Manipulator tool and feeding device

Abstract

The utility model relates to a manipulator tool and a feeding device. The manipulator tool comprises a main frame body, a material taking mechanism and an abutting mechanism. The main frame body is installed on the mechanical arm, the material taking mechanism and the abutting and pressing mechanism are installed on the main frame body, the material taking mechanism is used for grabbing materials, and when the material taking mechanism drives the materials to be lifted upwards, the abutting and pressing mechanism is used for abutting and pressing a material stack interlayer below the materials. During feeding, the material taking mechanism grabs the materials, the mechanical arm drives the material taking mechanism to lift the materials upwards, and when the materials are lifted upwards to the preset height, the abutting mechanism acts to abut against the material stack interlayer located below the materials downwards, so that the material stack interlayer is prevented from being taken up, and normal feeding of the materials is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of silicon wafer processing, and in particular to a mechanical manual loading and feeding device. Background Art

[0002] In the slicing workshop, multiple crystal ingots are stacked together, with a stack of layers between each layer. During operation, the loading robot's mechanical hand grips the ingots and moves them to the sawing machine, which slices them into wafers. However, as the loading robot lifts the ingots upward, the stack of layers can be easily lifted. Utility Model Content

[0003] Based on this, it is necessary to provide a mechanical manual loading and loading device to prevent the stack layers from being lifted up.

[0004] In a first aspect, the present application provides a mechanical manual packaging, comprising:

[0005] Main frame;

[0006] A material taking mechanism, the material taking mechanism being mounted on the main frame and being used for grabbing materials; and

[0007] The pressing mechanism is installed on the main frame. When the material picking mechanism drives the material to lift upward, the pressing mechanism is used to press the material stack partition below the material.

[0008] In one embodiment, the pressing mechanism includes a first driving member and a pressing portion, the output end of the first driving member is set downward, and the pressing portion is set at the output end of the first driving member. The pressing portion moves under the drive of the first driving member to press the material stack partition.

[0009] In one embodiment, the material picking mechanism includes a clamping assembly, which includes a driving module, a first clamp and a second clamp, the first clamp and the second clamp are opposite and spaced apart along a first direction, the driving module is installed on the main frame, the driving module is connected to the first clamp and the second clamp, and the driving module is used to drive the first clamp and the second clamp to move closer to or away from each other along the first direction to clamp or release the material.

[0010] In one embodiment, at least two pressing mechanisms are provided, and all the pressing mechanisms are respectively provided on a side of the first clamping jaw facing away from the second clamping jaw and a side of the second clamping jaw facing away from the first clamping jaw.

[0011] In one embodiment, the first clamping jaw and the second clamping jaw are both provided with a limiting portion, and the limiting portion is provided on one side of the pressing portion along its moving direction. The extending direction of the limiting portion is parallel to the moving direction of the pressing portion, and the pressing portion and the limiting portion are in contact fit or clearance fit.

[0012] In one embodiment, the mechanical manual assembly includes a first adsorption component, which is installed on the main frame and is used to adsorb the material stack partition.

[0013] In one embodiment, the first adsorption component includes a second driving member, an adapter frame and a first adsorption member, the second driving member is installed on the main frame, the adapter frame is installed on the output end of the second driving member, the adapter frame is provided with a strip hole, the strip hole extends along the second direction, and one end of the first adsorption member is provided in the strip hole; wherein, the second direction intersects with the first direction.

[0014] In one embodiment, the first adsorption component further includes a carrier, which is arranged along the second direction. At least one first adsorption component is respectively provided at both ends of the carrier along the second direction, and the first adsorption component is used to adsorb the end of the material stack partition along the second direction.

[0015] In one embodiment, the material taking mechanism further includes a second adsorption component, which is mounted on the main frame and is used to adsorb the material.

