Automated pick-and-place interface

Abstract

The application discloses an automatic material taking and connecting mechanism, which comprises a rack, an X-axis moving device arranged on the rack, a Z-axis moving device arranged on the X-axis moving device and used for reciprocally moving along the X-axis under the drive of the X-axis moving device, a Y-axis moving device arranged on the Z-axis moving device and used for reciprocally moving along the Z-axis under the drive of the Z-axis moving device, a suction disc device arranged on the Y-axis moving device and used for reciprocally moving along the Y-axis under the drive of the Y-axis moving device, and the suction disc device is further used for being connected with an external vacuum suction device to suck products, and a workbench arranged on one side of the rack along the Y-axis direction and located on the moving path of the suction disc device. According to actual requirements, the products are transported to different target positions after being sucked by the suction disc device, and are connected with a robot, so that the automatic material taking and connecting mechanism can realize the material taking and connecting without turning over and the material taking and connecting with turning over.

Description

Technical Field

[0001] This application relates to the field of material handling equipment technology, and in particular to an automatic material handling and connecting mechanism. Background Technology

[0002] In the production workshop, both OLED glass and OBM glass are stacked. The robot can only pick up the glass from the top surface of the top glass and transfer it. This transfer method is not problematic for OLED glass. However, due to the special nature of OBM glass, it needs to be flipped over and scanned to bind the T-CON (Timing Controller) board when it is being laminated. Therefore, the robot cannot flip the glass to pick it up, and the existing robot transfer method is not suitable for OBM glass transfer.

[0003] Therefore, existing technologies still need to be improved and developed.

[0004] Application content

[0005] The technical problem to be solved by this application is to provide an automatic material handling and transfer mechanism to address the above-mentioned deficiencies of the prior art. This mechanism is designed to handle the material handling and transfer of products, thereby docking with a robot so that the robot can handle materials from both the front and the back.

[0006] The technical solution adopted by this application to solve the technical problem is as follows:

[0007] An automatic material handling and connecting mechanism includes a frame and further includes:

[0008] The X-axis moving device is mounted on the frame;

[0009] The Z-axis moving device is mounted on the X-axis moving device and is used to reciprocate along the X-axis under the drive of the X-axis moving device.

[0010] The Y-axis moving device is mounted on the Z-axis moving device and is used to reciprocate along the Z-axis under the drive of the Z-axis moving device.

[0011] A suction cup device is mounted on the Y-axis moving device and is used to reciprocate along the Y-axis under the drive of the Y-axis moving device; the suction cup device is also used to connect with an external vacuum suction device to pick up products.

[0012] The worktable is located on one side of the frame along the Y-axis and on the moving path of the suction cup device.

[0013] The automatic material handling and connection mechanism, wherein the suction cup device includes:

[0014] A suction cup mounting bracket is provided on the Y-axis moving device;

[0015] A suction cup array is disposed on the suction cup mounting bracket; the suction cup array includes multiple suction cups arranged in an array.

[0016] At least one suction cup unit is arranged coplanarly with the suction cup array and located to the side of the suction cup array; the suction cup unit includes at least one row of suction cups;

[0017] At least one adjustment component is disposed on the suction cup mounting bracket and connected to each suction cup unit in a corresponding manner to adjust the distance between the suction cup unit and the suction cup array.

[0018] The automatic material handling and connecting mechanism, wherein the adjusting component includes:

[0019] The mounting plate has one end connected to the suction cup unit and the other end extending to the suction cup mounting bracket; the mounting plate is provided with guide holes, which extend along the arrangement direction of the suction cup unit and the suction cup array.

[0020] A first screw passes through the guide hole and is threadedly connected to the suction cup mounting bracket; the first screw is clearance-fitted with the guide hole.

[0021] A limiting part is disposed on the first screw and located on the side of the mounting plate away from the suction cup mounting bracket; the width of the limiting part is greater than the width of the guide hole.

