Grabbing mechanism and feeding equipment
By designing a grasping mechanism including mounting parts, stops and drive parts, and using adsorption force to grab and place materials, the problems of low material grasping efficiency and low accuracy in the prior art are solved, and more efficient material loading process.
Patent Information
- Application Number
- CN202420736179.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-10
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2034-04-10
AI Technical Summary
Existing small material grabbing devices are prone to material displacement when grabbing and placing materials, resulting in low gripping efficiency and low precision.
A gripping mechanism is designed, including mounting parts, stops and drives. Through the coordination of the guide grooves and avoidance holes, materials are grasped and placed using adsorption force to ensure the fixed position of the materials on the bottom plate. The mechanism controls the adsorption force when grabbing and placing the material through the movement of the drive member to achieve accurate fit and placement of the material.
Improve the position accuracy and loading efficiency of materials on the vehicle, ensuring the loading yield.
Smart Images
Figure CN222181060U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automation technology, and in particular to a gripping mechanism and a feeding device. Background Art
[0002] Some known small material grabbing devices usually grab materials through simple vacuum adsorption or small grippers. Due to the small size of the materials, the grabbing devices are prone to material displacement during the process of placing and removing the materials, resulting in low material grabbing efficiency and low grabbing accuracy. Utility Model Content
[0003] The present application provides a grasping mechanism and a feeding device to solve the technical problems of low grasping efficiency and low grasping accuracy of some materials.
[0004] The embodiment of the present application is implemented as follows:
[0005] In a first aspect, the present application provides a gripping mechanism for gripping a first workpiece, the gripping mechanism comprising: a mounting member; a stop member, the stop member being arranged on a side of the mounting member, the stop member comprising a surrounding plate and a bottom plate, the surrounding plate being arranged around the bottom plate and forming a guide groove, the bottom plate being provided with an avoidance hole, the bottom surface of the surrounding plate being used to abut against the first workpiece; a first driving member, the first driving member being arranged on the mounting member; a first gripping member, the first gripping member being connected to the first driving member, and being able to slide along the guide groove and approach or move away from the bottom plate under the drive of the first driving member, the first gripping member being used to apply an adsorption force to the first workpiece, when the distance between the first gripping member and the bottom plate is less than a preset distance, the adsorption force is greater than the gravity of the first workpiece, so that the workpiece remains in contact with the bottom plate, and when the distance between the first gripping member and the bottom plate is greater than the preset distance, the adsorption force is less than the gravity of the first workpiece, so that the workpiece is separated from the bottom plate.
[0006] When the grabbing mechanism of the present application grabs the first workpiece, the mounting member moves until the bottom plate of the stop member abuts against the surface of the first workpiece, the first driving member drives the first grabbing member to move along the guide groove to the bottom plate, and the distance between the first grabbing member and the bottom plate is less than the preset distance, and the first grabbing member applies an adsorption force to the first workpiece in the area of the avoidance hole. At this time, the adsorption force of the first grabbing member on the first workpiece is greater than the gravity of the first workpiece, so that the first workpiece remains in contact with the bottom plate. After the mounting member moves to place the first workpiece on the carrier, the first driving member drives the first grabbing member to move in a direction away from the bottom plate. During this process, the adsorption force of the first grabbing member gradually decreases, and the first workpiece is limited by the bottom plate, so that the position of the first workpiece remains fixed. When the distance between the first grabbing member and the bottom plate is greater than the preset distance, the adsorption force is less than the gravity of the first workpiece. Thereafter, the mounting member moves away from the carrier again, and the first workpiece can be placed on the carrier without changing its position. In this way, by grasping the first workpiece to the carrier through the grasping mechanism of this embodiment, the position accuracy of the first workpiece on the carrier can be improved, the loading efficiency can be improved, and the loading yield rate can be guaranteed.
[0007] In one possible implementation:
[0008] The grabbing mechanism also includes a second driving member and a mounting plate. The second driving member is arranged on the side of the mounting member. The mounting plate is connected to the second driving member and can move under the drive of the second driving member. The first driving member and the first grabbing member are arranged at intervals on the mounting member.
[0009] In one possible implementation:
[0010] The gripping mechanism also includes a third driving member, a second gripping member and a vacuum generator, the third driving member is arranged on the mounting member, the second gripping member is connected to the third driving member, and the vacuum generator is arranged on the mounting member; the second gripping member defines an air passage, and the air passage is provided with an opening on the bottom surface of the second gripping member, the bottom surface of the second gripping member is used to fit the second workpiece, the vacuum generator is connected to the air passage, and is used to generate a vacuum in the air passage, so that the second gripping member generates an adsorption force to adsorb the second workpiece.
[0011] In the second aspect, the present application provides a loading device, comprising: a workpiece conveying mechanism, which is used to convey a first workpiece; a carrier conveying mechanism, which is used to convey a carrier, and the conveying direction of the carrier conveying mechanism intersects with the conveying direction of the workpiece conveying mechanism; the aforementioned grasping mechanism, which is provided in plurality, and the plurality of grasping mechanisms are provided on both sides of the carrier conveying mechanism along its width direction, and the grasping mechanism is used to grasp the first workpiece conveyed by the workpiece conveying mechanism to the carrier conveyed by the carrier conveying mechanism.
