Material taking and placing device

Abstract

A material taking and placing device comprises a feeding mechanism which comprises a bearing assembly and a positioning assembly, the positioning assembly is arranged on the bearing assembly, the bearing assembly is used for bearing a tray with a workpiece, and the positioning assembly is used for positioning the workpiece; the material receiving mechanism and the material supply mechanism are arranged at an interval, and the material receiving mechanism is used for bearing trays; the grabbing mechanism, the feeding mechanism and the receiving mechanism are arranged in a spaced mode, the grabbing mechanism comprises a mechanical arm, a grabbing assembly and a feeding assembly, the grabbing assembly and the feeding assembly are connected with the mechanical arm, the grabbing assembly is used for grabbing trays on the feeding mechanism, the feeding assembly is used for grabbing workpieces, and the grabbing assembly transfers the trays to the receiving mechanism; and the feeding assembly is used for transferring the workpiece to the positioning assembly for positioning and transferring the positioned workpiece to a preset position for machining. According to the material taking and placing mechanism, the automation degree of workpiece machining can be improved, and the labor cost is reduced.

Description

Technical Field

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

[0002] At present, when producing electronic parts such as computer casings, it is usually necessary to manually take the workpiece out of the tray and put it into the CNC machine tool for processing. After the workpiece is processed, it is necessary to manually take the workpiece out and put it back into the tray. However, this processing method has a low degree of automation and consumes a high labor cost. Utility Model Content

[0003] In view of the above, it is necessary to propose a material picking and placing device that can automatically pick up and place workpieces, thereby improving the degree of automation in workpiece processing and reducing labor costs.

[0004] An embodiment of the present application provides a material picking and placing device, which includes: a feeding mechanism, including a bearing component and a positioning component arranged on the bearing component, the bearing component is used to carry a pallet loaded with workpieces, and the positioning component is used to position the workpiece; a material receiving mechanism, which is spaced apart from the feeding mechanism, and the material receiving mechanism is used to carry the pallet; a grasping mechanism, which is spaced apart from the feeding mechanism and the material receiving mechanism, respectively, the grasping mechanism includes a manipulator and a grasping component and a loading component respectively connected to the manipulator, the grasping component is used to grasp the pallet on the feeding mechanism, and the loading component is used to grasp the workpiece, wherein the grasping component transfers the pallet to the material receiving mechanism, the loading component transfers the workpiece to the positioning component for positioning, and moves the positioned workpiece to a preset position for processing.

[0005] During the implementation of the above-mentioned material picking and placing device, the trays with workpieces are stacked and placed on the bearing assembly, and the grasping assembly and the loading assembly are close to the bearing assembly. At this time, the grasping assembly grasps the tray, and the loading assembly grasps the workpiece in the tray. The grasping assembly transfers the tray to the receiving mechanism for storage, and the loading assembly transfers the workpiece to the positioning assembly for positioning. Then the loading assembly grabs the workpiece positioned by the positioning assembly and transfers it to the preset position for processing. When the workpiece is processed, the loading assembly can take the workpiece out of the preset position and place the workpiece in the tray on the receiving mechanism. Since the material picking and placing device can replace manual labor to pick up and place materials, it not only improves the automation degree of picking and placing materials, but also reduces the labor intensity and labor cost of operators.

[0006] In some embodiments, the grasping assembly includes a clamping drive member, which is provided on the manipulator; a plurality of clamping jaws, which are arranged at intervals and are rotatably connected to the manipulator; a plurality of connecting rods, which correspond one to one to the plurality of clamping jaws, respectively, one end of the plurality of connecting rods is rotatably connected to the corresponding clamping jaws, and the other ends of the plurality of connecting rods are rotatably connected to the clamping drive member, and the plurality of connecting rods, driven by the clamping drive member, drive the plurality of clamping jaws to move closer to or away from each other to clamp or release the pallet.

[0007] In some embodiments, the loading assembly includes multiple loading adsorption parts, the multiple loading adsorption parts are arranged at intervals and are arranged on the same side of the manipulator as the multiple clamps, the loading adsorption parts are located on the peripheral side of the clamps, and the multiple loading adsorption parts are used to adsorb the workpiece on the pallet.

[0008] In some embodiments, the loading assembly further includes a plurality of buffer members, and the plurality of the buffer members, the plurality of the loading adsorption members, and the plurality of the clamps are all spaced apart and arranged on the same side of the manipulator, and the plurality of the buffer members are used to flexibly abut against the workpiece.

