Material picking device and picking method thereof

Abstract

The present invention relates to the technical field of picking equipment, and in particular to a material picking device and a picking method thereof, wherein the material picking device comprises a frame, a conveyor belt and a conveyor frame arranged on the frame, a conveyor plate arranged on the conveyor belt, a placing mechanism arranged on the frame, a connecting seat arranged on the frame, a first rotating arm arranged on the connecting seat, a first motor driving the first rotating arm to rotate, a second rotating arm arranged in the first rotating arm, a first driving cylinder arranged on the first rotating arm, an extension block arranged on one side of the first rotating arm, a fixed bevel gear arranged on one side of the connecting seat, a connecting cylinder arranged on one side of the extension block, a first driven bevel gear meshed with the fixed bevel gear, a transmission rod arranged in the connecting cylinder, a clamping block arranged on one side of the second rotating arm, a driving bevel gear arranged on one side of the second rotating arm, a rotating plate arranged on the clamping block, a rotating shaft arranged between the rotating plate and the driving bevel gear, and a clamping mechanism arranged on the rotating plate. The present invention can keep the material presentation direction unchanged when clamping and transferring materials.

Description

Technical Field

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

[0002] The material picking device is a device used to automatically pick up, transport and place materials. In the actual production process, materials are often clamped from one workstation through a material picking device and rotated at a certain angle (such as 90°) to transfer to another workstation for subsequent processing. Because the material picking device rotates when it clamps. For example, there are two vertically distributed workstations. The material that was originally placed horizontally at one workstation is clamped by a material picking device and rotated 90° and placed in another workstation. At this time, the material is placed vertically, and a steering device is required to adjust the direction of the material. Based on this, this scheme designs a material picking device and a picking method thereof, which can keep the direction of the material unchanged when clamping and transferring the material. Summary of the invention

[0003] Therefore, in order to solve the above-mentioned problems, the present invention proposes a material picking device and a picking method thereof, which can keep the material presentation direction unchanged when clamping and transferring the material.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A material picking device comprises a frame, a conveyor belt arranged on the frame, a conveyor frame arranged on both sides of the conveyor belt, a conveyor plate arranged on the conveyor belt, a placing mechanism arranged on the frame and located above the conveyor belt, a connecting seat arranged on the frame and located above the conveyor belt, a first rotating arm rotatably arranged on the connecting seat, a first motor for driving the first rotating arm to rotate, a second rotating arm slidably arranged in the first rotating arm, a first driving cylinder arranged on the first rotating arm and used to drive the second rotating arm to move, an extension block arranged on one side of the first rotating arm, a fixed bevel gear fixedly arranged on one side of the connecting seat, and a A connecting cylinder, a first driven bevel gear arranged on the side of the connecting cylinder close to the connecting seat and meshing with the fixed bevel gear, a transmission rod slidably arranged in the connecting cylinder, a clamping block arranged on the side of the second rotating arm away from the connecting seat, a driving bevel gear arranged on the side of the second rotating arm away from the connecting seat, a rotating plate rotatably arranged on the clamping block, a rotating shaft arranged between the rotating plate and the driving bevel gear, and a clamping mechanism arranged on the rotating plate, one side of the first driving cylinder is rotatably connected to the extension block, the other side of the first driving cylinder is rotatably connected to the clamping block, one side of the transmission rod passes through the clamping block, and one side of the transmission rod is provided with a second driven bevel gear meshing with the driving bevel gear.

[0006] Furthermore, a rectangular groove is provided on the inner side of the connecting tube, and a rectangular protrusion for slidingly cooperating with the rectangular groove is provided on the side of the transmission rod close to the connecting tube.

[0007] Furthermore, the placement mechanism includes a first roller chain arranged on a frame, a first driving gear arranged on the upper and lower sides of the first roller chain, a second roller chain arranged at an interval with the first roller chain, a second driving gear arranged on the upper and lower sides of the second roller chain, and a second motor for driving the first driving gear to rotate, a plurality of first triangular chain plates are arranged on the first roller chain, a plurality of second triangular chain plates are arranged on the second roller chain, a rectangular frame is rotatably connected between the first triangular chain plates and the second triangular chain plates, a collecting plate is arranged on the top surface of the rectangular frame, the first driving gear is located above the second driving gear, and the distance between the center of the first driving gear and the center of the second driving gear is equal to the longitudinal length of the rectangular frame.