[0012] In one possible implementation:
[0013] The workpiece conveying mechanism includes: a Y-direction conveying mechanism, the Y-direction conveying mechanism is used to convey a material tray, the material tray is used to load the workpiece, and the end of the Y-direction conveying mechanism is close to the carrier conveying mechanism; a lifting mechanism, the lifting mechanism is arranged at the end of the Y-direction conveying mechanism, the lifting mechanism includes a lifting drive and a carrying plate, the carrying plate is used to carry the material tray conveyed by the Y-direction conveying mechanism, and the lifting drive is used to drive the carrying plate to move along the Z direction.
[0014] In one possible implementation:
[0015] The feeding device also includes a waste bin, which is arranged on a side of the lifting mechanism away from the Y-direction conveying mechanism, and is used to receive the empty material tray conveyed by the Y-direction conveying mechanism.
[0016] In one possible implementation:
[0017] The loading equipment also includes a positioning table; the carrier conveying mechanism includes: an X-direction transfer mechanism, which is arranged on one side of the positioning table; a Z-direction transfer mechanism, which is connected to the X-direction transfer mechanism and can move under the drive of the X-direction transfer mechanism; a carrying table, which is used to carry the carrier, the carrying table is connected to the Z-direction transfer mechanism, and the Z-direction transfer mechanism can drive the carrying table to move along the Z direction so that the carrier is positioned and placed on the positioning table.
[0018] In one possible implementation:
[0019] The feeding device further includes a first image acquisition mechanism, which is used to obtain first image information of an edge of the first workpiece conveyed by the workpiece conveying mechanism, and the grasping mechanism is used to grasp the first workpiece according to the first image information.
[0020] In one possible implementation:
[0021] The first workpiece is provided with two spaced-apart positioning holes, and the carrier is provided with two spaced-apart positioning protrusions; the loading device also includes a second image acquisition mechanism, which is used to obtain second image information of a center line connecting the two positioning holes of the first workpiece grasped by the grasping mechanism, and the grasping mechanism is used to place the first workpiece on the carrier according to the second image information.
[0022] In one possible implementation:
[0023] The loading equipment also includes a detection mechanism, which is arranged at the end of the carrier conveying mechanism. The detection mechanism includes an image acquisition component and a photoelectric detection component. The image acquisition component is used to obtain image information of the carrier loaded with the first workpiece to detect the position of the first workpiece on the carrier, and the photoelectric detection component is used to detect the height of the first workpiece on the carrier. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.
[0025] Figure 1 Schematic diagram of the structure of a gripping mechanism according to an embodiment of the present application.
[0026] Figure 2 This is a front view of a grabbing mechanism according to an embodiment of the present application.
[0027] Figure 3 for Figure 2 Cross-sectional view of the gripping mechanism.
[0028] Figure 4 for Figure 1 Bottom view of the grabbing mechanism.
[0029] Figure 5 It is a structural schematic diagram of another embodiment of the present application.
[0030] Figure 6 This is a bottom view of another embodiment of the present application.
[0031] Figure 7 This is a bottom view of another embodiment of the present application.
[0032] Figure 8 This is a schematic structural diagram of a loading device according to an embodiment of the present application.
[0033] Fig. 9 for Figure 8 Schematic diagram of the structure of the loading equipment after removing the frame.
[0034] Fig.10 Fig. 9 Schematic diagram of the structure of the workpiece conveying mechanism of the loading equipment.
[0035] Fig.11 Fig. 9 Schematic diagram of the exploded structure of the workpiece conveying mechanism.
[0036] Fig.12 Figure 8 Schematic diagram of the structure of the lifting mechanism of the workpiece conveying mechanism.
[0037] Fig.13 for Fig. 9 Schematic diagram of the structure of the carrier conveying mechanism of the loading equipment.
[0038] Fig.14 for Fig.13 Schematic diagram of the explosion structure of the medium carrier conveying mechanism.
[0039] Fig.15 for Fig.13 Schematic diagram of the partial structure of the middle carrier conveying mechanism.
[0040] Fig.16 Schematic diagram of the structure of a photoelectric detection element according to an embodiment of the present application.
[0041] Fig.17 This is a schematic diagram of the structure of an image acquisition component according to an embodiment of the present application.
[0042] Fig.18 This is a schematic diagram of the structure of a second image acquisition mechanism according to an embodiment of the present application.
[0043] Fig.19 This is a schematic structural diagram of a first image acquisition mechanism according to an embodiment of the present application.
[0044] Description of main component symbols:
[0045]
[0046]
[0047] DETAILED DESCRIPTION
[0048] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.
[0049] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be a centered element. When an element is considered to be "set on" another element, it may be directly set on the other element or there may also be a centered element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.
[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "or / and" used herein includes any and all combinations of one or more related listed items.
[0051] Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.
