Material taking and placing mechanism and material taking and placing control method

Abstract

The invention relates to the technical field of circuit board manufacturing, and discloses a material taking and placing mechanism and a material taking and placing control method.The material clamping mechanism is installed at the movable end of a mechanical arm mechanism and comprises a first material clamping set arranged in the first direction and a second material clamping set vertically arranged in the first direction; the first material clamping set and the second material clamping set are used for clamping the edges of the plate placed on the machining table correspondingly. It can be seen that in the embodiment, clamping of the plate is achieved through the clamping mechanism, moving of the plate clamped by the clamping mechanism is achieved through the mechanical arm mechanism, automatic taking and placing of the plate can be achieved, and compared with manual taking and placing of the plate, the plate taking and placing speed and taking and placing accuracy are improved, and the purpose of improving the machining efficiency of machining equipment is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of circuit board manufacturing, and in particular to a material taking and placing mechanism and a material taking and placing control method. Background Art

[0002] During the circuit board processing, how to accurately and quickly place the circuit boards on the material rack onto the processing platform is an important way to improve the processing efficiency of the processing equipment.

[0003] At present, the placement and grabbing of circuit boards on the processing platform are usually done manually by workers, which inevitably leads to problems of low placement rate and poor accuracy, making it difficult to place the sheets to the designated position on the processing platform in time, resulting in low processing efficiency of PCB processing equipment. Summary of the invention

[0004] The embodiment of the present invention provides a material taking and placing mechanism and a material taking and placing control method to solve the problem of low processing efficiency of PCB processing equipment.

[0005] A material taking and placing mechanism, comprising: Manipulator mechanism; A material clamping mechanism, mounted on the movable end of the manipulator mechanism; Wherein, the clamping mechanism includes a first clamping group arranged along a first direction and a second clamping group arranged along a second direction perpendicular to the first direction; the first clamping group and the second clamping group are used to clamp each edge of the sheet placed on the processing table respectively.

[0006] The above-mentioned material picking and releasing mechanism can optionally include the first material clamping group including a driving assembly, and a first clamping jaw assembly and a second clamping jaw assembly which are arranged in opposite directions along the first direction, and the first clamping jaw assembly and the second clamping jaw assembly can be extended and retracted along the first direction under the drive of the driving assembly.

[0007] The above-mentioned material picking and releasing mechanism may optionally include a driving assembly comprising a first driving assembly and a second driving assembly, wherein the first driving assembly drives the first clamping jaw assembly to extend and retract along the first direction, and the second driving assembly drives the second clamping jaw assembly to extend and retract along the first direction.

[0008] The above-mentioned material picking and releasing mechanism may, optionally, include a first claw and a third drive assembly arranged along a third direction perpendicular to a plane formed by the first direction and the second direction, wherein the third drive assembly drives the first claw to extend and retract in the third direction, and a width of one of the claws is smaller than a width of the claws in other of the claw assemblies.

[0009] The above-mentioned material taking and placing mechanism may, optionally, be provided with a clamping groove between at least one edge of the sheet material and the processing table, and the width of the clamping groove is greater than the width of at least one of the hook claws.

[0010] The above-mentioned material picking and releasing mechanism may, optionally, comprise that the second clamping jaw assembly comprises a second hook jaw and a fourth driving assembly arranged along the third direction, and the fourth driving assembly drives the second hook jaw to extend and retract in the third direction.

[0011] The above-mentioned material picking and releasing mechanism can optionally include a third clamping group and a fourth clamping group which are arranged in opposite directions along the second direction, and the third clamping group and the fourth clamping group can be extended and retracted along the second direction under the drive of the driving group.

[0012] The above-mentioned material picking and releasing mechanism, optionally, the driving assembly also includes a fifth driving assembly and a sixth driving assembly, the fifth driving assembly drives the third clamping jaw assembly to extend and retract along the second direction, and the sixth driving assembly drives the fourth clamping jaw assembly to extend and retract along the second direction.

[0013] The above-mentioned material picking and releasing mechanism can optionally include a third clamping jaw assembly comprising a third hook jaw and a seventh driving assembly arranged along the third direction, and the seventh driving assembly drives the third hook jaw to extend and retract in a third direction perpendicular to a plane formed by the first direction and the second direction.

[0014] The fourth clamping jaw assembly includes a fourth hook jaw arranged along the third direction and an eighth driving assembly, and the eighth driving assembly drives the fourth hook jaw to extend and retract in the third direction.

[0015] The above-mentioned material taking and placing mechanism is optional. The clamping mechanism also includes a plurality of sensor components, which are respectively mounted on the first clamping group and the second clamping group. The sensor components include an edge-finding sensor for detecting the edge position of the sheet material and a height sensor for detecting the height of the sheet material.

[0016] The above-mentioned material taking and placing mechanism is optionally characterized in that: The clamping mechanism further comprises a gyroscope for detecting a rotation angle of the clamping mechanism, wherein the gyroscope is mounted on the first clamping group and / or the second clamping group; and / or, The clamping mechanism further includes a scanning component for identifying an identification code on the sheet material, and the scanning component is installed on the first clamping group and / or the second clamping group.

