conveying device

Abstract

The utility model relates to a kind of handling devices, comprising: mounting structure;Visual mechanism and suction nozzle mechanism are installed on the mounting structure;Adjusting mechanism, at least one of the suction nozzle mechanism and the visual mechanism is adjustable between the position of the adjusting mechanism and the mounting structure;The adjusting mechanism connected with the suction nozzle mechanism is used to adjust the adsorption surface of the suction nozzle mechanism and the first plane parallel;The adjusting mechanism connected with the visual mechanism is used to adjust the optical axis of the visual mechanism and the first plane vertical.In the present application, the mode of adjusting the suction nozzle mechanism and / or visual mechanism by adjusting mechanism, relative to prior art, when adjusting, suction nozzle mechanism and / or visual mechanism can be adjusted without disassembling from mounting structure, time-saving and labor-saving.

Description

Technical Field

[0001] This utility model relates to the field of testing and sorting equipment technology, and in particular to a handling device. Background Technology

[0002] In the semiconductor manufacturing process, products (chips) need to undergo rigorous testing and classification to ensure that their performance and quality meet standards. Typically, products are transported to testing stations using handling equipment.

[0003] Before transporting the product, or after the product is transported to the testing position by the suction nozzle mechanism, the position of the product is often detected by a vision mechanism. In order to ensure the adsorption and detection effects, it is usually necessary to keep the adsorption surface of the suction nozzle parallel to the plane where the product is located and the optical axis of the vision mechanism perpendicular to the plane where the product is located.

[0004] In traditional technology, the entire suction nozzle mechanism and vision mechanism need to be disassembled as a whole, and then shims need to be added to adjust the suction surface to be parallel to the plane where the product is located or the optical axis to be perpendicular to the plane where the product is located. This adjustment method is time-consuming and labor-intensive. Utility Model Content

[0005] Therefore, it is necessary to provide a conveying device that can improve upon the aforementioned problems.

[0006] A conveying device, comprising:

[0007] Installation structure;

[0008] Both the vision mechanism and the suction nozzle mechanism are mounted on the mounting structure.

[0009] An adjustment mechanism is provided, wherein at least one of the nozzle mechanism and the vision mechanism is adjustable in position relative to the mounting structure via the adjustment mechanism.

[0010] The adjustment mechanism connected to the suction nozzle mechanism is used to adjust the suction surface of the suction nozzle mechanism to be parallel to the first plane;

[0011] The adjustment mechanism connected to the vision mechanism is used to adjust the optical axis of the vision mechanism to be perpendicular to the first plane.

[0012] In the aforementioned handling device, at least one of the suction nozzle mechanism and the vision mechanism is connected to the mounting structure via an adjustment mechanism. The adjustment mechanism connected to the suction nozzle mechanism can adjust the suction surface of the suction nozzle mechanism to be parallel to the first plane. When the suction surface is parallel to the first plane, the contact area between the suction nozzle mechanism and the product is larger, resulting in better product adsorption. The adjustment mechanism connected to the vision mechanism can adjust the optical axis of the vision mechanism to be perpendicular to the first plane. When the optical axis is perpendicular to the first plane, the vision mechanism can capture images of the product at a better angle, resulting in better image capture. Compared to the prior art, the method of adjusting the suction nozzle mechanism and / or vision mechanism via an adjustment mechanism in this application allows for adjustment without disassembling the suction nozzle mechanism and / or vision mechanism from the mounting structure, saving time and effort.

[0013] In one embodiment, the adjustment mechanism is used to adjust the rotation of the nozzle mechanism or the vision mechanism relative to the mounting structure about a first axis and a second axis;

[0014] The first axis extends along a first direction, and the second axis extends along a second direction;

[0015] The first direction and the second direction intersect and are both parallel to the first plane.

[0016] In one embodiment, the adjustment mechanism includes a first adjustment plate, a second adjustment plate, a first rotating shaft, and a second rotating shaft. The first adjustment plate is connected to the suction nozzle mechanism or the vision mechanism, and the second adjustment plate is connected to the first adjustment plate and the mounting structure.

[0017] The first shaft extends along the first direction, and the second shaft extends along the second direction;

[0018] The first adjusting plate rotates about the first axis relative to the second adjusting plate via the first rotating shaft, and the second adjusting plate rotates about the second axis relative to the mounting structure via the second rotating shaft.

[0019] In one embodiment, the adjustment mechanism further includes a first eccentric pin arranged parallel to the first rotating shaft. The first eccentric pin includes two eccentrically arranged first through-parts, which are respectively rotatably disposed within the first adjustment plate and the second adjustment plate.

