Material taking device and material taking method

Abstract

The present invention relates to a material picking device and a material picking method. The material picking device comprises a transfer mechanism, which comprises a plurality of material picking members, each of which comprises a plurality of material picking parts arranged at intervals; the transfer mechanism is used to drive the plurality of material picking members to pick up materials from a plurality of material trays in batches and each batch is synchronous, and each material picking member can at least drive its material picking part to stay in turn at a first material picking position and a second material picking position corresponding to the material picking member, and the first material picking position and the second material picking position corresponding to the same material picking member are arranged alternately one by one.

Description

Technical Field

[0001] The present invention relates to the technical field of medical consumables production equipment, and in particular to a material taking device and a material taking method. Background Art

[0002] In the production process of various medical consumables, it is often necessary to take the consumable parts out of the trays used to hold them and transfer and rearrange them to specific workstations. In order to maximize the use of tray space, improve the tray carrying capacity and thus increase the transportation volume of consumable parts, reduce the amount of trays used and thus reduce the transportation frequency of consumable parts, the placement positions of the trays currently used are densely and compactly arranged, and the distance between two adjacent placement positions is relatively close.

[0003] Obviously, the current tray structure will bring the following problems: the dense arrangement of accessories placed in the tray makes the distance between accessories too small, the restriction and restriction of the tray on the accessories makes it difficult for the transfer mechanism to obtain accessories, and the overly dense accessories are not conducive to transferring them to certain specific workstations. Therefore, how to reduce the difficulty of obtaining materials from a tray with densely arranged material positions, maintain or further improve the rhythm of material transfer and rearrangement, and thus maintain or further improve the production efficiency / capacity of medical consumables, is a problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, it is necessary to provide a material taking device, including a transfer mechanism, the transfer mechanism includes a plurality of material taking members, each of the material taking members includes a plurality of material taking parts arranged at intervals;

[0005] The transfer mechanism is used to drive multiple material picking pieces to pick up materials from multiple material trays in batches and each batch is synchronized. Each material picking piece can at least drive its material picking part to stay in the first material picking position and the second material picking position corresponding to the material picking piece in turn. The first material picking position and the second material picking position corresponding to the same material picking piece are arranged alternately one by one.

[0006] In one embodiment, the material taking device further comprises a plurality of auxiliary mechanisms respectively associated with the material taking members, the auxiliary mechanisms comprising a plurality of movable material loosening members arranged in a row and forming at least a first material loosening opening and a second material loosening opening in a group;

[0007] In the associated material picking parts and auxiliary mechanisms, the material picking parts located at the first material picking position correspond to the first material loosening openings, and the material picking parts located at the second material picking position correspond to the second material loosening openings; the material loosening parts sequentially expand the openings of the first material loosening openings and the second material loosening openings through orderly activities.

[0008] With such arrangement, the auxiliary mechanism can drive the movement of the material tray partition part through the movement of the material loosening part, thereby playing the role of expanding the material tray material position. In this way, when the material picking part picks up materials, the auxiliary mechanism can first expand the material tray material position corresponding to the current material picking part, and the remaining material tray material positions will be expanded during the next batch of material picking actions, which greatly reduces the difficulty of stripping materials from the material tray. The coordinated cooperation with the transfer mechanism can significantly shorten the time consumed for each batch of material picking and shorten the rhythm of the material picking action.

[0009] In one embodiment, the first material picking position and the second material picking position are arranged in an staggered manner with equal intervals; the loosening parts include main loosening parts and auxiliary loosening parts that are arranged in an staggered manner, and the first loosening opening and the second loosening opening are odd-position loosening opening and even-position loosening opening respectively; each non-end loosening part has an odd-position loosening opening and an even-position loosening opening on both sides, and each loosening opening is formed between adjacent main loosening parts and auxiliary loosening parts.

[0010] With such arrangement, the auxiliary mechanism can sequentially expand the material positions of the material tray according to the order of the odd-numbered positions and the even-numbered positions, so that each material picker only obtains the odd-numbered materials in the previous batch of material picking actions, and then obtains the even-numbered materials in the next batch, and vice versa. In this way, multiple material pickers only need to pick up materials from multiple material trays twice to take all the materials from these material trays.

[0011] In one embodiment, the auxiliary mechanism has a first state and a second state, in which the opening of the odd-position loosening opening is larger than the opening of the even-position loosening opening in the first state, and in which the opening of the odd-position loosening opening is smaller than the opening of the even-position loosening opening in the second state;

[0012] The main loosening member and the auxiliary loosening member are grouped in opposite orientations and move in an orderly tilting manner to repeatedly switch the auxiliary mechanism to the first state and the second state, so that the loosening openings on both sides of any non-end loosening member change their respective openings inversely.

[0013] With such arrangement, when the auxiliary mechanism is adapted and connected to the material tray, it is possible to achieve expansion of the material levels at odd positions of the material tray when the auxiliary mechanism is in the first state, and expansion of the material levels at even positions of the material tray when the auxiliary mechanism is in the second state. This can overcome the difficulty of simultaneously expanding the material levels at odd positions and the material levels at even positions.

[0014] In one embodiment, the transfer mechanism also includes a material picking adjustment component, which can drive multiple material picking components to move along the arrangement direction of their respective material picking parts, so that the material picking parts of the material picking components can reach the corresponding first material picking position and second material picking position in turn.

[0015] With such arrangement, the material taking adjusting member can change the material release opening corresponding to the material taking part by adjusting the position of the material taking member in the successive material taking batches, thereby changing the material placement position corresponding to the material taking part.

[0016] In one embodiment, the transfer mechanism further includes a negative pressure generating member, and the material taking parts are respectively provided with negative pressure openings connected to the negative pressure generating member, and the negative pressure generating member can control multiple negative pressure openings to synchronously inhale air.

[0017] With such arrangement, the material taking part can peel the material from the material tray by exerting adsorption force on the material, thereby eliminating the contact between the material taking part and the material, thereby better protecting the material and reducing the probability of material damage.

[0018] In one embodiment, the material picking part is provided with material clamping jaws that can be movably opened or closed, and the multiple material clamping jaws of each material picking part can be opened or closed synchronously.

