Material transfer device

Abstract

The material conveying device provided in the application comprises a machine table, a first pick-and-place mechanism and a second pick-and-place mechanism. The first pick-and-place mechanism and the second pick-and-place mechanism are respectively arranged on the machine table, and at least one of them is movable in a first direction, so that the first pick-and-place mechanism and the second pick-and-place structure can be relatively close or relatively far away. The first pick-and-place mechanism is provided with a first suction part at one end in a second direction, and is provided with a first clamping part on at least one side facing the second pick-and-place mechanism. The first suction part comprises a plurality of first suction nozzles. The second pick-and-place mechanism is provided with a second suction part at one end in the second direction, and is provided with a second clamping part matched with the first clamping part on at least one side facing the first pick-and-place mechanism. The second suction part comprises a plurality of second suction nozzles. At least part of the first suction nozzles is movable along the second direction, and / or at least part of the second suction nozzles is movable along the second direction. The material conveying device in the application is applied to various material conveying scenes and has strong applicability.

Description

Technical Field

[0001] This application belongs to the field of material transfer equipment technology, specifically relating to a material transfer device. Background Technology

[0002] Material transfer devices in related technologies include adsorption structures, which adsorb the material to be transferred and carry it to a preset position. However, this type of material transfer device is only applicable to materials with an adsorption surface, thus limiting material transfer and failing to meet the material transfer requirements of various material types. Summary of the Invention

[0003] The purpose of this application is to provide a material transfer device that can solve the problems of limited material transfer in related technologies.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows:

[0005] This application provides a material transfer device, including: a machine base, a first pick-and-place mechanism, and a second pick-and-place mechanism;

[0006] The first pick-and-place mechanism and the second pick-and-place mechanism are respectively disposed on the machine platform, and at least one of them is movable in a first direction so that the first pick-and-place mechanism and the second pick-and-place mechanism can be relatively close to each other or relatively far apart;

[0007] The first pick-and-place mechanism has a first adsorption part at one end in the second direction and a first clamping part at least on the side facing the second pick-and-place mechanism. The first adsorption part includes a plurality of first suction nozzles.

[0008] The second pick-and-place mechanism has a second suction part at one end in the second direction, and at least a second clamping part that cooperates with the first clamping part on the side facing the first pick-and-place mechanism. The second suction part includes a plurality of second suction nozzles.

[0009] At least a portion of the first nozzle is movable along the second direction, and / or at least a portion of the second nozzle is movable along the second direction.

[0010] In this embodiment, the first and second suction nozzles can respectively adsorb different materials, or cooperate to adsorb the same material, and are applicable to the picking and conveying of materials that cannot be clamped; the first and second clamping parts can cooperate to clamp the material, and are also applicable to the picking and conveying of materials that cannot be adsorbed; by the relative movement of the first and second picking and placing mechanisms, the relative positions between the first and second suction nozzles and between the first and second clamping parts can be adjusted, thereby picking up materials of different specifications and forms, thereby improving the applicability of the material conveying device and making material conveying no longer restricted. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the material transfer device disclosed in the embodiments of this application, which clamps a whole piece of material.

[0012] Figure 2 This is a schematic diagram of the structure of the machine tool, the first drive mechanism, the second drive mechanism, and the second pick-and-place mechanism disclosed in the embodiments of this application;

[0013] Figure 3 This is a schematic diagram of the structure of the second driving mechanism and the second picking and placing mechanism disclosed in the embodiments of this application;

[0014] Figure 4 This is a schematic diagram of the structure of the first pick-up and drop-off mechanism disclosed in the embodiments of this application;

[0015] Figure 5 This is a schematic diagram of the structure of the first telescopic component and the first adsorption part disclosed in the embodiments of this application;

[0016] Figure 6 This is a schematic diagram of the structure of the first adsorption part and the first clamping part disclosed in the embodiments of this application;

[0017] Figure 7 This is a schematic diagram of the structure of the material transfer device disclosed in the embodiments of this application for adsorbing a whole piece of material;

[0018] Figure 8 This is a schematic diagram of the structure of the material transfer device disclosed in the embodiments of this application that adsorbs two material pieces;

[0019] Figure 9 This is a schematic diagram of the material transfer device that engages a whole piece of material according to an embodiment of this application;

[0020] Figure 10 This is a schematic diagram of the structure at both ends of a first-sized material held in a first direction, as disclosed in an embodiment of this application.

[0021] Figure 11 This is a schematic diagram of the structure at both ends of the second-sized part clamped in the first direction, as disclosed in the embodiments of this application;

[0022] Figure 12 This is a schematic diagram of the structure at both ends of the material being clamped upwards in an embodiment of this application.

[0023] Figure 13 This is a schematic diagram of the structure disclosed in the embodiments of this application, which clamps the ends of the material in a first direction and a third-party upward direction respectively;

[0024] Figure 14 This is a schematic diagram of the structure disclosed in this application, showing the adsorption of the two ends of a material of a first size in a first direction.

[0025] Figure 15 This is a schematic diagram of the structure disclosed in this application, which shows the adsorption of the two ends of a material of a second size in a first direction.

