Manipulator device for transferring screen printing plate

Abstract

The screen transferring manipulator device comprises a manipulator base, a supporting plate is fixedly connected to the side wall of the top of the manipulator base, an inverted-U-shaped frame is arranged at the bottom of the supporting plate, a sliding plate is slidably connected to the inner side wall of the inverted-U-shaped frame, and a cylinder is rotatably connected to the inner wall of the sliding plate in a penetrating mode; a clamping table is fixedly connected to the bottom wall of the cylinder, and a gripper mechanism for clamping the screen printing plate is arranged at the bottom of the clamping table; a rotating shaft is rotatably connected to the top wall of the inverted-U-shaped frame in a penetrating mode, a box body is fixedly connected to the bottom end of the rotating shaft, an electric sliding rail is fixedly connected to the inner wall of the box body, an electric sliding block is slidably arranged on the electric sliding rail in a matched mode, and a connecting rod is rotatably connected to the bottom wall of the electric sliding block. When the screen needs to be picked up and transferred, the movable end of the electric push rod drives the supporting frame to slide on the bottom wall of the supporting plate, so that horizontal movement of the gripper mechanism is completed, and the screen grabbed by the gripper mechanism is transferred in the horizontal direction.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and particularly to a screen plate transfer manipulator device. Background Art

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms, and is used to grab, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and it combines the respective advantages of humans and mechanical robots in terms of structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy human labor to achieve the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in departments such as machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] Currently, when transferring a single screen plate, it is often necessary to pick up and transfer each of the neatly stacked screen plates one by one. A lift and an electric clamp are used to pick up each screen plate from top to bottom, and then it is transferred through a transfer device (such as a transfer cart). Transferring the screen plate in the above way is relatively complicated, resulting in a low transfer efficiency of the screen plate, and there will also be some dust and other impurities on the surface of the screen plate that has been stacked for a long time. Subsequently, manual cleaning is still required, increasing the subsequent workload.

[0004] Therefore, a screen plate transfer manipulator device is proposed. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art, and a screen plate transfer manipulator device is proposed.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solution:

[0007] A screen plate transfer manipulator device includes a manipulator base. A support plate is fixedly connected to the top side wall of the manipulator base. A reverse U-shaped frame is provided at the bottom of the support plate. A slide plate is slidably connected to the inner side wall of the reverse U-shaped frame. A cylinder is rotatably connected through the inner wall of the slide plate. A clamping table is fixedly connected to the bottom wall of the cylinder. A gripper mechanism for clamping the screen plate is provided at the bottom of the clamping table; A rotating shaft is rotatably connected through the top wall of the reverse U-shaped frame. A box body is fixedly connected to the bottom end of the rotating shaft. An electric slide rail is fixedly connected to the inner wall of the box body. An electric slider is slidably engaged on the electric slide rail. A connecting rod is rotatably connected to the bottom wall of the electric slider. The end of the connecting rod away from the electric slider is rotatably connected to the top wall of the cylinder;

[0008] A cleaning mechanism for flushing the screen plate is provided in the reverse U-shaped frame;

[0009] A drying mechanism for drying the screen plate is provided on the inverted U-shaped frame.

[0010] Further, the gripper mechanism includes a servo motor embedded and fixed on the bottom wall of the clamping table. The output end of the servo motor is fixedly connected with a driving shaft. A wide gear is fixedly connected to the side wall of the driving shaft. Two first L-shaped racks are slidably connected to the bottom of the clamping table. Two sliding blocks are slidably connected to the bottom wall of the clamping table. Each sliding block is fixedly connected with a second L-shaped rack. The bottom wall of each first L-shaped rack is fixedly connected with a first L-shaped rod. The bottom wall of each second L-shaped rack is fixedly connected with a second L-shaped rod. One end of each of the first L-shaped rod and the second L-shaped rod is fixedly connected with a back plate. A plurality of clamping columns are slidably connected through the inner wall of each back plate. One ends of the plurality of clamping columns are fixedly connected together with a clamping plate.

