Material taking and discharging device, material taking and discharging module, automatic processing equipment and automatic processing method

Abstract

The present invention provides a material taking and discharging device, a material taking and discharging module, an automatic processing device and an automatic processing method. The material taking and discharging device comprises a support plate, a plurality of mounting seats slidably mounted on the guide rod support plate, each guide rod mounting seat is mounted with a suction member, and a limited position connecting member is movably mounted between two adjacent guide rod mounting seats; and further comprises a telescopic driving member, the guide rod telescopic driving member is connected to an outer guide rod mounting seat, so as to adjust the distance between two adjacent guide rod mounting seats through the guide rod telescopic driving member and the guide rod limited position connecting member. The material taking and discharging device can automatically change the distance between workpieces, overcomes the problem that the material taking distance of the material tray and the material discharging distance of the processing tooling do not match, and the material taking and discharging automation cannot be realized, which is conducive to realizing automation.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic workpiece processing, and in particular to a material taking and placing device, a material taking and placing module, automatic processing equipment and an automatic processing method. Background Art

[0002] At present, for some small-sized precision structural parts, due to the small size of this type of parts, the equipment processing time is short, and multiple workpieces can be clamped at one time during processing and processed simultaneously; due to the small size of such structural parts, it is not easy to pick and place manually, and the clamping is cumbersome and time-consuming, and it is easy to cause the workpiece to be scrapped; automatic loading is generally used to solve the problem of long loading and unloading time. Since the workpiece tray needs to hold as many workpieces as possible, this requires that the spacing between the workpieces on the tray is as small as possible, and the workpiece is limited by the problem of picking and placing and processing tools when processing on the tooling. The spacing cannot be too small, resulting in a mismatch between the picking and unloading spacing, and the inability to directly realize the automation of picking and unloading.

[0003] In view of this, it is necessary to provide a new material picking and placing device, material picking and placing module, automatic processing equipment and automatic processing method to solve or at least alleviate the above-mentioned technical defects. Summary of the invention

[0004] The main purpose of the present invention is to provide a material picking and unloading device, a material picking and unloading module, automatic processing equipment and an automatic processing method, aiming to solve the technical problem in the prior art that the material picking spacing of the material tray and the material unloading spacing of the processing tooling do not match, and the automatic picking and unloading of the materials cannot be realized.

[0005] To achieve the above object, according to one aspect of the present invention, the present invention provides a material taking and placing device, comprising a support plate, a plurality of mounting seats slidably mounted on the support plate, each of the mounting seats being mounted with a suction member, and a limited position connecting member being movably mounted between two adjacent mounting seats;

[0006] A telescopic driving member is connected to one of the outer mounting seats so as to adjust the distance between two adjacent mounting seats through the telescopic driving member and the limiting connecting member.

[0007] In one embodiment, the mounting seat includes two second mounting seats arranged on both sides and a first mounting seat arranged between the two second mounting seats, a first limiting groove is arranged on the first mounting seat, the first limiting groove extends along the driving direction of the telescopic driving member, the first limiting groove includes a first clamping sub-groove and two first sliding sub-grooves respectively arranged on both sides of the first clamping sub-groove and respectively connected to the first clamping sub-groove, the width of the first clamping sub-groove is greater than the width of the first sliding sub-groove, and the two first sliding sub-grooves respectively penetrate the two side walls of the first mounting seat along the moving direction of the telescopic driving member.

[0008] In one embodiment, the first clamping sub-groove includes a sliding portion and clamping portions respectively disposed on both sides of the sliding portion, and a width of the clamping portion is greater than a width of the sliding portion.

[0009] In one embodiment, the limiting connecting member includes a sliding rod and two clamping ends respectively arranged at both ends of the sliding rod, and the two clamping ends are respectively slidably installed in the first clamping sub-grooves of two adjacent first mounting seats, and the sliding rod is slidably installed in the first sliding sub-grooves of the two adjacent first mounting seats.

[0010] In one embodiment, a second limiting groove is provided on the second mounting seat, and the second limiting groove extends along the driving direction of the telescopic driving member. The second limiting groove includes a second clamping sub-groove and a second sliding sub-groove connected to the second clamping sub-groove, and the second sliding sub-groove is arranged close to the first sliding sub-groove. The width of the second clamping sub-groove is greater than the width of the second sliding sub-groove, and the second sliding sub-groove passes through the side wall of the second mounting seat along the moving direction of the telescopic driving member.