[0026] Figure 16 This is a schematic diagram of the structure for adsorbing large-sized materials disclosed in the embodiments of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 100-machine station;

[0029] 200-First pick-and-place mechanism; 210-First suction part; 211-First suction nozzle; 220-First clamping part; 221-First support step; 230-First telescopic component; 231-Sleeve; 232-Telescopic tube; 2321-Thin tube section; 2322-Thick tube section; 2323-Ventilation hole; 233-Elastic return component; 240-First mounting bracket; 241-First snap-fit ​​part; 242-Air cavity; 250-Sealing sleeve;

[0030] 300 - Second pick-and-place mechanism; 310 - Second suction part; 311 - Second suction nozzle; 320 - Second clamping part; 321 - Second support step; 330 - Second telescopic component; 340 - Second mounting bracket; 341 - Second snap-fit ​​part;

[0031] 400 - First drive mechanism;

[0032] 500 - Second drive mechanism. Detailed Implementation

[0033] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0035] The embodiments of this application will be described in detail below with reference to the accompanying drawings and specific examples and application scenarios.

[0036] refer to Figures 1 to 16 This application discloses a material transfer device for picking up and transferring materials to a preset position. The materials can be rigid circuit boards, such as PCBs, or flexible circuit boards, or other components, which are not specifically limited here. The disclosed material transfer device includes a machine base 100, a first pick-and-place mechanism 200, and a second pick-and-place mechanism 300.

[0037] The machine base 100 serves as the basic mounting component for the material transfer device, providing a mounting base for components such as the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300. Both the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 are used to pick up or release materials to facilitate subsequent material transfer. In some embodiments, the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 are respectively located on the machine base 100, and at least one of them is movable in a first direction, allowing the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 to move relatively closer or relatively farther apart.

[0038] In one configuration, the first pick-and-place mechanism 200 may be movable relative to the machine platform 100 in a first direction, while the second pick-and-place mechanism 300 may be fixed to the machine platform 100. In this configuration, the first pick-and-place mechanism 200 can be moved closer to or further away from the second pick-and-place mechanism 300 to adjust their relative positions. For example, the first pick-and-place mechanism 200 may be slidably connected to the machine platform 100. Alternatively, the first pick-and-place mechanism 200 may be fixedly connected to the machine platform 100, while the second pick-and-place mechanism 300 may be movable relative to the machine platform 100 in a first direction. In this configuration, the second pick-and-place mechanism 300 can be moved closer to or further away from the first pick-and-place mechanism. 200, so as to adjust the relative position between the two. For example, the second pick-and-place mechanism 300 is slidably connected to the machine platform 100; or the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 are respectively movable relative to the machine platform 100 in a first direction, and the second pick-and-place mechanism 300 is movable relative to the machine platform 100 in the first direction. In this form, the two can be moved closer to each other or further away from each other by moving the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300, so as to adjust the relative position between the two. For example, the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 are respectively slidably connected to the machine platform 100.

[0039] Based on the above settings, by adjusting the relative positions between the first picking and placing mechanism 200 and the second picking and placing mechanism 300, materials of different specifications (e.g., cross-sectional dimensions) and shapes can be picked up, so as to improve the applicability of material transfer.

[0040] Furthermore, the machine tool 100 may be provided with a slide rail extending along the first direction. Correspondingly, at least one of the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 may be provided with a slide groove. The slide groove and the slide rail are slidably engaged to realize the movement of at least one of the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 relative to the machine tool 100.

[0041] To enable the picking up of materials, the first picking and placing mechanism 200 may have a first adsorption part 210 at one end in the second direction. This first adsorption part 210 includes a plurality of first suction nozzles 211, such as... Figure 4 As shown. Based on this, at least a portion of the material is adsorbed by at least a portion of the plurality of first suction nozzles 211 to facilitate the transfer of the material.

[0042] Similarly, the second pick-and-place mechanism 300 may have a second suction part 310 at one end in the second direction, the second suction part 310 including a plurality of second suction nozzles 311, such as Figure 2 and Figure 3 As shown. Based on this, at least a portion of the material is adsorbed by at least some of the multiple second suction nozzles 311 to facilitate the transfer of the material.

[0043] For example, both the first suction nozzle 211 and the second suction nozzle 311 can be vacuum nozzles. That is, by drawing a vacuum, a negative pressure environment can be formed in a local area of ​​each of the first suction nozzle 211 and the second suction nozzle 311, thereby adsorbing the material in the vicinity of the negative pressure environment. The first suction nozzle 211 or the second suction nozzle 311 can be connected to an external suction device (such as a vacuum pump) through a suction tube, so that the gas near the first suction nozzle 211 or the second suction nozzle 311 is drawn away through the suction tube under the action of the suction device to form a negative pressure area.

[0044] In addition to the above structure, the first pick-and-place mechanism 200 may also include a first clamping part 220, such as... Figure 4 As shown, the first clamping part 220 is provided on at least the side of the first pick-and-place mechanism 200 facing the second pick-and-place mechanism 300. For example, the first clamping part 220 may be provided on the side of the first pick-and-place mechanism 200 facing the second pick-and-place mechanism 300, or it may be provided in the vicinity of the side of the first pick-and-place mechanism 200 facing the second pick-and-place mechanism 300, such as the first clamping part 220 being provided around the side of the first pick-and-place mechanism 200.

[0045] Similarly, the second pick-and-place mechanism 300 may also include a second clamping part 320, such as Figure 2 As shown, the second clamping portion 320 is provided on at least the side of the second pick-and-place mechanism 300 facing the first pick-and-place mechanism 200. For example, the second clamping portion 320 may be provided on the side of the second pick-and-place mechanism 300 facing the first pick-and-place mechanism 200, or it may be provided in the vicinity of the side of the second pick-and-place mechanism 300 facing the first pick-and-place mechanism 200, such as the second clamping portion 320 being provided around the side of the second pick-and-place mechanism 300.

[0046] Based on the above configuration, the first clamping part 220 and the second clamping part 320 can clamp both ends of the material from both sides to facilitate the transfer of the material.

