Pickup device and method for controlling the same

Abstract

This invention discloses a pickup device and its control method. The pickup device includes a body, a pickup assembly, and a lifting mechanism. The body forms a stacking station. The pickup assembly includes at least two pickup elements, which are positioned above the stacking station and have a downward pickup stroke moving towards the stacking station and an upward stroke moving away from the stacking station. During the pickup stroke, each pickup element picks up a first sheet of material. The lifting mechanism is driven and connected to each pickup element to drive each pickup element to perform the pickup stroke and the upward stroke. The upward stroke includes a first upward stroke performed after each pickup element picks up the first sheet of material. The lifting mechanism drives at least two pickup elements to perform the first upward stroke at a differential speed, causing the first sheet of material to be warped and deformed. This invention effectively prevents the first sheet of material from overlapping with the second sheet of material, ultimately helping to improve the pickup efficiency and pickup quality of the pickup device.

Description

Technical Field

[0001] This invention relates to the field of product transfer mechanism technology, specifically to a picking device and its control method. Background Technology

[0002] In manufacturing the main substrate of circuit boards, a laminator is used to press multiple layers of different materials together. This laminator works by electrically heating the adhesive resin material through copper (or aluminum) foil, and applying pressure to press the multiple layers together for at least half an hour, thus producing the circuit board substrate. In actual operation, the laminator presses multiple circuit board substrates simultaneously, with each pair of adjacent substrates insulated and supported by a specially designed mirror plate.

[0003] Therefore, during the manufacturing process, it may be necessary to store and transfer stacked circuit board substrates and mirror plates, as well as other sheet materials, to flexibly adapt to the needs of the production line. Currently, when picking up sheet materials individually, the static adsorption between the stacked sheets leads to overlapping, which is detrimental to the safe handling of the sheet materials and may cause them to fall and be damaged. Summary of the Invention

[0004] The main objective of this invention is to propose a picking device and its control method, which aims to solve the problem of overlapping of sheet materials when picking them up in traditional technologies.

[0005] To achieve the above objectives, the present invention provides a pickup device comprising:

[0006] The machine body has a stacking station for multiple sheet materials to be stacked from top to bottom, each sheet material including the first sheet material at the highest position.

[0007] A pickup assembly includes at least two pickup members disposed above the stacking station and having a downward pickup stroke moving towards the stacking station and an upward stroke moving away from the stacking station. During the pickup stroke, each pickup member picks up the first sheet material; and...

[0008] The lifting mechanism is connected to each of the pickup components to drive each of the pickup components to perform the pickup stroke and the lifting stroke;

[0009] The rising stroke includes a first rising stroke performed after each of the pickups picks up the first sheet material. The lifting mechanism drives at least two of the pickups to perform the first rising stroke at a differential speed, so that the first sheet material is driven to warp and deform.

[0010] Optionally, each of the pickups includes a first pickup and a second pickup;

[0011] The lifting mechanism drives the first pickup and the second pickup to perform the first upward stroke synchronously, and during the first upward stroke, the upward speed of the first pickup is less than the upward speed of the second pickup.

[0012] Optionally, each of the pickups includes a first pickup and a second pickup;

[0013] The lifting mechanism drives the second pickup and the first pickup to perform the first upward stroke in stages.

[0014] Optionally, the first pickup is disposed in the central area of ​​the stacking station, and the second pickup is disposed in the edge area of ​​the stacking station. At least two second pickups are provided, located on opposite sides of the first pickup. The lifting mechanism includes:

[0015] The mounting base is located above the material stacking station and can be moved up and down relative to the machine body;

[0016] A first driver is disposed on the mounting base and connected to the first pickup member to drive the first pickup member to perform at least the pickup stroke and the first upward stroke;

[0017] A second driver is disposed on the mounting base and connected to the second pickup member to drive the second pickup member to perform at least the pickup stroke and the first upward stroke;

[0018] A third actuator is located on the body and connected to the mounting base to drive the mounting base to move up and down.

[0019] Optionally, the picking device further includes a stop member disposed on the machine body. The stop member is located above the stacking station and is disposed between the first picking member and the second picking member, so as to stop and limit the first sheet material when the second picking member causes the first sheet material to warp and deform to be close to the stop member.