[0019] With such arrangement, the material taking part can directly peel the material from the material tray through the material clamping claws.

[0020] In one embodiment, the material taking device further includes a rearrangement mechanism, which includes a plurality of receiving parts arranged in a row, and the arrangement spacing of the material taking parts is an integer multiple of the arrangement spacing of the receiving parts.

[0021] With such arrangement, when the material taking part unloads materials to the receiving part, all materials can be accurately placed in the corresponding receiving part, which can prevent some materials from not being able to be obtained by the receiving part and causing material damage.

[0022] In one embodiment, the transfer mechanism has a centralized unloading state, and multiple material picking parts switch to the centralized unloading state by moving closer to each other; in the centralized unloading state, the material picking parts of the multiple material picking parts are arranged one by one in rotation, and correspond one by one to all or part of the receiving parts respectively.

[0023] With such arrangement, the materials can be arranged in a dense arrangement on the rearrangement mechanism after being unloaded, the distance between two adjacent materials can be restored to the distance width when placed on the material tray, and there will be no empty spaces between the receiving parts carrying the materials. In other words, the materials are arranged in a continuous and uninterrupted manner on multiple receiving parts, which also makes it more convenient for the subsequent workstation operating equipment to manipulate the materials.

[0024] In one embodiment, the transfer mechanism also includes a transfer guide, and the material picking piece is slidably installed on the transfer guide. The material picking piece picks up materials by sliding away from the rearrangement mechanism, and transfers and unloads materials by sliding close to the rearrangement mechanism; the material picking parts of multiple material picking pieces are arranged in sequence following the moving trajectory of the material picking piece sliding along the transfer guide.

[0025] With such an arrangement, when the material picking device is actually in operation, multiple material picking parts can be made to move synchronously along the transfer guide part after being pre-switched to a one-by-one alternation state to complete the transfer of materials. Therefore, the moving trajectory of the material picking part of any material picking part will not cross or overlap with the moving trajectory of the material picking part of other material picking parts, thereby avoiding mutual interference or collision between materials of multiple material picking parts, and making the transfer of materials more stable and safe.

[0026] The present invention also provides a material taking method, which comprises:

[0027] The multiple auxiliary mechanisms are started synchronously, driving at least some of the individual loosening parts to move synchronously to expand the opening of the first loosening opening;

[0028] Multiple material-picking parts move, driving their respective material-picking parts to arrive at and stay at their respective corresponding first material-picking positions synchronously;

[0029] The material taking parts of the multiple material taking members synchronously take materials from the multiple material trays and unload the materials to the rearrangement mechanism, and the positions of the taken materials in the material trays correspond to the first material releasing openings of the auxiliary mechanisms adapted to the material trays respectively;

[0030] The multiple auxiliary mechanisms are synchronously started again, driving at least some of the individual loosening parts to move synchronously to expand the opening of the second loosening opening;

[0031] Multiple material-picking parts move, driving their respective material-picking parts to arrive at and stay at their respective corresponding second material-picking positions synchronously;

[0032] The material taking parts of the multiple material taking pieces again synchronously take materials from the multiple material trays and unload the materials to the rearrangement mechanism, and the positions of the acquired materials in the material trays correspond to the second material releasing openings of the auxiliary mechanism adapted to the material trays.

[0033] The material taking device and material taking method provided by the present invention have at least the following beneficial effects:

[0034] The present invention changes the current material picking idea of ​​taking all materials from a tray at one time. The material picking parts no longer take all materials from a tray in a continuous row each time, but use multiple material picking parts to pick materials from multiple trays in an interval picking manner. The multiple material picking parts are divided into multiple batches for picking materials. Each material picking part only takes part of the materials in a tray in each batch of picking actions, and the total material picking of multiple material picking parts in each batch continues to maintain the quantity level of a complete tray. Interval picking significantly reduces the difficulty of peeling the accessories from the tray. The materials obtained by the material picking parts each time have a larger arrangement gap, which is more convenient for transferring and rearranging these accessories. In addition, the coordinated cooperation of multiple material picking parts can also ensure the stability of the material picking quantity in a single batch, so it will not conflict with the operation of the existing conveying equipment and the existing transfer and rearrangement equipment, and there is no need to perform complex operation parameters and operation logic control switching changes, which significantly reduces the upgrade and update cost of the entire production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the three-dimensional structure of a material taking device according to an embodiment of the present invention at a first viewing angle;

[0036] Figure 2 It is a schematic diagram of the three-dimensional structure of a material taking device according to an embodiment of the present invention at a second viewing angle;

[0037] Figure 3 It is a schematic diagram of the three-dimensional structure of a material tray adapted for the material taking device of the present invention;

[0038] Figure 4 It is a three-dimensional structural schematic diagram of a transfer mechanism according to an embodiment of the present invention;

[0039] Figure 5 It is a structural schematic diagram of a transfer mechanism of an embodiment of the present invention in a first state;

[0040] Figure 6 It is a structural schematic diagram of a transfer mechanism according to an embodiment of the present invention in a second state;

[0041] Figure 7 It is a schematic diagram of the three-dimensional structure of an auxiliary mechanism according to an embodiment of the present invention.

[0042] Description of reference numerals:

[0043] 100, material taking device; 200, material tray; 201, material separation part; 202, material placement; 300, material; 10, conveying mechanism; 11, conveying section; 11a, first conveying section; 11b, second conveying section; 20, transfer mechanism; 21, material taking piece; 21a, first material taking piece; 21b, second material taking piece; 211, material taking part; 211a, first group of material taking part; 211b, second group of material taking part; 22, material taking adjustment Sectional part; 22a, first material picking adjustment part; 22b, second material picking adjustment part; 23, transfer guide part; 231, first end; 232, second end; 30, rearrangement mechanism; 31, receiving part; 40, auxiliary mechanism; 41, material loosening part; 41a, main material loosening part; 41b, auxiliary material loosening part; 42, material loosening opening; 421, first material loosening opening; 422, second material loosening opening; 42a, odd-position loosening opening; 42b, even-position loosening opening. DETAILED DESCRIPTION

[0044] 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.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0046] The present invention provides a material taking device 100, which is used to selectively take materials 300 from a material tray 200, and transfer and rearrange the taken materials 300. For the convenience of description, the following selects the process of taking pre-filled syringes from the material tray 200, and transferring and rearranging the pre-filled syringes, and describes in detail the composition structure and actuation principle of the material taking device 100.