[0008] Based on the same inventive concept, a material picking method is also proposed, comprising the following steps:

[0009] In the first step, the conveyor belt inputs the conveyor disc loaded with materials, and when it reaches the bottom of the connecting seat, the conveyor belt stops rotating;

[0010] In the second step, the first motor drives the first rotating arm to rotate, and the clamping mechanism on one side of the first rotating arm will be located outside the conveying disc. After the clamping mechanism clamps the conveying disc, the first motor drives the first rotating arm to rotate upward by 90°. The first rotating arm simultaneously drives the connecting cylinder between the extension block and the clamping block to rotate. Due to the rotation of the fixed bevel gear, the first driven bevel gear on one side of the connecting cylinder contacts and rotates with the fixed bevel gear during the rotation of the connecting cylinder. The fixed bevel gear drives the connecting cylinder to rotate synchronously. The connecting cylinder drives the second driven bevel gear and the driving bevel gear to rotate synchronously through the transmission rod. The driving bevel gear drives the rotating plate to rotate through the rotating shaft. The driving bevel gear will rotate with the first rotating arm to keep the rotating plate parallel to the top surface of the conveyor belt. The conveying disc clamped by the clamping mechanism at the bottom of the rotating plate will also keep parallel to the top surface of the conveyor belt. After rotating to one side of the placement mechanism, the first motor stops rotating.

[0011] In the third step, the first driving cylinder drives the clamping block to move toward the placement mechanism, and the second rotating arm slides out from the first rotating arm, driving the clamping block, the rotating plate and the clamping mechanism to move toward the placement mechanism position, and the clamping mechanism is released to place the clamped conveying tray into the placement mechanism;

[0012] In the fourth step, the first drive cylinder drives the card block to move toward the first rotating arm, and at the same time the first motor drives the first rotating arm to rotate 90 degrees in the opposite direction; after completion, the clamping mechanism will be placed on the outside of the conveyor belt conveyor disc, so as to reciprocately pick up and transfer the input conveyor disc.

[0013] In the third step, the second motor drives the first drive gear to rotate, and the first drive gear drives the first roller chain to rotate. The first roller chain drives the second roller chain to rotate synchronously through the rectangular frame between the first triangular chain plate and the second triangular chain plate until one of the collecting plates is moved to the upper right position. After the clamping mechanism transfers the conveying disc to the collecting plate, the second motor drives the first drive gear to continue rotating, and rotates the collecting plate at the adjacent position of the first roller chain to the upper right position. The collecting plate equipped with the conveying disc will move downward to the bottom.

[0014] By adopting the above technical solution, the beneficial effects of the present invention are:

[0015] This material picking device can keep the material presentation direction unchanged when clamping and transferring materials. Specifically, the driving bevel gear of the clamping mechanism drives the rotating plate to rotate through the rotating shaft, and the driving bevel gear will rotate with the first rotating arm, so that the rotating plate is kept parallel to the top surface of the conveyor belt, and the clamping mechanism at the bottom of the rotating plate clamps the conveyor disc and also keeps it parallel to the top surface of the conveyor belt. When the first rotating arm drives the rotating plate to rotate, the rotating plate will be kept parallel to the conveyor belt through each bevel gear group, and the rotating plate and the holding mechanism are driven to rotate through the bevel gear group, and the structure is not easy to be damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the present invention.

[0017] Figure 2 It is a schematic front view of the local structure of the present invention.

[0018] Figure 3 It is a schematic diagram of a local three-dimensional structure of the present invention.

[0019] Figure 4 It is a schematic structural diagram of the connection cylinder and the transmission rod of the present invention in a separated state.

[0020] Figure 5 It is a schematic front view of the local structure of the placement mechanism of the present invention.

[0021] Figure 6 It is a partial structural schematic diagram of the placement mechanism of the present invention.

[0022] Figure 7 It is a schematic front view of the structure of a partial use state of the clamping mechanism of the present invention.

[0023] Figure 8 It is a schematic top view of the clamping mechanism structure of the present invention.

[0024] Fig. 9 It is a schematic diagram of the internal structure of the clamping mechanism of the present invention.

[0025] Fig.10 It is a schematic top view of the local structure of the clamping mechanism of the present invention.

[0026] Fig.11 It is a schematic diagram of the front-end viewing structure of the clamping mechanism of the present invention.

[0027] Fig.12 It is a schematic diagram of the structure of the clamping mechanism of the present invention from a rear end viewing angle.

[0028] Fig.13 It is a schematic front view of the local structure of the clamping mechanism of the present invention.

[0029] Fig.14 It is a schematic diagram of the internal structure of the collecting plate of the present invention.