[0020] Optionally, the stop member is movably and adjustably mounted on the machine body in the vertical direction.

[0021] Optionally, the pickup device further includes:

[0022] A sensor is located at the end of the stop member facing the material stacking station, and triggers a sensing signal when the first sheet material comes into contact with the stop member; and,

[0023] A controller is located on the machine body and is connected to the sensor and the lifting mechanism respectively. When the controller receives the sensing signal, it controls the lifting mechanism to drive the first pickup and the second pickup to synchronously perform the remaining upward stroke, or controls the lifting mechanism to drive the first pickup to rise to the same height as the second pickup and then synchronously perform the remaining upward stroke.

[0024] Optionally, the picking component includes a main body and a picking part movably disposed at one end of the main body near the stacking station. The picking part is used to pick up the sheet material and is rotatably disposed relative to the main body so that the orientation of the picking part is adjustable.

[0025] Optionally, the picking part is configured as an elastic sleeve that is fitted onto one end of the main body near the stacking station. The elastic sleeve can elastically expand and contract in the vertical direction and in the horizontal direction under the action of external force.

[0026] The main body is configured as an adsorption element, and the main body can at least create a negative pressure within the elastic sleeve.

[0027] Furthermore, to achieve the above objectives, the present invention also provides a control method for the pickup device as described above, comprising the following steps:

[0028] The first and second pickup components are driven by a lifting mechanism to perform the pickup stroke;

[0029] When both the first pickup and the second pickup have completed the pickup stroke, the second driver drives the second pickup to perform a first upward stroke.

[0030] Upon receiving a sensing signal triggered by the sensor, the first pickup element is driven by the first driver to perform a first upward stroke;

[0031] The lifting mechanism drives the first and second pickup components to complete their respective upward strokes.

[0032] In the technical solution provided by this invention, the picking member can individually pick up and lift sheet-like materials. The arrangement of multiple picking members increases the number of picking points that apply force to the sheet-like materials, and makes the positions of each force application point dispersed and uniform, which helps to stably pick up and transfer the sheet-like materials. When each picking member has completed its picking stroke, that is, after it has firmly connected the first sheet-like material, the lifting mechanism drives at least two picking members to perform a differential first upward stroke, which causes the displacement at at least two picking points of the first sheet-like material to differ, thereby causing the first sheet-like material to warp and deform. The warping and deformation process can gradually reduce the static adsorption area between the first sheet-like material and the adjacent second sheet-like material, and then gradually reduce the static adsorption force between them. Then, as the picking member continues to lift the first sheet-like material, it gradually separates the first sheet-like material from the second sheet-like material, effectively preventing the stacking of the first sheet-like material from the second sheet-like material, and ultimately helping to improve the picking efficiency and picking quality of the picking device. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0034] Figure 1 A three-dimensional structural schematic diagram of an embodiment of the pickup device provided by the present invention;

[0035] Figure 2 for Figure 1 Schematic diagram of the lifting mechanism;

[0036] Figure 3 for Figure 1 A three-dimensional schematic diagram of the assembly of the pickup component and part of the lifting mechanism;

[0037] Figure 4 for Figure 3 A front view schematic diagram of the assembly of the middle pickup component and part of the lifting mechanism;

[0038] Figure 5 for Figure 4 Enlarged structural diagram at point A;

[0039] Figure 6 This is a flowchart illustrating an embodiment of the control method for the pickup device provided by the present invention.

[0040] Explanation of icon numbers:

[0041] 100 Body; 110 Slide rail; 200 Pick-up assembly; 210 First pick-up component; 220 Second pick-up component; 231 Main body; 232 Pick-up section; 300 Lifting mechanism; 310 Mounting base; 320 First driver; 330 Second driver; 340 Third driver; 350 Scissor lift structure; 351 Slide groove; 400 Stop; 500 First sheet material.

