阅读说明：本技术 送板运输机器人 (Plate conveying transportation robot ) 是由 李家钧 李飞军 昝学彦 麦腾辉 邓瑶 陈斯源 徐波 蒋干胜 于 2020-06-30 设计创作，主要内容包括：本发明提供的送板运输机器人包括机体和驱动轮组,驱动轮组设置在机体的底部；机体具有承载平台,承载平台上设有至少两个限位结构,限位结构具有第一限位面和第二限位面,第一限位面和第二限位面相互垂直,且第一限位面和第二限位面的朝向均为水平方向；承载平台上形成搁板架放置位,两个限位结构分别布置在搁板架放置位的对角处,第一限位面和第二限位面朝向搁板架放置位；送板运输机器人还包括推送装置,推送装置包括推动件,推动件可沿第一水平方向移动于搁板架放置位的相对两端之间。本发明具有针对板块运送、降低成本且提高运送效果的特点。(The plate conveying transportation robot provided by the invention comprises a machine body and a driving wheel set, wherein the driving wheel set is arranged at the bottom of the machine body; the machine body is provided with a bearing platform, at least two limiting structures are arranged on the bearing platform, each limiting structure is provided with a first limiting surface and a second limiting surface, the first limiting surface and the second limiting surface are vertical to each other, and the orientations of the first limiting surface and the second limiting surface are horizontal; a shelf placing position is formed on the bearing platform, the two limiting structures are respectively arranged at the opposite angles of the shelf placing position, and the first limiting surface and the second limiting surface face the shelf placing position; the plate conveying transportation robot further comprises a pushing device, wherein the pushing device comprises a pushing piece, and the pushing piece can move between two opposite ends of the shelf placing position along a first horizontal direction. The invention has the characteristics of conveying plates, reducing cost and improving conveying effect.)

1. The plate conveying and transporting robot comprises a machine body and a driving wheel set, wherein the driving wheel set is arranged at the bottom of the machine body;

the method is characterized in that:

the machine body is provided with a bearing platform, at least two limiting structures are arranged on the bearing platform, each limiting structure is provided with a first limiting surface and a second limiting surface, the first limiting surface and the second limiting surface are perpendicular to each other, and the first limiting surface and the second limiting surface are both in the horizontal direction;

a shelf placing position is formed on the bearing platform, the two limiting structures are respectively arranged at the opposite angles of the shelf placing position, and the first limiting surface and the second limiting surface face the shelf placing position;

the plate-feeding transportation robot further comprises a pushing device, wherein the pushing device comprises a pushing piece, and the pushing piece can move between two opposite ends of the shelf placing position along a first horizontal direction.

2. The board delivery transport robot of claim 1, wherein:

send board transport robot still includes shelf frame, shelf frame detachably sets up in the shelf puts the position, shelf frame and a plurality of spacing cooperation of limit structure.

3. The board conveying transport robot according to claim 1 or 2, characterized in that:

the machine body is provided with an installation space sunken in the bearing platform;

the pushing device comprises a driving unit, a telescopic mechanism and the pushing piece which are connected in sequence, the telescopic mechanism is arranged in the installation space, and the pushing piece extends upwards from the installation space to the shelf placing position.

4. The board delivery transport robot of claim 3, wherein:

the telescopic mechanism comprises a first slide rail, a first slide block, a second slide rail, a second slide block, an extension plate and a belt transmission assembly;

the belt transmission assembly comprises a first transmission wheel, a second transmission wheel and a transmission belt, and the transmission belt is arranged between the first transmission wheel and the second transmission wheel;

the machine body is provided with a bottom plate positioned at the bottom of the installation space, the first slide rail is fixed on the bottom plate and arranged along a first horizontal direction, the first slide block is slidably arranged on the first slide rail, and the extension plate is fixedly connected with the first slide block;

the second slide rail is fixed on the extension plate and arranged along the first horizontal direction, the second slide block is slidably arranged on the second slide rail, and the pushing piece is fixedly connected with the second slide block;

the first driving wheel and the second driving wheel are arranged on the extension plate, and the extension plate is fixedly connected with the driving belt.

