Material taking and placing mechanism, taking and placing device and processing equipment

Abstract

The invention discloses a material taking and placing mechanism, a material taking and placing device and machining equipment, and relates to the technical field of machining equipment. The material taking and placing mechanism comprises a swing part, a swing driving part and a taking and placing part. The swing part comprises a fixed part and a swing part hinged to the fixed part. The swing driving part is in transmission connection with the swing part and used for driving the swing part to swing around the fixed part by a preset angle; the pick-and-place piece comprises at least two pick-and-place parts, and the at least two pick-and-place parts are arranged on the swing part at intervals in the swing direction of the swing part; the swing part drives the taking and placing part to swing so that any taking and placing part can have a material taking and placing state and an avoiding state. The invention aims to shorten the pick-and-place beat of the pick-and-place mechanism and improve the pick-and-place efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of processing equipment, in particular to a material taking and placing mechanism, a taking and placing device and a processing equipment. BACKGROUND

[0002] At present, the automatic production line of machining generally adopts a single taking and placing mechanism for taking and placing workpieces. The mechanism needs to perform two return trips for each machining cycle, which causes the taking and placing rhythm to be often unmatched with the machining rhythm, and even the taking and placing time is greater than the machining time, resulting in the machining efficiency of the whole machine being limited. SUMMARY

[0003] The main purpose of the present application is to provide a material taking and placing mechanism, a taking and placing device and a processing equipment, which aims to shorten the taking and placing rhythm of the taking and placing mechanism and improve the taking and placing efficiency.

[0004] To achieve the above purpose, the material taking and placing mechanism provided by the present application comprises: a swing member, the swing member comprising a fixed part and a swing part hinged to the fixed part; a swing driving member, the swing driving member being in transmission connection with the swing part and being used for driving the swing part to swing by a preset angle around the fixed part; and a taking and placing member, the taking and placing member comprising at least two taking and placing parts, the at least two taking and placing parts being spaced apart from the swing part along the swing direction of the swing part; wherein the swing part drives the taking and placing member to swing so that any one of the taking and placing parts has a taking and placing state and an avoiding state.

[0005] In an embodiment, the swing driving member is a swing cylinder, and the cylinder body of the swing cylinder is arranged on the fixed part. The swing part is connected with the rotating disc of the swing cylinder.

[0006] In an embodiment, the taking and placing member comprises two taking and placing parts; the material taking and placing mechanism further comprises a limiting plate, the limiting plate being arranged between the cylinder body and the swing part, and a limiting groove being arranged on the limiting plate; one end of the swing part close to the swing cylinder is provided with a limiting protrusion, and the limiting protrusion is movably limited in the limiting groove; wherein when the limiting protrusion abuts against two side walls of the limiting groove respectively, the two taking and placing parts are in the taking and placing state respectively.

[0007] In an embodiment, a mounting groove is formed on one side of the limiting plate close to the swing part. The material taking and placing mechanism further comprises an elastic damping member, which is at least partially accommodated in the mounting groove, and two ends of the elastic damping member are in abutting contact with the groove bottom of the mounting groove and the swing part, respectively.

[0008] In an embodiment, the taking and placing part comprises a mounting bracket, a clamping cylinder and a clamping jaw, the mounting bracket is arranged on the swing part, the clamping cylinder or the clamping jaw is arranged on the mounting bracket, and the clamping cylinder is used to drive the clamping jaw to open or close.

[0009] In an embodiment, the swing driving member is a swing cylinder, and the material taking and placing mechanism further comprises a gas source adapter plate, which comprises: a plate body connected with the fixed part, the plate body is provided with an air inlet and four air outlets, an airflow channel is formed in the plate body, the air inlet is in communication with the four air outlets through the airflow channel, two of the four air outlets are in communication with two working chambers of the cylinder body of the swing cylinder, and the other two air outlets are in communication with working chambers of the two clamping cylinders, respectively; and an electromagnetic valve group used to control the on-off of the four air outlets, respectively.

[0010] The application further provides a taking and placing device, which comprises: the material taking and placing mechanism as described above; and a transfer mechanism drivingly connected with the fixed part and used to drive the fixed part to move.

[0011] The application further provides a processing equipment, which comprises: a machine table; a device body arranged on the machine table, the device body being provided with a main shaft; and the material taking and placing mechanism as described above, the material taking and placing mechanism further comprising a fixed tool holder arranged on the fixed part and detachably connected with the main shaft.

[0012] In an embodiment, the taking and placing part comprises a mounting bracket, a clamping cylinder and a clamping jaw, the mounting bracket is arranged on the swing part, the clamping cylinder or the clamping jaw is arranged on the mounting bracket, and the clamping cylinder is used to drive the clamping jaw to open or close. The swing driving member is a swing cylinder; the material taking and placing mechanism further comprises a gas source adapter plate, the gas source adapter plate comprises a plate body and an electromagnetic valve group, the plate body is connected with the fixed tool shank through a bearing, the plate body is provided with an air inlet interface and four air outlet interfaces, an airflow channel is formed in the plate body, the air inlet interface is communicated with the four air outlet interfaces through the airflow channel; two of the four air outlet interfaces are communicated with two working cavities of the cylinder body of the swing cylinder, and the other two air outlet interfaces are respectively communicated with the working cavities of the two clamping cylinders; the electromagnetic valve group is used for controlling the on-off of the four air outlet interfaces. The machining device further comprises a gas source and a gas source fixing plate, the gas source fixing plate is arranged on the device main body, and the gas source fixing plate is communicated with the air inlet of the plate body.

[0013] In an embodiment, the machining device comprises a lifting driving member, the lifting driving member is drivingly connected with the gas source fixing plate and is used for driving the gas source fixing plate to move up and down; and / or, The machining device further comprises a magnetic attraction structure, the magnetic attraction structure comprises a first magnetic attraction part and a second magnetic attraction part which are magnetically attracted to each other, and the first magnetic attraction part and the second magnetic attraction part are arranged on the gas source fixing plate and the gas source adapter plate respectively.

[0014] The material taking and placing mechanism provided by the application can solve the problems of the traditional single-piece mechanism, such as at least two times of back-and-forth movement, slow beat, and low efficiency, by adopting the integrated design of the swing member and the multiple taking and placing parts. Specifically, the fixed part of the swing member is installed on the machine tool as a rotating support point, the swing driving member drives the swing part to swing around the fixed part by a preset angle at one time; at least two taking and placing parts are arranged on the taking and placing member and are spaced apart along the swing direction, when the swing part swings to the left to the position, the first taking and placing part faces the main shaft to complete the unloading of the machined workpiece, and at the same time, the second taking and placing part faces the storage area to complete the grabbing of the workpiece to be machined; when the swing part swings back to the right, the first taking and placing part places the new workpiece into the main shaft, and the second taking and placing part returns to the storage area to be on standby, the whole cycle is completed by only one time of back-and-forth movement, and the double tasks of taking new workpiece and placing old workpiece are completed, so that the time of feeding and discharging which originally needs at least two times of independent stroke is compressed into single swing time, the taking and placing beat is less than or equal to the machining beat, the utilization rate of the whole machine is significantly improved, the structure is compact, the control is simple, and the cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort based on the drawings shown.

