Plate-shaped component carrying mechanical arm and carrying method

Abstract

The invention relates to the technical field of dispensing machine manufacturing, in particular to a plate-shaped component carrying mechanical arm and a plate-shaped component carrying method. The plate-shaped component carrying mechanical arm comprises an X-direction power part, a large-distance Z-direction power part and a grabbing mechanism, the X-direction power part, the large-distance Z-direction power part and the grabbing mechanism cooperate to transfer plate-shaped components from the feeding conveyor to the discharging conveyor, and the plate-shaped components pass through the dispensing machine in the transferring process. The grabbing mechanism comprises a heavy frame, a first material taking execution assembly, a second material taking execution assembly and a small-distance Z-direction power part. And the heavy frame performs Z-direction large-distance lifting along with the large-distance Z-direction power part. The second material taking execution assembly is fixed to the heavy frame, and the first material taking execution assembly is driven by the small-distance Z-direction power part to do Z-direction small-distance lifting avoiding motion. Therefore, the interference risk in the operation process can be accurately avoided, the smoothness of alternate taking and placing actions of the first material taking execution assembly and the second material taking execution assembly is guaranteed, the operation efficiency is remarkably improved, and the operation requirements of multiple parallel dispensing stations can be stably met.

Description

Technical Field

[0001] This invention relates to the field of dispensing equipment manufacturing technology, and in particular to a robotic arm for handling plate-shaped components and a handling method thereon. Background Technology

[0002] In the automated production process of plate-shaped components, to achieve efficient dispensing operations, a robotic arm is often used in conjunction with a loading conveyor and an unloading conveyor to complete the flow of plate-shaped components from the previous process to the dispensing process and then to the next process. Specifically, the robotic arm needs to transfer the plate-shaped components to be dispensed from the loading conveyor to the dispensing machine for dispensing, and after dispensing is completed, it is then transferred to the unloading conveyor. Currently, in order to improve handling efficiency, the gripping mechanism of a robotic arm typically includes a first and a second gripping execution component. These two components work together alternately to pick up and place plate-shaped components. However, since the first and second gripping execution components are usually fixedly connected to the support frame, their height difference remains constant. In actual handling operations, however, the robotic arm needs to move flexibly between dispensing machines, loading conveyors, and unloading conveyors. These devices have different structural layouts, resulting in variations in the space required for their interaction with the robotic arm's gripping components. When the first and second picking-up execution components operate with a fixed height difference, it is difficult to simultaneously adapt to the height requirements of different equipment. For example, when near the dispensing head of a dispensing machine, if the height of one picking-up execution component is just right for docking with the dispensing station, the other picking-up execution component may be too high for other components due to the fixed height difference, easily causing interference. When docking with a loading or unloading conveyor, the inability to adjust the height difference may also lead to collisions with the conveyor's transmission structure during the picking and unloading process. This not only affects the picking and unloading accuracy of plate-shaped components but may also cause component damage and equipment failure, severely restricting the continuity and stability of automated production. Therefore, it is urgent for those skilled in the art to solve the above problems. Summary of the Invention

[0003] The purpose of this invention is to provide a plate-shaped component handling robotic arm to solve the problems in the prior art, such as easy interference and collision with the main structure of dispensing machinery, conveyors, etc., limited operational flexibility, and impact on production continuity caused by the constant relative height difference of the material handling and execution components.

[0004] This invention relates to a robotic arm for handling plate-shaped components, which works in conjunction with a loading conveyor, a unloading conveyor, and a dispensing machine to perform dispensing operations on plate-shaped components. The robotic arm for handling plate-shaped components includes an X-axis power unit, a long-distance Z-axis power unit, and a gripping mechanism. These three components work together to transfer plate-shaped components from the loading conveyor to the unloading conveyor, and the components pass through the dispensing machine during the transfer process.