[0011] In one embodiment, the limiting connecting member includes a sliding rod and two clamping ends respectively arranged at both ends of the sliding rod, and the two clamping ends can be slidably installed in the adjacent first clamping sub-groove and the second clamping sub-groove, and the sliding rod can be slidably installed in the adjacent first sliding sub-groove and the second sliding sub-groove.

[0012] In one embodiment, the material taking and placing device further comprises a protective plate, wherein the protective plate cover is arranged on the first limiting groove, and / or the protective plate cover is arranged on the second limiting groove.

[0013] In one embodiment, the limiting connector is an I-shaped connector.

[0014] In one embodiment, the material taking and placing device further comprises a guide rod, and the guide rod passes through each of the mounting seats in sequence, and the central axis direction of the guide rod is the same as the moving direction of the telescopic driving member.

[0015] In one embodiment, the material taking and placing device further comprises a connecting block, one side of which is connected to the telescopic driving member, and the other side of which is connected to one of the mounting seats on the outside.

[0016] In one embodiment, the suction member is a suction cup.

[0017] According to another aspect of the present invention, the present invention also provides a material picking and placing module, which includes a mounting frame and a clamping member and a pressing member respectively connected to the mounting frame, and also includes the above-mentioned material picking and placing device, which is installed on the mounting frame.

[0018] In one embodiment, the clamping member includes a clamping cylinder and a first clamp connected to the clamping cylinder, and the pressing member includes a pressing cylinder and a second clamp connected to the pressing cylinder, and the second clamp is used to install a pressing plate.

[0019] According to another aspect of the present invention, the present invention further provides an automatic processing equipment, which includes a processing tool and a material placing tool, and also includes the above-mentioned material taking and placing module.

[0020] In addition, the present invention also provides an automatic processing method, which comprises the following steps:

[0021] Control the telescopic driving member to extend and drive the mounting seats to be close together, so that the distance between two adjacent mounting seats reaches a first preset value;

[0022] Control the suction piece of the material picking and unloading device to suck the workpiece to be processed from the unloading tooling;

[0023] Controlling the telescopic driving member to retract, driving the mounting seats to move away from each other, so that the distance between two adjacent mounting seats reaches a second preset value;

[0024] The suction member of the material taking and placing device is controlled to place the workpiece to be processed into a processing tool.

[0025] In one embodiment, after the step of controlling the suction member of the material picking and placing device to place the workpiece to be processed into the processing tool, the method further includes:

[0026] The mounting frame is controlled to rotate until the clamping member faces the processing tooling, and the clamping cylinder is controlled to drive the second chuck to move toward the processing tooling, so that the clamping plate on the second chuck clamps the workpiece to be processed.

[0027] In one embodiment, after the step of causing the clamping plate on the second chuck to clamp the workpiece to be processed, the step further includes:

[0028] Control the suction member of the material picking and placing device to transfer the processed workpiece from the processing tool to the material tray of the material placing tool;

[0029] The mounting frame is controlled to rotate until the clamping member faces the material discharging tooling, and the clamping member is controlled to clamp the material tray and transfer it to a processing completion position.

[0030] In the above scheme, the material taking and placing device includes a support plate, a plurality of mounting seats slidably mounted on the guide rod support plate, each guide rod mounting seat is equipped with a suction piece, and a limit connection piece is movably installed between two adjacent guide rod mounting seats; and further includes a telescopic driving member, the guide rod telescopic driving member is connected to an outer guide rod mounting seat, so as to adjust the distance between two adjacent guide rod mounting seats through the guide rod telescopic driving member and the guide rod limit connection piece. When it is necessary to take the workpiece from the material tray, the telescopic driving member extends to press the plurality of mounting seats together, reduce the distance between the adjacent mounting seats, and also reduce the distance between the suction pieces, and then take multiple workpieces from the material tray at one time; when it is necessary to put the workpiece on the suction piece onto the processing tool, the telescopic driving member is controlled to retract, and the mounting seats are pulled away from each other under the action of the limit connection piece, thereby increasing the distance between the mounting seats, and also increasing the distance between the workpieces, so as to facilitate the workpiece to be placed on the processing tool with a larger distance. The invention can automatically change the spacing between workpieces, thus overcoming the problem of mismatch between the material picking spacing of the material tray and the material discharging spacing of the processing tooling, which makes it impossible to realize the automation of material picking and discharging, and is conducive to realizing automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0032] Figure 1 It is a structural schematic diagram of a material taking and placing device from one perspective according to an embodiment of the present invention;