[0020] and / or

[0021] The adjustment mechanism further includes a second eccentric pin arranged parallel to the second rotating shaft. The second eccentric pin includes two eccentrically arranged second through parts, which are rotatably disposed within the second adjustment plate and the mounting structure, respectively.

[0022] In one embodiment, the adjusting mechanism further includes a first adjusting member and a first fixing member. The first adjusting member is screwed into one of the first adjusting plate and the second adjusting plate along the second direction, and its end face abuts against the other. The first fixing member includes a first rod portion and a first head portion. The first rod portion passes through the first adjusting plate and the second adjusting plate along the second direction. The first head portion is connected to one end of the first rod portion. The first rod portion is screwed into one of the first adjusting plate and the second adjusting plate away from the first head portion, and is clearance-fitted with the other, and the first head portion can abut against and fix the other portion.

[0023] and / or

[0024] The adjustment mechanism further includes a second adjusting member and a second fixing member. The second adjusting member is screwed into one of the second adjusting plate and the mounting structure along the first direction, and its end face abuts against the other. The second fixing member includes a second rod portion and a second head portion. The second rod portion passes through the second adjusting plate and the mounting structure along the first direction. The second head portion is connected to one end of the second rod portion. The second rod portion is screwed into one of the second adjusting plate and the mounting structure away from the second head portion, and is clearance-fitted with the other portion, and the second head portion can abut against and fix the other portion.

[0025] In one embodiment, the mounting structure includes a drive mechanism and a mounting base, both of which are mounted on the mounting base;

[0026] The vision mechanism is connected to the driving mechanism, and the driving mechanism is used to drive the vision mechanism to move in a third direction.

[0027] The third direction intersects with the first plane.

[0028] In one embodiment, the conveying device includes two suction nozzle mechanisms, which are distributed on both sides of the vision mechanism along a first direction;

[0029] The first direction is parallel to the first plane.

[0030] In one embodiment, the suction nozzle mechanism includes a first drive assembly and a suction nozzle assembly connected to each other. The first drive assembly is connected to the mounting structure, and the suction surface is formed on the suction nozzle assembly. The first drive assembly is used to drive the suction nozzle assembly to move along a third direction to pick up and put down products and to rotate about a third axis extending along the third direction.

[0031] The third direction intersects with the first plane.

[0032] In one embodiment, the nozzle assembly is pluggably mounted on the first drive assembly along the third direction.

[0033] In one embodiment, the first drive assembly includes a housing, a drive member, and a venting member. The housing is connected to the mounting structure, the drive member and the venting member are both mounted on the housing, and the nozzle assembly is mounted on the venting member and communicates with its internal airflow channel.

[0034] The driving component is used to drive the ventilator to move along the third direction and rotate about the third axis. Attached Figure Description

[0035] Figure 1 This is a structural diagram of a conveying device provided in an embodiment of this application;

[0036] Figure 2 for Figure 1 A structural diagram of the conveying device shown from another perspective;

[0037] Figure 3 for Figure 1 A structural diagram of the conveying device shown from another perspective;

[0038] Figure 4 for Figure 1 A structural diagram of a portion of the conveying device shown;

[0039] Figure 5 for Figure 4 An exploded view of the structure shown;

[0040] Figure 6 for Figure 4 Another exploded view of the structure shown;

[0041] Figure 7 for Figure 4 A structural diagram of the structure shown from another perspective;

[0042] Figure 8 for Figure 7 Enlarged view of section C of the structure shown;

[0043] Figure 9 for Figure 1 The diagram shows the structure of the first eccentric pin of the adjusting mechanism of the conveying device (the structure of the second eccentric pin is the same as that of the first eccentric pin);

[0044] Figure 10 for Figure 1 An exploded view of the conveying device described above, concealing the vision mechanism and light source;

[0045] Figure 11 for Figure 3Enlarged view of section B of the conveying device shown;

[0046] Figure 12 for Figure 1 A cross-sectional view of the conveying device shown;

[0047] Figure 13 for Figure 12 Enlarged view of point D of the conveying device shown;

[0048] Figure 14 for Figure 3 Enlarged view of point A of the conveying device shown.