[0005] The gripping mechanism includes a support frame, a first gripping execution component, a second gripping execution component, and a short-distance Z-axis power unit; The support frame simultaneously supports the first material handling execution component, the second material handling execution component, and the small-distance Z-axis power unit, and synchronously performs a large-distance Z-axis lifting and lowering motion under the driving force output by the large-distance Z-axis power unit; the first material handling execution component and the second material handling execution component both have independent picking and placing functions, and the two cooperate with each other to alternately complete the picking and placing of plate-shaped components; The second material handling assembly is installed and fixed on the support frame; the first material handling assembly is located on one side of the second material handling assembly along the direction away from the material conveyor; the small-distance Z-axis power unit is connected between the first material handling assembly and the support frame, serving as the power source for driving the first material handling assembly to perform the Z-axis small-distance lifting and avoiding movement.

[0006] As a further improvement to the technical solution disclosed in this invention, the X-direction power unit is preferably a linear module. The linear module extends along the X-direction, and its moving end is connected to the large-distance Z-direction power unit to drive the large-distance Z-direction power unit and the gripping mechanism to move linearly along the X-direction.

[0007] As a further improvement to the technical solution disclosed in this invention, the linear module includes a guide rail, a slider adapted to the guide rail, and a motor power unit for driving the slider to move. The slider is fixedly connected to the large-distance Z-axis power unit as the moving end, and performs reciprocating motion along the guide rail under the drive of the motor power unit.

[0008] As a further improvement to the technical solution disclosed in this invention, the long-distance Z-axis power unit is preferably an electric cylinder. The electric cylinder extends along the longitudinal Z-axis, and its output end is connected to the gripping mechanism to drive the gripping mechanism to perform long-distance lifting and lowering movements along the Z-axis.

[0009] As a further improvement to the technical solution disclosed in this invention, the electric cylinder includes a cylinder body and a sliding platform that can slide freely along the length of the cylinder body. The sliding platform serves as the output end of the electric cylinder and is connected to the support frame.

[0010] As a further improvement to the technical solution disclosed in this invention, the short-distance Z-axis power unit is preferably a cylinder.

[0011] As a further improvement to the technical solution disclosed in this invention, the X-axis power unit, the large-distance Z-axis power unit, the small-distance Z-axis power unit, and the gripping mechanism work together to realize the planning of the transport trajectory of the plate-shaped components in the XZ plane.

[0012] As a further improvement to the technical solution disclosed in this invention, the first and second picking-up execution components have the same design structure. The first picking-up execution component includes a mounting frame, vacuum nozzles, and a vacuum generating device. Multiple vacuum nozzles are assembled on the mounting frame and are all connected to the vacuum generating device, working together to adsorb and pick up plate-shaped components.

[0013] As a further improvement to the technical solution disclosed in this invention, the first material handling assembly further includes a cantilever component. The cantilever component is detachably fixed to the mounting frame, and it is provided with an adjustment waist-shaped hole extending along the X direction for inserting a vacuum nozzle.

[0014] Furthermore, this invention also discloses a method for handling plate-shaped components, which uses a plate-shaped component handling robot arm to transfer plate-shaped components at parallel first and second dispensing stations; the plate-shaped component handling method includes the following steps: S1. The first material handling unit picks up the plate-shaped component to be glued from the feeding conveyor. At this time, the second material handling unit is in an unloaded state. S2, the X-axis power unit and the large-distance Z-axis power unit work together to drive the gripping mechanism and the picked-up board-shaped components to be glued to the first glue dispensing machine. During the transfer process, if the first material picking execution component gets close to the structure of the glue dispensing machine, the small-distance Z-axis power unit drives the first material picking execution component to perform a small-distance Z-axis lifting and avoiding movement. S3. When the gripping mechanism reaches the first dispensing station, the first material handling execution component places the board-shaped component to be dispensed into the designated position of the first dispensing station, completing the material loading. S4. The gripping mechanism moves to the second dispensing station and picks up the plate-shaped components that have been dispensed at the second dispensing station through the second material handling execution component. If the second material handling execution component gets close to the surrounding structure, the support frame will use the large distance Z-axis lifting and lowering motion of the large distance Z-axis power unit to avoid it. S5, the X-axis power unit and the large-distance Z-axis power unit work together again to drive the gripping mechanism and the plate-shaped components that have been glued to move towards the unloading conveyor. During the transfer, if the first or second material handling execution component needs to avoid a collision, the collision is achieved by driving the small-distance Z-axis power unit or the large-distance Z-axis power unit respectively. S6. When the gripping mechanism reaches the unloading conveyor, the second material handling component places the plate-shaped component that has been glued onto the unloading conveyor to complete the unloading. S7. Repeat steps S1 to S6, alternately loading and unloading the first and second dispensing stations to achieve continuous transfer of plate-shaped components between the loading conveyor, the first dispensing station, the second dispensing station, and the unloading conveyor.

