Article extraction device

Abstract

The invention provides an article extracting device, and relates to the technical field of product line equipment. The device comprises a substrate, an adsorption mechanism, a clamping mechanism, an image sensor and a controller. The base plate is suitable for being installed on a mechanical arm. The adsorption mechanism is installed on the base plate, extends out of the working face, opposite to the mechanical arm, of the base plate and is suitable for adsorbing objects. The clamping mechanism is installed on the working face of the base plate and is suitable for clamping objects. The image sensor is adapted to acquire image information of an item. The controller is configured to analyze the type of the article according to the image information and drive the adsorption mechanism or the clamping mechanism to extract the article according to the type, so that the technical problems that the integration degree is low and the grabbing mode cannot be flexibly switched according to the structural characteristics of the article due to the fact that a product line is respectively provided with a clamping device and a suction device are solved; the adaptive capacity of a single device to different products is improved, and space occupation and cost investment are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of product line equipment, and in particular to an item extraction device. Background Art

[0002] Automated product lines are a core component of the manufacturing industry. From mechanized assembly lines to rigid automated production lines based on relay logic control, and then to the introduction of programmable logic controllers and industrial robotics, the automation and flexibility of product lines have been significantly enhanced. Automated product lines integrate multidisciplinary technologies, including mechanical engineering, electrical control, sensor technology, and computer science. Through a central management system, multiple workstations, conveyor systems, and actuators distributed throughout the production line are coordinated to achieve automated material handling, positioning, processing, assembly, testing, and packaging. This highly integrated system not only significantly improves production efficiency and product consistency, while reducing labor costs and human error, but also, through its programmability, adapts to the flexible production needs of high-variety, small-batch production.

[0003] However, building an efficient automated product line still faces challenges such as high complexity of technical integration, huge initial investment, and adaptability to product changes. In an automated product line, the automatic grasping and manipulation of objects is a key link in the production process, and its technical core is the robot end effector and its perception control system. Traditional grasping methods rely on mechanical fixtures designed for specific workpieces, which perform pre-programmed grasping of fixed objects in a structured environment, lacking flexibility and fault tolerance. With the increasing complexity of application scenarios, such as in logistics sorting, flexible assembly and other links, the materials, shapes, sizes and postures of the items to be handled are diverse and uncertain, which places higher demands on grasping technology.

[0004] In the related art, there are precedents for using adjustable clamps, such as variable-pitch suction cup arrays, which adjust the suction range by changing the arrangement spacing of the suction cup array, and variable-pitch clamps, which adjust the clamp spacing to accommodate items of different sizes. However, the product line transports a wide variety of items. Some irregularly shaped items cannot be picked up by suction cups, and some fragile items are at high risk of damage when only clamped or clamped. This requires at least one set of clamping devices and one set of suction devices on the product line. Each set of devices must be equipped with a robot end effector (or manipulator) for control and drive. This leads to increased production costs, higher requirements for the control system, more manpower investment in maintenance and repair, and will occupy more layout space in the workshop. Therefore, how to develop an item extraction device with high integration and the ability to flexibly select the extraction method based on the structural characteristics of the item has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The present invention provides an article extraction device to at least solve the problems in the related art of low integration of the simultaneous arrangement of a clamping device and a suction device on a product line, inability to flexibly switch the gripping mode according to the structural characteristics of the article, and high production costs.

[0006] The present invention provides an object extraction device, comprising: a substrate, suitable for being installed on a robotic arm; an adsorption mechanism, installed on the above-mentioned substrate and extending from the working surface of the above-mentioned substrate opposite to the above-mentioned robotic arm, suitable for adsorbing objects; a clamping mechanism, installed on the working surface of the above-mentioned substrate, suitable for clamping objects; an image sensor, suitable for obtaining image information of the object; and a controller, configured to analyze the type of the object based on the above-mentioned image information and drive the above-mentioned adsorption mechanism or the above-mentioned clamping mechanism to extract the object based on the above-mentioned type.

[0007] The present invention employs an image sensor to capture image information of an object. A controller then analyzes the object's structural features based on this image information, determines its type, and selects either an adsorption mechanism or a clamping mechanism to extract the object. This allows the object extraction device of the present invention to flexibly switch extraction modes based on the object's type, further diversifying the types of objects it can extract and significantly expanding its scope of application. Furthermore, because both adsorption and clamping modes are integrated into a single device, a single robotic arm can be configured to meet both extraction and movement requirements, effectively reducing the space required for installation. This also allows for the configuration of a robotic arm with greater freedom of movement, thereby correspondingly increasing the working coverage of the object extraction device. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0009] Figure 1 A three-dimensional structural diagram of an item extraction device provided in an embodiment of the present invention;

[0010] Figure 2 A three-dimensional structural diagram of an item retrieval device provided by an embodiment of the present invention from another perspective;

[0011] Figure 3 A partial perspective view of an article extraction device provided by an embodiment of the present invention;

[0012] Figure 4 A partially enlarged view of a clamping mechanism of an article extraction device provided in an embodiment of the present invention;

[0013] Figure 5 A three-dimensional structural diagram of a mounting member of an item retrieval device provided in an embodiment of the present invention;

[0014] Figure 6 A cross-sectional view of a locking assembly of an article retrieval device provided by an embodiment of the present invention;

[0015] Figure 7 A partial cross-sectional view of an adsorption mechanism of an object extraction device provided in an embodiment of the present invention.