[0016] In a second aspect, the present application provides a loading device, comprising a robot body and the above-mentioned mechanical hand-held device, wherein the robot body comprises a mechanical arm, and the mechanical hand-held device is installed on the mechanical arm.

[0017] The above-mentioned mechanical manual loading and feeding device, when loading, the material picking mechanism grabs the material, and the mechanical arm drives the material picking mechanism to lift the material upward. When the material is lifted up to a preset height, the pressing mechanism is activated to press downward on the material stack partition located below the material to prevent the material stack partition from being lifted up, thereby ensuring normal material loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of a mechanical manual assembly according to an embodiment of the present application.

[0019] Figure 2 for Figure 1 The structural diagram of the mechanical manual assembly shown is from another perspective.

[0020] Figure 3 for Figure 2 A local enlarged schematic diagram of point A in the middle.

[0021] Figure 4 for Figure 2 A partial enlarged schematic diagram of point B in the middle.

[0022] Figure 5 This is a front view of a material stack in one embodiment of the present application.

[0023] Description of Figure Numbers:

[0024] 20. Mechanical manual assembly; 21. Main frame; 211. First mounting portion; 212. Second mounting portion; 22. Retrieving mechanism; 221. Clamping assembly; 2211. Drive module; 22111. Drive component; 22112. Bidirectional screw; 2212. First clamping jaw; 22121. First mounting frame; 22122. First clamping block; 2213. Second clamping jaw; 22131. Second mounting frame; 221 32. Second clamping block; 2214. Limiting portion; 222. Second adsorption component; 2221. Suspension frame; 2222. Second adsorption member; 23. Pressing mechanism; 231. First driving member; 232. Pressing portion; 24. First adsorption component; 241. Second driving member; 242. Adapter frame; 2421. Strip hole; 243. First adsorption member; 244. Carrying frame; 30. Material; 31. Material stack partition. DETAILED DESCRIPTION

[0025] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0026] The loading device provided in one embodiment of the present application includes a robot body and a robotic hand assembly 20. The robot body includes a robotic arm, and the robotic hand assembly 20 is mounted on the robotic arm.

[0027] During loading, the robotic hand-held device 20 grabs the material 30 , and then the robotic arm drives the robotic hand-held device 20 to move so as to transport the material 30 to a designated location.

[0028] In one embodiment, see Figure 1 、 Figure 2 and Figure 5The robot manual loading 20 includes a main frame 21, a material picking mechanism 22, and a pressing mechanism 23. The main frame 21 is mounted on the robot arm, and the material picking mechanism 22 and the pressing mechanism 23 are mounted on the main frame 21. The material picking mechanism 22 is used to grab the material 30. When the material picking mechanism 22 drives the material 30 to lift upward, the pressing mechanism 23 is used to press the material stack partition 31 below the material 30.

[0029] When loading, the material picking mechanism 22 grabs the material 30, and the robotic arm drives the material picking mechanism 22 to lift the material 30 upward. When the material 30 is lifted up to a preset height, the pressing mechanism 23 is activated to press downward on the material stack partition 31 below the material 30 to prevent the material stack partition 31 from being lifted up, thereby ensuring the normal loading of the material 30.

[0030] In one embodiment, see Figure 2 and Figure 3 The pressing mechanism 23 includes a first driving member 231 and a pressing portion 232. Specifically, the output end of the first driving member 231 is downwardly disposed, and the pressing portion 232 is disposed at the output end of the first driving member 231. The pressing portion 232 moves under the drive of the first driving member 231 to press the stack partition 31.

[0031] When the material 30 is lifted to a predetermined height, the first driving member 231 drives the pressing portion 232 downward, causing the pressing portion 232 to press against the stacking layer 31, preventing the stacking layer 31 from being lifted. Thus, the provision of the first driving member 231 automates the pressing action. Furthermore, the provision of the pressing portion 232 prevents the output end of the first driving member 231 from directly acting on the stacking layer 31, thereby preventing damage to the first driving member 231.