[0015] Regarding the topic of robotic arms for handling plate-shaped components, their practical applications can achieve at least the following beneficial technical effects, specifically: 1) The first material handling execution component can perform a small-distance lifting and avoiding motion in the Z direction, which can effectively avoid interference between the handling robot arm and the surrounding structure during operation. That is, when the first material handling execution component approaches the dispensing head, feeding conveyor and unloading conveyor of the dispensing machine, it can be driven by the small-distance Z direction power unit to make targeted lifting and adjusting, which can accurately avoid potential collision risks, ensure the safety of plate components and equipment, and reduce the occurrence of downtime due to interference. 2) Thanks to the first material handling component's ability to flexibly avoid interference in the Z-axis with small distances, there is no need to significantly adjust the overall position of the gripping mechanism to avoid interference. This makes the alternating pick-and-place actions of the first and second material handling components smoother and more efficient. Especially when multiple parallel dispensing stations are alternately loading and unloading materials, unnecessary movement and adjustment time can be reduced, accelerating the turnover speed of plate-shaped components between stations, thereby improving the overall automation efficiency of the production line. 3) It enhances the adaptability of the handling robot to complex working environments. For example, the transmission surface heights of the loading conveyor and the unloading conveyor may be different. The Z-axis small-distance lifting function of the first material handling execution component enables it to flexibly adapt to height changes when docking with the loading and unloading conveyors without modifying the overall structure of the handling robot. This meets diverse operational needs and expands the application range of the handling robot.

[0016] Regarding the topic of methods for handling plate-shaped components, its practical applications can achieve at least the following beneficial technical effects, specifically: 1) For dual-dispensing station operation scenarios, the Z-axis height adjustable design of the first material handling execution component significantly improves the collaborative operation efficiency of the two parallel dispensing stations. When alternately loading and unloading materials for the first and second dispensing stations, the first material handling execution component can flexibly adjust its height according to its relative position to the dispensing machine, without sacrificing the operation rhythm to avoid obstacles. This allows for seamless connection between the loading of parts to be dispensed and the unloading of parts that have already been dispensed, enabling the two dispensing stations to operate continuously and efficiently, and greatly improving throughput efficiency. 2) During the transfer to the first dispensing station or the unloading conveyor, to address the interference risks at different locations, the first picking execution component can precisely avoid the dispensing mechanical structure and the upper and lower conveyors through short-distance lifting; and in conjunction with the second picking execution component, which uses a support frame to lift over a long distance to avoid interference, a multi-layered anti-interference mechanism is formed. This ensures flexible movement of the handling robot in the complex dual-station environment, reducing the probability of component damage and equipment failure due to collisions. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional schematic diagram of the dispensing equipment disclosed in this invention.

[0019] Figure 2 This is a three-dimensional schematic diagram from one perspective of the plate-shaped component handling robotic arm disclosed in this invention.

[0020] Figure 3 This is a three-dimensional schematic diagram from another perspective of the plate-shaped component handling robot arm disclosed in this invention.

[0021] Figure 4 yes Figure 3 A magnified view of part of I.