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0045] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0046] Please see Figures 1 to 5The present invention provides a picking device, which is mainly used to pick up sheet materials. The picking device includes a body 100, a picking component 200 and a lifting mechanism 300. The machine body 100 has a stacking station for stacking multiple sheet materials from top to bottom, each sheet material including a first sheet material 500 at the highest position. The picking component 200 includes at least two picking members, which are located above the stacking station and have a downward picking stroke toward the stacking station and an upward lifting stroke away from the stacking station. During the picking stroke, each picking member picks up the first sheet material 500. The lifting mechanism 300 is driven and connected to each picking member to drive each picking member to perform the picking stroke and the lifting stroke. The lifting stroke includes a first lifting stroke performed after each picking member picks up the first sheet material 500. The lifting mechanism 300 drives at least two picking members to perform the first lifting stroke at a differential speed, so that the first sheet material 500 is warped and deformed.

[0047] In the technical solution provided by this invention, the picking member can individually pick up and lift the sheet material, while the arrangement of multiple picking members increases the number of picking points that apply force to the sheet material, and makes the positions of each force application point dispersed and uniform, which helps to stably pick up and transfer the sheet material; when each picking member has completed its picking stroke, that is, after the first sheet material 500 is firmly connected, the lifting mechanism 300 drives at least two picking members to perform a differential first upward stroke, so that the displacement at at least two picking points of the first sheet material 500 is different, and then... This causes the first sheet material 500 to warp and deform. The warping and deformation process gradually reduces the static adsorption area between the first sheet material 500 and the adjacent second sheet material, thereby gradually reducing the static adsorption force between them. Then, as the pickup component continues to lift the first sheet material 500, it gradually separates the first sheet material 500 from the second sheet material, effectively preventing the stacking of the first sheet material 500 and the second sheet material. Ultimately, this helps to improve the pickup efficiency and pickup quality of the pickup device.

[0048] In this design, when the pickup device is used alone to constitute an independent product, the body 100 can be one or a combination of several of the following specially designed structures for the pickup device: plate structure, block structure, box structure, platform structure, frame structure, etc. When the pickup device is applied to the production line as a component of the production line, the body 100, in addition to being specially designed for the pickup device as described above, can also be a structure shared with the base and other structures in the production line, so as to make the structure of the pickup device and the production line compact.

[0049] like Figure 1 As shown, in this embodiment, the machine body 100 generally includes two plates spaced apart from top to bottom and at least partially facing each other. The lower plate (not shown in the figure) defines the material stacking station, and the upper plate is used for the installation of the picking component 200 and the lifting mechanism 300.

[0050] The stacking station can be marked by any visual identifier or indicated by, for example, the coordinate system of each mechanism. The shape and size of the stacking station are basically adapted to the sheet materials. The shape and specifications of the sheet materials are not limited in this design, but for ease of understanding, the following embodiments use sheet materials as circuit board substrates and / or mirror plates as examples. Multiple sheet materials are manually or automatically transferred to the stacking station and stacked. The sheet material at the highest position is the first sheet material 500, and the sheet material at the second highest position and adjacent to the first sheet material 500 is the second sheet material.

[0051] The sheet materials, taking circuit board substrates and / or mirror plates as examples, are generally arranged in a rectangular shape, corresponding to the rectangular arrangement of the stacking station. For ease of understanding, in the following embodiments, the picking device has cross-arranged front-to-back and left-to-right directions, which correspond to the length and width directions of the stacking station, respectively.

[0052] The pickup assembly 200 includes at least two pickup components, each of which is arranged in any dimensional direction corresponding to the stacking station. The arrangement can be, but is not limited to, random dispersion, linear arrangement, array arrangement, radial arrangement, etc. To simplify the structure, the following embodiments will use a linear arrangement of the pickup components in each pickup assembly 200 as an example. For details, please refer to the attached diagram. Figure 3 As shown, the picking device may include two picking components 200, which are respectively located in the left and right areas of the stacking area. The picking elements in each picking component 200 are arranged in a linear sequence with intervals along the front-to-back direction.

[0053] The lifting mechanism 300 drives each pickup component to perform its pickup stroke:

[0054] It is understood that, in the initial state, each pickup component is located above the stacking station and maintains a certain distance from the first sheet material 500. The lifting mechanism 300 synchronously drives each pickup component to move downwards for the same pickup stroke, or the lifting mechanism 300 independently drives each pickup component to move downwards for its own pickup stroke. Each pickup component has a pickup end. When each pickup component completes its pickup stroke, the pickup end of each pickup component is fixedly connected to the first sheet material 500.

