Batch workpiece rearrangement transfer device and method

Abstract

The application discloses a batch workpiece rearrangement and transfer device and method, which is used for transferring multiple rows of workpieces on a taking position to a placing position at equal angles and equal intervals, each row of workpieces comprising multiple groups of first workpieces and second workpieces placed in a central symmetry, and the transfer device comprising: a first bearing mechanism comprising the taking position; a second bearing mechanism comprising the placing position; and at least one transfer mechanism used for transferring the first workpieces and the second workpieces on the taking position to the placing position at equal angles and equal intervals. The scheme avoids the risk of collision between suction nozzles and between the transferred workpieces during movement, greatly reduces the probability of workpiece damage, and can adapt to the transfer of a large number of workpieces with different initial placement angles and transfer requirements.

Description

Technical Field

[0001] This invention relates to the field of workpiece transport equipment, and is applicable to batch transfer devices for workpieces such as FPC flexible circuit boards when changing processing steps, and particularly to a batch workpiece rearrangement transfer device and method. Background Technology

[0002] Flexible printed circuit boards (FPCs) are widely used in consumer electronics, automotive electronics, and medical devices due to their advantages such as light weight, thinness, and flexibility. On automated FPC production lines, it is typically necessary to accurately transfer FPCs that have completed one process to the next. In existing technologies, common transfer devices use simple translational robotic arms with single or multiple suction nozzles to perform the transfer operation. For example, an FPC board loading device disclosed in invention patent CN118833617A involves a lifting assembly adjusting a buffer platform to the loading station. The picking mechanism is configured to simultaneously pick up two circuit boards from the buffer platform and transfer them to a conveying mechanism, which then transports the two circuit boards to the next station. This dual-station loading structure improves the loading efficiency and automation of FPCs.

[0003] However, in practical applications, due to the different processing equipment and positions used in different processes, the placement angle and spacing of the workpieces also differ. One existing type of flexible printed circuit board accessory, such as... Figure 1 As shown, in the initial state (when located at the material pick-up position), adjacent workpieces are placed in a centrally symmetrical manner to save product placement space. However, in subsequent processing, to ensure high-precision and automated processing, all workpieces need to be transferred to the material unloading position at equal angles and intervals. Depending on the requirements of subsequent processing equipment, the angle of the workpieces, the spacing between adjacent workpieces, and the arrangement of the workpieces may change. At the same time, due to the shape limitations of the workpieces themselves, the problem of interference between adjacent workpieces that may occur during the turning process also needs to be considered.

[0004] During the transfer of the aforementioned workpieces, the existing transfer devices exhibit the following deficiencies:

[0005] Firstly, since the initial placement angles of different workpieces are inconsistent, especially for workpieces placed in a centrally symmetrical manner, when two workpieces need to be rotated to the same target angle, the rotation angles are very different. If a batch of workpieces are directly grabbed and rotated synchronously, during the material handling or movement process, the adjacent suction nozzles and the workpieces they adsorb are very likely to collide or scratch each other in space, resulting in damage to the precision FPC workpieces and the generation of scrap.

[0006] Secondly, the traditional device lacks the ability to independently adjust the posture of each workpiece, and cannot set different target rotation angles for workpieces in different initial states and synchronously adjust their arrangement during transfer. Or, referring to the FPC plate feeding device disclosed in the prior art, only one or two workpieces are transported at a time, although the accuracy is improved, the transfer efficiency is extremely low, and it cannot meet the synchronous transfer demand of large quantities of workpieces.

[0007] Thirdly, the traditional multi-nozzle mechanism is usually rigidly connected or linked control, and cannot realize independent and asymmetric motion trajectory and posture adjustment according to the symmetrical layout of the workpiece and different transfer requirements, which makes it difficult for the same device to adapt to complex and variable station layout and process requirements, and the versatility is poor. SUMMARY

[0008] Therefore, in order to solve the above problems, the present application provides a batch workpiece rearrangement and transfer device and method.

[0009] The present application is realized by the following technical solutions:

[0010] The batch workpiece rearrangement and transfer device is used to transfer multiple rows of workpieces on a material taking station to a material placing station at equal angles and equal intervals, each row of workpieces including multiple groups of first workpieces and second workpieces placed symmetrically, and comprising:

[0011] The first bearing mechanism is arranged along the x-axis direction and includes a material taking station.

[0012] The second bearing mechanism is parallel to the first bearing mechanism and includes a material placing station.

[0013] The at least one transfer mechanism is used to transfer the first workpieces and the second workpieces on the material taking station to the material placing station at equal angles and equal intervals, and the bottom of the transfer mechanism is provided with multiple groups of sliding modules which are translatable along the x-axis direction, the bottom of each group of sliding modules is provided with two nozzles which are translatable along the y-axis direction, each nozzle is liftable along the z-axis direction and rotatable along its axis.

[0014] When transferring the first workpieces, the transfer mechanism adsorbs the first workpieces on the material taking station through the nozzles, adjusts the first target interval of each nozzle in the x-axis direction and the second target interval of each nozzle in the y-axis direction, and drives each nozzle to rotate to a target angle. Before rotating the nozzles, some of the nozzles are driven to rise / lower to avoid interference between adjacent workpieces, and after rotation, the nozzles return to the initial height position. Then, the first workpieces are placed on the material placing station according to a preset arrangement.

[0015] When the second workpieces are transported, the transport mechanism sucks the second workpieces on the material taking positions through the suction nozzles, adjusts the first target interval of each suction nozzle in the x-axis direction and the second target interval in the y-axis direction, and drives each suction nozzle to rotate to a target angle, and then places the second workpieces on the material placing positions according to a preset arrangement mode.