[0016] In the drawings, the meanings of the reference numerals are as follows:

[0017] 1. Clamping mechanism;

[0018] 11. Clamping plate;

[0019] 111, shaft;

[0020] 112, bulge;

[0021] 12. Drive components;

[0022] 121, second screw;

[0023] 122. Drive motor;

[0024] 123. Synchronous belt;

[0025] 13. Locking assembly;

[0026] 131, connector;

[0027] 132. Stopper;

[0028] 1321, first screw;

[0029] 1322, movable cylinder;

[0030] 14. Mounting parts;

[0031] 141, first slot;

[0032] 142, second slot;

[0033] 2. Adsorption mechanism;

[0034] 21. Adsorption components;

[0035] 211, activity block;

[0036] 2111, air chamber;

[0037] 212. Suction cup;

[0038] 2121, pores;

[0039] 22. The third screw;

[0040] 23. Synchronizer;

[0041] 231, bevel gear;

[0042] 24. Negative pressure pump;

[0043] 3. Substrate;

[0044] 31. Receiving tank;

[0045] 4. Image sensor;

[0046] 5. Controller. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] It should be noted that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The terms "mounting", "connecting", "connecting" should be broadly understood, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication between two elements inside. The terms "parallel", "perpendicular", "equal" include the described case and the approximate case similar to the described case, and the approximate case is within the acceptable deviation range, wherein the acceptable deviation range is determined by the ordinary skilled in the art considering the measurement being discussed and the error related to the measurement of the specific quantity (i.e. the limitation of the measurement system). For example, "parallel" includes absolute parallel and approximate parallel, and the acceptable deviation range of approximate parallel can be, for example, within 5°; "perpendicular" includes absolute perpendicular and approximate perpendicular, and the acceptable deviation range of approximate perpendicular can also be, for example, within 5°. "Equal" includes absolute equality and approximate equality, and the acceptable deviation range of approximate equality can be, for example, that the difference between the two equalities is less than or equal to 5% of either. For the ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood in specific cases.

[0049] In order for those skilled in the art to better understand the technical scheme of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0050] Figure 1 A perspective view of an article extraction device according to an embodiment of the present application is shown in Figure 2 A perspective view of an article extraction device according to an embodiment of the present application is shown in

[0051] An article extraction device according to an embodiment of the present application is shown in Figure 1-Figure 2As shown, the system comprises a substrate 3, an adsorption mechanism 2, a clamping mechanism 1, an image sensor 4, and a controller 5. The substrate 3 is adapted to be mounted on a robotic arm. The adsorption mechanism 2 is mounted on the substrate 3 and extends from the working surface of the substrate 3 opposite the robotic arm, and is adapted to adsorb objects. The clamping mechanism 1 is mounted on the working surface of the substrate 3 and is adapted to clamp objects. The image sensor 4 is adapted to capture image information of the object. The controller 5 is configured to analyze the object type based on the image information and, depending on the type, drive the adsorption mechanism 2 or the clamping mechanism 1 to retrieve the object.

[0052] In such an embodiment, the substrate 3 can be moved to the target position under the drive of the robotic arm to facilitate the extraction of the item. The item to be extracted can be transported to the vicinity of the substrate 3 by a conveying device, and then the robotic arm can adjust the substrate 3 to the target position, or the robotic arm has a large range of motion and can directly move the substrate 3 to the target position. The target position is directly above the item, and the geometric center of the substrate 3 and the geometric center of the item are approximately on the same axis. The image sensor 4 obtains the image information of the item, and the controller 5 analyzes the type of item according to the image information and selects the adsorption mechanism 2 or the clamping mechanism 1 to extract the item. In this way, the item extraction device of the present invention can flexibly switch the extraction method according to the type of item, and the types of extracted items are more diverse, and the scope of application is significantly increased. In addition, since the adsorption mode and the clamping mode are integrated into a single device, a single robotic arm can meet the needs of extraction and movement, which reduces the space occupied by the layout and also provides the possibility of configuring a more flexible robotic arm.

[0053] For example, when the object to be extracted is a thin, fragile structure, such as a glass plate, metal plate, or circuit board, with a relatively flat surface, adsorption mechanism 2 can be used for adsorption. When the object to be extracted is heavy, flexible, or has an irregular shape, such as a woven fabric, a workpiece, a heat dissipation pipe, or the housing of an electrical connector, clamping mechanism 1 can be used for clamping. It should be noted that the object to be extracted is not limited to this method; the extraction method can be determined based on multiple factors, including its actual shape, volume, and mass.

