A robot device

Abstract

The application discloses a mechanical arm device, comprising a driving assembly and a grabbing assembly, wherein the driving assembly is used for driving the grabbing assembly to move between multi-layer boards; the grabbing assembly comprises at least two groups of grabbing parts; after the grabbing assembly extends into a board stack, one group of grabbing parts puts a first board into the board stack; another group of grabbing parts grabs a second board from the board stack; the first board is a board to be put into the board stack, the second board is a board to be taken out from the board stack, and the first board and the second board are close to or adjacent to each other in the stacking position in the board stack. Since different grabbing parts undertake the functions of placing boards and taking out boards respectively, the driving assembly only needs to drive the grabbing assembly to enter the board stack once, and the multiple groups of grabbing parts can respectively complete the placing of the first board and the taking out of the second board. The working efficiency of the mechanical arm device is improved, and efficient board carrying is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, in particular to a mechanical hand device. BACKGROUND

[0002] In the field of automatic processing, the processing of plates is often involved. For example, after printing on a plate such as a glass plate or a circuit board, the plate needs to be placed in an oven for drying to solidify the ink. In the specific working process, the mechanical hand places the plate to be baked into the oven, and then takes out the baked plate from the oven.

[0003] In the prior art, after the mechanical hand inserts the first plate to be baked into the oven, the mechanical hand needs to be pulled out first, and then inserted into the position of the second plate to be baked to take out the second plate from the oven. It can be seen that in this process, the mechanical hand needs to be repeatedly inserted and pulled out in the oven, which affects the efficiency of the mechanical hand in carrying the plate.

[0004] Therefore, the above problems existing in the prior art still need to be solved. SUMMARY

[0005] The main purpose of the present application is to provide a mechanical hand device, which aims to solve the problem of low efficiency of the mechanical hand in carrying the plate.

[0006] To achieve the above-mentioned purpose, the mechanical hand device provided by the present application is used to grab or place a plate in a plate stack stacked with multiple layers of plates; it comprises a driving assembly and a grabbing assembly, wherein the driving assembly is used to drive the grabbing assembly to move between multiple layers of the plates; the grabbing assembly comprises at least two groups of grabbing parts, after the grabbing assembly is inserted into the plate stack, one group of the grabbing parts places the grabbed first plate into the plate stack; another group of the grabbing parts grabs the second plate from the plate stack; the first plate is the plate to be placed into the plate stack, and the second plate is the plate to be taken out of the plate stack, and the stacking positions of the first plate and the second plate in the plate stack are close or adjacent.

[0007] Preferably, the grabbing assembly comprises two groups of grabbing parts, the two groups of grabbing parts are arranged opposite to each other and have opposite grabbing directions, and the stacking positions of the first plate and the second plate in the plate stack are adjacent; after one group of the grabbing parts places the first plate into the plate stack, the driving assembly drives the grabbing assembly to be close to the second plate, so that another group of the grabbing parts grabs the second plate.

[0008] Preferably, the plate stack has gaps between multiple layers of plates stacked therein, and the grabbing parts enter the gaps under the driving of the driving assembly to grab or place the plates.

[0009] 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 assembly, and the driving assembly drives the grabbing arm to move between the multiple layers of the plate.

[0010] Preferably, each group of the grabbing part comprises at least one suction cup for sucking the plate, and the suction cup is arranged on the grabbing arm.

[0011] Preferably, the grabbing arm is connected with the driving assembly through a telescopic assembly; the multiple layers of the plate stacked in the plate stack have a gap, the grabbing arm enters the gap when the telescopic assembly is elongated, and the grabbing arm is withdrawn from the gap when the telescopic assembly is shortened.

[0012] 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 telescopic plate is connected with the second telescopic plate through a second sliding rail, and the second telescopic plate is connected with the driving assembly.

[0013] Preferably, the driving assembly comprises a driving motor, a transmission rod, and a synchronous belt, wherein the transmission rod is connected with the output shaft of the driving motor, the number of the synchronous belt is two, and the two synchronous belts are arranged at the two ends of the transmission rod respectively, and the two synchronous belts drive the two ends of the telescopic assembly respectively.

[0014] Preferably, the feeding part and the discharging part are further included, wherein the feeding part is used for conveying the first plate to the grabbing assembly, and the discharging part is used for receiving and conveying away the second plate grabbed by the grabbing assembly.

[0015] Preferably, the feeding part comprises a feeding sliding rail and a feeding claw, and the discharging part comprises a discharging sliding rail and a discharging claw; wherein the feeding claw is connected with the feeding sliding rail, the feeding claw is used for grabbing the first plate and moving to the position of the grabbing assembly along the feeding sliding rail; the discharging claw is connected with the discharging sliding rail, and the discharging claw is used for grabbing the second plate released by the grabbing assembly and moving away from the position of the grabbing assembly along the discharging sliding rail.

[0016] Preferably, the grabbing arm of the grabbing assembly comprises at least two first supporting rods, and the grabbing part is arranged on the first supporting rod; the discharging claw comprises at least two second supporting rods, and the second supporting rod is provided with a fixing part for fixing the second plate, and the fixing part fixes the second plate after the grabbing part releases the second plate.