[0016] Figure 1 Structure diagram of a material taking and placing mechanism according to an embodiment of the present application; Figure 2 Structure diagram of a material taking and placing mechanism according to another embodiment of the present application; Figure 3 Structure diagram of a combination of a gas source fixing plate and a lifting driving element according to an embodiment of the present application; Figure 4 Structure diagram of a processing device according to an embodiment of the present application; Figure 5 Structure diagram of a processing device according to another embodiment of the present application.

[0017] Explanation of reference numerals: 100, material taking and placing mechanism; 1, swinging element; 11, fixed part; 12, swinging part; 121, limiting protrusion; 2, swinging driving element; 3, taking and placing element; 31, taking and placing part; 311, mounting bracket; 312, clamping jaw; 313, clamping cylinder; 4, limiting plate; 41, limiting groove; 42, mounting groove; 5, elastic damping element; 51, spring; 52, spherical abutting head; 6, gas source adapter plate; 7, fixed tool shank; 200, machine table; 300, device main body; 400, gas source fixing plate; 500, lifting driving element.

[0018] The realization of the object, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0020] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0021] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0022] The present application provides a material taking and placing mechanism 100.

[0023] Please refer to Figure 1 and Figure 2 In an embodiment, the material taking and placing mechanism 100 comprises: The swing member 1 comprises a fixed part 11 and a swing part 12 hinged to the fixed part 11; The swing driving member 2 is drivingly connected to the swing part 12, and is used to drive the swing part 12 to swing around the fixed part 11 by a preset angle; and The taking and placing member 3 comprises at least two taking and placing parts 31, which are spaced apart along the swing direction of the swing part 12. The swing part 12 drives the taking and placing member 3 to swing so that any taking and placing part 31 has a taking and placing state and an avoiding state.

[0024] It should be noted that the swing member 1 is the basis of the mechanism, and the swing member 1 is composed of the fixed part 11 and the swing part 12. The fixed part 11 is the installation reference of the whole swing member 1, which is used to stably assemble the mechanism on the carrier such as the rack, the mechanical arm end, etc. The structure can be designed as a plate, a block or a frame according to the actual installation scene, and the material is usually metal such as aluminum alloy, steel, etc. or high-strength engineering plastic, so as to ensure sufficient structural strength to bear the load of the swing part 12 and the taking and placing member 3. The fixed part 11 is provided with an adaptive structure connected with the external equipment, such as a threaded hole, a clamping groove or a flange interface, etc. At the same time, a hinged structure is also processed, such as a hinged shaft hole, a bearing seat or a hinge mounting seat, etc. to provide stable support for the rotation of the swing part 12. The swing part 12 is connected with the fixed part 11 through a hinge assembly such as a pin shaft, a hinge or a bearing, etc. and can realize reciprocating swing motion around the hinge point of the fixed part 11. The shape can be designed as a rod, an arm, an L-shaped plate or other special-shaped structures, and the material is consistent with the fixed part 11, which takes into account the lightweight and structural rigidity, so as to avoid excessive deformation due to stress during the swing process. The swing part 12 is provided with a transmission matching structure connected with the swing driving member 2, such as an ear seat, a connecting rod joint or a gear meshing part, etc. At the same time, a fixed position for installing the taking and placing member 3 is also reserved, such as an array of threaded holes, a sliding groove or a buckle interface, etc. so as to stably assemble and adjust the position of the taking and placing member 3.

[0025] The swing driving member 2 is the power source for driving the swing part 12 to realize the swing action, which can be a pneumatic, hydraulic or electric driving element. The specific form can be selected according to the power demand, such as a swing cylinder, a swing hydraulic cylinder, a servo motor cooperating with a reduction mechanism or a rotating electromagnet, etc. Taking the common swing cylinder as an example, its structure usually includes a cylinder body, an output shaft, an internal piston or a vane, etc. The cylinder body is usually made of aluminum alloy to realize lightweight, and the internal moving parts are made of high-strength steel to ensure durability. The whole has a compact structure and stable output torque. The power output end of the swing driving member 2 is connected with the swing part 12 through transmission modes such as connecting rod, shaft coupling, gear set or direct hinge, etc. which can drive the swing part 12 to accurately swing a preset angle around the hinge point of the fixed part 11. The angle can be set according to the layout demand of the taking and placing station, such as 30°, 90°, 180°, etc. Through the control of the driving member (such as pneumatic valve group reversing, motor forward and reverse control), the reciprocating swing of the swing part 12 can be realized, and the swing speed and output force can be controlled by adjusting the driving parameters (such as air pressure, flow, motor speed), so as to ensure the stability and accuracy of the taking and placing action.

[0026] The taking and placing part 3 is a functional component directly in contact with the material and performing the taking and placing operation, which is integrally installed on the swing part 12 and swings synchronously with the swing part 12. The core feature is that it contains at least two taking and placing parts 31. The taking and placing part 31 is a functional unit for grabbing or placing the material, and the number is at least two (such as 2, 3, etc.). They are distributed along the swing direction of the swing part 12 (i.e. the direction of the circular arc trajectory of the swing part 12 rotating around the hinge point). The arrangement spacing of adjacent taking and placing parts 31 needs to meet the following conditions: when the swing part 12 swings, the movement trajectories of each taking and placing part 31 do not overlap with each other, and can correspond to different work stations respectively. The specific structure of the taking and placing part 31 is designed according to the physical properties (such as shape, weight, material) of the material. For example, for small and thin materials, a vacuum suction cup (made of elastic materials such as rubber and silicone) can be used to adsorb the material through negative pressure; for blocky or regular-shaped materials, a mechanical clamp jaw (made of metal or engineering plastic) can be used to achieve grabbing by controlling the opening and closing of the driving element; for ferromagnetic materials, a magnetic suction cup (with a built-in permanent magnet or an electromagnetic coil) can be used to adsorb the material through magnetic force; for bag-shaped materials, a fork-shaped or hook-shaped structure can be used. The main body of the taking and placing part 3 can be designed as a long strip, a bifurcated shape or a frame, integrating each taking and placing part 31 into one, which is fixed at the preset position of the swing part 12 by means of bolts, buckles or sliding rails, etc., so as to facilitate flexible adjustment of the spacing of the taking and placing parts 31 or replacement of different types of taking and placing parts 31 according to the size of the material.