[0054] In some other embodiments, the image information acquired by the image sensor 4 includes at least one frame of color or grayscale digital image.

[0055] In some preferred embodiments, image sensor 4 utilizes a global shutter CMOS sensor (complementary metal oxide semiconductor image sensor) to prevent image distortion due to vibration. Controller 5 includes, but is not limited to, a microcontroller unit or a central processing unit (CPU), capable of performing the operations of image reception, image analysis, and mechanism-driven decision-making and execution.

[0056] In some optional embodiments, the adsorption mechanism 2 includes a pressure sensor for detecting negative pressure when adsorbing an object. The controller 5 can collect the signal from the pressure sensor and, if the negative pressure detected is insufficient / low, switch to using the clamping mechanism 1 to clamp the object.

[0057] Figure 3 A partial perspective view of an object extraction device provided in an embodiment of the present invention.

[0058] In an exemplary embodiment, Figures 1 to 3 As shown, the clamping mechanism 1 includes two clamping plates 11, which are rotatably mounted on the base plate 3 and have a working state in which the clamping plates 11 are perpendicular to the working surface and move toward or away from each other along a first direction within the working surface to clamp or release an object, and a avoiding state in which the clamping plates 11 are retracted to the working surface during the adsorption of the object by the adsorption mechanism 2. It can be understood that, as Figure 3 As shown, when the clamping plate 11 is in the working state, its end ( Figure 3 The distance between the lower end of the holding plate 11 and the substrate 3 (ie, the height of the holding plate 11 ) is greater than the length (or height) of the adsorption mechanism 2 extending out of the substrate 3 .

[0059] In this embodiment, two clamping plates 11 are rotatably mounted on the working surface of the substrate 3, one on each side of the suction mechanism 2. In the operating state, the two clamping plates 11 are perpendicular to the working surface, and therefore perpendicular to the substrate 3, and move toward or away from each other along a first direction to clamp an object. In the avoidance state, the two clamping plates 11 can rotate to be as close to the working surface of the substrate 3 as possible, thereby preventing the substrate 3 from being blocked by the clamping plates 11 as it moves toward the object, driven by the robotic arm, when the suction mechanism 2 needs to absorb the object.

[0060] For example, in Figure 3 In the embodiment, the substrate 3 is configured as a cuboid, the length direction of the cuboid is the first direction mentioned in the above embodiment, and the height direction of the cuboid is the vertical direction.

[0061] In some other embodiments, the clamping plate 11 includes but is not limited to a rectangular thin plate, and can also be a roughly L-shaped plate. The horizontal part of the L-shaped plate is used to overlap objects, such as box beams, I-beams, and other workpieces with a smaller contact area with the rectangular thin plate.

[0062] Furthermore, the angle between the horizontal portion and the vertical portion of the L-shaped plate is not limited to 90°, and can be adaptively designed according to the items on the production line. For example, the angle can be selected in the range of 85°-100°.

[0063] According to an embodiment of the present invention, Figures 1 to 3As shown, the clamping mechanism 1 further includes a drive assembly 12 and a locking assembly 13. The drive assembly 12 is adapted to drive the two clamping plates 11 toward or away from each other in a first direction to clamp or release an object. The locking assembly 13 is adapted to restrict the clamping plates 11 from rotating relative to the base plate 3 in both the operating and avoidance states.

[0064] In this embodiment, the drive assembly 12 drives the two clamping plates 11 to move synchronously to achieve gripping and releasing of an object. The locking assembly 13 limits the rotation of the clamping plates 11 relative to the base plate 3. Specifically, in the operating state, the clamping plates 11 can only reciprocate in a first direction relative to the base plate 3, thereby preventing unstable gripping or free swinging that could impact an object and cause damage. In the avoidance state, the clamping plates 11 can remain stationary relative to the base plate 3 to avoid affecting the suction action.

[0065] Figure 4 A partially enlarged view of a clamping mechanism of an item extraction device provided in an embodiment of the present invention.

[0066] In an exemplary embodiment, Figure 1 、 Figure 3 and Figure 4 As shown, the clamping mechanism 1 also includes two mounting members 14, which are rotatably connected to each clamping plate 11 via a rotating shaft 111. The mounting members 14 are slidably mounted on the base plate 3 and are restricted from rotating relative to the base plate 3 to drive the clamping plate 11 to move back and forth along the first direction.

[0067] In this embodiment, the mounting member 14 extends along the width of the base plate 3 and has a rectangular cross-section. Rectangular slots are defined on either side of the base plate 3 in the width direction. The mounting member 14 slides into the respective ends of the slots, thereby driving the clamping plate 11 to reciprocate in the first direction while being restricted from rotating relative to the base plate 3. The rotating shaft 111 rotates synchronously with the base plate 3 or moves in the first direction and is rotatably connected to the mounting member 14 to enable rotation relative to the base plate 3.

[0068] Exemplarily, the rotating shaft 111 is fixedly connected to the base plate 3 , including but not limited to welding.

