Material taking and placing device, material taking and placing method and automatic feeding and discharging equipment

Abstract

The application provides a material taking and placing device, a material taking and placing method and an automatic feeding and discharging equipment. The material taking and placing device comprises a power assembly, a connecting rod transmission assembly and a gripper assembly. The power assembly is connected with the connecting rod transmission assembly and drives the connecting rod transmission assembly to reciprocate along a first direction. The gripper assembly is arranged at the front end of the connecting rod transmission assembly and is used for taking and placing materials. The application adopts the compact and retractable material taking and placing device, so that the materials can be conveniently and quickly taken and placed from a narrow position or area and conveyed, and the materials can be stably taken and placed and conveyed during the process, so as to ensure that the chips are not damaged. The application can realize the automation of the material taking and placing process and is beneficial to realizing the automation of an SMT production line.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing, and in particular to a material handling device, a method for handling materials, and an automatic loading and unloading equipment. Background Technology

[0002] The current chip loading process on the SMT automated production line is as follows: the operator manually opens the cabinet door of the tray chip feeder, takes out the empty chip tray and puts in the full chip tray, closes the feeder cabinet door, and clicks the loading completion button on the tray chip feeder to complete the chip loading.

[0003] However, the storage area of ​​the tray chip feeder in SMT is small and unpowered. Manual feeding requires pushing the chip in evenly without any shaking, otherwise the chip may be shaken apart during the feeding process, resulting in chip damage.

[0004] Furthermore, the loading area of ​​the SMT tray chip feeder is small and lacks power, making it impossible to complete the operation using a robotic arm and conveyor belt. If a traditional multi-stage telescopic guide structure is used, it occupies a large space, making it difficult to meet the chip feeder's picking actions between different layers in a confined space.

[0005] To address challenges such as ensuring chip integrity, precise positioning and docking, anti-collision measures during precision chip movement, and extensive data interaction between the machine and MES, manual operation is currently the primary method. However, manual operation suffers from drawbacks such as high replacement rates, cumbersome procedures, and high labor costs. Summary of the Invention

[0006] The purpose of this invention is to provide a material handling device, a method for handling materials, and an automatic loading and unloading equipment. Through a compact and retractable material handling device, one or more defects of the prior art can be solved, and the automation of the SMT production line can be realized.

[0007] To achieve the above objectives, the present invention provides a material handling device, comprising: a power component, a linkage transmission component, and a gripper assembly; the power component is connected to the linkage transmission component and drives the linkage transmission component to reciprocate along a first direction; the gripper assembly is disposed at the front end of the linkage transmission component and is used for handling materials.

[0008] In one embodiment of the present invention, the material handling device is disposed on a workbench, the workbench having a front and a back facing each other; the power assembly is disposed on the back side of the workbench, and the linkage transmission assembly is disposed on the front side of the workbench.

[0009] In one embodiment of the present invention, the power assembly includes a motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, a linear guide rail, a slider, and a receiving plate; the first synchronous pulley and the second synchronous pulley are respectively disposed at the rear end and front end of the worktable along the first direction and are connected by the synchronous belt; the motor is connected to the first synchronous pulley and is disposed at the rear end of the worktable; the linear guide rail is disposed on the back side of the worktable; the receiving plate is connected to the synchronous belt and the slider disposed on the linear guide rail, and is connected to the linkage transmission assembly for driving the linkage transmission assembly to reciprocate.

[0010] In one embodiment of the present invention, the linkage transmission assembly includes a plurality of linkages, a first support, and a second support; the plurality of linkages are rotatably connected in pairs; the first support is disposed at the rear end of the linkage transmission assembly and connected to the front end of the worktable; the second support is disposed in the middle of the linkage transmission assembly and connected to the power assembly.

[0011] In one embodiment of the present invention, the linkage transmission assembly further includes gears and a first rotating shaft. The two links located at the front end of the linkage transmission assembly are connected by a pair of gears, and each gear is rotatably mounted on one end of the corresponding link via the first rotating shaft.