5. The board delivery transport robot of claim 4, wherein:

the pushing device can move along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

6. The board delivery transport robot of claim 5, wherein:

a transverse moving device is arranged in the machine body and comprises a third slide rail and a third slide block;

the third sliding rail is fixedly arranged in the machine body along the second horizontal direction, the third sliding block is slidably arranged on the third sliding rail, and the bottom plate is fixed on the third sliding block.

7. The board delivery transport robot of claim 6, wherein:

the machine body is provided with two side retaining walls which are respectively positioned at two opposite sides of the installation space;

the pushing device is provided with a protection frame, the protection frame is installed on the bottom plate, and the telescopic mechanism is located in the protection frame;

the protective frame is in limited fit with the side blocking wall in the second horizontal direction.

8. The board delivery transport robot of claim 4, wherein:

the driving unit comprises a linear cylinder and a connecting piece;

the bottom plate is provided with an avoidance through hole penetrating along the vertical direction, and the avoidance through hole extends into a long shape along the first horizontal direction;

the linear air cylinder is fixed on the lower side of the bottom plate, the lower portion of the connecting piece is fixedly connected to a piston rod of the linear air cylinder, the connecting piece penetrates through the avoidance through hole from bottom to top, and the upper portion of the connecting piece is fixedly connected to the extension plate.

9. The board conveying transport robot according to claim 1 or 2, characterized in that:

the limiting structure comprises a first limiting part and a second limiting part which are mutually independent, the first limiting surface is positioned on the first limiting part, and the second limiting surface is positioned on the second limiting part.

10. The board delivery transport robot of claim 9, wherein:

the normal direction of the first limiting surface is the first horizontal direction;

the plate conveying transportation robot further comprises a first bolt and a second bolt;

a first elongated mounting hole is formed in the first limiting piece, the first elongated mounting hole extends in the first horizontal direction to be elongated, and the first bolt penetrates through the first elongated mounting hole and is fixedly connected with the machine body;

the second limiting piece is provided with a second long mounting hole, the second long mounting hole is perpendicular to the first horizontal direction and extends into a long shape, and the second bolt penetrates through the second long mounting hole and is fixedly connected with the machine body.

Technical Field

The invention relates to the technical field of material transportation equipment, in particular to a plate conveying transportation robot.

Background

The existing AGV robot (automatic navigation transport robot) for carrying out plate conveying comprises a machine body, a driving wheel set and a transport device, wherein the machine body comprises a bottom part and side parts extending upwards from two opposite sides of the bottom part, the driving wheel set is arranged at the bottom part, a transport space which is communicated with the bottom part and the side parts is formed between the two side parts, a plurality of transport devices are arranged in the transport space from top to bottom, the transport devices are transport belt devices or transport roller devices, and each transport device is used for introducing, supporting and pushing out a plate such as a PCB.

The existing AGV robot has the problems that each plate needs to be matched with a conveying device independently, the robot is high in cost, the conveying devices occupy large space, and the AGV robot cannot convey more plates simultaneously under the condition of a certain volume; the plates placed on the transportation device are effectively supported, but are not positioned, so that the position precision of the plates during transportation and delivery is influenced, the subsequent transportation is influenced, and the plates are possibly damaged.

Disclosure of Invention

The invention aims to provide a plate conveying and transporting robot which aims at plate conveying, reduces cost and improves conveying effect.

The plate conveying transportation robot provided by the invention comprises a machine body and a driving wheel set, wherein the driving wheel set is arranged at the bottom of the machine body; the machine body is provided with a bearing platform, at least two limiting structures are arranged on the bearing platform, each limiting structure is provided with a first limiting surface and a second limiting surface, the first limiting surface and the second limiting surface are vertical to each other, and the orientations of the first limiting surface and the second limiting surface are horizontal; a shelf placing position is formed on the bearing platform, the two limiting structures are respectively arranged at the opposite angles of the shelf placing position, and the first limiting surface and the second limiting surface face the shelf placing position; the plate conveying transportation robot further comprises a pushing device, wherein the pushing device comprises a pushing piece, and the pushing piece can move between two opposite ends of the shelf placing position along a first horizontal direction.