[0027] When the swing driving part 2 drives the swing part 12 to swing, the taking and placing part 3 moves synchronously with the swing part 12. Since the at least two taking and placing parts 31 are distributed along the swing direction, their movement trajectories form concentric circular arcs with different radii with the hinge point of the swing part 12 as the center. Based on this movement characteristic, any taking and placing part 31 can switch to different states during the swing process: when the taking and placing part 31 swings to a position corresponding to a material work station (such as a feeding bin, a conveying line or an assembly table), the taking and placing part 31 is in a taking and placing state, at which time its spatial position and the relative attitude of the material meet the operation requirements of taking (such as grabbing or adsorbing) or placing (such as releasing or placing) the material, and the corresponding action can be performed; when the taking and placing part 31 moves away from the above-mentioned work station and moves to a position far away from the material or may interfere with other equipment components (such as a rack, a conveyor belt or other tooling), it is in an avoidance state, at which time it neither performs the taking and placing operation nor causes obstruction to the work of other taking and placing parts 31, the operation of external equipment or the transmission path of the material, thereby realizing the coordinated cooperation of multiple taking and placing parts 31 in time and space, and improving the work efficiency and operation safety of the mechanism.

[0028] In summary, in the embodiment, the material taking and placing mechanism 100 can solve the problems of traditional single-piece mechanism with at least two reciprocations, slow pace and low efficiency by adopting the integrated design of the swing member 1 and the multiple taking and placing parts 31. Specifically, the fixed part 11 of the swing member 1 is installed on the machine tool as a rotation support point, the swing cylinder drives the swing part 12 to swing around the fixed part 11 by a preset angle at one time; the taking and placing member 3 is provided with at least two taking and placing parts 31 spaced apart in the swing direction, when the swing part 12 swings to the left in place, the first taking and placing part 31 faces the main shaft to complete the unloading of the processed workpiece, and at the same time, the second taking and placing part 31 faces the storage area to complete the grabbing of the workpiece to be processed; when the swing part 12 swings back to the right, the first taking and placing part 31 places the new workpiece into the main shaft, and the second taking and placing part 31 returns to the standby position in the storage area, and the whole cycle is completed by only one reciprocating action to complete the double task of “taking new and placing old”, so that the feeding and discharging time originally requiring at least two independent strokes is compressed into single swing time, the taking and placing pace is ≤ the processing pace, the utilization rate of the whole machine is significantly improved, the structure is compact, the control is simple, and the cost is reduced.

[0029] In an embodiment, the swing cylinder is a swing cylinder, and the cylinder body of the swing cylinder is arranged on the fixed part 11. The swing part 12 is connected with the rotating disc of the swing cylinder.

[0030] It should be noted that the cylinder body of the swing cylinder is the fixed main body of the cylinder, and the material thereof is usually high-strength aluminum alloy, which has the advantages of light weight and impact resistance, and the surface is usually treated by anodic oxidation to improve corrosion resistance; the shape of the cylinder body can be designed as a circle or a square, and mounting holes are reserved on the side, and the cylinder body is rigidly connected with the fixed part 11 of the swing member 1 through bolts, screws and the like, and the fitting surface of the cylinder body and the fixed part 11 needs to be precisely milled to ensure that there is no gap after assembly, thereby providing a stable base for subsequent power output. The rotating disc of the swing cylinder is the power output end, and the material thereof is usually high-strength steel or alloy material, which has good torque resistance, and the end surface of the rotating disc is provided with a positioning pin hole or a key groove structure, and the end of the swing part 12 close to the rotating disc is also provided with a matching positioning groove or key connection structure, and the two are positioned and matched, and then fastened by bolts to form a reliable transmission connection. This connection mode can ensure that the rotary motion of the rotating disc is completely transmitted to the swing part 12, and relative sliding is avoided, and the center of rotation of the rotating disc coincides with the hinge center of the swing part 12 around the fixed part 11, so that the swing trajectory of the swing part 12 is accurate, and additional vibration or stress is not generated due to eccentricity, thereby further improving the stability of the mechanism operation. Please refer to Figure 1In an embodiment, the taking and placing part 3 comprises two taking and placing parts 31; the material taking and placing mechanism 100 further comprises a limiting plate 4, which is arranged between the cylinder body and the swing part 12, and the limiting plate 4 is provided with a limiting groove 41; the swing part 12 is provided with a limiting protrusion 121 at one end close to the swing cylinder, and the limiting protrusion 121 is movably limited in the limiting groove 41; wherein when the limiting protrusion 121 abuts against the two side walls of the limiting groove 41 respectively, the two taking and placing parts 31 are respectively in the taking and placing material state.

[0031] It should be noted that the taking and placing part 3 is specifically provided with two taking and placing parts 31, forming a double-station operation basis, which can realize the alternate connection of the taking and placing material actions and improve the operation efficiency. The material of the limiting plate 4 can be selected from wear-resistant cast iron or engineering plastic (such as POM), which has rigidity and wear resistance, and its shape can be designed as a circle, a square or a sector, which is fixed between the swing cylinder body and the swing part 12 by bolts or buckles, which does not interfere with the movement of the two and can stably play a limiting role.

[0032] The material of the limiting protrusion 121 can be selected from high-strength steel or hard alloy, and its shape is designed as a cylinder, a hemisphere or a rectangular block, which is matched with the inner wall of the limiting groove 41 and can smoothly slide in the groove. In the embodiment, when the swing part 12 drives the limiting protrusion 121 to swing along the limiting groove 41, the two side walls of the limiting groove 41 form a bidirectional limiting boundary: when the limiting protrusion 121 abuts against one side wall, one of the taking and placing parts 31 is accurately aligned with the taking and placing material station and enters the taking and placing material state; when the swing part 12 reverses and the limiting protrusion 121 abuts against the other side wall, the other taking and placing part 31 is accurately switched to the taking and placing material station, realizing the accurate switching of the two taking and placing parts 31. This mechanical limiting structure does not need to rely on the precision control of the driving part, can clearly limit the maximum swing angle of the swing part 12 through physical blocking, avoids the deviation of the taking and placing part 31 from the station due to the failure of the driving part, and the abutting cooperation of the limiting protrusion 121 and the groove wall also plays a buffering role, reducing the impact when the swing part 12 starts and stops, and protecting the stable contact of the taking and placing part 31 and the material.

