CN218576263U

CN218576263U - Manipulator device

Info

Publication number: CN218576263U
Application number: CN202222893421.4U
Authority: CN
Inventors: 李建建; 朱加坤; 黎勇军; 杨朝辉
Original assignee: Shenzhen Hans CNC Technology Co Ltd
Current assignee: Shenzhen Hans CNC Technology Co Ltd
Priority date: 2022-10-28
Filing date: 2022-10-28
Publication date: 2023-03-07
Anticipated expiration: 2032-10-28

Abstract

The utility model relates to a manipulator device, which comprises a manipulator, a connecting rod, a taking and placing driving mechanism and two clamping mechanisms; the manipulator is connected with the connecting rod and used for controlling the connecting rod to move and rotate so as to enable the connecting rod to be positioned above the corresponding taking and placing positions of the plates which are stacked in a crossed mode; the taking and placing driving mechanism and the two clamping mechanisms are arranged on the connecting rod; the taking and placing driving mechanism is connected with at least one clamping mechanism and used for driving the clamping mechanisms to move along the extending direction of the connecting rod, so that the two clamping mechanisms are close to or far away from each other, and the two clamping mechanisms are matched to take and place the plates which are stacked in a crossed manner. Two clamping mechanisms are arranged on the connecting rod and driven by the taking and placing driving mechanism to mutually approach or separate so as to take and place the plate; and the connecting rod is controlled by the mechanical arm to move and rotate, so that the connecting rod is positioned above the picking and placing position corresponding to each sheet material which is alternately stacked, and the automatic picking and placing of the alternately stacked sheet materials are realized.

Description

Manipulator device

Technical Field

The utility model belongs to the technical field of the sheet material processing, especially, relate to a manipulator device.

Background

During the processing of the sheet, the sheet is typically transported in stacks. In order to facilitate taking and placing of the plate materials, the plate materials are usually rotated by 90 degrees to be stacked in a crossed manner, that is, when a single layer of plate materials are placed, the length direction of the plate materials is parallel to a first horizontal direction, when a double layer of plate materials are placed, the length direction of the plate materials is parallel to a second horizontal direction, and the first horizontal direction is vertical to the second horizontal direction. Therefore, the part of the outermost side of each plate in the length direction is not attached to the adjacent plate, namely, gaps are formed in two sides in the vertical direction, and therefore the plates can be taken conveniently through the gaps.

However, in the overlapped stack formed by alternately stacking the plates after rotating the plates for a certain angle, the plates need to be rotated manually when being taken and placed, so that the taking and placing of the plates are long in time consumption and low in efficiency. And when the sheet materials of the overlapped material piles are fed to the processing equipment of the next working procedure, the sheet materials are prone to being placed incorrectly, and the clamping plates are prone to being caused.

SUMMERY OF THE UTILITY MODEL

The utility model provides a manipulator device to realize automatic getting and put the sheet material that alternately stacks.

In order to solve the technical problem, an embodiment of the present invention provides a manipulator device, which includes a manipulator, a connecting rod, a pick-and-place driving mechanism, and two clamping mechanisms;

the manipulator is connected with the connecting rod and is used for controlling the connecting rod to move and rotate so as to enable the connecting rod to be positioned above the corresponding taking and placing positions of the plates which are stacked in a crossed manner;

the taking and placing driving mechanism and the two clamping mechanisms are arranged on the connecting rod; the taking and placing driving mechanism is connected with at least one of the clamping mechanisms and used for driving the clamping mechanisms to move along the extending direction of the connecting rod, so that the two clamping mechanisms are close to or far away from each other, and the two clamping mechanisms are matched with each other to take and place the plates which are stacked in a crossed manner.

Optionally, the manipulator device further comprises a control device and a first sensor; the first sensor is arranged on the connecting rod and used for detecting the position of the plate; the control device is respectively connected with the first sensor and the manipulator and used for controlling the connecting rod to move and rotate according to a first motion signal fed back by the first sensor, so that the connecting rod is positioned above the taking and placing position corresponding to the plates stacked in a crossed mode.