[0033] Figure 2 A schematic structural diagram of a material taking and placing device from another perspective according to an embodiment of the present invention;

[0034] Figure 3 A schematic cross-sectional structure diagram of a material taking and placing device according to an embodiment of the present invention;

[0035] Figure 4 Another cross-sectional structural schematic diagram of the material taking and placing device according to an embodiment of the present invention;

[0036] Figure 5It is a structural schematic diagram of the material taking and discharging device in the material taking state according to an embodiment of the present invention;

[0037] Figure 6 It is a structural schematic diagram of the material discharging device in the discharging state according to an embodiment of the present invention;

[0038] Figure 7 It is a schematic structural diagram of a first mounting seat, a second mounting seat and a limiting connecting member of a material taking and placing device according to an embodiment of the present invention;

[0039] Figure 8 It is a schematic structural diagram of a position-limiting connector of a material taking and placing device according to an embodiment of the present invention;

[0040] Fig. 9 This is a structural schematic diagram of a material loading and unloading module according to another embodiment of the present invention;

[0041] Fig.10 It is a structural schematic diagram of a pressing member of a material taking and placing module according to another embodiment of the present invention;

[0042] Fig.11 It is a schematic structural diagram of a clamping member of a material taking and placing module according to another embodiment of the present invention;

[0043] Fig.12 It is a partial structural schematic diagram of an automatic processing equipment according to another embodiment of the present invention;

[0044] Fig.13 A schematic flow chart of a first embodiment of an automatic processing method according to another embodiment of the present invention;

[0045] Fig.14 A schematic flow chart of a second embodiment of an automatic processing method according to another embodiment of the present invention;

[0046] Fig.15 This is a schematic flow chart of a third embodiment of an automatic processing method according to yet another embodiment of the present invention.

[0047] Description of Figure Numbers:

[0048] 100, material taking and unloading device; 200, mounting frame; 300, clamping member; 301, clamping cylinder; 302, second chuck; 400, clamping member; 401, clamping cylinder; 402, first chuck; 500, processing tooling; 600, material unloading tooling; 700, flange plate; 800, material tray; 900, clamping plate; 1000, material taking and unloading module; 1, first mounting seat; 2, second mounting seat; 3 , first limiting groove; 31, first snap-fitting sub-groove; 311, sliding part; 312, snap-fitting part; 32, first sliding sub-groove; 4, second limiting groove; 41, second snap-fitting sub-groove; 42, second sliding sub-groove; 5, limiting connecting piece; 51, snap-fitting end; 52, sliding rod; 6, suction piece; 7, telescopic driving piece; 71, telescopic shaft; 8, protective plate; 9, guide rod; 10, connecting block; 11, support plate.

[0049] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with the implementation methods and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] It should be noted that all directional indications (such as up, down, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0052] In addition, in the present invention, the descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0053] Furthermore, the technical solutions between the various embodiments of the present invention may be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in the field. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0054] See also Figure 1-Figure 8According to one aspect of the present invention, the present invention provides a material picking and placing device 100, including a support plate 11, a plurality of mounting seats slidably mounted on the support plate 11, each mounting seat is equipped with a suction member 6, and a limiting connection member 5 is movably installed between two adjacent mounting seats; it also includes a telescopic driving member 7, the telescopic driving member 7 is connected to an outer mounting seat, so as to adjust the distance between two adjacent mounting seats through the telescopic driving member 7 and the limiting connection member 5.