[0030] Numbers in the figure:

[0031] 1. Conveyor belt; 2. Conveyor rack; 3. Conveyor plate; 4. Placement mechanism; 5. Connecting seat; 6. First rotating arm; 7. First motor; 8. Second rotating arm; 9. First driving cylinder; 10. Extension block; 11. Fixed bevel gear; 12. Connecting cylinder; 13. First driven bevel gear; 14. Transmission rod; 15. Block; 16. Driving bevel gear; 17. Turntable; 18. Rotating shaft; 19. Clamping mechanism; 20. Second driven bevel gear; 21. Rectangular groove; 22. Rectangular protrusion;

[0032] 401, first roller chain; 402, first driving gear; 403, second roller chain; 404, second driving gear; 405, second motor; 406, first triangular chain plate; 407, second triangular chain plate; 408, rectangular frame; 409, collecting plate; 410, first top plate; 411, transmission plate; 412, second top plate; 413, spring;

[0033] 91. Connecting seat; 92. Driving gear; 93. Third motor; 94. Driven gear; 95. Screw rod; 96. Guide rod; 97. Clamping block;

[0034] 901, connecting block; 902, guide column; 903, first rack; 904, transmission shaft; 905, first gear; 906, second gear; 907, guide cylinder; 908, second rack; 909, connecting column; 910, mounting seat; 911, limit block; 912, baffle; 913, first elastic member; 914, rubber block; 915, plate groove; 916, anti-fall plate; 917, second elastic member. DETAILED DESCRIPTION

[0035] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0036] refer to Figures 1 to 14The present embodiment provides a material picking device, including a frame (not marked in the figure), a conveyor belt 1 arranged on the frame, a conveyor frame 2 arranged on both sides of the conveyor belt 1, a conveyor plate 3 arranged on the conveyor belt 1, a placing mechanism 4 arranged on the frame and located above the conveyor belt 1, a connecting seat 5 arranged on the frame and located above the conveyor belt 1, a first rotating arm 6 rotatably arranged on the connecting seat 5, a first motor 7 for driving the first rotating arm 6 to rotate, a second rotating arm 8 slidably arranged in the first rotating arm 6, a first driving cylinder 9 arranged on the first rotating arm 6 and used to drive the second rotating arm 8 to move, and an extension cylinder 9 arranged on one side of the first rotating arm 6. The extension block 10, the fixed bevel gear 11 fixedly arranged on one side of the connection seat 5, the connection tube 12 arranged on the side of the extension block 10 away from the first rotating arm 6, the first driven bevel gear 13 arranged on the side of the connecting tube 12 close to the connecting seat 5 and meshing with the fixed bevel gear 11, the transmission rod 14 slidably arranged in the connection tube 12, the clamping block 15 arranged on the side of the second rotating arm 8 away from the connecting seat 5, the driving bevel gear 16 arranged on the side of the second rotating arm 8 away from the connecting seat 5, the rotating plate 17 rotatably arranged on the clamping block 15, the rotating shaft 18 arranged between the rotating plate 17 and the driving bevel gear 16, and the clamping mechanism 19 arranged on the rotating plate 17. One side of the first driving cylinder 9 is rotatably connected to the extension block 10, and the other side of the first driving cylinder 9 is rotatably connected to the clamping block 15, one side of the transmission rod 14 passes through the clamping block 15, and one side of the transmission rod 14 is provided with a second driven bevel gear 20 meshing with the driving bevel gear 16.

[0037] The conveyor belt 1 inputs the conveyor disc 3 loaded with materials. When it reaches the bottom of the connecting seat 5, the conveyor belt 1 stops rotating, and the first motor 7 drives the first rotating arm 6 to rotate. The clamping mechanism 19 on one side of the first rotating arm 6 will be located outside the conveyor disc 3. After the clamping mechanism 19 clamps the conveyor disc 3, the first motor 7 drives the first rotating arm 6 to rotate upward by 90°. The first rotating arm 6 also drives the connecting tube 12 between the extension block 10 and the clamping block 15 to rotate, because the fixed bevel gear 11 is fixed on the connecting seat 5. During the rotation of the connecting cylinder 12, the first driven bevel gear 13 on one side contacts and rotates with the fixed bevel gear 11, and the fixed bevel gear 11 drives the connecting cylinder 12 to rotate synchronously. The connecting cylinder 12 drives the second driven bevel gear 20 and the driving bevel gear 16 to rotate synchronously through the transmission rod 14. The driving bevel gear 16 drives the rotating plate 17 to rotate through the rotating shaft 18. The driving bevel gear 16 will rotate with the first rotating arm 6, so that the rotating plate 17 is kept parallel to the top surface of the conveyor belt 1, and the clamping mechanism 19 at the bottom of the rotating plate 17 clamping the conveyor disc 3 will also be kept parallel to the top surface of the conveyor belt 1. After rotating to the side of the placement mechanism 4, the first driving cylinder 9 drives the clamping block 15 to move in the direction of the placement mechanism 4, and the second rotating arm 8 slides out of the first rotating arm 6, driving the clamping block 15, the rotating plate 17 and the clamping mechanism 19 to move to the position of the placement mechanism 4, and the clamping mechanism 19 is released to place the clamped conveyor disc 3 into the placement mechanism 4.