[0055] Depending on the different picking principles of the picking components, the fixed connection method between the picking end and the first sheet material 500 also varies:

[0056] In one embodiment, when the pickup is mainly a clamping member, that is, when it includes at least two clamping parts that are movably arranged in directions that are close to each other and far apart from each other, the pickup clamps and fixes the first sheet material 500 when the pickup stroke is completed.

[0057] In one embodiment, when the pickup element is primarily an adsorption element, i.e., when a negative pressure is formed at least at its pickup end, the pickup element adsorbs and fixes the first sheet material 500 upon completion of the pickup stroke.

[0058] In one embodiment, when the pickup is primarily an adhesive component, i.e., at least at its pickup end is covered with an adhesive layer, the pickup adhesively fixes the first sheet material 500 upon completion of the pickup stroke.

[0059] The lifting mechanism 300 drives each pickup component to perform an upward stroke. The upward stroke includes a first upward stroke that occurs after each pickup component completes its pickup stroke. During this process, the upward movement of the pickup component causes the first sheet material 500 to separate from the second sheet material and gradually move away. The first upward stroke can be the entire upward stroke or the initial part of the upward stroke.

[0060] There are several ways to achieve the lifting mechanism 300 driving at least two pickups at different speeds for the first upward stroke. Taking the two pickups as the first pickup 210 and the second pickup 220 as an example:

[0061] In one embodiment, the lifting mechanism 300 drives the first pickup member 210 and the second pickup member 220 to simultaneously perform the first upward stroke, and during the first upward stroke, the upward speed of the first pickup member 210 is less than the upward speed of the second pickup member 220. It can be understood that the lifting mechanism 300 drives the first pickup member 210 and the second pickup member 220 to simultaneously start the first upward stroke, but the upward speed of the first pickup member 210 during the first upward stroke is slower, while the upward speed of the second pickup member 220 is faster. This causes the portion of the first sheet material 500 picked up by the second pickup member 220 to move upward first, resulting in an upward warping deformation compared to the portion of the first sheet material 500 picked up by the first pickup member 210. The amount of warping deformation is set so as not to damage the structure of the first sheet material 500, but to cause the warped part to separate from the second sheet material. As the first pickup 210 and the second pickup 220 continue to perform the first upward stroke at a differential speed, the amount of warping deformation gradually increases, and the separation area between the first sheet material 500 and the second sheet material gradually expands. Ultimately, this helps to reduce the static adsorption of the first sheet material 500 at the part picked up by the first pickup 210, so that the first sheet material 500 and the second sheet material are completely separated.

[0062] Alternatively, in one embodiment, the lifting mechanism 300 drives the second pickup member 220 and the first pickup member 210 to perform the first upward stroke in stages. Specifically, for example, the lifting mechanism 300 first drives the second pickup member 220 to perform all or part of the first upward stroke, causing the first sheet material 500 to undergo gradually increasing warping deformation, and then drives the first pickup member 210 to perform the first upward stroke or the entire upward stroke. Similarly, the amount of warping deformation is set to not damage the structure of the first sheet material 500, but to cause the warped portion to separate from the second sheet material. Thus, as the first pickup member 210 and the second pickup member 220 continuously perform the differential first upward stroke, the amount of warping deformation gradually increases, and the separation area between the first sheet material 500 and the second sheet material gradually expands. Ultimately, this helps reduce the static adsorption of the first sheet material 500 at the pickup portion picked up by the first pickup member 210, allowing the first sheet material 500 to completely separate from the second sheet material.

[0063] Based on any of the above embodiments, please refer to... Figures 1 to 4In a further embodiment, the first pickup 210 is positioned in the central area of ​​the stacking station, and the second pickup 220 is positioned in the edge area of ​​the stacking station. At least two second pickups 220 are provided, positioned on opposite sides of the first pickup 210. Thus, driven by the lifting mechanism 300, the second pickup 220 rises faster than the first pickup 210, causing the edge area of ​​the first sheet material 500 to warp and deform more easily than the central area. This facilitates a faster and more efficient transfer of deformation from the outside inwards to the central area, allowing the first sheet material 500 to separate from the second sheet material more quickly and safely.