[0017] Preferably, the at least two first supporting rods and the at least two second supporting rods are staggered with each other.

[0018] Preferably, the multiple layers of the plate of the plate stack are stacked in the vertical direction, and the driving assembly drives the grabbing assembly to move in the vertical direction.

[0019] The second supporting rod is connected with the unloading sliding rail through an unloading sliding block, and the unloading sliding block is used for sliding along the unloading sliding rail.

[0020] Preferably, the second supporting rod is arranged in an L shape and includes a vertical arm and a horizontal arm, and the fixed part is arranged on the horizontal arm; the multiple layers of plates in the plate stack have a gap therebetween, and the first supporting rod is used for extending into the gap to enable the grabbing part to grab the second plate; and a free end of the horizontal arm is opposite to a direction in which a free end of the first supporting rod points.

[0021] The mechanical arm device provided by the application 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 assembly comprises at least two groups of grabbing parts, after the grabbing assembly extends into a plate stack, one group of grabbing parts places a first plate grabbed by the grabbing part into the plate stack, and another group of grabbing parts grabs a second plate from the plate stack; the first plate is a plate to be placed into the plate stack, the second plate is a plate to be taken out of the plate stack, and the first plate and the second plate are close to or adjacent to each other in a stacking position in the plate stack. Since different grabbing parts assume the functions of placing plates and taking out plates, the driving assembly only needs to drive the grabbing assembly to enter the plate stack once, and the multiple groups of grabbing parts can respectively complete the placing of the first plate and the taking out of the second plate. The working efficiency of the mechanical arm device is improved, and efficient plate carrying is realized. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from the structures shown in the drawings without creative labor.

[0023] Figure 1 A perspective view of the mechanical arm device provided by the embodiment of the present application;

[0024] Figure 2 A side view of the mechanical arm device provided by the embodiment of the present application;

[0025] Figure 3 A working state reference diagram of the mechanical arm device provided by the embodiment of the present application;

[0026] Figure 4 A perspective view of another embodiment of the mechanical arm device provided by the embodiment of the present application;

[0027] Figure 5 A top view of another embodiment of the mechanical arm device provided by the embodiment of the present application.

[0028] BRIEF DESCRIPTION OF DRAWINGS

[0029] Reference Name Reference Name 1 Grabbing assembly 2 Driving assembly 11 Grabbing part 12 Grabbing arm 111 First suction cup 112 Second suction cup 3 Telescopic assembly 31 First telescopic plate 32 Second telescopic plate 31a First sliding rail 21 Driving motor 22 Transmission rod 23 Synchronous belt 4 Feeding part 5 Discharging part 41 Feeding sliding rail 42 Feeding claw 51 Discharging sliding rail 52 Discharging claw 121 First supporting rod 521 Second supporting rod 522 Fixing part 523 Discharging sliding block 521a Vertical arm 521b Horizontal arm

[0030] The objectives, features and advantages of the present application will be further illustrated by the following embodiments in conjunction with the accompanying drawings. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be apparently and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without any creative work fall within the protection scope of the present application.

[0032] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture (as shown in the drawings). If the certain posture changes, the directional indications also change accordingly.

[0033] In addition, if the embodiments of the present application involve descriptions of “first”, “second”, etc., the descriptions of “first”, “second”, etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by “first” and “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person skilled in the art can realize the combination. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist and is not within the protection scope of the present application.

[0034] In the field of automatic processing, the processing of plates is often involved. For example, after printing a plate such as a glass plate or a circuit board, the plate needs to be placed in an oven for drying to solidify the ink. In the specific working process, a robot places the plate to be baked into the oven, and then takes out the baked plate from the oven.

[0035] Currently, after the robot inserts the first plate to be baked into the oven, the robot needs to be pulled out first, and then inserted into the position of the second plate to be baked to take out the second plate from the oven. It can be seen that in this process, the robot needs to be repeatedly inserted and pulled out in the oven, which affects the efficiency of the robot in carrying the plate.

[0036] Therefore, in order to solve the above problems, the mechanical hand device provided in the embodiments of the present application can complete the two actions of releasing the plate and grabbing the plate through one movement of the mechanical hand, thereby improving the working speed and solving the problem of low efficiency of the mechanical hand in carrying the plate.

[0037] For the convenience of understanding, the mechanical hand device provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0038] The mechanical hand device provided in the embodiments of the present application is used to grab or place the plate in the plate stack in which a plurality of plates are stacked. It should be noted that the type of the plate, the stacking manner of the plate, and the purpose of stacking the plate in the embodiments of the present application are not limited. The plates can be glass plates or circuit boards. The stacking manner of the plates can be that each plate is parallel to the horizontal plane and a plurality of plates are stacked in the vertical direction. Alternatively, each plate can be perpendicular to the horizontal plane and a plurality of plates are placed in the horizontal direction. The purpose of stacking the plates can be to dry, cool or store the plates, etc.