[0033] Of course, in other embodiments, when the taking and placing part 3 is provided with 3 or more taking and placing parts 31, the taking and placing parts 31 are uniformly or as needed spaced along the swing direction of the swing part 12, forming a multi-station operation layout, which can adapt to multiple material conveying lines, multiple material storage positions and other complex scenes, and further improve the operation coverage and efficiency of the mechanism. The limiting plate 4 adapted thereto needs to be optimized in structure synchronously with the number of taking and placing parts 31. For example, a plurality of movable stop blocks (i.e., each stop block has a material blocking position and an avoiding position, which can be realized by an electric structure) can be provided on the limiting plate 4 to form a plurality of limiting grooves 41 (the number is consistent with the number of taking and placing parts 31), at this time, the limiting grooves 41 are spaced along the circumferential direction of the limiting plate 4 (with the hinge center of the swing part 12 as the center), the groove spacing is matched with the spacing of the taking and placing parts 31, and the side wall of each limiting groove 41 corresponds to the taking and placing station of each taking and placing part 31. Corresponding to the swing part 12, when the swing part 12 drives the limiting protrusion 121 to slide along the limiting groove 41 of the multi-stop block, the limiting protrusion 121 abuts against different stop blocks on the limiting plate 4, which can respectively trigger different taking and placing parts 31 to switch to the taking and placing state.

[0034] The adaptive design of the multi-taking and placing part 31 and the multi-limiting structure has the following working logic: when the swing driving part 2 drives the swing part 12 to swing, the limiting protrusion 121 abuts against different limiting boundaries (groove walls or stop blocks) on the limiting plate 4 in turn, and each abutment corresponds to one taking and placing part 31 aligning with the taking and placing station, realizing the cyclic multi-station switching of "swing-abutment-alignment". In this way, the material taking and placing mechanism 100 can simultaneously process multiple materials or multiple processes (such as taking, detecting, temporary storage, and placing) of the same material, reducing the number of reciprocating swings of the mechanism; secondly, it adapts to a compact multi-station layout, without the need to additionally increase multiple sets of taking and placing mechanisms, reducing equipment cost and space occupation; thirdly, the station accuracy of each taking and placing part 31 is ensured through mechanical limiting, even if the multi-station switching is frequent, the station deviation caused by the cumulative error of the driving part can be avoided, and the operation stability is ensured.

[0035] Please refer to Figure 2 In an embodiment, the limiting plate 4 is provided with a mounting groove 42 on the side close to the swing part 12; The material taking and placing mechanism 100 further comprises an elastic damping part 5, at least part of the structure of the elastic damping part 5 is accommodated in the mounting groove 42, and the two ends of the elastic damping part 5 are respectively in abutting contact with the groove bottom of the mounting groove 42 and the swing part 12.

[0036] It should be noted that the mounting groove 42 is provided on the side of the limiting plate 4 close to the swing part 12, and the structure of the mounting groove 42 needs to be matched with the elastic damping part 5. The groove body can be designed as a circular, square or cylindrical blind hole, and the groove edge is rounded to avoid scratching when the elastic damping part 5 is assembled. The depth of the mounting groove 42 needs to meet the requirement that the elastic damping part 5 is at least partially accommodated therein, so that the damping part does not deviate due to excessive exposure after being installed, and at the same time, sufficient compression space is reserved to ensure that the damping part can normally deform to play a buffering role.

[0037] The elastic damping part 5 is a buffering core component, and the material thereof can be selected from natural rubber, nitrile rubber or polyurethane, which has good elastic recovery ability and aging resistance. Alternatively, a metal spring 51 can be combined with a damping washer or a spherical abutting head 52 to provide elastic support and enhance the buffering effect of the damping washer. The damping washer can be designed as a cylindrical shape, a circular truncated cone shape or a block shape. If the damping washer is made of rubber, the surface thereof can be roughened to increase the friction with the groove bottom and the swing part 12 to avoid relative sliding. In the embodiment, when the swing driving part 2 is not working, if the taking and placing part 31 is grabbing the material, the weight of the material can generate a downward pulling force on the swing part 12, or the overall vibration during the operation of the device can cause the swing part 12 to slightly sway. At this time, the elastic support force of the elastic damping part 5 can offset part of the pulling force of the material to prevent the swing part 12 from being deflected due to unbalanced force. At the same time, the frictional resistance of the elastic damping part 5 can weaken the influence of external vibration on the swing part 12 to prevent the swing part 12 from high-frequency small-amplitude shaking and ensure the relative position between the taking and placing part 31 and the material to be stable, thereby preventing the material from falling off due to instability of the swing part 12. This stability guarantee function is particularly suitable for scenarios that need to temporarily stop work (such as material detection and device debugging). Without the need for additional locking mechanisms, the temporary fixation of the swing part 12 can be realized by the self-characteristics of the elastic damping part 5, which simplifies the structure of the mechanism and improves the safety of work.

[0038] Please refer to Figure 1 and Figure 2 In an embodiment, the taking and placing part 31 includes a mounting bracket 311, a clamping cylinder 313 and a clamping jaw 312. The mounting bracket 311 is arranged on the swing part 12. The clamping cylinder 313 or the clamping jaw 312 is arranged on the mounting bracket 311, and the clamping cylinder 313 is used to drive the clamping jaw 312 to open or close.

[0039] It should be noted that the mounting bracket 311 is the base load-bearing structure of the taking and placing part 31, and its material can be selected from aluminum alloy profiles or stainless steel plates, which have the advantages of lightweight and structural rigidity, and can stably support the weight of the clamping cylinder 313 and the clamping jaw 312 and transmit the movement of the swinging part 12. The shape of the bracket can be designed as L-shaped, U-shaped or flat plate according to the mounting surface of the swinging part 12 and the operation requirements of the clamping jaw 312, and a plurality of screw holes or long strip-shaped mounting holes are reserved on the surface. The screw holes are convenient for precise fixing of the parts of the precision fixing part 11, and the long strip-shaped holes allow fine adjustment of the mounting position of the clamping cylinder 313 or the clamping jaw 312, and adapt to the material grabbing requirements of different sizes. The connection between the mounting bracket 311 and the swinging part 12 adopts bolt fastening, and a non-slip gasket can be additionally installed on the fitting surface to prevent loosening after long-term swinging and to ensure that the taking and placing part 31 does not have relative displacement when moving synchronously with the swinging part 12. The clamping cylinder 313 is the power source of the clamping jaw 312, and its material is mainly an aluminum alloy cylinder body. The inner wall of the cylinder body is treated by precise honing to reduce the resistance of the piston movement and improve the response speed of the action. The surface of the cylinder body can be treated by anticorrosion coating to adapt to industrial environments such as humidity and dust. The installation mode of the clamping cylinder 313 is flexibly selected according to the structure of the bracket: if it is directly installed on the mounting bracket 311, an installation ear is provided at the bottom of the cylinder to be matched with the screw hole of the bracket and fixed by a bolt; if the clamping jaw 312 is installed first and then the cylinder is connected, the output end of the cylinder is connected with the clamping jaw 312 through a floating joint or a connecting rod to avoid jamming caused by installation errors. The gas path interface of the clamping cylinder 313 is usually designed as a quick plug type to facilitate quick connection of the gas source pipeline, and supports single-acting or double-acting control. The single-acting cylinder can be reset by a spring 51, and the double-acting cylinder can drive the clamping jaw 312 to open and close through positive and negative air pressure, which adapts to different grabbing force requirements. The shape of the clamping jaw 312 can be designed as V-shaped, flat-tipped, circular-arc-shaped or customized special-shaped structure. The V-shaped clamping jaw is suitable for cylindrical materials, the flat-tipped clamping jaw is suitable for flat plate materials, and the circular-arc-shaped clamping jaw can fit curved surface materials to ensure the fit and stability during grabbing. The connection between the clamping jaw 312 and the clamping cylinder 313 is mainly by bolt fastening or key groove cooperation, and some clamping jaws 312 are also provided with adjusting screws to change the opening and closing stroke of the clamping jaw 312 by adjusting the length of the adjusting screw, thereby further adapting to the grabbing range of different sizes of materials. In the embodiment, when the clamping cylinder 313 is connected to the gas source, the piston rod or rack structure of the clamping cylinder 313 drives the clamping jaw 312 to perform opening and closing movement: when the gas is connected, the cylinder drives the clamping jaw 312 to fold, and the clamping force is generated between the clamping jaw 312 and the fitting surface of the material to fix the material; when the gas is exhausted or reversely connected, the clamping jaw 312 is opened to release the material, and the whole action process is fast in response and controllable in force. The flexible design of the mounting bracket 311, the power adaptation of the clamping cylinder 313 and the material shape optimization of the clamping jaw 312 together ensure that the taking and placing part 31 can stably and accurately complete the grabbing and releasing operations of different materials, and adapt to various industrial operation scenes. Please refer toFigure 1 and Figure 2 In an embodiment, the swing driving member 2 is a swing cylinder; the material taking and placing mechanism 100 further comprises a gas source adapter plate 6, which comprises: a plate body connected with the fixed part 11, the plate body being provided with an air inlet interface and four air outlet interfaces, the plate body being internally formed with an airflow channel, the air inlet interface being in communication with the four air outlet interfaces through the airflow channel; of the four air outlet interfaces, two are in communication with two working cavities of the cylinder body of the swing cylinder, and the other two are in communication with working cavities of two clamping cylinders 313; and a solenoid valve group for controlling the on-off of the four air outlet interfaces.