[0011] Further, the two first L-shaped racks are respectively arranged on both sides of the wide gear. The two second L-shaped racks are arranged on the two sides of the wide gear different from the first L-shaped racks. Each second L-shaped rack is meshed with the wide gear. Each first L-shaped rack is meshed with the wide gear. The first L-shaped rack and the second L-shaped rack are arranged in a staggered manner. A first spring is sleeved on the side wall of the clamping column. One end of the first spring is fixedly connected with the side wall of the clamping column. The other end of the first spring is fixedly connected with the back plate.

[0012] Further, the cleaning mechanism includes a one-way bearing fixedly connected to the side wall of the cylinder. A first gear is fixedly connected to the side wall of the one-way bearing. Round shafts are symmetrically rotatably connected to the bottom wall of the sliding plate. A second gear is fixedly connected to the side wall of each round shaft. A cross bar is fixedly connected to the end of the round shaft away from the sliding plate. A rotating column is fixedly connected to one end of the cross bar. A push rod is rotatably connected to the side wall of the rotating column. Cleaning boxes are symmetrically fixedly connected to the bottom wall of the sliding plate. A sliding plug is hermetically slidably connected inside the cleaning box. One end of each push rod away from the rotating column is rotatably connected to an adjacent sliding plug.

[0013] Further, a plurality of folding rods are symmetrically fixedly connected to the side wall of the sliding plate. A nozzle is fixedly connected to the bottom end of each folding rod. A one-way liquid inlet pipe and a one-way liquid outlet pipe are fixedly connected through the inner wall of the cleaning box. The end of the one-way liquid outlet pipe away from the cleaning box is fixedly communicated with a plurality of nozzles.

[0014] Further, the drying mechanism includes heating boxes symmetrically fixedly connected to the inner side walls of the inverted U-shaped frame. A piston is hermetically slidably connected inside each heating box. An electric heating tube is embedded and fixed on the inner wall of the heating box. Vertical rods are symmetrically fixedly connected to the top wall of the sliding plate. One end of each vertical rod away from the sliding plate penetrates through the bottom wall of the heating box and is fixedly connected with a corresponding piston.

[0015] Further, one-way air inlets are formed in the inner wall of the heating box, and a one-way air outlet pipe is fixedly connected through the inner wall of the heating box. The other end of the one-way air outlet pipe is fixedly communicated with a plurality of spray heads.

[0016] Further, a support frame is slidably connected to the bottom wall of the support plate. The support frame is fixedly connected to the inverted U-shaped frame. An electric push rod is fixedly connected to the side wall of the manipulator base. The movable end of the electric push rod is fixedly connected to the side wall of the support frame.

[0017] Further, a driving motor is fixedly connected to the top wall of the inverted U-shaped frame. The output end of the driving motor is fixedly connected to a rotating shaft. Limiting rings are symmetrically fixedly connected to the side wall of the cylinder. The present invention has the following advantages:

[0018] 1. When it is necessary to pick up and transfer the screen plate, the movable end of the electric push rod drives the support frame to slide on the bottom wall of the support plate, so as to complete the horizontal movement of the gripper mechanism, and realize the horizontal transfer of the screen plate grabbed by the gripper mechanism.

[0019] 2. When the gripper mechanism moves to the position directly above a plurality of stacked screen plates, by setting a plurality of clamping plates, wide gears, electric sliders and other structures, the four clamping plates clamp the screen plate from all around, with good clamping effect. And the first spring plays a role in clamping buffering, also increasing the applicable range of the gripper mechanism for grabbing screen plates of different specifications, and improving the applicable range of this manipulator.

[0020] 3. After the plurality of clamping plates clamp the screen plate, by setting a one-way bearing, a plurality of gears, spray heads and other structures, the push rod drives the sliding plug rotatably connected thereto to seal and reciprocate in the corresponding cleaning box. The sliding plug sucks the external cleaning liquid into the cleaning box through the one-way liquid inlet pipe, and then squeezes these cleaning liquids to the plurality of spray heads through the one-way liquid outlet pipe and sprays them out. The cleaning liquid sprayed out from the plurality of spray heads can wash the surface of the screen plate.

[0021] 4. Reverse the rotation of the output end of the driving motor to reverse the rotation of the cylinder. At this time, under the action of the one-way bearing, the cylinder will drive the clamping table, the gripper mechanism and the screen plate to rotate. At this time, during the rotation of the screen plate, part of the cleaning liquid attached to its surface will be thrown off, which is convenient for the subsequent use of the screen plate.