[0038] After completion, the first drive cylinder 9 drives the clamping block 15 to move toward the first rotating arm 6, and the first motor 7 drives the first rotating arm 6 to rotate 90° in the opposite direction; after completion, the clamping mechanism 19 will be placed on the outside of the conveying disc 3 on the conveyor belt 1, so as to pick up and transfer the input conveying disc 3 back and forth. It should be noted that in the prior art, the first rotating arm 6 and the second rotating arm 8 adopt a manipulator structure. When the existing manipulator picks up materials and performs large-angle rotation transfer, the bottom of the manipulator will rotate at the same angle, and an additional motor needs to be installed to adjust its angle, resulting in complex control, and there is a disadvantage that the motor is easily damaged when repeatedly clamping heavy objects.

[0039] A rectangular groove 21 is formed inside the connecting tube 12 , and a rectangular protrusion 22 for slidingly cooperating with the rectangular groove 21 is formed on a side of the transmission rod 14 close to the connecting tube 12 .

[0040] During use, the connecting tube 12 drives the transmission rod 14 to rotate synchronously through the contact part between the rectangular groove 21 and the rectangular protrusion 22. At the same time, the transmission rod 14 can keep moving horizontally, which is conducive to adjusting the angle of the rotating plate 17.

[0041] The placement mechanism 4 includes a first roller chain 401 arranged on a frame, a first driving gear 402 arranged on the upper and lower sides of the first roller chain 401, a second roller chain 403 arranged at intervals from the first roller chain 401, a second driving gear 404 arranged on the upper and lower sides of the second roller chain 403, and a second motor 405 for driving the first driving gear 402 to rotate.

[0042] The first roller chain 401 is provided with a plurality of first triangular chain plates 406, the second roller chain 403 is provided with a plurality of second triangular chain plates 407, a rectangular frame 408 is rotatably connected between the first triangular chain plates 406 and the second triangular chain plates 407, a collecting plate 409 is provided on the top surface of the rectangular frame 408, the first driving gear 402 is located above the second driving gear 404, the distance between the center of the first driving gear 402 and the center of the second driving gear 404 is equal to the longitudinal length of the rectangular frame 408, and the collecting plates 409 can be provided in multiple groups, not limited to the two in the drawings of the specification.

[0043] The first driving gear 402 is driven to rotate by the second motor 405, and the first driving gear 402 drives the first roller chain 401 to rotate. The first roller chain 401 drives the second roller chain 403 to rotate synchronously through the rectangular frame 408 between the first triangular chain plate 406 and the second triangular chain plate 407, until one of the collecting plates 409 is moved to the upper right position. After the clamping mechanism 19 transfers the conveying disc 3 to the collecting plate 409, the second motor 405 drives the first driving gear 402 to continue to rotate, and the collecting plate 409 at the adjacent position of the first roller chain 401 is rotated to the upper right position. The collecting plate 409 equipped with the conveying disc 3 will move downward to the bottom, and the first roller chain 401 and the second roller chain 403 continue to rotate. When the collecting plate 409 passes through the first driving gear 402, since the first triangular chain plate 406 is hinged to the top of the front end of the rectangular frame 408, and the second triangular chain plate 407 is hinged to the bottom of the rear end of the rectangular frame 408, the distance between the center of the first driving gear 402 and the center of the second driving gear 404 is equal to the longitudinal length of the rectangular frame 408, and the parallelogram shape will be maintained. When the collecting plate 409 passes through the first driving gear 402, the collecting plate 409 will remain parallel and will not fall off. The transfer speed will be faster when cooperating with the clamping mechanism on one side of the second rotating arm 8, and the conveying disc 3 to be taken out can be rotated to the upper right position according to needs, and then directly taken out from the clamping mechanism 19 on one side of the second rotating arm 8, thereby improving the conveying speed of the production line.

[0044] The first top plate 410 is slidably connected to both sides of the middle of the collecting plate 409, and a transmission plate 411 hinged to the first top plate 410 is provided in the collecting plate 409. Second top plates 412 are provided on both sides of the collecting plate 409, and the other side of the transmission plate 411 is connected to the second top plate 412. A spring 413 is provided between the bottom of the first top plate 410 and the collecting plate 409. When the conveying disc 3 is input, the first top plate 410 is pressurized, and under the action of the transmission plate 411, the second top plate 412 is pushed upward to prevent the conveying disc 3 from falling from both sides. When it needs to be clamped and taken out, the clamping mechanism 19 drives the conveying disc 3 to move upward, so that the conveying disc 3 can be taken out, and it will not affect the clamping of the holding mechanism 19.