[0047] It should be noted that when the material is rigid, it can withstand greater clamping forces without easily deforming. In this case, the first clamping part 220 and the second clamping part 320 can be used to clamp the material. Of course, when the surface of the material is flat, at least one of the first suction nozzle 211 and the second suction nozzle 311 can be used to adsorb the material. When the material size is small, either the first suction nozzle 211 or the second suction nozzle 311 can be used to adsorb the material. Figure 8 As shown, when the material size is large, the first suction nozzle 211 and the second suction nozzle 311 can be used together to adsorb the material, such as... Figure 7 As shown. When the surface of the material is uneven, it is not advisable to use an adsorption method to adsorb and transfer the material. Instead, a clamping method can be used to clamp and transfer the material.

[0048] When the material is soft, it is easily deformed and cannot withstand large clamping forces. In this case, at least one of the first suction nozzle 211 and the second suction nozzle 311 can be used to adsorb the material for easy conveying. When the material size is small, either the first suction nozzle 211 or the second suction nozzle 311 can be used to adsorb the material. When the material size is large, the first suction nozzle 211 and the second suction nozzle 311 can be used together to adsorb the material.

[0049] To facilitate the handling of materials, at least a portion of the first suction nozzle 211 can move along the second direction. This allows adjustment of the relative position of at least a portion of the first suction nozzle 211 and the material in the second direction, facilitating the adsorption or release of the material. Furthermore, by adjusting the movement of the first suction nozzle 211 at different positions, the adsorption position of the first adsorption part 210 on the material can be changed, thereby adapting to materials of different shapes and sizes and improving the applicability of the first adsorption part 210.

[0050] Similarly, at least a portion of the second suction nozzle 311 can move along the second direction, thereby adjusting the relative position of at least a portion of the second suction nozzle 311 and the material in the second direction to facilitate the adsorption or release of the material; and by adjusting the movement of the second suction nozzle 311 at different positions, the adsorption position of the second adsorption part 310 on the material can be changed, thereby adapting to materials of different shapes and sizes to improve the applicability of the second adsorption part 310.

[0051] In this embodiment, the first suction nozzle 211 and the second suction nozzle 311 can respectively adsorb different materials, or cooperate to adsorb the same material, and are applicable to the picking and conveying of materials that cannot be clamped; the first clamping part 220 and the second clamping part 320 can cooperate to clamp the material, and are applicable to the picking and conveying of materials that cannot be adsorbed; by the relative movement of the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300, the relative position between the first suction nozzle 211 and the second suction nozzle 311, as well as the relative position between the first clamping part 220 and the second clamping part 320, can be adjusted, thereby picking up materials of different specifications and forms, thereby improving the applicability of the material conveying device and making material conveying no longer restricted.

[0052] In some embodiments, both the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 may include a plurality of telescopic members, at least some of which are telescopically movable in a second direction. Specifically, refer to Figures 2 to 4The first pick-and-place mechanism 200 includes a plurality of first telescopic components 230, and the second pick-and-place mechanism 300 includes a plurality of second telescopic components 330, and at least some of the first telescopic components 230 and at least some of the second telescopic components 330 can telescopically move in a second direction.

[0053] Furthermore, the first suction nozzle 211 is located at one end of the first telescopic component 230 along the second direction. Thus, the first telescopic component 230 can drive the first suction nozzle 211 to extend and retract in the second direction to adjust the relative position between the first suction nozzle 211 and the material to be adsorbed, thereby facilitating the adsorption of the material. Moreover, the extension and retraction of the first telescopic component 230 can be adjusted according to the specifications and shape of the material, thereby meeting the needs of adsorbing materials of different specifications and shapes.

[0054] Similarly, the second suction nozzle 311 is located at one end of the second telescopic component 330 along the second direction. Thus, the second telescopic component 330 can drive the second suction nozzle 311 to extend and retract in the second direction to adjust the relative position between the second suction nozzle 311 and the material to be adsorbed, thereby facilitating the adsorption of the material. Furthermore, the extension and retraction of each second telescopic component 330 can be adjusted according to the specifications and shape of the material, thereby meeting the needs of adsorbing materials of different specifications and shapes.

[0055] In addition, the first clamping part 220 is provided on the side of the first telescopic member 230. Thus, the first telescopic member 230 can drive the first clamping part 220 to move telescopically in the second direction to adjust the relative positional relationship between the first clamping part 220 and the material to be clamped, thereby facilitating the clamping of the material. Furthermore, the telescopic state of each first telescopic member 230 can be adjusted according to the specifications and shape of the material, thereby meeting the needs of clamping materials of different specifications and shapes.

[0056] Similarly, the second clamping part 320 is provided on the side of the second telescopic member 330. Thus, the second telescopic member 330 can drive the second clamping part 320 to move telescopically in the second direction to adjust the relative positional relationship between the second clamping part 320 and the material to be clamped, thereby facilitating the clamping of the material. Furthermore, the telescopic state of each second telescopic member 330 can be adjusted according to the specifications and shape of the material, thereby meeting the needs of clamping materials of different specifications and shapes.

[0057] For example, each of the first telescopic component 230 and the second telescopic component 330 may include a sleeve 231, a telescopic tube 232, and an elastic return member 233. The sleeve 231 may be mounted on the first mounting bracket 240 or the second mounting bracket 340. The telescopic tube 232 is axially movably disposed within the sleeve 231, and its bottom end is connected to and communicates with the first suction nozzle 211 or the second suction nozzle 311. Furthermore, the telescopic tube 232 includes a thin tube segment 232. 1. A coarse tube section 2322 is located outside the thin tube section 2321. The outer wall of the coarse tube section 2322 is sealed and fitted with the inner wall of the sleeve 231. A first gap is provided between the thin tube section 2321 located in the upper region of the coarse tube section 2322 and the sleeve 231. The first gap can be used to fill with pressurized gas so that the pressurized gas acts on the upper end face of the coarse tube section 2322, thereby pushing the coarse tube section 2322, the thin tube section 2321 and the suction nozzle downward so as to adsorb the material through the suction nozzle.