[0022] 5. Finally, the electric slider and the electric slide rail drive the cylinder and the sliding plate to move upward by a certain distance. At this time, the vertical rods symmetrically fixedly connected to the sliding plate will drive the corresponding pistons to seal and slide in the heating box. Furthermore, the pistons will squeeze the heated gas in the inner cavity of the heating box to the plurality of spray heads and spray it out. The high-speed air flow sprayed out from the spray heads will dry and bake the water stains of the cleaning liquid remaining on the screen plate.

[0023] 6. After the screen printing plate at the highest position in the stacked screen printing plates is taken out and transferred, the height of the stacked screen printing plates will decrease. At this time, the inclination angle of the connecting rod is controlled by the sliding distance of the electric slider on the electric slide rail, so that the sliding distances of the sliding plate on the inner side wall of the inverted U-shaped frame are different, enabling the gripper mechanism to grasp, clean, and dry the screen printing plates stacked at different heights. The transfer operation of the screen printing plates is simple and convenient, with strong operability. Brief Description of the Drawings

[0024] Figure 1 is a schematic external view of a screen printing plate transfer manipulator device proposed by the present invention;

[0025] Figure 2 is a schematic connection diagram of an electric push rod, a support frame, and a manipulator base in a screen printing plate transfer manipulator device proposed by the present invention;

[0026] Figure 3 is a schematic internal structure diagram of a heating box in a screen printing plate transfer manipulator device proposed by the present invention;

[0027] Figure 4 is a bottom view of a gripper mechanism in a screen printing plate transfer manipulator device proposed by the present invention;

[0028] Figure 5 is a schematic internal structure diagram of a box body in a screen printing plate transfer manipulator device proposed by the present invention;

[0029] Figure 6 is a schematic internal structure diagram of a cleaning box in a screen printing plate transfer manipulator device proposed by the present invention;

[0030] Figure 7 is Figure 6 an enlarged schematic diagram of the structure of part A in

[0031] Figure 8 is a schematic position relationship diagram of a servo motor and a clamping table in a screen printing plate transfer manipulator device proposed by the present invention.

[0032] In the figure: 1. Manipulator base; 2. Support plate; 3. Inverted U-shaped frame; 4. Rotating shaft; 5. Box body; 6. Electric slide rail; 7. Electric slider; 8. Connecting rod; 9. Slide plate; 10. Cylinder; 11. Limiting ring; 12. Clamping table; 13. Driving shaft; 14. Wide gear; 15. First L-shaped rack; 1601. First L-shaped rod; 1602. Second L-shaped rod; 17. Back plate; 18. Clamping plate; 19. Clamping column; 20. First spring; 21. Second L-shaped rack; 22. One-way bearing; 23. First gear; 24. Round shaft; 25. Second gear; 26. Cross bar; 27. Rotating column; 28. Push rod; 29. Slide plug; 30. Cleaning box; 31. One-way liquid inlet pipe; 32. One-way liquid outlet pipe; 33. Folding rod; 34. Sprayer; 35. Vertical rod; 36. Piston; 37. Heating box; 38. Electric heating tube; 39. One-way air inlet hole; 40. One-way air outlet pipe; 41. Electric push rod; 42. Support frame; 43. Driving motor; 44. Servo motor; 45. Sliding block. Detailed implementation manners

[0033] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention is provided in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific implementations disclosed below.

[0034] Refer to Figure 1 - Figure 8 , a screen plate transfer manipulator device, including a manipulator base 1, a support plate 2 is fixedly connected to the top side wall of the manipulator base 1, an inverted U-shaped frame 3 is provided at the bottom of the support plate 2, a slide plate 9 is slidably connected to the inner side wall of the inverted U-shaped frame 3, a cylinder 10 is rotatably connected through the inner wall of the slide plate 9, a clamping table 12 is fixedly connected to the bottom wall of the cylinder 10, and a gripper mechanism for clamping the screen plate is provided at the bottom of the clamping table 12; a rotating shaft 4 is rotatably connected through the top wall of the inverted U-shaped frame 3, a box body 5 is fixedly connected to the bottom end of the rotating shaft 4, an electric slide rail 6 is fixedly connected to the inner wall of the box body 5, an electric slider 7 is slidably engaged on the electric slide rail 6. Both the electric slide rail 6 and the electric slider 7 are prior arts. The electric slider 7 can slide on the electric slide rail 6. The bottom wall of the electric slider 7 is rotatably connected to a connecting rod 8. One end of the connecting rod 8 away from the electric slider 7 is rotatably connected to the top wall of the cylinder 10. The connecting rod 8 rotates a certain angle along the vertical plane with the rotating part of the connecting rod 8 and the cylinder 10 as the center, rather than self-rotating; a cleaning mechanism for flushing the screen plate is provided in the inverted U-shaped frame 3; a drying mechanism for drying the screen plate is provided on the inverted U-shaped frame 3.