[0045] The clamping mechanism 19 includes a connecting seat 91 arranged at the bottom of the rotating plate 17, a driving gear 92 rotatably arranged in the connecting seat 91, a third motor 93 for driving the driving gear 92 to rotate, a driven gear 94 rotatably arranged in the connecting seat 91, a screw rod 95 arranged in the middle of the driven gear 94, a guide rod 96 arranged at the front end of the connecting seat 91, and a clamping block 97 matched with the lateral sides of the screw rod 95, the driven gear 94 is meshed with the driving gear 92, and the clamping block 97 is slidably connected with the guide rod 96.

[0046] The third motor 93 drives the driving gear 92 to rotate, the driving gear 92 drives the driven gear 94 to rotate, and the driven gear 94 drives the screw rod 95 to rotate. The built-in threads on the left and right sides of the screw rod 95 are in opposite directions. When rotating, it will drive the clamping blocks 97 on both sides to move toward the middle at the same time. The clamping blocks 97 are guided to move toward the middle through the guide rod 96, thereby completing the clamping of the conveying disc 3. When the conveying disc 3 needs to be released, the third motor 93 drives the driving gear 92 to rotate in the opposite direction. After the screw rod 95 rotates in the opposite direction, the two clamping blocks 97 will move in opposite directions, thereby clamping the transfer conveying disc 3.

[0047] The clamping block 97 includes a connecting block 901, a guide column 902 disposed at the top of the connecting block 901, a first rack 903 slidably disposed in the guide column 902, a transmission shaft 904 rotatably disposed at the top of the connecting block 901, a first gear 905 disposed at the outer side of the transmission shaft 904 and meshing with the first rack 903, a second gear 906 disposed in the middle of the transmission shaft 904, a guide cylinder 907 disposed at the other side of the connecting block 901, a second rack 908 slidably disposed in the middle of the connecting block 901 and meshing with the second gear 906, a connecting column 909 disposed at the side of the second rack 908 away from the second gear 906, and a first gear 905 slidably disposed at the guide cylinder 907. The mounting seat 910 in 907, the limit block 911 provided on the other side of the connecting block 901 and used for the second rack 908 to pass through, the baffle 912 provided in the middle of the second rack 908 and in contact with the limit block 911, the first elastic member 913 provided between the baffle 912 and the connecting block 901, the rubber block 914 provided on the side of the first rack 903 away from the first gear 905, the plate groove 915 provided on one side of the connecting block 901, the anti-fall plate 916 slidably provided in the plate groove 915, and the second elastic member 917 provided between the top of the anti-fall plate 916 and the second rack 908, the mounting seat 910 is connected to the screw rod 95.

[0048] The screw rod 95 drives the mounting seats 910 on the left and right sides to move toward the middle. After the rubber block 914 contacts and clamps the conveying disc 3 in the middle, as the mounting seat 910 continues to push, the mounting seat 910 will shrink into the guide cylinder 907 and push the second rack 908 to move toward the second gear 906. After the second rack 908 moves, it drives the second gear 906 to rotate. The second gear 906 drives the first gear 905 to rotate through the transmission shaft 904. The first gear 905 drives the first rack 903 to move upward. The first rack 903 drives the rubber block 914 on one side. When the conveyor disc 3 moves upward, the rubber block 914 drives the clamped conveyor disc 3 to rise. As the rubber block 914 and the conveyor disc 3 rise, the anti-fall plate 916 is no longer blocked. As the second rack 908 moves, the anti-fall plate 916 is synchronously moved out through the second elastic member 917. When the conveyor disc 3 accidentally falls, the anti-fall plate 916 can receive the conveyor disc 3 to prevent it from falling. When the conveyor disc 3 is transferred to the specified position, the screw rod 95 rotates in the opposite direction. After the two mounting seats 910 move to the left and right sides, under the action of the first elastic member 913, the outer middle part of the second rack 908 is The baffle plate 912 on the side will be forced to move in the direction away from the second rack 908, and the mounting seat 910 will slowly move out of the guide cylinder 907. The second rack 908 drives the second gear 906 to rotate in the opposite direction. At the same time, the anti-fall plate 916 is moved into the plate groove 915 through the second elastic member 917. The second gear 906 rotates through the transmission shaft 904 to drive the first gear 905 to rotate. The first gear 905 rotates to drive the first rack 903 to move downward. During the downward movement of the first rack 903, the rubber block 914 is driven to move downward, and the rubber block 914 drives the conveyor plate 3 to move smoothly downward. The rubber block 914 is moved until it fits the placement surface, and the mounting base 910 continues to move, and the rubber block 914 is separated from the conveying tray 3. The rubber block 914 clamps the conveying tray 3 and an anti-fall plate 916 is extended from the bottom to prevent the rubber block 914 from shaking or being unstable during the clamping and conveying process and causing it to fall. The conveying tray 3 is transferred to the external tray (not shown in the figure) in a stable manner. This structure enables the conveying tray 3 to move upward in a manner that does not cause damage to the bottom surface of the conveying tray 3 due to the forced insertion of the anti-fall plate 916 at the bottom, and has high applicability, and does not require multiple sets of cylinders or motors to cooperate in preventing the conveying tray 3 from falling.