Optionally, the clamping mechanism comprises a connecting plate mounted on the connecting rod and a clamping jaw structure mounted on the connecting plate;

the picking and placing driving mechanism is connected with at least one connecting plate of the clamping mechanism and used for driving the connecting plate to move along the extending direction of the connecting rod.

Optionally, the jaw structure comprises a drive structure, a first jaw and a second jaw mounted on the connection plate; the first clamping jaw and the second clamping jaw are arranged at intervals along the stacking direction of the plates;

the driving structure is connected with the first clamping jaw and used for driving the first clamping jaw to approach or depart from the second clamping jaw along the plate stacking direction; and/or the driving structure is connected with the second clamping jaw and is used for driving the second clamping jaw to approach or depart from the first clamping jaw along the plate stacking direction.

Optionally, the jaw structure comprises a drive structure, a first jaw and a second jaw mounted on the connection plate; the first clamping jaw and the second clamping jaw are arranged at intervals along the stacking direction of the plate materials;

one of the first clamping jaw and the second clamping jaw is a fixed clamping jaw, and the other clamping jaw is a movable clamping jaw; the fixed clamping jaw is fixed on the connecting plate;

the driving structure is a driving cylinder; the piston rod of the driving cylinder is connected with the movable clamping jaw, and the piston rod of the driving cylinder stretches and retracts to drive the movable clamping jaw to be close to or far away from the fixed clamping jaw.

Optionally, the jaw structure further comprises a mounting member, and a piston rod of the driving cylinder is connected with the movable jaw through the mounting member; the connecting plate comprises a plate main body and a limiting part extending from the plate main body, wherein the limiting part is abutted to the mounting piece so as to limit the limit position of the movable clamping jaw.

Optionally, the clamping surface of the first clamping jaw and/or the clamping surface of the second clamping jaw is/are provided with an anti-slip structure.

Optionally, each of the gripping mechanisms includes two of the jaw structures, and the two jaw structures are disposed on the connecting plate at intervals.

Optionally, the manipulator device further comprises a control device;

the clamping mechanism further comprises a second sensor arranged on the connecting plate, and the second sensor is used for detecting the positions of the plate, the first clamping jaw and the second clamping jaw to form a second motion signal; the control device is respectively connected with the second sensor, the taking and placing driving mechanism and the driving structure and used for controlling the first clamping jaw and the second clamping jaw to move according to the second motion signal.

Optionally, the pick-and-place driving mechanism comprises two driving assemblies; each driving assembly is connected with one of the clamping mechanisms and used for driving the clamping mechanisms to move along the extending direction of the connecting rod.

The manipulator device provided by the embodiment of the utility model is provided with two clamping mechanisms on the connecting rod, and the two clamping mechanisms are driven by the taking and placing driving mechanism to mutually approach or separate so as to take and place the plate; and the connecting rod is controlled by the mechanical arm to move and rotate, so that the connecting rod is positioned above the picking and placing position corresponding to each sheet material which is stacked in a crossed manner, and the two clamping mechanisms are positioned at the positions corresponding to the sheet materials which need to be picked and placed at each time, so that the sheet materials which are stacked in a crossed manner are picked and placed automatically, the picking and placing precision and efficiency of the sheet materials are improved, and the normal operation of the subsequent processing procedures of the sheet materials is ensured.

Drawings

Fig. 1 is a reference diagram illustrating a usage state of a manipulator apparatus according to an embodiment of the present invention;

fig. 2 is a schematic view of a partial structure of a robot apparatus according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a clamping mechanism according to an embodiment of the present invention;

fig. 4 is an exploded schematic view of the gripping mechanism according to an embodiment of the present invention.

