Magnetic suction nozzle and material taking and placing equipment

Abstract

The application belongs to the technical field of taking and placing equipment, and discloses a magnetic suction nozzle and a taking and placing equipment. The magnetic suction nozzle comprises a sleeve, a lifting piece, a driving piece and a plurality of magnets. The distribution of the plurality of magnets on the lifting piece of the magnetic suction nozzle makes the magnetic force of the side of the sleeve close to the adjacent product smaller than the rest of the side. When the sleeve is close to the target product, the magnetic strength in the direction of the adjacent product is inhibited, so that the lateral magnetic force acting on the adjacent product is weakened, the possibility of accidental attraction or disturbance of the adjacent product is correspondingly reduced, and the phenomenon of product adhesion or position deviation in the taking and placing process is reduced.

Description

Technical Field

[0001] This invention relates to the field of material handling equipment, and more particularly to a magnetic suction nozzle and material handling equipment. Background Technology

[0002] In the automated production of microelectronic components, products are typically densely arranged in trays and need to be moved to the next workstation using a pick-and-place mechanism. Existing pick-and-place mechanisms usually use magnetic nozzles, which integrate magnets.

[0003] For densely packed coil products, the magnetic force is evenly distributed around the magnetic nozzle. When picking up or placing a single product, the lateral magnetic force can easily attract and disturb adjacent products, which can easily lead to failure in picking up or placing, product sticking, or positional displacement.

[0004] Therefore, the above problems urgently need to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a magnetic suction nozzle and a material handling device to reduce product sticking or positional displacement during the handling process.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A magnetic suction nozzle, the magnetic suction nozzle comprising a sleeve, a lifting component, a driving component, and a plurality of magnets;

[0008] The sleeve is used to accommodate the lifting component and to transmit magnetic force to attract the product when it is close to it.

[0009] The lifting component slides into the sleeve, and the lifting component can be embedded in the sleeve;

[0010] The drive member is connected to the lifting member and is configured to drive the lifting member to move along the axial direction of the sleeve so that the lifting member extends into or retracts from the sleeve.

[0011] Multiple magnets are distributed on the lifting component, and the magnetic force on the side of the sleeve closest to the adjacent product is less than that on the other side.

[0012] Preferably, the sleeve includes a side wall and a bottom wall, the side wall being made of a magnetically shielding material and the bottom wall being made of a magnetically conductive material.

[0013] Preferably, the lifting member is cylindrical, and the sleeve includes a cavity that matches the shape of the lifting member, allowing the lifting member to slide and embed itself into the cavity.

[0014] Preferably, a plurality of the magnets are distributed along the outer periphery of the lifting member, with the bottom of the magnets close to the bottom wall of the cavity.

[0015] Preferably, the magnetic forces of the multiple magnets are different, with the magnet closer to the adjacent product having a smaller magnetic force than the magnets on the other sides.

[0016] Preferably, the sleeve has a clearance zone on its side wall, and the lifting component has a corresponding clearance zone on its outer periphery. The clearance zone and the clearance zone are arranged opposite to each other to avoid protruding structures on the product.

[0017] Preferably, the magnetic suction nozzle further includes a guide assembly disposed between the sleeve and the lifting member, for guiding the lifting member to move axially along the sleeve.

[0018] A material handling device includes a robotic arm and the aforementioned magnetic suction nozzle;

[0019] The magnetic suction nozzle is mounted on the moving part of the robotic arm, and the robotic arm drives the magnetic suction nozzle to move to the target position.

[0020] Preferably, the magnetic nozzles include a plurality of magnetic nozzles arranged side by side, and the side with the weakest magnetic force in each magnetic nozzle faces the same direction.

[0021] Preferably, the material handling device further includes an adjustment mechanism, which is configured to drive each of the magnetic suction nozzles to rise and fall respectively.

[0022] The beneficial effects of this invention are:

[0023] The magnetic suction nozzle provided by this invention has multiple magnets distributed on the lifting component so that the magnetic force on the side of the sleeve closer to the adjacent product is less than that on the other side. When the sleeve is close to the target product, the magnetic force intensity in the direction of the adjacent product is suppressed, thereby weakening the lateral magnetic force on the adjacent product. The possibility of the adjacent product being accidentally attracted or disturbed is reduced accordingly, thereby reducing the phenomenon of product sticking or position displacement during the picking and placing process.