[0047] Please read first Figure 3 , Figure 3A relatively conventional material tray 200 for carrying and accommodating injection tubes is shown. This material tray 200 is convexly provided with a plurality of equally spaced material partitions 201, and the material partitions 201 have a moderate elastic deformation capacity. A material placement position 202 in the form of a strip groove is formed between two adjacent material partitions 201 for accommodating the body of the injection tube, and the inner wall surface of the groove of the material placement position 202 is adapted to the outer peripheral wall of the injection tube. This material tray 200 is formed by deep drawing of a whole piece of plastic sheet material, and a plurality of deep-drawn cavities are correspondingly formed at the bottom of the material tray 200, that is, the side of the material tray 200 that is away from the open strip groove of the material placement position 202, and the deep-drawn cavities extend along the convex direction of the material partition 201, thereby making the material partition 201 a thin-walled structure and obtaining elastic deformation capacity.

[0048] The material taking device 100 includes a conveying mechanism 10 , a transfer mechanism 20 , an auxiliary mechanism 40 and a rearrangement mechanism 30 . The conveying mechanism 10 is used to transport the loading tray 200 carrying the material 300 and the empty tray 200 from which the material has been taken; the transferring mechanism 20 is used to obtain the material 300 from the loading tray 200 and transfer the obtained material 300 to the rearrangement mechanism 30; the auxiliary mechanism 40 is used to form an adaptive connection with the loading tray 200 that has reached the execution position, thereby controlling the grouping of the material placement positions 202 in the loading tray 200 and orderly expanding the opening, and by expanding the opening of the material placement positions 202, the constraint and restriction effect of the partition 201 that defines these material placement positions 202 on the corresponding material 300 is reduced, thereby reducing the difficulty of the transferring mechanism 20 to obtain the material 300 and peeling it off from the tray 200; the rearrangement mechanism 30 is used to receive the material 300 transferred by the transferring mechanism 20 and adjust the arrangement spacing of the received material 300 to achieve variable distance rearrangement of the material 300.

[0049] See also Figure 1 to Figure 2 , Figure 4The conveying mechanism 10 includes two conveying sections 11 arranged side by side and conveying in the same direction, namely, the first conveying section 11a and the second conveying section 11b. The middle parts of the two conveying sections 11 correspond to the above-mentioned designated positions to form the first material picking section and the second material picking section respectively, and the positions of the two conveying sections 11 and the conveying direction of the conveying mechanism 10 are consistent. The first conveying section 11a and the second conveying section 11b also respectively include a first supporting portion and a second supporting portion for supporting the material tray 200. The two supporting portions are opened at positions corresponding to the first material picking section and the second material picking section to form a first material loosening execution opening and a second material feeding execution opening, so that when the material tray 200 passes through the first material picking section or the second material picking section, its bottom is exposed through the first material loosening execution opening or the second material loosening execution opening. In this embodiment, the first conveying section 11a and the second conveying section 11b are both straight conveying sections 11, and the material tray 200 is conveyed at the same rate, so that the two material trays 200 respectively located in the first conveying section 11a and the second conveying section 11b are relatively stationary at all times during the conveying movement, and the arrangement direction of the material 300 in the material tray 200 and the movement direction of the material tray 200 are always consistent.

[0050] See also Figure 7 . The number of the auxiliary mechanisms 40 in this embodiment is two, corresponding to the first material picking section and the second material picking section respectively. Specifically, the two auxiliary mechanisms 40 are respectively arranged on the side of the first material picking section close to the ground and the side of the second material picking section close to the ground. The two auxiliary mechanisms 40 have the same structural composition. The auxiliary mechanism 40 associated with the first conveying section 11a is taken as an example to introduce its structure. The auxiliary mechanism 40 includes a plurality of loosening members 41 arranged in a row. The loosening members 41 are formed with loosening openings 42 on the side. The arrangement direction of the loosening members 41 is consistent with the conveying direction of the first conveying section 11a, which means that when the material tray 200 passes through the first material picking section, the arrangement direction of the material partition 201 / material placement position 202 of the material tray 200 is the same as the arrangement direction of the loosening members 41. At this time, the auxiliary mechanism 40 can drive its multiple loosening parts 41 to move relatively close to the first conveying section 11a. During the movement, the loosening parts 41 can pass through the first loosening execution opening and protrude from the side of the supporting part of the first conveying section 11a for supporting the material tray 200, until the auxiliary mechanism 40 forms an adaptive connection with the material tray 200 located in the first material picking section.

[0051] The auxiliary mechanism 40 forms an adaptive connection with the material tray 200, specifically: the loosening pieces 41 are respectively connected to the material partitioning parts 201 of the material tray 200, and the end of each loosening piece 41 pointing to the first conveying section 11a respectively extends into the deep drawing cavity of the corresponding material partitioning part 201. At this time, the multiple loosening openings 42 located on the sides of the multiple loosening pieces 41 correspond to the multiple material placement positions 202 on the material tray 200. In this embodiment, the loosening pieces 41 include main loosening pieces 41a and auxiliary loosening pieces 41b that are staggered one by one, and each non-end loosening piece 41 has an odd-position loosening opening 42a and an even-position loosening opening 42b on both sides. The so-called non-end part refers to: except for the loose material pieces 41 corresponding to the end of the material tray 200, that is, the remaining loose material pieces 41 except the two individuals at the head end and the tail end among the multiple loose material pieces 41, these loose material pieces 41 and the other material partitions 201 except the head end partition 201 and the tail end partition 201 in the material tray 200 can be respectively corresponding to each other through an adaption connection. The so-called odd position and even position refer to: counting from the starting end of the arrangement of the individual under discussion, the corresponding odd number sequence and the corresponding even number sequence, which will not be repeated below.