[0040] It should be noted that the plate body of the gas source adapter plate 6 serves as a gas circuit integration core carrier, and the material can be selected from aluminum alloy or brass. The aluminum alloy has the advantages of lightweight and good machining performance, and the brass has excellent air tightness and corrosion resistance, which can avoid air leakage. The plate body can be designed in the shape of a rectangular or square flat plate, the surface is milled to ensure flatness, and the plate body is rigidly connected with the fixed part 11 by bolts or buckles. A sealing gasket can be added to the connection surface to further improve the sealing performance of the assembly and prevent external dust and moisture from entering the plate body and affecting the gas circuit. The air inlet and outlet interfaces on the plate body are of a standardized quick connector structure (which can be matched with soft rubber heads to avoid air leakage at the connection), and the inner wall of the interface is provided with a sealing rubber ring (made of butyronitrile rubber or fluorine rubber) to ensure that there is no air leakage after connection with the air pipe. The air inlet interface is usually designed on the side or top of the plate body to facilitate connection with the external main gas source pipeline, and the four air outlet interfaces are evenly distributed on the surface of the plate body and correspond to the gas circuit interfaces of the swing cylinder and the clamping cylinder 313 to reduce air pipe bending and air flow resistance. The airflow channel in the plate body is processed by precise drilling and milling, and the inner wall of the channel is polished to reduce turbulence and pressure loss during air flow. The airflow channel is designed in a branch structure of "one inlet and four outlets", extending from the air inlet interface to each air outlet interface, and each branch channel is independent to avoid interference between different air flows and ensure stable air pressure of each air outlet interface. For example, the airflow channel comprises four independently arranged air paths, each air path corresponding to the air inlet interface and an air outlet interface. At this time, the air inlet interface can also be composed of three sub-air inlets, one air inlet is connected with two air outlet interfaces (in communication with two working cavities of the cylinder body of the swing cylinder) through two air paths, and the other two air inlets are connected with the other two air outlet interfaces (in communication with the working cavities of the two clamping cylinders 313) through two air paths.

[0041] The electromagnetic valve group is the core of the gas circuit control, which is usually composed of three or four electromagnetic valves and a controller, and is integrated on the surface or inside of the plate. Each electromagnetic valve controls the on-off of one gas outlet, and the valve core moves by electric signal control to realize the conduction or cut-off of the gas flow. When the electromagnetic valve controlling the swing cylinder is actuated, the gas flow can be switched into different working chambers of the swing cylinder to drive the swing part 12 to rotate forward or reverse. When the electromagnetic valve controlling the clamping cylinder 313 is actuated, the gas flow can be controlled to enter the working chamber of the clamping cylinder 313 to drive the clamping jaw 312 to open or close. The electromagnetic valve group can also integrate the signal feedback function, which detects the valve core position through the Hall sensor to realize real-time feedback of the gas circuit on-off state, so as to facilitate the equipment control system to monitor the action of each cylinder and improve the controllability of the mechanism operation. In the embodiment, the gas source adapter plate 6 integrates the originally dispersed swing cylinder and clamping cylinder 313 gas circuit into a single plate, replaces the traditional multi-pipeline dispersed connection mode, reduces the number of external gas pipes, makes the gas circuit layout more simple, reduces the risk of gas pipe winding and damage, and at the same time, the electromagnetic valve group can control the on-off of each gas circuit, accurately coordinate the action timing of the swing cylinder and the clamping cylinder 313 (such as driving the swing part 12 to the position first, and then controlling the clamping jaw 312 to grab the material), avoid action conflict, improve the operation efficiency of the mechanism, and is especially suitable for scenes with high action synchronization requirement in the automatic production line.

[0042] The application also provides a taking and placing device, which comprises a taking and placing mechanism and a transferring mechanism. The transferring mechanism is drivingly connected to the fixed part 11 and used to drive the fixed part 11 to move. The specific structure of the taking and placing mechanism is referred to the above-mentioned embodiments. Since the taking and placing device adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0043] It should be noted that the taking and placing device realizes the complete operation process of material from grabbing to transferring through the cooperation of the taking and placing mechanism and the transferring mechanism. The transferring mechanism is the core component for driving the taking and placing mechanism to realize the spatial position transfer, and its structure can be designed as a linear module, a multi-axis mechanical arm or a rotary workbench according to the operation requirement. Taking the common linear module as an example, the transferring mechanism mainly comprises a guide rail, a sliding block, a driving assembly and a connecting seat. The driving assembly can be selected from a servo motor cooperating with a ball screw or a cylinder drive. The servo motor drive can realize accurate position control and is suitable for high-precision transferring requirement. The cylinder drive has the advantages of fast response and low cost and is suitable for simple back-and-forth transferring scenes. When the transferring mechanism is in the form of a multi-axis mechanical arm, the arm body adopts a segmented structure, and each arm segment is connected through a joint bearing to realize flexible transferring in multiple directions and angles, which is suitable for material transfer in complex workstations. If the transferring mechanism is in the form of a rotary workbench, the taking and placing mechanism is fixed on the edge of the workbench, the workbench is driven to rotate by a servo motor, and the workbench realizes the switching of the workstations in the circumferential direction.