The reference numerals in the specification are as follows:

1. a manipulator; 2. a connecting rod; 3. a pick-and-place driving mechanism; 31. a drive assembly; 4. a gripping mechanism; 41. a connecting plate; 411. a plate main body; 412. a limiting part; 42. a jaw structure; 421. a drive structure; 422. a first jaw; 423. a second jaw; 424. a mounting member; 425. an anti-slip structure; 5. a first sensor; 6. a second sensor; 7. a base; 8. a plate material; 9. and (7) a material platform.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects of the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

As shown in fig. 1 and fig. 2, a manipulator 1 device provided by the embodiment of the present invention includes a manipulator 1, a connecting rod 2, a pick-and-place driving mechanism 3, and two clamping mechanisms 4; the manipulator 1 is connected with the connecting rod 2 and used for controlling the connecting rod 2 to move and rotate so that the connecting rod 2 is positioned above the taking and placing position corresponding to the plates 8 which are stacked in a crossed mode; the taking and placing driving mechanism 3 and the two clamping mechanisms 4 are arranged on the connecting rod 2; the taking and placing driving mechanism 3 is connected with at least one clamping mechanism 4 and used for driving the clamping mechanisms 4 to move along the extending direction of the connecting rod 2, so that the two clamping mechanisms 4 are close to or far away from each other, and the two clamping mechanisms 4 are matched with each other to take and place the plates 8 which are stacked in a crossed mode.

In this example, when feeding an overlapped stack formed by alternately stacking the sheets 8, the manipulator 1 drives the connecting rod 2 to move to a position above the picking and placing position of the uppermost sheet 8, at this time, the two clamping mechanisms 4 are placed opposite to the sheet 8, the two clamping mechanisms 4 are driven by the picking and placing driving mechanism 3 to approach each other, so that the two clamping mechanisms 4 are respectively abutted against two opposite side edges of the sheet 8, and then the manipulator 1 drives the connecting rod 2 to move to transfer the sheet 8 to a processing station; then, the manipulator 1 continues to drive the connecting rod 2 to move and rotate, so that the connecting rod 2 is positioned above the corresponding taking and placing position of the next plate 8; and repeating the steps to realize automatic feeding of the overlapped material piles.

When the sheet materials 8 are blanked and the sheet materials 8 are stacked in a crossed manner to form an overlapped stack, after the manipulator 1 drives the connecting rod 2 to move to a position above a taking and placing position of the sheet materials 8, the two clamping mechanisms 4 are driven by the taking and placing driving mechanism 3 to be away from each other, so that the two clamping mechanisms 4 are separated from the sheet materials 8, the sheet materials 8 are loosened, and the sheet materials 8 are blanked; then the mechanical arm 1 drives the connecting rod 2 to move again, the next plate 8 is moved to a blanking position, the mechanical arm 1 drives the connecting rod 2 to rotate, the connecting rod 2 is located above a corresponding taking and placing position of the next plate 8, and the plate 8 rotates to form a certain angle with the previous plate 8; then the two clamping mechanisms 4 are driven by the taking and placing driving mechanism 3 to loosen the plate 8, and the plate 8 is crossly stacked on the previous plate 8; and repeating the steps to realize automatic blanking of the plate 8, and alternately stacking the plate 8 to form an overlapped pile.

The manipulator 1 device provided by the embodiment of the utility model is provided with two clamping mechanisms 4 on the connecting rod 2, and the two clamping mechanisms 4 are driven by the taking and placing driving mechanism 3 to approach or separate from each other so as to take and place the plate material 8; and the mechanical arm 1 controls the connecting rod 2 to move and rotate, so that the connecting rod 2 is positioned above the picking and placing position corresponding to each sheet material 8 which is stacked in a crossed manner, and the two clamping mechanisms 4 are positioned at the positions corresponding to the sheet materials 8 which need to be picked and placed at each time, so that the automatic picking and placing of the sheet materials 8 which are stacked in the crossed manner are realized, the picking and placing precision and efficiency of the sheet materials 8 are improved, and the normal operation of the subsequent processing procedures of the sheet materials 8 is ensured.