[0052] When the auxiliary mechanism 40 forms an adaptive connection with the material tray 200, the odd-position loosening opening 42a corresponds to the odd-position material level 202 on the material tray 200, and the even-position loosening opening 42b corresponds to the even-position material level 202 on the material tray 200. Since each loosening member 41 extends into the deep-drawn cavity of the material tray 200, once the loosening member 41 moves, it will simultaneously drive the material partition 201 directly connected to the loosening member 41 to move in the same orientation. Finally, the loosening member 41 drives the odd-position loosening opening 42a on one side to open wider through movement, so that the opening of the odd-position material level 202 corresponding to the odd-position loosening opening 42a is expanded, and at the same time, the loosening member 41 drives the even-position loosening opening 42b on the other side to open narrower, which also makes the opening of the even-position material level 202 corresponding to the even-position loosening opening 42b narrower, and vice versa. The enlarged opening of the material placement position 202 means that the restraining force of at least one material partition 201 used to define the material placement position 202 on the material 300 therein is greatly reduced, and the material 300 can be peeled off from the material tray 200 more effortlessly.

[0053] After the tray 200 and the auxiliary mechanism 40 form an adaptive connection, the conveying mechanism 10 stops running to stop conveying the tray 200. At this time, the tray 200 is stationary, and the transfer mechanism 20 obtains the material 300 in the tray 200. The material position 202 of the tray 200 obtained by the transfer mechanism 20 is opened and expanded under the drive of the auxiliary mechanism 40. In other words, the auxiliary mechanism 40 supports the tray 200 staying in the first material-retrieving section, specifically, firstly by driving the opening of the odd-position loosening opening 42a to expand, so that the opening of the odd-position material level 202 corresponding to the odd-position loosening opening 42a is expanded, so that the transfer mechanism 20 obtains the material 300 located in the odd-position material level 202, and then by driving the opening of the even-position loosening opening 42b to expand, so that the opening of the even-position material level 202 corresponding to the even-position loosening opening 42b is expanded. In this way, the odd-position material 300 and the even-position material 300 are successively loosened and released, and the material 300 in the tray 200 is finally taken out after two operations of supporting the tray 200 and transferring and taking out the material. After the tray 200 takes out the material, it becomes an empty tray 200, and then the auxiliary mechanism 40 drives the loosening member 41 to move away from the conveying section 11 in the opposite direction, and then the loosening member 41 withdraws from the first loosening execution opening, and finally the loosening member 41 withdraws from the deep drawing cavity of the tray 200 and is disconnected from the material partition 201 of the tray 200. Thus, the auxiliary mechanism 40 and the tray 200 are disconnected, and the conveying mechanism 10 resumes operation and drives the empty tray 200 to move and leave the first material taking section.

[0054] Next, the detailed process of grouping and sequentially expanding the opening of the odd-position loose material openings 42a and the even-position loose material openings 42b is introduced. As mentioned above, the main loose material parts 41a and the auxiliary loose material parts 41b are arranged one by one at equal intervals. If all the main loose material parts 41a are controlled to tilt / swing to the same direction of each individual, and all the auxiliary loose material parts 41b are controlled to tilt / swing to the same direction of each individual, and the main loose material parts 41a and the auxiliary loose material parts 41b are oriented in the opposite direction, then half of the multiple loose material openings 42 will have an expanded opening, while the opening of the other half will be reduced, and the loose material openings 42 with expanded openings and the loose material openings 42 with reduced openings will be arranged one by one in a staggered manner. Subsequently, the tilting direction of all the main loosening parts 41a is changed so that all the main loosening parts 41a tilt / swing to the other side in the same direction of each individual, and at the same time, all the auxiliary loosening parts 41b are controlled to tilt / swing to the other side in the same direction of each individual, so that the orientation of the second tilting / swing of each loosening part 41 is opposite to the orientation of the previous tilting / swing, and the orientations of the tilting / swing directions of the main loosening parts 41a and the auxiliary loosening parts 41b are still opposite. Then, when the loosening part 41 tilts / sways for the first time, the loosening opening 42 that has expanded its opening will reduce its opening when the loosening part 41 tilts / sways for the second time, and when the loosening part 41 tilts / sways for the first time, the loosening opening 42 that has reduced its opening will expand its opening when the loosening part 41 tilts / sways for the second time.

[0055] Therefore, by controlling the main loosening member 41a and the auxiliary loosening member 41b to tilt in groups in opposite directions for multiple times, the loosening openings 42 on both sides of any non-end loosening member 41 can be changed in opposite directions, thereby continuously switching the state of the auxiliary mechanism 40. In this embodiment, the same auxiliary mechanism 40 performs the expansion operation of the material placement position 202 on the same material tray 200 twice, so the auxiliary mechanism 40 has a first state and a second state. In the first state, the opening of the odd-position loosening opening 42a is greater than the opening of the even-position loosening opening 42b, and in the second state, the opening of the even-position loosening opening 42b is greater than the opening of the odd-position loosening opening 42a.

[0056] See again Figure 1-Figure 2 as well as Figure 4The transfer mechanism 20 includes a transfer guide 23 that spans the conveying mechanism 10 and the rearrangement mechanism 30, and also includes two material picking members 21 slidably mounted on the transfer guide 23, namely, a first material picking member 21a and a second material picking member 21b. Specifically, the transfer guide 23 spans the first material picking section of the first conveying section 11a and the second material picking section of the second conveying section 11b, and includes a first end 231 and a second end 232, and includes a linear guide rail, which extends from the first end 231 to the second end 232, and its extension direction is perpendicular to the direction in which the conveying mechanism 10 moves when conveying the material tray 200. Each material picking member 21 can move to a position corresponding to the first material picking section or the second material picking section by sliding along the guide rail toward the first end 231 and approaching the conveying mechanism 10, and can also move to a position corresponding to the rearrangement mechanism 30 by sliding along the guide rail toward the second end 232. Among them, the first material picking member 21a is associated with the first conveying section 11a, which can slide close to the first end 231 to reach a position corresponding to the first material picking section, and is responsible for obtaining the material 300 from the material tray 200 staying in the first material picking section; the second material picking member 21b is associated with the second conveying section 11b, which can slide close to the first end 231 to reach a position corresponding to the second material picking section, and is responsible for obtaining the material 300 from the material tray 200 staying in the second material picking section.