[0024] Furthermore, since the magnetic force at the front end of the sleeve increases as the lifting component extends in and decreases as the lifting component retracts, and the asymmetry of the magnetic force distribution persists throughout the entire operation, when performing the picking up and placing of a single product, the influence range of the sleeve on other products around the target product tends to shrink, which helps to maintain the arrangement of the remaining products on the tray, thereby ensuring the continuity of subsequent picking and placing operations. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the magnetic suction nozzle provided by the present invention;

[0026] Figure 2 This is a partial structural diagram of the lifting component and the magnet provided by the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the sleeve provided by the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of the material handling equipment provided by the present invention, which removes the robotic arm.

[0029] In the picture:

[0030] 1. Sleeve; 11. Cavity; 12. Clearance area; 2. Lifting component; 21. Clearance area; 3. Driving component; 4. Magnet; 5. Guide assembly; 51. Guide rail; 52. Slider; 6. Adjustment mechanism. Detailed Implementation

[0031] The invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings, not the entire structure.

[0032] In the description of the invention, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the invention based on the specific circumstances.

[0033] In this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0035] Please see Figures 1 to 4 This embodiment provides a magnetic suction nozzle, including a sleeve 1, a lifting member 2, a driving member 3, and multiple magnets 4. The sleeve 1 is used to accommodate the lifting member 2 and transmits magnetic force to attract the product when it is near it. The lifting member 2 is slidably engaged with the sleeve 1, allowing the lifting member 2 to be embedded in the sleeve 1. The driving member 3 is connected to the lifting member 2 and is configured to drive the lifting member 2 to move axially along the sleeve 1, so that the lifting member 2 extends into or retracts from the sleeve 1. The multiple magnets 4 are distributed on the lifting member 2, and the magnetic force on the side of the sleeve 1 closest to the adjacent product is less than that on the other sides.

[0036] When it is necessary to adsorb a product, the driving component 3 drives the lifting component 2 to move downward along the axis of the sleeve 1, so that the lifting component 2 extends into the front end of the sleeve 1. At this time, multiple magnets 4 distributed on the lifting component 2 approach the front end area of ​​the sleeve 1. The front end of the sleeve 1 obtains a strong magnetic force due to the proximity of the magnets 4, thereby being able to adsorb the target product.

[0037] When the product needs to be released, the drive unit 3 drives the lifting unit 2 to move upward along the axis of the sleeve 1, causing the lifting unit 2 to retract from the front end of the sleeve 1. As the lifting unit 2 moves away from the front end of the sleeve 1, the magnetic force in the front end area of ​​the sleeve 1 weakens to the point where it is insufficient to maintain the attraction, and the product can then be released.

[0038] In this process, the distribution of multiple magnets 4 on the lifting component 2 makes the magnetic force on the side of the sleeve 1 closest to the adjacent product less than the other side. When the sleeve 1 approaches the target product, the magnetic force intensity in the direction of the adjacent product is suppressed, thereby weakening the lateral magnetic force on the adjacent product. The possibility of the adjacent product being accidentally attracted or disturbed is reduced accordingly, thereby reducing the phenomenon of product sticking or position displacement during the picking and placing process.

[0039] Furthermore, since the magnetic force at the front end of the sleeve 1 increases as the lifting member 2 extends in and decreases as the lifting member 2 retracts, and the asymmetry of the magnetic force distribution runs through the entire operation process, when performing the picking up and placing of a single product, the influence range of the sleeve 1 on other products around the target product tends to shrink, which helps to maintain the arrangement of the remaining products on the tray, thereby ensuring the continuity of subsequent picking and placing operations.

[0040] It should be noted that the driving component 3 can preferably be a cylinder. The piston rod of the cylinder is directly connected to the lifting component 2 or driven through a connecting component. The extension and retraction of the piston rod are achieved by controlling the air intake and exhaust of the cylinder, thereby driving the lifting component 2 to move axially along the sleeve 1. The driving component 3 can also be a structure of servo motor and lead screw and nut pair, or a linear motor can be used as an alternative, which will not be elaborated further.

[0041] To further reduce the interference of lateral magnetic forces on adjacent products, the sleeve 1 includes a side wall and a bottom wall. The side wall is made of a magnetically shielding material, and the bottom wall is made of a magnetically conductive material. Because the magnetically shielding material hinders the diffusion of magnetic lines of force to the outside of the sleeve 1, when the lifting component 2 moves the magnet 4 into the front end of the sleeve 1, the magnetic lines of force are more concentrated towards the front end of the sleeve 1, making it less likely to diffuse laterally through the side wall of the sleeve 1. This, combined with the aforementioned asymmetric magnetic force distribution, further reduces the magnetic strength on the side of the sleeve 1 closest to the adjacent product. This helps to weaken the lateral magnetic force exerted by the sleeve 1 on surrounding products during the picking and placing process, reducing the risk of adjacent products being accidentally attracted or disturbed. The bottom wall of the sleeve 1, on the other hand, needs to be made of a magnetically conductive material to effectively conduct the magnetic lines of force to the front end of the sleeve 1, ensuring sufficient attraction force on the target product.