[0017] A material taking and placing control method, the method comprising: Control the manipulator mechanism to drive the clamping mechanism to move to the clamping position of the sheet material on the processing table; Control the manipulator mechanism to rotate the clamping mechanism along a first rotation direction, so that a first clamping jaw assembly provided in the first direction of the clamping mechanism points to a first edge of the sheet material in the first direction, and control the first clamping jaw assembly to extend to the first edge to clamp the first edge; Control the manipulator mechanism to rotate the clamping mechanism along the second rotation direction so that the clamping mechanism lifts the first edge of the sheet material, and control the third clamping jaw assembly and the fourth clamping jaw assembly of the clamping mechanism, which are arranged opposite to each other in the second direction, to extend to the third edge and the fourth edge of the sheet material in the second direction, respectively, so as to clamp the third edge and the fourth edge; the second rotation direction and the first rotation direction are opposite rotation directions to each other; Control the manipulator mechanism to rotate the clamping mechanism along the first rotation direction so that the clamping mechanism lifts the second edge of the sheet material in the first direction, and control the second clamping jaw assembly of the clamping mechanism, which is arranged opposite to the first clamping jaw assembly in the first direction, to extend to the second edge so as to clamp the second edge; The robot mechanism is controlled to drive the clamping mechanism to place the sheet material clamped by the material clamping mechanism to a placement position on the material rack, and the robot mechanism is controlled to drive the clamping mechanism to clamp the unprocessed sheet material from the material rack and place it on the processing table.

[0018] In the above method, optionally, controlling the first clamping jaw assembly to extend to the first edge to clamp the first edge includes: Controlling the first driving assembly to drive the first clamping jaw assembly to extend along the first direction to the first edge; The third driving component is controlled to drive the first hook of the first clamping component to extend along the third direction into the clamping groove on the lower side of the first edge, and the third driving component is controlled to drive the first hook to contract along the third direction to clamp to the first edge.

[0019] In the above method, optionally, controlling the manipulator mechanism to drive the clamping mechanism to clamp the unprocessed sheet material from the material rack and place it on the processing table includes: Control the manipulator mechanism to drive the clamping mechanism to clamp the unprocessed sheet material on the material rack, and control the manipulator mechanism to drive the clamping mechanism to move to a placement position corresponding to the processing table; Controlling the first clamping jaw assembly to release the first edge of the unprocessed sheet material in the first direction, and allowing the positioning pin of the unprocessed sheet material to enter the fixing groove of the processing table; The second clamping jaw assembly, the third clamping jaw assembly and the fourth clamping jaw assembly are respectively controlled to release the second edge of the unprocessed sheet material in the first direction and the third edge and the fourth edge in the second direction to complete the placement of the unprocessed sheet material.

[0020] The present invention discloses a material picking and placing mechanism, a control method, a material picking and placing robot and a sheet material production system. The material picking and placing mechanism includes a manipulator mechanism and a clamping mechanism. The clamping mechanism is installed at the movable end of the manipulator mechanism, wherein the clamping mechanism includes a first clamping group arranged along a first direction and a second clamping group arranged vertically along the first direction; the first clamping group and the second clamping group are used to clamp each edge of the sheet material placed on the processing table respectively. It can be seen that in this embodiment, the clamping of the sheet material is achieved by the clamping mechanism, and the sheet material clamped by the clamping mechanism is moved by the manipulator mechanism, so that the automatic picking and placing of the sheet material can be achieved. Compared with the manual picking and placing of the sheet material, the picking and placing rate and the picking and placing accuracy of the sheet material are improved, and the purpose of improving the processing efficiency of the processing equipment is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0022] Figure 1 It is a structural schematic diagram of a material taking and placing mechanism disclosed in an embodiment of the present invention; Figure 2 It is a structural schematic diagram of a material clamping mechanism disclosed in an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of a clamping mechanism clamping each edge of a sheet material disclosed in an embodiment of the present invention; Figure 4 is a schematic diagram of the mechanism of the first clamping jaw assembly disclosed in an embodiment of the present invention; Figure 5 It is a structural schematic diagram of the first hook of the first clamping jaw assembly disclosed in an embodiment of the present invention extending into the fixing groove; Figure 6 It is a structural schematic diagram of a first clamping jaw assembly clamping a first edge of a sheet material disclosed in an embodiment of the present invention; Figure 7 It is a flow chart of implementing a material taking and placing control method disclosed in an embodiment of the present invention; Figure 8 It is a partial implementation flow chart of a material taking and placing control method disclosed in an embodiment of the present invention; Fig. 9It is a partial implementation flow chart of a material taking and placing control method disclosed in an embodiment of the present invention; Among them, 1 is a manipulator mechanism, 2 is a clamping mechanism, 3 is a first clamping group, 4 is a second clamping group, 5 is a sheet material, 6 is a driving assembly, 7 is a first clamping jaw assembly, 8 is a second clamping jaw assembly, 9 is a first hook, 10 is a third driving assembly, 11 is a clamping groove, 12 is a second hook, 13 is a fourth driving assembly, 14 is a third clamping jaw assembly, 15 is a fourth clamping jaw assembly, 16 is a fifth driving assembly, 17 is a sixth driving assembly, 18 is a third hook, 19 is a seventh driving assembly, 20 is a fourth hook, 21 is an eighth driving assembly, 22 is a sensor assembly, 23 is an edge-finding sensor, 24 is a height sensor, 25 is a gyroscope, 26 is a scanner, 27 is a processing table, 28 is a first driving assembly, 29 is a second driving assembly, and 30 is an air clamp. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0025] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0027] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0028] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0029] In one embodiment, Figure 1-2 As shown, Figure 1 It is a schematic diagram of a material taking and placing mechanism disclosed in an embodiment of the present invention. Figure 2 The schematic diagram of a clamping mechanism 2 disclosed in an embodiment of the present invention is shown. The material picking and placing mechanism comprises a manipulator mechanism 1 and a clamping mechanism 2, wherein the clamping mechanism 2 is mounted at the movable end of the manipulator mechanism 1, wherein the clamping mechanism 2 comprises a first clamping group 3 arranged along a first direction and a second clamping group 4 arranged along a second direction perpendicular to the first direction; the first clamping group 3 and the second clamping group 4 are used to clamp each edge of a sheet material 5 placed on a processing table 27, respectively.

