Material taking mechanism and transferring equipment

Abstract

The invention discloses a material taking mechanism and transferring equipment, and belongs to the technical field of material carrying. The material taking mechanism comprises a base plate, a first driving assembly and two adsorption assemblies, the two adsorption assemblies and the first driving assembly are arranged on the two opposite sides of the base plate in the thickness direction of the base plate correspondingly, the two adsorption assemblies are arranged on the base plate in the first direction in a spaced mode, and each adsorption assembly comprises a driving part, an adsorption rod and a buffering part; the buffer piece is arranged between the driving piece and the adsorption rod; the first driver is in transmission connection with the driving parts of the two adsorption assemblies and can drive the two driving parts to move in the second direction, the driving parts can drive the adsorption rods to move in the second direction through the buffer parts after being driven, and the driving parts can overcome the elastic force of the buffer parts to move relative to the adsorption rods when the adsorption rods make contact with the workpieces. Spatial isolation of the driving source and the execution assembly is achieved, impact buffering and overpressure protection are further achieved, and therefore the possibility that the workpiece is damaged and the risk that the workpiece falls off are reduced.

Description

Technical Field

[0001] This invention relates to the field of material handling technology, and in particular to a material handling mechanism and a transfer device. Background Technology

[0002] In related technologies, the adsorption component, as the actuator for automated picking and placing operations, is typically driven by a motor or cylinder to achieve its vertical movement. However, existing driving methods often suffer from slow response speed, large impact forces, and a lack of effective buffering protection. This leads to overpressure when the adsorption component descends to contact the workpiece, causing workpiece damage or workpiece detachment due to impact and vibration during the picking process. Furthermore, existing picking mechanisms often integrate the driving component and the adsorption component within a very limited installation space. While this meets the requirement of compact installation, it also results in an overly cramped layout among the moving parts. Summary of the Invention

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a material handling mechanism that can achieve spatial isolation between the drive source and the execution component, as well as impact buffering and overpressure protection, thereby reducing the possibility of workpiece damage and the risk of workpiece detachment.

[0004] The present invention also proposes a transfer device including the above-mentioned material handling mechanism.

[0005] According to a first aspect of the present invention, a material handling mechanism includes: a substrate, a first driving assembly, and two adsorption assemblies. The first driving assembly is disposed on the substrate and includes a first driver. The two adsorption assemblies and the first driver are respectively disposed on opposite sides of the substrate along the thickness direction of the substrate. The two adsorption assemblies are spaced apart on the substrate along a first direction. Each adsorption assembly includes a driving member, an adsorption rod, and a buffer member. The driving member is movably connected to the adsorption rod, the adsorption rod is used to adsorb a workpiece, and the buffer member is disposed between the driving member and the adsorption rod. The first driver is drivenly connected to the driving members of the two adsorption assemblies and is configured to drive the two driving members to move along a second direction. The thickness direction of the substrate, the second direction, and the first direction are perpendicular to each other. The driving member is configured to drive the adsorption rod to move along the second direction through the buffer member after being driven. The driving member is also configured to overcome the elastic force of the buffer member and move relative to the adsorption rod when the adsorption rod contacts the workpiece.

[0006] The material handling mechanism according to embodiments of the present invention has at least the following beneficial effects: The material handling mechanism of this invention fully utilizes the space along the thickness direction of the substrate by placing the first driver and two adsorption components on opposite sides of the substrate along its thickness direction. This achieves spatial isolation between the driving source and the execution components, avoiding the layout cramped problem caused by excessive component integration, and thus reducing the possibility of interference between the first driver and the two adsorption components. Furthermore, by setting a buffer between the driving component and the adsorption rod in each adsorption component and movably connecting the driving component and the adsorption rod, the driving component continues to move relative to the adsorption rod after the adsorption rod contacts the workpiece, overcoming the elastic force of the buffer. During this process, the buffer can be compressed to absorb impact energy, reducing the impact force caused by rigid collisions, thereby achieving impact buffering and overpressure protection, thus reducing the possibility of workpiece damage and the risk of workpiece falling off due to impact during the picking process. This makes the adsorption process more stable and improves the success rate and reliability of picking.

[0007] According to some embodiments of the present invention, the driving member includes a first connecting portion and a second connecting portion connected to each other. The first connecting portion is drively connected to the first driving assembly. The second connecting portion extends along the first direction and is provided with a limiting hole that passes through the second connecting portion along the second direction. The adsorption rod includes a rod body and an abutting portion. The abutting portion is disposed on the outer periphery of the rod body along the circumference of the rod body. The rod body slides through the limiting hole. The buffer member is a spring. The spring is sleeved on the rod body, and one end of the spring abuts against the abutting portion and the other end abuts against the second connecting portion. According to some embodiments of the present invention, the first drive assembly further includes a first driving wheel, a first driven wheel, and a first synchronous belt. The first driver is connected to the substrate, the first driving wheel is connected to the output end of the first driver, the first driven wheel is rotatably disposed on the substrate, and the first synchronous belt is wound around the first driving wheel and the first driven wheel to form an annular transmission path. The annular transmission path has a first transmission side and a second transmission side spaced apart along the first direction. The first connecting portion of one of the drive members is fixedly connected to the first transmission side, and the first connecting portion of the other drive member is fixedly connected to the second transmission side.