[0022] The automatic material handling and connecting mechanism, wherein the X-axis moving device includes:

[0023] The X-axis mounting bracket is mounted on the frame and is slidably connected to the Z-axis moving device;

[0024] A drive component is mounted on the X-axis mounting bracket and connected to the Z-axis moving device to drive the Z-axis moving device to reciprocate along the X-axis mounting bracket in the X-axis direction.

[0025] The automatic material handling and connecting mechanism, wherein the Y-axis moving device includes:

[0026] The Y-axis mounting bracket is movably connected to the Z-axis moving device;

[0027] A drive component is mounted on the Y-axis mounting bracket and connected to the suction cup device to drive the suction cup device to reciprocate along the Y-axis direction of the Y-axis mounting bracket.

[0028] The automatic material handling and connecting mechanism, wherein the driving component includes:

[0029] First drive motor;

[0030] The drive wheel is connected to the first drive motor;

[0031] The driven wheel is arranged on one side of the driving wheel, and the axis of the driven wheel is parallel to the axis of the driving wheel;

[0032] The belts are respectively fitted onto the driving pulley and the driven pulley.

[0033] The automatic material handling and connecting mechanism, wherein the Z-axis moving device includes:

[0034] The Z-axis mounting bracket is slidably connected to the X-axis moving device;

[0035] The second drive motor is mounted on the Z-axis mounting bracket;

[0036] The second screw has one end rotatably connected to the Z-axis mounting bracket and the other end connected to the second drive motor; the second screw is threadedly connected to the Y-axis moving device, and the length direction of the second screw is arranged along the Z-axis.

[0037] The automatic material handling and connecting mechanism further includes:

[0038] The brackets are arranged side by side on one side of the frame along the X-axis direction;

[0039] A CCD camera assembly is located on the side of the worktable close to the suction cup device. The distance between the CCD camera assembly and the worktable along the Y-axis is less than the maximum stroke of the suction cup device, so as to position the product adsorbed on the suction cup device and the product placed on the worktable.

[0040] The Y-axis mobile device is mounted on the bracket and connected to the CCD camera assembly to drive the CCD camera assembly to reciprocate along the Y-axis.

[0041] The automatic material handling and connecting mechanism, wherein the CCD camera assembly includes:

[0042] A first CCD camera, the lens of which is arranged along the Y-axis away from the worktable;

[0043] A second CCD camera is arranged along the Y-axis on the side of the first CCD camera closer to the worktable; the lens of the second CCD camera is arranged along the Y-axis toward the worktable.

[0044] The automatic material handling and connection mechanism, wherein the Y-axis mobile device includes:

[0045] A linear module, wherein the slider of the linear module is connected to the CCD camera assembly.

[0046] Beneficial effects: In this application, the automatic material handling and docking mechanism is added between the product pile and the robot. According to actual needs, the product is picked up by the suction cup device and transferred to different target positions and docked with the robot. This can realize both non-flipping material handling and flipping material handling. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the automatic material handling and connection mechanism described in this application;

[0048] Figure 2 This is an assembly diagram of the X-axis moving device, Y-axis moving device, Z-axis moving device, suction cup device, and worktable in this application;

[0049] Figure 3 yes Figure 2 Enlarged view of a portion of point A in the middle;

[0050] Figure 4 yes Figure 2 Enlarged view of a portion of point B in the middle;

[0051] Figure 5 This is a schematic diagram of the suction cup device described in this application;

[0052] Figure 6 This is an exploded view of the adjustment components described in this application;

[0053] Figure 7 This is an assembly diagram of the Y-axis moving device and the suction cup mounting bracket described in this application;

[0054] Figure 8 This is an assembly diagram of the Y-axis mobile device and the bracket described in this application;