[0009] In some embodiments, the material picking and placing device also includes a material picking assembly, which includes a rotating drive member, which is arranged on the side of the manipulator away from the multiple loading adsorption members; multiple material picking adsorption members are arranged at intervals on the rotating drive member, and the multiple material picking adsorption members rotate to change positions under the drive of the rotating drive member. The multiple material picking adsorption members are used to absorb the processed workpiece and place the workpiece on the tray on the material receiving mechanism under the drive of the manipulator.

[0010] In some embodiments, the gripping mechanism further includes a blowing component, which is disposed on the manipulator and is spaced apart from the gripping assembly and the feeding assembly.

[0011] In some embodiments, the positioning assembly includes a support seat, which is provided on the supporting assembly, and the support seat is used to support the workpiece; a positioning member, which is provided on the support seat, and the positioning member is used to position the workpiece; a holding drive member, which is provided on the support seat and spaced apart from the positioning member; a holding member, which is connected to the holding drive member and is arranged opposite to the positioning member, and the holding member moves toward the positioning member under the drive of the holding drive member to hold the workpiece against the positioning member.

[0012] In some embodiments, the positioning member includes a plurality of first positioning columns, which are arranged on the support seat at intervals along a first direction; and a plurality of second positioning columns, which are arranged on the support seat at intervals along a second direction. The plurality of second positioning columns and the plurality of first positioning columns are respectively used to abut and position the workpiece in the first direction and the second direction, and the first direction and the second direction are perpendicular to each other.

[0013] In some embodiments, the supporting assembly includes a base, the positioning assembly is connected to the base; a supporting frame is connected to the base, and the supporting frame is tilted relative to the base, and the supporting frame is used to support the pallet with the workpiece.

[0014] In some embodiments, the material receiving mechanism includes a base, which is spaced apart from the supporting assembly, and the base is used to support the pallet; a plurality of limiting columns, which are spaced apart on the base, and the plurality of limiting columns are surrounded to form a accommodating area for accommodating the pallet, and the plurality of limiting columns are used to limit the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of a material picking and placing device and a processing machine provided in an embodiment of the present application.

[0016] Figure 2 yes Figure 1 The three-dimensional structural schematic diagram of the grabbing mechanism in the material picking and placing device is shown.

[0017] Figure 3 yes Figure 1 The three-dimensional structural schematic diagram of the feeding mechanism in the material picking and placing device is shown.

[0018] Figure 4 yes Figure 3 A schematic diagram of the three-dimensional structure of the positioning component in the feeding mechanism is shown.

[0019] Figure 5 yes Figure 1 The three-dimensional structural schematic diagram of the material receiving mechanism in the material picking and placing device is shown.

[0020] Figure 6 yes Figure 2 The shown diagram is a partial three-dimensional structural diagram of the grabbing mechanism at a first viewing angle.

[0021] Figure 7 yes Figure 2 The shown diagram is a partial three-dimensional structural diagram of the grabbing mechanism at a second viewing angle.

[0022] Figure 8 yes Figure 1 The three-dimensional structural schematic diagram of the material loading and unloading device and multiple processing machines is shown.

[0023] Main component symbols

[0024] Material taking and placing device 100

[0025] Feeding mechanism 10

[0026] Carrying component 11

[0027] Base 111

[0028] Carrier 112

[0029] Loading plate 1121

[0030] Column 1122

[0031] Positioning component 12

[0032] Support seat 121

[0033] Positioning piece 122

[0034] The first positioning column 1221

[0035] The second positioning column 1222

[0036] Abutting driving member 123

[0037] Abutment 124

[0038] Receiving mechanism 20

[0039] Base 21

[0040] Limit column 22

[0041] Accommodation area 23

[0042] Grasping mechanism 30

[0043] Robot 31

[0044] Robotic Arm 311

[0045] Bracket 312

[0046] Slide hole 3121

[0047] Grab component 32

[0048] Clamping drive 321

[0049] Gripper 322

[0050] Connecting rod 323

[0051] Feeding assembly 33

[0052] Feeding adsorption parts 331

[0053] Buffer 332

[0054] Reclaiming assembly 34

[0055] Rotating drive 341

[0056] Material collection adsorption part 342

[0057] Connecting frame 343

[0058] Blowing parts 35

[0059] Processing machine 200 DETAILED DESCRIPTION

[0060] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0061] In the description of the present application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, in the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0062] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0063] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0064] See also Figure 1 The embodiment of the present application provides a material taking and placing device 100 for automatically placing a workpiece (not shown) on a processing machine 200 for processing, and taking out the processed workpiece.

