of the present application, the embodiment of the present application is not limited. These plates may be glass plates or circuit boards. The plates can be stacked in such a manner that each plate is parallel to a horizontal plane, and a plurality of plates are stacked in a vertical direction. Or each plate is respectively vertical to the horizontal plane, and a plurality of plates are sequentially arranged in the horizontal direction. The purpose of stacking these boards may be to dry, cool or store the boards, etc.

For ease of understanding, embodiments of the present application will be described with reference to the following scenario: as shown in fig. 3, the production line is provided with a baking box (not shown) having a plurality of clamping positions in the vertical direction, and each clamping position can be used for placing one sheet of board, so that a plurality of sheets of board are stacked in the baking box (as shown in the left side of fig. 3) and baked at the same time. The manipulator equipment that this application provided puts into the screens of oven with just accomplishing printing ink printing and dries, later takes out a slice from the oven and has accomplished the second panel of drying to put into the next process with it and cool off.

Based on the above working scenario, the specific implementation manner of the manipulator device provided in the embodiment of the present application is as follows.

Referring to fig. 1 to 3, fig. 1 is a perspective view of a manipulator apparatus provided in an embodiment of the present application, fig. 2 is a side view of the manipulator apparatus provided in an embodiment of the present application, and fig. 3 is a reference diagram of a working state of the manipulator apparatus provided in an embodiment of the present application.

As shown in fig. 1 to 3, the manipulator device provided by the embodiment of the application comprises a driving component 2 and a grabbing component 1, wherein the driving component 2 is used for driving the grabbing component 1 to move between multiple layers of plates; the grabbing component 1 comprises at least two groups of grabbing parts 11, and after the grabbing component 1 stretches into the plate pile, one group of grabbing parts 11 place the grabbed first plate into the plate pile; the other group of gripping portions 11 grip the second sheet from the stack of sheets; the first plate is a plate to be placed in the plate stack, the second plate is a plate to be taken out of the plate stack, and stacking positions of the first plate and the second plate in the plate stack are close to or adjacent to each other.

In this embodiment, optionally, the first plate is a plate that needs to be put into a baking oven to dry ink after just printing; the second sheet is a sheet that has been baked in the oven and the cooled sheet needs to be removed. When the plate stacking device works specifically, the driving assembly 2 firstly drives the grabbing assembly 1 to move to the feeding position, after the grabbing parts 11 grab the first plate, the driving assembly 2 drives the grabbing assembly 1 to move to the position where the baking box is located and stretch into the plate stacking, and at the moment, the grabbing parts 11 release the first plate, so that the first plate is placed into the plate stacking of the baking box. Then, the other group of grabbing parts 11 grabs a second plate adjacent to the first plate, and the driving assembly 2 drives the grabbing assembly 1 to leave the baking oven, so that the baked second plate is sent to a subsequent cooling process.

Thus, since the manipulator apparatus provided in the embodiment of the present application has the plurality of groups of gripping portions 11, the different gripping portions 11 respectively assume the functions of placing the sheet material and taking out the sheet material. Therefore, the driving assembly 2 only needs to drive the grabbing assembly 1 to enter the plate pile once, and the plurality of groups of grabbing parts 11 can finish the putting-in of the first plate and the taking-out of the second plate respectively. The working efficiency of the mechanical arm equipment is improved, and the efficient carrying of the plates is realized.

Optionally, stacking positions of the first plate and the second plate in the plate stack are corresponding clamping positions of the first plate and the second plate in the baking oven, and stacking positions of the first plate and the second plate may be adjacent or may be separated by a plurality of plates, which is not limited in this embodiment of the present application. For ease of understanding, the embodiments of the present application will be described with reference to the case where the stacking positions of the first sheet material and the second sheet material are adjacent.

Alternatively, as shown in fig. 2 and 3, the grabbing assembly 1 includes two groups of grabbing portions 11, where the two groups of grabbing portions 11 are disposed opposite to each other and grabbing directions are opposite, and the stacking positions of the first sheet material and the second sheet material in the sheet material stack are adjacent; after the first plate is placed in the plate stack by one group of grabbing parts 11, the driving assembly 2 drives the grabbing assembly 1 to be close to the second plate, so that the second plate is grabbed by the other group of grabbing parts 11.