[0049] Explanation of reference numerals in the attached figures:

[0050] 100. Handling device; 10. Mounting structure; 11. Drive mechanism; 12. Mounting base; 20. Vision mechanism; 21. Camera; 22. Lens; 30. Suction nozzle mechanism; 31. Adsorption surface; 32. First drive assembly; 321. Housing; 322. Ventilation component; 33. Suction nozzle assembly; 331. Suction nozzle rod; 332. Suction nozzle; 341. Connecting rod; 342. First anti-drop sleeve; 343. Second anti-drop sleeve; 344. First set screw; 345. Second set screw; 40. Adjustment mechanism; 41. First adjustment plate; 411. First sleeve part; 412. Second sleeve part; 42. Second adjustment plate; 43. First rotating shaft; 44. Second rotating shaft; 45. First eccentric pin; 451. First through part; 46. Second eccentric pin; 47. First adjustment component; 48. First fixing component; 49. Second adjustment component; 410. Second fixing component; 4101. Second rod part; 4102. Second head; 50. Light source; 60. Vacuum generator. Detailed Implementation

[0051] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0052] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0055] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0056] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0057] See Figure 1 One embodiment of this application provides a conveying device 100 for conveying products, enabling the transfer of products between workstations. Optionally, the product conveying device 100 is used to convey chips. Of course, in other embodiments, the types of products that the conveying device 100 can convey are not limited.

[0058] See Figure 1 and Figure 2 The conveying device 100 includes a mounting structure 10, a vision mechanism 20, and a suction nozzle mechanism 30, both of which are mounted on the mounting structure 10. The suction nozzle mechanism 30 is used to pick up and place products, while the vision mechanism 20 is used to capture the position of the products picked up or placed by the suction nozzle mechanism 30. Specifically, before the suction nozzle mechanism 30 picks up a product, the vision mechanism 20 captures the position of the product, and the suction nozzle mechanism 30 picks up the product based on the capture result of the vision mechanism 20. After the suction nozzle mechanism 30 places the product on the workstation, the vision mechanism 20 can also capture the position of the suction nozzle 332 to observe whether the product is placed in the target position, ensuring the accuracy of the material placement.

[0059] In some embodiments, the vision mechanism 20 includes a camera 21 and a lens 22. The camera 21 is mounted on the mounting structure 10, and the lens 22 is connected to the camera 21. The cooperation between the camera 21 and the lens 22 can improve the shooting effect of the vision mechanism 20. Of course, in other embodiments, the specific structure of the vision mechanism 20 is not limited. For example, the vision mechanism 20 may only include the camera 21.

[0060] Continue reading Figure 1 The conveying device 100 also includes an adjustment mechanism 40, at least one of the suction nozzle mechanism 30 and vision mechanism 20 is adjustable in position between the adjustment mechanism 40 and the mounting structure 10.

[0061] In some embodiments, the suction nozzle mechanism 30 is connected to the mounting structure 10 via an adjustment mechanism 40, which adjusts the position between the suction nozzle mechanism 30 and the mounting structure 10. The vision mechanism 20 is directly connected to the mounting structure 10. In other embodiments, the vision mechanism 20 is connected to the mounting structure 10 via an adjustment mechanism 40, which adjusts the position between the vision mechanism 20 and the mounting structure 10. The suction nozzle mechanism 30 is directly connected to the mounting structure 10. In still other embodiments, the vision mechanism 20 is connected to the mounting structure 10 via an adjustment mechanism 40, and the suction nozzle mechanism 30 is also connected to the mounting structure 10 via an adjustment mechanism 40. The adjustment mechanism 40 connected to the vision mechanism 20 adjusts the position between the vision mechanism 20 and the mounting structure 10, and the adjustment mechanism 40 connected to the suction nozzle mechanism 30 adjusts the position between the suction nozzle mechanism 30 and the mounting structure 10.

[0062] Furthermore, the adjustment mechanism 40 connected to the suction nozzle mechanism 30 is used to adjust the suction surface 31 of the suction nozzle mechanism 30 to be parallel to the first plane. The adjustment mechanism 40 connected to the vision mechanism 20 is used to adjust the optical axis of the vision mechanism 20 to be perpendicular to the first plane. Generally, the first plane is parallel to the plane where the product is located. When the product is supported on the support surface, the first plane is also parallel to the support surface supporting the product.

[0063] The conveying device 100 provided in this application embodiment has at least one of the suction nozzle mechanism 30 and the vision mechanism 20 connected to the mounting structure 10 via an adjustment mechanism 40. The adjustment mechanism 40 connected to the suction nozzle mechanism 30 can adjust the suction surface 31 of the suction nozzle mechanism 30 to be parallel to the first plane. When the suction surface 31 is parallel to the first plane, the contact area between the suction nozzle mechanism 30 and the product is larger, resulting in better product adsorption. The adjustment mechanism 40 connected to the vision mechanism 20 can adjust the optical axis of the vision mechanism 20 to be perpendicular to the first plane. When the optical axis is perpendicular to the first plane, the vision mechanism 20 can capture images of the product at a better angle, resulting in better image capture. Compared with the prior art, the method of adjusting the suction nozzle mechanism 30 and / or the vision mechanism 20 via the adjustment mechanism 40 in this application does not require disassembling the suction nozzle mechanism 30 and / or the vision mechanism 20 from the mounting structure 10 for adjustment, saving time and effort.