[0055] Figure 9 This is a block diagram illustrating the working principle of the automatic material handling and connection mechanism described in this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this application clearer and more explicit, the following detailed description of this application is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0057] Please also refer to Figures 1-9 This application provides an automatic material handling and connection mechanism, such as... Figure 1 and Figure 2As shown, the automatic material handling and connection mechanism includes: a frame 1, an X-axis moving device 2, a Z-axis moving device 3, a Y-axis moving device 4, a suction cup device 5, and a worktable 6. The X-axis moving device 2 is mounted on the frame 1, and its length direction is arranged along the X-axis. The Z-axis moving device 3 is mounted on the X-axis moving device 2 and is used to reciprocate along the X-axis under the drive of the X-axis moving device 2. The Y-axis moving device 4 is mounted on the Z-axis moving device 3 and is used to reciprocate along the Z-axis under the drive of the Z-axis moving device 3. The suction cup device 5 is mounted on the Y-axis moving device 4 and is used to reciprocate along the Y-axis under the drive of the Y-axis moving device 4. The suction cup device 5 is also used to connect to an external vacuum suction device to pick up / release product 100. The worktable 6 is located on one side of the frame 1 along the Y-axis direction.

[0058] The product 100 material pile and the worktable 6 are both located on the moving path of the suction cup device 5; the robot's moving path partially overlaps with the moving path of the suction cup device 5, and the worktable 6 is also located on the robot's moving path, so that the robot can directly pick up materials from the suction cup device 5 or from the worktable 6.

[0059] Since the suction cup device 5 is mounted on the Y-axis moving device 4, and the Y-axis moving device 4 is mounted on the Z-axis moving device 3, when the X-axis moving device 2 is activated, the Z-axis moving device 3, the Y-axis moving device 4, and the suction cup device 5 move together along the X-axis; when the Z-axis moving device 3 is activated, the Y-axis moving device 4 and the suction cup device 5 move together along the Z-axis; and when the Y-axis moving device 4 is activated, only the suction cup device 5 moves, and it moves along the Y-axis. Therefore, the automatic material handling and docking mechanism described in this application can realize the movement of the suction cup device 5 along the three axes of X, Y, and Z, thereby transferring the product 100 to the target position and docking it with the robot.

[0060] In Embodiment 1 of this application, when product 100 is OLED glass, the target position is the worktable 6. The suction cup device 5 moves above the pile of product 100, the external vacuum device is activated, and the suction cup device 5 picks up the upper surface of the topmost product 100, transferring product 100 to the worktable 6. After product 100 is placed on the worktable 6, the external vacuum device is turned off, the suction cup device 5 releases product 100 and resets; the robot moves above the worktable 6, picks up the upper surface of product 100, and then transfers product 100.

[0061] In Embodiment 2 of this application, when product 100 is OBM glass, the target position is the point where the movement path of the suction cup device 5 overlaps with the movement path of the robot. The suction cup device 5 moves above the pile of product 100, the external vacuum device is activated, and the suction cup device 5 picks up the upper surface of the topmost product 100, transferring product 100 to the point overlapping with the robot's movement path. The robot picks up product 100 from its lower surface, the external vacuum device is deactivated, the suction cup device 5 releases product 100 and resets, and the robot then transfers product 100.

[0062] In this application, an automatic material handling and docking mechanism is added between the product 100 stack and the robot. According to actual needs, the product 100 is picked up by the suction cup device 5 and transferred to different target positions and docked with the robot. This can realize both non-flipping material handling and flipping material handling of the product 100.

[0063] like Figure 5 and Figure 6 As shown, the suction cup device 5 includes: a suction cup mounting frame 51, a suction cup array 52, at least one suction cup unit 53, and at least one adjusting component 54. The suction cup mounting frame 51 is disposed on the Y-axis moving device 4, thereby reciprocating along the Y-axis under the drive of the Y-axis moving device 4; the suction cup array 52 is disposed on the suction cup mounting frame 51 and reciprocates along the Y-axis with the suction cup mounting frame 51; the suction cup unit 53 is arranged coplanarly with the suction cup array 52 and is located to the side of the suction cup array 52; the adjusting component 54 is disposed on the suction cup mounting frame 51 and is connected to the suction cup unit 53 in a one-to-one correspondence to adjust the distance between the suction cup unit 53 and the suction cup array 52.