[0030] Among them, the manipulator mechanism 1 in this embodiment includes but is not limited to a six-axis robot, an eight-axis robot, etc., and the manipulator mechanism 1 is not specifically limited in this embodiment.

[0031] In one embodiment, Figure 3 FIG. 2 is a schematic diagram of the clamping mechanism 2 of this embodiment clamping each edge of the sheet material 5. The first clamping group 3 and the second clamping group 4 of the clamping mechanism 2 clamp each edge of the sheet material 5 at the same time, or the first clamping group 3 and the second clamping group 4 of the clamping mechanism 2 can also be controlled to clamp each edge of the sheet material 5 in sequence.

[0032] For example, taking the sheet material 5 as a square sheet material 5, the sheet material 5 includes a front edge, a rear edge, a left edge and a right edge. While controlling the first clamping jaw assembly 7 to clamp the front edge and the rear edge of the sheet material 5, the second clamping jaw assembly 8 is controlled to clamp the left edge and the right edge of the sheet material 5. Thus, the first clamping group 3 and the second clamping group 4 can be controlled to complete the clamping of each edge of the sheet material 5.

[0033] For another example, first control the first clamping group 3 to clamp the front and rear edges of the sheet 5, then control the clamping mechanism 2 to lift the sheet 5, and finally control the second clamping group 4 to clamp the left and right edges of the sheet 5. Thus, the first clamping group 3 and the second clamping group 4 can be controlled to complete the clamping of each edge of the sheet 5.

[0034] In summary, the present invention discloses a material picking and placing mechanism, which includes a manipulator mechanism 1 and a clamping mechanism 2, wherein the clamping mechanism 2 is installed at the movable end of the manipulator mechanism 1, wherein the clamping mechanism 2 includes a first clamping group 3 arranged along a first direction and a second clamping group 4 arranged vertically along the first direction; the first clamping group 3 and the second clamping group 4 are used to clamp the edges of the sheet material 5 placed on the processing table 27, respectively. It can be seen that in this embodiment, the sheet material 5 is clamped by the clamping mechanism 2, and the sheet material 5 clamped by the clamping mechanism 2 is moved by the manipulator mechanism 1, so that the sheet material 5 can be automatically picked up and placed. Compared with the manual picking and placing of the sheet material 5, the picking and placing rate and the picking and placing accuracy of the sheet material 5 are improved, and the purpose of improving the processing efficiency of the processing equipment is achieved.

[0035] refer to Figure 2 As shown, the first clamping group 3 in this embodiment includes a driving assembly 6, and a first clamping jaw assembly 7 and a second clamping jaw assembly 8 arranged back to back along a first direction. The first clamping jaw assembly 7 and the second clamping jaw assembly 8 can be extended and retracted along the first direction under the drive of the driving assembly 6.

[0036] In one embodiment, the driving component 6 in this embodiment can drive the first jaw assembly 7 and the second jaw assembly 8 to extend and retract in the first direction. For example, the driving component 6 drives the first jaw assembly 7 to extend in the first direction, and at the same time controls the second jaw assembly 8 to extend in the opposite direction of the first direction. Alternatively, the driving component 6 drives the first jaw assembly 7 to retract in the first direction, and at the same time controls the second jaw assembly 8 to retract in the opposite direction of the first direction.

[0037] Furthermore, the driving assembly 6 in this embodiment may include a first driving assembly 28 and a second driving assembly 29. The first driving assembly 28 drives the first jaw assembly 7 to extend and retract along the first direction, and the second driving assembly 29 drives the second jaw assembly 8 to extend and retract along the first direction. In other words, the first driving assembly 28 and the second driving assembly 29 can be used to achieve separate control of the first jaw assembly 7 and the second jaw assembly 8.