[0064] Furthermore, the conveying device 100 also includes a controller, and the vision mechanism 20 and the suction nozzle mechanism 30 are both electrically connected to the controller, which can control the operation of the vision mechanism 20 and the suction nozzle mechanism 30.

[0065] It is conceivable that in other embodiments, the conveying device 100 may not include a controller, but the vision mechanism 20 and the suction mechanism 30 may be controlled by a controller of the conveying system including the conveying device 100, which is not limited here.

[0066] In some embodiments, see further reference. Figure 1 The mounting structure 10 includes a drive mechanism 11 and a mounting base 12, with both the drive mechanism 11 and the suction nozzle mechanism 30 mounted on the mounting base 12. The vision mechanism 20 is connected to the drive mechanism 11, which drives the vision mechanism 20 to move along a third direction Z. The third direction Z intersects with a first plane. Specifically, the third direction Z is perpendicular to the first plane.

[0067] Since the conveying device 100 can move products from one workstation to another, it is necessary to adjust the position of the vision mechanism 20 in the third direction Z to adapt to the workstations located at different positions in the third direction Z. By setting the mounting structure 10 to include a drive mechanism 11, which drives the vision mechanism 20 to move along the third direction Z, it is easy to adjust the position of the vision mechanism 20 in the third direction Z to adapt to the imaging and inspection of products at different workstations.

[0068] In some embodiments, the mounting base 12 is composed of multiple mounting plates. It is understood that in other embodiments, the specific structure of the mounting base 12 is not limited, as long as it can enable the installation of the drive mechanism 11 and the suction nozzle mechanism 30.

[0069] In some embodiments, the drive mechanism 11 is a linear module, which drives the vision mechanism 20 to move along the third direction Z. It should be understood that in other embodiments, the structure of the drive mechanism 11 is not limited, and the drive mechanism 11 is configured as long as it can achieve the effect of driving the vision mechanism 20 to move along the third direction Z.

[0070] See Figure 2 and Figure 3 The conveying device 100 also includes a light source 50, which is also connected to the linear module. The light source 50 is positioned opposite the lens 22 along the third direction Z to provide supplementary lighting for the camera 21. When the vision mechanism 20 moves along the third direction Z, the light source 50 moves synchronously with the vision mechanism 20.

[0071] In some embodiments, the adjustment mechanism 40 is used to adjust the rotation of the nozzle mechanism 30 or the vision mechanism 20 relative to the mounting structure 10 about a first axis and a second axis. That is, the adjustment mechanism 40 connected to the nozzle mechanism 30 adjusts the rotation of the nozzle mechanism 30 relative to the mounting structure 10 about the first axis and the second axis, and the adjustment mechanism 40 connected to the vision mechanism 20 adjusts the rotation of the vision mechanism 20 relative to the mounting structure 10 about the first axis and the second axis. The first axis extends along a first direction X, and the second axis extends along a second direction Y. The first direction X and the second direction Y intersect and are both parallel to the first plane.

[0072] It should be noted that when both the suction mechanism 30 and the vision mechanism 20 are provided with an adjustment mechanism 40, the first axis corresponding to the suction mechanism 30 and the vision mechanism 20 can be the same axis or two parallel axes, and the second axis corresponding to the suction mechanism 30 and the vision mechanism 20 can be the same axis or two parallel axes.

[0073] With the above configuration, the adjustment mechanism 40 can easily adjust the suction surface 31 to be parallel to the first plane by adjusting the suction nozzle mechanism 30 to rotate relative to the mounting structure 10 around the first axis and the second axis. Furthermore, the adjustment mechanism 40 can easily adjust the optical axis of the vision mechanism 20 to be perpendicular to the first plane by adjusting the vision mechanism 20 to rotate relative to the mounting structure 10 around the first axis and the second axis.

[0074] Of course, in other embodiments, the adjustment mechanism 40 may also adjust the adsorption surface 31 to be parallel to the first plane in other ways, and adjust the optical axis of the vision mechanism 20 to be parallel to the first plane in other ways, which is not limited here.