[0035] The gripper mechanism includes a servo motor 44 embedded and fixed on the bottom wall of the clamping table 12. The output end of the servo motor 44 can rotate forward and backward. The output end of the servo motor 44 is fixedly connected with a driving shaft 13. A wide gear 14 is fixedly connected to the side wall of the driving shaft 13. Two first L-shaped racks 15 are slidably connected to the bottom of the clamping table 12. Two sliding blocks 45 are slidably connected to the bottom wall of the clamping table 12. Each sliding block 45 is fixedly connected with a second L-shaped rack 21. The bottom wall of each first L-shaped rack 15 is fixedly connected with a first L-shaped rod 1601. The bottom wall of each second L-shaped rack 21 is fixedly connected with a second L-shaped rod 1602. One end of the first L-shaped rod 1601 and the second L-shaped rod 1602 are both fixedly connected with a back plate 17. A plurality of clamping columns 19 are slidably connected through the inner wall of each back plate 17. One end of the plurality of clamping columns 19 is jointly fixedly connected with a clamping plate 18.

[0036] The two first L-shaped racks 15 are respectively arranged on both sides of the wide gear 14. The two second L-shaped racks 21 are arranged on the two sides of the wide gear 14 different from the first L-shaped racks 15. Each second L-shaped rack 21 is meshed with the wide gear 14. Each first L-shaped rack 15 is meshed with the wide gear 14. The first L-shaped racks 15 and the second L-shaped racks 21 are arranged in a staggered manner. A first spring 20 is sleeved on the side wall of the clamping column 19. One end of the first spring 20 is fixedly connected with the side wall of the clamping column 19. The other end of the first spring 20 is fixedly connected with the back plate 17.

[0037] The cleaning mechanism includes a one-way bearing 22 fixedly connected to the side wall of the cylinder 10. A first gear 23 is fixedly connected to the side wall of the one-way bearing 22. Round shafts 24 are symmetrically rotatably connected to the bottom wall of the sliding plate 9. A second gear 25 is fixedly connected to the side wall of each round shaft 24. A cross bar 26 is fixedly connected to the end of the round shaft 24 away from the sliding plate 9. A rotating column 27 is fixedly connected to one end of the cross bar 26. A push rod 28 is rotatably connected to the side wall of the rotating column 27. Cleaning boxes 30 are symmetrically fixedly connected to the bottom wall of the sliding plate 9. A sliding plug 29 is hermetically slidably connected inside the cleaning box 30. One end of each push rod 28 away from the rotating column 27 is rotatably connected to an adjacent sliding plug 29.

[0038] A plurality of folding rods 33 are symmetrically fixedly connected to the side wall of the sliding plate 9. A nozzle 34 is fixedly connected to the bottom end of each folding rod 33. A one-way inlet pipe 31 and a one-way outlet pipe 32 are fixedly connected through the inner wall of the cleaning box 30. The end of the one-way outlet pipe 32 away from the cleaning box 30 is fixedly communicated with a plurality of nozzles 34. The end of the one-way inlet pipe 31 away from the cleaning box 30 is fixedly communicated with an external box body full of cleaning liquid. The one-way inlet pipe 31 only allows the external cleaning liquid to enter the inside of the cleaning box 30. The one-way outlet pipe 32 only allows the cleaning liquid inside the cleaning box 30 to be squeezed to the nozzles 34 and sprayed out.