[0049] Based on the above material picking device, a material picking method is also proposed, comprising the following steps:

[0050] In the first step, the conveyor belt 1 inputs the conveyor disc 3 loaded with materials, and when it reaches below the connecting seat 5, the conveyor belt 1 stops rotating;

[0051] In the second step, the first motor 7 drives the first rotating arm 6 to rotate, and the clamping mechanism 19 on one side of the first rotating arm 6 will be located outside the conveying disc 3. After the clamping mechanism 19 clamps the conveying disc 3, the first motor 7 drives the first rotating arm 6 to rotate upward by 90°. The first rotating arm 6 simultaneously drives the connecting cylinder 12 between the extension block 10 and the clamping block 15 to rotate. Due to the rotation of the fixed bevel gear 11, the first driven bevel gear 13 on one side of the connecting cylinder 12 contacts and rotates with the fixed bevel gear 11 during the rotation process. The fixed bevel gear 11 drives the connecting cylinder 12 to rotate synchronously. The connecting cylinder 12 drives the second driven bevel gear 20 and the driving bevel gear 16 to rotate synchronously through the transmission rod 14. The driving bevel gear 16 drives the rotating plate 17 to rotate through the rotating shaft 18. The driving bevel gear 16 will rotate with the first rotating arm 6, so that the rotating plate 17 is kept parallel to the top surface of the conveyor belt 1. The conveying disc 3 clamped by the clamping mechanism 19 at the bottom of the rotating plate 17 will also be kept parallel to the top surface of the conveyor belt 1. After rotating to one side of the placing mechanism 4, the first motor 7 stops rotating.

[0052] In the third step, the first drive cylinder 9 drives the clamping block 15 to move toward the placement mechanism 4, the second motor 405 drives the first drive gear 402 to rotate, the first drive gear 402 drives the first roller chain 401 to rotate, the first roller chain 401 drives the second roller chain 403 to rotate synchronously through the rectangular frame 408 between the first triangular chain plate 406 and the second triangular chain plate 407, until one of the collection plates 409 is moved to the upper right position, and after the clamping mechanism 19 transfers the conveying plate 3 to the collection plate 409, the second motor 405 drives the first drive gear 402 to rotate, and the first drive gear 402 drives the first roller chain 401 to rotate synchronously. 405 drives the first driving gear 402 to continue rotating, and rotates the collecting plate 409 at the adjacent position of the first roller chain 401 to the upper right position, the first motor 405 stops rotating, and the second rotating arm 8 slides out from the first rotating arm 6, driving the block 15, the rotating plate 17 and the clamping mechanism 19 to move to the position of the placing mechanism 4, the clamping mechanism 19 is released, and the clamped conveying disc 3 is placed in the placing mechanism 4, and the collecting plate 409 with the conveying disc 3 will move downward to the bottom, which is convenient for the clamping mechanism 19 to input a new conveying disc 3 next time;

[0053] In the fourth step, the first driving cylinder 9 drives the clamping block 15 to move toward the first rotating arm 6, and at the same time the first motor 7 drives the first rotating arm 6 to rotate 90° in the opposite direction; after completion, the clamping mechanism 19 will be placed on the outside of the conveying disc 3 of the conveyor belt 1, so as to reciprocately pick up and transfer the input conveying disc 3.

[0054] According to the requirements of the production line, the conveying disc 3 to be taken out can be rotated to the upper right position, and then directly taken out from the clamping mechanism 19 located on one side of the second rotating arm 8 to increase the conveying speed of the production line.