[0057] The first material picking member 21a and the second material picking member 21b have the same structure, both of which include a plurality of material picking portions 211 arranged in a row at equal intervals and in a straight line direction, namely, a first group of material picking portions 211a and a second group of material picking portions 211b. The spacing between the first group of material picking portions 211a of the first material picking member 21a is equal to the spacing between the second group of material picking portions 211b of the second material picking member 21b. The arrangement direction of these material picking portions 211 is perpendicular to the extension direction of the guide rail and is consistent with the direction in which the conveying material tray 200 of the conveying mechanism 10 moves. This means that when the first material picking member 21a reaches the position corresponding to the first material picking section, the first material picking member 21a The arrangement direction of the material picking portion 211 of the component 21a is consistent with the arrangement direction of the material partitioning portion 201 / material placement position 202 of the material tray 200 staying in the first material picking section, and is consistent with the arrangement direction of the material loosening component 41 / material loosening port 42 of the auxiliary mechanism 40 corresponding to the first material picking section; when the second material picking component 21b reaches the position corresponding to the second material picking section, the arrangement direction of the material picking portion 211 of the second material picking component 21b is consistent with the arrangement direction of the material partitioning portion 201 / material placement position 202 of the material tray 200 staying in the second material picking section, and is consistent with the arrangement direction of the material loosening component 41 / material loosening port 42 of the auxiliary mechanism 40 corresponding to the second material picking section.

[0058] Each material taking part 211 is used to connect a material 300, and when multiple materials 300 are connected to multiple material taking parts 211 one by one, the distance between these materials 300 is twice the distance between the material positions 202 in the material tray 200. In addition, the transfer mechanism 20 also includes two material taking adjustment members 22, which are a first material taking adjustment member 22a connected to and responsible for driving the first material taking member 21a, and a second material taking adjustment member 22b connected to and responsible for driving the second material taking member 21b. The first material picking member 21a is kept fixed in position in the extension direction of the guide rail, and the first material picking adjustment member 22a can drive the first material picking member 21a to translate a preset distance along the arrangement direction of its material picking portion 211, and the preset distance is half of the distance between two adjacent material picking portions 211; similarly, the second material picking member 21b is kept fixed in position in the extension direction of the guide rail, and the second material picking adjustment member 22b can drive the second material picking member 21b to translate the same preset distance along the arrangement direction of its material picking portion 211, that is, the translation distance is also half of the distance between two adjacent material picking portions 211. It should be noted that in other embodiments, the material picking adjustment member 22 can also be one, which can drive the first material picking member 21a and the second material picking member 21b to translate respectively.

[0059] In this embodiment, after the first material picking member 21a slides along the guide rail near the first end 231 to reach the position corresponding to the first material picking section, if the position of the first material picking member 21a in the extension direction of the guide rail is kept fixed, then at this time, the multiple material picking parts 211 of the first material picking member 21a respectively stay at the first material picking position, and the first material picking position corresponds to the odd position material level 202 of the material tray 200 staying in the first material picking section at this time, and also corresponds to the odd position release port 42a of the auxiliary mechanism 40 adapted to the material tray 200. In other words, at this time, the material picking parts 211 of the first material picking member 21a correspond one-to-one with the materials 300 located at the odd position material level 202 in the material tray 200. Assuming that the position of the first material picking member 21a in the extension direction of the guide rail continues to remain fixed, after the first material picking adjustment member 22a drives the first material picking member 21a to translate the preset distance along the arrangement direction of its material picking portion 211, the material picking portions 211 therein respectively stay at the second material picking position, and the second material picking position corresponds to the even-position material position 202 of the material tray 200 that is now staying in the first material picking section, and corresponds to the even-position material release port 42b of the auxiliary mechanism 40 that is adapted and connected to the material tray 200.

[0060] The same is true for the second material picking member 21b. The second material picking member 21b can also move to a position corresponding to the second material picking section so that all its material picking parts 211 stay at the first material picking position corresponding to the second material picking member 21b, and after the second material picking adjustment member 22b drives the second material picking member 21b to translate the preset distance along the arrangement direction of its material picking parts 211, the material picking parts 211 in the second material picking member 21b stay at the second material picking position corresponding to the second material picking member 21b. It should be particularly noted that the first material picking position corresponding to the first material picking member 21a is not the same as the first material picking position corresponding to the second material picking member 21b; the second material picking position corresponding to the first material picking member 21a is not the same as the second material picking position corresponding to the second material picking member 21b. The first material picking position and the second material picking position corresponding to the first material picking member 21a are arranged one by one in an alternating manner, and the first material picking position and the second material picking position corresponding to the second material picking member 21b are also arranged one by one in an alternating manner. Therefore, no matter it is the first material picking member 21a or the second material picking member 21b, the material picking portion 211 therein can successively / sequentially stay at the corresponding first material picking position and second material picking position, thereby successively obtaining the materials 300 in the odd position material level 202 and the even position material level 202.

[0061] In this embodiment, the transfer mechanism 20 also includes a material picking drive, specifically a first material picking drive connected to and used to drive the first material picking member 21a to move relatively close to the supporting portion of the first conveying section 11a / the material tray 200 that stays in the first material picking section, and a second material picking drive connected to and used to drive the second material picking member 21b to move relatively close to the supporting portion of the second conveying section 11b / the material tray 200 that stays in the second material picking section. When the material picking portion 211 of the first material picking member 21a or the second material picking member 21b stays at the corresponding first material picking position or the corresponding second material picking position, the first material picking drive drives the first material picking member 21a to approach the material tray 200 to peel the material 300 from the material tray 200, or the second material picking drive drives the second material picking member 21b to approach the material tray 200 to peel the material 300 from the material tray 200. In addition, the transfer mechanism 20 also includes a negative pressure generating member and a negative pressure channel, which runs through each material taking part 211 to form a negative pressure opening on all material taking parts 211. When the negative pressure generating member is activated, multiple negative pressure openings can be controlled to synchronously inhale air to adsorb the material 300 in the material tray 200 to the material taking part 211. Of course, in other embodiments, the negative pressure generating member and the negative pressure opening may not be provided, but a material clamping claw that can be movably opened or closed may be provided for each material taking part 211, and the material 300 may be directly clamped by the material clamping claw to peel the material 300 from the material tray 200.