[0016] Preferably, the first carrying mechanism is provided with a first material taking position and a second material taking position in parallel, and a material taking carrier is movably arranged between the first material taking position and the second material taking position; the second carrying mechanism is provided with a first material placing position and a second material placing position in parallel, and a material placing carrier is movably arranged between the first material placing position and the second material placing position; the transport mechanism comprises a first transport mechanism and a second transport mechanism, the first transport mechanism is movably arranged on top of the first material taking position and the first material placing position, and the second transport mechanism is movably arranged on top of the second material taking position and the second material placing position.

[0017] Preferably, two first linear modules are arranged along the y-axis direction, and the bottom of each first linear module is movably provided with a first sliding table, the bottom of the first sliding table is connected with a second linear module respectively, the second linear module is arranged along the x-axis direction, the bottom of each second linear module is movably provided with a second sliding table, and the bottom of each second linear module is connected with one transport mechanism through the second sliding table.

[0018] Preferably, the first transport mechanism and the second transport mechanism respectively comprise a mechanical arm and a clamping assembly arranged at the end of the mechanical arm, the mechanical arm is provided with a first linear driving mechanism, the first linear driving mechanism drives the clamping assembly to translate along the z-axis direction, the clamping assembly comprises a plurality of groups of sliding modules which are translatably arranged along the x-axis direction, the bottom of each group of sliding modules is provided with two suction nozzle assemblies respectively, and at least one suction nozzle assembly at the bottom of each group of sliding modules is driven by a second linear driving mechanism to translate along the y-axis direction.

[0019] Preferably, the suction nozzle assembly comprises a first support, a telescopic cylinder, a second support, a corner motor and a suction nozzle, the first support is connected with the bottom of the sliding module or movably connected with the bottom of the second linear driving mechanism, the telescopic cylinder is fixed at the bottom of the first support, the second support is arranged at the bottom of the telescopic cylinder and driven by the telescopic cylinder to extend and retract along the z-axis direction, the corner motor is arranged on the second support, and the suction nozzle is connected with the bottom of the corner motor and driven by the corner motor to rotate.

[0020] Preferably, the taking position and the placing position are provided with conveying mechanisms respectively, each of the conveying mechanisms comprises two conveying belts arranged in parallel for supporting the taking plate, and a lifting cylinder for driving the taking plate / placing plate to lift and a stop mechanism for positioning the taking plate / placing plate is arranged between the two conveying belts, and the stop mechanism is located at the output end of the conveying mechanism.

[0021] Preferably, the bottom of at least one of the first taking position and the second taking position is provided with a first lifting mechanism, and the bottom of at least one of the first placing position and the second placing position is provided with a second lifting mechanism.

[0022] Preferably, the batch workpiece rearrangement and transfer method further comprises a monitoring mechanism, the monitoring mechanism comprises a first camera connected with the first transfer mechanism and a second camera connected with the second transfer mechanism.

[0023] The batch workpiece rearrangement and transfer method is used for transferring multiple rows of workpieces on a taking position to a placing position at equal angles and equal intervals, each row of workpieces comprising multiple groups of first workpieces and second workpieces arranged in a central symmetry, and at least one transfer mechanism is used to perform the transfer operation, the transfer mechanism comprising multiple groups of sliding modules arranged in a translational manner along an x-axis direction, the bottom of each group of sliding modules being provided with two suction nozzles arranged in a translational manner along a y-axis direction, each suction nozzle being capable of lifting along a z-axis direction and rotating along its axis, and the method comprises the following steps:

[0024] S1: placing the first workpieces and the second workpieces on the taking position;

[0025] S2: controlling the transfer mechanism to transfer the first workpieces on the taking position to the placing position;

[0026] S21: moving the transfer mechanism above the taking position, adsorbing multiple first workpieces by the suction nozzles, and then lifting the adsorbed first workpieces by the transfer mechanism;

[0027] S22: controlling the transfer mechanism to adjust the transverse target interval of each suction nozzle in the x-axis direction and the longitudinal target interval of each suction nozzle in the y-axis direction;

[0028] S23: controlling the transfer mechanism to drive some of the suction nozzles to lower / raise to avoid the first workpieces at the bottom of other suction nozzles, then driving all the suction nozzles to rotate to a target angle synchronously, and driving the lowered / raised suction nozzles to return to the initial height position after the rotation;

[0029] S24: moving the transfer mechanism above the placing position, and placing the first workpieces on the placing position in a preset arrangement manner;

[0030] S3: controlling the transfer mechanism to transfer the second workpieces on the taking position to the placing position;

[0031] S31: moving the transfer mechanism above the material taking position, adsorbing multiple second workpieces by the suction nozzles, and then lifting the adsorbed second workpieces by the transfer mechanism;

[0032] S22: controlling the transfer mechanism to adjust the lateral target spacing of each suction nozzle in the x-axis direction and the longitudinal target spacing in the y-axis direction;

[0033] S23: controlling the transfer mechanism to drive all suction nozzles to rotate synchronously to a target angle;

[0034] S24: moving the transfer mechanism above the material placing position, and placing the second workpieces on the material placing position according to a preset arrangement mode.

[0035] The beneficial effects of the technical scheme of the present application mainly include:

[0036] 1. The present scheme provides a transfer mechanism with large-batch transfer function, which includes a plurality of suction nozzles capable of precise movement in x-axis, y-axis and z-axis directions and rotation around their own axes, so that the device can flexibly adjust the spatial position according to the material taking and placing requirements. At the same time, the transfer mechanism designs different transfer modes, target rotation angles and arrangement modes for first workpieces and second workpieces with different placing angles, so as to plan the optimal and non-interfering material taking and moving path, completely avoiding the risk of collision between suction nozzles and transferred workpieces during movement, and greatly reducing the probability of workpiece damage.