[0064] Next, please refer to the following for details. Figures 1 to 3 In one embodiment, the lifting mechanism 300 includes a mounting base 310, a first driver 320, a second driver 330, and a third driver 340. The mounting base 310 is disposed above the material stacking station and is movable up and down relative to the machine body 100. The first driver 320 is disposed on the mounting base 310 and connected to the first pickup member 210 to drive the first pickup member 210 to perform at least the pickup stroke and the first lifting stroke. The second driver 330 is disposed on the mounting base 310 and connected to the second pickup member 220 to drive at least the second pickup member 220 to perform at least the pickup stroke and the first lifting stroke. The third driver 340 is disposed on the machine body 100 and connected to the mounting base 310 to drive the mounting base 310 to move up and down.

[0065] In practical applications, the third actuator 340 can be, but is not limited to, a linear cylinder. The telescopic rod of the linear cylinder can be directly set to extend in the vertical direction. In this case, the third actuator 340 is directly connected to the mounting base 310. When its telescopic rod moves up and down, it drives the mounting base 310 to move synchronously.

[0066] Or such as Figure 2As shown, when the third actuator 340 is configured as a linear cylinder, the extension rod of the linear cylinder extends in the front-to-back direction (or possibly the left-to-right direction). At this time, the lifting mechanism 300 also includes a scissor structure 350, which includes two cross-arranged support rods hinged at the intersection. The upper end of one of the support rods is hinged to the body 100, and the other end is slidably connected to the mounting base 310 in the front-to-back direction. The lower end of the other support rod is hinged to the mounting base 310, and the other end is slidably connected to the body 100 in the front-to-back direction. A mating mechanism including a slide groove 351 and a slide rail 110 may be provided at the sliding connection point. Thus, when the telescopic rod of the third drive 340 extends, it increases the angle between the two support rods, causing the mounting base 310 to move closer to the machine body 100, and driving each pickup component upward away from the stacking station; conversely, when the telescopic rod of the third drive 340 retracts, it decreases the angle between the two support rods, causing the mounting base 310 to move away from the machine body 100, and driving each pickup component downward towards the stacking station.

[0067] Of course, the third drive 340 can also be, for example, a combination of a motor and a gear and rack mechanism, or a combination of a motor and a lead screw and nut mechanism, etc., without limitation.

[0068] Similarly, in practical applications, the first actuator 320 and / or the second actuator 330 can be configured as linear cylinders with telescopic rods extending vertically. It is understood that the pickup stroke and part of the upward stroke of the first pickup member 210 can be driven by the first actuator 320 and / or the third actuator 340, and the pickup stroke and part of the upward stroke of the second pickup member 220 can be driven by the second actuator 330 and / or the third actuator 340. However, it should be noted that at least the first upward stroke of the second pickup member 220 can be independently driven by the second actuator 330.

[0069] In addition, please see Figures 3 to 4 In one embodiment, the picking device further includes a stop member 400 disposed on the machine body 100. The stop member 400 is located above the stacking station and is disposed between the first picking member 210 and the second picking member 220, so as to stop and limit the first sheet material 500 when the second picking member 220 causes the first sheet material 500 to warp and deform to approach the stop member 400. The stop member 400 has a stop surface close to the stacking station. When the first sheet material 500 is driven by each picking member and locally warps and deforms, as the amount of warping and deformation gradually increases, the local part of the first sheet material 500 will approach and abut against the stop surface, and be restricted by the stop surface and unable to continue to deform upward.

[0070] Next, in one embodiment, the stop 400 is movably and adjustably mounted on the machine body 100 in the vertical direction. Specifically, the vertical movement adjustment of the stop 400 can be achieved through, for example, a gear and rack mechanism, a guide rail mechanism, or a lead screw and nut mechanism. When the stop 400 can be manually operated or mechanically driven to be adjusted vertically, the distance between the stop surface and the stacking station can be adjusted, thereby allowing the maximum amount of warping deformation of the first sheet material 500 to be adjusted.