[0052] See also Figures 1 to 4 The present embodiment provides a gripping mechanism 10 for gripping a first workpiece 200 to a carrier. The gripping mechanism 10 includes a mounting member 11, a stopper 12, a first driving member 131, and a first gripping member 132. The stopper 12 is disposed on the side of the mounting member 11. The stopper 12 includes a surrounding plate 121 and a bottom plate 122. The surrounding plate 121 is disposed on the bottom plate 122 to form a guide groove 123. The bottom plate 122 is provided with an avoidance hole 124. The bottom surface of the surrounding plate 121 is used to abut against the first workpiece 200. The first driving member 131 is disposed on the mounting member 11. The first grabbing member 132 is connected to the first driving member 131, and can slide along the guide groove 123 and approach or move away from the bottom plate 122 under the drive of the first driving member 131. The first grabbing member 132 is used to apply an adsorption force to the first workpiece 200. When the distance between the first grabbing member 132 and the bottom plate 122 is less than a preset distance, the adsorption force is greater than the gravity of the first workpiece 200, so that the first workpiece 200 remains in contact with the bottom plate 122. When the distance between the first grabbing member 132 and the bottom plate 122 is greater than the preset distance, the adsorption force is less than the gravity of the first workpiece 200, so that the first workpiece 200 is separated from the bottom plate 122.
[0053] When the grasping mechanism 10 grasps the first workpiece 200, the mounting member 11 moves until the base plate 122 of the stop member 12 abuts against the surface of the first workpiece 200, and the first driving member 131 drives the first grasping member 132 to move along the guide groove 123 to close to the base plate 122, and makes the distance between the first grasping member 132 and the base plate 122 less than a preset distance, and the first grasping member 132 applies an adsorption force to the first workpiece 200 in the area of the avoidance hole 124. At this time, the adsorption force of the first grasping member 132 on the first workpiece 200 is greater than the gravity of the first workpiece 200, so that the first workpiece 200 remains in contact with the base plate 122. After the mounting member 11 moves to place the first workpiece 200 on the carrier, the first driving member 131 drives the first grabbing member 132 to move in a direction away from the bottom plate 122. During this process, the adsorption force of the first grabbing member 132 gradually decreases, and the first workpiece 200 is limited by the bottom plate 122, so that the position of the first workpiece 200 remains fixed. When the distance between the first grabbing member 132 and the bottom plate 122 is greater than the preset distance, the adsorption force is less than the gravity of the first workpiece 200. After that, the mounting member 11 moves away from the carrier again, and the first workpiece 200 can be placed on the carrier without changing its position. In this way, by grabbing the first workpiece 200 to the carrier through the grabbing mechanism 10 of this embodiment, the position accuracy of the first workpiece 200 on the carrier can be improved, the loading efficiency can be improved, and the loading yield rate can be guaranteed.
[0054] Alternatively, see Figure 5 The grasping mechanism 10 also includes a manipulator 154, which is connected to the mounting member 11 to drive the mounting member 11 to move. The manipulator 154 can be set as a multi-axis manipulator 154. In other embodiments, the manipulator 154 can also be connected to a multi-directional transfer module, which is not specifically limited in this embodiment.
[0055] In this embodiment, a permanent magnet or an electromagnet is provided at the bottom of the first gripping member 132, and the first workpiece 200 is a magnet part or an iron part, so that when the first gripping member 132 is close to the first workpiece 200, the greater the adsorption force generated by the first gripping member 132 on the first workpiece 200. In other embodiments, the first gripping member 132 can also be set as a vacuum adsorption mechanism, and the vacuum adsorption mechanism can generate a negative pressure chamber through the avoidance hole 124 to form an adsorption force, so that the first workpiece 200 remains attached to the bottom plate 122. When the first gripping member 132 moves away from the bottom plate 122, the avoidance hole 124 is connected to the outside world, and the negative pressure chamber is destroyed, so that the adsorption force of the first gripping member 132 can be rapidly reduced.
[0056] In this embodiment, see Figures 1 to 3The grabbing mechanism 10 also includes a second driving member 141 and a mounting plate 142. The second driving member 141 is arranged on the side of the mounting member 11. The mounting plate 142 is connected to the second driving member 141 and can move under the drive of the second driving member 141. The first driving member 131 and the first grabbing member 132 are arranged at intervals on the mounting member 11.
[0057] In this way, by driving the mounting plate 142 to move through the second driving member 141 , the distance between the first workpiece 200 and the carrier can be finely adjusted when placing the first workpiece 200 and the carrier, thereby further improving the placement accuracy of the first workpiece 200 on the carrier.
[0058] In this embodiment, see Figure 2 and Figure 3 The gripping mechanism 10 further includes a third driving member 151, a second gripping member 152 and a vacuum generator 153. The third driving member 151 is disposed on the mounting member 11, the second gripping member 152 is connected to the third driving member 151, and the vacuum generator 153 is disposed on the mounting member 11. The second gripping member 152 defines an air passage 1521, and the air passage 1521 is provided with an opening 1522 on the bottom surface of the second gripping member 152. The bottom surface of the second gripping member 152 is used to fit the second workpiece. The vacuum generator 153 is in communication with the air passage 1521 and is used to generate a vacuum in the air passage 1521 so that the second gripping member 152 generates an adsorption force to adsorb the second workpiece.