[0037] 2. The present scheme precisely controls the independent movement of each suction nozzle, especially the rotation angle around the axis, and can calculate the target rotation angle required for compensation or adjustment for the first workpieces and the second workpieces in the center-symmetrical state of the initial workstations, so that the first workpieces and the second workpieces can be uniformly adjusted and placed on the preset position and angle of the material placing position, regardless of the initial posture, so as to realize strict equal-angle and equal-spacing arrangement, improve the processing precision and product consistency, and ensure the subsequent automatic process to adapt to the transfer of large batches of workpieces with different initial placing angles and transfer requirements.

[0038] 3. In the present scheme, at least one transfer mechanism, when there are two or more transfer mechanisms, matches the corresponding number of material taking positions and material placing positions, and the material taking carrier / material placing carrier circulates between different material taking positions / material placing positions, and different transfer mechanisms perform part of the transfer work, so as to ensure the cooperative operation of multiple transfer mechanisms, complete the rapid transfer of workpieces during transportation, and greatly improve the efficiency of large-batch workpiece transfer. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a schematic diagram of the arrangement mode of the first workpieces and the second workpieces in the material taking position and the material placing position in an embodiment of the present application.

[0040] Figure 2 is a front view of the batch workpiece rearrangement transfer device;

[0041] Figure 3 is Figure 2 is an enlarged view of part A in FIG. 1;

[0042] Figure 4 is a side view of the batch workpiece rearrangement transfer device;

[0043] Figure 5 is Figure 4 is an enlarged view of part B in FIG. 1;

[0044] Figure 6 is a perspective view of the batch workpiece rearrangement transfer device from a first perspective;

[0045] Figure 7 is Figure 6 is an enlarged view of part C in FIG. 1;

[0046] Figure 8 is a perspective view of the batch workpiece rearrangement transfer device from a second perspective;

[0047] Figure 9 is a top view of the gripping assembly, the pick-up station and the drop-off station;

[0048] Figure 10 is a perspective view of the pick-up station and the drop-off station;

[0049] Figure 11 is a perspective view of the gripping assembly;

[0050] Figure 12 is a bottom view of the gripping assembly;

[0051] Figure 13 is a schematic view of the height adjustment of the sliding module before rotation in one embodiment of the gripping assembly;

[0052] Figure 14 is a schematic view of the height adjustment of the sliding module before rotation in another embodiment of the gripping assembly. DETAILED DESCRIPTION

[0053] In order to make the objects, advantages and features of the present application more clearly, specifically and thoroughly, the following non-limiting description of preferred embodiments will be given with reference to the accompanying drawings. The embodiments are only typical examples of applying the technical solutions of the present application, and any technical solutions formed by equivalent replacement or equivalent transformation are within the scope of the present application.

[0054] Meanwhile, it is stated that in the description of the scheme, it needs to be explained that the terms "center", "upper", "lower", "left", "right", "front", "rear", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of description, and does not indicate or imply that the device or element 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.

[0055] In addition, the terms "first", "second" in the present scheme are only for the purpose of description, and cannot be understood as indicating or implying the ranking of importance, or implicitly indicating the number of technical features shown. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the present application, the meaning of "multiple" is two or more, unless otherwise explicitly and specifically limited.

[0056] The present application discloses a batch workpiece rearrangement and transfer device, as shown in Figure 1 , Figure 8 for transferring multiple rows of workpieces on the take-out position 1 to the drop position 2 at equal angles and equal intervals, each row of workpieces including multiple sets of first workpieces 100 and second workpieces 200 placed centrally symmetrically, as shown in Figure 1 When the first workpieces 100 and the second workpieces 200 are located at the take-out position 1, the adjacent first workpieces 100 and the second workpieces 200 are placed centrally symmetrically to save the placement space of the products, but in subsequent processing, in order to ensure high-precision and automated processing, all workpieces need to be transferred to the drop position 2 at equal angles and equal intervals, the first workpieces 100 and the second workpieces 200 can be products of the same shape and size, or products of different shapes and sizes, in Figure 1 , since the first workpieces 100 and the second workpieces 200 are both protrudingly provided with pins on both sides, and one of the pins extends outwardly in a larger space, when the workpieces are rotated, the spacing between adjacent workpieces needs to be ensured to ensure that the workpieces, especially the pin parts, cannot interfere with each other.

[0057] As shown in Figures 2-9 , the batch workpiece rearrangement and transfer device comprises:

[0058] A first bearing mechanism is provided along the x-axis direction and comprises a take-out position 1.

[0059] A second bearing mechanism is parallel to the first bearing mechanism and comprises a drop position 2.

[0060] At least one transfer mechanism 3 is used to transfer the first workpiece 100 and the second workpiece 200 on the taking position 1 to the placing position 2 at equal angles and equal intervals. The bottom of the transfer mechanism 3 is provided with a plurality of groups of sliding modules 10 which are translatable along the x-axis direction. The bottom of each group of sliding modules 10 is provided with two suction nozzles 1101 which are translatable along the y-axis direction. Each suction nozzle 1101 is liftable along the z-axis direction and rotatable along its axis. Through the above structure, the position of each suction nozzle 1101 at the bottom of the transfer mechanism 3 in the x-axis, y-axis and z-axis directions can be accurately controlled, so as to ensure that the suction nozzle 1101 corresponds to each workpiece one by one, thereby realizing the synchronous taking and placing of a large number of workpieces and flexibly adjusting the spatial position between each workpiece according to the taking and placing requirements.

[0061] Since the initial placing positions and angles of the first workpiece 100 and the second workpiece 200 are different, different transfer and adjustment steps need to be formulated for the two types of workpieces.