[0058] The elastic return element 233 (e.g., a spring) is sleeved on the outer side of the region of the thin tube section 2321 located at the lower end of the thick tube section 2322, and applies an elastic force to the lower end face of the thick tube section 2322. Thus, when the pressurized gas is stopped from being introduced into the first gap, the elastic force of the elastic return element 233 can move the thick tube section 2322, the thin tube section 2321 and the suction nozzle upward, so that the suction nozzle can be disengaged from the material.

[0059] In addition, there is a second gap between the outer wall of the thin tube section 2321 located in the lower region of the thick tube section 2322 and the inner wall of the sleeve 231, and the side wall of the thin tube section 2321 is provided with a vent hole 2323, which is connected to the external suction tube. In this way, the gas in the telescopic tube 232 can be extracted through the suction tube via the vent hole 2323, so that the material can be adsorbed through the first suction nozzle 211 or the second suction nozzle 311.

[0060] Furthermore, the thin tube segment 2321 of the first telescopic component 230 movably passes through the first mounting bracket 240. To ensure sealing, a sealing sleeve 250 can be provided between the thin tube segment 2321 and the first mounting bracket 240, achieving a sealing effect through the sealing sleeve 250. In addition, an air cavity 242 is formed between the outer wall of the thin tube segment 2321 and the first mounting bracket 240. Both ends of the air cavity 242 are sealed by the sealing sleeve 250, and the air cavity 242 can communicate with an external suction tube. Based on this, when the first suction nozzle 211 is in a high position (i.e., non-material picking position), the vent 2323 is located outside the air chamber 242. At this time, the vent 2323 cannot be connected to the suction tube through the air chamber 242, and the adsorption force automatically disappears, so that the first suction nozzle 211 cannot adsorb the material. When the first suction nozzle 211 is in a low position (i.e., material picking position), the vent 2323 is located inside the air chamber 242. At this time, the vent 2323 is connected to the suction tube through the air chamber 242, so that the material can be adsorbed through the first suction nozzle 211.

[0061] In addition, during the process of the thin tube section 2321 driving the first suction nozzle 211 to rise and fall, the on / off state of the suction tube can be controlled by switching the opening and closing of the control valve, so as to cut off the suction tube in the non-material-taking state and open the suction tube in the material-taking state.

[0062] Similarly, the structure and principle of the second telescopic component 330, and the adsorption or release structure and principle of the second suction nozzle 311, can be referred to the above description of the first telescopic component 230 and the first suction nozzle 211, and will not be repeated here.

[0063] It should be noted that the telescopic principles and specific structures of the first telescopic component 230 and the second telescopic component 330 can be referenced from other related technologies, and are not specifically limited here.

[0064] Based on the above configuration, each first suction nozzle 211 or each second suction nozzle 311 can rise or fall independently, thereby flexibly selecting the first suction nozzle 211 or the second suction nozzle 311 that needs to fall according to the shape of the material, thus improving the applicability of the material transfer device.

[0065] In some embodiments, the first clamping portion 220 may include a first support step 221, such as Figure 4 As shown, the first support step 221 is arranged around the circumference of the telescopic component of the first picking and placing mechanism 200. Specifically, the first support step 221 is arranged around the circumference of the first telescopic component 230 on the outer wall of the first telescopic component 230. The edge of the material can be supported and limited by the first support step 221.

[0066] The first support step 221 may include a first support surface and a second support surface forming a first preset angle. The first support surface is used to support the material in the second direction, and the second support surface is used to limit the material in the first direction. In this way, the material can be prevented from falling off the first support step 221, and the positional accuracy of the material in the first direction can be guaranteed.

[0067] For example, a first ring, such as a nut, may be fitted onto the outer side of the first telescopic component 230. The surface of the first ring that faces away from the first suction nozzle 211 in the second direction serves as the first support surface, while the outer wall of the first telescopic component 230 serves as the second support surface. Alternatively, an annular groove may be formed on the outer wall of the first telescopic component 230. In this case, the sidewall of the annular groove serves as the first support surface, and the bottom wall of the annular groove serves as the second support surface.

[0068] The second clamping part 320 may include a second support step 321, such as Figure 3 As shown, the second support step 321 is arranged around the circumference of the telescopic component of the second pick-up and put-down mechanism 300. Specifically, the second support step 321 is arranged around the circumference of the second telescopic component 330 on the outer wall of the second telescopic component 330. The edge of the material can be supported and limited by the second support step 321.

[0069] The second support step 321 may include a third support surface and a fourth support surface forming a second preset angle. The third support surface is used to support the material in the second direction, and the fourth support surface is used to limit the material in the first direction. In this way, the material can be prevented from falling off the third support step, and the positional accuracy of the material in the first direction can be guaranteed.

[0070] For example, a second ring, such as a nut, may be fitted onto the outer side of the second telescopic component 330. The surface of the second ring that faces away from the second suction nozzle 311 in the second direction serves as the third support surface, while the outer wall of the second telescopic component 330 serves as the fourth support surface. Alternatively, an annular groove may be formed on the outer wall of the second telescopic component 330. In this case, the side wall of the annular groove serves as the third support surface, and the bottom wall of the annular groove serves as the fourth support surface.