[0022] 1-Feeding conveyor; 2-Unloading conveyor; 3-Dispensing machine; 4-Handling robotic arm; 41-X-direction power unit; 411-Linear module; 4111-Housing; 4112-Guide rail; 4113-Slider; 4114-Sliding base; 42-Large distance Z-direction power unit; 421-Electric cylinder; 4211-Cylinder body; 4212-Sliding table; 43-Gripping mechanism; 431-Supporting frame; 432-First material handling execution component; 4321-Mounting frame; 4322-Vacuum nozzle; 4323-Cantilever component; 43231-Adjusting waist-shaped hole; 433-Second material handling execution component; 434-Short distance Z-direction power unit. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to specific embodiments. Figure 1A three-dimensional schematic diagram of the dispensing equipment disclosed in this invention is shown. It is evident that the equipment mainly consists of a feeding conveyor 1, a dispensing conveyor 2, a dispensing machine 3, and a handling robotic arm 4. The feeding conveyor 1 transports the plate-shaped components to be dispensed, providing a material source for subsequent dispensing operations. The dispensing conveyor 2 receives the plate-shaped components after dispensing and transports them to the next production stage. The dispensing machine 3 is positioned between the feeding conveyor 1 and the dispensing conveyor 2 to perform the dispensing operation on the plate-shaped components. The handling robotic arm 4 operates between the three, responsible for transferring the plate-shaped components to be dispensed from the feeding conveyor 1 to the dispensing station. After the dispensing machine 3 completes its dispensing operation, the components are then transferred from the dispensing station to the dispensing conveyor 2, thus realizing an automated flow process for the plate-shaped components from feeding to dispensing to dispensing.

[0024] As described above, the handling robotic arm 4, as the core connecting component linking the loading conveyor 1, the unloading conveyor 2, and the dispensing machine 3, is crucial for achieving overall coordinated operation of the dispensing machine. Therefore, if... Figure 2 , Figure 3 As shown, the handling robotic arm 4 mainly consists of several parts, including an X-axis power unit 41, a large-distance Z-axis power unit 42, and a gripping mechanism 43. The gripping mechanism 43 is used to directly pick up and place plate-shaped components. The X-axis power unit 41 provides the gripping mechanism 43 with driving force along the X-axis, enabling it to adjust its position along the X-axis; the large-distance Z-axis power unit 42 is responsible for driving the gripping mechanism 43 to make large-scale height position changes in the Z-axis to adapt to different height operation requirements.

[0025] Similarly, Figure 2 , Figure 3 As shown, the gripping mechanism 43 is designed to include a support frame 431, a first gripping execution component 432, a second gripping execution component 433, and a small-distance Z-axis power unit 434. The support frame 431 serves as the common support base for the first gripping execution component 432, the second gripping execution component 433, and the small-distance Z-axis power unit 434, and under the driving force output by the large-distance Z-axis power unit 42, it can synchronously perform large-distance Z-axis lifting and lowering movements. Both the first gripping execution component 432 and the second gripping execution component 433 have independent gripping and placing functions, and they cooperate to alternately complete the picking and placing of plate-shaped components. The second gripping execution component 433 is mounted and fixed on the support frame 431. Along the direction away from the unloading conveyor 2, the first gripping execution component 432 is located on one side of the second gripping execution component 433. A small-distance Z-axis power unit 434 (preferably a cylinder) is connected between the first material handling execution component 432 and the support frame 431, providing the first material handling execution component 432 with driving force for Z-axis small-distance lifting and avoiding motion.

[0026] In practical applications, the X-axis power unit 41, the large-distance Z-axis power unit 42, the small-distance Z-axis power unit 434, and the gripping mechanism work together to plan the transport trajectory of the plate-shaped components in the XZ plane. The first material handling execution component 432 performs a small-distance Z-axis lifting and avoidance movement according to the actual situation, effectively avoiding interference between the handling robot arm 4 and the surrounding structure during operation. That is, when the first material handling execution component 432 approaches the dispensing head of the dispensing machine 3, the loading conveyor 1, and the unloading conveyor 2, the small-distance Z-axis power unit drives it to make targeted lifting and adjustment to accurately avoid potential collision risks, ensure the safety of the plate-shaped components and equipment, and reduce the occurrence of downtime due to interference.

[0027] Furthermore, thanks to the ability of the first material handling component 432 to flexibly perform small-distance avoidance movements in the Z-axis, there is no need to significantly adjust the overall position of the gripping mechanism 43 to avoid interference. This makes the alternating pick-and-place actions of the first and second material handling components 432 smoother and more efficient. Especially when alternating loading and unloading at multiple parallel dispensing stations, it can effectively reduce unnecessary movement and adjustment time, accelerate the turnover speed of plate-shaped components between stations, and thus improve the overall automation efficiency of the production line.