[0069] In some preferred embodiments, the rotating shaft 111 is integrally formed with the base plate 3 .

[0070] More specifically, Figure 4 As shown, the mounting member 14 is generally constructed as an inverted U-shaped rod, and both ends of the inverted U-shaped rod are used for rotational connection with the rotating shaft 111.

[0071] Figure 5 A three-dimensional structural diagram of a mounting member of an item extraction device provided in an embodiment of the present invention. Figure 6A cross-sectional view of a locking assembly of an object retrieval device provided in an embodiment of the present invention.

[0072] According to an embodiment of the present invention, Figures 3 to 6 As shown, the rotating shaft 111 is rotatably extended from the clamping plate 11 along the second direction from at least one side of the mounting member 14, and the second direction is located in the working surface and is perpendicular to the first direction. The locking assembly 13 includes a connector 131 and a stopper 132. The connector 131 is connected to the rotating shaft 111 outside the mounting member 14 and rotates synchronously with the rotating shaft 111. The stopper 132 passes through the connector 131 along the second direction, and a first slot 141 and a second slot 142 are provided on the mounting member 14. The stopper 132 is configured to extend along the second direction and be selectively inserted into the first slot 141 or the second slot 142 to limit the relative rotation of the rotating shaft 111 and the mounting member 14 when the clamping plate 11 is in the working state or the avoidance state.

[0073] In such an embodiment, Figures 3 to 6 As shown, the width direction of the substrate 3 is the second direction. The rotating shaft 111 is rotatably connected to the mounting member 14 and extends through the mounting member 14. The connector 131 is connected to the rotating shaft 111 and rotates with the rotating shaft 111. The stopper 132 extends through the connector 131 and can be extended to be inserted into the first slot 141 or the second slot 142, thereby connecting the connector 131, the rotating shaft 111, the clamping plate 11, and the mounting member 14 into a whole, so that the clamping plate 11 can no longer rotate relative to the mounting member 14, thereby ensuring that the angle between the clamping plate 11 and the substrate 3 does not easily change in the working state and the avoidance state.

[0074] More specifically, Figure 4 As shown, the rotating shafts extending from both sides of the clamping plate 11 in the second direction extend out of the mounting member 14 , and a connector 131 and a stopper 132 are provided on each side to ensure locking stability.

[0075] Further according to an embodiment of the present invention, Figures 4 to 6 As shown, the stopper 132 includes a first screw 1321 and a movable cylinder 1322. The first screw 1321 is inserted into a through hole formed in the connector 131 from the outside. The movable cylinder 1322 is at least partially located within the through hole and is restricted by the through hole from rotating relative to the connector 131. The movable cylinder 1322 is threadedly connected to the first screw 1321 so as to reciprocate in the second direction in response to the rotation of the first screw 1321 and to be inserted into or disengaged from the first slot 141 or the second slot 142.

[0076] In this embodiment, when the first screw rod 1321 is rotated counterclockwise, the movable cylinder 1322 gradually moves away from the first screw rod 1321 and enters the first slot 141 or the second slot 142. When the first screw rod 1322 is rotated clockwise, the movable cylinder 1322 gradually moves closer to the first screw rod 1321 and completely enters the through hole to disengage from the first slot 141 or the second slot 142.

[0077] More specifically, the through-hole has a small-diameter section and a large-diameter section. The diameter of the small-diameter section is approximately the same as that of the first screw 1321, allowing the first screw 1321 to rotate while preventing it from shaking. The large-diameter section has a rectangular cross-section, and accordingly, the movable cylinder 1322 is also configured as a rectangular cylinder. The two are of approximately equal size, allowing the movable cylinder 1322 to move in the second direction while restricting its rotation relative to the connector 131. The longer side of the rectangular cross-section of the large-diameter section is longer than the diameter of the small-diameter section to prevent the first screw 1321 and the movable cylinder 1322 from dislodging from the through-hole.

[0078] In some optional embodiments, a first motor is provided on the connector 131, adapted to drive the first screw 1321 to rotate, and a first gear is mounted on the connector 131. A second motor and a second gear are mounted on the side of the base plate 3. When the clamping plate 11 is in the avoidance state, the first gear and the second gear are engaged.

[0079] like Figures 1 to 6 As shown, when the clamping plate 11 is in the avoidance state, if the clamping mechanism 1 needs to be used to clamp an object, the controller 5 controls the first motor to drive the first screw 1321 to rotate, causing the movable cylinder 1322 to disengage from the second slot 142. Then, the second motor drives the clamping plate 11 from the avoidance state to the working state via the rotating shaft 111. The controller 5 controls the first motor to drive the first screw 1321 to rotate, causing the movable cylinder 1322 to insert into the first slot 141, locking the clamping plate 11 in the working state. In this way, the drive assembly 12 can drive the two clamping plates 11 to move toward or against each other synchronously to clamp and release the object, thereby extracting the object. During the extraction of the object using the clamping plate 11, the first gear and the second gear are disengaged.