[0071] Furthermore, in one embodiment, at least the stop surface of the stop member 400 is made of an elastic material, and / or the stop member 400 is elastically mounted to the body 100 by an elastic member. This allows the contact between the stop surface of the stop member 400 and the first sheet material 500 to be flexible.

[0072] It is understandable that when the stop surface of the stop member 400 comes into contact with the first sheet material 500:

[0073] In one embodiment, the second pickup member 220 may be configured to reduce or cancel the pickup force on the first sheet material 500 at this time. In this way, under the stopping action of the stop member 400, the warped and deformed part of the first sheet material 500 will be pushed and reset in the opposite direction, thereby generating a certain degree of vibration, causing the first sheet material 500 as a whole to vibrate relative to the second sheet material, which helps to separate the two quickly and completely.

[0074] In one embodiment, the picking device further includes a sensor and a controller. The sensor is located at the end of the stop 400 facing the stacking station and triggers a sensing signal when the first sheet material 500 abuts against the stop 400. The controller is located on the machine body 100 and is connected to the sensor and the lifting mechanism 300. When the controller receives the sensing signal, it controls the lifting mechanism 300 to synchronously carry the first picking piece 210 and the second picking piece 220 to perform the remaining upward stroke, or controls the lifting mechanism 300 to carry the first picking piece 210 to the same height as the second picking piece 220 and then synchronously carry the remaining upward stroke.

[0075] The sensor can be, but is not limited to, a limit switch, a photoelectric sensor, a pressure sensor, etc., and can trigger a sensing signal when the stop surface is abutted by the first sheet material 500. Upon receiving the sensing signal, the controller determines that the first sheet material 500 has reached its maximum deformation. At this point:

[0076] In one embodiment, the rising speed of the first pickup 210 can be adjusted to accelerate the ascent, or the rising speed of the second pickup 220 can be adjusted to decelerate the ascent, so that the rising speed of the first pickup 210 and the second pickup 220 is basically the same, so that the first sheet material 500 after being separated from the second sheet material is maintained in a basically fixed warped posture and continues to be lifted upward.

[0077] Alternatively, in one embodiment, the first pickup 210 can be adjusted to rise faster, while the second pickup 220 can be adjusted to rise slower; or the first pickup 210 can be adjusted to rise while the second pickup 220 stops rising, so that the rising positions of the first pickup 210 and the second pickup 220 are substantially the same, so that the first sheet material 500 after being separated from the second sheet material can continue to be lifted upward in a substantially straight posture.

[0078] Based on any of the above embodiments, in a further embodiment, the pickup component includes a main body 231 and a pickup part 232 movably disposed at one end of the main body 231 near the stacking station. The pickup part 232 is used to pick up the sheet material. The pickup part 232 is rotatably disposed relative to the main body 231 so that the orientation of the pickup part 232 is adjustable. Thus, when the first sheet material 500 is moved and locally warps and deforms, the orientation of a local surface of the first sheet material 500 will change. By making the orientation of the pickup part 232 adjustable, it can adapt to the change in the surface orientation of the picked-up first sheet material 500, which helps to ensure a stable connection between the pickup component and the first sheet material 500.

[0079] There are several ways to achieve the above objectives:

[0080] In one embodiment, the main body 231 and the pickup part 232 may be connected by, for example, a ball joint, so that the pickup part 232 can rotate in multiple directions relative to the main body 231.

[0081] Or in one embodiment, please refer to Figure 5 The picking part 232 is configured as an elastic sleeve fitted onto one end of the main body 231 near the stacking station. The elastic sleeve can elastically expand and contract in the vertical and horizontal directions under external force. The main body 231 is configured as an adsorption element, and can generate negative pressure within the elastic sleeve. Thus, the elastic sleeve can adapt to changes in the orientation of the surface of the first sheet material 500 by deforming itself vertically, horizontally, and / or forward and backward. The negative pressure generated by the main body 231 within the elastic sleeve ensures that regardless of the deformation of the elastic sleeve, a continuous and effective negative pressure adsorption force is always generated at the end of the elastic sleeve, i.e., the picking end of the picking element, which can stably adsorb the first sheet material 500.