[0028] It should also be noted that by adopting the above-mentioned technical solution, the adaptability of the handling robot arm to complex working environments is enhanced. For example, the transmission surface heights of the loading conveyor 1 and the unloading conveyor 2 may be different. The Z-axis small-distance lifting function of the first material handling execution component 432 can flexibly adapt to the height changes when docking with the loading conveyor 1 and the unloading conveyor 2, without modifying the overall structure of the handling robot arm 4. This can meet diverse operational needs and expand the applicability of the handling robot arm 4.

[0029] As a preferred design, such as Figure 2 , Figure 3 As shown, the X-axis power unit 41 is preferably a linear module 411. The linear module 411 extends along the X-axis and includes a housing 4111, a guide rail 4112, a slider 4113, and a sliding base 4114. The housing 4111 provides support and protection for other components; the guide rail 4112 is fixed to both sides of the housing along the X-axis, while the slider 4113 is adapted to the guide rail 4112 and can slide along its length; the sliding base 4114 is fixedly connected to the slider 4113 and moves synchronously along the guide rail 4112 with the slider 4113; the sliding base 4114 is used to connect to the large-distance Z-axis power unit 42 to drive the gripping mechanism 43 to perform displacement movement along the X-axis. This effectively ensures the stability and guiding accuracy of the gripping mechanism 43's X-axis movement, while reliably driving the gripping mechanism 43 to achieve precise displacement and efficient transmission.

[0030] As a preferred design, such as Figure 2 , Figure 3 As shown, the long-distance Z-axis power unit 42 is preferably an electric cylinder 421. The electric cylinder 421 extends along the longitudinal Z-axis, and its output end is connected to the gripping mechanism 43 to drive the gripping mechanism 43 to perform long-distance lifting and lowering movements along the Z-axis. The electric cylinder 421 includes a cylinder body 4211 and a sliding table 4212 that can slide freely along the length of the cylinder body 4211. The sliding table 4212 serves as the output end and is connected to the support frame 431. In this way, on the one hand, it ensures that when the sliding table 4212 slides freely along the length of the cylinder body 4211, it can drive the gripping mechanism 43 to achieve smooth long-distance lifting and lowering in the Z-axis, effectively avoiding deviation or swaying during the lifting and lowering process, and ensuring the stability of the lifting and lowering movement; on the other hand, it helps to ensure the control accuracy of the lifting and lowering movement of the gripping mechanism 43, facilitates the precise control of the lifting and lowering distance, and can better adapt to the operating requirements of different heights, providing a reliable guarantee for the precise docking of the gripping mechanism 43 between the dispensing machine 3, the feeding conveyor 1, and the unloading conveyor 2.

[0031] As shown in Figure 3, the first material handling execution component 432 and the second material handling execution component 433 are completely identical in design structure. To avoid redundancy and save space, the following text will use the first material handling execution component 432 as an example to elaborate on its specific structure. Specifically, such as Figure 4 As shown, the first material handling assembly 432 mainly consists of a mounting frame 4321, a vacuum nozzle 4322, and a vacuum generator (not shown in the figure). The mounting frame 4321 serves as the basic load-bearing structure, providing stable mounting support for other components; the vacuum nozzle 4322 is a key component that directly contacts the plate-shaped components, and its shape is designed to meet the gripping requirements of specific plate-shaped components; the vacuum generator is the power source for generating vacuum suction, and it is connected to each vacuum nozzle 4322 through pipelines to provide the necessary suction for the gripping action.

[0032] like Figure 4 As can be clearly seen in the diagram, the vacuum nozzle 4322 is assembled with the mounting bracket 4321 via a cantilever component 4323. The cantilever component 4323 is detachably fixed to the mounting bracket 4321. The cantilever component 4323 also has an extended, adjustable oblong hole 43231 along the X-direction for inserting the vacuum nozzle 4322. This allows the vacuum nozzle 4322 to adjust its position in the X-direction, enabling it to flexibly adjust its position according to the size, shape, and material handling requirements of different types of plate-shaped components, thus ensuring more precise contact with the components and guaranteeing the stability and efficiency of the material handling process.

[0033] Furthermore, the present invention also discloses a method for handling plate-shaped components, which involves transferring plate-shaped components between a first dispensing station and a second dispensing station operating in parallel.