[0080] like Figures 1 to 6As shown, when the clamping plate 11 is in the working state, if the adsorption mechanism 2 needs to be used to adsorb items, the controller 5 controls the first motor to drive the first screw 1321 to rotate, so that the movable cylinder 1322 disengages from the first slot 141; the driving assembly 12 drives the two clamping plates 11 to move toward each other synchronously, so that the first gear and the second gear re-engage; thereafter, the second motor drives the clamping plate 11 to rotate from the working state to the avoidance state through the rotating shaft 111; the controller 5 controls the first motor to drive the first screw 1321 to rotate, so that the movable cylinder 1322 is inserted into the second slot 142, and the clamping plate 11 is locked in the avoidance state, thereby realizing automatic switching of the state of the clamping plate 11, and realizing the extraction of the items by the adsorption and release of the items by the adsorption mechanism 2.

[0081] In an exemplary embodiment, Figures 1 to 3 As shown, the drive assembly 12 includes at least one second screw 121, which extends along the first direction and is rotatably mounted on the base plate 3. The second screw 121 is formed with two sections of threads in opposite directions, which respectively match each mounting member 14, so that the two clamping plates 11 respond to the rotation of the second screw 121 and move closer to or away from each other.

[0082] In such an embodiment, the two mounting members 14 are connected via a second screw 121 having a bidirectional thread, so that the two mounting members 14 drive the two clamping plates 11 to move synchronously and in opposite directions to perform a clamping or releasing action.

[0083] More specifically, a threaded hole extending along the first direction is provided on the mounting member 14, which is suitable for connecting the second screw 121. Since both ends of the mounting member 14 are installed in the rectangular groove of the substrate 3, the mounting member 14 will not rotate synchronously with the second screw 121, but will move back and forth along the first direction.

[0084] According to an embodiment of the present invention, Figures 1 to 3 As shown, two second screws 121 are provided, spaced apart along the second direction on either side of the adsorption mechanism 2. The drive assembly 12 also includes a drive motor 122 and a synchronous belt 123. The drive motor 122 is mounted on the base plate 3 and is adapted to rotate one of the second screws 121 under the control of the controller 5. The synchronous belt 123 is adapted to drive the two second screws 121 to rotate synchronously.

[0085] In this embodiment, two second screws 121 are spaced apart along the second direction and rotatably connected to the ends of the mounting member 14, thereby improving the stability of the clamping plate 11 during movement. Furthermore, a drive motor 122 is used to drive one of the second screws 121 for rotation, and a timing belt 123 is used to synchronize the rotation of the two second screws 121. This arrangement can reduce costs and provide high synchronization between the two second screws 121, avoiding the delay caused by using two drive motors 122 to drive the second screws 121 separately, which could damage the equipment.

[0086] In some optional embodiments, such as Figures 1 to 3 As shown, a receiving groove 31 is formed on the lower surface of the base plate 3, which is suitable for receiving the clamping plate 11 when the clamping plate 11 is in the avoidance state.

[0087] In such an embodiment, by processing the accommodating groove 31 on the lower surface of the substrate 3, the clamping plate 11 can be parallel to the substrate 3 in the avoidance state, and at this time (the moment when it is parallel to the substrate 3), the lower surface of the clamping plate 11 is roughly flush with the lower surface of the substrate 3, avoiding affecting the adsorption action and improving the aesthetics in the retracted state.

[0088] In an exemplary embodiment, Figures 1 to 3 As shown, a plurality of protrusions 112 are formed on the clamping surface of the clamping plate 11 for clamping articles.

[0089] In this embodiment, by forming multiple protrusions 112 on the clamping surface of the clamping plate 11, the roughness of the clamping surface is increased, the friction between the clamping plate 11 and the object is increased, the clamping stability is improved, and the object is prevented from falling and being damaged. More specifically, the multiple protrusions 112 reduce the actual contact area between the clamping surface and the object, but significantly increase the local pressure, thereby effectively increasing the maximum static friction and preventing relative sliding between the object and the clamping surface. At the same time, the protrusions 112 can adapt to the microscopic unevenness of the object's surface to a certain extent, forming a tighter mechanical engagement, making the clamping force more evenly distributed and more stable.

[0090] In some optional embodiments, the cross-sectional shape of the protrusions 112 may include, but is not limited to, a hemispherical, pyramidal, cylindrical, or wavy shape. The protrusions 112 may be relatively small and arranged in an array on the clamping surface. The protrusions 112 may also be in the form of long strips and arranged sequentially on the clamping surface.

[0091] The height, diameter, and spacing between adjacent protrusions 112 can be adaptively adjusted based on the material properties of the object to be clamped, such as hardness and surface finish, to achieve optimal friction-enhancing effects. The protrusions 112 can be integrally formed with the clamping plate 11, for example, by casting, milling, stamping, or other methods. Alternatively, they can be independent structures, such as rubber pads or friction blocks, removably secured to the clamping plate 11 by bonding, snap fastening, or screwing, for easy replacement or maintenance.