[0062] When the first workpiece 100 is transferred, the transfer mechanism 3 adsorbs the first workpiece 100 on the taking position 1 through the suction nozzle 1101, adjusts the first target interval of each suction nozzle 1101 in the x-axis direction and the second target interval of each suction nozzle 1101 in the y-axis direction, and drives each suction nozzle 1101 to rotate to a target angle. Before rotating the suction nozzle 1101, some suction nozzles 1101 are driven to rise / lower to avoid interference between adjacent workpieces, and the initial height position is restored after the rotation is completed. Then, the first workpiece 100 is placed on the placing position 2 according to a preset arrangement mode, wherein the first target interval is the interval of the first workpiece 100 on the placing position 2 in the x-axis direction, and the second target interval is the interval of the first workpiece 100 on the placing position 2 in the y-axis direction.

[0063] When the second workpiece 200 is transferred, the transfer mechanism 3 adsorbs the second workpiece 200 on the taking position 1 through the suction nozzle 1101, adjusts the first target interval of each suction nozzle 1101 in the x-axis direction and the second target interval of each suction nozzle 1101 in the y-axis direction, and drives each suction nozzle 1101 to rotate to a target angle. Then, the second workpiece 200 is placed on the placing position 2 according to a preset arrangement mode, wherein the first target interval is the interval of the second workpiece 200 on the placing position 2 in the x-axis direction, and the second target interval is the interval of the second workpiece 200 on the placing position 2 in the y-axis direction. Since the first workpiece 100 and the second workpiece 200 are placed at equal intervals on the placing position 2, the target intervals of the first workpiece 100 and the second workpiece 200 in the x-axis direction are the same during the transfer, and the target intervals in the y-axis direction are also the same.

[0064] As Figure 2 , Figure 4 , Figure 6 , Figure 8As shown, in some embodiments, the first carrying mechanism is provided with a first material taking position and a second material taking position in parallel, and a material taking carrier 4 is movably arranged between the first material taking position and the second material taking position, so that each material taking carrier 4 on the first carrying mechanism passes through the first material taking position and the second material taking position in turn; the second carrying mechanism is provided with a first material placing position and a second material placing position in parallel, in a preferred embodiment, the first material taking position and the first material placing position are oppositely arranged along the y-axis direction, the second material taking position and the second material placing position are oppositely arranged along the y-axis direction, and a material placing carrier 5 is movably arranged between the first material placing position and the second material placing position, so that each material placing carrier 5 on the second carrying mechanism passes through the first material placing position and the second material placing position in turn; the transfer mechanism 3 includes a first transfer mechanism and a second transfer mechanism, the first transfer mechanism is movably arranged on top of the first material taking position and the first material placing position, to ensure that the workpieces on the material taking carrier 4 in the first material taking position are transferred to the material placing carrier 5 in the first material placing position, and the second transfer mechanism is movably arranged on top of the second material taking position and the second material placing position, to ensure that the workpieces on the material taking carrier 4 in the second material taking position are transferred to the material placing carrier 5 in the second material placing position; when a large number of workpieces are arranged on the material taking carrier 4, the first transfer mechanism and the second transfer mechanism can operate in zones for each material taking carrier 4, wherein the first transfer mechanism transfers half the number of first workpieces 100 and half the number of second workpieces 200 on the material taking carrier 4 to the material placing carrier 5, and the second transfer mechanism transfers the other half of the number of first workpieces 100 and the other half of the number of second workpieces 200 on the material taking carrier 4 to the material placing carrier 5, and while the second transfer mechanism is working, a new material taking carrier 4 is transported to the first material taking position, and a new material placing carrier 5 is also transported to the first material placing position, at this time the first transfer mechanism continues to perform the transfer work, to ensure that the first transfer mechanism and the second transfer mechanism work cooperatively, and improve the work efficiency of the overall mechanism; the number of the transfer mechanism 3 can be adjusted according to the workpiece transfer requirements, which will not be repeated here.

[0065] As Figure 2 , Figure 4 , Figure 6 , Figure 8As shown, in some embodiments, two first linear modules 6 are arranged along the y-axis direction, in a preferred embodiment, one of the first linear modules 6 is located directly above the first material taking position and the second material placing position, and the other first linear module 6 is located directly above the second material taking position and the second material placing position, the bottom of each first linear module 6 is movably provided with a first sliding table 7, the bottom of the first sliding table 7 is respectively connected with a second linear module 8, the second linear module 8 is arranged along the x-axis direction, the bottom of each second linear module 8 is movably provided with a second sliding table 9, the bottom of each second linear module 8 is connected with a transfer mechanism 3 through the second sliding table 9, by driving the second sliding table 9 to translate along the second linear module 8, the transfer mechanism 3 can be driven to translate along the x-axis direction, at the same time, by driving the first sliding table 7 to translate, the second linear module 8 and the transfer mechanism 3 can be driven to synchronously translate along the y-axis direction, thereby realizing the adjustment of the transfer mechanism 3 in the x-axis direction and the y-axis direction, so as to facilitate the transfer of the transfer mechanism 3 between the material taking position 1 and the material placing position 2; in a preferred embodiment, the first linear module 6 and the second linear module 8 are both linear motor modules.