[0055] The suction member 6 is used to suck the workpiece, and multiple mounting seats are provided. Each mounting seat is provided with at least one suction member 6, which can suck multiple workpieces at the same time to meet the needs of batch processing of small workpieces. Since the workpiece tray 800 requires as many workpieces as possible, this requires that the spacing between the workpieces on the tray 800 is as small as possible; and the workpiece is limited by the problem of taking and placing and processing tools when it is processed on the processing tool 500, the spacing cannot be too small, and the spacing on the processing tool 500 needs to be larger than the spacing of the tray 800. In the above embodiment, when it is necessary to take the workpiece from the tray 800, the telescopic drive member 7 extends to press the multiple mounting seats together, reduce the spacing between adjacent mounting seats, and also reduce the spacing between the suction members 6, and then take multiple workpieces from the tray 800 at a time; when it is necessary to put the workpiece on the suction member 6 on the processing tool 500, the telescopic drive member 7 is controlled to retract, and the mounting seats are pulled away from each other under the action of the limit connector 5, thereby increasing the spacing between the mounting seats, and also increasing the spacing between the workpieces, so as to facilitate the workpiece to be placed on the processing tool 500 with a larger spacing. This embodiment can automatically change the spacing between workpieces, overcome the problem that the material picking spacing of the material tray 800 and the material discharging spacing of the processing tool 500 do not match, and cannot realize the problem of automatic picking and discharging, which is conducive to realizing automation. The suction member 6 can be a suction cup or a vacuum suction cup, and of course it can also be other clamping structures for clamping workpieces.

[0056] Reference Figure 1-Figure 4 and Figure 7 , Figure 8In one embodiment, the mounting seat includes two second mounting seats 2 arranged on both sides and a first mounting seat 1 arranged between the two second mounting seats 2. The number of the first mounting seats 1 can be multiple. The first mounting seat 1 is provided with a first limiting groove 3. The first limiting groove 3 extends along the driving direction of the telescopic driving member 7. The first limiting groove 3 includes a first clamping sub-groove 31 and two first sliding sub-grooves 32 respectively arranged on both sides of the first clamping sub-groove 31 and respectively connected to the first clamping sub-groove 31. The width of the first clamping sub-groove 31 is greater than the width of the first sliding sub-groove 32. The two first sliding sub-grooves 32 respectively penetrate the two side walls of the first mounting seat 1 along the moving direction of the telescopic driving member 7. The limiting connecting member 5 includes a sliding rod 52 and two clamping ends 51 respectively arranged at both ends of the sliding rod 52. The two clamping ends 51 are respectively slidably installed in the first clamping sub-grooves 31 of two adjacent first mounting seats 1. ·, refer to Figure 5 Specifically, the first clamping sub-groove 31 includes a sliding portion 311 and clamping portions 312 respectively disposed on both sides of the sliding portion 311 , and the width of the clamping portion 312 is greater than the width of the sliding portion 311 .

[0057] Please continue to refer to Figure 1-Figure 4 and Figure 7 , Figure 8 In one embodiment, a second limiting groove 4 is provided on the second mounting seat 2, and the second limiting groove 4 extends along the driving direction of the telescopic driving member. The second limiting groove 4 includes a second clamping sub-groove 41 and a second sliding sub-groove 42 connected to the second clamping sub-groove 41, and the second sliding sub-groove 42 is arranged close to the first sliding sub-groove 32. The width of the second clamping sub-groove 41 is greater than the width of the second sliding sub-groove 42, and the second sliding sub-groove 42 passes through the side wall of the second mounting seat 2 along the moving direction of the telescopic driving member 7. The limiting connecting member 5 includes a sliding rod 52 and two clamping ends 51 respectively arranged at both ends of the sliding rod 52, and the two clamping ends 51 are slidably installed in the adjacent first clamping sub-groove 31 and the second clamping sub-groove 41, and the sliding rod 52 is slidably installed in the adjacent first sliding sub-groove 32 and the second sliding sub-groove 42. Assuming that in the initial state, the telescopic shaft 71 of the telescopic driving member 7 is in an extended state, and the adjacent mounting seats are in a position close together. At this time, a right clamping end 51 is clamped in the second clamping sub-slot 41. When the telescopic shaft 71 of the telescopic driving member 7 is retracted, the telescopic driving member 7 drives an adjacent second mounting seat 2 to move together, so that the distance between the second mounting seat 2 and the first mounting seat 1 adjacent to the second mounting seat 2 increases. At the same time, the limiting connecting member 5 slides in the first limiting slot 3. When the clamping end 51 slides to the left and is clamped with the first clamping sub-slot 31, both ends of the limiting connecting member 5 are clamped and cannot slide anymore. Refer to Figure 6, which corresponds to the discharge state of the material discharging device. At this time, the distance between the first mounting seat 1 and the second mounting seat 2 reaches the maximum value, which means that the distance between the sucked workpieces has been increased to the right position, which plays a role in limiting and positioning the maximum distance. Conversely, when the distance between the mounting seats needs to be reduced, it is only necessary to extend the telescopic shaft 71 of the telescopic drive member 7 to reduce the distance between the mounting seats to 0, thereby playing a role in positioning and limiting the minimum distance. Figure 5 , which corresponds to the material picking status of the material picking and unloading device.