[0092] Figure 7 A partial cross-sectional view of an adsorption mechanism of an object extraction device provided in an embodiment of the present invention.

[0093] In an exemplary embodiment, Figure 1 、 Figure 3 and Figure 7 As shown, the suction mechanism 2 includes multiple suction units spaced apart on the same circumference around the geometric center of the substrate 3. Each suction unit includes a suction assembly 21 and a third screw 22. The suction assembly 21 is movably mounted on the substrate 3 and is configured to suction objects using negative pressure. The third screw 22 is rotatably mounted on the substrate 3 and threadedly connected to the suction assembly 21, adapted to drive the suction assembly 21 toward or away from the geometric center of the substrate 3.

[0094] In this embodiment, multiple suction units are arranged on the same circumference around the geometric center of substrate 3. Because substrate 3 has already reached the target position under the drive of the robotic arm before the suction operation begins, the geometric center of substrate 3 and the geometric center of the object are roughly coaxial at this point. Therefore, the arrangement of multiple suction units allows for more stable suction of the object, preventing the object from tilting, bumping, or otherwise damaging. Furthermore, the size of the circumference of the multiple suction units can be adjusted through the cooperation of the suction assembly 21 and the third screw 22 to accommodate objects of varying sizes.

[0095] According to an embodiment of the present invention, Figure 3 As shown, four adsorption units are provided, and adjacent third screws 22 are perpendicular to each other.

[0096] In this embodiment, the number of adsorption units is preferably four, distributed symmetrically around the center, with the adjustment directions perpendicular to each other. This symmetrical and orthogonal layout ensures optimal force balance, after vector decomposition on a plane of the adsorption force of each adsorption component 21 on the object and the driving force during adjustment. This effectively offsets potential torque or eccentric force in all directions, ensuring a stable position of the object during adsorption, lifting, and movement, and significantly reducing the risk of tilting, shaking, or falling of the object due to uneven force.

[0097] Furthermore, two adsorption units are arranged in a first direction with intervals, and the other two adsorption units are arranged in a second direction. Furthermore, since the adjustment directions are perpendicular to each other, two adsorption assemblies 21 in the same direction, for example, in the first direction, can share one bidirectional screw, and two adsorption assemblies 21 in the second direction can share another bidirectional screw. In actual arrangement, the first bidirectional screw can be vertically higher than the second bidirectional screw to avoid interference, while the four adsorption assemblies 21 remain on the same horizontal plane.

[0098] Furthermore, four-point suction is adaptable to the geometric features of most common rectangular / square products, such as electronic components, glass substrates, and printed circuit boards. Compared to three-point suction, four-point suction offers a higher tolerance for errors. If one suction assembly 21 experiences an air circuit failure, resulting in a loss of negative pressure, the remaining three suction assemblies 21 can still reliably secure the object. Compared to five-point suction, it is more cost-effective. If the five third screws 22 are controlled individually, adjustment accuracy is difficult to guarantee. If all five third screws 22 are controlled simultaneously, the structure becomes overloaded, control becomes cumbersome, and costly.

[0099] In some optional embodiments, the number of adsorption units may be two, three, five, six, etc., and they may be evenly spaced apart along the circumferential direction.

[0100] Further according to an embodiment of the present invention, Figure 3 As shown, the adsorption mechanism 2 further includes a synchronizer 23 , which is adapted to maintain the synchronous rotation of the four third screws 22 .

[0101] In such an embodiment, the synchronizer 23 can ensure that the displacement of the four adsorption components 21 along the radial direction of the aforementioned circle, or along the first and second directions, remains consistent during the adjustment process, thereby achieving synchronized scaling of the adsorption mechanism 2 as a whole, ensuring that the center of the adsorbed object is always roughly aligned with the geometric center of the substrate 3, and avoiding object deflection, jamming, or adsorption failure caused by the asynchronous movement of a single adsorption point. The operator or controller 5 only needs to control the rotation of one of the third screws 22, or control the action of the synchronizer 23, to simultaneously drive the movement of the four adsorption components 21, completely avoiding the cumbersome, time-consuming, and easily error-prone operation caused by the need to adjust the four third screws 22 one by one, and effectively improving the production efficiency and automation level of the equipment.

[0102] Further according to an embodiment of the present invention, Figure 3 and Figure 7 As shown, the synchronizer 23 includes a bevel gear 231 provided at the proximal end of each third screw 22 , and adjacent bevel gears 231 are engaged with each other.

[0103] In this embodiment, the synchronizer 23 includes a set of bevel gear pairs to achieve synchronization. Specifically, the proximal end of the third screw 22 is located near the geometric center of the base plate 3. The multiple bevel gears 231 are mounted such that their mounting axes lie in the same plane parallel to the base plate 3, and the meshing points of all bevel gears 231 surround the geometric center of the base plate 3. This arrangement allows the bevel gears 231 on any two adjacent third screws 22 to directly mesh with each other, thereby coupling the rotational motion of all four third screws 22 to form a closed, interlocking transmission chain.