[0032] Optionally, the first driving member 231 is a cylinder. The cylinder includes a cylinder body and a telescopic end. The cylinder body is mounted on the main frame 21, the telescopic end is located below the cylinder body, and the pressing portion 232 is provided at the telescopic end. Of course, in other embodiments, the first driving member 231 may also be an electric cylinder, a hydraulic cylinder, a linear module, etc., without limitation.

[0033] Optionally, the pressing portion 232 is a pressing block or a pressing plate. For example, the pressing portion 232 is a rubber block, which can act as a buffer to prevent damage to the pressing mechanism 23 and the stacking layer 31, thereby extending the service life of the pressing mechanism 23 and the stacking layer 31.

[0034] In one embodiment, see Figure 1 and Figure 2The material picking mechanism 22 includes a clamping assembly 221. The clamping assembly 221 includes a driving module 2211, a first clamping jaw 2212, and a second clamping jaw 2213. The first clamping jaw 2212 and the second clamping jaw 2213 are arranged opposite to each other and spaced apart along a first direction. S1 is used to represent the first direction. The driving module 2211 is installed on the main frame 21. The driving module 2211 is connected to the first clamping jaw 2212 and the second clamping jaw 2213. The driving module 2211 is used to drive the first clamping jaw 2212 and the second clamping jaw 2213 to move closer to or away from each other along the first direction to clamp or release the material 30. When picking up the material 30, the distance between the first clamping jaw 2212 and the second clamping jaw 2213 along the first direction is greater than the length of the material 30 along the first direction, so that the material 30 is placed between the first clamping jaw 2212 and the second clamping jaw 2213. The drive module 2211 then drives the first clamping jaw 2212 and the second clamping jaw 2213 toward each other in the first direction. The first clamping jaw 2212 and the second clamping jaw 2213 cooperate to clamp the material 30. The robotic arm then drives the robotic hand 20 to move, moving the material 30 to the designated location. The drive module 2211 then drives the first clamping jaw 2212 and the second clamping jaw 2213 away from each other in the first direction, placing the material 30 at the designated location.

[0035] Specifically, see Figure 1 and Figure 2 The first clamping jaw 2212 includes a first mounting frame 22121 and a first clamping block 22122, while the second clamping jaw 2213 includes a second mounting frame 22131 and a second clamping block 22132. Both the first mounting frame 22121 and the second mounting frame 22131 are connected to the driving module 2211. The first clamping block 22122 is mounted on the side of the first mounting frame 22121 facing the second mounting frame 22131, while the second clamping block 22132 is mounted on the side of the second mounting frame 22131 facing the first mounting frame 22121.

[0036] Further, see Figure 2 The first clamping block 22122 has an anti-slip structure on one side facing the second clamping block 22132, and the second clamping block 22132 has an anti-slip structure on one side facing the first clamping block 22122. This configuration can increase the friction between the first clamping jaw 2212 and the second clamping jaw 2213 and the material 30, preventing the material 30 from falling.

[0037] In one embodiment, see Figure 1 and Figure 2The drive module 2211 includes a drive component 22111 and a bidirectional screw 22112. The drive component 22111 is connected to the bidirectional screw 22112. The bidirectional screw 22112 extends along a first direction and includes a first threaded portion and a second threaded portion with opposite spiral directions. The first clamping jaw 2212 is threadedly connected to the first threaded portion, and the second clamping jaw 2213 is threadedly connected to the second threaded portion. Specifically, the first mounting bracket 22121 is threadedly connected to the first threaded portion, and the second mounting bracket 22131 is threadedly connected to the second threaded portion.

[0038] When taking the material 30 , the driving component 22111 drives the bidirectional screw rod 22112 to rotate around its own axis, so as to drive the first clamping jaw 2212 and the second clamping jaw 2213 to move closer to or away from each other along the first direction, so as to clamp or release the material 30 .