[0038] In a specific implementation, the first driving assembly 28 in this embodiment may include a driving motor and a transmission rod, the driving end of the driving motor is connected to one end of the transmission rod, and the other end of the transmission rod is connected to the first clamping jaw assembly 7, and the first clamping jaw assembly 7 is driven to extend and retract in the first direction by controlling the driving motor to drive the transmission rod. Similarly, the second driving assembly 29 in this embodiment may also include a driving motor and a transmission rod, the driving end of the driving motor is connected to one end of the transmission rod, and the other end of the transmission rod is connected to the second clamping jaw assembly 8, and the second clamping jaw assembly 8 is driven to extend and retract in the first direction by controlling the driving motor to drive the transmission rod.

[0039] For further reference, Figure 4 As shown, it is a schematic diagram of the structure of the first clamping jaw assembly 7 disclosed in this embodiment, wherein the first clamping jaw assembly 7 includes a first hook 9 and a third driving assembly 10 arranged in a third direction perpendicular to the plane formed by the first direction and the second direction, and the third driving assembly 10 drives the first hook 9 to extend and retract in the third direction, and the width of one of the hooks is smaller than the width of the hooks in other clamping jaw assemblies.

[0040] In practical applications, in this embodiment, the third driving component 10 can be used to drive the first claw 9 to extend to open the first claw 9, and then the third driving component 10 can be used to drive the first claw 9 to retract so that the first claw 9 clamps the edge of the sheet 5 when retracting.

[0041] It can be understood that the structure of the second clamping group 4 in this embodiment is the same as that of the first clamping group 3, and the structure of the second clamping group 4 will not be described in detail here.

[0042] For further reference, Figure 5 , which is a schematic diagram of the structure of a hook clamping a sheet material 5 disclosed in this embodiment, wherein a clamping groove 11 is provided between at least one edge of the sheet material 5 and the processing table 27 .

[0043] The width of the clamping groove 11 is greater than the width of at least one of the hooks. It should be understood that only when the width of the hook is less than the width of the clamping groove 11 can the hook extend under the sheet material 5 to clamp the edge of the sheet material 5.

[0044] It can be understood that the clamping groove 11 is used to provide a clamping space for the first claw 9 to clamp the edge of the sheet 5. The first claw 9 is driven to extend by the third driving component 10, so that the first claw 9 extends into the clamping groove 11, at which time the first claw 9 extends below the edge of the sheet 5, and then the first claw 9 is driven to retract by the third driving component 10, so that the first claw 9 clamps the edge of the sheet 5 when retracting.

[0045] In one embodiment, a clamping groove 11 can be provided on the processing table 27. When the sheet material 5 is placed on the processing table 27, the edge of the sheet material 5 covers the clamping groove 11, so that when the first hook 9 extends into the clamping groove 11, it can clamp the edge of the sheet material 5. In this embodiment, the number of clamping grooves 11 can be set according to actual needs, for example, a clamping groove 11 is provided under one edge of the sheet material 5, or a clamping groove 11 is provided under part of the edge of the sheet material 5, or a clamping groove 11 is provided under all the edges of the sheet material 5.

[0046] In one embodiment, a support structure may be provided on the processing table 27, and the support structure is used to lift the edge of the sheet material 5 so that a clamping groove 11 is formed between the edge of the sheet material 5 and the processing table 27. The support structure may support only one edge of the sheet material 5 so that a clamping groove 11 is formed under one of the edges of the sheet material 5, or the support structure may support all edges of the sheet material 5 so that a clamping groove 11 is formed under each edge of the sheet material 5.

[0047] In one embodiment, reference Figure 5 As shown, when the air clamp 30 is provided on the processing table 27, the sheet material 5 is fixedly placed on the air clamp 30. In this embodiment, the fixing groove on the air clamp 30 can be used as the clamping groove 11, thereby avoiding the modification of the processing table 27.

[0048] For example, taking the sheet material 5 as a rectangular sheet material 5 as an example, the sheet material 5 includes a front edge, a rear edge, a left edge and a right edge, wherein a clamping groove 11 is provided under the front edge and the rear edge, firstly, the first hook 9 of the first clamping jaw assembly 7 in the first clamping group 3 is controlled to extend into the clamping groove 11 provided under the front edge to clamp the front edge, and the second hook 12 of the second clamping jaw assembly 8 in the first clamping group 3 is controlled to extend into the clamping groove 11 provided under the rear edge to clamp the rear edge, and then the clamping mechanism 2 is controlled to lift the sheet material 5 so that the sheet material 5 is in a suspended state, and finally, the clamping jaw assembly in the second clamping group 4 is controlled to clamp the left edge and the right edge of the sheet material 5, thereby, clamping each edge of the sheet material 5 can be achieved.

[0049] For another example, when only the clamping groove 11 is provided under the front edge of the sheet material 5, first, the first clamping jaw assembly 7 in the first clamping group 3 is controlled to clamp the front edge; second, the clamping mechanism 2 is controlled to lift the front lower edge of the sheet material 5 so that the sheet material 5 rotates with the rear edge as the origin, so that sufficient clamping space is formed under the left and right edges of the sheet material 5; third, the clamping jaw assembly in the second clamping group 4 is controlled to clamp the left and right edges of the sheet material 5 respectively; fourth, the clamping mechanism 2 is controlled to rotate the sheet material 5 so that the sheet material 5 is in a suspended state; fifth, the second clamping jaw assembly 8 is controlled to clamp the rear edge of the sheet material 5, thereby clamping each edge of the sheet material 5.