In this embodiment, the directions of the two groups of gripping portions 11 are opposite, so that the driving assembly 2 can move from the stacking position of the first sheet material to the stacking position of the second sheet material only by driving the gripping assembly 1 to move by a minimum extent. For example, as shown in fig. 3, stacked on the left side of fig. 3 are plates, in which a first plate is stacked above a second plate, and then the gripping directions of the two sets of gripping portions 11 are set to be directed upward and downward, respectively. The grabbing portion 11 facing upwards grabs the first sheet material and puts it in the stack, after which the driving assembly 2 drives the grabbing assembly 1 to move downwards, grabbing the second sheet material towards the grabbing portion 11 facing downwards. Therefore, the movement amplitude of the grabbing assembly 1 in the process of carrying the plates is minimum, and the carrying efficiency is further improved.

It should be noted that, according to different usage scenarios, the stacking mode of the plates in the plate stack may be a tight stacking without gaps or a stacking with gaps, and the manipulator device provided by the embodiment of the application can both grip and place the plates. In the working scene of the baking box, in order to avoid mutual contamination between the printing inks and improve the phase rate, a stacking scheme with gaps between the plates is adopted. In this way, the embodiments of the present application further take the following schemes.

Optionally, the gripping portion 11 is driven by the driving assembly 2 into the gap to grip or place the sheet material.

In this embodiment, snatch portion 11 gets into inside the clearance and snatchs panel, this has increased the area of contact of snatch subassembly 1 with panel, and when the area of panel was great, snatch subassembly 1 can play the effect of bearing to panel for snatch more stably. Meanwhile, when the grabbing directions of the two groups of grabbing parts 11 are opposite, after the first plate is released by one group of grabbing parts 11, the grabbing assembly 1 only needs to move downwards in the gap, and the second plate adjacent to the first plate can be grabbed by the other group of grabbing parts 11. The motion amplitude is further reduced, and the efficiency is improved.

Alternatively, as shown in fig. 1 to 3, the gripper assembly 1 includes a gripper arm 12, and the gripper 11 is provided to the gripper arm 12; the gripper arms 12 are connected to the drive assembly 2, and the drive assembly 2 drives the gripper arms 12 to move between the layers of sheet material.

In this embodiment, the gripping portion 11 is connected to the driving component 2 through the gripping arm 12, so that the driving component 2 drives the gripping portion 11. In a specific working process, the user can set the specific shape of the grabbing arm 12 according to the condition of the transported plate material, so that the grabbing position of the grabbing portion 11 is adapted to the plate material. The embodiment of the present application is not limited to the specific arrangement of the grasping arms 12.

It should be noted that, in the embodiment of the present application, the gripping portion 11 is used for gripping and releasing the board, and for a specific implementation manner of the present application, the embodiment of the present application is not limited, and preferably, the gripping portion 11 may be configured as a clamping jaw or a suction cup, etc., and two different components may be between the gripping portion 11 and the gripping arm 12, or may be integrally configured components. For ease of understanding, the following description will be given taking the grip portion 11 as an example of a suction cup.

As shown in fig. 1 to 3, each group of gripping portions 11 comprises at least one suction cup for sucking the sheet material, the suction cup being provided on the gripping arm 12.

In this embodiment, the sucking disc is used for sucking and releasing the plate, so as to grasp and carry the plate, and it can be understood that, in order to form the vacuum negative pressure required in the sucking disc working process, the manipulator device provided in this embodiment of the present application is connected with a necessary air source and a related control device, and the specific implementation mode of the manipulator device is not limited.

Based on the setting mode, a specific working process of the method is described below in combination with a working scene of the application example.

The gripping arm 12 has a plurality of first suction cups 111 below and a plurality of second suction cups 112 above the gripping arm 12. In particular, the first suction cup 111 sucks the upper surface of the first sheet material to place the first sheet material into the oven. After the first suction cup 111 releases the first sheet, the driving assembly 2 drives the gripper arm 12 to move upward in the gap between the first sheet and the second sheet, so that the second suction cup 112 sucks the lower surface of the second sheet. Thereby completing the placement of the first sheet material and the grasping of the second sheet material. After that, the gripping module 1 descends to take out the second plate material under the driving of the driving module 2, and sends the second plate material to the next process for cooling, thereby completing a gripping process.

In the working process, the grabbing component 1 can be used for placing the first plate and grabbing the second plate only by entering the plate pile once. The efficiency is higher.