[0065] For ease of understanding, Figure 1A three-dimensional coordinate system is established for auxiliary explanation. The directions of the X-axis, Y-axis and Z-axis are shown in the figure. The X-axis, Y-axis and Z-axis are perpendicular to each other. The X-axis is defined as the first direction, and the Y-axis is defined as the second direction.

[0066] See also Figure 1 , Figure 2 and Figure 3 The material taking and placing device 100 comprises a feeding mechanism 10, a receiving mechanism 20 and a grabbing mechanism 30. The feeding mechanism 10 comprises a bearing assembly 11 and a positioning assembly 12. The bearing assembly 11 is used to bear a tray (not shown) loaded with workpieces; the positioning assembly 12 is arranged on the bearing assembly 11 and is used to position the workpieces.

[0067] The receiving mechanism 20 is spaced apart from the feeding mechanism 10, and the receiving mechanism 20 is used to carry the pallet. The grabbing mechanism 30 is spaced apart from the receiving mechanism 20 and the feeding mechanism 10, respectively, and the grabbing mechanism 30 includes a manipulator 31, a grabbing assembly 32 connected to the manipulator 31, and a loading assembly 33 connected to the manipulator 31, the grabbing assembly 32 is used to grab the pallet, and the loading assembly 33 is used to grab the workpiece in the pallet.

[0068] During the implementation of the material picking and placing device 100, the trays with workpieces are stacked and placed on the bearing assembly 11, the manipulator 31 drives the grabbing assembly 32 and the loading assembly 33 to approach the bearing assembly 11, and the grabbing assembly 32 grabs the tray, the loading assembly 33 grabs the workpiece in the tray, the grabbing assembly 32 moves the tray to the receiving mechanism 20 for storage, the loading assembly 33 moves the workpiece to the positioning assembly 12 for positioning, and then the loading assembly 33 grabs the workpiece positioned by the positioning assembly 12 and moves it to the preset position. In this embodiment, the preset position is the processing platform in the processing machine 200, that is, after the loading assembly 33 moves the workpiece to the processing platform in the processing machine 200, the processing machine 200 processes the workpiece.

[0069] It can be understood that the manipulator 31 moves in a preset coordinate system according to the program setting, the positioning component 12 and the preset position correspond to two coordinate points in the coordinate system, and the movement route of the manipulator 31 is the path between the two coordinate points. When the workpiece is placed on the positioning component 12, the coordinates of the workpiece are determined and unique, and the workpiece can be accurately moved to the processing platform in the processing machine 200 by the manipulator 31. When the workpiece is processed, the loading component 33 takes the workpiece from the processing platform in the processing machine 200 and places the workpiece in the tray on the receiving mechanism 20.

[0070] Thus, by arranging the material picking and placing device 100 on one side of the processing machine 200, the material picking and placing device 100 can separate the workpiece and the tray, and can place the tray on the receiving mechanism 20 and the workpiece in the processing machine 200 for processing. When the workpiece is processed, the material picking and placing device 100 can place the workpiece back in the tray on the receiving mechanism 20. Since the material picking and placing device 100 replaces manual material picking and placing operations, it not only improves the automation degree of material picking and placing, but also reduces the labor intensity and labor cost of operators.

[0071] See also Figure 3 In this embodiment, the bearing assembly 11 includes a base 111 and a bearing frame 112. The bearing frame 112 is arranged on the base 111, and the bearing frame 112 is inclined on the base 111. Specifically, the bearing frame 112 includes a bearing plate 1121 and a plurality of columns 1122. The bearing plate 1121 is obliquely connected to the base 111, and the angle between the bearing plate 1121 and the base 111 is an acute angle, for example, the angle is 12 degrees. The plurality of columns 1122 are arranged at intervals on the side of the bearing plate 1121 away from the base 111, and the plurality of columns 1122 are arranged vertically with the bearing plate 1121, and the plurality of columns 1122 are arranged to form a space for accommodating pallets. In this embodiment, the pallets are stacked and placed in the space formed by the plurality of columns 1122 of the bearing frame 112, and the plurality of columns 1122 abut against the side of the pallets to position the pallets.