[0008] According to some embodiments of the present invention, the first connecting portion is connected to the end of the second connecting portion near the first driving assembly and extends along the second direction, the first connecting portion and the adsorption rod are spaced apart along the first direction, and the side of the first connecting portion facing away from the adsorption rod is fixedly connected to the first synchronous belt. According to some embodiments of the present invention, each of the adsorption components further includes a guide component, the guide component including a guide rail and a slider, the guide rail extending along the second direction, the slider being slidably connected to the guide rail, one of the guide rail and the slider being disposed on the substrate, and the other being disposed on the drive member.

[0009] According to some embodiments of the present invention, the guide assembly is disposed on the side of the adsorption rod facing away from the first drive assembly, the guide rail is fixedly disposed on the substrate, and the slider protrudes from one end near the drive member to form an extension portion, the extension portion extending along the first direction and being fixedly connected to the drive member. According to some embodiments of the present invention, a bearing is provided in the limiting hole, and the adsorption rod is slidably disposed in the inner ring of the bearing so as to be rotatably connected to the driving member through the bearing. The material picking mechanism further includes a second driving assembly, which is configured to drive the adsorption rod to rotate about its axis.

[0010] According to some embodiments of the present invention, the second driving assembly includes a second driver, a second driving wheel, a second driven wheel, and a second synchronous belt. The second driver and the first driver are disposed on the same side of the substrate and connected to the substrate. The second driving wheel is connected to the output end of the second driver. There are two second driven wheels, which are correspondingly sleeved on the outer periphery of the two adsorption rods. The adsorption rods slide through the second driven wheels and are configured to rotate with the second driven wheels. The second synchronous belt is wrapped around the second driving wheel and the two second driven wheels and is configured to drive the two second driven wheels to rotate synchronously. According to some embodiments of the present invention, the adsorption rod is provided with a vacuum channel. Along the length direction of the adsorption rod, one end of the adsorption rod is provided with an adsorption hole, and the other end is connected to a connector. The adsorption hole and the connector are respectively connected to the vacuum channel. The connector is used to connect a vacuum device. The transfer device according to a second aspect of the present invention includes the material handling mechanism described in the first aspect embodiment.

[0011] The transfer device according to embodiments of the present invention has at least the following beneficial effects: The transfer device of this invention adopts the material picking mechanism of the first aspect embodiment. By optimizing the structural design of the material picking mechanism, the impact force when the adsorption component contacts the workpiece is reduced in the transfer operation of workpiece picking and placing, thereby reducing the possibility of workpiece damage. At the same time, it reduces the risk of workpiece falling off during adsorption or transfer due to impact vibration, improves the success rate of picking and transfer stability, and thus improves the reliability of the transfer device.

[0012] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the material handling mechanism according to an embodiment of the present invention; Figure 2 This is a cross-sectional schematic diagram of a material handling mechanism according to an embodiment of the present invention; Figure 3 This is a front view schematic diagram of a material handling mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the material handling mechanism according to another embodiment of the present invention; Figure 5 This is a schematic diagram of the material handling mechanism according to another embodiment of the present invention.

[0014] Icon labels: Material handling mechanism 1000; substrate 100; First drive assembly 200; first driver 210; first drive pulley 220; first driven pulley 230; first synchronous belt 240; first transmission edge 241; second transmission edge 242; Adsorption assembly 300; driving component 310; first connecting part 311; second connecting part 312; limiting hole 313; clearance space 314; adsorption rod 320; rod body 321; abutting part 322; vacuum channel 323; adsorption hole 324; buffer component 330; guide assembly 340; guide rail 341; slider 342; extension part 3421; bearing 350; connector 360; clamping plate 370; Second drive assembly 400; second driver 410; second drive pulley 420; second driven pulley 430; second timing belt 440. Detailed Implementation

[0015] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0016] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0017] In the description of this invention, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0018] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0019] In automated pick-and-place equipment, the adsorption component is mainly responsible for adsorbing the workpiece, thereby achieving precise pick-up, transfer, and placement of the workpiece. The adsorption component is typically mounted on a Z-axis moving mechanism, moving rapidly up and down in the vertical direction to complete the operations of descending to contact the workpiece, adsorbing and picking it up, and then ascending to place it.

[0020] In related technologies, the vertical driving method for adsorption components mainly employs motor drive or cylinder drive. However, regardless of whether it is driven by a motor or a cylinder, the descent of the adsorption component is prone to generating significant impact forces. Especially when descending at high speed close to the workpiece, the adsorption component generates excessive pressure upon contact with the workpiece, leading to surface damage, cracks, or deformation. Furthermore, vibration may cause adsorption instability during the pickup process, resulting in workpiece detachment, displacement, or pickup failure, thereby affecting subsequent placement accuracy and overall transfer efficiency.

[0021] To address the aforementioned problems, some embodiments of the present invention provide a material handling mechanism 1000, suitable for transfer equipment, which can achieve impact buffering and overpressure protection, thereby reducing the possibility of workpiece damage and the risk of workpiece detachment. See details below. Figures 1 to 5 The material handling mechanism 1000 is described below.