In this example, the robot arm 1 controls the link lever 2 to rotate around the midpoint in the extending direction of the link lever 2 as the rotation center.

In this example, the two gripping mechanisms 4 are symmetrically arranged along the center of rotation of the connecting rod 2.

In this embodiment, as shown in fig. 1, the manipulator 1 device further comprises a base 7, and the manipulator 1 is mounted on the base 7.

In an embodiment, as shown in fig. 1, the manipulator 1 device further comprises a control device and a first sensor 5; the first sensor 5 is installed on the connecting rod 2 and used for detecting the position of the plate 8, and the control device is respectively connected with the first sensor 5 and the mechanical arm 1 and used for controlling the connecting rod 2 to move and rotate according to a first motion signal fed back by the first sensor 5, so that the connecting rod 2 is located above a taking and placing position corresponding to the plate 8 which is stacked in a crossed mode. In this example, the first sensor 5 senses the position of the sheet material 8 to form a first motion signal, the control device controls the connecting rod 2 to move and rotate according to the first motion signal, and moves the connecting rod 2 to a position above the pick-and-place position corresponding to the sheet material 8, so that the two clamping mechanisms 4 are located at positions corresponding to the sheet material 8, and the two clamping mechanisms 4 are ensured to clamp the sheet material 8; first sensor 5 and controlling means cooperation can accurate control connecting rod 2's removal, guarantee getting of sheet material 8 and put the precision.

In this embodiment, the first sensor 5 is configured to detect a distance between the connecting rod 2 and the plate 8, and transmit information of the detected distance to the control device; when the detected distance is greater than the preset distance, the control device controls the mechanical arm 1 to drive the connecting rod 2 to be close to the plate 8; when the detected distance is equal to the preset distance, the control device controls the mechanical arm 1 to stop working, and then the two clamping mechanisms 4 are driven by the taking and placing driving mechanism 3 to approach each other so as to clamp the plate 8.

In one embodiment, as shown in fig. 2 and 3, the gripping mechanism 4 comprises a connecting plate 41 mounted on the connecting rod 2 and a jaw structure 42 mounted on the connecting plate 41; the pick-and-place driving mechanism 3 is connected with a connecting plate 41 of at least one clamping mechanism 4 and is used for driving the connecting plate 41 to move along the extending direction of the connecting rod 2. In this example, the clamping jaw structure 42 is connected to the pick-and-place driving mechanism 3 through the connecting plate 41, so that the pick-and-place driving mechanism 3 drives the clamping mechanism 4 to integrally move, and the structure is simple and convenient to install.

In one embodiment, as shown in fig. 3 and 4, the jaw structure 42 includes a drive structure 421 mounted on the connection plate 41, a first jaw 422, and a second jaw 423; the first clamping jaw 422 and the second clamping jaw 423 are arranged at intervals along the stacking direction of the plate materials 8; the driving structure 421 is connected to the first jaw 422, and is configured to drive the first jaw 422 to approach or leave the second jaw 423 along the stacking direction of the sheet material 8; and/or the driving structure 421 is connected to the second jaw 423, and is configured to drive the second jaw 423 to approach or depart from the first jaw 422 along the stacking direction of the sheet material 8; first jaw 422 and second jaw 423 cooperate to grip or release cross-plied sheets 8.

In this example, the first jaw 422 and/or the second jaw 423 are/is moved in the stacking direction of the sheet material 8 by the driving structure 421, so that the first jaw 422 and the second jaw 423 approach or move away from each other to clamp or unclamp the sheet material 8; the first clamping jaw 422 and the second clamping jaw 423 are clamped on two sides of the plate 8 along the stacking direction of the plate, so that the clamping effect of the plate 8 is improved, the stability of the plate 8 in the picking and placing process is ensured, and the picking and placing precision of the plate 8 is improved; the clamping jaw structure 42 is simple in overall structure and convenient to operate.