[0064] Since the suction cup unit 53 is connected to the suction cup mounting bracket 51 through the adjustment component 54, when the Y-axis moving device 4 is started, the suction cup array 52 and the suction cup unit 53 move synchronously along the Y-axis.

[0065] The suction cup array 52 includes multiple suction cups arranged in an array; the suction cup unit 53 includes at least one row of suction cups. In this application, the suction cup unit 53 is separated from the suction cup array 52, and the distance between the suction cup unit 53 and the suction cup array 52 is adjusted by the adjustment component 54, so that the suction cup device 5 can adapt to picking up products 100 of different areas.

[0066] In one embodiment of this application, when the distance between the suction cup unit 53 and the suction cup array 52 is at its minimum, the suction cup device 5 can pick up products 100 with a size of 49 inches or less; when the distance between the suction cup unit 53 and the suction cup array 52 is at its maximum, the suction cup device 5 can pick up products 100 with a size of 65 inches or even larger.

[0067] In one embodiment of this application, the suction cup array 52 is arranged along the X-axis in its length direction, and there are three suction cup units 53 and three adjustment components 54, which correspond one-to-one. The three suction cup units 53 are respectively located on both sides of the suction cup array 52 in its length direction and on the side in its width direction away from the Z-axis moving device 3.

[0068] like Figure 6 As shown, the adjustment assembly 54 includes: a mounting plate 541, a first screw 542, and a limiting part 543. One end of the mounting plate 541 is connected to the suction cup unit 53, and the other end extends onto the suction cup mounting bracket 51. The mounting plate 541 is provided with a guide hole 5411, which extends along the arrangement direction of the suction cup unit 53 and the suction cup array 52. ​​The limiting part 543 is located on the side of the mounting plate 541 away from the suction cup mounting bracket 51. The first screw 542 passes through the guide hole 5411 and is threadedly connected to the suction cup mounting bracket 51, and the other end is connected to the limiting part 543.

[0069] The first screw 542 is clearance-fitted with the guide hole 5411 so that the mounting bracket can slide smoothly relative to the first screw 542; the width of the limiting part 543 is greater than the width of the guide hole 5411, thereby limiting the mounting plate 541.

[0070] like Figure 5 As shown, the suction cup mounting bracket 51 is provided with a first slide rail 55 and a second slide rail 56 corresponding to the adjustment component 54, and the first slide rail 55 and the second slide rail 56 are arranged symmetrically; the mounting plate 541 is provided with guide blocks 57 corresponding to the first slide rail 55 and the second slide rail 56, and the two guide blocks 57 are slidably connected to the first slide rail 55 and the second slide rail 56 respectively. The length direction of the first slide rail 55 is arranged along the arrangement direction between the suction cup unit 53 and the suction cup array 52.

[0071] In one embodiment of this application, when it is necessary to pick up a small-sized product 100, the first screw 542 is loosened, causing the limiting part 543 to move away from the mounting plate 541, and the mounting plate 541 is manually pushed, increasing the overlap area between the mounting plate 541 and the suction cup mounting frame 51, decreasing the distance between the suction cup unit 53 and the suction cup array 52, and reducing the suction area of ​​the suction cup device 5. After adjustment, the first screw 542 is tightened, causing the limiting part 543 to move towards the mounting plate 541 until it abuts against the mounting plate 541, thus fixing the position of the mounting plate 541 on the suction cup mounting frame 51 and fixing the distance between the suction cup unit 53 and the suction cup array 52. ​​The number of suction cup units 53 that need to be adjusted is determined according to the suction area of ​​the suction cup device 5 and the size of the product 100.