[0022] Reference Figure 1As shown, in this embodiment of the invention, the material handling mechanism 1000 includes: a substrate 100, a first driving component 200, and two adsorption components 300. The substrate 100 serves as a support structure for the material handling mechanism 1000, and is used to support and fix other components in the material handling mechanism 1000, such as the driving component and the adsorption component 300. It is typically a plate-shaped structure with sufficient rigidity and strength, which can provide a stable mounting foundation for the entire material handling mechanism 1000.

[0023] Continue to refer to Figure 1 As shown, in this embodiment of the invention, a first driving component 200 is disposed on a substrate 100, and its function is to provide power to the adsorption component 300. Specifically, the first driving component 200 includes a first driver 210, and the first driver 210 and two adsorption components 300 are respectively disposed on opposite sides of the substrate 100 along its thickness direction. For example, the first driver 210 is located on the rear side of the substrate 100, and the two adsorption components 300 are located on the front side of the substrate 100. Based on this, this embodiment makes full use of the space of the substrate 100 along its thickness direction, realizes spatial isolation between the driving source and the execution component, avoids the layout cramped problem caused by excessive component integration, and thus reduces the possibility of interference between the first driver 210 and the two adsorption components 300.

[0024] Continue to refer to Figure 1 As shown, in this embodiment of the invention, two adsorption components 300 are spaced apart on the substrate 100 along a first direction, for example, a horizontal direction. This arrangement allows the material handling mechanism 1000 to process two workpieces simultaneously or alternately, thereby improving work efficiency. Specifically, each adsorption component 300 includes a driving member 310, an adsorption rod 320, and a buffer member 330. A first driver 210 is connected to the driving members 310 of both adsorption components 300 and is configured to drive the two driving members 310 to move along a second direction. The thickness direction of the substrate 100, the second direction, and the first direction are perpendicular to each other. In one example, the thickness direction of the substrate 100 is a front-to-back direction, the second direction is a vertical direction, and the first direction is a left-to-right direction.

[0025] In this embodiment of the invention, the transmission connection between the first driver 210 and the two adsorption components 300 can be achieved through various means such as gear transmission, belt transmission, chain transmission, or linkage mechanism. For example, the first drive component 200 may include a motor, which transmits power to the two drive components 310 through a gear set or synchronous belt, enabling them to move synchronously or independently.

[0026] It is understood that in this embodiment of the invention, the driving component 310 is a component that receives power from the first driver 210. Specifically, the driving component 310 is connected to the first driver 210 in a transmission manner, thereby converting external power into the movement of the adsorption rod 320. The adsorption rod 320 is a component that directly contacts and adsorbs the workpiece. One end of the adsorption rod 320 is provided with an adsorption structure. For example, the end of the adsorption rod 320 can be integrated with a vacuum suction cup to adsorb the workpiece by negative pressure; or, the end of the adsorption rod 320 can be equipped with a mechanical gripper to grasp the workpiece by clamping force; or, the adsorption rod 320 can use magnetic force to adsorb magnetic workpieces.

[0027] The driving component 310 and the adsorption rod 320 are designed to be movably connected, which can take various forms. For example, the adsorption rod 320 can slide through the hole in the driving component 310, or achieve relative movement through structures such as pins or guide grooves. For instance, the body of the adsorption rod 320 can be made into a cylindrical shape and slide into a circular hole in the driving component 310, thereby allowing the adsorption rod 320 to move axially within the driving component 310.

[0028] Reference Figure 2 As shown, in this embodiment of the invention, the buffer 330 can be an elastic element, such as a helical spring, disc spring, rubber pad, or gas spring, to absorb impact energy and mitigate motion impact. Specifically, when the adsorption rod 320 contacts the workpiece, the buffer 330 can provide a certain elastic deformation space, thereby preventing excessive impact force from acting directly on the workpiece.

[0029] In this embodiment of the invention, the driving member 310 is configured to, after being driven, drive the adsorption rod 320 to move along the second direction via the buffer member 330. The driving member 310 is also configured to, when the adsorption rod 320 contacts the workpiece, overcome the elastic force of the buffer member 330 and move relative to the adsorption rod 320. Specifically, in conjunction with... Figure 1 It can be understood that when the first driving assembly 200 drives the driving member 310 to move in the second direction, the driving member 310 transmits force to the buffer member 330 through its contact surface with the buffer member 330, which in turn pushes the adsorption rod 320 to move in the same direction. For example, when the driving member 310 moves downward, it compresses the buffer member 330, which then pushes the adsorption rod 320 downward. Furthermore, when the first driving assembly 200 drives the driving member 310 to move in the second direction, the driving member 310 transmits force to the buffer member 330 through its contact surface with the buffer member 330, which in turn pushes the adsorption rod 320 to move in the same direction. For example, when the driving member 310 moves downward, it compresses the buffer member 330, which then pushes the adsorption rod 320 downward.

[0030] In one example, after the material handling mechanism 1000 moves above the workpiece, the first drive assembly 200 is activated, driving the two drive components 310 to move downwards along the second direction. Taking one of the adsorption components 300 as an example, in the initial stage, the drive component 310 rigidly pushes the adsorption rod 320 downwards synchronously through the pre-compressed buffer 330, and the adsorption rod 320 remains relatively stationary with respect to the drive component 310. When the suction nozzle of the adsorption rod 320 contacts the surface of the workpiece, the adsorption rod 320 stops moving downwards, while the drive component 310 continues to move downwards under the drive assembly 200. At this time, the drive component 310 overcomes the elastic force of the buffer 330 and generates a relative displacement with respect to the adsorption rod 320. The buffer 330 is further compressed. This relative displacement process absorbs the remaining kinetic energy, limiting the contact impact force to a set range. It can be understood that as the drive component 310 continues to move downwards, the buffer 330 compresses and stores energy and releases it slowly, achieving a gradual increase in contact force rather than an instantaneous impact.