[0082] The elastic sleeve can be directly set as a cylindrical sleeve made of rubber material, or at least a partial section of the elastic sleeve is composed of a series of folded structures, similar to a bellows, which can achieve vertical expansion and contraction, as well as bending in the left and right or front and back directions through the mutual folding of the folded structures.

[0083] Furthermore, based on the above-described pickup device, the present invention also provides a control method for the pickup device, which can be adapted to the above-described adaptive settings.

[0084] Please refer to the specific details. Figure 6 In one embodiment, the control method of the pickup device includes the following steps:

[0085] Step S100: The lifting mechanism 300 drives the first pickup component 210 and the second pickup component 220 to perform the pickup stroke;

[0086] In this embodiment, the third driver 340 may drive the first pickup element 210 and the second pickup element 220 to simultaneously perform the pickup stroke, and / or the first driver 320 may drive the first pickup element 210 to perform the pickup stroke, and the second driver 330 may drive the second pickup element 220 to perform the pickup stroke. Of course, the third driver 340, the first driver 320, and the second driver 330 may also jointly drive the first pickup element 210 and the second pickup element 220 to perform the pickup stroke.

[0087] The specific manner in which the first driver 320, the second driver 330, and the third driver 340 jointly drive the first pickup member 210 and the second pickup member 220 to perform the pickup stroke is not limited. For example, the third driver 340 can first drive the first pickup member 210 and the second pickup member 220 to move downward synchronously to a set distance, and then the first driver 320 can drive the first pickup member 210 to move downward to connect with the first sheet material 500, and the second driver 330 can drive the second pickup member 220 to move downward to connect with the first sheet material 500.

[0088] Step S200: When both the first pickup member 210 and the second pickup member 220 have completed the pickup stroke, the second driver 330 drives the second pickup member 220 to perform a first upward stroke;

[0089] Step S300: Upon receiving a sensing signal triggered by the sensor, the first pickup element 210 is driven to perform a first upward stroke by the first driver 320;

[0090] In this embodiment, the method for determining how the first pickup element 210 and the second pickup element 220 complete their respective pickup strokes is not limited:

[0091] In one application, the target downward movement of the first pickup 210 and the second pickup 220 can be determined based on the pre-measured distance between them and the first sheet material 500. When the first pickup 210 and the second pickup 220 are driven by the lifting mechanism 300 to complete the target downward movement, they have completed their respective pickup strokes.

[0092] Alternatively, in another application, sensors may be provided at the pickup end of the first pickup member 210 and / or the pickup end of the second pickup member 220. When the pickup end of the first pickup member 210 abuts against the first sheet material 500, and / or the pickup end of the second pickup member 220 abuts against the first sheet material 500, the sensors are triggered. When the controller determines that the sensors have been triggered, it determines that the first pickup member 210 and the second pickup member 220 have completed their respective pickup strokes. The type of sensor is not limited and may include, but is not limited to, limit switches, photoelectric sensors, pressure sensors, etc.

[0093] In view of the above, when the second pickup 220 makes its first upward stroke until the stop 400 comes into contact with the first sheet material 500, the aforementioned sensor is triggered to sense the signal, and the controller continues to control the first pickup 210 to make its first upward stroke.

[0094] Step S400: The lifting mechanism 300 drives the first pickup 210 and the second pickup 220 to complete their respective upward strokes.

[0095] In this embodiment, the rising speed of the first pickup 210 can be accelerated or the rising speed of the second pickup 220 can be decelerated, so that the rising speed of the first pickup 210 and the second pickup 220 is basically the same. This allows the first sheet material 500, after being separated from the second sheet material, to continue to be lifted upward in a basically fixed warped posture, and finally complete all the rising strokes.

[0096] Alternatively, the first pickup 210 can be accelerated upward while the second pickup 220 is accelerated upward, so that the rising positions of the first pickup 210 and the second pickup 220 are basically the same. This allows the first sheet material 500, after being separated from the second sheet material, to continue to be lifted upward in a basically straight posture, eventually completing all the upward strokes.