[0012] In one embodiment of the present invention, the linkage transmission assembly further includes an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate being respectively disposed at the top and bottom of the two linkages, and the first rotating shaft passing through the upper cover plate and the lower cover plate to connect one end of the two linkages, and the gear being located between the upper cover plate and the lower cover plate.

[0013] In one embodiment of the present invention, the linkage transmission assembly further includes a bearing, a collar, and a second rotating shaft, the second rotating shaft passing through the bearing and the collar to rotatably connect the two linkages.

[0014] In one embodiment of the present invention, the gripper assembly includes a gripper and a moving device connected to the gripper, the moving device being capable of controlling the gripper to move along a second direction to clamp or release the material, the second direction being perpendicular to the first direction.

[0015] In one embodiment of the present invention, the gripper assembly further includes a base plate and two stops. The two stops are respectively disposed on the left and right sides of the front surface of the base plate along the second direction, and each of the stops has a first stop portion and a second stop portion. When the gripper moves to engage with the first stop portion, it can clamp the material. When the gripper moves to engage with the second stop portion, it can release the material.

[0016] In one embodiment of the present invention, the moving device includes a left moving device and a right moving device, which are disposed on the left and right sides of the back of the base plate along the second direction; the gripper includes a left gripper connected to the left moving device and a right gripper connected to the right moving device, and the left gripper and the right gripper are bent inward in the second direction to form a gripping part that cooperates with the material to grip it.

[0017] In one embodiment of the present invention, each of the stops has a through groove opened along the second direction, and two groove walls opposite each other along the second direction form the first stop portion and the second stop portion, respectively. The gripper is installed through the through groove and is stopped and limited by the two groove walls.

[0018] In one embodiment of the present invention, the gripper assembly further includes a proximity sensor disposed on the front side of the base plate.

[0019] In one embodiment of the present invention, the gripper assembly further includes a receiving plate and a pressure sensor; the receiving plate receives the front end of the connecting rod transmission assembly; one end of the pressure sensor is disposed on the back side of the base plate, and the other end is connected to the receiving plate.

[0020] In one embodiment of the present invention, limiting posts connected to the back of the base plate are also provided on the left and right sides of the pressure sensor.

[0021] In one embodiment of the present invention, the material handling device further includes a pair of material receiving blocks located on the front of the workbench and arranged opposite to each other on the left and right sides along the second direction, for receiving the material taken out.

[0022] In one embodiment of the present invention, the material handling device further includes support rollers disposed on the front side of the workbench to assist in supporting the material being handled.

[0023] In one embodiment of the present invention, the material handling device further includes a photoelectric sensor disposed on the worktable for detecting the material handling status.

[0024] To achieve the above objectives, the present invention also provides a method for picking up and placing materials, comprising:

[0025] Configure the material handling device as described above;

[0026] The connecting rod conveying assembly of the material picking and placing device drives the gripper assembly to extend along the first direction to a first position or retract to a second position to pick up and place the material;

[0027] When the gripper assembly is in the first position, the material can be gripped by controlling the gripper of the gripper assembly to move inward in a second direction and clamp the side of the material, wherein the second direction is perpendicular to the first direction;

[0028] When the gripper assembly is in the second position, the material can be released by controlling the gripper of the gripper assembly to move outward in the second direction and disengage from the side of the material.

[0029] In another embodiment of the present invention, the method for picking up and placing materials further includes: detecting abnormal states of picking up and placing materials by means of a proximity sensor of the picking and placing device.

[0030] In another embodiment of the present invention, the method for picking up and placing materials further includes: detecting abnormal conditions in which the materials are picked up or placed in place by a pressure sensor of the picking and placing device.

[0031] In another embodiment of the present invention, the method for picking up and placing materials further includes: detecting the picking and placing status of the materials by means of a photoelectric sensor of the picking and placing device.

[0032] To achieve the above objectives, the present invention provides an automatic loading and unloading device having the loading and unloading device described above.

[0033] This invention employs a compact, retractable material handling device that allows for convenient and rapid mechanical handling of chip feeders on SMT trays, enabling smooth and stable material handling and transport without chip damage. This invention automates the material handling process and facilitates the automation of SMT production lines.