[0072] In another embodiment of this application, when it is necessary to pick up a large-sized product 100, the first screw 542 is loosened, causing the limiting part 543 to move away from the mounting plate 541, and the mounting plate 541 is manually pushed, reducing the overlap area between the mounting plate 541 and the suction cup mounting frame 51, increasing the distance between the suction cup unit 53 and the suction cup array 52, and increasing the suction area of ​​the suction cup device 5. After adjustment, the first screw 542 is tightened, causing the limiting part 543 to move towards the mounting plate 541 until it abuts against the mounting plate 541, thus fixing the position of the mounting plate 541 on the suction cup mounting frame 51, and fixing the distance between the suction cup unit 53 and the suction cup array 52. ​​The number of suction cup units 53 that need to be adjusted is determined according to the suction area of ​​the suction cup device 5 and the size of the product 100.

[0073] like Figure 2 As shown, the X-axis moving device 2 includes an X-axis mounting frame 21 and a drive assembly 42. The X-axis mounting frame 21 is mounted on the frame 1 and slidably connected to the Z-axis moving device 3; the length direction of the X-axis mounting frame 21 is arranged along the X-axis direction. The drive assembly 42 is mounted on the X-axis mounting frame 21 and connected to the Z-axis moving device 3 to drive the Z-axis moving device 3 to reciprocate along the X-axis mounting frame 21 in the X-axis direction, thereby driving the Y-axis moving device 4 and the suction cup device 5 to reciprocate as a whole along the X-axis direction.

[0074] One embodiment of this application, such as Figure 2 As shown, the automatic material handling and connecting mechanism also includes a first drag chain 7, which is disposed on the X-axis mounting frame 21 and connected to the Z-axis moving device 3.

[0075] One embodiment of this application, such as Figure 2As shown, the automatic material handling and connecting mechanism further includes at least one X-axis guide rail 9 and at least one X-axis slider (not shown in the figure); the X-axis guide rail 9 is disposed on the X-axis moving device 2, and the X-axis slider is disposed on the Z-axis moving device 3, and engages with the X-axis guide rail 9 in a one-to-one correspondence; the length direction of the X-axis guide rail 9 is arranged along the X-axis direction, and the X-axis slider can slide back and forth along the length direction of the X-axis guide rail 9. When there are multiple X-axis guide rails 9, the multiple X-axis guide rails 9 are arranged sequentially along the Z-axis direction. The cooperation of the X-axis guide rail 9 and the X-axis slider is used to guide the movement of the Z-axis moving device 3 along the X-axis direction, ensuring that the Z-axis moving device 3 can move in a straight line.

[0076] In one embodiment of this invention, there are two X-axis guide rails 9, which are distributed on both sides of the belt 424 along the Z-axis direction.

[0077] like Figure 7 As shown, the Y-axis moving device 4 includes a Y-axis mounting bracket 41 and a drive assembly 42. The Y-axis mounting bracket 41 is movably connected to the Z-axis moving device 3; the length direction of the Y-axis mounting bracket 41 is arranged along the Y-axis direction; the drive assembly 42 is disposed on the Y-axis mounting bracket 41 and connected to the suction cup device 5 to drive the suction cup device 5 to reciprocate along the Y-axis mounting bracket 41 in the Y-axis direction.

[0078] The drive assembly 42 described in any of the above-mentioned embodiments includes a first drive motor 421, a drive wheel 422, a driven wheel 423, and a belt 424. The first drive motor 421 is connected to the drive wheel 422 and drives the drive wheel 422 to rotate. The driven wheel 423 is arranged side by side on one side of the drive wheel 422, and the axial direction of the driven wheel 423 is parallel to the axial direction of the drive wheel 422. The belt 424 is respectively sleeved on the drive wheel 422 and the driven wheel 423. When the first drive motor 421 is started, the drive wheel 422 rotates, thereby driving the driven wheel 423 to rotate through the belt 424.