[0055] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0056] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0058] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0059] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A material picking device, characterized in that: The invention comprises a frame, a conveyor belt (1) arranged on the frame, a conveyor frame (2) arranged on both sides of the conveyor belt (1), a conveyor plate (3) arranged on the conveyor belt (1), a placement mechanism (4) arranged on the frame and located above the conveyor belt (1), a connecting seat (5) arranged on the frame and located above the conveyor belt (1), a first rotating arm (6) rotatably arranged on the connecting seat (5), a first motor (7) for driving the first rotating arm (6) to rotate, a second rotating arm (8) slidably arranged in the first rotating arm (6), and a first rotating arm (8) arranged on the first rotating arm (6) and used to drive the second rotating arm (8) to rotate. ), a first driving cylinder (9) that moves the first rotating arm (6), an extension block (10) disposed on one side of the first rotating arm (6), a fixed bevel gear (11) fixedly disposed on one side of the connecting seat (5), a connecting tube (12) disposed on a side of the extension block (10) away from the first rotating arm (6), a first driven bevel gear (13) disposed on a side of the connecting tube (12) close to the connecting seat (5) and meshing with the fixed bevel gear (11), a transmission rod (14) slidably disposed in the connecting tube (12), a clamping block (15) disposed on a side of the second rotating arm (8) away from the connecting seat (5), and a first driven bevel gear (13) disposed on a side of the second rotating arm (8) away from the connecting seat (5). A driving bevel gear (16) on one side of the receiving seat (5), a rotating plate (17) rotatably arranged on the clamping block (15), a rotating shaft (18) arranged between the rotating plate (17) and the driving bevel gear (16), and a clamping mechanism (19) arranged on the rotating plate (17); one side of the first driving cylinder (9) is rotatably connected to the extension block (10); the other side of the first driving cylinder (9) is rotatably connected to the clamping block (15); one side of the transmission rod (14) passes through the clamping block (15); one side of the transmission rod (14) is provided with a second driven bevel gear meshing with the driving bevel gear (16); The wheel (20) and the connecting cylinder (12) rotate, and the first driven bevel gear (13) on one side contacts and rotates with the fixed bevel gear (11), and the fixed bevel gear (11) drives the connecting cylinder (12) to rotate synchronously. The connecting cylinder (12) drives the second driven bevel gear (20) and the driving bevel gear (16) to rotate synchronously through the transmission rod (14). The driving bevel gear (16) drives the rotating plate (17) to rotate through the rotating shaft (18). The driving bevel gear (16) rotates with the first rotating arm (6), so that the rotating plate (17) and the top surface of the conveyor belt (1) remain parallel to each other. The clamping mechanism (19) comprises a connecting seat (91) arranged at the bottom of the rotating plate (17), a driving gear (92) rotatably arranged in the connecting seat (91), a third motor (93) for driving the driving gear (92) to rotate, a driven gear (94) rotatably arranged in the connecting seat (91), a screw rod (95) arranged in the middle of the driven gear (94), a guide rod (96) arranged at the front end of the connecting seat (91), and a clamping block (97) cooperating with both sides of the screw rod (95) in the lateral direction, wherein the driven gear (94) and the driving gear (92) are connected to each other. The clamping block (97) is slidably connected to the guide rod (96), and the clamping block (97) comprises a connecting block (901), a guide column (902) disposed at the top of the connecting block (901), a first rack (903) slidably disposed in the guide column (902), a transmission shaft (904) rotatably disposed at the top of the connecting block (901), a first gear (905) disposed outside the transmission shaft (904) and meshing with the first rack (903), a second gear (906) disposed in the middle of the transmission shaft (904), and a first gear (907) disposed at the connecting block (901). a guide cylinder (907) on the other side of the block (901), a second rack (908) slidably disposed in the middle of the connecting block (901) and meshing with the second gear (906), a connecting column (909) disposed on the side of the second rack (908) away from the second gear (906), a mounting seat (910) slidably disposed in the guide cylinder (907), a stop block (911) disposed on the other side of the connecting block (901) and used for the second rack (908) to pass through, and a stop block (911) disposed in the middle of the second rack (908) and in close contact with the stop block (911). The mounting seat (910) is provided with a baffle plate (912), a first elastic member (913) disposed between the baffle plate (912) and the connecting block (901), a rubber block (914) disposed on a side of the first rack (903) away from the first gear (905), a plate groove (915) disposed on one side of the connecting block (901), an anti-falling plate (916) slidably disposed in the plate groove (915), and a second elastic member (917) disposed between the top of the anti-falling plate (916) and the second rack (908), wherein the mounting seat (910) is connected to the screw rod (95).

2. A material picking device according to claim 1, characterized in that: A rectangular groove (21) is provided on the inner side of the connecting tube (12), and a rectangular protrusion (22) for slidingly cooperating with the rectangular groove (21) is provided on the side of the transmission rod (14) close to the connecting tube (12).

3. A material picking device according to claim 1, characterized in that: The placement mechanism (4) comprises a first roller chain (401) arranged on a frame, a first driving gear (402) arranged on the upper and lower sides of the first roller chain (401), a second roller chain (403) arranged at an interval with the first roller chain (401), a second driving gear (404) arranged on the upper and lower sides of the second roller chain (403), and a second motor (405) for driving the first driving gear (402) to rotate, wherein the first roller chain (401) is provided with a plurality of first triangular chain plates (406), the second roller chain (403) is provided with a plurality of second triangular chain plates (407), a rectangular frame (408) is rotatably connected between the first triangular chain plates (406) and the second triangular chain plates (407), a collecting plate (409) is provided on the top surface of the rectangular frame (408), the first driving gear (402) is located above the second driving gear (404), and the distance between the center of the first driving gear (402) and the center of the second driving gear (404) is equal to the longitudinal length of the rectangular frame (408).