[0031] After the adsorption rod 320 contacts the workpiece, the control system activates the vacuum generator, creating a negative pressure inside the adsorption rod 320, which reliably adsorbs the workpiece. Subsequently, the first drive assembly 200 reverses its direction, causing the drive component 310 and the adsorption rod 320 to rise as a whole, while the buffer component 330 returns to its pre-compressed state, completing the material handling process.

[0032] The material handling mechanism 1000 of this embodiment of the invention provides a buffer 330 in each adsorption component 300 between the driving component 310 and the adsorption rod 320, and makes the driving component 310 and the adsorption rod 320 movably connected. This allows the driving component 310 to continue moving relative to the adsorption rod 320 after the adsorption rod 320 contacts the workpiece, overcoming the elastic force of the buffer 330. During this process, the buffer 330 can be compressed to absorb impact energy, reducing the impact force caused by rigid collision, thereby achieving impact buffering and overpressure protection, thus reducing the possibility of workpiece damage, and also reducing the risk of workpiece falling off due to impact during the picking process, making the adsorption process more stable, and improving the success rate and reliability of picking.

[0033] Reference Figure 2 As shown, in this embodiment of the invention, the driving component 310 includes a first connecting portion 311 and a second connecting portion 312 that are interconnected. The first connecting portion 311 and the second connecting portion 312 are integrally formed. The first connecting portion 311 is mainly responsible for transmission connection with the first driving assembly 200, while the second connecting portion 312 is mainly responsible for mechanical connection and guidance with the adsorption rod 320. This helps to optimize the structural strength and functional realization of each part. For example, the first connecting portion 311 can be designed to be more robust to withstand driving force, while the second connecting portion 312 can focus more on providing precise guidance and installation of the buffer 330.

[0034] Specifically, in combination Figure 3 It is understood that the first connecting part 311 is connected to the first driving assembly 200 through a transmission connection, for example, by means of bolts, welding, riveting, etc., or by means of keys, pins, etc., to achieve a detachable connection, so as to ensure that the driving force generated by the first driving assembly 200 can be effectively transmitted to the driving member 310. The second connecting part 312 extends along the first direction, so that it can span a certain distance, providing sufficient space for the installation of the adsorption rod 320 and the arrangement of the buffer member 330, and helping to maintain the overall stability of the adsorption assembly 300.

[0035] Reference Figure 2 and Figure 4 As shown, in this embodiment of the invention, the second connecting portion 312 is provided with a limiting hole 313 extending through the second connecting portion 312 along the second direction. The limiting hole 313 is used to accommodate the adsorption rod 320. Specifically, the inner wall of the limiting hole 313 can be precision machined to ensure the smoothness and stability of the adsorption rod 320 during sliding, and to reduce friction and jamming. The shape of the limiting hole 313 can be circular, square, or other shapes suitable for the cross-section of the adsorption rod 320.

[0036] Continue to refer to Figure 2 and Figure 4 As shown, in this embodiment of the invention, the adsorption rod 320 includes a rod body 321 and an abutment portion 322. The abutment portion 322 is disposed around the outer periphery of the rod body 321. The rod body 321 is the main body of the adsorption rod 320, responsible for adsorbing the workpiece and movably connecting with the driving member 310. The abutment portion 322 is a protruding structure on the rod body 321, disposed around the circumference of the rod body 321. It can be an annular protrusion, a flange, or multiple radially protruding block structures. Its main function is to provide a reliable support surface for the buffer member 330 so that the buffer member 330 can generate the expected elastic force between itself and the second connecting portion 312.

[0037] Reference Figure 3As shown, in one example, the first connecting portion 311 is connected to the end of the second connecting portion 312 near the first driving assembly 200 and extends along a second direction. The first connecting portion 311 and the adsorption rod 320 are spaced apart along a first direction. The side of the first connecting portion 311 facing away from the adsorption rod 320 is fixedly connected to the first synchronous belt 240. The first connecting portion 311 is a vertical strip, and the second connecting portion 312 is a horizontal flat plate. The second connecting portion 312 is connected to the end of the first connecting portion 311 and protrudes downward to form a cantilever structure. The L-shaped connection between the first connecting portion 311 and the second connecting portion 312 creates a clearance space 314 on the lower side of the second connecting portion 312 and the outer side of the first connecting portion 311. The portion of the rod 321 protruding downward from the limiting hole 313 and the entire spring are located within this clearance space 314, preventing interference between the adsorption rod 320 and the driving component 310 body.

[0038] In this embodiment of the invention, the rod 321 slides through the limiting hole 313. This sliding fit allows the adsorption rod 320 to move along the second direction under the drive of the driving member 310. Simultaneously, when the adsorption rod 320 contacts the workpiece, the driving member 310 can continue to move relative to the adsorption rod 320, thereby compressing the buffer member 330 and achieving a buffering function. In this embodiment, the buffer member 330 is a spring, sleeved on the rod 321, allowing the spring to be arranged around the axis of the adsorption rod 320, resulting in a compact structure and uniform force distribution. The rod 321 acts as a guide for the spring, preventing bending or instability during compression.