[0039] Specifically, see Figure 1 and Figure 2 The main frame 21 is provided with a first mounting portion 211 and a second mounting portion 212 at both ends along the first direction. The first mounting portion 211 is provided with a first mounting hole, and the second mounting portion 212 is provided with a second mounting hole. The two-way screw rod 22112 is rotatably provided in the first mounting hole and the second mounting hole at both ends along the first direction.

[0040] Optionally, see Figure 2 The drive component 22111 includes a motor, a first transmission wheel, a second transmission wheel, and a transmission belt. The motor is mounted on the main frame 21. The first transmission wheel is mounted on the output end of the motor. The second transmission wheel is mounted on the bidirectional screw 22112. The transmission belt passes through the first and second transmission wheels. Of course, in other embodiments, the drive component 22111 may also be a motor, a gear module, etc., and is not limited to this.

[0041] In one embodiment, see Figure 1 and Figure 2 At least two pressing mechanisms 23 are provided. Specifically, at least one pressing mechanism 23 is provided on the side of the first clamping jaw 2212 facing away from the second clamping jaw 2213, and at least one pressing mechanism 23 is provided on the side of the second clamping jaw 2213 facing away from the first clamping jaw 2212. Specifically, in the first clamping jaw 2212, the pressing mechanism 23 is mounted on the side of the first mounting frame 22121 facing away from the first clamping block 22122; in the second clamping jaw 2213, the pressing mechanism 23 is mounted on the side of the second mounting frame 22131 facing away from the second clamping block 22132.

[0042] It is understood that the pressing mechanism 23 can move along with the movement of the first clamping jaw 2212 and the second clamping jaw 2213. This arrangement allows at least two pressing mechanisms 23 to press against the material 30 at both ends along the first direction, thereby facilitating better separation of the material 30 from the stacking layer 31 and preventing the stacking layer 31 from being lifted. Furthermore, motion interference can be avoided.

[0043] In one embodiment, see Figure 3 The first clamping jaw 2212 and the second clamping jaw 2213 are both provided with a limiting portion 2214. The limiting portion 2214 is provided on one side of the pressing portion 232 along its moving direction. The extending direction of the limiting portion 2214 is parallel to the moving direction of the pressing portion 232. The pressing portion 232 and the limiting portion 2214 are in contact or clearance fit. Specifically, the limiting portion 2214 is provided on the side of the first mounting frame 22121 facing away from the first clamping block 22122 and the side of the second mounting frame 22131 facing away from the second clamping block 22132. In this way, when the first driving member 231 drives the pressing portion 232 to move, the limiting portion 2214 limits the pressing portion 232, preventing the pressing portion 232 from deflecting or shaking, thereby improving the stability of the pressing mechanism 23.

[0044] In one embodiment, see Figure 2 The robotic manual loading device 20 includes a first suction assembly 24. The first suction assembly 24 is mounted on the main frame 21 and is used to absorb the stacked material layer 31. After all materials 30 on the stacked material layer 31 have been moved to the designated location, the first suction assembly 24 absorbs the stacked material layer 31. The robotic arm then drives the robotic manual loading device 20 to move the stacked material layer 31 to the designated placement area.

[0045] Of course, in other embodiments, the clamping assembly 221 may also be used to replace the first adsorption assembly 24 .

[0046] In one embodiment, see Figure 2 and Figure 4 The first adsorption component 24 includes a second driving member 241, an adapter frame 242 and a first adsorption member 243. The driving member 22111 is installed on the main frame 21, the adapter frame 242 is installed on the output end of the driving member 22111, and the first adsorption member 243 is installed on the adapter frame 242. Optionally, the first adsorption member 243 is a suction cup. In this way, by setting the adapter frame 242, the first adsorption member 243 is located on the side of the second driving member 241, which is convenient for installing the first adsorption member 243 and also convenient for ventilation of the first adsorption member 243.