It should be noted that, after the driving assembly 2 drives the grabbing assembly 1 to move to a height between the first plate and the second plate, the grabbing arm 12 of the grabbing assembly 1 needs to extend into a gap between the first plate and the second plate, so that the first plate can be fed into the second plate, and the second plate is sucked by the suction cup. The gripper arm 12 needs to have a telescopic function in order to move in and out of the gap. In this regard, the embodiment of the present application further provides the following technical solutions.

Optionally, the gripping arm 12 is connected to the drive assembly 2 by means of the telescopic assembly 3; gaps are formed between the stacked multi-layer plates in the plate stack, and when the telescopic assembly 3 stretches, the grabbing arms 12 enter the gaps; when the telescopic assembly 3 is contracted, the gripper arms 12 are extracted from the gap.

In this embodiment, the gripper arm 12 and the driving assembly 2 are provided with the telescopic assembly 3, so that the gripper arm 12 can be telescopic relative to the driving assembly 2 through the telescopic assembly 3, and thus extend into or withdraw from the gap between the first plate and the second plate. The first plate is placed and the second plate is grabbed.

It should be noted that, for the specific implementation of the telescopic assembly 3, the embodiment of the present application is not limited, and the telescopic assembly 3 may be used as a part of the gripper arm 12 or the driving assembly 2, or may be provided as a separate assembly, and for convenience of understanding, a preferred implementation of the telescopic assembly 3 will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 3, the telescopic assembly 3 comprises a first telescopic plate 31 and a second telescopic plate 32, wherein the first telescopic plate 31 is connected with the grabbing arm 12 through a first sliding rail 31 a; the first expansion plate 31 and the second expansion plate 32 are connected through a second sliding rail (not shown in the figure), and the second expansion plate 32 is connected with the driving assembly 2.

In this embodiment, the grabbing arm 12 is connected to the first expansion board 31 through the first sliding rail 31a, so that the grabbing arm 12 can expand and contract relative to the first expansion board 31 when moving along the first sliding rail 31 a. Further, the first expansion plate 31 and the second expansion plate 32 are connected through a second sliding rail, so that the second expansion plate 32 can expand and contract relative to the first expansion plate 31 through the second sliding rail. Thereby, the telescopic distance of the gripping arms 12 is increased, so that the gripping assembly 1 can grip a larger sheet material. Alternatively, when the widths of the first and second expansion plates 31 and 32 are large, the number of the first and second slide rails 31a and 32 may be set to be plural, thereby increasing the stability of the expansion assembly 3.

It should be noted that the connection between the second expansion plate 32 and the driving assembly 2 may be a direct connection or an indirect connection, for example, when the plate material to be processed is larger, more expansion plates and sliding rails may be further disposed between the second expansion plate 32 and the driving assembly 2, so as to increase the extending distance of the grabbing arm 12.

The specific implementation of the grabbing assembly 1 and the telescopic assembly 3 is described above. In the specific working process, plates in the baking box are stacked in the vertical direction, and the driving assembly 2 drives the telescopic assembly 3 and the grabbing assembly 1 to move in the vertical direction, so that the stacked plates in the baking box are grabbed. The embodiments of the present application are not limited with respect to the specific implementation of the drive assembly 2. For ease of understanding, a preferred implementation is provided as follows.

As shown in fig. 1 and 2, the driving assembly 2 includes a driving motor 21, a transmission rod 22 and synchronous belts 23, wherein the transmission rod 22 is connected with an output shaft of the driving motor 21, the number of the synchronous belts 23 is two, the synchronous belts are respectively arranged at two ends of the transmission rod 22, and the two synchronous belts 23 respectively drive two ends of the telescopic assembly 3.

In this embodiment, the driving motor 21 drives the driving rod 22 to rotate, so that the driving rod 22 drives the synchronous belt 23 to move, alternatively, the synchronous belt 23 is an annular belt, one end of the synchronous belt is sleeved on the driving rod 22, the other end of the synchronous belt is sleeved on a rotating shaft (not shown in the figure), and the telescopic assembly 3 is connected with the synchronous belt 23. Thus, when the transmission rod 22 rotates, the synchronous belt 23 rotates, thereby driving the telescopic assembly 3 to move up and down. For example, when the drive motor 21 rotates forward, the telescopic unit 3 is raised, and when the drive motor 21 rotates backward, the telescopic unit 3 is lowered. Thereby, the lifting drive of the telescopic assembly 3 by the drive assembly 2 is realized.

Optionally, the timing belt 23 is connected with a second expansion plate 32 in the expansion assembly 3.