[0079] For the X-axis moving device 2, the first drive motor 421 is mounted on the X-axis mounting bracket 21. The driving wheel 422 and the driven wheel 423 are both rotatably connected to the X-axis mounting bracket 21, and the driven wheel 423 is located on one side of the driving wheel 422 along the X-axis direction. The belt 424 is connected to the Z-axis moving device 3. By adjusting the forward and reverse rotation of the first drive motor 421, the Z-axis moving device 3 is driven to reciprocate along the X-axis.

[0080] For the Y-axis moving device 4, the first drive motor 421 is mounted on the Y-axis mounting bracket 41. The driving wheel 422 and the driven wheel 423 are both rotatably connected to the Y-axis mounting bracket 41, and the driven wheel 423 is located on one side of the driving wheel 422 along the Y-axis direction. The belt 424 is connected to the suction cup device 5. By adjusting the forward and reverse rotation of the first drive motor 421, the suction cup device 5 is driven to reciprocate along the Y-axis.

[0081] like Figure 3 and Figure 4 As shown, the Z-axis moving device 3 includes: a Z-axis mounting frame 31, a second drive motor 32, and a second screw 33. The Z-axis mounting frame 31 is slidably connected to the X-axis moving device 2 and connected to the belt 424 in the X-axis moving device 2, thereby reciprocating along the X-axis direction under the drive of the belt 424. The second drive motor 32 is mounted on the Z-axis mounting frame 31; the length direction of the second screw 33 is arranged along the Z-axis direction; one end of the length direction of the second screw 33 is rotatably connected to the Z-axis mounting frame 31, and the other end of the length direction of the second screw 33 is connected to the second drive motor 32.

[0082] The Y-axis moving device 4 is threadedly connected to the second screw 33. Specifically, the Y-axis mounting bracket 41 is threadedly connected to the second screw 33. When the second drive motor 32 is started, the second screw 33 rotates, thereby driving the Y-axis moving device 4 to reciprocate along the Z-axis direction.

[0083] like Figure 7 As shown, the automatic material handling and connecting mechanism further includes a first connecting part 10 and a second connecting part 11, which are symmetrically arranged on both sides of the Y-axis mounting frame 41 along the X-axis direction; the first connecting part 10 is connected to the belt 424; the first connecting part 10 and the second connecting part 11 are also connected to the suction cup mounting frame 51. The Y-axis mounting frame 41 is also provided with a first guide rail 12 and a second guide rail (not shown in the figure), the first guide rail 12 is slidably connected to the first connecting part 10, and the second guide rail is slidably connected to the second connecting part 11.

[0084] One embodiment of this application, such as Figure 3 and Figure 4As shown, the automatic material handling and connecting mechanism further includes at least one Z-axis guide rail 13 and at least one Z-axis slider (not shown in the figure); the Z-axis guide rail 13 is disposed on the Z-axis moving device 3, and the Z-axis slider is disposed on the Y-axis moving device 4, and engages with the Z-axis guide rail 13 in a one-to-one correspondence; the length direction of the Z-axis guide rail 13 is arranged along the Z-axis direction, and the Z-axis slider can slide back and forth along the length direction of the Z-axis guide rail 13. When there are multiple Z-axis guide rails 13, the multiple Z-axis guide rails 13 are arranged sequentially along the X-axis direction. The cooperation of the Z-axis guide rail 13 and the Z-axis slider is used to guide the movement of the Y-axis moving device 4 along the Z-axis direction, ensuring that the Y-axis moving device 4 can move in a straight line.

[0085] In one embodiment of this invention, there are two Z-axis guide rails 13, which are distributed on both sides of the second screw 33 along the X-axis direction.

[0086] One embodiment of this application, such as Figure 2 As shown, the automatic material handling and connecting mechanism also includes a second drag chain 8, which is disposed on the Z-axis mounting frame 31 and connected to the Y-axis moving device 4.