[0034] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0035] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0036] Figure 1This is a schematic diagram of the automatic loading system for Tray disk chip materials with automatic loading and unloading equipment according to the present invention;

[0037] Figure 2 This is a schematic diagram of the automatic loading and unloading equipment of the present invention after the cabinet door has been removed;

[0038] Figure 3 This is a front view of the material handling device of the present invention.

[0039] Figure 4 This is a schematic diagram of the rear structure of the material handling device of the present invention;

[0040] Figure 5 This is a schematic diagram of the connecting rod transmission assembly of the material handling device of the present invention;

[0041] Figure 6 This is a schematic diagram of the gripper assembly of the material handling device of the present invention;

[0042] Figure 7 This is a schematic diagram of the material (i.e., tray) picked up and placed by the material handling device of the present invention;

[0043] Figure 8 This is a flowchart illustrating a method for picking up and placing materials using the material picking and placing device of the present invention. Detailed Implementation

[0044] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0045] In describing the elements / components / etc. described and / or illustrated herein, the terms “a,” “an,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc. The terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion and to mean that additional elements / components / etc. may exist in addition to those listed. Relative terms, such as “upper” or “lower,” may be used in the embodiments to describe the relative relationship of one component of the icon to another component. It is understood that if the device of the icon is flipped so that it is upside down, the component described as being on the “upper” side will become the component on the “lower” side. Furthermore, the terms “first,” “second,” etc., in the claims are used only as illustrative marks and are not intended to limit the number of objects to which they apply.

[0046] Figure 1The structure of the Tray disk chip material automatic loading system 1000 with automatic loading and unloading equipment 100 of the present invention is shown. Figure 2 The structure of the automatic loading and unloading device 100 of the present invention after removing the cabinet door is shown.

[0047] like Figures 1-2 As shown, the automatic tray chip feeding system 1000 of the present invention may include the automatic loading and unloading device 100 and the feeder 200 of the present invention. The automatic loading and unloading device 100 may include the material handling device 24 of the present invention. Of course, it is understood that the automatic loading and unloading device 100 may also include other structures, such as a movable frame 10, a movable device 20, and a buffer device 30.

[0048] The movable frame 10 may have a first region 11 and a second region 12 distributed left and right along the X-axis, and may include a frame structure 13, a housing 14 mounted on the frame structure 13, and casters 15 mounted on the frame structure 13. Furthermore, on one side of the movable frame 10 (e.g., Figure 2 On the back of the automatic loading and unloading device 100 shown, a first opening 18 is also formed, which can be configured to allow the loading and unloading device 24 to enter and exit.

[0049] The movable device 20 is disposed in the first region 11 and may include a lifting mechanism 21, a transplanting mechanism 22, a rotating mechanism 23, and the material handling device 24 of the present invention. The lifting mechanism 21 may be connected to the transplanting mechanism 22. The material handling device 24, the rotating mechanism 23, and the transplanting mechanism 22 are stacked and connected from top to bottom along the Z-axis. Furthermore, the material handling device 24 may be configured to reciprocate in a transmission direction T to handle materials, such as a tray 300 (e.g., Figure 7 (As shown). The rotating mechanism 23 can be configured to rotate the material pick-and-place device 24 relative to the transplanting mechanism 22. The lifting mechanism 21 can be configured to lift the transplanting mechanism 22 in the Z-axis direction. The transplanting mechanism 22 can be configured to reciprocate the material pick-and-place device 24 in the X-axis direction.

[0050] The cache device 30 is disposed in the second region 12 and may include a cache box 31 and a cache box positioning platform 32. The cache box 31 has multiple storage compartments and is removably / insertable on the top of the cache box positioning platform 32, meaning that the cache box 31 can be removed or inserted along the Y-axis direction shown in the figure.