[0039] The drying mechanism includes heating boxes 37 symmetrically and fixedly connected to the inner side walls of the inverted U-shaped frame 3. A piston 36 is hermetically and slidably connected inside each heating box 37. An electric heating tube 38 is embedded and fixed on the inner wall of the heating box 37. After the electric heating tube 38 is powered on, it can generate high temperature, thereby heating and raising the temperature of the gas inside the heating box 37. Vertically arranged rods 35 are symmetrically and fixedly connected to the top wall of the sliding plate 9. One end of each rod 35 away from the sliding plate 9 penetrates the bottom wall of the heating box 37 and is fixedly connected to a corresponding piston 36.

[0040] One-way air inlet holes 39 are formed in the inner wall of the heating box 37. A one-way air outlet pipe 40 is fixedly connected through the inner wall of the heating box 37. The other end of the one-way air outlet pipe 40 is fixedly communicated with a plurality of spray heads 34. The one-way air inlet holes 39 only allow the outside gas to enter the inside of the heating box 37, and the one-way air outlet pipe 40 only allows the hot gas inside the heating box 37 to be squeezed to the spray heads 34 and ejected.

[0041] A support frame 42 is slidably connected to the bottom wall of the support plate 2. The support frame 42 is fixedly connected to the inverted U-shaped frame 3. An electric push rod 41 is fixedly connected to the side wall of the manipulator base 1. The movable end of the electric push rod 41 is fixedly connected to the side wall of the support frame 42.

[0042] A driving motor 43 is fixedly connected to the top wall of the inverted U-shaped frame 3. The driving motor 43 is a forward and reverse rotation motor. The output end of the driving motor 43 is fixedly connected to the rotating shaft 4. Limit rings 11 are symmetrically and fixedly connected to the side wall of the cylinder 10. Under the action of the limit rings 11, the cylinder 10 can only rotate and will not generate displacement in the vertical direction.

[0043] In the present invention, when the screen plate needs to be picked up and transferred, first, the movable end of the electric push rod 41 drives the support frame 42 to slide on the bottom wall of the support plate 2, thereby completing the horizontal movement of the gripper mechanism and realizing the horizontal transfer of the screen plate grasped by the gripper mechanism.

[0044] When the support frame 42 drives the gripper mechanism to move to a position directly above multiple stacked stencils through the inverted U-shaped frame 3, the user activates the electric slider 7. The electric slider 7 moves on the electric slide rail 6. Then, the connecting rod 8, which is initially in an inclined state, will gradually become vertical, causing the electric slider 7 to drive the cylinder 10 to slide downward a certain distance through the connecting rod 8, so that multiple clamping plates 18 in the gripper mechanism are located on the side of the topmost stencil. At this time, the servo motor 44 is activated. When the output end of the servo motor 44 rotates clockwise, the servo motor 44 will drive the wide gear 14 to rotate clockwise through the drive shaft 13. Then, the two first L-shaped racks 15 and the two second L-shaped racks 21 engaged with the side wall of the wide gear 14 will move. The two first L-shaped racks 15 respectively drive the corresponding back plates 17, clamping columns 19, and clamping plates 18 to approach each other through the first L-shaped rods 1601 to clamp the two ends of the stencil by abutting, while the two second L-shaped racks 21 respectively drive the corresponding back plates 17, clamping columns 19, and clamping plates 18 to approach each other through the second L-shaped rods 1602 to clamp the other two ends of the stencil by abutting. Then, the four sides of the stencil are all clamped by the clamping plates 18, with good clamping effect. Moreover, the first spring 20 plays a role in clamping buffering and also increases the applicable range of the gripper mechanism for gripping stencils of different specifications, improving the applicable range of this manipulator.

[0045] After multiple clamping plates 18 clamp the stencil, let the electric slider 7 move in the reverse direction for a certain distance. Then, the multiple clamping plates 18 will drive the stencil to move upward a certain distance. At this time, let the output end of the drive motor 43 rotate clockwise. Then, the output end of the drive motor 43 will drive the cylinder 10 to rotate clockwise through structures such as the rotating shaft 4, the box body 5, the electric slider 7, and the connecting rod 8. The cylinder 10 will drive the clamping table 12 to rotate synchronously. Then, the stencil clamped by the gripper mechanism at the bottom of the clamping table 12 will also rotate synchronously. And at this time, under the action of the one-way bearing 22, the outer ring part of the one-way bearing 22 will drive the first gear 23 to rotate synchronously. Then, the first gear 23 will drive the two second gears 25 engaged with it to rotate. Each second gear 25 will drive the corresponding round shaft 24 to rotate. The round shaft 24 will drive the cross bar 26 to rotate. The cross bar 26 will drive the push rod 28 to move through the rotating column 27, so that the push rod 28 drives the sliding plug 29 rotatably connected to it to slide sealingly back and forth inside the corresponding cleaning box 30. Then, the sliding plug 29 will draw the external cleaning liquid into the cleaning box 30 through the one-way liquid inlet pipe 31, and then squeeze these cleaning liquids to the multiple nozzles 34 through the one-way liquid outlet pipe 32 and spray them out. The cleaning liquids sprayed out from the multiple nozzles 34 can wash the surface of the stencil.