[0058] Reference Figure 1 In one embodiment, the material taking and placing device 100 further includes a protective plate 8, which is provided on the first limiting groove 3 and / or the second limiting groove 4. The protective plate 8 is provided on the first limiting groove 3 and the second limiting groove 4 to prevent foreign objects from entering the limiting grooves and to avoid affecting the transmission stability and transmission accuracy. Of course, it can also protect the operator.

[0059] Reference Figure 8 In one embodiment, the limiting connector 5 is an I-shaped connector. The I-shaped connector is simple and convenient to manufacture, and the corresponding limiting groove is also easy to manufacture.

[0060] Reference Figure 3 In one embodiment, the material taking and placing device 100 further includes a guide rod 9, which passes through each mounting seat in sequence, and the central axis direction of the guide rod 9 is the same as the moving direction of the telescopic driving member 7. Specifically, the number of the guide rods 9 can be two, and the two guide rods 9 are arranged in parallel. The guide rods 9 can play a guiding role so that all the mounting seats slide in the same direction; secondly, they can also provide a sliding guide rail for the mounting groove.

[0061] Reference Figure 1 In one embodiment, the material taking and placing device 100 further includes a connecting block 10, one side of the connecting block 10 is connected to the telescopic driving member 7, and the other side of the connecting block 10 is connected to an outer mounting seat, specifically, the second mounting seat 2. The mounting seat can be connected by the connecting block 10 so that the mounting seat is subjected to more uniform force without deflection, and can also protect the telescopic shaft 71 of the telescopic driving member 7. The telescopic driving member 7 here can be a telescopic motor or a servo motor.

[0062] Reference Figure 9-11According to another aspect of the present invention, the present invention further provides a material taking and placing module 1000, which includes a mounting frame 200 and a clamping member 400 and a pressing member 300 respectively connected to the mounting frame 200, and also includes the above-mentioned material taking and placing device 100, which is installed on the mounting frame 200. A flange plate 700 may be connected to the mounting frame 200, and the flange plate 700 is connected to an external manipulator, and the mounting frame 200 may be driven to rotate by the manipulator, so that different components of the material taking and placing module 1000 face the workpiece to be processed and realize different functions. The clamping member 400 is used to clamp the tray 800 containing the workpiece, and transport the tray 800 containing the processed workpiece to the completion station position, and the pressing member 300 is used to press the workpiece on the processing station to ensure that the workpiece always maintains a fixed position during the processing process. Since the material picking and placing module 1000 includes all the technical solutions of all the embodiments of the material picking and placing device 100 described above, it at least has all the beneficial effects brought by all the technical solutions described above, which will not be described one by one here.

[0063] Reference Fig.10 and Fig.11 In one embodiment, the clamping member 400 includes a clamping cylinder 401 and a first clamping head 402 connected to the clamping cylinder 401, and the pressing member 300 includes a pressing cylinder 301 and a second clamping head 302 connected to the pressing cylinder 301, and the second clamping head 302 is used to install the pressing plate 900. The first clamping head 402 is used to clamp the material tray 800, and the pressing plate 900 is driven downward by the pressing cylinder 301 to press the workpiece.

[0064] Reference Fig.12 According to another aspect of the present invention, the present invention further provides an automatic processing device, which includes a processing tool 500 and a material placing tool 600, and also includes the above-mentioned material taking and placing module 1000. Since the automatic processing device includes all technical solutions of all embodiments of all the above-mentioned material taking and placing modules 1000, it has at least all the beneficial effects brought by all the above-mentioned technical solutions, which will not be described one by one here.