[0050] In summary, in this embodiment, by setting the clamping groove 11 between the edge of the sheet material 5 and the processing table 27, the hook claw can clamp the edge of the sheet material 5 more easily, which is beneficial to improving the clamping efficiency of the clamping mechanism 2 on the sheet material 5.

[0051] like Figure 6 , which is a schematic diagram of the structure of the first clamping jaw assembly 7 clamping the front edge in this embodiment, wherein the clamping mechanism 2 rotates to rotate the first clamping jaw assembly 7, so that the first clamping jaw assembly 7 tilts to clamp the front edge of the sheet material 5. In one embodiment, the second clamping jaw assembly 8 in this embodiment includes a second hook claw 12 and a fourth driving assembly 13 arranged along the third direction, and the fourth driving assembly 13 drives the second hook claw 12 to extend and retract in the third direction.

[0052] In one embodiment, the second clamping group 4 in this embodiment includes a third clamping jaw assembly 14 and a fourth clamping jaw assembly 15 which are arranged in opposite directions along the second direction. The third clamping jaw assembly 14 and the fourth clamping jaw assembly 15 can be extended and retracted along the second direction under the drive of the driving assembly 6.

[0053] In one embodiment, the driving assembly 6 in this embodiment also includes a fifth driving assembly 16 and a sixth driving assembly 17. The fifth driving assembly 16 drives the third jaw assembly 14 to extend and retract along the second direction, and the sixth driving assembly 17 drives the fourth jaw assembly 15 to extend and retract along the second direction.

[0054] In one embodiment, the third clamping jaw assembly 14 in this embodiment includes a third hook claw 18 and a seventh driving assembly 19 arranged along the third direction, and the seventh driving assembly 19 drives the third hook claw 18 to extend and retract in the third direction.

[0055] The fourth clamping jaw assembly 15 includes a fourth hook claw 20 and an eighth driving assembly 21 arranged along the third direction. The eighth driving assembly 21 drives the fourth hook claw 20 to extend and retract in the third direction.

[0056] In one embodiment, as shown in the reference figure, the clamping mechanism 2 also includes a plurality of sensor assemblies 22, which are respectively installed on the first clamping group 3 and the second clamping group 4, and the sensor assembly 22 includes an edge-finding sensor 23 for detecting the edge position of the sheet material 5 and a height sensor 24 for detecting the height of the sheet material 5.

[0057] Among them, the edge-finding sensor 23 is used to detect the position data of each edge of the sheet material 5, so that each clamping jaw assembly in the first clamping group 3 and the second clamping group 4 can extend to each edge of the sheet material 5, and the height sensor 24 is used to detect the height data of each edge of the sheet material 5, so that each clamping jaw assembly can clamp to each edge of the sheet material 5.

[0058] In one embodiment, the number of the height sensors 24 in this embodiment can be three. The three height sensors 24 are used to perform three-point positioning on the sheet material 5 , which is beneficial to improving the detection accuracy of the height sensors 24 .

[0059] In one embodiment, the number of edge-finding sensors 23 in this embodiment can be the same as the number of the clamping jaw assemblies in the first clamping group 3 and the second clamping group 4, or the number of edge-finding sensors 23 is an integral multiple of the number of the clamping jaw assemblies, and each clamping jaw assembly is provided with at least one edge-finding sensor 23. For example, if the number of the clamping jaw assemblies is , then the number of edge-finding sensors 23 can be 4, 8 or 12, etc. In this embodiment, there is no limitation on the number of edge-finding sensors 23 and the number of edge-finding sensors 23 provided on each clamping jaw assembly.

[0060] In summary, in this embodiment, by providing the sensor assembly 22 on the clamping mechanism 2 , it is helpful to improve the clamping accuracy of the first clamping group 3 and the second clamping group 4 on the sheet material 5 .

[0061] In one embodiment, reference Figure 2 As shown, the clamping mechanism 2 also includes a gyroscope 25 for detecting the rotation angle of the clamping mechanism 2, the gyroscope 25 is installed on the first clamping group 3 and / or the second clamping group 4, and / or a scanner 26 for identifying the identification code on the sheet material 5, the scanner 26 is installed on the first clamping group 3 and / or the second clamping group 4.

[0062] The gyroscope 25 can detect the rotation angle of the clamping mechanism 2 in real time to detect the process of the clamping mechanism 2 clamping the sheet 5. The scanner 26 can identify the identification code on the sheet 5 when the clamping mechanism 2 clamps the sheet 5 to obtain various specification data of the sheet 5, wherein the various specification data of the sheet 5 include but are not limited to one or more of the data such as model, shape, number and size. Specifically, the scanner 26 in this embodiment includes but is not limited to equipment such as a barcode scanner, a 2D camera or a 3D camera.

[0063] like Figure 7 FIG. 1 is a flowchart of a material picking and placing control method disclosed in an embodiment of the invention. The method is applicable to the material picking and placing mechanism disclosed in any of the above embodiments. The method includes: S701: Control the manipulator mechanism to drive the clamping mechanism to move to the clamping position of the sheet material on the processing table.