[0059] When the size of the workpiece is small, the third driving member 151 drives the second gripping member 152 to approach the second workpiece, and the vacuum generator 153 controls the airway 1521 to generate a vacuum environment, so that the second gripping member 152 adsorbs the second workpiece. Thereafter, the mounting member 11 moves to the carrier, the vacuum generator 153 destroys the vacuum environment in the airway 1521, the second gripping member 152 no longer generates adsorption force, and the third driving member 151 drives the second gripping member 152 to leave the second workpiece, so that the second workpiece can be placed on the carrier. Since the size of the second workpiece is small, when the vacuum environment of the second gripping member 152 is destroyed, the second workpiece is not easy to produce relative displacement.
[0060] In addition, in this embodiment, the surface of the carrier is provided with a mounting groove (not shown in the figure) for mounting the second workpiece. When the third driving member 151 drives the second grasping member 152 to move to the carrier, the second workpiece falls into the mounting groove. In this way, while the vacuum environment of the airway 1521 of the second grasping member 152 is destroyed, the mounting member 11 moves in the horizontal direction, which can ensure that the second workpiece remains in the mounting groove, thereby also ensuring the reliability of the installation position of the second workpiece on the carrier.
[0061] In this embodiment, there are multiple first grasping members 132 and multiple second grasping members 152, and the multiple first grasping members 132 and the multiple second grasping members 152 are arranged around the side wall of the mounting member 11 to ensure that the first grasping members 132 and the second grasping members 152 can grasp the first workpiece 200 or the second workpiece separately, and can also increase the types of workpieces that can be grasped by the grasping mechanism 10, thereby improving the scope of application of the grasping mechanism 10.
[0062] See also Figure 6 and Figure 7 In this embodiment, the gripping mechanism 10 can be provided in a variety of ways, and the shapes of the first gripping member 132 and the stopper 12 of different gripping mechanisms 10 are different, so as to be adapted to grip first workpieces 200 of different shapes. The shapes of the first gripping member 132 and the stopper 12 can be set according to the shape of the product to be gripped, and this embodiment does not specifically limit them.
[0063] See also Figure 8 and Fig. 9 The present embodiment further discloses a feeding device 100, comprising a workpiece conveying mechanism 20, a carrier conveying mechanism 30, a gripping mechanism 10, a detection mechanism 50, a first image acquisition mechanism 60, a gantry 92, a second image acquisition mechanism 70, and a third image acquisition mechanism 80. The workpiece conveying mechanism 20 is used to convey a first workpiece 200 and a second workpiece along the Y direction. The carrier conveying mechanism 30 is used to convey a carrier along the X direction. The gripping mechanism 10 is the gripping mechanism 10 of the aforementioned embodiment. A plurality of gripping mechanisms 10 are provided, and a plurality of gripping mechanisms 10 are provided on both sides of the carrier conveying mechanism 30 along its width direction. The gripping mechanism 10 is used to grip the first workpiece 200 and the second workpiece conveyed by the workpiece conveying mechanism 20 to the carrier conveyed by the carrier conveying mechanism 30.
[0064] The loading equipment 100 of this embodiment transports the first workpiece 200 and the second workpiece through the workpiece conveying mechanism 20 and the carrier conveying mechanism 30, and multiple gripping mechanisms 10 are arranged at the intersection of the workpiece conveying mechanism 20 and the carrier conveying mechanism 30, so as to realize rapid loading of multiple first workpieces 200 and multiple second workpieces, thereby improving the loading efficiency and loading accuracy of the first workpiece 200 and the second workpiece.
[0065] In other embodiments, the feeding device 100 may not need to be provided with the detection mechanism 50, the first image acquisition mechanism 60, the gantry 92, the second image acquisition mechanism 70, the third image acquisition mechanism 80, etc.
[0066] In this embodiment, see Figures 10 to 12The workpiece conveying mechanism 20 includes a Y-direction conveying mechanism 21 and a lifting mechanism 22. The Y-direction conveying mechanism 21 is used to convey a material tray (not shown in the figure), and the material tray is used to load the workpiece. The end of the Y-direction conveying mechanism 21 is close to the carrier conveying mechanism 30. The lifting mechanism 22 is arranged at the end of the Y-direction conveying mechanism 21. The lifting mechanism 22 includes a lifting driving member 221 and a carrying plate 222. The carrying plate 222 is used to carry the material tray conveyed by the Y-direction conveying mechanism 21, and the lifting driving member 221 is used to drive the carrying plate 222 to move along the Z direction.
[0067] In this way, the Y-axis conveying mechanism 21 can drive multiple workpieces carrying the material tray to move close to the carrier conveying mechanism 30, and the lifting mechanism 22 can drive the material tray to move along the Z direction to leave the Y-axis conveying mechanism 21 or place the material tray on the Y-axis conveying mechanism 21, so that the position of the material tray remains fixed during the workpiece loading process, thereby improving the loading efficiency of the first workpiece 200 and the second workpiece.
[0068] Alternatively, see Fig.12 The lifting mechanism 22 also includes a plurality of air nozzles 223, and the plurality of air nozzles 223 are arranged on the supporting plate 222. The plurality of air nozzles 223 are used to absorb the material tray transported to the supporting plate 222 by the Y-axis conveying mechanism 21, so that when the grasping mechanism 10 grasps the first workpiece 200 or the second workpiece to the material tray, the material tray remains in a fixed position, thereby further improving the loading accuracy of the first workpiece 200 and the second workpiece.