According to the scheme, the shelf rack placing position is used for detachably placing the shelf rack, and the shelf rack is effectively positioned by a plurality of limiting structures; and a plurality of plates arranged from bottom to top are placed on the shelf frame, a plate placing space for the pushing member to pass through is formed in the middle of the shelf frame, and the pushing member can push out all the plates at one time. Can place more plates on the shelf frame and transport efficiency in order to improve, a propelling movement spare and all plate cooperations reduce robot manufacturing cost, and can improve the synchronous rate that the plate sent out, and the plate is fixed a position from the left and right sides by the shelf frame, and the plate is transported and can not produce the skew of left right direction when being released, guarantees that the position precision of plate can get with the assurance, improves and transports the effect.

The further scheme is that the plate conveying transportation robot further comprises a shelf frame, the shelf frame is detachably arranged in the shelf frame placing position, and the shelf frame is in limit fit with the limit structures.

It is from top to bottom visible, the plate of equidimension not can be loaded by the shelf frame of difference, send board transport robot to dismantle the cooperation with the shelf frame to improve and send board transport robot's suitability.

The further proposal is that the machine body is provided with an installation space sunken in the bearing platform; the pushing device comprises a driving unit, a telescopic mechanism and a pushing piece which are connected in sequence, wherein the telescopic mechanism is arranged in the installation space, and the pushing piece upwards extends to the shelf placing position from the installation space.

From top to bottom, load-bearing platform's integrality can be guaranteed to pusher's hidden design, reduces the design degree of difficulty of shelf grillage, and can effectively avoid taking place to interfere and collide between pusher and shelf grillage or the plate.

The telescopic mechanism comprises a first slide rail, a first slide block, a second slide rail, a second slide block, an extension plate and a belt transmission component; the belt transmission assembly comprises a first transmission wheel, a second transmission wheel and a transmission belt, and the transmission belt is arranged between the first transmission wheel and the second transmission wheel; the machine body is provided with a bottom plate positioned at the bottom of the installation space, a first slide rail is fixed on the bottom plate and arranged along a first horizontal direction, a first slide block is slidably arranged on the first slide rail, and an extension plate is fixedly connected with the first slide block; the second sliding rail is fixed on the extension plate and arranged along the first horizontal direction, the second sliding block is slidably arranged on the second sliding rail, and the pushing piece is fixedly connected with the second sliding block; the first driving wheel and the second driving wheel are both arranged on the extension plate, and the extension plate is fixedly connected with the driving belt.

From top to bottom, this setting makes the propelling movement piece can the translation and move outside the organism to guarantee that the propelling movement piece can be outside the shelf frame to the plate propelling movement completely.

Further, the pushing device can move along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

Therefore, when the conveyed plates are different in size, the central line position of each plate is changed in the second horizontal direction, and the position of the pushing member in the second horizontal direction can be adjusted, so that the pushing member is always aligned to the central line position of each plate, and the problem that the plates are laterally deviated or even blocked due to unbalanced stress is avoided when the plates are pushed.

The transverse moving device is arranged in the machine body and comprises a third slide rail and a third slide block; the third slide rail is fixedly arranged in the machine body along a second horizontal direction, the third slide block is slidably arranged on the third slide rail, and the bottom plate is fixed on the third slide block.

From the above, the traversing device is used for realizing the position adjustment of the pushing member in the second horizontal direction.

The further proposal is that the machine body is provided with two side retaining walls which are respectively positioned at two opposite sides of the installation space; the pushing device is provided with a protection frame, the protection frame is arranged on the bottom plate, and the telescopic mechanism is positioned in the protection frame; the protective frame is in limited fit with the side blocking wall in the second horizontal direction.

From top to bottom, the effective protection to telescopic machanism and organism inside can be realized to side fender wall and fender bracket setting.