[0097] Alternatively, by adjusting the first pickup 210 to rise and the second pickup 220 to stop rising, the rising positions of the first pickup 210 and the second pickup 220 can be made to be basically the same, so that the first sheet material 500 after being separated from the second sheet material can continue to be lifted upward in a basically straight posture, and finally complete all the rising strokes.

[0098] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A pickup device, characterized in that, include: The machine body has a stacking station for multiple sheet materials to be stacked from top to bottom, each sheet material including the first sheet material at the highest position. A pickup assembly includes at least two pickup members disposed above the stacking station and having a downward pickup stroke moving towards the stacking station and an upward stroke moving away from the stacking station. During the pickup stroke, each pickup member picks up the first sheet material; and... The lifting mechanism is connected to each of the pickup components to drive each of the pickup components to perform the pickup stroke and the lifting stroke; The rising stroke includes a first rising stroke performed after each of the pickups picks up the first sheet material. The lifting mechanism drives at least two of the pickups to perform the first rising stroke at a different speed, so that the first sheet material is driven to warp and deform. Each of the aforementioned pickup components includes a first pickup component and a second pickup component. The first pickup component is disposed in the central area of ​​the stacking station, and the second pickup component is disposed in the edge area of ​​the stacking station. There are at least two second pickup components, which are disposed on opposite sides of the first pickup component. The lifting mechanism includes: The mounting base is located above the material stacking station and can be moved up and down relative to the machine body; A first driver is disposed on the mounting base and connected to the first pickup member to drive the first pickup member to perform at least the pickup stroke and the first upward stroke; A second driver is disposed on the mounting base and connected to the second pickup member to drive the second pickup member to perform at least the pickup stroke and the first upward stroke; A third actuator is located on the body and connected to the mounting base to drive the mounting base to move up and down. The pickup device further includes: A stop is provided on the machine body. The stop is located above the stacking station and is disposed between the first pick-up member and the second pick-up member, so as to stop and limit the first sheet material when the second pick-up member causes the first sheet material to warp and deform to be close to the stop. A sensor is located at the end of the stop member facing the material stacking station, and triggers a sensing signal when the first sheet material comes into contact with the stop member; and, A controller is located on the machine body and is connected to the sensor and the lifting mechanism respectively. When the controller receives the sensing signal, it controls the lifting mechanism to drive the first pickup and the second pickup to synchronously perform the remaining upward stroke, or controls the lifting mechanism to drive the first pickup to rise to the same height as the second pickup and then synchronously perform the remaining upward stroke.

2. The pickup device of claim 1, wherein The lifting mechanism drives the first pickup and the second pickup to perform the first upward stroke synchronously, and during the first upward stroke, the upward speed of the first pickup is less than the upward speed of the second pickup.

3. The pickup device of claim 1, wherein The lifting mechanism drives the second pickup and the first pickup to perform the first upward stroke in stages.

4. The pickup device of claim 1, wherein The stop member is movably and adjustablely mounted on the machine body in the vertical direction.

5. The pickup device as claimed in claim 1, characterized in that, The pickup unit includes a main body and a pickup part movably disposed at one end of the main body near the stacking station. The pickup part is used to pick up the sheet material. The pickup part is rotatably disposed relative to the main body so that the orientation of the pickup part is adjustable.

6. The pickup device of claim 5, wherein The picking part is configured as an elastic sleeve that is fitted onto one end of the main body near the stacking station. The elastic sleeve can elastically expand and contract in the vertical direction and in the horizontal direction under the action of external force. The main body is configured as an adsorption element, and the main body can at least create a negative pressure within the elastic sleeve.

7. A method of controlling a pickup device as claimed in claim 1, characterized in that Includes the following steps: The first and second pickup components are driven by a lifting mechanism to perform the pickup stroke; When both the first pickup and the second pickup have completed the pickup stroke, the second driver drives the second pickup to perform a first upward stroke. Upon receiving a sensing signal triggered by the sensor, the first pickup element is driven by the first driver to perform a first upward stroke; The lifting mechanism drives the first and second pickup components to complete their respective upward strokes.

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