[0087] like Figure 1 and Figure 8 As shown, the automatic material handling and docking mechanism further includes: a support 14, a CCD (Charge Coupled Device) camera assembly 15, and a Y-axis mobile device 16. The support 14 is arranged side-by-side on one side of the frame 1 along the X-axis. The CCD camera assembly 15 is located on the worktable 6 near the suction cup device 5, and the distance between the CCD camera assembly 15 and the worktable 6 along the Y-axis is less than the maximum stroke of the suction cup device 5. The Y-axis mobile device 16 is mounted on the support 14 and connected to the CCD camera assembly 15 to drive the CCD camera assembly 15 to reciprocate along the Y-axis, allowing both the worktable 6 and the suction cup device 5 to be placed within the imaging range of the CCD camera assembly 15. This enables the CCD camera assembly 15 to position the product 100 adsorbed on the suction cup device 5 and the product 100 placed on the worktable 6, facilitating precise docking of the product 100 by the robot.

[0088] In one embodiment of this application, a light source 17 is also provided on the bracket 14. The light source 17 is located on the side of the CCD camera assembly 15 away from the worktable 6 along the Z-axis, thereby providing brightness compensation for the CCD camera assembly 15 and improving the accuracy of the CCD camera assembly 15 in positioning the product 100.

[0089] The CCD camera assembly 15 includes a first CCD camera 151 and a second CCD camera 152; the lens of the first CCD camera 151 is arranged along the Y-axis away from the worktable 6, thereby positioning the product 100 picked up from the suction cup device 5; the second CCD camera 152 is arranged along the Y-axis on the side of the first CCD camera 151 close to the worktable 6, and the lens of the second CCD camera 152 is arranged along the Y-axis toward the worktable 6, thereby positioning the product 100 placed on the worktable 6.

[0090] In one embodiment of this application, the Y-axis mobile device 16 includes a linear module, and the slider of the linear module is connected to the CCD camera assembly 15; the slider moves along the Y-axis; the slider is used to drive the CCD camera assembly 15 to reciprocate along the Y-axis.

[0091] like Figure 9 As shown, the automatic material handling and connecting mechanism also includes a controller 200, which is mounted on the X-axis moving device 2 and electrically connected to the Y-axis moving device 4, the Z-axis moving device 3, the CCD camera assembly 15, the Y-axis moving device 16, and the robot, thereby controlling the start and stop of each device and equipment. The controller 200 is also used to acquire the positioning of the product 100 through the CCD camera assembly 15 and send the positioning of the product 100 to the robot.

[0092] In summary, this application provides an automatic material handling and docking mechanism. By adding the automatic material handling and docking mechanism between the product pile and the robot, the suction cup device picks up the product and transfers it to different target positions according to actual needs, and docks with the robot. This can achieve both product handling and docking without flipping the product and product handling and docking with flipped products.

[0093] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. An automatic material handling and connecting mechanism, comprising a frame, characterized in that, It also includes: The X-axis moving device is mounted on the frame; The Z-axis moving device is mounted on the X-axis moving device and is used to reciprocate along the X-axis under the drive of the X-axis moving device. The Y-axis moving device is mounted on the Z-axis moving device and is used to reciprocate along the Z-axis under the drive of the Z-axis moving device. A suction cup device is mounted on the Y-axis moving device and is used to reciprocate along the Y-axis under the drive of the Y-axis moving device to transfer the product to the target position and connect with the robot; the suction cup device is also used to connect with an external vacuum suction device to pick up the product. The worktable is located on one side of the frame along the Y-axis and on the moving path of the suction cup device; The suction cup device includes: A suction cup mounting bracket is provided on the Y-axis moving device; A suction cup array is disposed on the suction cup mounting bracket; the suction cup array includes multiple suction cups arranged in an array. At least one suction cup unit is arranged coplanarly with the suction cup array and located to the side of the suction cup array; the suction cup unit includes at least one row of suction cups; At least one adjustment component is disposed on the suction cup mounting bracket and connected to each of the suction cup units in a corresponding manner to adjust the distance between the suction cup units and the suction cup array; The adjustment component includes: The mounting plate has one end connected to the suction cup unit and the other end extending to the suction cup mounting bracket; The mounting plate is provided with guide holes, which extend along the arrangement direction of the suction cup unit and the suction cup array; A first screw passes through the guide hole and is threadedly connected to the suction cup mounting bracket; the first screw is clearance-fitted with the guide hole. A limiting part is disposed on the first screw and located on the side of the mounting plate away from the suction cup mounting bracket; the width of the limiting part is greater than the width of the guide hole; The product material pile is located on the moving path of the suction cup device; the robot's moving path partially overlaps with the moving path of the suction cup device, and the worktable is also located on the robot's moving path, allowing the robot to directly pick up materials from the suction cup device or from the worktable; the length direction of the suction cup array is arranged along the X-axis, and there are three suction cup units and three adjustment components, which correspond one-to-one; the three suction cup units are located on both sides of the length direction of the suction cup array and on the side away from the Z-axis moving device in the width direction; a first slide rail and a second slide rail are provided on the suction cup mounting bracket corresponding to the adjustment component, and the first slide rail and the second slide rail are arranged symmetrically; guide blocks are provided on the mounting plate corresponding to the first slide rail and the second slide rail, and the two guide blocks are slidably connected to the first slide rail and the second slide rail respectively; the length direction of the first slide rail is arranged along the arrangement direction between the suction cup units and the suction cup array.