The driving unit comprises a linear cylinder and a connecting piece; the bottom plate is provided with an avoidance through hole penetrating along the vertical direction, and the avoidance through hole extends into a long shape along the first horizontal direction; the linear cylinder is fixed on the lower side of the bottom plate, the lower part of the connecting piece is fixedly connected to a piston rod of the linear cylinder, the connecting piece penetrates through the avoiding through hole from bottom to top, and the upper part of the connecting piece is fixedly connected to the extension plate.

It is thus clear that this setting makes the straight line cylinder accomodate inside the organism to carry out dustproof and waterproof protection to the straight line cylinder.

The further scheme is that the limiting structure comprises a first limiting part and a second limiting part which are mutually independent, a first limiting surface is positioned on the first limiting part, and a second limiting surface is positioned on the second limiting part.

It is thus clear that this setting makes limit structure all have independent adjustment ability in two horizontal directions of mutually perpendicular, when spacing position in one of them orientation needs the adjustment, then carries out position control or change to the locating part that this orientation corresponds to realize more nimble adjustment and more effective spacing.

The further proposal is that the normal direction of the first limit surface is a first horizontal direction; the plate conveying transportation robot further comprises a first bolt and a second bolt; a first elongated mounting hole is formed in the first limiting piece, the first elongated mounting hole extends in a first horizontal direction to be elongated, and a first bolt penetrates through the first elongated mounting hole and is fixedly connected with the machine body; the second limiting piece is provided with a second long mounting hole, the second long mounting hole is perpendicular to the first horizontal direction and extends into a long shape, and the second bolt penetrates through the second long mounting hole and is fixedly connected with the machine body.

Therefore, the arrangement enables the first limiting part or the second limiting part to be quickly and effectively adjusted.

Drawings

Fig. 1 is a structural view of an embodiment of the plate feeding transport robot of the present invention.

Fig. 2 is a structural diagram of a hidden shelf frame of the plate conveying and transporting robot in the embodiment of the invention.

Fig. 3 is a structural diagram of a hidden housing of a plate conveying transportation robot according to an embodiment of the present invention.

Fig. 4 is a partially enlarged view of a portion a in fig. 2.

Fig. 5 is a first view structural diagram of a shelf rack in an embodiment of the plate conveying and transporting robot.

Fig. 6 is a structural diagram of a second view angle of the shelf frame in the embodiment of the plate conveying and transporting robot.

Fig. 7 is a structural diagram of a third view angle of the shelf frame in the embodiment of the plate conveying and transporting robot.

Fig. 8 is a schematic view of the matching relationship between the top wall and the top slider in the embodiment of the plate feeding transportation robot of the invention.

Detailed Description

Referring to fig. 1 and 2, fig. 1 is a structural view of an embodiment of the plate feeding and transporting robot of the present invention, and fig. 2 is a structural view of a hidden shelf frame of the embodiment of the plate feeding and transporting robot of the present invention. A uniform rectangular space coordinate system is established in each drawing, wherein the x-axis direction refers to a first horizontal direction, the x-axis direction refers to a second horizontal direction, and the z-axis direction refers to a height direction. Send board transportation robot includes organism 1, drive wheelset 19, limit structure 2, limit structure 3, pusher 5 and shelf frame 6, drive wheelset 19 fixed mounting is in the bottom of organism 1, the top of organism 1 has load-bearing platform 10, two limit structure 2 and two limit structure 3 pass through bolt locking on load-bearing platform 10, two limit structure 2 and two limit structure 3 between form shelf frame around the department and place position 100. The pushing device 5 comprises a driving unit 51 (shown in fig. 4), a telescopic mechanism 52 and a pushing member 53 which are connected in sequence, the driving unit 51 and the telescopic mechanism 52 are both installed on the machine body 1 and located below the bearing platform 10, the pushing member 53 extends into the partition placing position 100 from bottom to top, and the pushing member 53 can move between two opposite ends of the shelf placing position 100 along a first horizontal direction. The shelf frame 6 is detachably placed on the carrying platform 10 and is limited by the limiting structures 2 and 3.