[0072] Since the pallets are placed on the carrier 112 in a stacked form, the space occupied by the pallets can be saved and the space utilization rate can be improved. By tilting the carrier 112, when the stacked pallets are placed on the carrier 112, all the pallets will tilt to the same side. At this time, the tilted carrier 112 plays a positioning role for the pallets, so that the grasping mechanism 30 can accurately grasp the pallets and the workpieces.

[0073] See also Figure 2 , Figure 3 and Figure 4The positioning assembly 12 includes a support seat 121, a positioning member 122, a supporting driving member 123 and a supporting member 124. The support seat 121 is arranged on the base 111 of the bearing assembly 11, specifically, the support seat 121 is located on one side of the bearing frame 112, and the support seat 121 is used to carry the workpiece. The positioning member 122 is arranged on the support seat 121, specifically, the positioning member 122 includes a plurality of first positioning columns 1221 and a plurality of second positioning columns 1222. The number of the first positioning columns 1221 and the second positioning columns 1222 is two, the two first positioning columns 1221 are arranged at intervals along the X-axis direction on the side of the support seat 121 away from the base 111, and the two second positioning columns 1222 are arranged at intervals along the Y-axis direction on the side of the support seat 121 away from the base 111. When the workpiece is transferred to the support seat 121 by the loading assembly 33, the first positioning column 1221 and the second positioning column 1222 abut against the side of the workpiece to position the workpiece. In this embodiment, the first positioning column 1221 and the second positioning column 1222 are both columnar structures, and the first positioning column 1221 and the second positioning column 1222 are both in point contact with the workpiece. Since the first positioning column 1221 and the second positioning column 1222 use point contact to position the workpiece, the positioning of the workpiece is more accurate.

[0074] In this embodiment, the supporting driving member 123 can be a cylinder, and the number of the supporting driving members 123 is two. The two supporting driving members 123 are arranged on the adjacent two sides of the support seat 121 and are respectively arranged opposite to the first positioning column 1221 and the second positioning column 1222. Each supporting driving member 123 is provided with a supporting member 124. When the workpiece is placed on the support seat 121, the two supporting driving members 123 drive the corresponding supporting members 124 to move toward the first positioning column 1221 and the second positioning column 1222 to push the workpiece to abut against the first positioning column 1221 and the second positioning column 1222, thereby realizing the positioning of the workpiece.

[0075] See also Figure 1 , Figure 2 and Figure 5 The receiving mechanism 20 includes a base 21 and a plurality of limiting posts 22 disposed on the base 21. The base 21 is used to carry a pallet. In this embodiment, the number of the limiting posts 22 is eight, and the eight limiting posts 22 are disposed at intervals on the base 21 to form two rectangular accommodating areas 23, each of which can accommodate a pallet.

[0076] When in use, the grabbing assembly 32 grabs the tray and places the tray in one of the accommodating areas 23, at which time a plurality of limiting columns 22 abut against the side of the tray to limit the tray; then, the loading assembly 33 places the workpiece in the positioning assembly 12 for positioning and moves the positioned workpiece to the processing platform of the processing machine 200; then, the grabbing assembly 32 grabs the next tray and places it in another accommodating area 23, the loading assembly 33 grabs the workpiece in the tray and moves it to a different processing position of the same processing machine 200 or another processing machine 200; when the workpiece is processed, the loading assembly 33 re-places the processed workpiece on the tray on the receiving mechanism 20. It can be understood that the receiving mechanism 20 can also serve as a storage for workpieces. For example, the base 21 is provided with a defective product placement area (not shown), and the defective product placement area is used to store defective workpieces. In this way, since two accommodating areas 23 are provided on the base 21, the grabbing mechanism 30 can continuously take and discharge materials, thereby improving work efficiency.

[0077] See also Figure 2 and Figure 6 The robot 31 includes a robot arm 311 and a bracket 312 connected to the robot arm 311. The robot arm 311 is spaced apart from the feeding mechanism 10 and the receiving mechanism 20, respectively.

[0078] The gripping assembly 32 includes a clamping drive 321, a plurality of clamping jaws 322, and a plurality of connecting rods 323. The clamping drive 321 may be a pneumatic clamping finger, and the clamping drive 321 is connected to the bracket 312. In this embodiment, there are two clamping jaws 322 and two connecting rods 323, one end of each of the two clamping jaws 322 is rotatably connected to the bracket 312, the two connecting rods 323 correspond to the two clamping jaws 322 one by one, and one end of each of the two connecting rods 323 is rotatably connected to the middle of the corresponding clamping jaws 322, and the other ends of each of the two connecting rods 323 are rotatably connected to the clamping drive 321.