[0047] Further, see Figure 2 and Figure 4The adapter frame 242 is provided with a strip-shaped hole 2421 extending along the second direction. One end of the first adsorption member 243 is disposed within the strip-shaped hole 2421. The first direction intersects the second direction, and S2 represents the second direction. This allows the first adsorption member 243 to be moved within the strip-shaped hole 2421 along the second direction according to the size of the stack barrier 31, thereby adjusting its position to accommodate different sizes of materials 30 in the stack barrier 31 and improving compatibility.

[0048] In one embodiment, see Figure 2 , the first adsorption component 24 also includes a carrier 244. Optionally, the carrier 244 is located between the first clamp 2212 and the second clamp 2213. The carrier 244 is arranged along the second direction, and at least one first adsorption component 24 is respectively provided at both ends of the carrier 244 along the second direction. The spacing between the first adsorption components 24 along the second direction is adapted to the length of the stack partition 31 along the second direction. By arranging the carrier 244, the first adsorption components 24 at both ends of the carrier 244 along the second direction respectively correspond to the edges at both ends of the stack partition 31 along the second direction. When the first adsorption component 24 absorbs the stack partition 31, it can prevent the first adsorption component 24 from absorbing the material 30 under the stack partition 31. In addition, the first adsorption components 24 at both ends of the carrier 244 along the second direction can absorb the edges at both ends of the stack partition 31 along the second direction, so as to smoothly absorb the stack partition 31 and prevent the stack partition 31 from falling.

[0049] In one embodiment, see Figure 2 At least two carriers 244 are provided, and all carriers 244 are spaced apart along the first direction. In this way, it is beneficial to stably absorb the stack partition 31 and prevent the stack partition 31 from falling.

[0050] Optionally, two carriers 244 are provided, and the two carriers 244 are spaced apart along the first direction. A first adsorption assembly 24 is mounted on each end of each carrier 244 along the second direction. Of course, in other embodiments, three, four, etc. carriers 244 may also be provided, and the present invention is not limited thereto.

[0051] In one embodiment, see Figure 1 and Figure 2 The material retrieving mechanism 22 further includes a second suction assembly 222. The second suction assembly 222 is mounted on the main frame 21 and is used to absorb the material 30. When retrieving the material 30, the second suction assembly 222 first absorbs the material 30, and then the clamping assembly 221 assists in clamping the material 30. Thus, by providing the second suction assembly 222, the second suction assembly 222 absorbs the material 30, preventing the material 30 from falling.

[0052] In one embodiment, see Figure 2 The second adsorption assembly 222 includes a suspension frame 2221 and a second adsorption member 2222. The suspension frame 2221 is mounted on the main frame 21. Specifically, the suspension frame 2221 is provided with an avoidance hole, and the bidirectional screw rod 22112 passes through the avoidance hole. The second adsorption member 2222 is mounted on the suspension frame 2221. Optionally, the second adsorption member 2222 is a suction cup.

[0053] Further, see Figure 1 and Figure 2 The second adsorption component 222 is disposed between the first clamping block 2212 and the second clamping block 2213. Specifically, the bottom of the second adsorption component 2222 is higher than the top of the first clamping block 22122 and the second clamping block 22132, or the bottom of the second adsorption component 2222 is flush with the top of the first clamping block 22122 and the second clamping block 22132. When taking the material 30, the second adsorption component 2222 adsorbs the top of the material 30, and the first clamping block 2212 and the second clamping block 2213 cooperate to clamp the two ends of the material 30 along the first direction. Since the second adsorption component 2222 is disposed above the first clamping block 22122 and the second clamping block 22132, this can increase the contact area between the first clamping block 22122 and the second clamping block 22132 and the material 30, ensuring the stability of the clamping. In addition, it can also prevent the first clamping block 2212 and the second clamping block 2213 from causing motion interference with the second adsorption component 2222.