In one embodiment, as shown in fig. 3 and 4, the jaw structure 42 includes a drive structure 421 mounted on the connection plate 41, a first jaw 422, and a second jaw 423; the first clamping jaw 422 and the second clamping jaw 423 are arranged at intervals along the stacking direction of the plate materials 8; one of the first jaw 422 and the second jaw 423 is a fixed jaw, and the other is a movable jaw; the fixed clamping jaw is fixed on the connecting plate 41; the driving structure 421 is a driving cylinder; the piston rod of the driving cylinder is connected with the movable clamping jaw, and the piston rod of the driving cylinder stretches and retracts to drive the movable clamping jaw to be close to or far away from the fixed clamping jaw.

In this example, one of the first clamping jaw 422 and the second clamping jaw 423 is a fixed clamping jaw fixed on the connecting plate 41, and the other one is a movable clamping jaw connected to a piston rod of a driving cylinder, and the piston rod of the driving cylinder stretches and retracts to drive the movable clamping jaw to approach or leave the fixed clamping jaw, so that the movable clamping jaw and the fixed clamping jaw cooperate to clamp or loosen the plate material 8; one of the first clamping jaw 422 and the second clamping jaw 423 is fixedly arranged and the other one is movably arranged, so that the distance between the first clamping jaw 422 and the second clamping jaw 423 can be better controlled, and a plate material 8 can be clamped; drive actuating cylinder easy operation, be favorable to the removal of accurate control activity clamping jaw.

Wherein, the piston rod of the driving cylinder stretches along the stacking direction of the plate 8.

In this example, first jaw 422 is a movable jaw and second jaw 423 is a fixed jaw.

In one embodiment, as shown in fig. 4, the jaw structure 42 further comprises a mounting member 424, and the piston rod of the driving cylinder is connected to the movable jaw through the mounting member 424; the connection plate 41 includes a plate body 411 and a stopper portion 412 extending from the plate body 411, and the stopper portion 412 abuts against the mounting member 424 to limit the limit position of the movable jaw.

In the example, the piston rod of the driving cylinder passes through the mounting piece 424 and the movable clamping jaw, the connecting area of the mounting piece 424 and the movable clamping jaw is larger, the connection stability of the movable clamping jaw is improved, the movable clamping jaw is better matched with the fixed clamping jaw to clamp the plate 8, and the stability of the plate 8 in the taking and placing process is ensured; and set up spacing portion 412 on board main part 411, the piston rod that drives actuating cylinder stretches out, drive installed part 424 and activity clamping jaw and remove to the direction that is close to fixed clamping jaw, treat that installed part 424 removes to when with spacing portion 412 butt, installed part 424 and activity clamping jaw stop moving, thereby spacing portion 412 restriction installed part 424 is to the extreme position who is close to fixed clamping jaw and removes, spacing activity clamping jaw is to the extreme position who is close to fixed clamping jaw and removes promptly, and then restricted the minimum interval between activity clamping jaw and the fixed clamping jaw, prevent that the activity clamping jaw from removing excessively to lead to pressing from both sides wounded panel veneer 8.

In this example, the mounting member 424 includes a first mounting portion extending in the stacking direction of the slabs 8 and a second mounting portion extending perpendicularly from the first mounting portion; and a piston rod of the driving cylinder is connected with the movable clamping jaw through a second mounting part.

In one embodiment, as shown in FIG. 4, a non-slip structure 425 is provided on the clamping surface of first jaw 422 and/or the clamping surface of second jaw 423. The anti-slip structure 425 is arranged on the clamping surface of the first clamping jaw 422 and/or the clamping surface of the second clamping jaw 423, so that the friction force between the plate material 8 and the first clamping jaw 422 and the friction force between the plate material 8 and the second clamping jaw 423 are increased, the plate material 8 is clamped by the first clamping jaw 422 and the second clamping jaw 423 more stably, the plate material 8 is prevented from sliding and even falling off, and the taking and placing precision of the plate material 8 is improved.