[0039] Combination Figure 2 It is understood that one end of the spring abuts against the abutment portion 322, and the other end abuts against the second connecting portion 312. This ensures that the spring can be effectively compressed when the adsorption rod 320 contacts the workpiece, thereby generating a buffering force. When the adsorption rod 320 is not in contact with the workpiece, the preload of the spring can keep the adsorption rod 320 in a specific position relative to the driving member 310, ensuring the stability of the adsorption rod 320 during movement.

[0040] In one example, the first driving component 200 drives the first connecting part 311 to move downward in the second direction, while the second connecting part 312 moves downward simultaneously. The lower end face of the limiting hole 313 pushes the abutment part 322 through a spring, causing the rod 321 and the entire adsorption rod 320 to move downward in a straight line. At this time, the rod 321 has no relative displacement with respect to the limiting hole 313. When the suction nozzle at the lower end of the adsorption rod 320 contacts the workpiece surface, the rod 321 and the abutment part 322 stop moving downward due to the reaction force of the workpiece. The second connecting part 312 continues to move downward with the first driving component 200, and the upper end of the spring moves downward with the second connecting part 312, while the lower end is fixed by the abutment part 322. The rod 321 slides upward the same distance relative to the limiting hole 313. During this process, the remaining kinetic energy of the driving component 310 is converted into the elastic potential energy of the spring. After the vacuum system is started, the workpiece is adsorbed and fixed. The first drive assembly 200 reverses the drive, the first connecting part 311 and the second connecting part 312 move upward, the spring gradually releases the compression until it returns to the initial pre-compression state, the abutment part 322 is rigidly connected to the second connecting part 312 again through the spring, and the adsorption rod 320 is lifted upward as a whole with the drive component 310 to complete the material picking.

[0041] Combination Figure 4 It is understood that, in this embodiment of the invention, by superimposing the transmission connection function and the buffer limiting function in the first direction, the material picking mechanism 1000 is compressed in the third direction, thereby improving the structural compactness of the material picking mechanism 1000 and reducing the front and rear dimensions of the entire material picking mechanism 1000.

[0042] Reference Figure 4 As shown, in this embodiment of the invention, the first driving assembly 200 includes a first driver 210, a first driving pulley 220, a first driven pulley 230, and a first synchronous belt 240. The first driver 210 is mounted on the substrate 100 and typically employs a stepper motor or servo motor to provide precise motion control and positioning capabilities. The first driving pulley 220 is connected to the output end of the first driver 210 and is responsible for converting the rotational motion of the first driver 210 into the linear motion of the first synchronous belt 240. The first driven pulley 230 is rotatably mounted on the substrate 100 and, together with the first driving pulley 220, supports and guides the motion path of the first synchronous belt 240. The first synchronous belt 240 is wound around the first driving pulley 220 and the first driven pulley 230 to form a circular transmission path.

[0043] Specifically, refer to Figure 2 and Figure 3As shown, in this embodiment of the invention, the annular transmission path has a first transmission edge 241 and a second transmission edge 242 spaced apart along a first direction. In this embodiment, the first synchronous belt 240 is a toothed transmission belt whose teeth mesh with the teeth of the first driving pulley 220 and the first driven pulley 230, ensuring synchronicity during transmission and avoiding slippage. When the first driver 210 drives the first driving pulley 220 to rotate, the first synchronous belt 240 moves along the annular transmission path, wherein the first transmission edge 241 and the second transmission edge 242 move linearly in opposite directions.

[0044] Continue to refer to Figure 2 and Figure 3 As shown in this embodiment of the invention, in order to achieve synchronous driving of the driving members 310 of the two adsorption components 300, the first connecting portion 311 of one driving member 310 is fixedly connected to the first transmission edge 241, while the first connecting portion 311 of the other driving member 310 is fixedly connected to the second transmission edge 242. With this connection method, when the first synchronous belt 240 moves, the two driving members 310 will be driven by the first transmission edge 241 and the second transmission edge 242 respectively, moving synchronously and in opposite directions along the second direction. For example, when the left driving member 310 moves upward, the right driving member 310 moves downward.

[0045] Reference Figure 3 As shown, in one example, the entire annular transmission path is located in the central region of the substrate 100. The left straight segment serves as the first transmission edge 241, and the right straight segment serves as the second transmission edge 242. Both the first transmission edge 241 and the second transmission edge 242 are parallel to the second direction. The first connecting portion 311 of the left driving member 310 is fixed to the outside of the first transmission edge 241 by a pressure plate or screws, and the first connecting portion 311 of the right driving member 310 is similarly fixed to the outside of the second transmission edge 242. The fixed positions ensure that the two first connecting portions 311 are at the same height in the initial state.