[0054] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0055] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0056] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0057] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0058] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0059] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A mechanical manual packing (20), characterized in that, include: Main frame (21); A material taking mechanism (22), the material taking mechanism (22) being mounted on the main frame (21), the material taking mechanism (22) being used to grab materials (30); and A pressing mechanism (23) is installed on the main frame (21). When the material picking mechanism (22) drives the material (30) to be lifted upward, the pressing mechanism (23) is used to press the material stack partition below the material (30).

2. The mechanical manual assembly (20) according to claim 1, characterized in that: The pressing mechanism (23) comprises a first driving member (231) and a pressing portion (232), wherein the output end of the first driving member (231) is arranged downward, and the pressing portion (232) is arranged at the output end of the first driving member (231). The pressing portion (232) moves under the drive of the first driving member (231) to press the material stack partition.

3. The mechanical manual assembly (20) according to claim 2, characterized in that: The material picking mechanism (22) includes a clamping assembly (221), and the clamping assembly (221) includes a driving module (2211), a first clamping jaw (2212) and a second clamping jaw (2213), wherein the first clamping jaw (2212) and the second clamping jaw (2213) are arranged opposite to each other and spaced apart along a first direction, and the driving module (2211) is mounted on the main frame (21), and the driving module (2211) is connected to the first clamping jaw (2212) and the second clamping jaw (2213), and the driving module (2211) is used to drive the first clamping jaw (2212) and the second clamping jaw (2213) to move closer to or farther from each other along the first direction to clamp or release the material (30).

4. The mechanical manual assembly (20) according to claim 3, characterized in that: At least two of the pressing mechanisms (23) are provided, and all of the pressing mechanisms (23) are respectively provided on a side of the first clamping jaw (2212) facing away from the second clamping jaw (2213) and a side of the second clamping jaw (2213) facing away from the first clamping jaw (2212).

5. The mechanical manual assembly (20) according to claim 3, characterized in that: The first clamping jaw (2212) and the second clamping jaw (2213) are both provided with a limiting portion (2214), and the limiting portion (2214) is provided on one side of the pressing portion (232) along its moving direction. The extending direction of the limiting portion (2214) is parallel to the moving direction of the pressing portion (232), and the pressing portion (232) and the limiting portion (2214) are in contact fit or clearance fit.

6. The mechanical manual assembly (20) according to any one of claims 1 to 5, characterized in that: The mechanical manual loading (20) comprises a first adsorption component (24), the first adsorption component (24) being mounted on the main frame (21), and the first adsorption component (24) being used for adsorbing the stack partition.

7. The mechanical manual assembly (20) according to claim 6, characterized in that: The first adsorption component (24) includes a second driving member (241), an adapter frame (242) and a first adsorption member (243), wherein the second driving member (241) is mounted on the main frame (21), and the adapter frame (242) is mounted on the output end of the second driving member (241), and the adapter frame (242) is provided with a strip hole (2421), wherein the strip hole (2421) extends along a second direction, and one end of the first adsorption member (243) is arranged in the strip hole (2421); wherein the second direction intersects with the first direction.

8. The mechanical manual assembly (20) according to claim 6, characterized in that: The first adsorption component (24) further comprises a carrier (244), the carrier (244) being arranged along the second direction, at least one first adsorption component (24) being respectively provided at both ends of the carrier (244) along the second direction, the first adsorption component (24) being used to adsorb the end of the stack partition along the second direction.

9. The mechanical manual assembly (20) according to any one of claims 1 to 5, characterized in that: The material taking mechanism (22) further includes a second adsorption component (222), the second adsorption component (222) being mounted on the main frame (21), and the second adsorption component (222) being used to adsorb the material (30).

10. A feeding device, characterized in that: The invention comprises a robot body and a mechanical hand-operated device (20) as claimed in any one of claims 1 to 9, wherein the robot body comprises a mechanical arm, and the mechanical hand-operated device (20) is installed on the mechanical arm.

Images