[0065] In addition, refer to Fig.13 The present invention also provides an automatic processing method, which comprises the following steps:

[0066] S10, controlling the telescopic driving member to extend and drive the mounting seats to move closer together so that the distance between two adjacent mounting seats reaches a first preset value;

[0067] S20, controlling the suction piece of the material picking and unloading device to suck the workpiece to be processed from the unloading tooling;

[0068] S30, controlling the telescopic driving member to retract, driving the mounting seats to move away from each other, so that the distance between two adjacent mounting seats reaches a second preset value;

[0069] S40, controlling the suction member of the material taking and placing device to place the workpiece to be processed into the processing tool.

[0070] When it is necessary to take a workpiece from the tray, the telescopic drive member extends to press the multiple mounting seats together, reducing the spacing between adjacent mounting seats, and thus reducing the spacing between the suction members, and then multiple workpieces are taken from the tray at one time. Specifically, the first preset value can be 0, and the adjacent mounting seats are close together; when it is necessary to place the workpiece on the suction member on the processing tooling, the telescopic drive member is controlled to retract, and the mounting seats are pulled away from each other under the action of the limit connector, thereby increasing the spacing between the mounting seats, and thus increasing the spacing between the workpieces, making it easier to place the workpieces on the processing tooling with a larger spacing. This embodiment can automatically change the spacing between the workpieces, overcomes the problem that the material taking spacing of the tray and the material discharging spacing of the processing tooling do not match, and cannot realize the problem of material taking and discharging automation, and is conducive to realizing automation.

[0071] Specifically, as described in the above structural description, the mounting seat includes two second mounting seats arranged on both sides and a first mounting seat arranged between the two second mounting seats, the first mounting seat is provided with a first limiting groove, the first limiting groove extends along the driving direction of the telescopic drive member, the first limiting groove includes a first clamping sub-groove and two first sliding sub-grooves respectively arranged on both sides of the first clamping sub-groove and respectively connected to the first clamping sub-groove, the width of the first clamping sub-groove is greater than the width of the first sliding sub-groove, and the two first sliding sub-grooves respectively penetrate the two side walls of the first mounting seat along the moving direction of the telescopic drive member. The limiting connecting member includes a sliding rod and two clamping ends respectively arranged at both ends of the sliding rod, the two clamping ends are respectively slidably mounted on the first clamping sub-grooves of the adjacent two first mounting seats, and the sliding rod is slidably mounted on the first sliding sub-grooves of the adjacent two first mounting seats. The limiting connecting member includes a sliding rod and two clamping ends respectively arranged at both ends of the sliding rod, the two clamping ends are respectively slidably mounted on the first clamping sub-grooves of the adjacent two first mounting seats, and the sliding rod is slidably mounted on the first sliding sub-grooves of the adjacent two first mounting seats. Assume that in the initial state, the telescopic shaft of the telescopic drive is in an extended state, and the two adjacent first mounting seats are in a position close together, with a spacing of 0. At this time, a clamping end on the right is clamped in the first clamping sub-groove of the first mounting seat on the right. When the telescopic shaft of the telescopic drive is retracted, the first mounting seat on the right will move together with the telescopic drive, so that the distance between the adjacent first mounting seats increases, and the limiting connector slides in the first limiting groove of the first mounting seat on the left. When the clamping end on the left slides and is clamped with the first clamping sub-groove, both ends of the limiting connector are clamped and cannot slide anymore. At this time, the spacing between the two adjacent first mounting seats reaches the maximum value, which means that the spacing between the sucked workpieces has been increased to the right position, thereby playing a role in limiting and positioning the maximum spacing. On the contrary, when it is necessary to reduce the spacing between the mounting seats, it is only necessary to extend the telescopic shaft of the telescopic drive so that the spacing between the mounting seats is reduced to 0, thereby playing a role in positioning and limiting the minimum spacing. Specifically, the first clamping sub-groove includes a sliding portion and a clamping portion respectively arranged on both sides of the sliding portion, and the width of the clamping portion is greater than the width of the sliding portion.