[0039] For the convenience of understanding, the embodiments of the present application are described below with reference to the following scenario: as shown in Figure 3 The production line has a baking oven (not shown in the figure) which is provided with a plurality of clamping positions in the vertical direction, and each clamping position can place a plate. In this way, a plurality of plates are stacked in the baking oven (as shown on the left side of Figure 3 The mechanical hand device provided in the embodiments of the present application places the first plate which has just completed ink printing into the clamping position of the baking oven for drying, and then takes out a second plate which has completed drying from the baking oven to place it into the next process for cooling.

[0040] Based on the above working scenario, the specific implementation manner of the mechanical hand device provided in the embodiments of the present application is as follows.

[0041] Please refer to Figures 1 to 3 , wherein, Figure 1 is a perspective view of the mechanical hand device provided in the embodiments of the present application, Figure 2 is a side view of the mechanical hand device provided in the embodiments of the present application, Figure 3 is a working state reference diagram of the mechanical hand device provided in the embodiments of the present application.

[0042] As shown in Figures 1 to 3As shown, the mechanical arm device provided by the embodiment of the present application comprises a driving assembly 2 and a grabbing assembly 1, wherein the driving assembly 2 is used to drive the grabbing assembly 1 to move between the multi-layer boards; the grabbing assembly 1 comprises at least two groups of grabbing parts 11, after the grabbing assembly 1 extends into the board stack, one group of grabbing parts 11 puts the grabbed first board into the board stack; another group of grabbing parts 11 grabs the second board from the board stack; the first board is the board to be put into the board stack, and the second board is the board to be taken out of the board stack, and the stacking positions of the first board and the second board in the board stack are close or adjacent.

[0043] In the embodiment, optionally, the first board is the board just printed and needs to be put into the baking oven for drying ink; and the second board is the board that has completed drying in the baking oven and needs to be taken out for cooling. In the specific work, the driving assembly 2 first drives the grabbing assembly 1 to move to the feeding position, after one group of grabbing parts 11 grabs the first board, the driving assembly 2 drives the grabbing assembly 1 to move to the position where the baking oven is located and extend into the board stack, at this time, the grabbing part 11 releases the first board, so as to put the first board into the board stack of the baking oven. Then, another group of grabbing parts 11 grabs the second board adjacent to the first board, and the driving assembly 2 drives the grabbing assembly 1 to leave the baking oven, so as to send the second board that has completed baking into the subsequent cooling process.

[0044] In this way, since the mechanical arm device provided by the embodiment of the present application has multiple groups of grabbing parts 11, different grabbing parts 11 respectively undertake the functions of placing the board and taking out the board. Therefore, the driving assembly 2 only needs to drive the grabbing assembly 1 to enter the board stack once, and multiple groups of grabbing parts 11 can respectively complete the placing of the first board and the taking out of the second board. The working efficiency of the mechanical arm device is improved, and the efficient carrying of the board is realized.

[0045] Optionally, the stacking positions of the first board and the second board in the board stack are the corresponding clamping positions of the two boards in the baking oven, and the stacking positions of the first board and the second board can be adjacent or can be separated by a plurality of boards, which is not limited by the embodiment of the present application. For the convenience of understanding, the embodiment of the present application is described by taking the example that the stacking positions of the first board and the second board are adjacent.

[0046] Optionally, as shown in Figure 2 and 3 , the grabbing assembly 1 comprises two groups of grabbing parts 11, the two groups of grabbing parts 11 are oppositely arranged and have opposite grabbing directions, and the stacking positions of the first board and the second board in the board stack are adjacent; after one group of grabbing parts 11 puts the first board into the board stack, the driving assembly 2 drives the grabbing assembly 1 to be close to the second board, so that another group of grabbing parts 11 grabs the second board.

[0047] In this embodiment, the directions of the two groups of grabbing parts 11 are opposite, so that the driving assembly 2 only needs to drive the grabbing assembly 1 to move a minimum amplitude to move from the stacking position of the first plate to the stacking position of the second plate. For example, as shown in Figure 3 Figure 3 The left side is stacked with plates, wherein the first plate is stacked above the second plate, and at this time, the grabbing directions of the two groups of grabbing parts 11 are set to be upward and downward respectively. The upward grabbing part 11 grabs the first plate and puts it into the plate stack, and then the driving assembly 2 drives the grabbing assembly 1 to move downward, and the downward grabbing part 11 grabs the second plate. In this way, the grabbing assembly 1 has the smallest movement amplitude during plate carrying, and the carrying efficiency is further improved.

[0048] It should be noted that according to different use scenarios, the stacking mode of the plates in the plate stack can be tight stacking without gaps or stacking with gaps, and the mechanical hand device provided in the embodiment of the application can carry out plate grabbing and placing. In the working scenario of the oven, in order to avoid mutual contamination between inks and at the same time improve the printing rate, a stacking scheme with gaps between plates is adopted. For this mode, the embodiment of the application further adopts the following scheme.

[0049] Optionally, the grabbing part 11 enters the gap under the driving of the driving assembly 2 to grab or place the plate.