[0071] Based on the above configuration, the first support step 221 and the second support step 321 can respectively support and limit the two ends of the material in the second direction, thereby ensuring stable material transmission and ensuring the positional accuracy of the material.

[0072] In some embodiments, a plurality of telescopic components are arranged in an array in a first direction and a third direction, each telescopic component can extend or retract individually, or at least some of the telescopic components can extend or retract synchronously.

[0073] It should be noted that when the shape of the material is complex, such as having multiple irregular edges or irregular surfaces, stable picking and conveying of the material requires that at least a portion of the area covered by the multiple telescopic components be adapted to the material. Therefore, each telescopic component needs to be able to extend and retract independently, allowing the extension and retraction of each component to be selected based on the actual condition of the material.

[0074] When a workpiece has an irregularly shaped edge and needs to be picked up using a clamping method, the telescopic components (including a portion of the first telescopic component 230 and a portion of the second telescopic component 330) located around the irregular edge of the workpiece need to extend, while the telescopic components in other areas can remain retracted, and the shape formed by the extended telescopic components should conform to the irregular edge. Based on this, by adjusting the relative positions of the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 in the first direction, the first clamping portion 220 of the first telescopic component 230 and the second clamping portion 320 of the second telescopic component 330 are brought closer together. This allows the workpiece to be clamped from both sides by the first clamping portion 220 of the first telescopic component 230 and the second clamping portion 320 of the second telescopic component 330, ensuring stability and positional accuracy during the workpiece conveying process.

[0075] When a workpiece has an irregularly shaped surface (i.e., not on the same plane) and needs to be picked up using an adsorption method, the telescopic components (including a portion of the first telescopic component 230 and / or a portion of the second telescopic component 330) corresponding to the irregularly shaped surface of the workpiece need to extend, while the telescopic components in other areas can remain retracted, and the shape covered by the extended telescopic components should be adapted to the irregularly shaped surface. Based on this, by adjusting the first suction nozzle 211 and / or the second suction nozzle 311 of the telescopic components at different positions, the irregularly shaped surface can be adsorbed separately to ensure the stability and positional accuracy of the workpiece during the conveying process. It should be noted that the extension of each telescopic component corresponding to the irregularly shaped surface can be different to adapt to uneven irregularly shaped surfaces.

[0076] When the material is of a regular shape and does not have irregular surfaces, it can be conveyed by either clamping or adsorption. In this case, some or all of the telescopic components can extend to jointly clamp or adsorb the material, thereby improving the clamping or adsorption efficiency.

[0077] In addition to the above methods, the material transfer device in the embodiments of this application can also be applied to other types of materials, such as long strip materials, square materials, large-size materials, small-size materials, flexible materials, rigid materials, etc., and its scope of application is not limited.

[0078] In some embodiments, the first clamping portion 220 can be used to hold one end of the material along the first direction, and the second clamping portion 320 can be used to hold the other end of the material along the first direction, such as... Figure 10 As shown, the first clamping part 220 and the second clamping part 320 can respectively support the two ends of the material in the first direction to clamp the material, thereby ensuring the stability of the material during the conveying process and ensuring the positional accuracy of the material.

[0079] To meet the aforementioned clamping requirements, the first telescopic component 230 and the second telescopic component 330 that need to extend can be selected according to the length dimension of the workpiece in the first direction. Multiple first telescopic components 230 can extend, and the first clamping portion 220 of each of the multiple extended first telescopic components 230 can bear the first end of the workpiece in the length direction to ensure the stability of the bearing on the first end. Similarly, the second clamping portion 320 of each of the multiple extended second telescopic components 330 can bear the second end of the workpiece in the length direction to ensure the stability of the bearing on the second end. Based on this configuration, the first clamping portion 220 and the second clamping portion 320 can clamp both ends of the workpiece in the length direction from both sides in the first direction to ensure the stability and positional accuracy of the workpiece.

[0080] It should be noted that in the above embodiments, the material can be a long strip or a square, or of other shapes such as polygons, which are not specifically limited here.

[0081] In other embodiments, the first clamping part 220 can be used to hold one end of the material along a third direction, and the second clamping part 320 can be used to hold the other end of the material along a third direction, such as... Figure 12 As shown, the first clamping part 220 and the second clamping part 320 can respectively support the two ends of the material in the third direction to clamp the material, thereby ensuring the stability of the material during the conveying process and ensuring the positional accuracy of the material.

[0082] To meet the aforementioned clamping requirements, the first telescopic component 230 and the second telescopic component 330 that need to extend can be selected according to the width dimension of the material in the third direction. Multiple first telescopic components 230 can extend, and the first clamping portion 220 of each of the multiple extended first telescopic components 230 can support the first end of the material in the width direction to ensure stability of the support at the first end. Similarly, the second clamping portion 320 of each of the multiple extended second telescopic components 330 can support the second end of the material in the width direction to ensure stability of the support at the second end. Based on this configuration, the first clamping portion 220 and the second clamping portion 320 can clamp both ends of the material in the width direction from both sides in the third direction to ensure the stability and positional accuracy of the material.

[0083] It should be noted that in the above embodiments, the material can be a wide strip or a square, or of other shapes such as polygons, which are not specifically limited here.

[0084] In some embodiments, the first clamping part 220 can be used to hold one end of the material along the first direction and both ends along the third direction, and the second clamping part 320 can be used to hold the other end of the material along the first direction and both ends along the third direction, such as... Figure 13 As shown, the first clamping part 220 and the second clamping part 320 can respectively support the two ends of the material in the first direction and the two ends in the third direction to clamp the material, thereby ensuring the stability of the material during the conveying process and ensuring the positional accuracy of the material.