[0069] Alternatively, see Fig.11 The Y-direction conveying mechanism 21 includes a driving member 211, two groups of conveying wheel groups, two conveying belts 213 and a support platform 214. The two groups of conveying wheel groups are arranged at intervals along the X direction, and the two conveying belts 213 are arranged at intervals along the X direction. Each group of conveying wheel groups includes two conveying wheels 212, and the two conveying belts 213 are arranged on both sides of the support platform 214 in the Y direction. The conveying belts 213 are wound around the two conveying wheels 212. The two conveying belts 213 respectively have two straight sections 2131 arranged at intervals along the Z direction, one of which is superimposed on the top surface of the support platform 214. The straight section 2131 is also provided with a plurality of stop protrusions 2132 arranged at intervals, and a material tray is installed between two adjacent stop protrusions 2132. In this way, accurate and stable conveying of the material tray can be achieved.
[0070] In addition, the lifting mechanism 22 is arranged on one side of the support platform 214 along the Y direction, and three carrying plates 222 are provided. The three carrying plates 222 are arranged at intervals along the X direction. The straight section 2131 of one conveyor belt 213 passes between two adjacent carrying plates 222, and the straight section 2131 of another conveyor belt 213 passes between another two adjacent carrying plates 222. In this way, it can be ensured that the material tray is moved to the carrying plate 222 under the drive of the conveyor belt 213, and will not interfere with the movement of the carrying plate 222 along the Z direction.
[0071] In this embodiment, see Fig.10 and Fig.11 The loading device 100 also includes a waste bin 41, which is arranged on the side of the lifting mechanism 22 away from the Y-direction conveying mechanism 21, and the waste bin 41 is used to receive the empty material tray conveyed by the Y-direction conveying mechanism 21.
[0072] The input port of the waste bin 41 is located at the end of the Y-direction conveying mechanism 21 along the Y-direction, and the output port of the waste bin 41 is arranged at its lower end in the Z-direction. In this way, after the grasping mechanism 10 grasps all the first workpiece 200 and / or the second workpiece on the material tray to the carrier, the lifting mechanism 22 drives the empty material tray down to the Y-direction conveying mechanism 21, and the Y-direction conveying mechanism 21 drives the empty material tray to move and input it into the waste bin 41 from the input port.
[0073] Alternatively, see Fig.11 A guide plate 42 is provided in the waste bin 41, and the guide plate 42 is rotatably connected to the support platform 214. The length direction of the guide plate 42 is located between the Y direction and the Z direction to guide the movement of the material tray and prevent the material tray from accumulating in the waste bin 41.
[0074] Alternatively, see Fig. 9 There are multiple workpiece conveying mechanisms 20, and the multiple workpiece conveying mechanisms 20 are distributed in an X-axis array. Each workpiece conveying mechanism 20 is used to convey a first workpiece 200 or a second workpiece. This embodiment does not limit the specific number of workpiece conveying mechanisms 20 and the specific number of types of the first workpieces 200 and the specific number of types of the second workpieces.
[0075] In this embodiment, see Fig.13 and Fig.14 The feeding device 100 further includes a positioning platform 43. The carrier conveying mechanism 30 includes an X-direction transfer mechanism 31, a Z-direction transfer mechanism 32 and a bearing platform 33. The X-direction transfer mechanism 31 is arranged on one side of the positioning platform 43. The Z-direction transfer mechanism 32 is connected to the X-direction transfer mechanism 31 and can move under the drive of the X-direction transfer mechanism 31. The bearing platform 33 is used to carry the carrier, and the bearing platform 33 is connected to the Z-direction transfer mechanism 32. The Z-direction transfer mechanism 32 can drive the bearing platform 33 to move along the Z direction so that the carrier is positioned and placed on the positioning platform 43.
[0076] By positioning the carrier through the positioning platform 43 , the position accuracy of the first workpiece 200 and / or the second workpiece placed on the carrier can be ensured, thereby improving the loading accuracy.
[0077] Alternatively, see Fig.15The positioning platform 43 is provided with a plurality of positioning protrusions 44, and the carrier is provided with a plurality of positioning holes, and each positioning hole is arranged in a one-to-one correspondence with the positioning protrusion 44, so that the high-precision positioning of the carrier can be achieved through the cooperation between the positioning protrusion 44 and the positioning hole. In other embodiments, the carrier and the positioning platform 43 can also be positioned by other positioning methods.
[0078] In this embodiment, the X-axis transfer mechanism 31 can be configured as a linear module, an electric push rod or a cylinder.
[0079] In this embodiment, see Fig.13 and Fig.14 The carrier conveying mechanism 30 also includes a connecting plate 34 and a slide rail assembly 35. The connecting plate 34 is slidably arranged on the slide rail assembly 35 along the X direction. The connecting plate 34 is connected to the X-direction transfer mechanism 31. A plurality of Z-direction transfer mechanisms 32 are provided, and the plurality of Z-direction transfer mechanisms 32 are spaced apart on the connecting plate 34 along the X direction.