[0064] Among them, the manipulator mechanism in this embodiment includes but is not limited to a six-axis robot, an eight-axis robot, etc., and the manipulator mechanism is not specifically limited in this embodiment.

[0065] In a specific implementation, the processing table in this embodiment includes but is limited to the processing table of PCB processing equipment such as a drilling machine and a gong cutting machine, which is not limited in this embodiment. Among them, the clamping position of the sheet material can be located above the sheet material, and when the clamping mechanism moves to the clamping position of the sheet material, the clamping mechanism is suspended above the sheet material.

[0066] S702: Control the manipulator mechanism to rotate the clamping mechanism along the first rotation direction so that the first clamping jaw assembly of the clamping mechanism arranged in the first direction points to the first edge of the sheet material in the first direction, and control the first clamping jaw assembly to extend to the first edge to clamp the first edge.

[0067] It should be understood that when the clamping mechanism is suspended above the sheet material, it is impossible to control the first clamping jaw assembly of the clamping mechanism to extend directly to the first edge of the sheet material. Therefore, it is necessary to control the manipulator mechanism to rotate the clamping mechanism so that the extension direction of the first clamping jaw assembly is in the same plane as the first edge, and then control the first clamping jaw assembly to extend to the first edge of the sheet material. When the first clamping jaw assembly extends to the first edge, control the first clamping jaw assembly to clamp the first edge.

[0068] In a specific implementation, in this embodiment, when the extended length of the first clamping jaw assembly is insufficient to extend to the first edge of the sheet material, the first driving assembly is controlled to drive the first clamping jaw assembly to extend in the first direction to adjust the extended length of the first clamping jaw assembly so that the first clamping jaw assembly extends to the first edge; when the extended length of the first clamping jaw assembly exceeds the first edge of the sheet material, the first driving assembly is controlled to drive the first clamping jaw assembly to contract in the first direction to adjust the extended length of the first clamping jaw assembly so that the first clamping jaw assembly contracts to the first edge, thereby controlling the clamping mechanism to clamp the first edge.

[0069] S703: Control the robot mechanism to rotate the clamping mechanism along the second rotation direction so that the clamping mechanism lifts the first edge of the sheet material, and control the third clamping jaw assembly and the fourth clamping jaw assembly of the clamping mechanism that are arranged in opposite directions in the second direction to extend to the third edge and the fourth edge of the sheet material in the second direction respectively to clamp the third edge and the fourth edge.

[0070] The second rotation direction and the first rotation direction are opposite to each other.

[0071] It should be understood that controlling the robot mechanism to rotate the clamping mechanism along the first rotation direction so that the clamping mechanism lifts the second edge of the sheet in the first direction can gradually bring the sheet closer to the feeding mechanism so that other clamping components of the feeding mechanism can clamp to other edges of the sheet.

[0072] In a specific implementation, in this embodiment, when the sheet material is close to the feeding mechanism and the clamping mechanism is basically in a parallel state, the third clamping jaw assembly and the fourth clamping jaw assembly can be controlled, and the third clamping jaw assembly and the fourth clamping jaw assembly that are arranged back to back in the second direction of the clamping mechanism can be controlled to extend to the third edge and the fourth edge of the sheet material in the second direction respectively, and then the third hook claw of the third clamping jaw assembly is controlled to clamp the third edge of the sheet material, and the fourth hook claw of the fourth clamping jaw assembly is controlled to clamp the fourth edge of the sheet material, thereby controlling the clamping mechanism to clamp the third edge and the fourth edge.

[0073] S704: Control the manipulator mechanism to rotate the clamping mechanism along the first rotation direction so that the clamping mechanism lifts the second edge of the sheet material in the first direction, and control the second clamping jaw assembly of the clamping mechanism that is arranged opposite to the first clamping jaw assembly in the first direction to extend to the second edge to clamp the second edge.

[0074] It can be understood that when the third clamping jaw assembly and the fourth clamping jaw assembly of the clamping mechanism are controlled to clamp the third edge and the fourth edge, the second edge of the sheet material in the first direction is still on the processing table. Therefore, it is necessary to control the robot mechanism to rotate the clamping mechanism along the first rotation direction so that the clamping mechanism lifts the second edge of the sheet material in the first direction. As a result, the sheet material is in a suspended state compared to the processing table, and then the second clamping jaw assembly of the clamping mechanism, which is arranged opposite to the first clamping jaw assembly in the first direction, is controlled to extend to the second edge to clamp the second edge.

[0075] S705: Control the manipulator mechanism to drive the clamping mechanism to place the sheet material clamped by the material clamping mechanism to the placement position on the material rack, and control the manipulator mechanism to drive the clamping mechanism to clamp the unprocessed sheet material from the material rack and place it on the processing table.

[0076] In a specific implementation, the material rack in this embodiment includes a placement area for unprocessed sheets and a placement area for processed sheets. Therefore, when the sheet on the processing table is processed, the robot mechanism is controlled to drive the clamping mechanism to clamp the processed sheet, and then the clamped processed sheet is placed in the placement area for processed sheets on the material rack. Then the robot mechanism is controlled to drive the clamping mechanism to move to the placement area for unprocessed sheets to clamp the unprocessed sheet and place it on the processing table, and so on, the sheet on the processing table can be taken and placed.