[0051] Thus, using the loading and unloading device 24 of the present invention, a tray 300 containing chips can be retrieved from the storage cell of the buffer device 30 (e.g., ...). Figure 7 (As shown) and placed into the feeder 200 to complete the automatic chip loading. Alternatively, using the pick-and-place device 24 of the present invention, an empty tray 300 can be removed from the feeder 200 and placed into the storage cell of the buffer device 30 to complete the automatic unloading of the tray 300. Figure 7 As shown, the Tray disk 300 may have a length L, a width W and a height H, and one end also has a clamping part 301.

[0052] The following will combine Figures 3-6 The specific structure of the material handling device 24 of the present invention will be described in detail.

[0053] like Figure 3 and Figure 4 As shown, in some embodiments of the present invention, the material handling device 24 may include, for example, a power assembly 241, a linkage transmission assembly 242, and a gripper assembly 243. The power assembly 241 is connected to the linkage transmission assembly 242 and can drive the linkage transmission assembly 242 to reciprocate along a transmission direction T (i.e., a first direction). The gripper assembly 243 is disposed at the front end F of the linkage transmission assembly 242 and is used to handle materials, such as a tray 300 (e.g.,...). Figure 7 (As shown).

[0054] Preferably, the material handling device 24 is mounted on a worktable 244. The worktable 244 has opposing front surfaces 2441 (e.g., ...). Figure 3 (as shown) and back 2442 (as shown) Figure 4 (As shown). The power assembly 241 can be disposed on the back side 2442 of the worktable 244, and the linkage transmission assembly 242 can be disposed on the front side 2441 of the worktable 244.

[0055] In one embodiment of the present invention, such as Figure 4As shown, the power assembly 241 may include, for example, a motor 2411, a first synchronous pulley 2412, a second synchronous pulley 2413, a synchronous belt 2414, a linear guide rail 2415, a slider 2416, and a receiving plate 2417. The first synchronous pulley 2412 and the second synchronous pulley 2413 are respectively disposed at the rear end B and the front end F of the worktable 244 along the transmission direction T, and are connected by the synchronous belt 2414. The motor 2411 is connected to the first synchronous pulley 2412 and is disposed at the rear end B of the worktable 244. The linear guide rail 2415 is disposed on the back end 2442 of the worktable 244. The receiving plate 2417 is connected to the synchronous belt 2414 and the slider 2416 disposed on the linear guide rail 2415, and is connected to the linkage transmission assembly 242, for driving the linkage transmission assembly 242 to reciprocate along the transmission direction T.

[0056] In one embodiment of the present invention, such as Figure 5 As shown, the linkage transmission assembly 242 may include, for example, a plurality of linkages 2421, a first support column 2422, and a second support column 2423. The plurality of linkages 2421 are rotatably connected in pairs, intersecting each other. The first support column 2422 is disposed at the rear end B of the linkage transmission assembly 242 and connected to the front end 2441 of the worktable 244. The second support column 2423 is disposed in the middle of the linkage transmission assembly 242 and connected to the power assembly 241, for example, connected to the receiving plate 2417 of the power assembly 241.

[0057] Preferably, the linkage transmission assembly 242 may further include gears 2424 and a first rotating shaft 2425. The two links 2421b located at the front end F of the linkage transmission assembly 242 are connected by a pair of gears 2424. Each gear 2424 is rotatably mounted to one end of the corresponding link 2421b via the first rotating shaft 2425. The gears 2424 ensure that the gripper assembly 243 connected to the front end F does not swing left or right.

[0058] Preferably, the linkage transmission assembly 242 may further include a cover plate 2426, such as an upper cover plate 2426a and a lower cover plate 2426b. The upper cover plate 2426a and the lower cover plate 2426b may be respectively disposed at the top and bottom of the two connecting rods 2421b, and the first rotating shaft 2425 may pass through the upper cover plate 2426a and the lower cover plate 2426b, connecting one end of the two connecting rods 2421b. The gear 2424 is located between the upper cover plate 2426a and the lower cover plate 2426b.

[0059] Preferably, the linkage transmission assembly 242 may further include a bearing 2427, a collar 2428, and a second rotating shaft 2429. The second rotating shaft 2429 passes through the bearing 2427 and the collar 2428, allowing the two linkages 2421 to be rotatably connected.