[0042] It should be noted that magnetic shielding materials refer to materials with low magnetic permeability or high magnetic reluctance characteristics, which can effectively suppress the diffusion of magnetic field lines through their body. Common magnetic shielding materials include stainless steel (such as austenitic stainless steel) and brass. In addition, commonly used magnetically conductive materials include electrical pure iron and low carbon steel.

[0043] In this embodiment, the lifting member 2 is cylindrical, and the sleeve 1 includes a cavity 11 that matches the shape of the lifting member 2. The lifting member 2 can slide and fit into the cavity 11. This helps to guide the lifting member 2 to move along the axial direction of the sleeve 1 and reduces radial offset or sway of the lifting member 2 during movement.

[0044] Furthermore, multiple magnets 4 are distributed along the outer periphery of the lifting component 2, with the bottom of the magnets 4 close to the bottom wall of the cavity 11. When the lifting component 2 extends into the cavity 11, the distance between the bottom of the magnets 4 and the bottom wall of the cavity 11 is small. After the magnetic lines of force originate from the magnets 4, they can reach the front end of the sleeve 1 with a shorter path, thereby reducing the diffusion loss of magnetic lines of force inside the sleeve 1. This helps to obtain a stronger magnetic flux density at the front end of the sleeve 1, thereby improving the adsorption capacity for the target product.

[0045] Meanwhile, since the magnet 4 is distributed along the outer periphery of the lifting component 2, the magnetic lines of force it generates tend to converge towards the front end along the axial direction of the sleeve 1 rather than diverge towards the side wall of the sleeve 1. This helps to confine the magnetic force to the front end area of ​​the sleeve 1, so that the magnetic force intensity on the side of the sleeve 1 close to the adjacent product is kept at a low level, thereby further reducing the lateral magnetic interference to the adjacent product during the adsorption process.

[0046] Furthermore, the magnetic forces of the multiple magnets 4 are different, with the magnet 4 closer to the adjacent product having a weaker magnetic force than the magnets 4 on the other sides. Therefore, by differentiating the magnetic forces of the magnets 4, it helps to suppress the magnetic force on the side closer to the adjacent product at the source of the magnetic field, thereby reducing the impact of lateral magnetic forces on the adjacent product.

[0047] In this embodiment, there are a total of seven magnets 4, of which four are large magnetic magnets 4 and three are small magnetic magnets 4; all magnets 4 are embedded on the lifting component 2, the three small magnetic magnets 4 are concentrated on the side of the lifting component 2 close to the adjacent product, and the four large magnetic magnets 4 are distributed on the other side.

[0048] In actual pick-and-place operations, the surfaces of many electronic components are not completely flat. For example, coil products often have protruding structures such as lead connectors or pins. If these protruding structures come into direct contact with the sleeve 1 or the lifting component 2, the product may not be able to be stably attracted, or even tilted or detached due to uneven local force, affecting the success rate of pick-and-place. To address this, the side wall of the sleeve 1 is provided with a clearance zone 12, and the outer periphery of the lifting component 2 is correspondingly provided with a clearance zone 21. The clearance zone 12 and the clearance zone 21 are positioned opposite each other to avoid the protruding structures on the product.

[0049] When the sleeve 1 approaches the product for adsorption, the protruding structure can enter the clearance area 12 or the avoidance area 21, thereby reducing the possibility of contact between the protrusion and the side wall of the sleeve 1 or the outer periphery of the lifting component 2. This helps to reduce the risk of jamming or obstruction of movement due to interference. At the same time, by reserving clearance and avoidance space, it can accommodate products with protruding structures such as connectors, pins, and bosses on the surface, without relying on the complete flatness of the product surface. This helps to expand the application range of the magnetic nozzle, enabling it to work normally when facing various electronic components with protruding features.

[0050] To further improve the smoothness of the movement of the lifting component 2 during reciprocating motion within the sleeve 1, the magnetic suction nozzle also includes a guide assembly 5. The guide assembly 5 is disposed between the sleeve 1 and the lifting component 2 and is used to guide the lifting component 2 to move axially along the sleeve 1. This helps to reduce the risk of the magnet 4 scraping or getting stuck on the inner wall of the sleeve 1 due to the eccentricity of the lifting component 2.