[0046] Subsequently, the output end of the driving motor 43 is rotated in the reverse direction, which will cause the cylinder 10 to rotate in the reverse direction. At this time, under the action of the one-way bearing 22, the outer ring part of the one-way bearing 22 will not drive the first gear 23 to rotate, while the cylinder 10 will drive the clamping table 12, the gripper mechanism and the screen plate to rotate. At this time, during the rotation of the screen plate, part of the cleaning liquid attached to its surface will be centrifuged dry, facilitating the subsequent use of the screen plate.

[0047] Finally, through the movement of the electric slider 7 on the electric slide rail 6, the cylinder 10 drives the slide plate 9 to move upward by a certain distance. At this time, the vertical rods 35 symmetrically and fixedly connected to the slide plate 9 will drive the corresponding pistons 36 to slide in a sealed manner in the heating box 37. Furthermore, the pistons 36 will squeeze the heated gas in the inner cavity of the heating box 37 to the multiple nozzles 34 for spraying. The high-speed airflow sprayed from the nozzles 34 will dry and bake the water stains of the cleaning liquid remaining on the screen plate.

[0048] After the screen plate at the highest position in the stacked screen plates is taken out and transferred, the height of the stacked screen plates will decrease. At this time, the inclination angle of the connecting rod 8 is controlled by the sliding distance of the electric slider 7 on the electric slide rail 6, so that the sliding distance of the slide plate 9 on the inner side wall of the inverted U-shaped frame 3 is different, enabling the gripper mechanism to perform grasping, cleaning and drying operations on the screen plates stacked at different heights. The transfer operation of the screen plate is simple and convenient, with strong operability.

[0049] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered by the protection scope of the present invention.

Claims

1. A screen plate transfer manipulator device, comprising a manipulator base (1), characterized in that, A support plate (2) is fixedly connected to the top side wall of the manipulator base (1). A reverse U-shaped frame (3) is provided at the bottom of the support plate (2). A sliding plate (9) is slidably connected to the inner side wall of the reverse U-shaped frame (3). A cylinder (10) is rotatably connected through the inner wall of the sliding plate (9). A clamping table (12) is fixedly connected to the bottom wall of the cylinder (10). A gripper mechanism for clamping a screen plate is provided at the bottom of the clamping table (12). A rotating shaft (4) is rotatably connected through the top wall of the reverse U-shaped frame (3). A box body (5) is fixedly connected to the bottom end of the rotating shaft (4). An electric slide rail (6) is fixedly connected to the inner wall of the box body (5). An electric slider (7) is slidably engaged with the electric slide rail (6). A connecting rod (8) is rotatably connected to the bottom wall of the electric slider (7). One end of the connecting rod (8) away from the electric slider (7) is rotatably connected to the top wall of the cylinder (10). A cleaning mechanism for flushing the screen plate is provided in the reverse U-shaped frame (3). A drying mechanism for drying the screen plate is provided on the reverse U-shaped frame (3).

2. The screen plate transfer manipulator device according to claim 1, wherein, The gripper mechanism includes a servo motor (44) embedded and fixed to the bottom wall of the clamping table (12). The output end of the servo motor (44) is fixedly connected to a driving shaft (13). A wide gear (14) is fixedly connected to the side wall of the driving shaft (13). Two first L-shaped racks (15) are slidably connected to the bottom of the clamping table (12). Two sliding blocks (45) are slidably connected to the bottom wall of the clamping table (12). Each sliding block (45) is fixedly connected to a second L-shaped rack (21). A first L-shaped rod (1601) is fixedly connected to the bottom wall of each first L-shaped rack (15). A second L-shaped rod (1602) is fixedly connected to the bottom wall of each second L-shaped rack (21). One end of each of the first L-shaped rod (1601) and the second L-shaped rod (1602) is fixedly connected to a back plate (17). A plurality of clamping columns (19) are slidably connected through the inner wall of each back plate (17). A clamping plate (18) is fixedly connected to one ends of the plurality of clamping columns (19).