[0034] The method for handling plate-shaped components includes the following steps: S1. The first material handling execution component 432 picks up the plate-shaped component to be glued from the feeding conveyor 1. At this time, the second material handling execution component 433 is in an unloaded state. S2, the X-axis power unit 41 and the large-distance Z-axis power unit 42 work together to drive the gripping mechanism 43 and the picked-up board-shaped components to be glued to be transported to the first glue dispensing machine. During the transport process, if the first material picking execution component 432 gets close to the structure of the glue dispensing machine, the small-distance Z-axis power unit 434 drives the first material picking execution component 432 to perform a small-distance Z-axis lifting and avoiding movement. S3. When the gripping mechanism 43 reaches the first dispensing station, the first material handling execution component 432 places the board-shaped component to be dispensed into the designated position of the first dispensing station to complete the material loading. S4. The gripping mechanism 43 moves to the second dispensing station and picks up the plate-shaped components that have been dispensed at the second dispensing station through the second material handling execution component 433. If the second material handling execution component 433 gets close to the surrounding structure, the support frame 431 moves with the large distance Z-direction power unit 42 in the Z-direction large distance lifting and lowering motion to avoid it. S5, the X-axis power unit 41 and the large-distance Z-axis power unit 42 work together again to drive the gripping mechanism 43 and the plate-shaped components that have been glued to move towards the unloading conveyor 2. During the transfer, if the first material handling execution component 432 or the second material handling execution component 433 needs to avoid, the avoidance is achieved by driving the small-distance Z-axis power unit 434 or the large-distance Z-axis power unit 42 respectively. S6. When the gripping mechanism 43 reaches the unloading conveyor 2, the second material handling execution component 433 places the plate-shaped component that has been glued onto the unloading conveyor 2 to complete the unloading. S7. Repeat steps S1 to S6, alternately loading and unloading the first and second dispensing stations to achieve continuous transfer of plate-shaped components between the loading conveyor 1, the first dispensing station, the second dispensing station, and the unloading conveyor 2.

[0035] For dual-dispensing station operations, the Z-axis height-adjustable design of the first material handling execution component 432 significantly improves the collaborative efficiency of the two parallel dispensing stations. When alternately loading and unloading materials for the first and second dispensing stations, the first material handling execution component 432 can flexibly adjust its height according to its relative position to the dispensing machine, without sacrificing the work rhythm to avoid obstacles. This allows for seamless connection between the loading of parts to be dispensed and the unloading of parts that have already been dispensed, enabling the two dispensing stations to operate continuously and efficiently, and greatly improving throughput efficiency. Finally, it should be noted that during the transfer to the first dispensing station or the unloading conveyor 2, to address the interference risks at different locations, the first picking execution component 432 can precisely avoid the dispensing mechanical structure, the loading conveyor 1, and the unloading conveyor 2 through short-distance lifting and lowering. Furthermore, in conjunction with the second picking execution component 433's large-distance lifting and lowering using the support frame 431, a multi-layered anti-interference mechanism is formed. This ensures flexible movement of the handling robot in the complex dual-station environment, reducing the probability of component damage and equipment failure due to collisions.

[0036] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm for handling plate-shaped components, in coordination with a loading conveyor, a unloading conveyor, and a dispensing machine, to perform dispensing operations on plate-shaped components; the robotic arm includes an X-axis power unit, a long-distance Z-axis power unit, and a gripping mechanism, which work together to transfer the plate-shaped components from the loading conveyor to the unloading conveyor, and the transfer process involves the dispensing machine, characterized in that... The gripping mechanism includes a support frame, a first material handling execution component, a second material handling execution component, and a small-distance Z-axis power unit; The support frame simultaneously supports the first material picking execution component, the second material picking execution component, and the small-distance Z-axis power unit, and synchronously performs a large-distance Z-axis lifting and lowering movement under the driving force output by the large-distance Z-axis power unit; the first material picking execution component and the second material picking execution component each have independent picking and placing functions, and the two cooperate with each other to alternately complete the picking and placing of plate-shaped components; The second material handling execution component is installed and fixed on the support frame; the first material handling execution component is located on one side of the second material handling execution component along the direction away from the unloading conveyor; the small distance Z-axis power unit is connected between the first material handling execution component and the support frame, and serves as the power source for driving the first material handling execution component to perform Z-axis small distance lifting and avoiding movement.