[0051] It should be noted that the guide assembly 5 preferably has a structure in which the guide rail 51 and the slider 52 cooperate. The guide rail 51 is fixed to the external support structure, and the slider 52 slides with the guide rail 51. The lifting member 2 is installed on the slider 52, and the sliding of the slider 52 along the guide rail 51 drives the lifting member 2 to move axially along the sleeve 1. Alternatively, the guide assembly 5 can also use a combination structure of a linear bearing and a guide rod. The linear bearing is sleeved on the outside of the guide rod, and the lifting member 2 is connected to the linear bearing, which can also achieve the guiding function of the lifting member 2 moving axially along the sleeve 1.

[0052] This embodiment also provides a material handling device, including a robotic arm and the aforementioned magnetic suction nozzle. The magnetic suction nozzle is disposed on the moving part of the robotic arm, and the robotic arm drives the magnetic suction nozzle to move to the target position.

[0053] Understandably, the multi-degree-of-freedom motion capability of the robotic arm enables the magnetic suction nozzle to be moved to a position above the tray, directly above the product, or other desired target locations. This helps to accurately align the tip of the magnetic suction nozzle with the adsorption point of the product to be picked up, thereby improving the positioning accuracy of the picking and placing action.

[0054] It is also understandable that the robotic arm can flexibly adjust the working position of the magnetic suction nozzle between trays containing products with different spacing and array densities. Combined with the design of the clearance area 12 and the avoidance area 21 of the magnetic suction nozzle itself, the device can still smoothly pick up and place products with protruding structures such as connectors and pins on the surface through the positioning and cooperation of the robotic arm, thereby helping to broaden the applicable product range of the picking and placing equipment.

[0055] Among them, the robotic arm is a common industrial automation actuator in existing technology, and its moving part can perform spatial displacement along multiple degrees of freedom. The magnetic suction nozzle is fixed to the moving part of the robotic arm through a mounting base or connecting plate. The robotic arm moves the entire magnetic suction nozzle to a position directly in front of or above the target product on the tray according to a preset program.

[0056] During operation, the robotic arm first moves the magnetic suction nozzle to the target product. Then, the drive component 3 inside the mechanism drives the lifting component 2 to extend into the front end of the sleeve 1, so that the sleeve 1 can magnetically attract the product. After the attraction is completed, the robotic arm drives the mechanism and the product to the designated placement position. Then, the drive component 3 drives the lifting component 2 to exit the front end of the sleeve 1, so that the magnetic force at the front end of the sleeve 1 is weakened and the product is released.

[0057] In existing pick-and-place operations, products are typically arranged in multiple rows and columns on a tray, which can hold multiple rows of products to increase the single-load capacity. When multiple products on the same tray need to be picked up and placed simultaneously, using only a single pick-and-place mechanism to perform the operation one by one often fails to meet the requirements for high production efficiency. Therefore, a magnetic suction nozzle is provided, consisting of multiple nozzles arranged side-by-side, with the side of each nozzle having the weakest magnetic force facing the same direction.

[0058] This configuration, with multiple magnetic suction nozzles arranged side-by-side, allows the robotic arm to simultaneously pick up and place multiple target products during a single descent. This helps shorten the time of a single pick-and-place cycle, thereby increasing the product throughput per unit time and improving the overall operational efficiency of the production line.

[0059] Meanwhile, the sides of each magnetic nozzle with weaker magnetic force face the same direction, ensuring that the side of each nozzle facing the adjacent mechanism is the side with weaker magnetic force. When all magnetic nozzles are working simultaneously, the sides of the mechanisms facing each other are in a low magnetic force state, which helps to reduce the possibility that the lateral magnetic force of each magnetic nozzle will accidentally attract or disturb the products held by adjacent magnetic nozzles when it is adsorbing its own target product.

[0060] In actual handling operations, individual products at specific locations need to be handled independently. Therefore, the handling equipment also includes an adjustment mechanism 6, which is configured to drive the lifting and lowering of each magnetic suction nozzle.

[0061] When only some positions on the tray contain products, or when the production plan only requires retrieving a specific row or column of products, the adjustment mechanism 6 can drive only the magnetic suction nozzle corresponding to that product position to descend for adsorption, while the remaining magnetic suction nozzles remain raised. This helps avoid ineffective descent and adsorption actions by the magnetic suction nozzles on empty positions, reducing unnecessary operation steps and time consumption.