[0046] Reference Figure 5As shown, in one example, each adsorption component 300 further includes a clamping plate 370. Along a first direction, the clamping plate 370 is disposed between the first synchronous belt 240 and the first connecting portion 311. The clamping plate 370 has a through hole on the side near the first drive component 200 for the first synchronous belt 240 to pass through. The clamping plate 370 clamps the first synchronous belt 240, thus moving up and down with the movement of the first synchronous belt 240. The side of the clamping plate 370 away from the first drive component 200 is fixedly connected to the first connecting portion 311. By providing a through hole on the inner side of the clamping plate 370, the synchronous belt is kept within the original plane of the annular transmission path. The first connecting portion 311 is installed close to the outer side of the clamping plate 370. The overall front-to-back dimension of the material handling mechanism 1000 is not increased, thereby reducing the overall front-to-back dimension of the equipment, increasing the layout density of the material handling mechanism 1000, and optimizing the spatial layout.

[0047] Specifically, after the material handling mechanism 1000 is positioned above the workpiece, the first driver 210 rotates forward or backward according to the left and right height difference command. The first drive wheel 220 drives the first synchronous belt 240 to circulate. Since the left first transmission side 241 and the right second transmission side 242 of the circular transmission path always move in opposite directions, when the first driver 210 rotates forward, the first transmission side 241 moves downward and the second transmission side 242 moves upward. The left drive member 310 moves downward with the first transmission side 241, and the right drive member 310 moves upward with the second transmission side 242. The two adsorption components 300 flexibly contact the workpiece through the buffer member 330.

[0048] It is understood that the embodiments of the present invention utilize the reverse movement of the transmission sides on both sides of a single synchronous belt to achieve differential drive of two driving components 310 by a single motor. On the one hand, the annular transmission path is concentrated in the middle of the substrate 100, the two transmission sides are symmetrically arranged, the cantilever length of the driving component 310 is shortened, and the vibration is reduced when the center of gravity is close to the outer side of the center line of the substrate 100 during acceleration. On the other hand, the two transmission sides are parallel to the second direction, the transmission path length is highly utilized, and the third direction (i.e., the front-to-back direction) occupies only the width of the synchronous belt plus the wheel diameter, making the overall structure of the material handling mechanism 1000 compact and optimizing the spatial layout.

[0049] Reference Figure 1As shown in this embodiment of the invention, each adsorption component 300 further includes a guide component 340. The guide component 340 is designed to ensure that the drive component 310 maintains a stable posture and precise positioning when moving along the second direction, avoiding unnecessary shaking or swaying. Specifically, the guide component 340 includes a guide rail 341 and a slider 342. The guide rail 341 extends along the second direction and is parallel to the moving direction of the drive component 310, thereby effectively guiding the linear motion of the drive component 310. In this embodiment, the guide rail 341 can take various forms, such as a linear guide rail 341, a dovetail groove guide rail 341, or a cylindrical guide rail 341, etc., and this embodiment does not limit this.

[0050] Continue to refer to Figure 1 As shown, in this embodiment of the invention, slider 342 is slidably connected to guide rail 341. One of guide rail 341 and slider 342 is disposed on substrate 100, and the other is disposed on drive member 310. Through its cooperation with guide rail 341, slider 342 restricts the movement of drive member 310 to a predetermined second direction and bears the lateral force that may be generated by drive member 310 during movement. Slider 342 can be in the form of linear bearing slider 342, roller slider 342, or sliding bearing slider 342, etc., to achieve low-friction, high-precision sliding.

[0051] For example, in this embodiment of the invention, the guide rail 341 can be fixed on the substrate 100, and the slider 342 can be fixed on the driving member 310, so that the driving member 310 slides on the guide rail 341 on the substrate 100 via the slider 342; or conversely, the slider 342 can be fixed on the substrate 100, and the guide rail 341 can be fixed on the driving member 310, so that the driving member 310 slides on the slider 342 on the substrate 100 via the guide rail 341. When the first driving assembly 200 drives the driving member 310 to move along the second direction, the cooperation of the guide rail 341 and the slider 342 can effectively limit the degree of freedom of the driving member 310, suppress the shaking, swaying or tilting that may occur during the movement of the driving member 310, and ensure that the driving member 310 always runs smoothly along the predetermined straight path. This not only improves the positioning accuracy and stability of the adsorption rod 320 during the material picking process, but also reduces the risk of material picking failure or workpiece damage caused by the unstable movement of the driving member 310.

[0052] Reference Figure 1 and Figure 4As shown, in this embodiment of the invention, the guide component 340 is disposed on the side of the adsorption rod 320 facing away from the first drive component 200. In other words, the guide rail 341 and the slider 342 are arranged on the outer side of the adsorption rod 320 (away from the side of the annular transmission path in the middle of the substrate 100). The guide rail 341 is fixedly disposed on the substrate 100, and the slider 342 has an extension portion 3421 protruding from one end near the drive member 310. The extension portion 3421 extends along a first direction and is fixedly connected to the drive member 310. Reference Figure 4 and Figure 5 As shown, in this embodiment of the invention, the slider 342 extends inward along the first direction across the adsorption rod 320 region via the extension 3421 and is fixedly connected to the inner driving member 310. The central region of the substrate 100 retains only the annular transmission path of the first driving assembly 200 and the first connecting portion 311 of the two driving members 310, eliminating the need to reserve additional side-by-side space for the guide assembly 340. This keeps the front-to-back space in the central region of the substrate 100 open, facilitating the arrangement of vacuum pipelines, electrical wiring harnesses, or sensor brackets. These components do not need to be routed around or folded upwards, resulting in shorter pipeline lengths and reduced gas pressure loss, thus optimizing the spatial layout.