[0080] The slide rail assembly 35 can guide the connecting plate 34 , thereby reliably guiding the moving directions of the multiple Z-direction transfer mechanisms 32 .
[0081] Optionally, attend Fig.14 The slide rail assembly 35 includes a slide rail 351 and a slider 352. The slide rail 351 is disposed on the frame 91. The slider 352 is slidably matched with the slide rail 351 along the X direction. The connecting plate 34 is fixedly connected to the slider 352. In other embodiments, the slide rail assembly 35 can also be replaced by a guide structure such as a guide rod.
[0082] In this embodiment, see Fig.15 There are two positioning tables 43, and the two positioning tables 43 are spaced apart along the Y direction. The X-direction transfer mechanism 31 is disposed between the two positioning tables 43. When the carrier is placed on the two positioning tables 43 driven by the Z-direction transfer mechanism 32, the carrier is supported by the two positioning tables 43 on both sides along the Y direction, thereby improving the stability of the carrier when being supported, and further improving the loading accuracy of the first workpiece 200 and / or the second workpiece.
[0083] In this embodiment, see Figure 8 and Fig. 9 The loading device 100 also includes a detection mechanism 50, which is arranged at the end of the carrier conveying mechanism 30. The detection mechanism 50 includes an image acquisition component 51 and a photoelectric detection component 52. The image acquisition component 51 is used to obtain image information of the carrier loaded with the first workpiece 200 to detect the position of the first workpiece 200 and / or the second workpiece on the carrier, and the photoelectric detection component 52 is used to detect the height of the first workpiece 200 and / or the second workpiece on the carrier.
[0084] The position information of the first workpiece 200 and / or the second workpiece on the carrier is detected by the image acquisition component 51 to ensure that the carrier with the qualified position and shape of the first workpiece 200 and / or the second workpiece is transported to the next station. The height dimension information of the first workpiece 200 and / or the second workpiece on the carrier is detected by the photoelectric detection component 52 to determine whether the first workpiece 200 and / or the second workpiece has the problem of overlapping loading, so as to transport the carrier without overlapping loading to the next station.
[0085] Alternatively, see Fig.16 The photoelectric detection element 52 includes two groups of incident light machine groups 52a, each group of incident light machine groups 52a is respectively arranged on a positioning platform 43, and each group of incident light machine groups 52a includes multiple incident light machines. When the height of the first workpiece 200 and / or the second workpiece is higher than the height of a single workpiece, it can block the infrared light and other light emitted by one incident light machine group 52a from reaching the other incident light machine group 52a. In this way, it can be determined whether stacking loading occurs through the signal changes of the two incident light machine groups 52a.
[0086] Alternatively, see Fig.17 The image acquisition component 51 includes a first transfer component 511, a second transfer component 512, an adapter plate 513, a first camera 514, a first lens 515 and a first light source 516. The second transfer component 512 is connected to the first transfer component 511 and can move along the Y direction under the drive of the first transfer component 511. The adapter plate 513 is connected to the second transfer component 512 and can move along the X direction under the drive of the second transfer component 512. The first lens 515, the first camera 514 and the first light source 516 are sequentially arranged on the adapter plate 513 along the Z direction. By illuminating the carrier with the first light source 516, the first camera 514 and the first lens 515 can obtain clear image information of the carrier surface, and then compare and judge with the preset image information to determine whether the position and shape of the first workpiece 200 and / or the second workpiece are qualified.
[0087] By setting the first transfer member 511 and the second transfer member 512, the position of the adapter plate 513 in the horizontal plane can be adjusted according to actual needs, so that the first camera 514 and the first lens 515 on the adapter plate 513 can obtain image information of the carrier at different horizontal positions. The first transfer member 511 and the second transfer member 512 can both be set as linear motor drive modules.
[0088] Optionally, the resolution of the first camera 514 is 5472X3648, the field of view is 80X53mm, and the visual pixel accuracy is 0.01.
[0089] In this embodiment, see Fig. 9The loading device 100 also includes a first image acquisition mechanism 60, which is used to obtain first image information of the edge of the first workpiece 200 or the second workpiece conveyed by the workpiece conveying mechanism 20, and the grasping mechanism 10 is used to grasp the first workpiece 200 or the second workpiece according to the first image information.
[0090] Specifically, the first image acquisition mechanism 60 can capture image information of each material tray conveyed by the workpiece conveying mechanism 20, thereby obtaining first image information of the edges of all first workpieces 200 or second workpieces carried by the material tray, thereby reducing the image acquisition frequency of the first workpiece 200 or the second workpiece and improving the loading efficiency.
[0091] In this embodiment, see Fig.19 The feeding device 100 further includes a gantry 92, which is mounted on the frame 91 along the X direction. The first image acquisition mechanism 60 includes a third moving member 61, a fourth moving member 62, a first fixed plate, a first camera module 64 and a first surface light source 65. The third moving member 61 is arranged on the gantry 92, the fourth moving member 62 is connected to the third moving member 61, and can move along the X direction under the drive of the third moving member 61, and the first fixed plate is connected to the fourth moving member 62, and can move along the Y direction under the drive of the fourth moving member 62. The first surface light source 65 and the first camera module 64 are spaced apart on the first fixed plate along the Z direction, the first surface light source 65 is provided with a first camera hole, and the first camera module 64 is arranged above the first camera hole.