[0079] When the grabbing assembly 32 grabs the pallet, the robotic arm 311 drives the two clamping jaws 322 to approach the pallet. At this time, the clamping drive 321 drives the two connecting rods 323 to move away from each other. The two connecting rods 323 drive the corresponding clamping jaws 322 to rotate, so that the two clamping jaws 322 open. Then the clamping drive 321 drives the two connecting rods 323 to approach each other. The two connecting rods 323 drive the corresponding clamping jaws 322 to rotate, so that the two clamping jaws 322 approach each other and clamp the pallet.

[0080] See also Figure 2 , Figure 3 and Figure 6The loading assembly 33 includes a plurality of loading adsorbents 331, which are vacuum suction cups. There are four loading adsorbents 331, which are arranged at intervals on the bracket 312. The four loading adsorbents 331 and the two clamps 322 are arranged on the same side of the bracket 312, and the four loading adsorbents 331 are connected to an air source.

[0081] When the grabbing component 32 approaches and grabs the tray, multiple loading adsorption components 331 abut and absorb the workpiece. After the grabbing component 32 places the tray on the receiving mechanism 20, the robotic arm 311 drives the multiple loading adsorption components 331 away from the receiving mechanism 20 and places the workpiece on the positioning component 12 for positioning. Then, the multiple loading adsorption components 331 absorb the workpiece on the positioning component 12 and approach the processing machine 200 under the drive of the robotic arm 311, so that the loading adsorption components 331 place the workpiece on the processing carrier of the processing machine 200.

[0082] In this embodiment, a plurality of sliding holes 3121 are provided on the bracket 312, and the plurality of sliding holes 3121 correspond to the plurality of feeding adsorbents 331 one by one. The smaller ends of the plurality of feeding adsorbents 331 are inserted into the corresponding sliding holes 3121. A bolt (not shown) is provided at the smaller end of each feeding adsorbent 331. By tightening the bolt, the bolt and the larger end of the corresponding feeding adsorbent 331 can be matched to clamp the bracket 312, thereby fixing the feeding adsorbent 331. When it is necessary to adjust the position of the feeding adsorbent 331, the bolt can be loosened to adjust the position of the feeding adsorbent 331 in the sliding hole 3121. When the position of the feeding adsorbent 331 is adjusted, the bolt can be tightened again. Since the position of the feeding adsorbent 331 can be adjusted, the operator can adaptively adjust the position of the feeding adsorbent 331 according to workpieces of different sizes, which is suitable for sucking workpieces of different sizes.

[0083] See also Figure 1 , Figure 2 , Figure 6 and Figure 7 The feeding assembly 33 further includes a plurality of buffers 332. The buffers 332 may be buffers. In the present embodiment, there are four buffers 332. The four buffers 332 are arranged at intervals on the bracket 312. The four buffers 332 and the four feeding adsorption members 331 and the two clamps 322 are arranged at intervals on the same side of the bracket 312. Specifically, each buffer 332 is located between the corresponding feeding adsorption member 331 and the corresponding clamp 322. When the feeding assembly 33 is grabbing the workpiece, the buffer 332 abuts against the workpiece. Under the buffering effect of the buffer 332, the feeding adsorption member 331 can be prevented from hitting the workpiece, thereby protecting the workpiece from damage.

[0084] The material picking and placing device 100 further includes a material picking assembly 34, which includes a rotary drive member 341 and a plurality of material picking adsorbing members 342. The rotary drive member 341 may be a rotary cylinder, and is disposed on a side of the bracket 312 away from the four material loading adsorbing members 331. The material picking adsorbing member 342 is a vacuum suction cup, and the number of the material picking adsorbing members 342 is four, and the four material picking adsorbing members 342 are disposed at intervals on the rotary drive member 341.

[0085] When the workpiece is processed, the material pickup suction member 342 absorbs the workpiece on the processing machine 200, and places the workpiece on the tray on the material receiving mechanism 20 under the drive of the robot arm 311. After the material pickup suction member 342 absorbs the processed workpiece, the loading suction member 331 can quickly place the workpiece to be processed on the processing machine 200, thereby quickly completing the material pickup and placement, thereby improving the working efficiency of the material pickup and placement device 100.