It should be noted that, in the above embodiment, two synchronous belts 23 are driven by one driving motor 21 from two ends of the telescopic assembly 3 at the same time, on the one hand, the two ends are driven at the same time, so as to ensure the stability of the up-and-down movement of the telescopic assembly 3. On the other hand, the single driving motor 21 can ensure that the movement speeds of the synchronous belts 23 at the two sides are consistent and more accurate. Further, this solution also saves one drive motor 21, which is cost-effective.

In the manipulator device provided in the embodiment of the present application, the specific implementation manner of picking and placing the first plate and the second plate by the grabbing component 1 is described. In a specific operation, the grabbing assembly 1 is required to grab the first sheet material from the upstream and is also required to be responsible for placing the second sheet material to the downstream, which affects the working efficiency of the grabbing assembly 1, so in order to solve this problem, the following solution is further provided in the embodiments of the present application.

Referring to fig. 3 to 5, fig. 4 is a perspective view of another embodiment of a manipulator apparatus according to an embodiment of the present application; fig. 5 is a top view of another embodiment of a manipulator apparatus provided in an embodiment of the present application.

As shown in fig. 3 to 5, the manipulator apparatus provided in this embodiment further includes a feeding portion 4 and a discharging portion 5, where the feeding portion 4 is configured to convey the first sheet material to the grabbing component 1, and the discharging portion 5 is configured to receive and convey the second sheet material grabbed by the grabbing component 1.

In this embodiment, the feeding portion 4 is responsible for transferring the first sheet material from the upstream process to the grabbing assembly 1, and the discharging portion 5 is used for receiving the second sheet material from the grabbing assembly 1 and transporting the second sheet material downstream. Therefore, through the cooperation of the feeding part 4 and the discharging part 5, the grabbing component 1 only needs to be responsible for putting the first plate into the baking oven, and taking the second plate out of the baking oven, and through the labor division cooperation, the efficiency of the whole manipulator equipment is improved.

Alternatively, the feeding portion 4 and the discharging portion 5 may have various implementations, and the embodiments of the present application are not limited thereto, and for ease of understanding, a preferred implementation is provided below.

As shown in fig. 4, the feeding portion 4 includes a feeding slide rail 41 and a feeding claw 42, and the discharging portion 5 includes a discharging slide rail 51 and a discharging claw 52; the feeding claw 42 is connected with the feeding slide rail 41, and the feeding claw 42 is used for grabbing the first plate and moving to the position of the grabbing component 1 along the feeding slide rail 41; the blanking claw 52 is connected with the blanking slide rail 51, and the blanking claw 52 is used for grabbing the second plate released by the grabbing component 1 and moving away from the position where the grabbing component 1 is located along the blanking slide rail 51.

In this embodiment, the feeding claw 42 is connected with the feeding slide rail 41, and the discharging claw 52 is connected with the discharging slide rail 51, so that the feeding claw 42 and the discharging claw 52 can slide along the feeding slide rail 41 and the discharging slide rail 51 respectively, thereby conveying the first plate and the second plate.

Further, as for the feeding claw 42 and the discharging claw 52, as long as they can grasp and release the first sheet material and the second sheet material, the requirements of the present scheme can be satisfied, and thus the embodiments of the present application are not limited to the specific implementation manner thereof, and preferably, the following embodiments are provided.

As shown in fig. 4, the gripping arm 12 of the gripping assembly 1 includes at least two first support rods 121, and the gripping portion 11 (including the first suction cup 111 and the second suction cup 112) is disposed on the first support rods 121; the discharging claw 52 includes at least two second support rods 521, and the second support rods 521 are provided with fixing portions 522 for fixing the second plate, and the second plate is fixed by the fixing portions 522 after the second plate is released by the gripping portions 11.

In this embodiment, the gripping arm 12 may optionally include two first support rods 121, and the gripping portion 11 is provided on the first support rods 121, so that the first support rods 121 can grip and convey the first sheet material and the second sheet material. The discharging claw 52 also has a similar structure to the grasping assembly 1, i.e., a fixing portion 522. Preferably, there are two second support bars 521, and the second support bars 521 are provided with fixing portions 522 for grasping the second plate material. Thus, when the grabbing assembly 1 releases the second sheet material, the fixing portion 522 can grab the second sheet material, so as to achieve the handover of the second sheet material.