[0050] In this embodiment, the grabbing part 11 enters the gap to grab the plate, which increases the contact area between the grabbing assembly 1 and the plate. When the area of the plate is large, the grabbing assembly 1 can support the plate, making the grabbing more stable. At the same time, when the grabbing directions of the two groups of grabbing parts 11 are opposite, after one group of grabbing parts 11 releases the first plate, the grabbing assembly 1 only needs to move downward in the gap, and the other group of grabbing parts 11 can grab the second plate adjacent to the first plate. The movement amplitude is further reduced, and the efficiency is improved.

[0051] Optionally, as shown in Figures 1 to 3 The grabbing assembly 1 includes a grabbing arm 12, and the grabbing part 11 is arranged on the grabbing arm 12; the grabbing arm 12 is connected with the driving assembly 2, and the driving assembly 2 drives the grabbing arm 12 to move between the multiple plates.

[0052] In this embodiment, the grabbing part 11 is connected with the driving assembly 2 through the grabbing arm 12, so as to realize the driving of the driving assembly 2 to the grabbing part 11. In the specific working process, the user can set the specific shape of the grabbing arm 12 according to the situation of the carried plate, so that the grabbing position of the grabbing part 11 is adapted to the plate. The specific setting mode of the grabbing arm 12 is not limited in the embodiment of the application.

[0053] ​It should be noted that in the embodiments of the present application, the grabbing part 11 is used to grab and release the plate, and the specific implementation mode thereof is not limited in the embodiments of the present application, and preferably, the grabbing part 11 can be provided as a jaw or a suction cup or the like, and the grabbing part 11 and the grabbing arm 12 can be two different components or integrally arranged components. For the convenience of understanding, the following will be described by taking the suction cup as an example.

[0054] As shown in Figures 1 to 3 Each group of grabbing parts 11 includes at least one suction cup, which is used to suck the plate and is arranged on the grabbing arm 12.

[0055] In the embodiments, the plate is sucked and released by the suction cup, so as to realize the grabbing and carrying of the plate. It can be understood that, in order to form the vacuum negative pressure required in the working process of the suction cup, the mechanical hand device provided in the embodiments of the present application is connected with necessary air sources and related control devices, and the specific implementation mode thereof is not limited in the embodiments of the present application.

[0056] Based on the above setting mode, the specific working process thereof will be described in combination with the working scene of the example of the present application.

[0057] The grabbing arm 12 below has a plurality of first suction cups 111, and the grabbing arm 12 above has a plurality of second suction cups 112. In the specific working process, the first suction cup 111 sucks the upper surface of the first plate to put the first plate into the baking oven. After the first suction cup 111 releases the first plate, the driving assembly 2 drives the grabbing arm 12 to move upward in the gap between the first plate and the second plate, so that the second suction cup 112 sucks the lower surface of the second plate. Thus, the placing of the first plate and the grabbing of the second plate are completed. Then, the grabbing assembly 1 is lowered by the driving assembly 2 to take out the second plate and send it to the next process for cooling, thereby completing one grabbing process.

[0058] In the above working process, the grabbing assembly 1 only needs to enter the plate stack once, so as to realize the placing of the first plate and the grabbing of the second plate. The efficiency is higher.

[0059] It should be noted that when the driving assembly 2 drives the grabbing assembly 1 to move to the height between the first plate and the second plate, the grabbing arm 12 of the grabbing assembly 1 needs to extend into the gap between the first plate and the second plate to send the first plate and suck the second plate by the suction cup. In order to enter and exit the gap, the grabbing arm 12 needs to have the telescopic function. For this purpose, the embodiments of the present application further provide the following technical solutions.

[0060] Optionally, the grabbing arm 12 is connected with the driving assembly 2 through the telescopic assembly 3; the multiple layers of plates in the plate stack have gaps therebetween, and when the telescopic assembly 3 is elongated, the grabbing arm 12 enters the gaps; and when the telescopic assembly 3 is shortened, the grabbing arm 12 is withdrawn from the gaps.

[0061] In this embodiment, the grabbing arm 12 is provided with the telescopic assembly 3 with the driving assembly 2, so that the grabbing arm 12 can be telescoped relative to the driving assembly 2 through the telescopic assembly 3, thereby extending into or withdrawing from the gaps between the first plate and the second plate, and achieving the placing of the first plate and the grabbing of the second plate.

[0062] It should be noted that the specific implementation of the telescopic assembly 3 is not limited in the embodiment of the application, and the telescopic assembly 3 can be part of the grabbing arm 12 or the driving assembly 2, or can be provided as an independent assembly. For the sake of understanding, a preferred implementation of the telescopic assembly 3 will be described in detail below with reference to the drawings.

[0063] As shown in Figures 1 to 3 the telescopic assembly 3 includes 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 31a; the first telescopic plate 31 is connected with the second telescopic plate 32 through a second sliding rail (not shown in the figure); and the second telescopic plate 32 is connected with the driving assembly 2.