[0062] When only products at specific locations are picked up or placed, the magnetic suction nozzles that remain in an elevated state are in a weaker state at the front end of the sleeve 1 because the lifting component 2 does not extend into the front end of the sleeve 1. This helps to reduce the risk of these mechanisms accidentally attracting or disturbing products at adjacent positions on the tray, thereby maintaining the arrangement of the remaining products on the tray.

[0063] In addition, the adjustment mechanism 6 allows the operator or control system to drive only some of the magnetic suction nozzles to move up and down, while the rest of the magnetic suction nozzles remain stationary. This is especially useful in scenarios where only some products in the tray need to be removed or where it is necessary to skip empty positions. It helps to avoid unnecessary suction actions and reduce energy consumption and wear on the mechanism.

[0064] It should be noted that the adjustment mechanism 6 can preferably be made of cylinders. Each magnetic nozzle is equipped with an independent cylinder, and the piston rod of each cylinder is directly connected to the corresponding lifting component 2 or driven through a connecting component. By independently controlling the air intake and exhaust of each cylinder, the piston rod can be independently extended and retracted, thereby driving the lifting component 2 of each magnetic nozzle to move axially along the corresponding sleeve 1.

[0065] In other embodiments, the adjustment mechanism 6 can also be a structure of servo motor and lead screw and nut pair. Each magnetic suction nozzle is provided with a set of independent servo motor and lead screw and nut pair. By controlling the rotation angle and speed of each servo motor, the lifting parts 2 of each magnetic suction nozzle can be driven to achieve independent linear displacement.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A magnetic suction nozzle, characterized in that, The magnetic suction nozzle includes a sleeve (1), a lifting component (2), a driving component (3), and multiple magnets (4); The sleeve (1) is used to accommodate the lifting component (2) and to transmit magnetic force to attract the product when it is close to the product; The lifting component (2) slides with the sleeve (1), and the lifting component (2) can be embedded in the sleeve (1). The drive member (3) is connected to the lifting member (2) and is configured to drive the lifting member (2) to move along the axial direction of the sleeve (1) so that the lifting member (2) extends into or exits the sleeve (1). Multiple magnets (4) are distributed on the lifting member (2), and the magnetic force of the sleeve (1) on the side closer to the adjacent product is less than that on the other side.

2. A magnetic suction nozzle according to claim 1, characterized in that, The sleeve (1) includes a side wall and a bottom wall, the side wall being made of a magnetically insulating material and the bottom wall being made of a magnetically conductive material.

3. A magnetic suction nozzle according to claim 1, characterized in that, The lifting component (2) is cylindrical, and the sleeve (1) includes a cavity (11) that matches the shape of the lifting component (2). The lifting component (2) can slide and be embedded in the cavity (11).

4. A magnetic suction nozzle according to claim 3, characterized in that, Multiple magnets (4) are distributed along the outer periphery of the lifting member (2), with the bottom of the magnets (4) close to the bottom wall of the cavity (11).

5. A magnetic suction nozzle according to claim 4, characterized in that, The magnetic forces of the multiple magnets (4) are different, and the magnetic force of the magnet (4) closer to the adjacent product is less than that of the magnets (4) on the other sides.

6. A magnetic suction nozzle according to claim 1, characterized in that, The sleeve (1) has a clearance area (12) on its side wall, and the lifting component (2) has a corresponding clearance area (21) on its outer periphery. The clearance area (12) and the clearance area (21) are arranged opposite to each other to avoid protruding structures on the product.

7. A magnetic suction nozzle according to claim 1, characterized in that, The magnetic suction nozzle also includes a guide component (5), which is disposed between the sleeve (1) and the lifting member (2) for guiding the lifting member (2) to move axially along the sleeve (1).

8. A material handling device, characterized in that, Includes a robotic arm and a magnetic suction nozzle as described in any one of claims 1-7; The magnetic suction nozzle is mounted on the moving part of the robotic arm, and the robotic arm drives the magnetic suction nozzle to move to the target position.

9. A material handling device according to claim 8, characterized in that, The magnetic suction nozzles include multiple ones, which are arranged side by side, and the side with the weakest magnetic force in each magnetic suction nozzle faces the same direction.

10. A material handling device according to claim 9, characterized in that, The material handling equipment also includes an adjustment mechanism (6), which is configured to drive each of the magnetic suction nozzles to rise and fall respectively.

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