[0060] In this invention, the linkage transmission assembly 242 can drive the gripper assembly 243 to reciprocate along the transmission direction T. Furthermore, in one embodiment of this invention, as... Figure 6 As shown, the gripper assembly 243 may include, for example, grippers 2431 and a moving device 2432 connected to the grippers 2431. The moving device 2432 can control the grippers 2431 to move along a moving direction M (i.e., a second direction) to clamp or release materials, for example, with the tray 300 (e.g., Figure 7 The clamping part 301 on one end (as shown) engages to clamp or release the object. The transmission direction T is perpendicular to the movement direction M.

[0061] Preferably, the gripper assembly 243 may further include a base plate 2433 and two stops 2434. The two stops 2434 are respectively disposed on the left and right sides of the front surface of the base plate 2433 along the moving direction M (i.e., the second direction). Each stop 2434 may have a first stop portion 2434a and a second stop portion 2434b, wherein when the gripper 2431 moves to engage with the first stop portion 2434a, it can clamp the material; when the gripper 2431 moves to engage with the second stop portion 2434b, it can release the material.

[0062] Preferably, the moving device 2432 may be, for example, a micro motor or electromagnet, and may include a left moving device 2432a and a right moving device 2432b, which are disposed on the left and right sides of the back surface of the base plate 2433 along the moving direction M (i.e., the second direction). The gripper 2431 may include, for example, a left gripper 2431a connected to the left moving device 2432a and a right gripper 2431b connected to the right moving device 2432b, and the left gripper 2431a and the right gripper 2431b are bent inward in the moving direction M (i.e., the second direction) to form a gripping part 24310 for cooperating with and gripping the material. The gripping part 24310 may, for example, be connected with... Figure 7 The side structure of the clamping part 301 of the Tray 300 shown is engaged and clamped.

[0063] In one embodiment of the present invention, each of the stops 2434 may, for example, have a through slot 24341 opened along the moving direction M (i.e., the second direction), and two opposite slot walls of the through slot 24341 along the moving direction M may respectively form a first stop portion 2434a and a second stop portion 2434b. The gripper 2431 can be installed through the through slot 24341 and is limited by the stops of the two slot walls.

[0064] In one embodiment of the present invention, the gripper assembly 243 may further include a proximity sensor 611, which may be disposed on the front side of the base plate 2433 for detecting relevant status information of material (e.g., tray) picking and placing, such as including but not limited to abnormal status information of picking and placing, and / or resistance information of material during placement.

[0065] In one embodiment of the present invention, the gripper assembly 243 may further include a receiving plate 2435 and a pressure sensor 612. The receiving plate 2435 can receive the front end F of the linkage transmission assembly 242 (see reference). Figure 3 One end of the pressure sensor 612 is disposed on the back side of the base plate 2433, and the other end is connected to the receiving plate 2435. Preferably, limiting posts 2436 connected to the back side of the base plate 2433 may also be provided on the left and right sides of the pressure sensor 612. The pressure sensor 612 can be used to detect the status information of material picking and placing, such as including but not limited to abnormal status information of picking and placing, and / or material placement information. The limiting posts 2436 can be used to prevent the pressure sensor 612 from being damaged by overload.

[0066] In this invention, the automatic loading and unloading device 100 can be configured to control the reciprocating motion of the picking and unloading device 24 according to the placement information and / or resistance information.

[0067] In some embodiments of the present invention, please refer back to the reference. Figure 3 The material handling device 24 may further include a pair of material receiving blocks 245, which may be disposed on the front surface 2441 of the worktable 244. Each material receiving block 245 extends along the transmission direction T and is disposed opposite to the left and right sides of the worktable 244 along the movement direction M (i.e., the second direction) for receiving the material being handled. In other embodiments, the material handling device 24 may further include support rollers 246, which may be disposed at the front end F of the front surface of the worktable 244 for assisting in supporting the material being handled. The material handling device 24 may further include a photoelectric sensor 247, disposed at the front end F of the worktable 244 for detecting the material handling status.