[0064] In this embodiment, the grabbing arm 12 is connected with the first telescopic plate 31 through the first sliding rail 31a, so that when the grabbing arm 12 moves along the first sliding rail 31a, the grabbing arm 12 can be telescoped relative to the first telescopic plate 31. Further, the first telescopic plate 31 and the second telescopic plate 32 are connected through the second sliding rail, so that the second telescopic plate 32 can be telescoped relative to the first telescopic plate 31 through the second sliding rail. In this way, the telescoping distance of the grabbing arm 12 is increased, so that the grabbing assembly 1 can grab larger plates. Optionally, when the widths of the first telescopic plate 31 and the second telescopic plate 32 are large, the number of the first sliding rail 31a and the second sliding rail can be set to be multiple, thereby increasing the stability of the telescopic assembly 3.

[0065] It should be noted that the connection between the second telescopic plate 32 and the driving assembly 2 can be direct connection or indirect connection. For example, when the plate to be processed is larger, more telescopic plates and sliding rails can be provided between the second telescopic plate 32 and the driving assembly 2, thereby increasing the distance of the grabbing arm 12.

[0066] The specific implementation of the grabbing assembly 1 and the telescopic assembly 3 is described above. In the specific working process, the plates in the baking oven are stacked in the vertical direction, the driving assembly 2 drives the telescopic assembly 3 and the grabbing assembly 1 to move in the vertical direction, so as to grab the plates stacked in the baking oven. The specific implementation of the driving assembly 2 is not limited in the embodiments of the present application. In order to facilitate understanding, a preferred implementation is provided as follows.

[0067] As shown in Figure 1 and Figure 2 , the driving assembly 2 includes a driving motor 21, a transmission rod 22 and two synchronous belts 23, wherein the transmission rod 22 is connected with the output shaft of the driving motor 21, and the two synchronous belts 23 are respectively arranged at the two ends of the transmission rod 22, and the two synchronous belts 23 respectively drive the two ends of the telescopic assembly 3.

[0068] In the embodiment, the driving motor 21 drives the transmission rod 22 to rotate, so that the transmission rod 22 drives the synchronous belt 23 to move. Optionally, the synchronous belt 23 is an annular belt, one end of which is sleeved on the transmission rod 22, and the other end is sleeved on a rotating shaft (not shown in the figure), and the telescopic assembly 3 is connected with the synchronous belt 23. In this way, 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 driving motor 21 rotates forward, the telescopic assembly 3 rises, and when the driving motor 21 reverses, the telescopic assembly 3 descends. In this way, the lifting driving of the driving assembly 2 on the telescopic assembly 3 is realized.

[0069] Optionally, the synchronous belt 23 is connected with the second telescopic plate 32 in the telescopic assembly 3.

[0070] It should be noted that in the above embodiment, one driving motor 21 drives two synchronous belts 23 from both ends of the telescopic assembly 3. On the one hand, the two ends are driven at the same time, which ensures the stability of the up and down movement of the telescopic assembly 3. On the other hand, single driving motor 21 driving can ensure that the movement speed of the two synchronous belts 23 is consistent, which is more accurate. Further, this scheme also saves one driving motor 21, which effectively saves the cost.

[0071] The specific implementation of the grabbing assembly 1 taking and placing the first plate and the second plate in the mechanical arm device provided by the embodiments of the present application is described above. In the specific working process, the grabbing assembly 1 needs to grab the first plate from the upstream, and also needs to place the second plate to the downstream, which affects the working efficiency of the grabbing assembly 1. Therefore, in order to solve this problem, the embodiments of the present application further provide the following solutions.

[0072] Please refer to Figures 3 to 5 , wherein, Figure 4 is a perspective view of another embodiment of the mechanical arm device provided by the embodiments of the present application; Figure 5A top view of another embodiment of the mechanical arm device provided in the embodiments of the present application.

[0073] As shown in Figures 3 to 5 the embodiments provided by the present application, the mechanical arm device further comprises a feeding part 4 and a discharging part 5, wherein the feeding part 4 is used to deliver the first plate to the grabbing assembly 1, and the discharging part 5 is used to receive and transport the second plate grabbed by the grabbing assembly 1.

[0074] In the embodiments, the feeding part 4 is responsible for delivering the first plate from an upstream process to the grabbing assembly 1, and the discharging part 5 is used to receive the second plate from the grabbing assembly 1 and transport it to a downstream process. In this way, through the cooperation of the feeding part 4 and the discharging part 5, the grabbing assembly 1 only needs to be responsible for putting the first plate into the oven and taking the second plate out of the oven, and through the division of labor, the efficiency of the entire mechanical arm device is improved.

[0075] Optionally, the feeding part 4 and the discharging part 5 can have various implementation manners, which are not limited in the embodiments of the present application. For the convenience of understanding, a preferred implementation manner is provided below.