[0044] Referring to Figure 1 , Figure 2 , Figure 4 and Figure 5 , the application also provides a processing equipment 1000, comprising a machine table 200, a device body 300 and a taking and placing mechanism, the device body 300 is arranged on the machine table 200, and the device body 300 is provided with a main shaft; the material taking and placing mechanism 100 further comprises a fixed tool holder 7, which is arranged on the fixing part 11 and detachably connected with the main shaft. The specific structure of the taking and placing mechanism is referred to the above-mentioned embodiments. Since the taking and placing device adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here.

[0045] It should be noted that the processing equipment 1000 provides stable support through the machine table 200, realizes the core function of processing through the device body 300, and completes the material transfer through the taking and placing mechanism, so as to form a complete processing flow through the cooperation of the three. The device body 300 is the core functional component of the processing equipment 1000, and its structure is designed according to the processing type (such as milling, drilling and grinding). The main body frame is made of aluminum alloy profile or stainless steel welding, which has the advantages of light weight and structural strength. The main shaft, as the core moving part of the device body 300, is made of high-speed steel or hard alloy, and the surface is treated by nitriding to improve wear resistance and high temperature resistance. The main shaft is in the shape of a cylinder, and a precision bearing (such as an angular contact ball bearing) is arranged inside to ensure the coaxiality and stability of the main shaft during high-speed rotation. The end of the main shaft is usually provided with a standardized interface structure (such as a BT interface and an HSK interface) for cooperation with the fixed tool holder 7 of the taking and placing mechanism to realize power transmission or position positioning. The newly added fixed tool holder 7 of the material taking and placing mechanism 100 is a key component for connecting the taking and placing mechanism and the main shaft of the device body 300. The material is made of high-strength alloy steel, which has enough strength and toughness to withstand the weight of the taking and placing mechanism and the load during the material transfer process. The fixed tool holder 7 is designed in the shape of a stepped cylinder, one end of which is rigidly connected with the fixing part 11 of the taking and placing mechanism, and the connection mode can adopt bolt fastening or key groove cooperation to ensure that the tool holder and the fixing part 11 move synchronously; the other end is provided with a connection structure matched with the main shaft interface, such as a tapered surface corresponding to a BT interface and a pull pin, and a hollow tapered surface corresponding to an HSK interface. Precise positioning is realized through the taper cooperation of the interface, and the tool holder is pulled tight by the pull claw mechanism inside the main shaft to realize detachable connection. When it is necessary to replace the taking and placing mechanism or adjust the taking and placing position, the tool holder and the main shaft can be separated through the main shaft jaw loosening action, which is convenient to operate and has high positioning accuracy. In terms of overall cooperation, the main shaft of the device body 300 can drive the fixed tool holder 7 and the taking and placing mechanism to realize multidirectional movement (such as axial extension and retraction, radial movement). When the taking and placing mechanism needs to grab the material, the main shaft drives the taking and placing mechanism to move to the material position, and the taking and placing mechanism performs the grabbing action. After the grabbing is completed, the main shaft drives the taking and placing mechanism to move to the processing station, and cooperates with the device body 300 to complete the positioning and placement of the material before processing. After processing is completed, the material is transferred to the next station through the cooperative action of the main shaft and the taking and placing mechanism. This design deeply integrates the taking and placing mechanism and the core components of the processing equipment 1000, without the need for additional independent transfer mechanism, simplifying the equipment structure while improving the cooperative precision of material transfer and processing positioning, and is suitable for integrated processing and transfer scenarios.

[0046] Please refer to Figure 3 , Figure 4 and Figure 5 In an embodiment, the taking and placing part 31 includes a mounting bracket 311, a clamping cylinder 313, and a clamping jaw 312. The mounting bracket 311 is provided on the swinging part 12. The clamping cylinder 313 or the clamping jaw 312 is provided on the mounting bracket 311. The clamping cylinder 313 is used to drive the clamping jaw 312 to open or close. The swinging drive 2 is a swinging cylinder. The material taking and placing mechanism 100 further includes a gas source adapter plate 6. The gas source adapter plate 6 includes a plate body and an electromagnetic valve group. The plate body is connected with the fixed tool holder 7 through a bearing. The plate body is provided with an air inlet interface and four air outlet interfaces. An airflow channel is formed in the plate body. The air inlet interface is in communication with the four air outlet interfaces through the airflow channel. Among the four air outlet interfaces, two air outlet interfaces are in communication with two working cavities of the cylinder body of the swinging cylinder, and the other two air outlet interfaces are in communication with the working cavities of the two clamping cylinders 313, respectively. The electromagnetic valve group is used to control the on-off of the four air outlet interfaces, respectively. The processing equipment 1000 further includes a gas source and a gas source fixing plate 400. The gas source fixing plate 400 is provided on the device body 300. The gas source fixing plate 400 is in communication with the air inlet of the plate body.