[0068] like Figure 8As shown, in conjunction with reference Figures 1-3 and Figure 6 The present invention also provides a method 800 for picking up and placing materials, which may include:

[0069] Step S801: Configure the material handling device 24.

[0070] In step S802, the connecting rod conveying assembly 242 of the material handling device 24 drives the gripper assembly 243 to extend along the first direction (e.g., the transmission direction T) to a first position or retract to a second position to pick up or place materials.

[0071] In step S803, when the gripper assembly 243 is in the first position, the gripper 2431 of the gripper assembly 243 is controlled to move inward in the second direction (e.g., the movement direction M) and clamp the side of the material (e.g., the tray), thereby gripping the material. The second direction is perpendicular to the first direction.

[0072] In step S804, when the gripper assembly 243 is in the second position, the gripper 2431 of the gripper assembly 243 is controlled to move outward in the second direction (e.g., the movement direction M) and disengage from the side of the material (e.g., the tray), thereby releasing the material.

[0073] In some embodiments of the present invention, the method 800 for picking up and placing materials may further include: detecting abnormal conditions of picking up and placing materials by means of a proximity sensor 611 of the picking and placing device 24.

[0074] In some embodiments of the present invention, the method 800 for picking up and placing materials may further include: detecting abnormal conditions of picking up and placing materials in place by means of a pressure sensor 612 of the picking and placing device 24.

[0075] In some embodiments of the present invention, the method 800 for picking up and placing materials may further include: detecting the picking up and placing status of materials by using the photoelectric sensor 247 of the picking up and placing device 24.

[0076] This invention, by employing a compact and retractable material handling device 24, allows for convenient and quick mechanical operation of material handling from the narrow storage area of ​​the feeder 200 (e.g., a tray chip feeder for SMT) and the narrow loading area A1 between the automatic loading / unloading device 100 and the feeder 200 (e.g., a tray chip feeder for SMT). Figure 1The automatic loading and unloading equipment 100 of this invention can pick up and place materials (as shown) and convey them smoothly, ensuring no damage to the chips. The material handling device 24 can also conveniently and quickly pick up and place materials into the storage cells of the buffer device 30, and smoothly convey materials. This invention automates the material handling process, helping factories build advanced SMT intelligent production lines and facilitating the automation of SMT production lines.

[0077] Exemplary embodiments of the present invention have been specifically illustrated and described above. It should be understood that the present invention is not limited to the disclosed embodiments; rather, the present invention is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A material handling device, characterized in that, include: The system includes a power unit, a linkage transmission assembly, and a gripper assembly; the power unit is connected to the linkage transmission assembly and drives the linkage conveying assembly to reciprocate along a first direction; the gripper assembly is located at the front end of the linkage transmission assembly and is used to pick up and place materials. The material handling device is located on the workbench; The linkage transmission assembly includes multiple links, a first support, and a second support; the multiple links are rotatably connected in pairs; the first support is located at the rear end of the linkage transmission assembly and connected to the worktable; the second support is located in the middle of the linkage transmission assembly and connected to the power assembly. The gripper assembly includes grippers and a moving device connected to the grippers. The moving device is capable of controlling the grippers to move along a second direction to clamp or release the material. The second direction is perpendicular to the first direction. The gripper assembly further includes a base plate and two stops. The two stops are respectively disposed on the left and right sides of the front of the base plate along the second direction, and each stop has a first stop and a second stop. When the gripper moves to engage with the first stop, it can clamp the material. When the gripper moves to engage with the second stop, it can release the material.

2. The material handling device according to claim 1, characterized in that, The worktable has a front and a back side; the power assembly is located on the back side of the worktable, and the linkage transmission assembly is located on the front side of the worktable.