[0076] As shown in Figure 4 the embodiments provided by the present application, the feeding part 4 comprises a feeding slide rail 41 and a feeding claw 42, and the discharging part 5 comprises a discharging slide rail 51 and a discharging claw 52; wherein the feeding claw 42 is connected with the feeding slide rail 41, and the feeding claw 42 is used to grab the first plate and move along the feeding slide rail 41 to the position of the grabbing assembly 1; the discharging claw 52 is connected with the discharging slide rail 51, and the discharging claw 52 is used to grab the second plate released by the grabbing assembly 1 and move along the discharging slide rail 51 away from the position of the grabbing assembly 1.

[0077] In the embodiments, 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 transporting the first plate and the second plate.

[0078] Further, as long as the feeding claw 42 and the discharging claw 52 can grab and release the first plate and the second plate, the requirements of the present solution can be met, and therefore the specific implementation manner of the feeding claw 42 and the discharging claw 52 is not limited in the embodiments of the present application. Preferably, the following embodiments are provided.

[0079] As shown in Figure 4 the embodiments provided by the present application, the grabbing arm 12 of the grabbing assembly 1 comprises at least two first supporting rods 121, and the grabbing part 11 (including the first suction cup 111 and the second suction cup 112) is arranged on the first supporting rod 121; the discharging claw 52 comprises at least two second supporting rods 521, and the second supporting rod 521 is provided with a fixing part 522 for fixing the second plate, and the fixing part 522 fixes the second plate after the grabbing part 11 releases the second plate.

[0080] In the embodiment, the grabbing arm 12 comprises two first supporting rods 121, and the grabbing part 11 is arranged on the first supporting rod 121, so that the first supporting rod 121 can grab and transport the first and second plates. The blanking claw 52 also has a structure similar to the grabbing assembly 1, i.e., a fixed part 522. Preferably, the second supporting rod 521 has two fixed parts 522 arranged thereon for grabbing the second plate. In this way, when the grabbing assembly 1 releases the second plate, the fixed part 522 can grab the second plate, thereby realizing the handover of the second plate.

[0081] Further, in order to enable the grabbing assembly 1 and the blanking claw 52 to avoid each other and improve work efficiency, the embodiment further provides the following technical solutions.

[0082] As shown in Figure 4 , the at least two first supporting rods 121 and the at least two second supporting rods 521 are staggered with each other.

[0083] In the embodiment, the first supporting rod 121 and the second supporting rod 521 are staggered with each other, so that the grabbing assembly 1 and the blanking claw 52 can avoid each other. For example, the second plate is fixed on the upper surface of the first supporting rod 121 by the grabbing part 11, and the second supporting rod 521 is located below the first supporting rod 121. When the first supporting rod 121 with the second plate is lowered to the same height as the second supporting rod 521, the grabbing part 11 releases the second plate, and at this time, the grabbing structure on the second supporting rod 521, i.e., the fixed part 522, such as a suction cup, fixes the second plate, thereby realizing the handover of the second plate. Because the first supporting rod 121 and the second supporting rod 521 are staggered, the first supporting rod 121 and the second supporting rod 521 can move to the same plane, thereby completing the handover of the plate.

[0084] Further, after the first supporting rod 121 and the second supporting rod 521 hand over the second plate, the first supporting rod 121 needs to further move to avoid the second supporting rod 521, so that the second supporting rod 521 with the second plate moves to the downstream process. The embodiment does not limit the specific way in which the first supporting rod 121 and the second supporting rod 521 avoid each other. In order to improve the processing efficiency, the embodiment provides the following preferred way.

[0085] As shown in Figure 3 and Figure 4 , the multiple layers of plates of the plate stack are stacked in the vertical direction, 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 to slide along the blanking slide rail 51; wherein, in the vertical direction, the upper surface of the second supporting rod 521 is higher than the upper surface of the blanking slide block 523.

[0086] In this embodiment, the second support rod 521 is connected to the unloading slider 523, and the upper surface of the second support rod 521 is higher than the upper surface of the unloading slider 523. A clearance space is formed between the second support rod 521 and the unloading slider 523. Therefore, after the second sheet material is handed over, the first support rod 121 further descends into the clearance space, and the second support rod 521 can then transport the second sheet material away. It can be seen that in the solution provided in this embodiment, the first support rod 121 only needs to continue moving downwards in the original direction after the second sheet material is handed over to achieve clearance between the first support rod 121 and the second support rod 521, which is more efficient, faster, and simpler to control.

[0087] Optionally, to ensure that the upper surface of the second support rod 521 is higher than the upper surface of the unloading slider 523, a clearance space is formed between the second support rod 521 and the unloading slider 523. The specific implementation method is not limited in this application embodiment. For ease of understanding, a preferred implementation method is provided as follows.

[0088] like Figure 3 As shown, the second support rod 521 is L-shaped and includes a vertical arm 521a and a horizontal arm 521b. The fixing part 522 is provided on the horizontal arm 521b. There are gaps between the multi-layer boards stacked in the board stack. The first support rod 121 is used to extend into the gap so that the gripping part 11 can grip the second board. The free end of the horizontal arm 521b points in the opposite direction to the free end of the first support rod 121.