[0092] In this way, the accuracy of the image information of the tray can be improved through the cooperation of the first camera module 64 and the first surface light source 65. At the same time, through the setting of the third transfer member 61, the first camera module 64 can obtain the image information of the tray conveyed by any one of the multiple workpiece conveying mechanisms 20, and the fourth transfer member 62 can improve the accuracy of obtaining the image information of the tray.
[0093] Specifically, the camera resolution of the first camera module 64 is 4000X3000, the field of view is 200X150mm, and the visual pixel accuracy is 0.058.
[0094] In this embodiment, see Figure 4 The first workpiece 200 is provided with two first positioning holes 201 spaced apart from each other, and the carrier (not shown in the figure) is provided with two positioning protrusions 44 spaced apart from each other. The feeding device 100 further includes a second image acquisition mechanism 70, which is used to obtain second image information of a line connecting the centers of the two first positioning holes 201 of the first workpiece 200 grasped by the grasping mechanism 10, and the grasping mechanism 10 is used to place the first workpiece 200 on the carrier according to the second image information.
[0095] Optionally, one of the first positioning holes 201 is a circular hole, and the other first positioning hole 201 is an elliptical hole or a long hole. In this way, the positioning accuracy requirement can be slightly reduced during the process of ensuring the installation and positioning of the first workpiece 200 on the carrier. On the premise of ensuring the reliable positioning and installation of the first workpiece 200, the loading efficiency of the first workpiece 200 on the carrier is improved.
[0096] Alternatively, see Fig.18 The second image acquisition mechanism 70 includes a mounting bracket 71, a second lens 72, a second camera 73 and a second light source 74. The second light source 74 is located above the second lens 72. In this way, the second image acquisition mechanism 70 can obtain the second image information from below the grasping mechanism 10.
[0097] In this embodiment, see Fig. 9 The loading equipment 100 also includes a third image acquisition mechanism 80, which includes a second fixed plate 81, a second surface light source 82 and a second camera module 83. The second fixed plate 81 is arranged on the top of the frame 91 and is arranged in the Z direction opposite to the head end of the carrier conveying mechanism 30. The second surface light source 82 is fixed to the second fixed plate 81. The second surface light source 82 is provided with a second camera hole. The second camera module 83 is fixed to the second fixed plate 81 and is located above the second camera hole. The second camera module 83 is used to obtain image information of the carrier conveyed by the carrier conveying mechanism 30 to determine whether there is any residual first workpiece 200 or second workpiece on the surface of the carrier, and to detect whether there is any residual glue on the mounting position of the carrier surface for mounting the first workpiece 200 or the second workpiece, so as to ensure that the carrier surface is clean and unloaded, so as to facilitate the subsequent loading of the first workpiece 200 and the second workpiece to proceed smoothly.
[0098] The working process of the feeding device 100 of this embodiment is as follows:
[0099] The carrier conveying mechanism 30 conveys the carrier to the lifting mechanism 22 near the grasping mechanism 10. During the conveying process of the carrier, the third image acquisition mechanism 80 obtains the image information of the carrier to ensure that there is no residual glue on the surface. The carrier of the first workpiece 200 or the second workpiece is conveyed to the vicinity of the grasping mechanism 10. If there are defects on the surface of the carrier, the carrier is conveyed to the waste bin 41 through the carrier conveying mechanism 30.
[0100] The workpiece conveying mechanism 20 conveys the material tray to the vicinity of the grasping mechanism 10. During the process of the workpiece conveying mechanism 20 conveying the material tray, the first image acquisition mechanism 60 acquires image information of the material tray to acquire first image information of the edge of the first workpiece 200 or the second workpiece on the material tray.
[0101] The gripping mechanism 10 grips the first workpiece 200 or the second workpiece according to the first image information. Each gripping mechanism 10 can grip multiple first workpieces 200 and / or second workpieces. The gripping mechanism 10 moves the gripped first workpiece 200 to the second image acquisition mechanism 70. The second image acquisition mechanism 70 identifies the second image information of the line position of the centers of the two positioning holes of the first workpiece 200. The gripping mechanism 10 places the first workpiece 200 on the carrier according to the second image information, and makes the two positioning holes cooperate with the two positioning protrusions 44 of the carrier to complete the loading of the first workpiece 200. The gripping mechanism 10 moves the gripped second workpiece directly to the carrier, and places the second workpiece in the mounting groove on the surface of the carrier to complete the loading of the second workpiece.
[0102] After the first workpiece 200 or the second workpiece on the surface of the tray is completely grabbed, the workpiece conveying mechanism 20 conveys the empty tray to the waste bin 41 , and conveys the next tray to the lifting mechanism 22 .
[0103] The carrier conveying mechanism 30 moves the carrier filled with the first workpiece 200 and / or the second workpiece to the inspection mechanism 50 , and moves the carrier that has passed the inspection by the inspection mechanism 50 to the next process.
[0104] The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, a person skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.