Further, in order to avoid the grabbing component 1 and the blanking claw 52 from each other, so as to improve the working efficiency, the embodiment of the application further provides the following technical scheme.

As shown in fig. 4, at least two first support bars 121 and at least two second support bars 521 are staggered with each other.

In this embodiment, the first support rod 121 and the second support rod 521 are staggered, so that the grabbing assembly 1 and the feeding claw 52 avoid each other. For example, the second plate is fixed to the upper surface of the first support rod 121 by the grabbing portion 11, the second support rod 521 is located below the first support rod 121, and when the first support rod 121 grabbing the second plate descends to the same height as the second support rod 521, the grabbing portion 11 releases the second plate, at this time, the grabbing structure on the second support rod 521, that is, the fixing portion 522, such as a suction cup, fixes the second plate, and the handover of the second plate is achieved. Since the first support bars 121 are staggered with the second support bars 521, the first support bars 121 and the second support bars 521 can be moved to the same plane, thereby completing the handover of the sheet material.

Further, after the first support rod 121 and the second support rod 521 cross the second plate, the first support rod 121 needs to be moved further to avoid the second support rod 521, so that the second support rod 521 having the second plate grabbed thereon moves to the downstream process. The embodiment of the present application is not limited to the specific manner of avoiding between the first support rod 121 and the second support rod 521. In order to improve the processing efficiency, the following preferred modes are provided in the embodiments of the present application.

As shown in fig. 3 and 4, a plurality of layers of plates of the plate stack are stacked in a vertical direction, and the driving assembly 2 drives the grabbing assembly 1 to move in the vertical direction; the second supporting rod 521 is connected with the blanking slide rail 51 through a blanking slide block 523, and the blanking slide block 523 is used for sliding along the blanking slide rail 51; wherein; the upper surface of the second support rod 521 is higher than the upper surface of the discharging slider 523 in the vertical direction.

In this embodiment, the second supporting rod 521 is connected with the blanking slider 523, and the upper surface of the second supporting rod 521 is higher than the upper surface of the blanking slider 523, and an avoidance space is defined between the second supporting rod 521 and the blanking slider 523, so that after the second plate is intersected, the first supporting rod 121 further descends into the avoidance space, and the second supporting rod 521 can transport away the second plate. Therefore, in the scheme provided by the embodiment of the application, the first support rod 121 only needs to move downwards in the original direction after the second plate is handed over, so that avoidance between the first support rod 121 and the second support rod 521 can be realized, and the scheme is more efficient and faster, and the control is simpler.

Optionally, in order to achieve that the upper surface of the second support rod 521 is higher than the upper surface of the blanking slider 523, an avoidance space is defined between the second support rod 521 and the blanking slider 523. The specific implementation manner is not limited in this application. For ease of understanding, a preferred implementation is provided as follows.

As shown in fig. 3, the second support rod 521 is L-shaped and includes a vertical arm 521a and a horizontal arm 521b, and the fixing portion 522 is provided on the horizontal arm 521b; the stacked multi-layer plates in the plate stack have gaps therebetween, and the first support rods 121 are used to extend into the gaps so that the grabbing parts 11 grab the second plate; the free end of the horizontal arm 521b is directed in the opposite direction to the free end of the first support rod 121.

In this embodiment, since the second support rod 521 is in an L-shaped design, a space for avoiding the first support rod 121 is enclosed between the L-shaped second support rod 521 and the upper surface of the blanking slider 523, and further, the free ends of the first support rod 121 and the second support rod 521 are respectively directed in opposite directions, so that dislocation avoidance of the first support rod 121 and the second support rod 521 is realized, and downstream movement of the second support rod 521 is not affected after the first support rod 121 descends to the avoiding space.

The specific implementation manner of the discharging claw 52 is described in detail above, and for the specific implementation manner of the feeding claw 42, reference may be made to the description of the discharging claw 52, which is not repeated here.

The system introduces the manipulator device provided by the embodiment of the application, and the working process of the manipulator device is described below with reference to the accompanying drawings. Comprises the following steps.

S1, the feeding claw 42 grabs a first plate with just finished ink printing from the upstream, wherein the feeding claw 42 is provided with a sucker, and the lower surface of the first plate is sucked by the sucker to grab the first plate.

S2, the feeding claw 42 gripping the first plate moves along the feeding sliding rail 41 to reach the position right below the gripping assembly 1.

S3, the grabbing component 1 is driven to descend by the driving component 2, and the sucker on the lower surface of the grabbing component 1 sucks the upper surface of the first plate to grab the first plate.