3. The screen plate transfer manipulator device according to claim 2, characterized in that, The two first L-shaped racks (15) are respectively arranged on both sides of the wide gear (14). The two second L-shaped racks (21) are arranged on two sides of the wide gear (14) different from the first L-shaped racks (15). Each second L-shaped rack (21) is meshed with the wide gear (14). Each first L-shaped rack (15) is meshed with the wide gear (14). The first L-shaped racks (15) and the second L-shaped racks (21) are arranged in a staggered manner. A first spring (20) is sleeved on the side wall of the clamping column (19). One end of the first spring (20) is fixedly connected to the side wall of the clamping column (19). The other end of the first spring (20) is fixedly connected to the back plate (17).

4. The screen plate transfer manipulator device according to claim 3, characterized in that, The cleaning mechanism includes a one-way bearing (22) fixedly connected to the side wall of the cylinder (10). A first gear (23) is fixedly connected to the side wall of the one-way bearing (22). The bottom wall of the sliding plate (9) is symmetrically rotatably connected to round shafts (24). A second gear (25) is fixedly connected to the side wall of each round shaft (24). One end of the round shaft (24) away from the sliding plate (9) is fixedly connected to a cross bar (26). One end of the cross bar (26) is fixedly connected to a rotating column (27). A push rod (28) is rotatably connected to the side wall of the rotating column (27). The bottom wall of the sliding plate (9) is symmetrically fixedly connected to cleaning boxes (30). A sliding plug (29) is hermetically and slidably connected inside each cleaning box (30). One end of each push rod (28) away from the rotating column (27) is rotatably connected to an adjacent sliding plug (29).

5. The screen plate transfer manipulator device according to claim 4, wherein, A plurality of folding rods (33) are symmetrically fixedly connected to the side wall of the sliding plate (9). A spray head (34) is fixedly connected to the bottom end of each folding rod (33). A one-way liquid inlet pipe (31) and a one-way liquid outlet pipe (32) are fixedly connected through the inner wall of the cleaning box (30). The end of the one-way liquid outlet pipe (32) away from the cleaning box (30) is fixedly communicated with a plurality of spray heads (34).

6. The screen plate transfer manipulator device according to claim 5, characterized in that, The drying mechanism includes heating boxes (37) symmetrically fixedly connected to the inner side walls of the inverted U-shaped frame (3). A piston (36) is hermetically and slidably connected inside each heating box (37). An electric heating tube (38) is fixedly embedded in the inner wall of the heating box (37). Vertical rods (35) are symmetrically fixedly connected to the top wall of the sliding plate (9). One end of each vertical rod (35) away from the sliding plate (9) penetrates through the bottom wall of the heating box (37) and is fixedly connected to a corresponding piston (36).

7. The screen plate transfer manipulator device according to claim 6, characterized in that, A one-way air inlet hole (39) is formed in the inner wall of the heating box (37). A one-way air outlet pipe (40) is fixedly connected through the inner wall of the heating box (37). The other end of the one-way air outlet pipe (40) is fixedly communicated with a plurality of spray heads (34).

8. The screen plate transfer manipulator device according to claim 1, characterized in that, A support frame (42) is slidably connected to the bottom wall of the support plate (2). The support frame (42) is fixedly connected to the inverted U-shaped frame (3). An electric push rod (41) is fixedly connected to the side wall of the robot base (1). The movable end of the electric push rod (41) is fixedly connected to the side wall of the support frame (42).

9. The screen plate transfer manipulator device according to claim 1, characterized in that, A driving motor (43) is fixedly connected to the top wall of the inverted U-shaped frame (3). The output end of the driving motor (43) is fixedly connected to a rotating shaft (4). Limit rings (11) are symmetrically fixedly connected to the side wall of the cylinder (10).

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