[0085] To meet the above clamping requirements, the first telescopic component 230 and the second telescopic component 330 that need to extend can be selected according to the length dimension of the material in the first direction, the first telescopic component 230 that needs to extend can be selected again according to the width dimension of the material in the third direction, and the second telescopic component 330 that needs to extend can be selected again according to the width dimension of the material in the third direction. For example, multiple first telescopic members 230 can extend out, and the first clamping portion 220 of each of the multiple extended first telescopic members 230 can bear the first end in the length direction of the material and the two ends in the width direction of the material. That is, the multiple extended first telescopic members 230 can be arranged in a concave shape to surround the periphery of the first end of the material along the first direction, thereby improving the bearing stability at the first end of the material. Similarly, multiple second telescopic members 330 can extend out, and the second clamping portion 320 of each of the multiple extended second telescopic members 330 can bear the second end in the length direction of the material and the two ends in the width direction of the material. That is, the multiple extended second telescopic members 330 can be arranged in a concave shape to surround the periphery of the second end of the material along the first direction, thereby improving the bearing stability at the second end of the material.

[0086] Based on the above configuration, the cooperation of multiple first clamping parts 220 and multiple second clamping parts 320 can achieve the enclosure of the material near both ends along the first direction, which can improve the load-bearing stability and ensure the positional accuracy of the material during the conveying process.

[0087] In addition to the above-mentioned forms, the cooperation of multiple first clamping parts 220 and multiple second clamping parts 320 can also achieve the clamping of irregularly shaped materials, thereby improving the applicability of the material transfer device.

[0088] In addition, according to the embodiments of this application, multiple first suction nozzles 211 and multiple second suction nozzles 311 can be selected to cooperate based on the size, shape and other parameters of the material in the first direction and the size, shape and other parameters in the third direction, so as to achieve the adsorption effect on the material.

[0089] In some embodiments, the first suction nozzle 211 is used to adsorb the surface of the material at one end along the first direction, and the second suction nozzle 311 is used to adsorb the surface of the material at the other end along the first direction, such as... Figure 14 and Figure 15 As shown.

[0090] In other embodiments, the first suction nozzle 211 is used to adsorb the surface of the material at one end along a third direction, and the second suction nozzle 311 is used to adsorb the surface of the material at the other end along a third direction.

[0091] In some embodiments, the first suction nozzle 211 is used to adsorb the surface of the material at one end along the first direction and the surfaces at both ends along the third direction, and the second suction nozzle 311 is used to adsorb the surface of the material at the other end along the first direction and the surfaces at both ends along the third direction, such as... Figure 16 As shown.

[0092] It should be noted that the first telescopic component 230 can also drive the first suction nozzle 211 to extend and retract, and the second telescopic component 330 can also drive the second suction nozzle 311 to extend and retract, thus making it suitable for adsorbing materials with different parameters. The telescopic method of the first telescopic component 230 and the second telescopic component 330 can be referred to the telescopic method selected in the clamping form above, and will not be repeated here.

[0093] To facilitate the installation of multiple telescopic components, the first and second pick-and-place mechanisms 200 and 300 may further include mounting brackets. Multiple telescopic components are mounted on the mounting brackets, and at least some of the telescopic components are retractable relative to the mounting brackets. This arrangement allows for the installation of multiple telescopic components via the mounting brackets while ensuring that at least some of the telescopic components can freely extend and retract, thus meeting the requirements for picking and placing materials of different shapes. Here, the telescopic components can be either the first telescopic component 230 or the second telescopic component 330, and the mounting brackets can be either the first mounting bracket 240 or the second mounting bracket 340.

[0094] For example, the mounting bracket may include a first support plate, a second support plate, and a plurality of support columns. The first support plate and the second support plate are spaced apart along a second direction. The plurality of support columns are each connected to the first support plate and the second support plate. The plurality of telescopic components are arranged in an array in the first direction and the third direction, respectively, and can be telescopic.

[0095] The telescopic component may include a telescopic rod, and the second support plate may have multiple second through holes through which the telescopic rod passes and is movable to achieve the telescopic movement of the telescopic rod. Alternatively, the telescopic component may also include a main body, with the telescopic rod and main body movable relative to each other. The first support plate may have multiple first through holes through which the main body is installed.

[0096] For example, the telescopic component can employ linear drive components such as pneumatic cylinders, hydraulic cylinders, or electric cylinders to drive each suction nozzle or clamping part to telescopically move in the second direction. When the telescopic component uses pneumatic cylinders, each cylinder is individually equipped with an air pipe and a solenoid valve for individual control; when the telescopic component uses hydraulic cylinders, each hydraulic cylinder is individually equipped with an oil pipe and a solenoid valve for individual control; when the telescopic component uses electric cylinders, each electric cylinder is individually equipped with a switch for individual control.

[0097] In addition, the extension and retraction of the telescopic components can be self-checked by setting sensors, such as position sensors and pressure sensors, so as to keep track of the extension and retraction of the components at all times and thus facilitate the control of each telescopic component.

[0098] In a more specific embodiment, the telescopic components are arranged in a square array on the mounting bracket. In this case, multiple telescopic components can be provided in the first direction and the second direction respectively, so as to meet the picking of more types of materials.

[0099] To meet the needs of conveying more diverse forms of materials, the material conveying device in this embodiment can also clamp the materials to ensure their stability and positional accuracy during the conveying process. Specifically, the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 can each have a clamping structure, and the clamping effect on the materials is achieved through their clamping structures.