[0075] See Figure 4 and Figure 5 The adjustment mechanism 40 includes a first adjustment plate 41, a second adjustment plate 42, a first rotating shaft 43, and a second rotating shaft 44. The first adjustment plate 41 is connected to the vision mechanism 20 or the suction nozzle mechanism 30, and the second adjustment plate 42 connects the first adjustment plate 41 and the mounting structure 10. (See reference...) Figures 5-8 A first rotating shaft 43 extends along a first direction X, and a second rotating shaft 44 extends along a second direction Y. The first rotating shaft 43 passes through a first adjusting plate 41 and a second adjusting plate 42, and the second rotating shaft 44 passes through a second adjusting plate 42 and a drive mechanism 11. The first adjusting plate 41 rotates relative to the second adjusting plate 42 about a first axis via the first rotating shaft 43, and the second adjusting plate 42 rotates relative to the mounting structure 10 about a second axis via the second rotating shaft 44.

[0076] With the above configuration, since the first adjustment plate 41 is connected to the vision mechanism 20 or the suction nozzle mechanism 30, when the first adjustment plate 41 rotates relative to the second adjustment plate 42 via the first rotating shaft 43, the vision mechanism 20 or the suction nozzle mechanism 30 can rotate relative to the mounting structure 10 around the first axis. When the second adjustment plate 42 rotates relative to the mounting structure 10 via the second rotating shaft 44, the vision mechanism 20 or the suction nozzle mechanism 30 can rotate around the second axis, so as to facilitate adjusting the adsorption surface 31 to be parallel to the first plane or the optical axis to be perpendicular to the first plane.

[0077] Optionally, please continue reading Figure 5 and Figure 6The first adjustment plate 41 includes a first socket 411 and a second socket 412. The first socket 411 is sleeved on the outside of the camera 21, and the second socket 412 is sleeved on the outside of the lens 22, thereby improving the stability of the camera 21 and the lens 22.

[0078] In some embodiments, see further reference. Figure 5 and Figure 9 The adjusting mechanism 40 also includes a first eccentric pin 45 arranged parallel to the first rotating shaft 43. The first eccentric pin 45 includes two eccentrically arranged first through portions 451, which are respectively rotatably disposed within the first adjusting plate 41 and the second adjusting plate 42. Because the two first through portions 451 of the first eccentric pin 45 are eccentrically arranged, when the first eccentric pin 45 is rotated, it causes the first adjusting plate 41 to rotate relative to the second adjusting plate 42 around the first axis.

[0079] Further reading Figure 5 The adjusting mechanism 40 also includes a second eccentric pin 46 arranged parallel to the second rotating shaft 44. The second eccentric pin 46 includes two eccentrically arranged second through-parts (the structure can be referred to). Figure 9 The two second through-holes are respectively rotatably disposed within the second adjusting plate 42 and the mounting structure 10. Because the two second through-holes of the second eccentric pin 46 are eccentrically disposed, when the second eccentric pin 46 is rotated, the second eccentric pin 46 causes the second adjusting plate 42 to rotate relative to the mounting structure 10 around the second axis.

[0080] In other embodiments, see Figures 10-13 The adjustment mechanism 40 further includes a first adjusting member 47 and a first fixing member 48. The first adjusting member 47 is screwed into one of the first adjusting plate 41 and the second adjusting plate 42 along the second direction Y, and its end face abuts against the other. The first fixing member 48 includes a first rod portion and a first head. The first rod portion passes through the first adjusting plate 41 and the second adjusting plate 42 along the second direction Y. The first head is connected to one end of the first rod portion. The first rod portion is screwed into one of the first adjusting plate 41 and the second adjusting plate 42 that is away from the first head, and is clearance-fitted to the other, with the first head able to abut against and fix it.

[0081] In the above configuration, when the first adjusting plate 41 needs to rotate in the forward direction relative to the second adjusting plate 42 around the first axis, the first fixing member 48 is loosened, and the first adjusting member 47, which is screwed onto one of the first adjusting plates 41 and 42, is tightened. The end face of the first adjusting member 47 applies force to the other of the first adjusting plate 41 and 42, causing the first adjusting plate 41 to rotate around the first axis relative to the second adjusting plate 42. After the positions of the first adjusting plate 41 and 42 are adjusted, the first fixing member 48 is tightened to fix the first adjusting plate 41 and 42. When the first adjusting plate 41 needs to rotate in the reverse direction relative to the second adjusting plate 42 around the first axis, the first adjusting member 47, which is screwed onto one of the first adjusting plate 41 and 42, is tightened away from the other of the first adjusting plate 41 and 42, and the first fixing member 48 is tightened to fix the first adjusting plate 41 and 42.