2. The automatic material handling and connecting mechanism according to claim 1, characterized in that, The X-axis moving device includes: The X-axis mounting bracket is mounted on the frame and is slidably connected to the Z-axis moving device; A drive component is mounted on the X-axis mounting bracket and connected to the Z-axis moving device to drive the Z-axis moving device to reciprocate along the X-axis direction of the X-axis mounting bracket.

3. The automatic material handling and connecting mechanism according to claim 1, characterized in that, The Y-axis moving device includes: The Y-axis mounting bracket is movably connected to the Z-axis moving device; A drive component is mounted on the Y-axis mounting bracket and connected to the suction cup device to drive the suction cup device to reciprocate along the Y-axis direction of the Y-axis mounting bracket.

4. The automatic material handling and connecting mechanism according to claim 2 or 3, characterized in that, The driving component includes: First drive motor; The drive wheel is connected to the first drive motor; The driven wheel is arranged on one side of the driving wheel, and the axis of the driven wheel is parallel to the axis of the driving wheel; The belts are respectively fitted onto the driving pulley and the driven pulley.

5. The automatic material handling and connecting mechanism according to claim 1, characterized in that, The Z-axis moving device includes: The Z-axis mounting bracket is slidably connected to the X-axis moving device; The second drive motor is mounted on the Z-axis mounting bracket; The second screw has one end rotatably connected to the Z-axis mounting bracket and the other end connected to the second drive motor; the second screw is threadedly connected to the Y-axis moving device, and the length direction of the second screw is arranged along the Z-axis.

6. The automatic material handling and connecting mechanism according to claim 1, characterized in that, It also includes: The brackets are arranged side by side on one side of the frame along the X-axis direction; A CCD camera assembly is located on the side of the worktable close to the suction cup device. The distance between the CCD camera assembly and the worktable along the Y-axis is less than the maximum stroke of the suction cup device, so as to position the product adsorbed on the suction cup device and the product placed on the worktable. The Y-axis mobile device is mounted on the bracket and connected to the CCD camera assembly to drive the CCD camera assembly to reciprocate along the Y-axis.

7. The automatic material handling and connecting mechanism according to claim 6, characterized in that, The CCD camera assembly includes: A first CCD camera, the lens of which is arranged along the Y-axis away from the worktable; A second CCD camera is arranged along the Y-axis on the side of the first CCD camera closer to the worktable; the lens of the second CCD camera is arranged along the Y-axis toward the worktable.

8. The automatic material handling and connecting mechanism according to claim 6, characterized in that, The Y-axis mobile device includes: A linear module, wherein the slider of the linear module is connected to the CCD camera assembly.

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