Referring to fig. 1 to 3, fig. 3 is a structural diagram of a hidden housing of a plate conveying transportation robot according to an embodiment of the present invention. The machine body 1 has an installation space 110 recessed in the carrying platform 10, the installation space 110 extends in a first horizontal direction to be long, and the telescopic mechanism 52 is disposed in the installation space 110. The installation space 110 is separated from the inside of the machine body 1 by the bottom plate 13 in the height direction, and the drive unit 51 is fixed below the bottom plate 13.

The machine body 1 is provided with a shell 12 and horizontal plates 14 fixed on the inner wall surface of the shell 12, wherein the two horizontal plates 14 are respectively arranged at the front end and the rear end in the first horizontal direction; the horizontal plate 14 is provided with the traverse device 15, the traverse device 15 includes a third slide rail 151 and a third slide block 152, the two third slide rails 151 are respectively fixed on one horizontal plate 14 along the second horizontal direction, the two third slide blocks 152 are both fixed at the bottom of the bottom plate 13, and the third slide block 152 is slidably mounted on the third slide rail 151 along the second horizontal direction.

The telescopic mechanism 52 includes a first slide rail 521, a first slider 522, a second slide rail 524, a second slider 525, an extension plate 523, and a belt transmission assembly, the belt transmission assembly includes a first transmission wheel 541, a second transmission wheel 542, and a transmission belt 543, and the transmission belt 543 is disposed between the first transmission wheel 541 and the second transmission wheel 542. The first sliding rail 521 is fixed on the bottom plate 13 and is arranged along a first horizontal direction, the first sliding block 522 is slidably mounted on the first sliding rail 521, and the extension plate 523 is fixedly connected with the first sliding block 522; the second slide rail 524 is fixed on the extension plate 523 and arranged along the first horizontal direction, the second slide block 525 is slidably mounted on the second slide rail 524, and the pushing member 53 is fixedly connected with the second slide block 525; the first driving wheel 541 and the second driving wheel 542 are disposed on the extension plate 523, and the extension plate 523 is fixedly connected to the driving belt 543.

The driving unit 51 includes a linear cylinder 511 and a connection member 512; the bottom plate 13 is provided with an avoidance through hole 131 penetrating along the vertical direction, and the avoidance through hole 131 extends into a long shape along the first horizontal direction; the linear cylinder 511 is fixed on the lower side of the bottom plate 13, the lower part of the connecting piece 512 is fixedly connected to the piston rod of the linear cylinder 511, the connecting piece 512 passes through the avoiding through hole 131 from bottom to top, and the upper part of the connecting piece 512 is fixedly connected to the extension plate 523.

The pushing member 53 is an elongated block member, and the pushing member 53 can move along a first horizontal direction driven by the linear cylinder 511, while the traversing device 15 can realize the movement of the whole pushing device 5 along a second horizontal direction. Referring to fig. 2 again, the body 1 has two side blocking walls 111 respectively located at opposite sides of the installation space 110; the pushing device 5 further comprises a protection frame 50, the protection frame 50 is mounted on the bottom plate 13, the telescopic mechanism 52 is located in the protection frame 50, and the protection frame 50 is in limited fit with the side blocking wall 111 in the second horizontal direction.

With reference to fig. 2 and 4, fig. 4 is a partially enlarged view of a portion a in fig. 2. The limiting structure 2 includes a first limiting member 21 and a second limiting member 22 which are independent of each other, the first limiting member 21 has a first limiting surface 210, the second limiting member 22 has a second limiting surface 220, the first limiting member 21 is provided with a first elongated mounting hole 211, the first elongated mounting hole 211 extends into an elongated shape in a first horizontal direction, the second limiting member 22 is provided with a second elongated mounting hole 221, and the second elongated mounting hole 221 extends into an elongated shape perpendicular to the first horizontal direction. The plate-feeding transportation robot further comprises a first bolt and a second bolt (not shown in the figure), wherein the first bolt passes through the first long mounting hole 211 and is fixedly connected with the machine body 1; the second bolt passes through the second long mounting hole and is fixedly connected with the machine body 1. At this time, the normal direction of the first position-limiting surface 210 is a first horizontal direction, the first position-limiting surface 210 and the second position-limiting surface 220 are perpendicular to each other, and the orientations of the first position-limiting surface 210 and the second position-limiting surface 220 are both horizontal directions.