[0062] See again Figure 1-Figure 2. The rearrangement mechanism 30 includes a plurality of receiving parts 31 arranged in rows at equal intervals. The arrangement direction of the receiving parts 31 is consistent with the direction in which the conveying mechanism 10 conveys the material tray 200. Each receiving part 31 is used to receive a material 300 from the material picking part 211 of the transfer mechanism 20. In this embodiment, the arrangement spacing of the material picking parts 211 of the first material picking member 21a and the second material picking member 21b is twice the arrangement spacing of the receiving parts 31, that is, the arrangement spacing of the receiving parts 31 is consistent with the arrangement spacing of the material placement positions 202 of the material tray 200. Therefore, the rearrangement mechanism 30 allows the material 300 to be unloaded and arranged in the receiving parts 31 at a spacing equivalent to the spacing in the material tray 200. As a preferred embodiment, the rearrangement mechanism 30 also includes a variable distance component, which connects the plurality of receiving parts 31 and can drive the plurality of receiving parts 31 to move relative to each other to change the arrangement spacing of the plurality of receiving parts 31. During the actual operation of the material picking device 100, when the material picking component 21 unloads the material 300 to the rearrangement mechanism 30, the distance between the multiple receiving parts 31 is consistent with the spacing between the material positions 202 of the material tray 200. After the material 300 is carried by the receiving parts 31, the variable distance component starts to run and changes the spacing between the receiving parts 31 and the material 300. The material 300 after the changed spacing is obtained by the external transfer mechanism and transferred away from the rearrangement mechanism 30. Then the variable distance component runs again and restores the spacing between the receiving parts 31 to the spacing value of the material positions 202 of the material tray 200 to receive the next batch of materials 300.

[0063] See also Figure 5-Figure 6 , Figure 5 In the transfer mechanism 20 shown in the figure, the material taking part 211 of the first material taking part 21a and the material taking part 211 of the second material taking part 21b are spaced apart from each other. Figure 6 The transfer mechanism 20 shown in the figure has a material taking portion 211 of the first material taking member 21a and a material taking portion 211 of the second material taking member 21b interlaced with each other. At this time, the transfer mechanism 20 is in a centralized unloading state. Figure 5 to Figure 6 , the first material picking member 21a and the second material picking member 21b move relatively close to each other so that all the material picking parts 211 are densely arranged. At this time, the distance between two adjacent material picking parts 211 is reduced and reaches the arrangement density consistent with the material placement position 202 of the material tray 200. These material picking parts 211 can correspond to at least part of the receiving parts 31 of the rearrangement mechanism 30 one by one to ensure that each material picking part 211 can accurately put its material 300 into the corresponding receiving part 31, preventing the problem that the material 300 cannot be obtained by the receiving part 31 during unloading. Figure 5 The status shown is Figure 6The state switching shown can be performed immediately after the first material picking member 21a and the second material picking member 21b respectively pick up the material 300, that is, the first material picking member 21a and the second material picking member 21b have switched to the centralized unloading state before reaching the position opposite to the rearrangement mechanism 30, and in the subsequent process that the material picking member 21 slides toward the second end 232 of the transfer guide 23 and gradually approaches the rearrangement mechanism 30, the activity trajectories of the multiple material picking parts 211 of the first material picking member 21a and the activity trajectories of the multiple material picking parts 211 of the second material picking member 21b are arranged in sequence, and there is no intersection or overlap between the multiple activity trajectories.

[0064] In some embodiments, the transfer mechanism 20 may further include more material picking parts 21. In addition to the first material picking part 21a and the second material picking part 21b, a third material picking part 21, a fourth material picking part 21, etc. may also be provided; accordingly, the number of auxiliary mechanisms 40 is not limited to two, but may be more, but the number of auxiliary mechanisms 40 must be consistent with the number of material picking parts 21; similarly, each material picking part 21 is responsible for obtaining a material tray 200 from a material tray 200 that is adapted to be connected to the same auxiliary mechanism 40, and the number of material picking parts 21 is therefore related to the batch number of the material picking action. For example, when the transfer mechanism 20 includes three material picking parts 21, the number of auxiliary mechanisms 40 is three, and the three material picking parts 21 pick up materials from three material trays 200 three times. The three material picking parts 21 move synchronously each time and complete the material picking action synchronously. The number of materials 300 obtained by each material picking part 21 each time is 1 / 3 of the total number of materials 300 in the material tray 200. Therefore, the total number of materials 300 picked up by the three material picking parts 21 each time is still the total number of materials 300 of one material tray 200.

[0065] In this embodiment, the number of material positions 202 of the material tray 200 is 18, and the number of material taking parts 211 of the first material taking piece 21a and the second material taking piece 21b are 9, that is, each material taking piece 21 takes 9 materials each time; in the embodiment in which the number of material taking pieces 21 is three, if a material tray 200 with 18 material positions 202 is used, each material taking piece 21 has 6 material taking parts 211, and each material taking piece 21 takes 6 materials each time. In addition, in the embodiment where the number of the material picking parts 21 is three, the auxiliary mechanism 40 drives the material loosening parts 41 to move three times, and performs the material loosening opening 42 opening expansion operation three times. The specific grouping of the material loosening openings 42 is: the first material loosening opening 421 corresponding to the sequence of 1-4-7-10-13-16, the second material loosening opening 422 corresponding to the sequence of 2-5-8-11-14-17, and the third material loosening opening corresponding to the sequence of 3-6-9-12-15-18. Correspondingly, in the embodiment where the number of the material picking parts 21 is three, each material picking part 21 has a corresponding first material picking position, a second material picking position and a third material picking position, and the single first material picking position, the single second material picking position and the single third material picking position are arranged in rotation as a round. In the associated material taking parts 21 and auxiliary mechanisms 40 corresponding to the same material taking section, when the six material taking parts 211 are located at the first material taking position, they correspond to the six first material loosening openings 421, when the six material taking parts 211 are located at the second material taking position, they correspond to the six second material loosening openings 422, and when the six material taking parts 211 are located at the third material taking position, they correspond to the six third material loosening openings. The auxiliary mechanism 40 drives the loosening parts 41 to move in an orderly manner by grouping and orderly expanding the openings of the first material loosening openings 421, the second material loosening openings 422 and the third material loosening openings.