[0104] In some preferred embodiments, the four bevel gears 231 have identical specifications (e.g., module, number of teeth). When the four adsorption units are evenly spaced at 90 degrees and adjacent third screws 22 are perpendicular, this layout ensures that the axes of adjacent meshing bevel gears 231 naturally form a 90-degree angle, perfectly matching their spatial positional relationship.

[0105] In some optional embodiments, the synchronizer 23 may further include a transmission gear disposed at the proximal end of each third screw 22 , and a crown gear located above the transmission gear, wherein the crown gear is engaged with each transmission gear at the same time.

[0106] In this embodiment, the transmission gear is coaxially fixedly connected to the third screw 22. The crown gear is roughly disc-shaped or ring-shaped, with its gear teeth distributed on the end faces (or side faces) rather than the outer circumference. This crown gear is located above or below all the transmission gears, coaxially with the central axis of the base plate 3, and rotatable about its axis. The end face teeth of the crown gear mesh with each transmission gear simultaneously. Therefore, when the crown gear is driven to rotate, the meshing of the end face teeth synchronously transmits the rotational motion to all transmission gears, thereby driving all third screws 22 to rotate synchronously.

[0107] In an exemplary embodiment, Figures 1 to 3 As shown, the adsorption mechanism 2 further includes a negative pressure pump 24 connected to each adsorption component 21 through an exhaust pipeline.

[0108] In such an embodiment, the negative pressure pump 24 is preferably a micro vacuum pump, a Venturi pump, or a diaphragm pump, etc., which is connected to each adsorption assembly 21 via an air extraction pipeline. Specifically, the air extraction pipeline may include a main pipeline and multiple parallel branches. The main pipeline is connected to the air extraction port of the negative pressure pump 24, and each branch leads to a corresponding adsorption assembly 21, thereby providing a unified and stable negative pressure source for all adsorption assemblies 21, thereby stably adsorbing items.

[0109] In some preferred embodiments, the vacuum line can be made of a flexible hose, such as a polyurethane tube or a silicone tube, to accommodate positional changes during radial movement of the adsorption assembly 21. Furthermore, one or more of a vacuum generator, a vacuum filter, a vacuum switch, or a pressure sensor can be installed on the vacuum line to form a complete, reliable, and intelligent vacuum adsorption system.

[0110] According to an embodiment of the present invention, Figure 3 and Figure 7 As shown, the suction assembly 21 includes a movable block 211 and a suction cup 212. The movable block 211 is slidably mounted on the base plate 3 and is threadedly connected to the third screw 22. In response to the rotation of the third screw 22, the movable block 211 moves closer to or further away from the geometric center of the base plate 3. An air chamber 2111 is formed within the movable block 211. The suction cup 212 is disposed on the lower surface of the movable block 211 and has an air hole 2121 communicating with the air chamber 2111. This hole is adapted for the negative pressure pump 24 to draw air below the suction cup 212, creating a negative pressure zone to absorb objects.

[0111] In such an embodiment, Figure 3 and Figure 7 As shown, the base plate 3 is provided with four first receiving grooves for accommodating the movable block 211, and a second receiving groove located at the geometric center of the base plate 3 for accommodating the synchronizer 23. Limited by the first receiving grooves, the movable block 211 does not rotate synchronously with the third screw 22. Instead, it moves in the first or second direction under the drive of the third screw 22 to approach or move away from the geometric center of the base plate 3. More specifically, the inner walls of the first receiving grooves are provided with sliding grooves extending in the first or second direction. The side walls of the movable block 211 are formed with sliders that cooperate with the sliding grooves, allowing the movable block 211 to move stably while reducing the load on the third screw 22 and extending its service life. The separate design of the suction cup 212 and movable block 211 also facilitates maintenance and replacement, reducing usage costs.

[0112] In addition, by integrating the air chamber 2111 into the movable block 211, the negative pressure path is built-in, eliminating the need for an additional flexible vacuum line across the movable block 211. This simplifies the structure, avoids wear, entanglement, and life issues of the flexible vacuum line caused by frequent dragging, and improves the reliability of the equipment.

[0113] In some optional embodiments, the suction cup 212 is made of an elastic material, such as rubber, silicone, or polyurethane, and is fixed to the lower surface of the movable block 211 by means of fasteners or interference fit. When it contacts the surface of the object, it will deform slightly, thereby adaptively fitting to surfaces of different flatness, forming a well-sealed space, and ensuring the rapid establishment and maintenance of negative pressure. The suction cup 212 is constructed in a trumpet shape, with the larger opening facing the object. One or more air holes 2121 are formed in the center or side wall of the suction cup 212 and are connected to the air chamber 2111 inside the movable block 211.

[0114] It should be noted that a threaded hole is provided on the movable block 211 for installing the third screw rod 22 . The threaded hole is independent of the air chamber 2111 to avoid air leakage.