[0089] In this embodiment, since the second support rod 521 is L-shaped, the L-shaped second support rod 521 and the upper surface of the unloading slider 523 form a space to avoid the first support rod 121. Furthermore, the free ends of the first support rod 121 and the second support rod 521 point in opposite directions, thereby realizing the staggered avoidance of the first support rod 121 and the second support rod 521, ensuring that after the first support rod 121 descends into the avoidance space, it will not affect the downstream movement of the second support rod 521.

[0090] The above provides a detailed explanation of the specific implementation of the unloading claw 52. For the specific implementation of the loading claw 42, please refer to the description of the unloading claw 52. It will not be repeated here.

[0091] The above system describes the robotic arm device provided in the embodiments of this application. The following, in conjunction with the accompanying drawings, describes its workflow, which includes the following steps.

[0092] S1, the feeding claw 42 picks up the first plate that has just finished ink printing from the upstream. The feeding claw 42 is equipped with a suction cup, which picks up the lower surface of the first plate to achieve the gripping of the first plate.

[0093] S2, the loading claw 42 with the first plate material moves along the loading slide rail 41 to be right below the grabbing assembly 1.

[0094] S3, the grabbing assembly 1 is driven by the driving assembly 2 to descend, and the suction cup on the lower surface of the grabbing assembly 1 sucks the upper surface of the first plate material to realize the grabbing of the first plate material.

[0095] S4, after the suction cup of the loading claw 42 releases the first plate material, it returns to the initial position upstream. At this point, the handover of the first plate material between the loading claw 42 and the grabbing assembly 1 is completed.

[0096] S5, the grabbing assembly 1 with the first plate material moves upward under the driving of the driving assembly 2 to reach the first position in the baking oven.

[0097] S6, the telescopic assembly 3 is extended, and the grabbing assembly 1 puts the grabbed first plate material into the clamping position at the first position, so as to put the first plate material into the baking oven.

[0098] S7, the suction cup on the lower surface of the grabbing assembly 1 releases the first plate material, and then the driving assembly 2 drives the grabbing assembly 1 to move upward until the suction cup on the upper surface of the grabbing assembly 1 contacts the lower surface of the second plate material. It should be noted that the second plate material is located at the second position, which is above the first position. At this time, the second plate material is above the first plate material, and the second plate material is a plate material that has been dried by the baking oven.

[0099] S8, the suction cup on the upper surface of the grabbing assembly 1 works to adsorb the lower surface of the second plate material, so as to realize the grabbing of the second plate material.

[0100] S9, the telescopic assembly 3 is shortened, and the grabbing assembly 1 takes out the grabbed second plate material from the baking oven.

[0101] S10, the driving assembly 2 drives the grabbing assembly 1 with the second plate material to move downward.

[0102] S11, the unloading claw 52 moves along the unloading slide rail 51 to be right below the grabbing assembly 1.

[0103] S12, when the first supporting rod 121 of the grabbing assembly 1 descends to the same height as the second supporting rod 521, the suction cup on the first supporting rod 121 releases the second plate material, the second supporting rod 521 supports the second plate material, and the suction cup on the second supporting rod 521 adsorbs and fixes the second plate material, realizing the handover of the second plate material.

[0104] S13, the driving assembly 2 drives the first supporting rod 121 to continue to move downward into the avoidance space surrounded by the L-shaped second supporting rod 521 and the unloading slide block 523.

[0105] S14, the second supporting rod 521 moves along the blanking slide rail 51 downstream, and the second plate material after baking is transported to the downstream cooling process.

[0106] At this point, through the above steps, the mechanical arm device provided by the application completes a working process. In the next working process, the second position is emptied by the second plate material extracted last time, the grabbing assembly 1 places the third plate material after ink printing into the second position, and then continues to move to the third position above the second position to take out the fourth plate material after drying, and completes another working process. Repeat the above working process until the grabbing assembly 1 places the last plate material to be dried into the top position of the baking oven, completes a working cycle, at this time, the grabbing assembly 1 returns to the lowermost part of the baking oven under the action of the driving assembly 2, and repeats the next working cycle. Thus, the plate materials to be dried are placed in the baking oven, and the baked plate materials are taken out.

[0107] In summary, the mechanical arm device provided by the embodiment of the application is used for grabbing or placing plate materials in a plate material stack stacked with multiple layers of plate materials; characterized in that it comprises a driving assembly and a grabbing assembly, wherein the driving assembly is used for driving the grabbing assembly to move between the multiple layers of plate materials; the grabbing assembly comprises at least two groups of grabbing parts, after the grabbing assembly extends into the plate material stack, one group of grabbing parts places the first grabbed plate material into the plate material stack, and the other group of grabbing parts grabs the second plate material from the plate material stack; the first plate material is the plate material to be placed into the plate material stack, and the second plate material is the plate material to be taken out from the plate material stack, and the stacking positions of the first plate material and the second plate material in the plate material stack are close or adjacent. Since the mechanical arm device provided by the embodiment of the application has multiple groups of grabbing parts, different grabbing parts respectively undertake the functions of placing plate materials and taking out plate materials. Therefore, the driving assembly only needs to drive the grabbing assembly to enter the plate material stack once, and the multiple groups of grabbing parts can respectively complete the placing of the first plate material and the taking out of the second plate material. The working efficiency of the mechanical arm device is improved, and efficient plate material handling is realized.