[0066] In some other embodiments, the auxiliary mechanism 40 can also be adapted to connect with the material tray 200 outside one side of the strip groove-shaped material placement position 202 opened on the material tray, and allow the loose material piece 41 to move from above the strip groove opening of the material placement position 202 close to the material partition portion 201 and be correspondingly connected to the material partition portion 201, rather than being limited to entering from the deep-drawn cavity below the material partition portion 201 to connect with the material partition portion 201; in addition, the first conveying section 11a and the second conveying section 11b do not necessarily have to convey the material tray 200 in the same direction, and the two can also convey the material tray 200 in opposite directions. 0, and the first conveying section 11a and the second conveying section 11b do not have to be arranged parallel to each other; even, in some embodiments, the conveying mechanism 10 does not have to be divided into multiple conveying sections 11, and only one conveying section 11 is used to convey the material tray 200. For this embodiment, two material-taking sections can be set on the single conveying section 11 respectively, and the two material-taking sections can have the same position in the conveying direction of the conveying section 11, or can be arranged one after another along the conveying direction of the conveying section 11; in addition, the auxiliary mechanism 40 and the rearrangement mechanism 30 can also be cancelled.

[0067] The following describes a material taking method based on the material taking device 100, which comprises the following steps:

[0068] S10, multiple auxiliary mechanisms 40 are started synchronously, driving at least part of the respective material loosening members 41 to move synchronously to expand the opening of the first material loosening opening 421;

[0069] S20, multiple material picking members 21 move synchronously, driving their respective material picking parts 211 to synchronously arrive at and stay at their respective corresponding first material picking positions;

[0070] S30, the material taking parts 211 of the plurality of material taking members 21 synchronously take materials from the plurality of material trays 200 and unload the materials 300 to the rearrangement mechanism 30, and the positions of the obtained materials 300 in the material tray 200 correspond to the first material release openings 421 of the auxiliary mechanism 40 adapted to the material tray 200 respectively;

[0071] S40, the plurality of auxiliary mechanisms 40 are synchronously started again, driving at least some of the respective material loosening members 41 to move synchronously to expand the opening of the second material loosening opening 422;

[0072] S50, multiple material picking members 21 move synchronously, driving their respective material picking parts 211 to synchronously arrive at and stay at their respective corresponding second material picking positions;

[0073] S60, the material picking parts 211 of the multiple material picking members 21 pick up materials from the multiple material trays 200 again synchronously and unload the materials 300 to the rearrangement mechanism 30, and the positions of the obtained materials 300 in the material tray 200 correspond to the second material release openings 422 of the auxiliary mechanism 40 adapted to the material tray 200 respectively.

[0074] In this embodiment, one of the first loosening opening 421 and the second loosening opening 422 is the odd-position loosening opening 42a, and the other is the even-position loosening opening 42b. The auxiliary mechanism 40 drives the main loosening member 41a and the auxiliary loosening member 41b to perform tilting activities / swings in opposite orientations each time, first expanding the opening of all individuals of one of the odd-position loosening opening 42a and the even-position loosening opening 42b, so that the multiple picking parts 211 of each picking member 21 first take away all individuals of the odd-numbered materials 300 or all individuals of the even-numbered materials 300 from the corresponding material tray 200; then expanding the opening of all individuals of the other of the odd-position loosening opening 42a and the even-position loosening opening 42b, so that the multiple picking parts 211 of each picking member 21 take away all individuals of the remaining odd-numbered materials 300 or all individuals of the remaining even-numbered materials 300 from the corresponding material tray 200.

[0075] When the auxiliary mechanism 40 is further provided with a third material releasing opening, the material taking method further comprises the following steps:

[0076] S70, the plurality of auxiliary mechanisms 40 are synchronously started for the third time, driving at least some of the respective material loosening members 41 to move synchronously to expand the opening of the third material loosening opening;

[0077] S70, multiple material picking members 21 move synchronously, driving their respective material picking parts 211 to synchronously arrive at and stay at their respective corresponding third material picking positions;

[0078] S90, the material picking parts 211 of the multiple material picking members 21 synchronously pick up materials from the multiple material trays 200 for the third time and unload the materials 300 to the rearrangement mechanism 30, and the positions of the obtained materials 300 in the material tray 200 correspond to the third material release openings of the auxiliary mechanism 40 adapted to the material tray 200.

[0079] Of course, when the material release port 42 of the auxiliary mechanism 40 is divided into more groups, the transfer mechanism 20 can be equipped with more material picking parts 21 accordingly. The material picking parts 21 can be analogized and pick up materials according to the above method until all the materials 300 in the material tray 200 are taken out. More material picking methods are not listed here.

[0080] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described 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.

[0081] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection claimed by the present invention.