[0066] As Figure 2 , Figure 4 , Figure 6 , Figure 8As shown, in some embodiments, the first and second transfer mechanisms respectively include a clamping assembly 302 arranged at the end of the mechanical arm 301, the mechanical arm 301 is provided with a first linear drive mechanism, the first linear drive mechanism drives the clamping assembly 302 to translate along the z-axis direction, thereby realizing the height adjustment of the clamping assembly 302, the clamping assembly 302 includes a plurality of sliding modules 10 arranged in the x-axis direction, in a preferred embodiment, the clamping assembly 302 includes a multi-motor linear motor module 3021 arranged in the x-axis direction, the multi-motor linear motor module includes a plurality of sliders 3022 translating along the x-axis direction, each sliding module 10 includes a slider 3022 connected to the multi-motor linear motor module 3021, and each sliding module 10 can independently translate along the multi-motor linear motor module 3021 through the slider 3022, thereby adjusting the spacing of the plurality of sliding modules 10 in the x-axis direction; the bottom of each sliding module 10 is respectively provided with two suction nozzle assemblies 11, and at least one suction nozzle assembly 11 at the bottom of each sliding module 10 is driven by a second linear drive mechanism to translate along the y-axis direction, in an embodiment, the second linear drive mechanism adopts a screw structure, such as a ball screw 14, by driving the ball screw 14 to rotate, the ball screw nut 15 fixed on the ball screw 14 generates linear motion, the suction nozzle assembly 11 includes a first bracket 1102, a telescopic cylinder 1103, a second bracket 1104, an angle motor 1105 and a suction nozzle 1101, in a sliding module 10, the first bracket 1102 of one of the suction nozzle assemblies 11 is connected to the bottom of the sliding module 10, and the other suction nozzle assembly 11 is connected to the ball screw nut 15, so that it is movably connected to the bottom of the second linear drive mechanism, when the motor drives the ball screw 14 to rotate, the ball screw nut 15 drives the suction nozzle assembly 11 to move along the y-axis direction, so as to adjust the y-axis spacing of the two suction nozzle assemblies 11 at the bottom of the same sliding module 10, in order to improve the stability of the movement of the suction nozzle assembly 11, the bottom of the sliding module 10 is provided with a slide rail 16 in the y-axis direction, the slide rail 16 is movably provided with a slide rail slider 17, the slide rail slider 17 is connected to the first bracket 1102 of the suction nozzle assembly 11 connected to the ball screw nut 15, thereby ensuring that the suction nozzle assembly 11 moves with the ball screw nut 15 while translating along the slide rail 16 with the slide rail slider 17, thereby ensuring the stability of the movement of the suction nozzle assembly 11;Each suction nozzle assembly 11 is fixed with a telescopic air cylinder 1103 at the bottom of the first bracket 1102, the second bracket 1104 is arranged at the bottom of the telescopic air cylinder 1103 and is driven to extend or retract along the z-axis direction by the telescopic air cylinder 1103, the rotary motor 1105 is arranged on the second bracket 1104, the suction nozzle 1101 is connected to the bottom of the rotary motor 1105 and is driven to rotate by the rotary motor 1105, so as to realize the rotation of each suction nozzle 1101, so that the suction nozzle 1101 can adjust the angle of the workpiece after adsorbing the workpiece as needed.

[0067] As shown in Figure 8 , Figure 9 shown, in some embodiments, the taking position 1 and the discharging position 2 are both provided with a conveying mechanism, each conveying mechanism includes an input end and an output end, each conveying mechanism includes two conveying belts 20 arranged in parallel for supporting the taking plate 4, and a lifting cylinder 19 for driving the taking plate 4 / discharge plate 5 to lift is arranged between the two conveying belts 20, and a gear position mechanism for positioning the taking plate 4 / discharge plate 5 is arranged, the gear position mechanism is located at the output end of the conveying mechanism, in an embodiment, the gear position mechanism can adopt a gear position block 18 driven to lift by a cylinder, the gear position block 18 rises to stop the taking plate 4 / discharge plate 5, when it is needed to output the taking plate 4 / discharge plate 5, the gear position block 18 lowers to avoid the taking plate 4 / discharge plate 5; the gear position mechanism can also adopt a gear position block 18 driven to rotate by a motor, at this time, the rotation axis of the gear position block 18 is parallel to the x-axis, when it is needed to only position the taking plate 4 / discharge plate 5, the gear position block 18 is rotated upwards to the outside of the taking plate 4 / discharge plate 5, when it is needed to output the taking plate 4 / discharge plate 5, the gear position block 18 is rotated downwards to avoid the taking plate 4 / discharge plate 5.

[0068] As shown in Figure 8 , Figure 9 shown, in a preferred embodiment, when there are multiple taking positions 1 and discharging positions 2, one conveying mechanism is arranged on each taking position 1 and discharging position 2, because the multiple taking positions 1 are arranged in parallel and continuously, at this time, the conveying mechanisms on the multiple taking positions 1 are connected end to end, thereby splicing into an integral taking conveying belt 20; the multiple discharging positions 2 are also arranged in parallel and continuously, so the conveying mechanisms on the multiple discharging positions 2 are connected end to end, thereby splicing into an integral discharging conveying belt 20.

[0069] As shown in Figure 2 , Figure 4 , Figure 6 , Figure 8 , Figure 9As shown, in some embodiments, at least one of the first picking position and the second picking position is provided with a first lifting mechanism 12 at its bottom, and the first discharging position is provided with a second lifting mechanism 13 at its bottom. When the heights of the two picking positions 1 are inconsistent, the height difference between the two picking positions 1 can be adjusted by the first lifting mechanism 12. Similarly, when the heights of the two discharging positions 2 are inconsistent, the height difference between the two discharging positions 2 can be adjusted by the second lifting mechanism 13. The first lifting mechanism 12 and the second lifting mechanism 13 can be linear motor modules, lead screw linear modules, or other linear module structures or linear drive structures with lifting functions, which will not be elaborated here.

[0070] In some embodiments, a monitoring mechanism is also included, which includes a first camera connected to the first transfer mechanism and a second camera connected to the second transfer mechanism. The positions of the two transfer mechanisms 3 are detected in real time by the first camera and the second camera, so as to accurately adjust the material picking and discharging positions 2 of the transfer mechanism 3. The structure and operation of the camera are existing technologies and will not be described in detail here.