[0082] Continue reading Figure 10 and Figure 11 The adjustment mechanism 40 also includes a second adjustment member 49 and a second fixing member 410. The second adjustment member 49 is screwed into one of the second adjustment plate 42 and the mounting structure 10 along the first direction X, and its end face abuts against the other. The second fixing member 410 includes a second rod portion 4101 and a second head portion 4102. The second rod portion 4101 passes through the second adjustment plate 42 and the mounting structure 10 along the first direction X. The second head portion 4102 is connected to one end of the second rod portion 4101. The second rod portion 4101 is screwed into one of the second adjustment plate 42 and the mounting structure 10 that is away from the second head portion, and is clearance-fitted with the other portion, and the second head portion 4102 can abut against and fix it.

[0083] In the above configuration, when the second adjusting plate 42 needs to rotate forward relative to the mounting structure 10 around the second axis, the second fixing member 410 is loosened, and the second adjusting member 49, which is screwed into one of the second adjusting plate 42 and the mounting structure 10, is tightened. The end face of the second adjusting member 49 applies force to the other of the two components, causing the second adjusting plate 42 to rotate relative to the mounting structure 10 around the second axis. After the positions of the second adjusting plate 42 and the mounting structure 10 are adjusted, the second fixing member 410 is tightened to fix the second adjusting plate 42 and the mounting structure 10. When the second adjusting plate 42 needs to rotate in the opposite direction relative to the mounting structure 10 around the second axis, the second adjusting member 49, which is screwed into one of the two components, is tightened, with the end face of the second adjusting member 49 away from the other component. The second fixing member 410 is then tightened to fix the second adjusting plate 42 and the mounting structure 10.

[0084] In some specific embodiments, the adjustment mechanism 40 connected to the vision mechanism 20 includes a first adjustment plate 41, a second adjustment plate 42, a first rotating shaft 43, a second rotating shaft 44, a first eccentric pin 45, and a second eccentric pin 46. The optical axis of the vision mechanism 20 is adjusted to be perpendicular to the first plane through the cooperation of these components. The adjustment mechanism 40 connected to the suction nozzle mechanism 30 includes a first adjustment plate 41, a second adjustment plate 42, a first rotating shaft 43, a second rotating shaft 44, a first adjustment member 47, a first fixing member 48, a second adjustment member 49, and a second fixing member 410. The suction surface 31 of the suction nozzle mechanism 30 is adjusted to be parallel to the first plane through the cooperation of these components.

[0085] It should be understood that in other embodiments, the adjustment mechanism 40 can be modified accordingly, such as by setting the adjustment mechanism 40 to include a first adjustment plate 41, a second adjustment plate 42, a first rotating shaft 43, a second rotating shaft 44, a first eccentric pin 45, a second adjustment member 49, and a second fixing member 410, so that the optical axis of the vision mechanism 20 is adjusted to be perpendicular to the first plane or the suction surface 31 of the suction nozzle mechanism 30 is adjusted to be parallel to the first plane through the cooperation of each component.

[0086] In some embodiments, see further reference. Figure 2 The conveying device 100 includes two suction nozzle mechanisms 30, which are distributed on both sides of the vision mechanism 20 along a first direction X. By including two suction nozzle mechanisms 30 in the conveying device 100, the conveying device 100 can simultaneously convey multiple products, thereby improving work efficiency.

[0087] Specifically, when the conveying device 100 includes two suction nozzle mechanisms 30, each suction nozzle mechanism 30 is connected to the mounting structure 10 through an adjustment mechanism 40. The adjustment mechanism 40 is used to adjust the adsorption surface 31 of its corresponding suction nozzle mechanism 30 to be parallel to the first plane.

[0088] It is conceivable that in other embodiments, the conveying device 100 may also be provided with only one suction nozzle mechanism 30 or more than two suction nozzle mechanisms 30, which is not limited here.

[0089] Further reading Figure 1 The suction nozzle mechanism 30 includes a first drive assembly 32 and a suction nozzle assembly 33 connected to each other. The first drive assembly 32 is connected to the mounting structure 10, and the suction nozzle assembly 33 is connected to the first drive assembly 32. An adsorption surface 31 is formed on the suction nozzle assembly 33. The first drive assembly 32 is used to drive the suction nozzle assembly 33 to move along a third direction Z to pick up and place products and to rotate about a third axis extending along the third direction Z. The third direction Z intersects with a first plane. Specifically, the third direction Z is perpendicular to the first plane. At this time, the first direction X, the second direction Y, and the third direction Z are all perpendicular to each other.

[0090] When the nozzle assembly 33 needs to pick up a product, the first drive assembly 32 drives the nozzle assembly 33 to approach the product to pick it up. When picking up the product requires transferring it from one station to another, the first drive assembly 32 drives the nozzle assembly 33 to move in the opposite direction, so that the nozzle assembly 33 avoids other structures during the product transfer process. Furthermore, since the first drive assembly 32 can also drive the nozzle assembly 33 to rotate around a third axis, it is convenient for the nozzle assembly 33 to place the product on the station in the correct posture.