3. The material handling device according to claim 2, characterized in that, The power assembly includes a motor, a first synchronous pulley, a second synchronous pulley, a synchronous belt, a linear guide rail, a slider, and a receiving plate. The first synchronous pulley and the second synchronous pulley are respectively disposed at the rear end and front end of the worktable along the first direction and are connected by the synchronous belt. The motor is connected to the first synchronous pulley and is disposed at the rear end of the worktable. The linear guide rail is disposed on the back side of the worktable. The receiving plate is connected to the synchronous belt and the slider disposed on the linear guide rail, and is connected to the linkage transmission assembly for driving the linkage transmission assembly to reciprocate.

4. The material handling device according to claim 1, characterized in that, The linkage transmission assembly further includes gears and a first rotating shaft. The two links located at the front end of the linkage transmission assembly are connected by a pair of gears, and each gear is rotatably mounted on one end of the corresponding link via the first rotating shaft.

5. The material handling device according to claim 4, characterized in that, The linkage transmission assembly further includes an upper cover plate and a lower cover plate, which are respectively disposed at the top and bottom of the two linkages, and the first rotating shaft passes through the upper cover plate and the lower cover plate to connect one end of the two linkages, and the gear is located between the upper cover plate and the lower cover plate.

6. The material handling device according to claim 1, characterized in that, The linkage transmission assembly further includes a bearing, a collar, and a second rotating shaft, the second rotating shaft passing through the bearing and the collar to rotatably connect the two linkages.

7. The material handling device according to claim 1, characterized in that, The moving device includes a left moving device and a right moving device, which are disposed on the left and right sides of the back of the base plate along the second direction; the gripper includes a left gripper connected to the left moving device and a right gripper connected to the right moving device, and the left gripper and the right gripper are bent inward in the second direction to form a gripping part that cooperates with the material to grip it.

8. The material handling device according to claim 1, characterized in that, Each of the stops has a through slot opened along the second direction, and two opposite slot walls along the second direction respectively form the first stop portion and the second stop portion. The gripper is installed through the through slot and is stopped and limited by the two slot walls.

9. The material handling device according to claim 1, characterized in that, The gripper assembly also includes a proximity sensor disposed on the front side of the base plate.

10. The material handling device according to claim 1, characterized in that, The gripper assembly also includes a receiving plate and a pressure sensor; the receiving plate receives the front end of the connecting rod transmission assembly; one end of the pressure sensor is disposed on the back side of the base plate, and the other end is connected to the receiving plate.

11. The material handling device according to claim 10, characterized in that, The pressure sensor is also provided with limiting posts on both the left and right sides that are connected to the back of the base plate.

12. The material handling device according to claim 2, characterized in that, It also includes a pair of material receiving blocks, located on the front of the workbench and arranged opposite each other on the left and right sides along the second direction, for receiving the material taken out.

13. The material handling device according to claim 2, characterized in that, It also includes support rollers, which are disposed on the front side of the worktable to assist in supporting the material being taken out.

14. The material handling device according to claim 2, characterized in that, It also includes a photoelectric sensor, which is installed on the worktable to detect the picking and placing status of the material.

15. A method for picking up and placing materials, characterized in that, include: Configure the material handling device as described in any one of claims 1 to 14; The connecting rod conveying assembly of the material picking and placing device drives the gripper assembly to extend along the first direction to a first position or retract to a second position to pick up and place the material; When the gripper assembly is in the first position, the material can be gripped by controlling the gripper of the gripper assembly to move inward in a second direction and clamp the side of the material, wherein the second direction is perpendicular to the first direction; When the gripper assembly is in the second position, the material can be released by controlling the gripper of the gripper assembly to move outward in the second direction and disengage from the side of the material.

16. The method for picking up and placing materials according to claim 15, characterized in that, Also includes: Abnormal conditions in the picking and placing of materials are detected by the proximity sensor of the picking and placing device.

17. The method for picking up and placing materials according to claim 15, characterized in that, Also includes: The pressure sensor of the material handling device detects any abnormalities in the material handling or placement.

18. The method for picking up and placing materials according to claim 15, characterized in that, Also includes: The photoelectric sensor of the material handling device detects the material handling status.

19. An automatic loading and unloading device, characterized in that, It has a material handling device as described in any one of claims 1 to 14.

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