[0100] refer to Figure 2 , Figure 4 and Figure 9 In some embodiments, along the second direction, one end of the mounting bracket of the first pick-and-place mechanism 200 (i.e., the first mounting bracket 240) may be provided with a first latching portion 241, and one end of the mounting bracket of the second pick-and-place mechanism 300 (i.e., the second mounting bracket 340) may be provided with a second latching portion 341, and the first latching portion 241 and the second latching portion 341 are arranged opposite to each other in the first direction. With this arrangement, the first latching portion 241 and the second latching portion 341 can respectively latch the two ends of the material in the first direction, thereby ensuring that the material will not move or fall during the conveying process, improving the stability and positional accuracy of the material conveying.

[0101] For example, both the first snap-fit ​​portion 241 and the second snap-fit ​​portion 341 can be a snap-fit ​​structure. The snap-fit ​​structure can snap the end of the material. Of course, it is not limited to a snap-fit ​​structure. As long as it has the snap-fit ​​function, the specific form is not limited.

[0102] refer to Figure 1 and Figure 2 In order to make the first pick-up and place mechanism 200 and the second pick-up and place mechanism 300 relatively close or relatively far apart, the material transfer device may also include a first drive mechanism 400 provided on the machine base 100. The first pick-up and place mechanism 200 is slidably connected to the machine base 100, and the drive end of the first drive mechanism 400 is connected to the first pick-up and place mechanism 200 for driving the first pick-up and place mechanism 200 to move in a first direction.

[0103] Of course, the driving end of the first driving mechanism 400 can also be connected to the second picking and placing mechanism 300, or the output end can be connected to the first picking and placing mechanism 200 and the second picking and placing mechanism 300 respectively, so as to make the first picking and placing mechanism 200 and the second picking and placing mechanism 300 relatively close or far apart.

[0104] The first driving mechanism 400 can be a linear driving mechanism, and its driving end can move in a first direction. In some embodiments, the first driving mechanism 400 may include a motor, a lead screw, and a slider. The motor is connected to one end of the lead screw, the slider has an internal thread that engages with the external thread of the lead screw, and the slider is connected to the first pick-and-place mechanism 200. Thus, the motor drives the lead screw to rotate, the lead screw drives the slider to move, and finally the slider drives the first pick-and-place mechanism 200 to move in the first direction.

[0105] Alternatively, the slider can be connected to the second pick-and-place mechanism 300 to drive the second pick-and-place mechanism 300 to move in the first direction.

[0106] Alternatively, the lead screw can have a forward thread and a reverse thread with opposite directions of rotation. A first slider is connected to the forward thread, and a second slider is connected to the reverse thread. The first slider is connected to the first pick-and-place mechanism 200, and the second slider is connected to the second pick-and-place mechanism 300. In this way, when the motor drives the lead screw to rotate, it can simultaneously drive the first slider and the second slider to move, so that the first slider drives the first pick-and-place mechanism 200 and the second slider drives the second pick-and-place mechanism 300 to move closer to each other or further away from each other.

[0107] In other embodiments, the first drive mechanism 400 may also be in the form of a cylinder, hydraulic cylinder, electric cylinder, etc., as long as it can output linear motion, and the specific form is not limited.

[0108] refer to Figure 1 and Figure 2 To enable position adjustment of the second pick-and-place mechanism 300, the material transfer device may further include a second drive mechanism 500 disposed on the machine base 100. The drive end of the second drive mechanism 500 is connected to the second pick-and-place mechanism 300 and is used to drive the second pick-and-place mechanism 300 to move in the first direction. Based on this, the relative positions of the second pick-and-place mechanism 300 and the first pick-and-place mechanism 200 in the first direction can be adjusted independently to accommodate materials of different sizes.

[0109] The second drive mechanism 500 can be a linear drive mechanism, and its drive end can move in the first direction. In some embodiments, the second drive mechanism 500 may include a motor, a lead screw, and a slider. The motor is connected to one end of the lead screw, the slider has an internal thread that engages with the external thread of the lead screw, and the slider is connected to the second pick-and-place mechanism 300. Thus, the motor drives the lead screw to rotate, the lead screw drives the slider to move, and finally the slider drives the second pick-and-place mechanism 300 to move in the first direction.

[0110] In other embodiments, the second drive mechanism 500 may also be in the form of a pneumatic cylinder, hydraulic cylinder, electric cylinder, etc., as long as it can output linear motion, and the specific form is not limited.

[0111] In this embodiment, the travel distance of the output end of the first drive mechanism 400 can be greater than the travel distance of the output end of the second drive mechanism 500. This allows the first drive mechanism 400 to be activated to achieve a large travel distance when a large range of adjustment is needed between the relative positions of the first pick-up and place mechanism 200 and the second pick-up and place mechanism 300. Conversely, the second drive mechanism 500 can be activated to achieve a small travel distance when a small range of adjustment is needed between the first pick-up and place mechanism 200 and the second pick-up and place mechanism 300.

[0112] In addition, the second drive mechanism 500 and the second pick-and-place mechanism 300 can be connected by a connecting arm; similarly, the first pick-and-place mechanism 200 and the machine base 100 can also be connected by a connecting arm, which can move relative to the machine base 100.

[0113] In summary, the material transfer device in this application embodiment can pick up, place, and transfer materials in various forms, including:

[0114] When it is necessary to transfer large parts, the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 can be adjusted to be relatively far apart, and the large parts can be picked up by the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 at the same time, thereby improving the stability of the material transfer device in transferring large parts and ensuring the positional accuracy of large parts.

[0115] When small parts need to be conveyed, the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 can be adjusted to be relatively close, and the small parts can be picked up by the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 at the same time. This can improve the conveying stability of small parts and ensure the positional accuracy of large parts. In addition, small parts can be picked up by the first pick-and-place mechanism 200 or the second pick-and-place mechanism 300 alone, or the first pick-and-place mechanism 200 and the second pick-and-place mechanism 300 can each pick up one small part. This can adapt to the conveying of small parts and improve the conveying efficiency.