What is different from limiting structure 2 is that limiting structure 3 is an integrated piece, and limiting structure 3 is last to have the spacing face of first spacing face and the spacing face of second that mutually perpendicular set up equally, and is provided with only on limiting structure 3 and extends into microscler third microscler mounting hole 31 along the second horizontal direction, and the bolt passes third microscler mounting hole 31 and organism 1 fixed connection. Because limit structure 2 can realize the position adjustment in the first horizontal direction, therefore limit structure 3 does not need the position adjustment function in the first horizontal direction, but in the second horizontal direction, limit structure 2 and limit structure 3 need synchronous adjustment, therefore limit structure 3 needs to have the adjustment ability in the second horizontal direction. Referring again to fig. 1, the shelf frame 6 is detachably placed in the shelf frame placement position 100, and the two limit structures 2 and the two limit structures 3 limit the shelf frame 6 from the first horizontal direction and the second horizontal direction from four corners.

Referring to fig. 5 to 7, fig. 5, 6 and 7 are respectively a first view, a second view and a third view of the shelf rack in the embodiment of the plate conveying and transporting robot of the invention. The shelf frame comprises a frame body 61, two oppositely arranged plate holding mechanisms 62, a connecting plate 63, a bottom wall 64, a top wall 65, a bottom adjusting device 71, a top adjusting device 72 and a connecting rod 73. In the first horizontal direction, the frame body 61 is in a door shape, one plate holding mechanism 62 is fixed on one side of the frame body 61 through bolts, and the other plate holding mechanism 62 is movably mounted on the frame body 61 along the second horizontal direction through a connecting plate 63, a bottom wall 64, a top wall 65, a bottom adjusting device 71, a top adjusting device 72 and a connecting rod 73.

Firstly, hold board mechanism 62 for holding the board, hold and be equipped with the sunken plate standing groove 620 of multichannel along the second horizontal direction on board mechanism 62, plate standing groove 620 is the logical groove that extends along first horizontal direction, and multichannel plate standing groove 620 arranges from the top down, holds board mechanism 62 and has the support surface 621 up and towards plate standing groove 620, and in first horizontal direction, the extension both ends of support surface 621 all are equipped with direction inclined plane portion 622. Referring to fig. 1 again, a plate placing space 600 is formed between the two plate holding mechanisms 62, and when the plate 9 needs to be transported, because the plate placing groove 620 is a through groove, the plate 9 can be inserted into the plate placing groove 620 along the first horizontal direction, and two sides of the plate 9 are respectively located in the plate placing groove 620 and supported on the supporting surface 621.

The bottom wall 64 is fixed to the bottom of the frame body 61, and two bottom adjusting devices 71 are provided on the bottom wall 64. The bottom adjustment device 71 comprises a bottom rail 711 and a bottom slider 712, the bottom rail 711 being arranged on the bottom wall 64 in the second horizontal direction, the bottom slider 712 being arranged on the bottom rail 711.

The top wall 65 is fixed to the top of the frame body 61, and two top adjusting devices 72 are provided on the top wall 65. The top adjustment device 72 comprises a top rail 721 and a top slider 722, the top rail 721 being arranged on the top wall 65 in the second horizontal direction, the top slider 722 being arranged on the top rail 721, the connecting rod 73 being connected between the bottom slider 712 and the top slider 722 and the connecting rod 73 extending in the height direction. The two bottom sliders 712 and the two top sliders 722 are both fixedly connected to the connecting plate 63, and the plate holding mechanism 62 is fixedly mounted on the connecting plate 63. This arrangement enables the spacing of the two plate holding mechanisms 62 in the second horizontal direction to be adjustable.