S4, returning to the upstream initial position after the suction disc of the feeding claw 42 releases the first plate. The first sheet material is thus completely handed over between the loading jaw 42 and the gripper assembly 1.

S5, the grabbing component 1 grabbing the first plate moves upwards under the driving of the driving component 2 to reach a first position in the baking oven.

S6, the telescopic component 3 stretches, and the grabbing component 1 puts the grabbed first plate into a clamping position located at a first position, so that the first plate is put into the baking box.

S7, the sucker on the lower surface of the grabbing component 1 releases the first plate, and then the driving component 2 drives the grabbing component 1 to move upwards until the sucker on the upper surface of the grabbing component 1 contacts the lower surface of the second plate. It should be noted that the second plate is located at the second position, and the second position is located above the first position, and at this time, the second plate is located above the first plate, and the second plate is a plate that has been baked by the baking oven.

S8, sucking discs on the upper surface of the grabbing component 1 work to adsorb the lower surface of the second plate, so that grabbing of the second plate is achieved.

S9, shortening the telescopic component 3, and taking the grabbed second plate out of the baking box by the grabbing component 1.

S10, the driving assembly 2 drives the grabbing assembly 1 grabbing the second plate to move downwards.

S11, the blanking claw 52 moves to the position right below the grabbing component 1 along the blanking sliding rail 51.

S12, when the first supporting rod 121 of the grabbing assembly 1 descends to the same height as the second supporting rod 521, the sucking disc on the first supporting rod 121 releases the second plate, the second supporting rod 521 supports the second plate, and meanwhile, the sucking disc on the second supporting rod 521 adsorbs and fixes the second plate, so that the connection of the second plate is realized.

S13, the driving assembly 2 drives the first supporting rod 121 to continuously move downwards, and the first supporting rod enters an avoidance space surrounded by the L-shaped second supporting rod 521 and the blanking slider 523.

And S14, the second support rods 521 move downstream along the blanking slide rails 51, and the baked second plate is conveyed to a downstream cooling process.

Through the steps, the manipulator equipment provided by the application completes one working process. In the next working process, the second position of the second plate is withdrawn last time, the grabbing component 1 grabs the third plate which just completes printing ink and puts the third plate into the second position, then the third plate continues to move to the third position above the second position, the dried fourth plate is taken out, and the further working process is completed. The working process is repeated until the grabbing component 1 places the last plate to be dried at the topmost position in the baking oven to complete one working cycle, at this time, the grabbing component 1 returns to the bottommost position of the baking oven under the action of the driving component 2, and the next working cycle is repeated. And the plate to be dried is put into a baking oven and taken out to finish baking.

In summary, the manipulator apparatus provided in the embodiments of the present application is configured to grasp or place a plate in a stack of plates stacked with multiple layers of plates; characterized by comprising the following steps: the device comprises a driving assembly and a grabbing assembly, wherein the driving assembly is used for driving the grabbing assembly to move between multiple layers of plates; the grabbing component comprises at least two groups of grabbing parts, and after the grabbing component stretches into the plate pile, one group of grabbing parts puts the grabbed first plate into the plate pile; the other group of grabbing parts grab the second plate from the plate pile; the first plate is a plate to be placed in the plate stack, the second plate is a plate to be taken out of the plate stack, and stacking positions of the first plate and the second plate in the plate stack are close to or adjacent to each other. Because the manipulator equipment that this application provided has multiunit snatch portion, different snatch portions bear respectively and place panel and take out the function of panel. Therefore, the driving assembly only needs to drive the grabbing assembly to enter the plate pile once, and the plurality of groups of grabbing parts can be used for respectively completing the putting-in of the first plate and the taking-out of the second plate. The working efficiency of the mechanical arm equipment is improved, and the efficient carrying of the plates is realized.

The foregoing description of the preferred embodiments of the present utility model should not be construed as limiting the scope of the utility model, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the utility model as defined by the following description and drawings or any application directly or indirectly to other relevant art(s).

Claims (14)

1. A robot apparatus for gripping or placing a sheet in a stack of sheets stacked with a plurality of layers of sheets; characterized by comprising the following steps: a drive assembly and a grasping assembly, wherein,

the driving component is used for driving the grabbing component to move among multiple layers of the plates;

the grabbing assembly comprises at least two groups of grabbing parts, and after the grabbing assembly stretches into the plate pile, one group of grabbing parts is used for placing the grabbed first plate into the plate pile; the other group of grabbing parts grabs a second plate from the plate stack;

the first plate is a plate to be placed in the plate pile, the second plate is a plate to be taken out of the plate pile, and stacking positions of the first plate and the second plate in the plate pile are close to or adjacent to each other.