[0116] When it is necessary to transfer materials that are not suitable for adsorption, the first clamping part 220 and the second clamping part 320 can be used in combination, or the first snap-fit ​​part 241 and the second snap-fit ​​part 341 can be used in combination to clamp or snap the materials so as to facilitate the transfer of the materials.

[0117] When it is necessary to transfer irregularly shaped parts, telescopic components at different positions can be selected to extend or retract, so as to drive the suction nozzle or clamping part to move synchronously, so as to adapt to irregularly shaped parts.

[0118] When it is necessary to transfer regularly shaped materials, at least one row and / or at least one column of telescopic components can be selected for extension and retraction to facilitate the adsorption or clamping of the edges of the regularly shaped materials.

[0119] Therefore, the conveying device in this embodiment has strong applicability, making material transfer no longer restricted.

[0120] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A material transfer device, characterized in that, include: Machine base (100), first pick-and-place mechanism (200), and second pick-and-place mechanism (300); The first pick-and-place mechanism (200) and the second pick-and-place mechanism (300) are respectively provided on the machine base (100), and at least one of them is movable in a first direction so that the first pick-and-place mechanism (200) and the second pick-and-place mechanism (300) can be relatively close or relatively far apart; The first pick-and-place mechanism (200) has a first suction part (210) at one end in the second direction, and a first clamping part (220) at least on the side facing the second pick-and-place mechanism (300). The first suction part (210) includes a plurality of first suction nozzles (211). The second pick-and-place mechanism (300) has a second suction part (310) at one end in the second direction, and at least a second clamping part (320) cooperating with the first clamping part (220) on the side facing the first pick-and-place mechanism (200). The second suction part (310) includes a plurality of second suction nozzles (311). At least a portion of the first suction nozzle (211) is movable in the second direction, and / or at least a portion of the second suction nozzle (311) is movable in the second direction; Both the first pick-and-place mechanism (200) and the second pick-and-place mechanism (300) include multiple telescopic components, and at least some of the telescopic components are telescopically movable in the second direction; The first clamping part (220) includes a first support step (221) which is arranged circumferentially around the telescopic member of the first pick-and-place mechanism (200), and / or the second clamping part (320) includes a second support step (321) which is arranged circumferentially around the telescopic member of the second pick-and-place mechanism (300); The first suction nozzle (211) or the second suction nozzle (311) is disposed at one end of the telescopic component along the second direction; The first clamping part (220) or the second clamping part (320) is provided on the side of the telescopic member; Multiple telescopic components are arranged in an array in the first direction and the third direction; Each of the telescopic components can extend or retract independently, or at least some of the multiple telescopic components can extend or retract simultaneously; wherein... The first direction, the second direction, and the third direction are perpendicular to each other.

2. The material transfer device according to claim 1, characterized in that, The first clamping part (220) is used to carry one end of the material along the first direction, and the second clamping part (320) is used to carry the other end of the material along the first direction; Alternatively, the first suction nozzle (211) is used to adsorb the surface of the material at one end along the first direction, and the second suction nozzle (311) is used to adsorb the surface of the material at the other end along the first direction.

3. The material transfer device according to claim 1, characterized in that, The first clamping part (220) is used to carry one end of the material along the third direction, and the second clamping part (320) is used to carry the other end of the material along the third direction; Alternatively, the first suction nozzle (211) is used to adsorb the surface of the material at one end along the third direction, and the second suction nozzle (311) is used to adsorb the surface of the material at the other end along the third direction.

4. The material transfer device according to claim 1, characterized in that, The first clamping part (220) is used to carry one end of the material along the first direction and both ends along the third direction, and the second clamping part (320) is used to carry the other end of the material along the first direction and both ends along the third direction; Alternatively, the first suction nozzle (211) is used to adsorb the surface of the material at one end along the first direction and the surfaces at both ends along the third direction, and the second suction nozzle (311) is used to adsorb the surface of the material at the other end along the first direction and the surfaces at both ends along the third direction.

5. The material transfer device according to claim 1, characterized in that, Both the first pick-and-place mechanism (200) and the second pick-and-place mechanism (300) further include mounting brackets; Multiple telescopic components are provided on the mounting bracket, and at least some of the telescopic components are telescopically movable relative to the mounting bracket.

6. The material transfer device according to claim 1, characterized in that, Both the first pick-and-place mechanism (200) and the second pick-and-place mechanism (300) further include mounting brackets; Along the second direction, one end of the mounting bracket of the first pick-and-place mechanism (200) is provided with a first snap-fit ​​portion (241), and one end of the mounting bracket of the second pick-and-place mechanism (300) is provided with a second snap-fit ​​portion (341). The first snap-fit ​​portion (241) and the second snap-fit ​​portion (341) are arranged opposite to each other in the first direction.

7. The material transfer device according to claim 1, characterized in that, The material transfer device also includes a first drive mechanism (400) disposed on the machine base (100). The first pick-and-place mechanism (200) is slidably connected to the machine base (100), and the driving end of the first drive mechanism (400) is connected to the first pick-and-place mechanism (200) for driving the first pick-and-place mechanism (200) to move in the first direction.

8. The material transfer device according to claim 1 or 7, characterized in that, The material transfer device also includes a second drive mechanism (500) disposed on the machine base (100). The driving end of the second driving mechanism (500) is connected to the second pick-and-place mechanism (300) and is used to drive the second pick-and-place mechanism (300) to move in the first direction.

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