[0047] It should be noted that the newly added air source of the processing equipment 1000 is used as a compressed air supply source, which is usually a small air compressor or an interface end of an external centralized air supply pipeline, and its output end is connected with the air source fixing plate 400 through a high-pressure air pipe to provide stable air pressure for the entire pneumatic system. The air source fixing plate 400 is used as a transfer and fixing part in the air path, and is made of stainless steel or aluminum alloy, which has corrosion resistance and structural rigidity. The shape is designed as a rectangular or L-shaped plate, which is fixed on the frame of the device main body 300 or the main shaft side through bolts, which not only avoids interference with the movement of the main shaft, but also stably connects the air path of the air source and the air source adapter plate 6. The air inlet port and the air outlet port are provided on the air source fixing plate 400. The air inlet port is connected with the air source through an air pipe, and the air outlet port is connected with the air inlet port of the air source adapter plate 6 through an air pipe. The ports are provided with quick connectors and sealing rubber rings to ensure that the air path connection is tight and leak-free. In the cooperative design of the taking and placing part 31 and the air source adapter plate 6, the clamping air cylinder 313 of the taking and placing part 31 is connected with the corresponding air outlet port of the air source adapter plate 6 through an air pipe. The air pipe is made of a deformable pipe, which can flexibly bend with the swing of the swing part 12 to avoid damage caused by movement and pulling. The installation support 311 supports the clamping air cylinder 313, and the side can be additionally provided with an air pipe clamp or a wire slot to orderly fix the air pipe connected with the clamping air cylinder 313, preventing the air pipe from winding and affecting the opening and closing of the clamping jaw 312 or the movement of the swing part 12. The two working chambers of the swing air cylinder are respectively connected with the other two air outlet ports of the air source adapter plate 6 through air pipes. The air pipes are arranged along the structure contour of the swing part 12 and the fixing part 11, and are fixed on the surface of the parts through buckles to ensure that the air pipes can move smoothly with the swing when the swing air cylinder drives the swing part 12 to rotate, without hindering the movement and causing excessive wear. In addition, the bearing for connecting the plate body and the fixed tool holder 7 needs to be selected according to the movement requirements and load characteristics of the two. Deep groove ball bearings or angular contact ball bearings can be usually selected. When the fixed tool holder 7 rotates or moves axially with the main shaft of the device main body 300, the plate body can flexibly move relative to the fixed tool holder 7 through the bearing to avoid the synchronous movement of the plate body caused by the movement of the main shaft. In this way, on the one hand, the plate body as a carrier of the air source adapter plate 6 needs to be relatively stable to ensure the reliability of the air path interface and the air pipe connection. The bearing connection can isolate the rotation or vibration of the main shaft to prevent the air pipe from winding and pulling caused by the rotation of the plate body with the main shaft, or the air path interface from loosening due to vibration. On the other hand, if the main shaft drives the fixed tool holder 7 and the taking and placing mechanism to fine-tune, the rolling friction of the bearing can reduce the movement resistance between the plate body and the fixed tool holder 7 to ensure that the fine-tuning action of the main shaft is accurately transmitted to the taking and placing mechanism, without affecting the stable operation of the air path system on the plate body.

[0048] Please refer to Figure 3In an embodiment, the processing device 1000 comprises a lifting drive 500, which is drivingly connected to the air source fixing plate 400, and is configured to drive the air source fixing plate 400 to move up and down.

[0049] It should be noted that the lifting drive 500 is a power source for driving the air source fixing plate 400 to move up and down. The type of the lifting drive 500 can be selected according to the accuracy requirement and the load of the device. Common types of the lifting drive 500 include a servo motor cooperating with a ball screw, a pneumatic cylinder, or an electric cylinder.

[0050] Since the air source adapter plate 6 is fixed to the fixing part 11 of the taking and placing mechanism, and the air source fixing plate 400 needs to be connected to the air inlet of the air source adapter plate 6 through an air pipe or directly docked (e.g., flange docking), if there is a deviation in the initial installation height of the air source fixing plate 400 and the air source adapter plate 6, or if the device rack or other components block the air source fixing plate 400, the air pipe or the fixed interface can be directly docked, which can cause insufficient operation space, excessive bending of the air pipe, and other problems. At this time, the lifting drive 500 can drive the air source fixing plate 400 to move up and down in the vertical direction: by fine-tuning the height of the air source fixing plate 400, the air outlet of the air source fixing plate 400 can be accurately aligned with the air inlet of the air source adapter plate 6, so that the docking deviation caused by the height difference is eliminated; at the same time, the air source fixing plate 400 can be adjusted to a height at which an operator can easily reach to operate, or to a position away from the blocking components, so as to provide sufficient operation space for the air pipe to be inserted and pulled out, and for the interface to be fastened (e.g., bolted flange), thereby reducing the assembly difficulty and avoiding damage to the air path interface or poor sealing of the air pipe caused by forced docking. In a maintenance scenario, when the air source adapter plate 6 needs to be disassembled for maintenance (e.g., cleaning the airflow passage or replacing the electromagnetic valve group), the lifting drive 500 can drive the air source fixing plate 400 to move down or up, so that the air pipe connected between the air source fixing plate 400 and the air source adapter plate 6 is naturally relaxed, thereby avoiding the air pipe from being damaged due to being pulled out in a tight state. After the maintenance is completed, the height of the air source fixing plate 400 is adjusted again by the lifting drive 500, so that the air path interface is accurately docked again, without the need to repeatedly adjust the fixing position of the taking and placing mechanism or the air source fixing plate 400, thereby improving the maintenance efficiency.

[0051] In an embodiment, the processing device 1000 further comprises a magnetic attraction structure, which comprises a first magnetic attraction part and a second magnetic attraction part that are magnetically attracted to each other, and the first magnetic attraction part and the second magnetic attraction part are respectively arranged on the air source fixing plate 400 and the air source adapter plate 6.

[0052] The magnetic attraction structure can assist the precise butt joint of the gas source fixing plate 400 and the gas source adapter plate 6, and improve the temporary fixing stability after butt joint. That is, when the gas source fixing plate 400 is driven by the lifting driving part 500 to approach the gas source adapter plate 6, the magnetic attraction structure will generate an attractive force when the two components are close, guide the first magnetic attraction part and the second magnetic attraction part to automatically align, assist the precise butt joint of the gas path interface (the gas outlet port of the gas source fixing plate 400 and the gas inlet interface of the gas source adapter plate 6), and reduce the workload of manual calibration. It is especially suitable for the scene where there is still a small deviation after fine adjustment of the lifting driving part 500. The deviation is eliminated by magnetic attraction, and the butt joint efficiency is improved. After butt joint is completed, the attractive force of the magnetic attraction structure can temporarily fix the gas source fixing plate 400 and the gas source adapter plate 6, so as to avoid the relative displacement of the two components due to vibration during equipment operation, thereby preventing the gas path interface from loosening or the air pipe from being pulled, and at the same time, without additional installation of rigid fixing parts such as bolts, the gas source fixing plate 400 can be reversely moved by the lifting driving part 500 during subsequent disassembly, and the magnetic attraction can be overcome to separate, so as to balance the fixing stability and disassembly convenience.