Claims

1. A material taking device, characterized in that: It comprises a transfer mechanism (20) and a plurality of auxiliary mechanisms (40), wherein the transfer mechanism (20) comprises a plurality of material picking members (21), the number of the material picking members (21) and the number of the auxiliary mechanisms (40) are the same, and the plurality of auxiliary mechanisms (40) are respectively associated with a plurality of the material picking members (21), and each material picking member (21) comprises a plurality of material picking portions (211) arranged at intervals; The transfer mechanism (20) is used to drive the plurality of material picking members (21) to pick materials from the plurality of material trays (200) in batches and synchronously in each batch, and each material picking member (21) can at least drive its picking portion (211) to stay in sequence at the first picking position and the second picking position corresponding to the material picking member (21), and the first picking position and the second picking position corresponding to the same material picking member (21) are arranged alternately one by one; The auxiliary mechanism (40) comprises a plurality of movable loosening members (41) arranged in a row, and at least forming a first loosening opening (421) and a second loosening opening (422) in groups; In the associated material taking member (21) and the auxiliary mechanism (40), the material taking portion (211) located at the first material taking position corresponds to the first material loosening opening (421), and the material taking portion (211) located at the second material taking position corresponds to the second material loosening opening (422); the material loosening member (41) sequentially expands the opening of the first material loosening opening (421) and the second material loosening opening (422) through orderly movement; The first material taking position and the second material taking position are arranged alternately one by one at equal intervals; the loosening member (41) comprises a main loosening member (41a) and an auxiliary loosening member (41b) arranged alternately one by one, the first loosening opening (421) and the second loosening opening (422) are respectively an odd-position loosening opening (42a) and an even-position loosening opening (42b); each non-end loosening member (41) has an odd-position loosening opening (42a) and an even-position loosening opening (42b) on both sides, and each loosening opening (42) is formed between adjacent main loosening members (41a) and auxiliary loosening members (41b); The auxiliary mechanism (40) has a first state and a second state. In the first state, the opening of the odd-position loosening opening (42a) is greater than the opening of the even-position loosening opening (42b). In the second state, the opening of the odd-position loosening opening (42a) is less than the opening of the even-position loosening opening (42b). The main loosening member (41a) and the auxiliary loosening member (41b) are grouped in opposite directions and tilted in an orderly manner to repeatedly switch the auxiliary mechanism (40) to a first state and a second state, so that the loosening openings (42) on both sides of any non-end loosening member (41) change their respective openings inversely. The material picking device further comprises a conveying mechanism (10) for conveying the material tray (200), the conveying mechanism (10) comprising a first material picking section and a second material picking section, the material picking member (21) comprising a first material picking member (21a) and a second material picking member (21b), When the first material picking member (21a) reaches a position corresponding to the first material picking section, the arrangement direction of the material picking portion (211) of the first material picking member (21a) is consistent with the arrangement direction of the material placement position (202) of the material tray (200) staying in the first material picking section; When the second material picking member (21b) reaches a position corresponding to the second material picking section, the arrangement direction of the material picking portion (211) of the second material picking member (21b) is consistent with the arrangement direction of the material placement position (202) of the material tray (200) staying in the second material picking section.

2. The material taking device according to claim 1, characterized in that: The transfer mechanism (20) further comprises a material picking adjustment member (22), wherein the material picking adjustment member (22) can respectively drive the plurality of material picking members (21) to move along the arrangement direction of their respective material picking portions (211), so that the material picking portions (211) of the material picking members (21) sequentially reach the corresponding first material picking position and second material picking position.

3. The material taking device according to claim 1 or 2, characterized in that: The transfer mechanism (20) further comprises a negative pressure generating member, and the material taking portion (211) is respectively provided with negative pressure openings connected to the negative pressure generating member, and the negative pressure generating member can control multiple negative pressure openings to synchronously inhale air.

4. The material taking device according to claim 1, characterized in that: The material picking portion (211) is respectively provided with material clamping jaws that can be movably opened or closed, and the multiple material clamping jaws of each material picking member (21) can be opened or closed synchronously.

5. The material taking device according to claim 1, characterized in that: The material taking device further comprises a rearrangement mechanism (30), wherein the rearrangement mechanism (30) comprises a plurality of receiving portions (31) arranged in a row, and the arrangement spacing of the material taking portions (211) is an integer multiple of the arrangement spacing of the receiving portions (31).

6. The material taking device according to claim 5, characterized in that: The transfer mechanism (20) has a centralized unloading state, and the plurality of material picking members (21) switch to the centralized unloading state by moving closer to each other; in the centralized unloading state, the material picking portions (211) of the plurality of material picking members (21) are arranged in rotation one by one, and correspond one to one with all or part of the receiving portions (31).

7. The material taking device according to claim 5, characterized in that: The transfer mechanism (20) further comprises a transfer guide (23), the material taking member (21) is slidably mounted on the transfer guide (23), the material taking member (21) slides away from the rearrangement mechanism (30) to take the material, and slides close to the rearrangement mechanism (30) to transfer and unload the material (300); The material picking parts (211) of the plurality of material picking members (21) are arranged in sequence following the moving track of the material picking members (21) sliding along the transfer guide member (23).

8. A material taking method, the method is based on the material taking device according to any one of claims 1 to 7, characterized in that: The material taking method comprises: A. The plurality of auxiliary mechanisms (40) are started synchronously to drive at least some of the respective material loosening members (41) to move synchronously to expand the opening of the first material loosening opening (421); B. The plurality of material taking members (21) move, driving the respective material taking parts (211) to synchronously arrive at and stay at the respective corresponding first material taking positions; C. The material taking parts (211) of the plurality of material taking members (21) synchronously take materials from the plurality of material trays (200) and unload the materials to the rearrangement mechanism, and the positions of the taken materials (300) in the material tray (200) correspond to the first material release openings (421) of the auxiliary mechanism (40) adapted to the material tray (200); D. The plurality of auxiliary mechanisms (40) are synchronously started again, driving at least some of the respective material loosening members (41) to move synchronously to expand the opening of the second material loosening opening (422); E. The plurality of material taking members (21) move, driving the respective material taking parts (211) to synchronously arrive at and stay at the respective corresponding second material taking positions; F. The material taking parts (211) of the plurality of material taking members (21) again synchronously take materials from the plurality of material trays (200) and unload the materials to the rearrangement mechanism. The positions of the taken materials (300) in the material tray (200) correspond to the second material releasing openings (422) of the auxiliary mechanism (40) adapted to the material tray (200). The auxiliary mechanism (40) drives the material partition part (201) to move through the movement of the material releasing member (41), so that the various material placement positions (202) of the material tray (200) are expanded in sequence according to the group division. The total amount of materials taken by the plurality of material taking members (21) each time is equal to the total amount of materials in one material tray (200).

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