In one embodiment, as shown in fig. 3, each gripper mechanism 4 includes two jaw structures 42, and the two jaw structures 42 are spaced apart from each other on the connecting plate 41. In this example, the number of the clamping jaw structures 42 is increased to increase the clamping position of the sheet material 8, and the stability of the sheet material 8 in the taking and placing process is improved.

In an embodiment, as shown in fig. 2, the manipulator 1 device further comprises control means; the clamping mechanism 4 further comprises a second sensor 6 arranged on the connecting plate 41, and the second sensor 6 is used for detecting the positions of the sheet material 8, the first clamping jaw 422 and the second clamping jaw 423 to form a second movement signal; the control device is respectively connected with the second sensor 6, the pick-and-place driving mechanism 3 and the driving mechanism 421, and is used for controlling the first clamping jaw 422 and the second clamping jaw 423 to move according to the second motion signal.

In this example, as shown in fig. 3, the second sensor 6 detects that the sheet material 8 is not between the first clamping jaw 422 and the second clamping jaw 423 along the stacking direction of the sheet material 8, and forms a corresponding second movement signal, and the control device controls the pick-and-place driving mechanism 3 to drive the two clamping mechanisms 4 to approach each other according to the second movement signal, so that the sheet material 8 is located between the first clamping jaw 422 and the second clamping jaw 423 along the stacking direction of the sheet material 8; the second sensor 6 detects that the sheet material 8 is positioned between the first clamping jaw 422 and the second clamping jaw 423 along the stacking direction of the sheet material 8 to form a corresponding second movement signal, and the control device controls the driving structure 421 to drive the first clamping jaw 422 and the second clamping jaw 423 to approach each other according to the second movement signal so as to clamp the sheet material 8; through second sensor 6 and controlling means cooperation, can remove by accurate control first clamping jaw 422 and second clamping jaw 423 for sheet material 8 lies in between first clamping jaw 422 and the second clamping jaw 423 along 8 pile directions of sheet material, guarantees that two clamp mechanisms 4 can the relative both sides of centre gripping sheet material 8, has improved sheet material 8 and has got and put precision and efficiency.

In the present embodiment, a second sensor 6 is provided for each jaw structure 42.

In one embodiment, as shown in fig. 2, the pick-and-place driving mechanism 3 includes two driving assemblies 31; each driving unit 31 is connected to a gripper mechanism 4 for driving the gripper mechanism 4 to move in the direction of extension of the connecting rod 2. In this example, two driving assemblies 31 are provided, and each driving assembly 31 controls one of the clamping mechanisms 4 to move along the extending direction of the connecting rod 2, so that the two clamping mechanisms 4 approach or move away from each other, and the two clamping mechanisms 4 cooperate to pick and place the plates 8 which are stacked in a crossed manner; by such design, each clamping mechanism 4 is controlled by a driving component 31, which is beneficial to precisely controlling the movement of each clamping mechanism 4.

In the present embodiment, the driving assembly 31 is a lead screw module; the lead screw module has high precision, is favorable for accurately controlling the moving displacement of the clamping mechanism 4, and is simple to operate and convenient to control.