[0072] Further, a second limiting groove is provided on the second mounting seat, the second limiting groove extends along the driving direction of the telescopic driving member, the second limiting groove includes a second clamping sub-groove and a second sliding sub-groove connected to the second clamping sub-groove, the second sliding sub-groove is provided close to the first sliding sub-groove, the width of the second clamping sub-groove is greater than the width of the second sliding sub-groove, and the second sliding sub-groove passes through the side wall of the second mounting seat along the moving direction of the telescopic driving member. The limiting connecting member includes a sliding rod and two clamping ends respectively provided at both ends of the sliding rod, the two clamping ends are slidably installed in the adjacent first clamping sub-groove and the second clamping sub-groove, and the sliding rod is slidably installed in the adjacent first sliding sub-groove and the second sliding sub-groove. Assuming that in the initial state, the telescopic shaft of the telescopic drive is in an extended state, and the adjacent mounting seats are in a close position, at this time, a right clamping end is clamped in the second clamping sub-slot, and when the telescopic drive is retracted, the telescopic drive drives an adjacent second mounting seat to move together, so that the distance between the second mounting seat and the first mounting seat adjacent to the second mounting seat increases, and at the same time, the limit connecting member slides in the first limit slot, and when the left clamping end is clamped with the first clamping sub-slot, both ends of the limit connecting member are clamped and cannot slide anymore. At this time, the spacing between the first mounting seat and the second mounting seat reaches the maximum value, which means that the spacing between the sucked workpieces has been increased to the right position, which plays a role in limiting and positioning the maximum spacing. Conversely, when it is necessary to reduce the spacing between the mounting seats, it is only necessary to extend the telescopic shaft of the telescopic drive member to reduce the spacing between the mounting seats to 0, thereby playing a role in positioning and limiting the minimum spacing.

[0073] In addition, the material taking and releasing device further comprises a guide rod, which passes through each mounting seat in sequence, and the central axis direction of the guide rod is the same as the moving direction of the telescopic driving member. Specifically, the number of guide rods can be two, and the two guide rods are arranged in parallel. The guide rod can play a guiding role so that all mounting seats slide in the same direction; secondly, it can also provide a sliding guide rail for the mounting groove.

[0074] Reference Fig.14 In one embodiment, after the step of controlling the suction member of the material picking and placing device to place the workpiece to be processed into the processing tool, the process further includes:

[0075] S50, controlling the mounting frame to rotate until the clamping member faces the processing tooling, controlling the clamping cylinder to drive the second chuck to move toward the processing tooling, so that the clamping plate on the second chuck clamps the workpiece to be processed.

[0076] The mounting frame is connected to a flange plate, which is connected to an external manipulator. The manipulator can drive the mounting frame to rotate, so that different parts of the loading and unloading module face the workpiece to be processed and realize different functions. Specifically, after the workpiece to be processed is placed on the processing tooling, the clamping plate is driven by the clamping cylinder to clamp the workpiece to be processed, which can ensure that the workpiece always maintains a fixed position during the processing process.

[0077] Reference Fig.15 In one embodiment, after the step of causing the clamping plate on the second chuck to clamp the workpiece to be processed, the method further includes:

[0078] S60, controlling the suction member of the material discharging device to transfer the processed workpiece from the processing tool to the material tray of the material discharging tool;

[0079] S70, controlling the mounting frame to rotate until the clamping member faces the material discharging tooling, and controlling the clamping member to clamp the material tray and transfer it to the processing completion position.

[0080] At the beginning, the processed workpiece is placed in the tray, and then the tray is transferred to the processing completion position. The workpiece to be processed on the next loading tray can be picked up by the loading and unloading device, realizing full automation of the entire processing process.

[0081] The above are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A material taking and placing device, characterized in that: include: A support plate, and a plurality of mounting seats slidably mounted on the support plate, each of the mounting seats being equipped with a suction member, and a limited position connecting member being movably mounted between two adjacent mounting seats; A telescopic driving member, the telescopic driving member is connected to one of the outer mounting seats, so that the distance between two adjacent mounting seats can be adjusted through the telescopic driving member and the limiting connecting member; The mounting seat comprises two second mounting seats arranged on both sides and a first mounting seat arranged between the two second mounting seats, the first mounting seat is provided with a first limiting groove, the first limiting groove extends along the driving direction of the telescopic driving member, the first limiting groove comprises a first clamping sub-groove and two first sliding sub-grooves respectively arranged on both sides of the first clamping sub-groove and respectively connected to the first clamping sub-groove, the width of the first clamping sub-groove is greater than the width of the first sliding sub-groove, and the two first sliding sub-grooves respectively penetrate the two side walls of the first mounting seat along the moving direction of the telescopic driving member; The first clamping sub-groove includes a sliding portion and clamping portions respectively arranged on both sides of the sliding portion, and the width of the clamping portion is greater than the width of the sliding portion; The limiting connecting piece is an I-shaped connecting piece, which includes a sliding rod and two clamping ends respectively arranged at both ends of the sliding rod. The two clamping ends can be slidably installed in the first clamping sub-grooves of the two adjacent first mounting seats, and the sliding rod can be slidably installed in the first sliding sub-grooves of the two adjacent first mounting seats.