[0071] In practical applications, depending on the number of workpieces transferred each time and the arrangement of the workpieces at the unloading position 2, the transfer mechanism 3 can also adopt a variety of different adjustment methods:

[0072] Depend on Figure 1 It is known that since the first workpiece 100 and the second workpiece 200 are centrally symmetrically arranged in the initial state, when they need to rotate to the same target angle, the required rotation angles are different for the first workpiece 100 and the second workpiece 200. Furthermore, due to the shape limitations of the pins on the workpieces, when the required rotation angle is large, there may be interference between the workpiece pins and adjacent workpieces, for example… Figure 1 In the process, the initial angle of the blue and yellow workpieces differs significantly from the target angle, so the interference between the workpieces during rotation needs to be considered. However, the initial angle of the yellow and red workpieces differs less from the target angle, and the pins of the workpieces will not contact adjacent workpieces, so there is no need to consider the interference between the workpieces. This is also due to the fact that the two types of workpieces are centrally symmetrically set in the initial state.

[0073] In one embodiment, for example Figure 1 The workpieces shown are arranged in the following manner, and the following transfer steps are taken:

[0074] When the first workpiece 100 is transferred (e.g.) Figure 1blue and yellow workpieces), the transfer mechanism 3 absorbs the first workpieces 100 on the material taking position 1 through the suction nozzles 1101, adjusts a first target interval of each suction nozzle 1101 in the x-axis direction and a second target interval of each suction nozzle 1101 in the y-axis direction, and drives each suction nozzle 1101 to rotate to a target angle, as shown in FIG. 6. Before rotating the suction nozzles 1101, the odd-numbered or even-numbered slide modules are driven to descend, so that the height positions between the slide modules are staggered, and at this time, each suction nozzle 1101 can rotate to the target angle in the same direction, as shown in FIG. 7. Figure 14 As shown in FIG. 8, in another embodiment, in order to avoid interference between the first workpieces 100, other height avoidance methods can also be used. For example, before rotating, the four suction nozzles 1101 at the bottom of the middle two groups of slide modules 10 are driven to descend to avoid interference between adjacent workpieces. At this time, the left two groups of slide modules 10 form a rotating group, the middle two groups of slide modules 10 form a rotating group, and the right two groups of slide modules form a rotating group. The two groups of slide modules 10 in the same rotating group rotate in opposite directions and rotate away from the other group of slide modules 10. For example, in the same rotating group, the two suction nozzles 1101 of the left group of slide modules 10 rotate clockwise, and the two suction nozzles 1101 of the right group of slide modules 10 rotate counterclockwise, so as to ensure that adjacent first workpieces 100 do not interfere with each other. Figure 13

[0075] After the rotation is completed, all the slide modules 10 return to the initial height position, and then the first workpieces 100 are placed on the material placing position 2 according to the preset arrangement mode. The first target interval is the interval of the first workpieces 100 on the material placing position 2 in the x-axis direction, and the second target interval is the interval of the first workpieces 100 on the material placing position 2 in the y-axis direction.

[0076] When the second workpieces 200 are transferred (as shown in FIG. 9), the transfer mechanism 3 absorbs the second workpieces 200 on the material taking position 1 through the suction nozzles 1101, adjusts a first target interval of each suction nozzle 1101 in the x-axis direction and a second target interval of each suction nozzle 1101 in the y-axis direction, and drives each suction nozzle 1101 to rotate to a target angle, as shown in FIG. 10. Figure 1 ​The second workpiece 200 on the material taking station 1 is adsorbed by the transfer mechanism 3 through the suction nozzle 1101, the first target spacing in the x-axis direction and the second target spacing in the y-axis direction of each suction nozzle 1101 are adjusted, and each suction nozzle 1101 is driven to rotate to a target angle. As can be seen from the figure, the green and red workpieces do not need to worry about the problem of mutual interference during rotation because the angle difference between the initial angle and the target angle is small, so it is not necessary to adjust the height to avoid adjacent workpieces during rotation. Then, the second workpiece 200 is placed on the material placing station 2 according to the preset arrangement mode, wherein the first target spacing is the spacing of the second workpiece 200 on the material placing station 2 in the x-axis direction, and the second target spacing is the spacing of the second workpiece 200 on the material placing station 2 in the y-axis direction. Since the first workpiece 100 and the second workpiece 200 are placed at equal spacing on the material placing station 2, the target spacing of the first workpiece 100 and the second workpiece 200 in the x-axis direction during transfer is the same, and the target spacing in the y-axis direction is also the same.

[0077] In this embodiment, as shown in Figure 1 、 Figure 8 , each material taking carrier plate 4 includes 4 rows of 24 first workpieces 100 and 4 rows of 24 second workpieces 200, the material placing carrier plate 5 is provided with 6 rows of workpiece placing positions, each row of workpiece placing positions can place 8 workpieces at equal spacing, and the transfer mechanism 3 includes 6 groups of sliding modules 10, each group of sliding modules 10 includes two suction nozzles 1101, so that the transfer mechanism 3 can suck 12 workpieces on the material taking carrier plate 4 at a time. Therefore, one transfer mechanism 3 can suck half of the first workpieces 100 or half of the second workpieces 200 on the same material taking carrier plate 4 at a time. At this time, half of the first workpieces 100 are marked as blue and the other half are marked as yellow, and half of the second workpieces 200 are marked as green and the other half are marked as red. The arrangement mode of each color of workpiece in this embodiment can be clearly seen. Since the number of rows and columns of workpieces on the material taking carrier plate 4 and the material placing carrier plate 5 is different, two groups of workpieces can only adjust the spacing between the workpieces and do not need to be placed dispersedly on the material placing carrier plate 5 (such as red and yellow workpieces), and the other two groups of workpieces need to be placed dispersedly on the material placing carrier plate 5 (such as blue and green workpieces). In addition, due to the limitation of the structure layout of the whole machine, in order to avoid mutual interference between the transfer mechanism 3 and the whole machine shell (not shown in the figure) or other structures, the activity space of the transfer mechanism 3 should not exceed the outer peripheral area of the material taking station 1 and the material placing station 2. Therefore, the number of workpieces placed in each longitudinal column of the material placing station 2 during the same transfer should not exceed two.