2. The robotic device of claim 1, wherein the gripping assembly includes two sets of gripping portions disposed opposite one another and having opposite gripping directions, the first sheet material being adjacent to a stacking location of the second sheet material in the stack of sheet materials;

after the first plate is placed into the plate stack by one group of grabbing parts, the driving assembly drives the grabbing assembly to be close to the second plate, so that the second plate is grabbed by the other group of grabbing parts.

3. The robot apparatus of claim 1, wherein there is a gap between the stacked layers of sheet material in the stack, the gripping portion being driven into the gap by the drive assembly to grip or place the sheet material.

4. The robot apparatus of any of claims 1 to 3, wherein the gripper assembly comprises a gripper arm,

the grabbing part is arranged on the grabbing arm;

the grabbing arms are connected with the driving assembly, and the driving assembly drives the grabbing arms to move among multiple layers of plates.

5. The robot apparatus of claim 4, wherein each of said groups of grippers includes at least one suction cup for sucking said sheet material, said suction cups being disposed on said gripper arms.

6. The robot apparatus of claim 4, wherein the gripper arm is coupled to the drive assembly via a telescoping assembly;

gaps are formed among the plurality of layers of plates stacked in the plate stack, and when the telescopic assembly stretches, the grabbing arms enter the gaps; when the telescopic assembly is contracted, the grabbing arm is pulled out of the gap.

7. The robot apparatus of claim 6, wherein the telescoping assembly comprises a first telescoping plate and a second telescoping plate, wherein,

the first expansion plate is connected with the grabbing arm through a first sliding rail;

the first expansion plate is connected with the second expansion plate through a second sliding rail, and the second expansion plate is connected with the driving assembly.

8. The robot apparatus of claim 6, wherein the drive assembly comprises a drive motor, a drive rod, and a timing belt, wherein,

the transmission rod is connected with the output shaft of the driving motor, the number of the synchronous belts is two, the synchronous belts are respectively arranged at the two ends of the transmission rod, and the two synchronous belts respectively drive the two ends of the telescopic assembly.

9. The robot apparatus of claim 1, further comprising a loading section and a unloading section, wherein,

the feeding part is used for conveying the first plate to the grabbing component, and the discharging part is used for receiving and conveying away the second plate grabbed by the grabbing component.

10. The robot apparatus of claim 9, wherein the loading section comprises a loading rail and a loading jaw, and the unloading section comprises an unloading rail and an unloading jaw; wherein,

the feeding claw is connected with the feeding sliding rail, and is used for grabbing the first plate and moving to the position where the grabbing component is located along the feeding sliding rail;

the blanking claw is connected with the blanking sliding rail, and is used for grabbing the second plate released by the grabbing component and moving away from the position where the grabbing component is located along the blanking sliding rail.

11. The robotic device of claim 10, wherein the gripper arm of the gripper assembly comprises at least two first support bars, the gripper being provided to the first support bars;

the blanking claw comprises at least two second supporting rods, fixing parts used for fixing the second plates are arranged on the second supporting rods, and after the grabbing parts release the second plates, the fixing parts fix the second plates.

12. The robot apparatus of claim 11, wherein at least two of said first support bars are interleaved with at least two of said second support bars.

13. The robot apparatus of claim 11, wherein the plurality of layers of plates of the stack of plates are stacked in a vertical direction, the drive assembly driving the gripper assembly to move in the vertical direction;

the second bearing rod is connected with the blanking slide rail through a blanking slide block, and the blanking slide block is used for sliding along the blanking slide rail; wherein;

in the vertical direction, the upper surface of the second supporting rod is higher than the upper surface of the blanking slider.

14. The robot apparatus of claim 13, wherein the second support bar is L-shaped and comprises a vertical arm and a horizontal arm, and the fixing portion is provided on the horizontal arm;

gaps are formed among the plurality of layers of plates stacked in the plate stack, and the first supporting rod is used for extending into the gaps so that the grabbing part grabs the second plate;

the free end of the horizontal arm is directed in a direction opposite to the direction in which the free end of the first support bar is directed.