[0077] based on Figure 7 In the specific implementation, in this embodiment, the following steps can be used to control the manipulator mechanism to drive the clamping mechanism to clamp the unprocessed sheet material from the material rack and place it on the processing table, such as Figure 8 As shown: S801: Control the manipulator mechanism to drive the clamping mechanism to clamp the unprocessed sheet material on the material rack, and control the manipulator mechanism to drive the clamping mechanism to move to a placement position corresponding to the processing table.

[0078] Among them, the placement position corresponding to the processing table and the clamping position of the sheet material in this embodiment can be the same or different, which is not limited in this embodiment.

[0079] S802: Control the first clamping jaw assembly to release the first edge of the unprocessed sheet material in the first direction, and allow the positioning pin of the unprocessed sheet material to enter the fixing groove of the processing table.

[0080] S803: Control the second clamping jaw assembly, the third clamping jaw assembly and the fourth clamping jaw assembly respectively to release the second edge of the unprocessed sheet material in the first direction and the third edge and the fourth edge in the second direction to complete the placement of the unprocessed sheet material.

[0081] It should be understood that in order to ensure that the sheet material does not move during the processing, one or more positioning pins are usually installed on the sheet material, and the sheet material is fixed on the processing table by the positioning pins. Therefore, while controlling the first clamping jaw assembly to release the first edge of the unprocessed sheet material in the first direction, the positioning pin of the unprocessed sheet material enters the fixing groove on the processing table to fix the unprocessed sheet material on the processing table, and then the third clamping jaw assembly and the fourth clamping jaw assembly are respectively controlled to release the third edge and the fourth edge of the unprocessed sheet material in the second direction, and then the second clamping jaw assembly is controlled to release the second edge of the unprocessed sheet material in the first direction to complete the placement of the unprocessed sheet material. Among them, the fixing groove in this embodiment can be set on the air clamp installed on the processing table, or the fixing groove can also be set at any position on the processing table that the sheet material can cover. In this embodiment, the setting position of the fixing groove on the processing table is not limited.

[0082] To sum up, each jaw assembly and the hook claws in the jaw assembly in this embodiment can be extended and retracted under the drive of the driving assembly, so that the jaw mechanism in this embodiment can adaptively clamp sheets of various sizes by adjusting the extension length of the jaw assembly and the hook claws, thereby effectively improving the applicability of the jaw mechanism.

[0083] based on Figure 7 In a specific implementation, in this embodiment, the first clamping jaw assembly can be controlled to extend to the first edge to clamp the first edge through the following steps, such as Fig. 9 As shown: S901: Control the first clamping jaw assembly to extend along the first direction to the first edge.

[0084] S902: Control the first claw of the first clamping claw assembly to extend along the third direction into the clamping groove at the lower side of the first edge, and control the third driving assembly to drive the first claw to contract along the third direction to clamp to the first edge.

[0085] It should be noted that the width of the clamping groove needs to be greater than the width of the first hook so that the first hook can extend into the clamping groove.

[0086] It should be noted that after controlling the first hook to extend into the clamping groove, if the first hook is directly controlled to retract, the first hook may not be able to clamp to the first edge. Therefore, it is necessary to control the first clamping claw assembly to adaptively retract after controlling the first hook to extend into the clamping groove, so that the first edge of the sheet enters the clamping area of ​​the first hook, and then control the first hook to retract so that the first hook clamp can clamp to the first edge.

[0087] In summary, in this embodiment, by providing a clamping groove between the edge of the sheet and the processing table, the hook claws can clamp the edge of the sheet more easily, which is beneficial to improving the clamping efficiency of the clamping mechanism for the sheet.

[0088] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A material taking and placing mechanism, characterized in that: include: Robotic mechanism; A material clamping mechanism, mounted on the movable end of the manipulator mechanism; Wherein, the clamping mechanism includes a first clamping group arranged along a first direction and a second clamping group arranged along a second direction perpendicular to the first direction; the first clamping group and the second clamping group are used to clamp each edge of the sheet placed on the processing table respectively.

2. The material taking and placing mechanism according to claim 1, characterized in that: The first material clamping group includes a driving assembly, and a first clamping jaw assembly and a second clamping jaw assembly disposed in opposite directions along the first direction. The first clamping jaw assembly and the second clamping jaw assembly can be extended and retracted along the first direction driven by the driving assembly.

3. The material taking and placing mechanism according to claim 2, characterized in that: The driving assembly includes a first driving assembly and a second driving assembly. The first driving assembly drives the first clamping jaw assembly to extend and retract along the first direction. The second driving assembly drives the second clamping jaw assembly to extend and retract along the first direction.

4. The material taking and placing mechanism according to claim 3, characterized in that: The first clamping jaw assembly includes a first hook and a third driving assembly arranged along a third direction perpendicular to a plane formed by the first direction and the second direction, and the third driving assembly drives the first hook to extend and retract in the third direction, wherein the width of one of the hooks is smaller than the width of the hooks in the other clamping jaw assemblies.