2. The material taking and placing device according to claim 1, characterized in that: A second limiting groove is provided on the second mounting seat, and the second limiting groove extends along the driving direction of the telescopic driving member. The second limiting groove includes a second clamping sub-groove and a second sliding sub-groove connected to the second clamping sub-groove, and the second sliding sub-groove is arranged close to the first sliding sub-groove. The width of the second clamping sub-groove is greater than the width of the second sliding sub-groove, and the second sliding sub-groove passes through the side wall of the second mounting seat along the moving direction of the telescopic driving member.

3. The material taking and placing device according to claim 2, characterized in that: The limiting connecting member includes a sliding rod and two clamping ends respectively arranged at both ends of the sliding rod, and the two clamping ends can be slidably installed in the adjacent first clamping sub-groove and the second clamping sub-groove, and the sliding rod can be slidably installed in the adjacent first sliding sub-groove and the second sliding sub-groove.

4. The material taking and placing device according to claim 2, characterized in that: The material taking and placing device also includes a protective plate, and the protective plate cover is arranged on the first limiting groove, or the protective plate cover is arranged on the second limiting groove.

5. The material handling device according to any one of claims 1 to 4, characterized in that: The material taking and placing device also includes a guide rod, which passes through each of the mounting seats in sequence, and the central axis direction of the guide rod is the same as the moving direction of the telescopic driving member.

6. The material handling device according to any one of claims 1 to 4, characterized in that: The material taking and placing device also includes a connecting block, one side of which is connected to the telescopic driving member, and the other side of which is connected to one of the mounting seats on the outside.

7. The material handling device according to any one of claims 1 to 4, characterized in that: The suction piece is a suction cup.

8. A material loading and unloading module, characterized in that: The material taking and placing module includes a mounting frame and a clamping member and a pressing member respectively connected to the mounting frame, and also includes a material taking and placing device according to any one of claims 1 to 7, and the material taking and placing device is installed on the mounting frame.

9. The material loading and unloading module according to claim 8, characterized in that: The clamping member comprises a clamping cylinder and a first clamp connected to the clamping cylinder, and the pressing member comprises a pressing cylinder and a second clamp connected to the pressing cylinder, wherein the second clamp is used for installing a pressing plate.

10. An automatic processing equipment, characterized in that: The automatic processing equipment includes processing tools and material discharging tools, and also includes the material picking and discharging module described in claim 8 or 9.

11. An automatic processing method, characterized in that: The automatic processing method is applied to the automatic processing equipment according to claim 10, and the automatic processing method comprises the following steps: Control the telescopic driving member to extend and drive the mounting seats to be close together, so that the distance between two adjacent mounting seats reaches a first preset value; Control the suction piece of the material picking and unloading device to suck the workpiece to be processed from the unloading tooling; Controlling the telescopic driving member to retract, driving the mounting seats to move away from each other, so that the distance between two adjacent mounting seats reaches a second preset value; The suction member of the material taking and placing device is controlled to place the workpiece to be processed into a processing tool.

12. The automatic processing method according to claim 11, characterized in that: After the step of controlling the suction member of the material picking and placing device to place the workpiece to be processed into the processing tool, the method further includes: The mounting frame is controlled to rotate until the clamping member faces the processing tooling, and the clamping cylinder is controlled to drive the second chuck to move toward the processing tooling, so that the clamping plate on the second chuck clamps the workpiece to be processed.

13. The automatic processing method according to claim 12, characterized in that: After the step of causing the pressing plate on the second chuck to press the workpiece to be processed, the step further includes: Control the suction member of the material picking and placing device to transfer the processed workpiece from the processing tool to the material tray of the material placing tool; The mounting frame is controlled to rotate until the clamping member faces the material discharging tooling, and the clamping member is controlled to clamp the material tray and transfer it to a processing completion position.

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