[0115] The above is a detailed introduction to the object retrieval device provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from the principles of the present invention, and such improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. An item extraction device, characterized in that: include: a base plate, suitable for mounting on a robotic arm; A suction mechanism, mounted on the base plate and extending from a working surface of the base plate opposite to the robotic arm, adapted to suction objects; A clamping mechanism, mounted on the working surface of the base plate, adapted to clamp an object; Image sensor, suitable for obtaining image information of objects; The controller is configured to analyze the type of the article according to the image information and drive the adsorption mechanism or the clamping mechanism to extract the article according to the type.

2. The article extraction device according to claim 1, characterized in that: The clamping mechanism includes two clamping plates, which are rotatably mounted on the base plate and have a working state in which the clamping plates are perpendicular to the working surface and approach or move away from each other along a first direction within the working surface to hold or release an object, and an avoiding state in which the clamping plates are retracted to the working surface during the adsorption of the object by the adsorption mechanism.

3. The article extraction device according to claim 2, characterized in that: The clamping mechanism further comprises: a driving assembly adapted to drive the two clamping plates to move closer to or farther from each other along the first direction so as to clamp or release an object; The locking assembly is adapted to limit the rotation of the clamping plate relative to the base plate in the working state and the avoidance state.

4. The article extraction device according to claim 3, characterized in that: The clamping mechanism further comprises: Two mounting members are rotatably connected to each clamping plate via a rotating shaft. The mounting members are slidably mounted on the base plate and are restricted from rotating relative to the base plate to drive the clamping plate to reciprocate along the first direction.

5. The article extraction device according to claim 4, characterized in that: The rotating shaft rotatably extends from the clamping plate along a second direction from at least one side of the mounting member, wherein the second direction is located within the working surface and is perpendicular to the first direction; The locking assembly comprises: a connector, connected to the rotating shaft on the outside of the mounting member and rotating synchronously with the rotating shaft; A stopper passes through the connector along the second direction, and a first slot and a second slot are provided on the mounting member. The stopper is configured to extend along the second direction and be selectively inserted into the first slot or the second slot to limit the relative rotation of the rotating shaft and the mounting member when the clamping plate is in the working state or the avoidance state.

6. The article extraction device according to claim 5, characterized in that: The stopper comprises: a first screw, inserted into a through hole formed in the connector from the outside of the connector; A movable cylinder is at least partially located in the through hole and is restricted by the through hole in relative rotation with the connecting head. The movable cylinder is threadedly connected to the first screw so as to reciprocate along the second direction in response to the rotation of the first screw and be inserted into the first slot or the second slot, or be disengaged from the first slot or the second slot.

7. The article extraction device according to claim 5, characterized in that: The drive assembly includes: At least one second screw extends along the first direction and is rotatably mounted on the base plate. The second screw is formed with two sections of threads in opposite directions, which respectively match each of the mounting parts so that the two clamping plates move closer to or away from each other in response to the rotation of the second screw.

8. The article extraction device according to claim 7, characterized in that: The second screws are provided with two screws, which are spaced apart and arranged on both sides of the adsorption mechanism along the second direction. The driving assembly further includes: a driving motor, mounted on the base plate, adapted to drive one of the second screws to rotate under the control of the controller; The synchronous belt is suitable for driving the two second screws to rotate synchronously.

9. The article extraction device according to claim 1, characterized in that: The clamping plate is used to form a plurality of protrusions on a clamping surface of the clamping plate for clamping an object.

10. The article extraction device according to any one of claims 1 to 9, characterized in that: The adsorption mechanism includes a plurality of adsorption units, which are spaced apart and arranged on the same circumference around the geometric center of the substrate, and the adsorption units include: a suction component movably mounted on the base plate and configured to suction an object using negative pressure; The third screw is rotatably mounted on the substrate and is threadably connected to the adsorption component, and is suitable for driving the adsorption component to approach or move away from the geometric center of the substrate.

11. The article extraction device according to claim 10, characterized in that: There are four adsorption units, and adjacent third screws are perpendicular to each other.

12. The article extraction device according to claim 11, characterized in that: The adsorption mechanism further includes a synchronizer adapted to maintain synchronous rotation of the four third screws.

13. The article extraction device according to claim 12, characterized in that: The synchronizer includes a bevel gear provided at a proximal end of each of the third screws, and adjacent bevel gears are meshed with each other.

14. The article extraction device according to claim 10, characterized in that: The adsorption mechanism further includes a negative pressure pump connected to each of the adsorption components via an air extraction pipeline.

15. The article extraction device according to claim 14, characterized in that: The adsorption component includes: a movable block, slidably mounted on the base plate and threadedly connected to the third screw, so as to move closer to or away from the geometric center of the base plate in response to rotation of the third screw, wherein an air chamber is formed in the movable block; The suction cup is arranged on the lower surface of the movable block and is formed with an air hole connected to the air chamber, which is suitable for the negative pressure pump to suck the air below the suction cup to form a negative pressure area to adsorb objects.

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