As a preferred embodiment of the present embodiment, an overlapped pile formed by stacking the plates 8 and the plates 8 in a 90 ° intersection is placed on the material table 9, and the manipulator 1 apparatus of the present embodiment loads the overlapped pile, first, the manipulator 1 controls the connecting rod 2 to move above the overlapped pile, the first sensor 5 detects the distance between the connecting rod 2 and the plates 8, when the connecting rod 2 moves to the distance between the connecting rod 2 and the plates 8 is equal to the preset distance, the connecting rod 2 stops moving, then the two driving assemblies 31 respectively drive the two clamping mechanisms 4 to approach each other, when the second sensor 6 detects that the plates 8 are located between the first clamping jaw 422 and the second clamping jaw 423, the two driving assemblies 31 stop driving the two clamping mechanisms 4 to move, then the driving structure 421 drives the first clamping jaw 422 to approach the second clamping jaw 423 until the first clamping jaw 422 and the second clamping jaw 423 cooperate to clamp the plates 8, then the manipulator 1 controls the connecting rod 2 to move, so as to transfer the plates 8 to the processing equipment; then, the manipulator 1 controls the connecting rod 2 to move above the overlapped material pile, and the manipulator 1 controls the connecting rod 2 to rotate 90 degrees; and repeating the steps to completely feed the plate materials 8 of the overlapped material piles to the processing equipment.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A manipulator device is characterized by comprising a manipulator, a connecting rod, a taking and placing driving mechanism and two clamping mechanisms;

the manipulator is connected with the connecting rod and used for controlling the connecting rod to move and rotate so as to enable the connecting rod to be positioned above the corresponding taking and placing positions of the plates which are stacked in a crossed mode;

the taking and placing driving mechanism and the two clamping mechanisms are arranged on the connecting rod; the taking and placing driving mechanism is connected with at least one of the clamping mechanisms and used for driving the clamping mechanisms to move along the extending direction of the connecting rod, so that the two clamping mechanisms are close to or far away from each other, and the two clamping mechanisms are matched to take and place the plates which are stacked in a crossed manner.

2. The robot apparatus of claim 1, further comprising a control device and a first sensor; the first sensor is arranged on the connecting rod and used for detecting the position of the plate; the control device is respectively connected with the first sensor and the manipulator and used for controlling the connecting rod to move and rotate according to a first motion signal fed back by the first sensor, so that the connecting rod is positioned above the taking and placing position corresponding to the plates stacked in a crossed mode.

3. The manipulator apparatus of claim 1, wherein the gripping mechanism comprises a link plate mounted on the link rod and a jaw structure mounted on the link plate;

the pick-and-place driving mechanism is connected with the connecting plate of at least one of the clamping mechanisms and is used for driving the connecting plate to move along the extending direction of the connecting rod.

4. The robot apparatus of claim 3, wherein the jaw structure includes a drive structure mounted on the connecting plate, a first jaw, and a second jaw; the first clamping jaw and the second clamping jaw are arranged at intervals along the stacking direction of the plate materials;

the driving structure is connected with the first clamping jaw and used for driving the first clamping jaw to approach or depart from the second clamping jaw along the plate stacking direction; and/or the driving structure is connected with the second clamping jaw and used for driving the second clamping jaw to approach or depart from the first clamping jaw along the plate stacking direction.

5. The robot apparatus of claim 3, wherein the jaw structure comprises a drive structure mounted on the web, a first jaw, and a second jaw; the first clamping jaw and the second clamping jaw are arranged at intervals along the stacking direction of the plates;

6. The robot apparatus of claim 5, wherein the jaw structure further comprises a mount, the piston rod of the drive cylinder being connected to the movable jaw through the mount; the connecting plate comprises a plate main body and a limiting part extending from the plate main body, wherein the limiting part is abutted to the mounting piece so as to limit the limit position of the movable clamping jaw.

7. The manipulator device according to claim 4, characterized in that the clamping surface of the first clamping jaw and/or the clamping surface of the second clamping jaw is provided with an anti-slip structure.

8. The robot apparatus of claim 3, wherein each gripping mechanism includes two of said jaw structures, the two jaw structures being spaced apart on said web.

9. The robot apparatus of claim 4, further comprising a control device;

10. The robot apparatus of any of claims 1-9, wherein the pick-and-place drive mechanism comprises two drive assemblies; each driving assembly is connected with one clamping mechanism and used for driving the clamping mechanisms to move along the extending direction of the connecting rod.