Referring to fig. 8, fig. 8 is a schematic view of the matching relationship between the top wall and the top slider in the embodiment of the plate feeding transportation robot of the present invention. The top wall 65 is provided with a top elongated hole 650, and the top elongated hole 650 extends in a second horizontal direction to form an elongated shape. The top slider 722 extends out of the top buckling column 723, the top buckling column 723 is provided with a top buckling section 724 and a top limiting section 725 which are sequentially arranged, the outer diameter of the top limiting section 725 is larger than that of the top buckling section 724, the top buckling section 724 is located in the top elongated hole 650, and the top limiting section 725 is in limiting fit with the top wall 65. In the second horizontal direction, the extended end of the top elongated hole 650 has a top trip location 651, and the inner diameter d2 of the top trip location 651 is larger than the outer diameter d1 of the top restraint section 725.

Similarly, a bottom elongated hole 640 is formed in the bottom wall 64, the bottom elongated hole 640 extends in a long shape along the second horizontal direction, the bottom slider 712 extends out of the bottom fastening column 713, the bottom fastening column 713 has a bottom fastening section and a bottom limiting section which are sequentially arranged, the outer diameter of the bottom limiting section is larger than that of the bottom fastening section, the bottom fastening section is located in the bottom elongated hole 640, and the bottom limiting section is in limiting fit with the bottom wall 64. In the second horizontal direction, the extended end of the bottom elongated hole 640 has a bottom release position 641, and the inner diameter of the bottom release position 641 is larger than the outer diameter of the bottom limiting section.

Taking the top wall 65 and the top slider 722 as an example, when the top latching posts 723 in the top elongated holes 650 are moved to the top releasing position 651 at the extreme position, since the inner diameter d2 of the top releasing position 651 is larger than the outer diameter d1 of the top stopper 725, the top latching posts 723 can be disengaged from the top elongated holes 650, so as to detach the top wall 65 from the top slider 722.

Referring to fig. 1, 2 and 5, in a first horizontal direction, opposite ends of the frame body 61 form an inlet 601 and an outlet 602 of the plate placing space 600, respectively; the bottom of the frame body 61 forms a communication port 603 communicating with the plate placing space 600, and the communication port 603 extends between the inlet 601 and the outlet 602. When the shelf 6 is placed in the shelf placing position 100, the communication port 603 becomes an avoidance port through which the pushing member 53 enters and moves in the plate placing space 600, and the pushing member 53 can enter the plate placing space 600 from the inlet 601 in the first horizontal direction, abut against the end portions of all the plates 9, and push all the plates 9 out of the outlet 602.

Can place more plates 9 on shelf frame 6 in order to improve transport efficiency, a propelling movement piece 53 and all plate 9 cooperations reduce robot manufacturing cost, and can improve the synchronous rate of sending out of plate 9, and plate 9 is fixed a position by shelf frame 6 from the left and right sides, and plate 9 is transported and can not produce the skew of left right direction when being released, guarantees that the position precision of plate 9 can guarantee, improves and transports the effect.

In addition, because the distance between the two plate holding mechanisms 62 is adjustable, the shelf frame 6 is suitable for conveying various plates 9 with different sizes, in addition, a plurality of plates 9 can be simultaneously held between the two plate holding mechanisms 62, after the shelf frame 6 is placed on the machine body 1 of the plate conveying robot, the plate conveying robot is provided with a pushing piece 53 capable of moving along a straight line, the pushing piece 53 can push out a plurality of plates which are held between the two plate holding mechanisms 62 on the shelf frame and pushed out together, so that the conveying efficiency is improved, the pushing of all the plates 9 can be completed only by one pushing piece 53, and the plate conveying robot has the characteristic of low cost.

Finally, it should be emphasized that the above-described preferred embodiments of the present invention are merely examples of implementations, rather than limitations, and that many variations and modifications of the invention are possible to those skilled in the art, without departing from the spirit and scope of the invention.