[0053] It is understood that the extension 3421 extends inward along the first direction, crossing the area of ​​the adsorption rod 320 and the buffer 330, and then connects to the drive member 310, so that the body of the slider 342 does not need to move inward, and the guide rail 341 is fixed in position at the outer edge, thus avoiding the stacking of the guide assembly 340 and the drive assembly or the adsorption assembly 300 in the front-back direction in the middle of the substrate 100.

[0054] Reference Figure 2 and Figure 5 As shown, in this embodiment of the invention, a bearing 350 is provided within the limiting hole 313. This bearing 350 can be, for example, a ball bearing 350, a sliding bearing 350, or an oil-impregnated bearing 350. Its outer ring is fitted tightly or with an interference fit with the limiting hole 313 to ensure that the bearing 350 is securely installed within the limiting hole 313. The adsorption rod 320 slides through the inner ring of the bearing 350 to be rotatably connected to the drive member 310 via the bearing 350. Therefore, the adsorption rod 320 can not only slide smoothly in a straight line along the second direction within the limiting hole 313, but also rotate around its axis with low frictional resistance.

[0055] Furthermore, referring to Figure 4As shown, in this embodiment of the invention, the material handling mechanism 1000 further includes a second driving component 400, which is configured to drive the adsorption rod 320 to rotate around its axis. The second driving component 400 is used to drive the adsorption rod 320 to rotate, so that it can precisely adjust the angle and orient the gripped workpiece, and precisely control the rotation angle and speed of the adsorption rod 320 to meet the orientation requirements of different workpieces.

[0056] Specifically, continue to refer to Figure 4 As shown, in this embodiment of the invention, the second drive assembly 400 includes a second driver 410, a second driving wheel 420, a second driven wheel 430, and a second synchronous belt 440. The second driver 410 is the power source of the second drive assembly 400, typically a motor, such as a stepper motor or a servo motor, which is fixedly mounted on the substrate 100. In one example, the first driver 210 and the second driver 410 are spaced apart on the rear side of the substrate 100, while the first drive assembly 200, the adsorption assembly 300, and the guide assembly 340 are located on the front side of the substrate 100.

[0057] Continue to refer to Figure 4 As shown, in this embodiment of the invention, the second drive 410 transmits the rotational power generated by the second drive 410 to the second synchronous belt 440. The second drive pulley 420 is typically a synchronous belt pulley, and its tooth profile matches that of the second synchronous belt 440 to achieve precise transmission without slippage. Two second driven pulleys 430 are provided, respectively fitted around the outer periphery of the two adsorption rods 320. The adsorption rods 320 slide through the second driven pulleys 430 and are configured to rotate with the second driven pulleys 430. The second synchronous belt 440 is wound around the second drive pulley 420 and the two second driven pulleys 430 and is configured to drive the two second driven pulleys 430 to rotate synchronously. Understandably, each second driven pulley 430 receives power transmitted by the second synchronous belt 440 and converts it into rotational motion of the adsorption rod 320. The second driven pulley 430 is typically also a synchronous belt pulley, its internal structure designed to allow rotational connection with the adsorption rod 320 while allowing the adsorption rod 320 to slide axially. For example, the internal bore of the second driven pulley 430 may have a keyway or spline to mate with a corresponding structure on the adsorption rod 320, or achieve rotational linkage through frictional engagement. The second synchronous belt 440 is wound around the second driving pulley 420 and the two second driven pulleys 430. Through the connection of the second synchronous belt 440, the second driver 410 can simultaneously drive the two second driven pulleys 430, ensuring that the two second driven pulleys 430 rotate synchronously at the same speed and in the same direction.

[0058] Reference Figure 1 and Figure 2As shown, in this embodiment of the invention, the adsorption rod 320 is provided with a vacuum channel 323. Specifically, the vacuum channel 323 is a through-hole disposed inside the adsorption rod 320, extending along the axial or near-axial direction of the adsorption rod 320, and is designed to provide an airflow path for vacuum adsorption. The inner wall of this channel is typically required to be smooth to reduce airflow resistance and ensure vacuum transmission efficiency. Along the length of the adsorption rod 320, one end of the adsorption rod 320 is provided with an adsorption hole 324, and the other end is connected to a connector 360.

[0059] Specifically, in this embodiment of the invention, the adsorption hole 324 can be one or more, and its shape and size can be designed according to the characteristics of the workpiece to be adsorbed. For example, for a workpiece with a flat surface, a single central adsorption hole 324 can be used; for a workpiece with an irregular or porous surface, multiple small hole arrays or a suction cup can be used. The connector 360 serves as the interface between the adsorption rod 320 and the external vacuum device, and can adopt structures such as quick-connect connectors 360, threaded connectors 360, or pagoda connectors 360 to facilitate connection with vacuum hoses or rigid tubes, ensuring the sealing of the connection and preventing air leakage from affecting the vacuum level.