2. The plate-shaped component handling robotic arm according to claim 1, characterized in that, The X-direction power unit is a linear module; the linear module extends along the X direction, and its moving end is connected to the large-distance Z-direction power unit to drive the large-distance Z-direction power unit and the gripping mechanism to move linearly along the X direction.

3. The plate-shaped component handling robotic arm according to claim 2, characterized in that, The linear module includes a guide rail, a slider adapted to the guide rail, and a motor power unit that drives the slider to move; the slider is fixedly connected to the large-distance Z-axis power unit as a moving end, and performs reciprocating motion along the guide rail under the drive of the motor power unit.

4. The plate-shaped component handling robotic arm according to claim 1, characterized in that, The long-distance Z-axis power unit is an electric cylinder; the electric cylinder extends along the longitudinal Z-axis, and its output end is connected to the gripping mechanism to drive the gripping mechanism to perform long-distance lifting and lowering movements along the Z-axis.

5. The plate-shaped component handling robotic arm according to claim 4, characterized in that, The electric cylinder includes a cylinder body and a sliding platform that can slide freely along the length of the cylinder body; the sliding platform serves as the output end of the electric cylinder and is connected to the support frame.

6. The plate-shaped component handling robotic arm according to claim 1, characterized in that, The small-distance Z-axis power unit is a cylinder.

7. The plate-shaped component handling robotic arm according to claim 1, characterized in that, The X-axis power unit, the large-distance Z-axis power unit, the small-distance Z-axis power unit, and the gripping mechanism work together to realize the trajectory planning of the plate-shaped components in the XZ plane.

8. The plate-shaped component handling robotic arm according to claim 7, characterized in that, The first material handling component and the second material handling component have the same design structure; the first material handling component includes a mounting frame, a vacuum nozzle and a vacuum generating device; the multiple vacuum nozzles are assembled on the mounting frame and are all connected to the vacuum generating device to work together to adsorb and pick up plate-shaped components.

9. The plate-shaped component handling robotic arm according to claim 8, characterized in that, The first material handling assembly also includes a cantilever; the cantilever is detachably fixed to the mounting frame and has an adjustment waist-shaped hole extending along the X direction for the vacuum nozzle to be inserted.

10. A method for handling plate-shaped components, characterized in that, The plate-shaped component handling robot arm, as described in any one of claims 1-9, transfers plate-shaped components between a first dispensing station and a second dispensing station operating in parallel; the plate-shaped component handling method includes the following steps: S1. The first material handling component picks up the plate-shaped component to be glued from the feeding conveyor. At this time, the second material handling component is in an unloaded state. S2. The X-axis power unit and the large-distance Z-axis power unit work together to drive the gripping mechanism and the picked-up glue-dispensing plate-shaped components to be conveyed to the first dispensing machine. During the conveying process, if the first material picking execution component is close to the structure of the dispensing machine, the small-distance Z-axis power unit drives the first material picking execution component to perform a small-distance Z-axis lifting and avoiding movement. S3. When the gripping mechanism reaches the first dispensing station, the first material handling execution component places the board-shaped component to be dispensed into the designated position of the first dispensing station to complete the material loading. S4. The gripping mechanism moves to the second dispensing station and picks up the plate-shaped components that have been dispensed at the second dispensing station through the second material picking execution component. During this process, if the second material picking execution component gets close to the surrounding structure, the support frame will cooperate with the large distance Z-axis lifting and lowering motion of the large distance Z-axis power unit to avoid it. S5. The X-axis power unit and the large-distance Z-axis power unit work together again to drive the gripping mechanism and the plate-shaped components that have been glued to move toward the unloading conveyor. During the transfer, if the first material handling execution component or the second material handling execution component needs to avoid, the avoidance is achieved by driving the small-distance Z-axis power unit or the large-distance Z-axis power unit respectively. S6. When the gripping mechanism reaches the unloading conveyor, the second material handling execution component places the plate-shaped component that has been glued onto the unloading conveyor to complete the unloading. S7. Repeat steps S1 to S6, alternately loading and unloading the first and second dispensing stations to achieve continuous transfer of plate-shaped components between the loading conveyor, the first dispensing station, the second dispensing station, and the unloading conveyor.

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