[0086] In addition, the rotary drive member 341 can drive the four material taking adsorption members 342 to rotate, thereby changing the positions of the four material taking adsorption members 342. By setting it in this way, the positions of the four material taking adsorption members 342 can be changed according to different workpieces, so that the four material taking adsorption members 342 meet the use requirements.

[0087] In this embodiment, the material picking assembly 34 also includes a connecting frame 343, and four material picking adsorption members 342 are connected to the rotating driving member 341 through the connecting frame 343. The connecting frame 343 is provided with a hole structure identical to the sliding hole 3121. The material picking adsorption member 342 is connected to the connecting frame 343 in the same connection method as the loading adsorption member 331. The four material picking adsorption members 342 can also adjust their positions on the connecting frame 343 according to workpieces of different sizes.

[0088] The gripping mechanism 30 further includes a blowing member 35. In this embodiment, there are two blowing members 35. The two blowing members 35 are arranged on the bracket 312 and are spaced apart from the gripping assembly 32 and the loading assembly 33, respectively. The blowing member 35 is connected to an air source. The mechanical arm 311 drives the blowing member 35 to move to the processing machine 200 through the bracket 312. The blowing member 35 is used to blow air to the workpiece in the processing machine 200, thereby cleaning the debris on the surface of the workpiece. Specifically, the shape of the blowing member 35 is a duckbill type. By such a setting, the blowing force of the blowing member 35 can be made greater.

[0089] See also Figure 8 The material picking and placing device 100 of this embodiment can also simultaneously supply materials to multiple processing machines 200. For example, four processing machines 200 are arranged around the material picking and placing device 100, and the material picking and placing device 100 sequentially supplies materials to the four processing machines 200. Since the material picking and placing device 100 can supply materials to multiple processing machines 200, it is helpful to reduce the number of material picking and placing devices 100 used, thereby saving costs.

[0090] The working process of the material taking and placing device 100 provided in the embodiment of the present application is roughly as follows:

[0091] The mechanical arm 311 drives the grabbing assembly 32 and the loading assembly 33 to approach the bearing assembly 11. The two clamping claws 322 of the grabbing assembly 32 are driven by the clamping driving member 321 to approach each other and clamp the tray. The loading adsorption member 331 of the loading assembly 33 adsorbs the workpiece.

[0092] The mechanical arm 311 drives the bracket 312 to move, so that the grabbing assembly 32 and the loading assembly 33 move the pallet and the workpiece to the base 21 of the receiving mechanism 20, and then the two clamping claws 322 are driven by the clamping driving member 321 to move away from each other and release the pallet, and then the mechanical arm 311 drives the loading assembly 33 to move to the positioning assembly 12, and the loading adsorption member 331 of the loading assembly 33 releases the workpiece and places the workpiece on the support seat 121 of the positioning assembly 12, and at this time, the abutting driving member 123 drives the abutting member 124 to move toward the first positioning column 1221 and the second positioning column 1222, so as to push the workpiece to abut against the first positioning column 1221 and the second positioning column 1222, thereby realizing the positioning of the workpiece;

[0093] When the workpiece is positioned, the loading assembly 33 sucks the workpiece and transfers the workpiece to the processing machine 200;

[0094] When the workpiece is processed, the material picking suction member 342 of the material picking assembly 34 picks up the workpiece again, and puts the workpiece back to the tray on the base 21 under the drive of the robot arm 311 .

[0095] The above-mentioned material taking and placing device 100 can automatically take out the tray and the workpiece from the carrying component 11, and place the tray on the material receiving mechanism 20 for storage and the workpiece on the positioning component 12 for positioning. After the workpiece is positioned, the workpiece is placed on the processing machine 200 for processing, and finally the processed workpiece is placed in the tray on the material receiving mechanism 20. By adopting the above-mentioned material taking and placing device 100, the material taking and placing of the workpiece can be automatically completed without manual operation by the operator, thereby improving the degree of automation of material taking and placing, and reducing the labor intensity and manpower cost of the operator. Since the loading component 33 and the material taking component 34 are simultaneously provided on the material taking and placing device 100, when the processing machine 200 is taken and placed, the material taking component 34 absorbs the processed workpiece, and the loading component 33 can quickly place the workpiece to be processed on the processing machine 200, thereby improving the speed of taking and placing, and improving the working efficiency of the material taking and placing device 100.