[0053] In a preferred embodiment, the processing equipment 1000 mainly consists of a material taking and placing mechanism 100, a tray device and a processing device. The material taking and placing mechanism 100 is stored in the equipment knife disc in a non-processing state, and is automatically called to the device main shaft according to the set program when taking and placing material is needed. At the same time, the gas source conversion module is also ejected under the driving of the lifting driving part 500, and the three gas source ports on the gas source conversion module are automatically connected with the three gas inlet ports on the gas source adapter plate 6 of the material taking and placing mechanism 100, and then the material taking and placing mechanism 100 can be controlled to clamp the product by controlling the gas source switch; The specific action principle is as follows: When clamping material is needed, the material taking and placing mechanism 100 is transferred from the knife disc to the main shaft according to the set program, because two groups of magnets are placed between the gas source fixing plate 400 and the gas source adapter plate 6 below, so as to prevent the material taking and placing mechanism 100 from causing the gas source butt joint to fail to connect when taking, and ensure the relative fixation of the positions of the two; Before taking material, the lifting driving part 500 of the gas source conversion device drives the gas source fixing plate 400 to move downward until it contacts and connects with the gas source adapter plate 6. The soft rubber head therebetween ensures the connection stability and sealing, so as to ensure that the gas does not leak. When the gas source is connected, the electromagnetic valve group is used to control the connection or closure of each gas source. For example, the first gas path and the second gas path control the two taking and placing angles of the swing cylinder, and the third gas path and the fourth gas path control the clamping of the clamping cylinder 313. When taking out the material, the first gas circuit is opened, the swing cylinder is pushed by the gas, one gripper 312 is rotated to the first material taking position, at this time the material taking and placing mechanism 100 is transferred to the material placing device under the driving of the device main shaft, the third gas circuit is connected, the clamping cylinder 313 drives the gripper 312 to clamp the product and then moves up by a certain distance, then the first gas circuit is disconnected, the second gas circuit is connected, the swing cylinder drives the swing part 12 to rotate the other gripper 312 to the second material taking position, the fourth gas circuit is connected, the clamping cylinder 313 takes out the material, thus the device material taking action is completed, two materials are taken and placed at one time; When placing the material, the device main shaft drives the material taking and placing mechanism 100 to transfer to the position to be processed, at this time different action modes are carried out according to different processing modes; 1) please refer to Figure 5 , the action mode for single-hole processing is: placing the first material - processing the first material - taking the first material - the swing cylinder drives the swing part 12 to rotate - placing the second material - processing the second material - taking the second material; after all the processing is completed, it is transferred to the tray device for storage; 2) please refer to Figure 4 , the action mode for double-hole processing is: placing the first material - the swing cylinder rotates - placing the second material - processing - taking the second material - the swing cylinder rotates - taking the first material; after the processing is completed, it is transferred to the tray device for storage.

[0054] The above only describes the preferred embodiments of the present application, and does not limit the patent range of the present application, any equivalent structural transformation made under the inventive concept of the present application, using the content of the present application specification and drawings, or directly / indirectly applied in other related technical fields are included in the patent protection range of the present application.

Claims

1. A material pick-and-place mechanism, characterized by, Comprise: a swing member, the swing member comprising a fixed part and a swing part hinged to the fixed part; a swing drive member, the swing drive member being in transmission connection with the swing part for driving the swing part to swing around the fixed part by a preset angle; and a taking and placing member, the taking and placing member comprising at least two taking and placing parts, the at least two taking and placing parts being spaced apart along the swing direction of the swing part; wherein the swing part drives the taking and placing member to swing so that any one of the taking and placing parts has a taking and placing material state and an avoiding state.

2. The material picking and placing mechanism according to claim 1, wherein The swing drive member is a swing cylinder, and a cylinder body of the swing cylinder is arranged on the fixed part; The swing part is connected with a rotating disc of the swing cylinder.

3. The material picking and placing mechanism according to claim 2, wherein The taking and placing member comprises two taking and placing parts; the material taking and placing mechanism further comprises a limiting plate, the limiting plate being arranged between the cylinder body and the swing part, and a limiting groove being arranged on the limiting plate; One end of the swing part close to the swing cylinder is provided with a limiting protrusion, and the limiting protrusion is movably limited in the limiting groove; When the limiting protrusion respectively abuts against two side walls of the limiting groove, the two taking and placing parts are respectively in the taking and placing material state.

4. The material picking and placing mechanism according to claim 3, wherein A mounting groove is formed on one side of the limiting plate close to the swing part; The material taking and placing mechanism further comprises an elastic damping member, at least part of the structure of the elastic damping member is arranged in the mounting groove, and two ends of the elastic damping member respectively abut against the groove bottom of the mounting groove and the swing part.

5. The material pick-and-place mechanism of claim 1, wherein, The taking and placing part comprises a mounting bracket, a clamping cylinder and a clamping jaw, the mounting bracket is arranged on the swing part, the clamping cylinder or the clamping jaw is arranged on the mounting bracket, and the clamping cylinder is used for driving the clamping jaw to open or close.

6. The material picking and placing mechanism according to claim 5, wherein The swing drive member is a swing cylinder; the material taking and placing mechanism further comprises a gas source adapter plate, the gas source adapter plate comprises: a plate body, the plate body is connected with the fixed part, the plate body is provided with an air inlet interface and four air outlet interfaces, an airflow channel is formed in the plate body, the air inlet interface is in communication with the four air outlet interfaces through the airflow channel, two of the four air outlet interfaces are in communication with two working cavities of the cylinder body of the swing cylinder, and the other two air outlet interfaces are respectively in communication with working cavities of two clamping cylinders; and an electromagnetic valve group, the electromagnetic valve group is used for controlling the opening and closing of the four air outlet interfaces.

7. A pick-and-place apparatus, characterized by Comprise: The material taking and placing mechanism according to any one of claims 1 to 6; And a moving mechanism, the moving mechanism being in transmission connection with the fixed part for driving the fixed part to move.

8. A processing apparatus characterized by comprising: Comprise: a machine table; a device main body, the device main body being arranged on the machine table and being provided with a main shaft; and The material taking and placing mechanism according to any one of claims 1 to 5, the material taking and placing mechanism further comprises a fixed tool holder, the fixed tool holder being arranged on the fixed part and being detachably connected with the main shaft.

9. The processing apparatus of claim 8, wherein The taking and placing part comprises a mounting bracket, a clamping cylinder and a clamping jaw, the mounting bracket is arranged on the swing part, the clamping cylinder or the clamping jaw is arranged on the mounting bracket, and the clamping cylinder is used for driving the clamping jaw to open or close; The swing driving member is a swing cylinder; the material taking and placing mechanism further comprises a gas source adapter plate, the gas source adapter plate comprises a plate body and an electromagnetic valve group, the plate body is connected with the fixed tool shank through a bearing, the plate body is provided with an air inlet interface and four air outlet interfaces, an airflow channel is formed in the plate body, the air inlet interface is communicated with the four air outlet interfaces through the airflow channel; among the four air outlet interfaces, two air outlet interfaces are communicated with two working cavities of the cylinder body of the swing cylinder, and the other two air outlet interfaces are respectively communicated with the working cavities of the two clamping cylinders; the electromagnetic valve group is used for controlling the on-off of the four air outlet interfaces respectively; The processing equipment further comprises a gas source and a gas source fixing plate, the gas source fixing plate is arranged on the device main body, and the gas source fixing plate is communicated with the air inlet of the plate body.

10. The processing apparatus of claim 9, wherein The processing equipment comprises a lifting driving member, the lifting driving member is drivingly connected with the gas source fixing plate, and is used for driving the gas source fixing plate to lift and move; and / or, The processing equipment further comprises a magnetic attraction structure, the magnetic attraction structure comprises a first magnetic attraction part and a second magnetic attraction part which are magnetically attracted to each other, and the first magnetic attraction part and the second magnetic attraction part are arranged on the gas source fixing plate and the gas source adapter plate respectively.

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