[0078] As shown in Figure 2 、 Figure 4 、 Figure 6 、 Figure 8As shown in the above embodiment, the first transfer mechanism and the second transfer mechanism are used to cooperatively transfer the workpieces, in order to ensure that the working time of the first transfer mechanism and the second transfer mechanism is as consistent as possible, the first transfer mechanism and the second transfer mechanism need to transfer half of the first workpieces 100 and half of the second workpieces 200, further, it is also necessary to ensure that the first transfer mechanism and the second transfer mechanism respectively transfer a group of workpieces that do not need to be split and placed (such as red and yellow workpieces) and a group of workpieces that need to be split and placed (such as red and yellow workpieces); therefore, in this embodiment, when the first transfer mechanism transfers blue workpieces and red workpieces, the second transfer mechanism transfers green workpieces and yellow workpieces; conversely, when the first transfer mechanism transfers green workpieces and yellow workpieces, the second transfer mechanism transfers blue workpieces and red workpieces, at this time, the transfer time of the two groups of transfer mechanisms 3 is roughly equivalent, when the first transfer mechanism transfers half of the workpieces, the pick-up carrier plate 4 and the drop-off carrier plate 5 are transferred to the second pick-up position and the second drop-off position, and the second transfer mechanism performs the transfer work of the other half of the workpieces, at the same time, the new pick-up carrier plate 4 / drop-off carrier plate 5 is transported to the first pick-up position / first drop-off position, and the first transfer mechanism and the second transfer mechanism simultaneously perform the transfer operation, thereby doubling the working efficiency of the entire transfer line.

[0079] The application also discloses a batch workpiece rearrangement and transfer method for transferring multiple rows of workpieces on a pick-up position 1 to a drop-off position 2 at equal angles and equal intervals, each row of workpieces comprising multiple groups of first workpieces 100 and second workpieces 200 arranged in a central symmetry, and at least one transfer mechanism 3 is used to perform the transfer operation, the transfer mechanism 3 comprising multiple groups of sliding modules 10 arranged in a translational manner along an x-axis direction, the bottom of each group of sliding modules 10 is provided with two suction nozzles 1101 arranged in a translational manner along a y-axis direction, each suction nozzle 1101 can be lifted along a z-axis direction and can be rotated along its axis, in some embodiments, the batch workpiece rearrangement and transfer method can use the batch workpiece rearrangement and transfer device as described above.

[0080] The batch workpiece rearrangement and transfer method comprises the following steps:

[0081] S1: placing the first workpieces 100 and the second workpieces 200 on the pick-up position 1;

[0082] S2: controlling the transfer mechanism 3 to transfer the first workpieces 100 on the pick-up position 1 to the drop-off position 2;

[0083] S21: moving the transfer mechanism 3 above the pick-up position 1, absorbing multiple first workpieces 100 by the suction nozzles 1101, and then lifting the absorbed first workpieces 100 by the transfer mechanism 3;

[0084] S22: control the transfer mechanism 3 to adjust the lateral target interval of each suction nozzle 1101 in the x-axis direction and the longitudinal target interval in the y-axis direction;

[0085] S23: control the transfer mechanism 3 to drive part of the suction nozzles 1101 to lower / raise to avoid the first workpieces 100 at the bottom of other suction nozzles 1101, then drive all the suction nozzles 1101 to rotate synchronously to the target angle, and drive the lowered / raised suction nozzles 1101 to return to the initial height position after rotation;

[0086] S24: move the transfer mechanism 3 to above the discharge position 2, and place the first workpieces 100 on the discharge position 2 in a preset arrangement mode;

[0087] S3: control the transfer mechanism 3 to transfer the second workpieces 200 on the taking position 1 to the discharge position 2;

[0088] S31: move the transfer mechanism 3 to above the taking position 1, adsorb multiple second workpieces 200 by the suction nozzles 1101, and then drive the adsorbed second workpieces 200 to rise by the transfer mechanism 3;

[0089] S22: control the transfer mechanism 3 to adjust the lateral target interval of each suction nozzle 1101 in the x-axis direction and the longitudinal target interval in the y-axis direction;

[0090] S23: control the transfer mechanism 3 to drive all the suction nozzles 1101 to rotate synchronously to the target angle;

[0091] S24: move the transfer mechanism 3 to above the discharge position 2, and place the second workpieces 200 on the discharge position 2 in a preset arrangement mode.

[0092] In some embodiments, the batch workpiece rearrangement and transfer method can adopt the transfer steps in the embodiments of the batch workpiece rearrangement and transfer device as described above, which will not be repeated here.

[0093] The present application has various embodiments, and all technical solutions formed by equivalent transformation or equivalent transformation fall within the protection scope of the present application.