[0108] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structural transformation made under the inventive concept of the application, or direct / indirect application in other related technical fields is included in the patent protection scope of the application.

Claims

1. A robot device for picking up or placing a board in a board stack in which a plurality of boards are stacked, characterized by comprising: The mechanical hand device comprises: a driving assembly and a grabbing assembly, wherein the driving assembly is used to drive the grabbing assembly to move between the multiple layers of the boards; the grabbing assembly comprises at least two groups of grabbing parts, after the grabbing assembly extends into the stack of boards, one group of the grabbing parts puts a first board into the stack of boards, and another group of the grabbing parts grabs a second board from the stack of boards; the first board is a board to be put into the stack of boards, and the second board is a board to be taken out from the stack of boards, and the first board and the second board are adjacent in the stack of boards; the grabbing assembly comprises a grabbing arm, and the grabbing parts are arranged on the grabbing arm; each group of the grabbing parts comprises at least one suction cup, and the suction cup is used to suck the board, and the suction cup is arranged on the grabbing arm; a suction cup arranged below the grabbing arm is a first suction cup, and a suction cup arranged above the grabbing arm is a second suction cup, the first suction cup is used to suck the upper surface of the first board, and the second suction cup is used to suck the lower surface of the second board; the mechanical hand device further comprises a discharging part, the discharging part is used to receive and carry away the second board grabbed by the grabbing assembly, and the discharging part comprises a discharging claw; the grabbing arm of the grabbing assembly comprises at least two first supporting rods, and the grabbing parts are arranged on the first supporting rods; the discharging claw comprises at least two second supporting rods, and the second supporting rods are provided with fixing parts used to fix the second board, and the fixing parts fix the second board after the grabbing parts release the second board; the first supporting rods and the second supporting rods are staggered with each other.

2. The robot apparatus according to claim 1, wherein The grabbing assembly comprises two groups of grabbing parts, the two groups of grabbing parts are arranged oppositely and have opposite grabbing directions, and the first board and the second board are adjacent in the stack of boards; after one group of the grabbing parts puts the first board into the stack of boards, the driving assembly drives the grabbing assembly to approach the second board, so that another group of the grabbing parts grabs the second board.

3. The robot apparatus according to claim 1, wherein The multiple layers of boards stacked in the stack of boards have gaps, and the grabbing parts enter the gaps under the driving of the driving assembly to grab or put boards.

4. The mechanical hand device according to any one of claims 1 to 3, wherein the grabbing arm is connected with the driving assembly, and the driving assembly drives the grabbing arm to move between the multiple layers of the boards.

5. The robot apparatus according to claim 4, wherein The grabbing arm is connected with the driving assembly through a telescopic assembly; the multiple layers of boards stacked in the stack of boards have gaps, the grabbing arm enters the gaps when the telescopic assembly is elongated, and the grabbing arm is withdrawn from the gaps when the telescopic assembly is shortened.

6. The robot apparatus according to claim 5, wherein 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 telescopic plate is connected with the second telescopic plate through a second sliding rail, and the second telescopic plate is connected with the driving assembly.

7. The robot apparatus according to claim 5, wherein The driving assembly comprises a driving motor, a transmission rod and a synchronous belt, wherein The transmission rod is connected with an output shaft of the driving motor, the number of the synchronous belts is two, and the two synchronous belts are arranged at two ends of the transmission rod respectively, and the two synchronous belts drive two ends of the telescopic assembly respectively.

8. The robot apparatus according to claim 1, wherein Further comprising a feeding part, The feeding part is used for conveying the first plate to the grabbing assembly.

9. The robot apparatus according to claim 8, wherein The feeding part comprises a feeding slide rail and a feeding claw, and the discharging part comprises a discharging slide rail; The feeding claw is connected with the feeding slide rail, and the feeding claw is used for grabbing the first plate and moving to the position of the grabbing assembly along the feeding slide rail; The discharging claw is connected with the discharging slide rail, and the discharging claw is used for grabbing the second plate released by the grabbing assembly and moving away from the position of the grabbing assembly along the discharging slide rail.

10. The robot apparatus according to claim 9, wherein The multiple layers of plates in the plate stack 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 discharging slide rail through a discharging slide block, and the discharging slide block is used for sliding along the discharging slide rail; Wherein; In the vertical direction, the upper surface of the second supporting rod is higher than the upper surface of the discharging slide block.

11. The robot apparatus according to claim 10, wherein The second supporting rod is arranged in an L shape and comprises a vertical arm and a horizontal arm, and the fixed part is arranged on the horizontal arm; The multiple layers of plates stacked in the plate stack have gaps therebetween, and the first supporting rod is used for extending into the gaps to enable the grabbing part to grab the second plate; The free end of the horizontal arm is opposite to the direction pointed by the free end of the first supporting rod.

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