[0091] Optionally, the nozzle assembly 33 is pluggably mounted on the first drive assembly 32 along the third direction Z to facilitate the replacement of the nozzle assembly 33.

[0092] In some embodiments, see Figure 3 and Figure 14 The first drive assembly 32 includes a housing 321, a drive member, and a venting member 322. The housing 321 is connected to the mounting structure 10, and both the drive member and the venting member 322 are mounted on the housing 321. The suction nozzle assembly 33 is mounted on the venting member 322 and communicates with its internal airflow channel. Specifically, the conveying device 100 also includes a vacuum generator 60, and the airflow channel communicates with the vacuum generator 60 to create a vacuum state within the suction nozzle assembly 33 to adsorb the product. The drive member drives the venting member 322 to move along a third direction Z and rotate about a third axis.

[0093] With the above configuration, the driving component can not only drive the nozzle assembly 33 to move along the third direction Z and rotate around the third axis through the vent 322, but the vent 322 can also connect the nozzle assembly 33 with the vacuum generator 60 so as to form a vacuum state inside the nozzle assembly 33.

[0094] The venting component 322 has a rod-shaped structure. The nozzle assembly 33 can be directly connected to the venting component 322 or connected to the venting component 322 through an intermediate connector.

[0095] In some specific embodiments, the nozzle assembly 33 is connected to the vent 322 via an intermediate connector. See also... Figure 3 and Figure 14The intermediate connecting component includes a connecting rod 341, a first anti-drop sleeve 342, and a second anti-drop sleeve 343. One end of the connecting rod 341 is sleeved on the outside of the venting component 322. A first set screw 344 passes through the connecting rod 341 and the venting component 322 to fix them together. The first anti-drop sleeve 342 is sleeved on the outside of the connecting rod 341 to cover the first set screw 344 and prevent it from falling off. The suction nozzle assembly 33 includes a suction nozzle rod 331 and a suction nozzle 332. The suction nozzle 332 is connected to the suction nozzle rod 331 and is used to adsorb products. An adsorption surface 31 is formed on the suction nozzle 332. The suction nozzle 332 can be made of materials such as rubber. The suction rod 331 is sleeved inside the other end of the connecting rod 341. The second set screw 345 passes through the connecting rod 341 and the suction rod 331 to fix them. The second anti-drop sleeve 343 is sleeved outside the connecting rod 341 to cover the second set screw 345 and prevent the second set screw 345 from falling off.

[0096] When it is necessary to replace the nozzle assembly 33, first remove the second anti-drop sleeve 343 and the second set screw 345, pull the nozzle rod 331 out of the connecting rod 341, and then insert the new nozzle assembly 33 into the connecting rod 341.

[0097] The conveying device 100 provided in this application embodiment has the following beneficial effects:

[0098] 1. The adjustment mechanism 40 connected to the vision mechanism 20 can adjust the vision mechanism 20 to rotate relative to the mounting structure 10 around the first axis and the second axis, so as to adjust the optical axis of the vision mechanism 20 to be perpendicular to the first plane and improve the shooting effect; the adjustment mechanism 40 connected to the suction nozzle mechanism 30 can adjust the suction nozzle mechanism 30 to rotate relative to the mounting structure 10 around the first axis and the second axis, so as to adjust the suction surface 31 of the suction nozzle mechanism 30 to be parallel to the first plane and improve the suction effect.

[0099] 2. The nozzle assembly 33 is connected to the first drive assembly 32 by plugging and unplugging to facilitate quick replacement of the nozzle assembly 33.

[0100] 3. The vision mechanism 20 is equipped with suction nozzle mechanisms 30 on both sides of the first direction X to increase the number of products transported by the handling device 100 each time and improve work efficiency.

[0101] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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.

[0102] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A conveying device, characterized in that, include: Installation structure (10); The vision mechanism (20) and the suction nozzle mechanism (30) are both mounted on the mounting structure (10); An adjustment mechanism (40) is provided, wherein at least one of the nozzle mechanism (30) and the vision mechanism (20) is adjustable in position between the adjustment mechanism (40) and the mounting structure (10); The adjustment mechanism (40) connected to the suction nozzle mechanism (30) is used to adjust the suction surface (31) of the suction nozzle mechanism (30) to be parallel to the first plane; The adjustment mechanism (40) connected to the vision mechanism (20) is used to adjust the optical axis of the vision mechanism (20) to be perpendicular to the first plane.