Claims
1. A gripping mechanism for gripping a first workpiece, characterized in that: The grabbing mechanism comprises: Mounting parts; A stopper, the stopper is arranged on a side of the mounting member, the stopper comprises a surrounding plate and a bottom plate, the surrounding plate is arranged around the bottom plate to form a guide groove, the bottom plate is provided with an avoidance hole, and the bottom surface of the surrounding plate is used to abut against the first workpiece; a first driving member, the first driving member being disposed on the mounting member; A first grasping member, the first grasping member is connected to the first driving member, and can slide along the guide groove and approach or move away from the base plate under the drive of the first driving member, the first grasping member is used to apply an adsorption force to the first workpiece, when the distance between the first grasping member and the base plate is less than a preset distance, the adsorption force is greater than the gravity of the first workpiece, so that the first workpiece remains in contact with the base plate, and when the distance between the first grasping member and the base plate is greater than the preset distance, the adsorption force is less than the gravity of the first workpiece, so that the first workpiece is separated from the base plate.
2. The gripping mechanism according to claim 1, characterized in that: The grabbing mechanism also includes a second driving member and a mounting plate. The second driving member is arranged on the side of the mounting member. The mounting plate is connected to the second driving member and can move under the drive of the second driving member. The first driving member and the first grabbing member are arranged at intervals on the mounting member.
3. The gripping mechanism according to claim 1, characterized in that: The grabbing mechanism further comprises a third driving member, a second grabbing member and a vacuum generator, wherein the third driving member is arranged on the mounting member, the second grabbing member is connected to the third driving member, and the vacuum generator is arranged on the mounting member; The second grasping member defines an air passage, and the air passage is provided with an opening on the bottom surface of the second grasping member. The bottom surface of the second grasping member is used to fit the second workpiece. The vacuum generator is connected to the air passage and is used to generate a vacuum in the air passage so that the second grasping member generates an adsorption force to adsorb the second workpiece.
4. A feeding device, characterized in that: include: A workpiece conveying mechanism, wherein the workpiece conveying mechanism is used to convey a first workpiece; A carrier conveying mechanism, the carrier conveying mechanism is used to convey the carrier, and the conveying direction of the carrier conveying mechanism intersects with the conveying direction of the workpiece conveying mechanism; According to any one of claims 1 to 3, there are multiple gripping mechanisms, and the multiple gripping mechanisms are arranged on both sides of the carrier conveying mechanism along its width direction, and the gripping mechanism is used to grab the first workpiece conveyed by the workpiece conveying mechanism to the carrier conveyed by the carrier conveying mechanism.
5. The feeding device according to claim 4, characterized in that: The workpiece conveying mechanism comprises: A Y-direction conveying mechanism, the Y-direction conveying mechanism is used to convey a material tray, the material tray is used to load the workpiece, and the end of the Y-direction conveying mechanism is close to the carrier conveying mechanism; A lifting mechanism is arranged at the end of the Y-direction conveying mechanism, and the lifting mechanism includes a lifting drive and a carrying plate. The carrying plate is used to carry the material tray conveyed by the Y-direction conveying mechanism, and the lifting drive is used to drive the carrying plate to move along the Z direction.
6. The feeding device according to claim 5, characterized in that: The feeding device also includes a waste bin, which is arranged on a side of the lifting mechanism away from the Y-direction conveying mechanism, and is used to receive the empty material tray conveyed by the Y-direction conveying mechanism.
7. The feeding device according to claim 4, characterized in that: The feeding equipment also includes a positioning table; The carrier conveying mechanism comprises: An X-axis transfer mechanism, wherein the X-axis transfer mechanism is disposed on one side of the positioning platform; A Z-direction transfer mechanism, the Z-direction transfer mechanism is connected to the X-direction transfer mechanism and can move under the drive of the X-direction transfer mechanism; The carrying platform is used to carry the carrier, and the carrying platform is connected to the Z-direction transfer mechanism, and the Z-direction transfer mechanism can drive the carrying platform to move along the Z direction so that the carrier is positioned and placed on the positioning platform.
8. The feeding device according to claim 4, characterized in that: The feeding device further includes a first image acquisition mechanism, which is used to obtain first image information of an edge of the first workpiece conveyed by the workpiece conveying mechanism, and the grasping mechanism is used to grasp the first workpiece according to the first image information.
9. The feeding device according to claim 4, characterized in that: The first workpiece is provided with two first positioning holes arranged at intervals, and the carrier is provided with two positioning protrusions arranged at intervals; The loading equipment also includes a second image acquisition mechanism, which is used to obtain second image information of a center line connecting the two first positioning holes of the first workpiece grasped by the grasping mechanism, and the grasping mechanism is used to place the first workpiece on the carrier according to the second image information.
10. The feeding device according to claim 4, characterized in that: The loading equipment also includes a detection mechanism, which is arranged at the end of the carrier conveying mechanism. The detection mechanism includes an image acquisition component and a photoelectric detection component. The image acquisition component is used to obtain image information of the carrier loaded with the first workpiece to detect the position of the first workpiece on the carrier, and the photoelectric detection component is used to detect the height of the first workpiece on the carrier.