[0060] Reference Figure 2 As shown, in this embodiment of the invention, the adsorption hole 324 and the connector 360 are respectively connected to the vacuum channel 323. The connector 360 is used to connect a vacuum device, which can be an independent vacuum pump, vacuum generator, etc., and this embodiment does not limit this. After the adsorption rod 320 contacts the workpiece, the vacuum device generates a negative pressure at the adsorption hole 324 through the connector 360 and the vacuum channel 323, thereby firmly adsorbing the workpiece onto the adsorption rod 320.

[0061] Embodiments of the present invention also provide a transfer device, including the material handling mechanism 1000 described in the above embodiments.

[0062] The transfer device of this invention adopts the material picking mechanism 1000 of the above embodiment. By optimizing the structural design of the material picking mechanism 1000, the impact force when the adsorption component 300 contacts the workpiece is reduced in the transfer operation of workpiece picking and placing, thereby reducing the possibility of workpiece damage. At the same time, it reduces the risk of workpiece falling off during adsorption or transfer due to impact vibration, improves the success rate of picking and transfer stability, and thus improves the reliability of the transfer device.

[0063] Since the transfer device adopts all the technical solutions of the material handling mechanism 1000 of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0064] Of course, the present invention is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A material handling mechanism, characterized in that, include: substrate; A first driving component is disposed on the substrate, and the first driving component includes a first driver; Two adsorption components are respectively disposed on opposite sides of the substrate along the thickness direction of the substrate, and the two adsorption components are spaced apart on the substrate along a first direction. Each adsorption component includes a driving member, an adsorption rod and a buffer member. The driving member is movably connected to the adsorption rod. The adsorption rod is used to adsorb the workpiece. The buffer member is disposed between the driving member and the adsorption rod. The first driver is connected to the driving members of the two adsorption components and is configured to drive the two driving members to move along the second direction. The thickness direction of the substrate and the second direction are perpendicular to the first direction. The driving member is configured to drive the adsorption rod to move along the second direction through the buffer after being driven. The driving member is also configured to overcome the elastic force of the buffer and move relative to the adsorption rod when the adsorption rod contacts the workpiece.

2. The material handling mechanism according to claim 1, characterized in that, The driving component includes a first connecting part and a second connecting part that are connected to each other. The first connecting part is connected to the first driving assembly. The second connecting part extends along the first direction and has a limiting hole that passes through the second connecting part along the second direction. The adsorption rod includes a rod body and an abutting part. The abutting part is disposed on the outer periphery of the rod body along the circumference of the rod body. The rod body slides through the limiting hole. The buffer is a spring. The spring is sleeved on the rod body, and one end of the spring abuts against the abutting part and the other end abuts against the second connecting part.

3. The material handling mechanism according to claim 2, characterized in that, The first drive assembly further includes a first driving wheel, a first driven wheel, and a first synchronous belt. The first driver is connected to the substrate, the first driving wheel is connected to the output end of the first driver, the first driven wheel is rotatably disposed on the substrate, and the first synchronous belt is wound around the first driving wheel and the first driven wheel to form an annular transmission path. The annular transmission path has a first transmission side and a second transmission side spaced apart along the first direction. The first connecting portion of one of the drive members is fixedly connected to the first transmission side, and the first connecting portion of the other drive member is fixedly connected to the second transmission side.

4. The material handling mechanism according to claim 3, characterized in that, The first connecting part is connected to the end of the second connecting part near the first driving component and extends along the second direction. The first connecting part and the adsorption rod are spaced apart along the first direction. The side of the first connecting part facing away from the adsorption rod is fixedly connected to the first synchronous belt.

5. The material handling mechanism according to claim 4, characterized in that, Each of the adsorption components further includes a guide component, which includes a guide rail and a slider. The guide rail extends along the second direction, and the slider is slidably connected to the guide rail. One of the guide rail and the slider is disposed on the substrate, and the other is disposed on the drive member.

6. The material handling mechanism according to claim 5, characterized in that, The guide component is located on the side of the adsorption rod facing away from the first drive component. The guide rail is fixedly mounted on the substrate. The slider has an extension portion protruding from one end near the drive component. The extension portion extends along the first direction and is fixedly connected to the drive component.

7. The material handling mechanism according to claim 2, characterized in that, A bearing is provided in the limiting hole, and the adsorption rod slides through the inner ring of the bearing to be rotatably connected to the driving component through the bearing. The material picking mechanism also includes a second driving component, which is configured to drive the adsorption rod to rotate around its axis.

8. The material handling mechanism according to claim 7, characterized in that, The second drive assembly includes a second driver, a second drive wheel, a second driven wheel, and a second synchronous belt. The second driver and the first driver are located on the same side of the substrate and connected to the substrate. The second drive wheel is connected to the output end of the second driver. There are two second driven wheels, which are respectively sleeved on the outer periphery of the two adsorption rods. The adsorption rods slide through the second driven wheels and are configured to rotate with the second driven wheels. The second synchronous belt is wrapped around the second drive wheel and the two second driven wheels and is configured to drive the two second driven wheels to rotate synchronously.

9. The material handling mechanism according to claim 1, characterized in that, The adsorption rod has a vacuum channel inside. Along the length of the adsorption rod, one end of the adsorption rod has an adsorption hole, and the other end is connected to a connector. The adsorption hole and the connector are respectively connected to the vacuum channel. The connector is used to connect to a vacuum device.

10. A transfer device, characterized in that, Includes the material handling mechanism as described in any one of claims 1 to 9.

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