[0096] It is obvious to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present application.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application and are not intended to limit it. Although the present application has been described in detail with reference to the preferred embodiments, a person of ordinary skill in the art should understand that the technical solution of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A material taking and placing device, It is characterized in that include: A feeding mechanism, comprising a bearing assembly and a positioning assembly arranged on the bearing assembly, wherein the bearing assembly is used to bear a tray loaded with workpieces, and the positioning assembly is used to position the workpieces; A material receiving mechanism, arranged at a distance from the material feeding mechanism, and the material receiving mechanism is used to carry the tray; A gripping mechanism is disposed at intervals from the feeding mechanism and the receiving mechanism, respectively. The gripping mechanism includes a manipulator and a gripping assembly and a loading assembly respectively connected to the manipulator. The gripping assembly is used to grip the tray on the feeding mechanism, and the loading assembly is used to grip the workpiece, wherein the gripping assembly transfers the tray to the receiving mechanism, and the loading assembly transfers the workpiece to the positioning assembly for positioning and transfers the positioned workpiece to a preset position for processing.

2. The material handling device according to claim 1, It is characterized in that The grabbing component comprises: A clamping drive member, provided on the manipulator; A plurality of grippers, arranged at intervals and all rotatably connected to the manipulator; A plurality of connecting rods correspond to the plurality of clamps one by one, one end of the plurality of connecting rods is rotatably connected to the corresponding clamps, and the other ends of the plurality of connecting rods are rotatably connected to the clamping drive member. The plurality of connecting rods, driven by the clamping drive member, drive the plurality of clamps to move closer to or away from each other to clamp or release the pallet.

3. The material taking and placing device according to claim 2, It is characterized in that The feeding assembly comprises: A plurality of material loading adsorption parts are arranged at intervals and are arranged on the same side of the manipulator as the plurality of clamps, the plurality of material loading adsorption parts are located around the plurality of clamps, and the plurality of material loading adsorption parts are used to adsorb the workpieces on the tray.

4. The material taking and placing device according to claim 3, It is characterized in that The feeding assembly also includes: A plurality of buffer members, the plurality of the buffer members, the plurality of the material loading adsorption members, and the plurality of the clamping claws are all arranged at intervals on the same side of the manipulator, and the plurality of the buffer members are used for flexibly abutting against the workpiece.

5. The material taking and placing device according to claim 3, It is characterized in that The material taking and placing device also includes a material taking component, and the material taking component includes: A rotary driving member, arranged on a side of the manipulator away from the plurality of loading adsorption members; A plurality of material picking adsorption members are arranged at intervals on the rotating driving member. The plurality of material picking adsorption members rotate to change positions under the drive of the rotating driving member. The plurality of material picking adsorption members are used to absorb the processed workpieces and place the workpieces on the tray on the material receiving mechanism under the drive of the manipulator.

6. The material taking and placing device according to claim 1, It is characterized in that The gripping mechanism also includes: The blowing component is arranged on the manipulator and is spaced apart from the grabbing component and the feeding component.

7. The material taking and placing device according to claim 1, It is characterized in that The positioning component comprises: A support seat, provided on the bearing assembly, and used for bearing the workpiece; A positioning member, disposed on the support seat, and used for positioning the workpiece; A supporting driving member, disposed on the supporting seat and spaced apart from the positioning member; The abutting member is connected to the abutting driving member and is arranged opposite to the positioning member. The abutting member is driven by the abutting driving member to move toward the positioning member to abut the workpiece against the positioning member.

8. The material taking and placing device according to claim 7, It is characterized in that The positioning member comprises: A plurality of first positioning posts, wherein the plurality of first positioning posts are arranged on the support seat at intervals along a first direction; A plurality of second positioning columns are arranged on the support seat at intervals along the second direction, and the plurality of second positioning columns and the plurality of first positioning columns are used to abut and position the workpiece in the first direction and the second direction respectively, and the first direction and the second direction are perpendicular to each other.

9. The material taking and placing device according to claim 1, It is characterized in that The bearing assembly comprises: A base, the positioning assembly is connected to the base; A support frame is connected to the base and is tiltedly arranged on the base. The support frame is used to support the tray with the workpiece.

10. The material taking and placing device according to claim 1, It is characterized in that The material receiving mechanism comprises: A base is spaced apart from the bearing assembly, and the base is used to bear the tray; A plurality of limiting columns are arranged at intervals on the base, and the plurality of limiting columns are arranged to surround and form a accommodating area for accommodating the tray, and the plurality of limiting columns are used to limit the tray.

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