4. A material picking method, applied to the material picking device according to claim 3, characterized in that: The following steps are involved: In the first step, the conveyor belt (1) inputs the conveyor plate (3) loaded with materials, and when it reaches below the connecting seat (5), the conveyor belt (1) stops rotating; In the second step, the first motor (7) drives the first rotating arm (6) to rotate, and the clamping mechanism (19) on one side of the first rotating arm (6) is located outside the conveying disc (3). The third motor (93) drives the driving gear (92) to rotate, and the driving gear (92) drives the driven gear (94) to rotate. The driven gear (94) drives the screw rod (95) to rotate. The screw rod (95) has built-in threads on the left and right sides in opposite directions. When rotating, it drives the clamping blocks (97) on both sides to move toward the middle at the same time. The clamping blocks (97) are guided to move toward the middle through the guide rod (96), thereby completing the clamping of the conveying disc (3). When it is necessary to release the conveying disc (3), the third motor (93) drives the driving gear (92) to rotate in the opposite direction, and the screw rod (95) drives the driven gear (94) to rotate in the opposite direction. After the two clamping blocks (97) rotate in the opposite direction, the rubber block (914) contacts and clamps the middle conveying disc (3). As the mounting seat (910) continues to push, the mounting seat (910) shrinks into the guide cylinder (907) and pushes the second rack (908) to move in the direction of the second gear (906). After the second rack (908) moves, it drives the second gear (906) to rotate. The second gear (906) drives the first gear (905) to rotate through the transmission shaft (904). The first gear (905) drives the first rack (903) to move upward. The first rack (903) drives the rubber block (914) on one side to move upward. The rubber block (914) The rubber block (914) drives the clamped conveying disc (3) to rise. As the rubber block (914) and the conveying disc (3) rise, one side of the anti-falling plate (916) is no longer blocked. As the second rack (908) moves, the anti-falling plate (916) is synchronously moved out through the second elastic member (917). The anti-falling plate (916) can receive the conveying disc (3). After the clamping mechanism (19) clamps the conveying disc (3), the first motor (7) drives the first rotating arm (6) to rotate upward by 90°. The first rotating arm (6) simultaneously drives the connecting tube (12) between the extension block (10) and the clamping block (15) to rotate. As the fixed bevel gear (11) rotates, the first driven bevel gear (11) on one side of the connecting tube (12) rotates. The gear (13) rotates in contact with the fixed bevel gear (11), the fixed bevel gear (11) drives the connecting tube (12) to rotate synchronously, the connecting tube (12) drives the second driven bevel gear (20) and the driving bevel gear (16) to rotate synchronously through the transmission rod (14), the driving bevel gear (16) drives the rotating plate (17) to rotate through the rotating shaft (18), the driving bevel gear (16) rotates along with the first rotating arm (6), so that the rotating plate (17) and the top surface of the conveyor belt (1) are kept parallel, and the conveyor plate (3) clamped by the clamping mechanism (19) at the bottom of the rotating plate (17) is also kept parallel to the top surface of the conveyor belt (1). After rotating to the side of the placing mechanism (4), the first motor (7) stops rotating; In the third step, the first driving cylinder (9) drives the clamping block (15) to move in the direction of the placement mechanism (4), and the second rotating arm (8) slides out from the first rotating arm (6), driving the clamping block (15), the rotating plate (17) and the clamping mechanism (19) to move in the direction of the placement mechanism (4), and the clamping mechanism (19) is released to place the clamped conveying tray (3) in the placement mechanism (4); In the fourth step, the first drive cylinder (9) drives the clamping block (15) to move in the direction of the first rotating arm (6), and at the same time, the first motor (7) drives the first rotating arm (6) to rotate 90 degrees in the opposite direction; after completion, the clamping mechanism (19) will be placed outside the conveying disc (3) of the conveyor belt (1), so as to reciprocate and pick up and transfer the input conveying disc (3).

5. A material picking method according to claim 4, characterized in that: In the third step, the second motor (405) drives the first driving gear (402) to rotate, and the first driving gear (402) drives the first roller chain (401) to rotate. The first roller chain (401) drives the second roller chain (403) to rotate synchronously through the rectangular frame (408) between the first triangular chain plate (406) and the second triangular chain plate (407) until one of the collecting plates (409) is moved to the upper right position. After the clamping mechanism (19) transfers the conveying disc (3) to the collecting plate (409), the second motor (405) drives the first driving gear (402) to continue rotating, and the collecting plate (409) at the adjacent position of the first roller chain (401) is rotated to the upper right position, and the collecting plate (409) equipped with the conveying disc (3) moves downward to the bottom.

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