Claims

1. A batch workpiece rearrangement and transfer device, used to transfer multiple rows of workpieces at the picking position to the unloading position at equal angles and intervals, wherein each row of workpieces includes multiple sets of centrally symmetrically placed first and second workpieces, characterized in that: The application relates to a workpiece transfer device. The device comprises a first bearing mechanism arranged along an x-axis direction and comprising a first workpiece taking position; a second bearing mechanism arranged in parallel with the first bearing mechanism and comprising a second workpiece placing position; and at least one transfer mechanism for transferring first and second workpieces on the first workpiece taking position to the second workpiece placing position at equal angles and equal intervals, wherein the bottom of the transfer mechanism is provided with a plurality of groups of sliding modules which are arranged in the x-axis direction and are movable, the bottom of each group of sliding modules is provided with two suction nozzles which are movable in the y-axis direction, each suction nozzle is movable in the z-axis direction and rotatable along the axis thereof. When the first workpiece is transferred, the transfer mechanism adsorbs the first workpiece on the first workpiece taking position by the suction nozzles, adjusts the first target interval of each suction nozzle in the x-axis direction and the second target interval of each suction nozzle in the y-axis direction, drives each suction nozzle to rotate to a target angle, drives some of the suction nozzles to ascend or descend before the suction nozzles are rotated to avoid interference between adjacent workpieces, restores the initial height position after the rotation is completed, and then places the first workpiece on the second workpiece placing position according to a preset arrangement mode. When the second workpiece is transferred, the transfer mechanism adsorbs the second workpiece on the first workpiece taking position by the suction nozzles, adjusts the first target interval of each suction nozzle in the x-axis direction and the second target interval of each suction nozzle in the y-axis direction, drives each suction nozzle to rotate to a target angle, and then places the second workpiece on the second workpiece placing position according to a preset arrangement mode. The first bearing mechanism is provided with a first workpiece taking position and a second workpiece taking position in parallel, and the first workpiece taking position and the second workpiece taking position are movably provided with a workpiece taking carrier plate; the second bearing mechanism is provided with a first workpiece placing position and a second workpiece placing position in parallel, and the first workpiece placing position and the second workpiece placing position are movably provided with a workpiece placing carrier plate; the transfer mechanism comprises a first transfer mechanism and a second transfer mechanism, the first transfer mechanism is movably arranged on the top of the first workpiece taking position and the first workpiece placing position, and the second transfer mechanism is movably arranged on the top of the second workpiece taking position and the second workpiece placing position. The device comprises two first linear modules arranged along the y-axis direction, the bottom of each first linear module is movably provided with a first sliding table, the bottom of the first sliding table is respectively connected with a second linear module, the second linear module is arranged along the x-axis direction, the bottom of each second linear module is movably provided with a second sliding table, and the bottom of each second linear module is connected with one transfer mechanism through the second sliding table. The first transfer mechanism and the second transfer mechanism respectively comprise a mechanical arm and a clamping assembly arranged at the end of the mechanical arm, the mechanical arm is provided with a first linear driving mechanism which drives the clamping assembly to move in the z-axis direction, the clamping assembly comprises a plurality of groups of sliding modules which are movably arranged along the x-axis direction, the bottom of each group of sliding modules is respectively provided with two suction nozzle assemblies, and at least one suction nozzle assembly at the bottom of each group of sliding modules is driven by a second linear driving mechanism to move in the y-axis direction. ​ ​ 2. The batch workpiece rearrangement transfer device of claim 1, wherein: The nozzle assembly comprises a first support, a telescopic cylinder, a second support, a corner motor and a nozzle, the first support is connected with the bottom of the sliding module or movably connected at the bottom of the second linear driving mechanism, the telescopic cylinder is fixed at the bottom of the first support, the second support is arranged at the bottom of the telescopic cylinder and driven to extend / contract along the z-axis direction by the telescopic cylinder, the corner motor is arranged on the second support, and the nozzle is connected to the bottom of the corner motor and driven to rotate by the corner motor.

3. The batch workpiece rearrangement transfer device of claim 1, wherein: The conveying mechanism is arranged on the material taking position and the material placing position, each conveying mechanism comprises two conveying belts arranged in parallel and used for supporting the material taking plate, a lifting cylinder used for driving the material taking plate / lifting plate to lift is arranged between the two conveying belts, and a gear position mechanism used for positioning the material taking plate / lifting plate is arranged at the output end of the conveying mechanism.

4. The batch workpiece rearrangement transfer device of claim 3, wherein: The bottom of at least one of the first material taking position and the second material taking position is provided with a first lifting mechanism, and the bottom of at least one of the first material placing position and the second material placing position is provided with a second lifting mechanism.

5. The batch workpiece rearrangement transfer device of claim 1, wherein: The monitoring mechanism comprises a first camera connected with the first transfer mechanism and a second camera connected with the second transfer mechanism.

6. A method for batch re-arrangement and transfer of workpieces, for transferring a plurality of rows of workpieces on a pick-up station to a drop station at equal angles and equal intervals, each row of workpieces comprising a plurality of sets of first workpieces and second workpieces placed in a center-symmetrical manner, characterized in that: The batch workpiece rearrangement and transfer device comprises the following steps: S1: placing the first workpiece and the second workpiece on the material taking position; S2: controlling the transfer mechanism to transfer the first workpiece on the material taking position to the material placing position; S21: moving the transfer mechanism above the material taking position, adsorbing a plurality of first workpieces by the nozzles, and then driving the adsorbed first workpieces to rise by the transfer mechanism; S22: controlling the transfer mechanism to adjust the transverse target interval of each nozzle in the x-axis direction and the longitudinal target interval of each nozzle in the y-axis direction; S23: controlling the transfer mechanism to drive some nozzles to descend / ascend to avoid the first workpieces at the bottom of other nozzles, then driving all nozzles to synchronously rotate to a target angle, and driving the nozzles descending / ascending to return to the initial height position after rotation; S24: moving the transfer mechanism above the material placing position and placing the first workpieces on the material placing position in a preset arrangement mode; S3: controlling the transfer mechanism to transfer the second workpiece on the material taking position to the material placing position; S31: moving the transfer mechanism above the material taking position, adsorbing a plurality of second workpieces by the nozzles, and then driving the adsorbed second workpieces to rise by the transfer mechanism; S22: controlling the transfer mechanism to adjust the transverse target interval of each nozzle in the x-axis direction and the longitudinal target interval of each nozzle in the y-axis direction; S23: controlling the transfer mechanism to drive all nozzles to synchronously rotate to a target angle; S24: moving the transfer mechanism above the material placing position and placing the second workpieces on the material placing position in a preset arrangement mode.

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