2. The conveying device according to claim 1, characterized in that, The adjustment mechanism (40) is used to adjust the suction nozzle mechanism (30) or the vision mechanism (20) to rotate relative to the mounting structure (10) about a first axis and a second axis; The first axis extends along a first direction (X), and the second axis extends along a second direction (Y); The first direction (X) and the second direction (Y) intersect and are both parallel to the first plane.

3. The conveying device according to claim 2, characterized in that, The adjustment mechanism (40) includes a first adjustment plate (41), a second adjustment plate (42), a first rotating shaft (43), and a second rotating shaft (44). The first adjustment plate (41) is connected to the suction nozzle mechanism (30) or the vision mechanism (20), and the second adjustment plate (42) is connected to the first adjustment plate (41) and the mounting structure (10). The first rotating shaft (43) extends along the first direction (X), and the second rotating shaft (44) extends along the second direction (Y); The first adjusting plate (41) rotates about the first axis relative to the second adjusting plate (42) via the first rotating shaft (43), and the second adjusting plate (42) rotates about the second axis relative to the mounting structure (10) via the second rotating shaft (44).

4. The conveying device according to claim 3, characterized in that, The adjustment mechanism (40) further includes a first eccentric pin (45) arranged parallel to the first rotating shaft (43). The first eccentric pin (45) includes two eccentrically arranged first through parts (451), and the two first through parts (451) are respectively rotatably disposed in the first adjustment plate (41) and the second adjustment plate (42). and / or The adjustment mechanism (40) further includes a second eccentric pin (46) arranged parallel to the second rotating shaft (44). The second eccentric pin (46) includes two eccentrically arranged second through parts, which are respectively rotatably disposed within the second adjustment plate (42) and the mounting structure (10).

5. The conveying device according to claim 3, characterized in that, The adjustment mechanism (40) further includes a first adjustment member (47) and a first fixing member (48). The first adjustment member (47) is screwed into one of the first adjustment plate (41) and the second adjustment plate (42) along the second direction (Y), and its end face abuts against the other. The first fixing member (48) includes a first rod and a first head. The first rod passes through the first adjustment plate (41) and the second adjustment plate (42) along the second direction (Y). The first head is connected to one end of the first rod. The first rod is screwed into one of the first adjustment plate (41) and the second adjustment plate (42) away from the first head, and is clearance-fitted to the other, and the first head can abut against and fix it to that other. and / or The adjustment mechanism (40) further includes a second adjustment member (49) and a second fixing member (410). The second adjustment member (49) is screwed into one of the second adjustment plate (42) and the mounting structure (10) along the first direction (X), with its end face abutting against the other. The second fixing member (410) includes a second rod portion (4101) and a second head (4102). The second rod portion (4101) passes through the second adjustment plate (42) and the mounting structure (10) along the first direction (X). The second head (4102) is connected to one end of the second rod portion (4101). The second rod portion (4101) is screwed into one of the second adjustment plate (42) and the mounting structure (10) away from the second head, and is clearance-fitted with the other, with the second head (4102) able to abut against and be fixed to that other.

6. The conveying device according to claim 1, characterized in that, The mounting structure (10) includes a drive mechanism (11) and a mounting base (12), wherein the drive mechanism (11) and the suction nozzle mechanism (30) are both mounted on the mounting base (12); The vision mechanism (20) is connected to the driving mechanism (11), and the driving mechanism (11) is used to drive the vision mechanism (20) to move along a third direction (Z); The third direction (Z) intersects with the first plane.

7. The conveying device according to claim 1, characterized in that, The conveying device includes two suction nozzle mechanisms (30), which are distributed along a first direction (X) on both sides of the vision mechanism (20); The first direction (X) is parallel to the first plane.

8. The conveying device according to claim 1, characterized in that, The suction nozzle mechanism (30) includes a first drive assembly (32) and a suction nozzle assembly (33) connected to each other. The first drive assembly (32) is connected to the mounting structure (10). The suction surface (31) is formed on the suction nozzle assembly (33). The first drive assembly (32) is used to drive the suction nozzle assembly (33) to move along a third direction (Z) to pick up and put down products and to rotate about a third axis extending along the third direction (Z). The third direction (Z) intersects with the first plane.

9. The conveying device according to claim 8, characterized in that, The nozzle assembly (33) is pluggably mounted on the first drive assembly (32) along the third direction (Z).

10. The conveying device according to claim 9, characterized in that, The first drive assembly (32) includes a housing (321), a drive member and a vent (322). The housing (321) is connected to the mounting structure (10). The drive member and the vent (322) are both mounted on the housing (321). The nozzle assembly (33) is mounted on the vent (322) and communicates with the airflow channel inside it. The drive unit is used to drive the vent (322) to move along the third direction (Z) and rotate about the third axis.

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