5. The material taking and placing mechanism according to claim 4, characterized in that: A clamping groove is provided between at least one edge of the sheet material and the processing table, and the width of the clamping groove is greater than the width of at least one of the hook claws.

6. The material taking and placing mechanism according to claim 4, characterized in that: The second clamping jaw assembly includes a second hook jaw arranged along the third direction and a fourth driving assembly, and the fourth driving assembly drives the second hook jaw to extend and retract in the third direction.

7. The material taking and placing mechanism according to claim 2, characterized in that: The second material clamping group includes a third clamping jaw assembly and a fourth clamping jaw assembly which are arranged in opposite directions along the second direction. The third clamping jaw assembly and the fourth clamping jaw assembly can be extended and retracted along the second direction under the drive of the driving assembly.

8. The material taking and placing mechanism according to claim 7, characterized in that: The driving assembly further includes a fifth driving assembly and a sixth driving assembly. The fifth driving assembly drives the third clamping jaw assembly to extend and retract along the second direction. The sixth driving assembly drives the fourth clamping jaw assembly to extend and retract along the second direction.

9. The material taking and placing mechanism according to claim 7, characterized in that: The third clamping claw assembly comprises a third hook claw and a seventh driving assembly arranged along the third direction, and the seventh driving assembly drives the third hook claw to extend and retract in a third direction perpendicular to a plane formed by the first direction and the second direction; The fourth clamping jaw assembly includes a fourth hook jaw arranged along the third direction and an eighth driving assembly, and the eighth driving assembly drives the fourth hook jaw to extend and retract in the third direction.

10. The material taking and placing mechanism according to any one of claims 1 to 9, characterized in that: The clamping mechanism also includes a plurality of sensor components, which are respectively mounted on the first clamping group and the second clamping group. The sensor components include an edge-finding sensor for detecting the edge position of the sheet material and a height sensor for detecting the height of the sheet material.

11. The material taking and placing mechanism according to any one of claims 1 to 9, characterized in that: The clamping mechanism further comprises a gyroscope for detecting a rotation angle of the clamping mechanism, wherein the gyroscope is mounted on the first clamping group and / or the second clamping group; and / or, The clamping mechanism further includes a scanning component for identifying an identification code on the sheet material, and the scanning component is installed on the first clamping group and / or the second clamping group.

12. A material taking and placing control method, characterized in that: Applied to the material taking and placing mechanism according to any one of claims 1 to 11, the method comprises: Control the manipulator mechanism to drive the clamping mechanism to move to the clamping position of the sheet material on the processing table; Control the manipulator mechanism to rotate the clamping mechanism along a first rotation direction, so that a first clamping jaw assembly provided in the first direction of the clamping mechanism points to a first edge of the sheet material in the first direction, and control the first clamping jaw assembly to extend to the first edge to clamp the first edge; Control the manipulator mechanism to rotate the clamping mechanism along the second rotation direction so that the clamping mechanism lifts the first edge of the sheet material, and control the third clamping jaw assembly and the fourth clamping jaw assembly of the clamping mechanism, which are arranged opposite to each other in the second direction, to extend to the third edge and the fourth edge of the sheet material in the second direction, respectively, so as to clamp the third edge and the fourth edge; the second rotation direction and the first rotation direction are opposite rotation directions to each other; Control the manipulator mechanism to rotate the clamping mechanism along the first rotation direction so that the clamping mechanism lifts the second edge of the sheet material in the first direction, and control the second clamping jaw assembly of the clamping mechanism, which is arranged opposite to the first clamping jaw assembly in the first direction, to extend to the second edge so as to clamp the second edge; The robot mechanism is controlled to drive the clamping mechanism to place the sheet material clamped by the material clamping mechanism to a placement position on the material rack, and the robot mechanism is controlled to drive the clamping mechanism to clamp the unprocessed sheet material from the material rack and place it on the processing table.

13. The material taking and placing control method according to claim 12, characterized in that: The controlling the first clamping jaw assembly to extend to the first edge to clamp the first edge comprises: Controlling the first driving assembly to drive the first clamping jaw assembly to extend along the first direction to the first edge; The third driving component is controlled to drive the first hook of the first clamping component to extend along the third direction into the clamping groove on the lower side of the first edge, and the third driving component is controlled to drive the first hook to contract along the third direction to clamp to the first edge.

14. The material taking and placing control method according to claim 12, characterized in that: The controlling the manipulator mechanism to drive the clamping mechanism to clamp the unprocessed sheet material from the material rack and place it on the processing table includes: Control the manipulator mechanism to drive the clamping mechanism to clamp the unprocessed sheet material on the material rack, and control the manipulator mechanism to drive the clamping mechanism to move to a placement position corresponding to the processing table; Controlling the first clamping jaw assembly to release the first edge of the unprocessed sheet material in the first direction, and allowing the positioning pin of the unprocessed sheet material to enter the fixing groove of the processing table; The second clamping jaw assembly, the third clamping jaw assembly and the fourth clamping jaw assembly are respectively controlled to release the second edge of the unprocessed sheet material in the first direction and the third edge and the fourth edge in the second direction to complete the placement of the unprocessed sheet material.

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