Automatic pick-and-place device and processing equipment

Abstract

The utility model discloses an automatic pick-and-place device and processing equipment, and the device comprises a discharging device which is used for arranging materials; one end of the discharging track is connected to a discharging port of the discharging device; the feeding device is arranged at the other end of the discharging track and used for pushing the materials on the discharging track to a material taking position; and the material taking robot comprises a moving part and a clamping part, the clamping part comprises a plurality of clamping jaw devices, and the multiple clamping jaw devices can clamp the materials on the material taking position and convey the materials to the material working position through the moving part. Material obtaining difficulty is reduced by arranging materials through the discharging device, automatic material conveying is achieved through combination of the discharging track and the feeding device, labor cost is reduced, the automation degree is improved, accurate clamping and conveying of the materials are achieved through cooperative work of the moving part and the clamping part in the material taking robot, and the working efficiency is improved. And the working efficiency can be improved, manual material conveying work is not needed, and the safety accident risk can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic processing, in particular to an automatic taking and placing device and processing equipment. Background Art

[0002] In the modern air-conditioning manufacturing industry, the processing of sheet metal serialized chassis parts is particularly critical, and the riveting process of compressor positioning bolts is an indispensable part of it. However, in the prior art, the working efficiency of the riveting process is easily affected by various factors. For example, in the actual production scenario of air-conditioning manufacturing, the riveting process of compressor positioning bolts requires obtaining multiple parts, positioning multiple parts and placing them in fixed positions on the chassis, and then starting the riveting equipment for riveting. However, this work task currently still relies on the traditional manual production method, that is, manually obtaining parts, manually placing the parts in fixed positions on the chassis one by one, and then starting the riveting equipment for riveting. When facing some work tasks with more parts or more complex structures, it even requires multiple employees to work together to complete the work. It can be seen that this traditional manual production method is inefficient, seriously affects production efficiency, and requires additional labor costs. The work intensity of employees is also greater. At the same time, employees may make mistakes due to repeating the same work, which affects product quality. What is more serious is that when employees place parts, their hands need to enter the mold, which brings safety hazards that cannot be ignored.

[0003] Therefore, how to improve the working efficiency and safety of parts processing is a problem to be solved by those skilled in the art. Utility Model Content

[0004] The embodiment of the utility model provides an automatic pick-and-place device and processing equipment, aiming to realize automatic processing of parts, thereby improving the working efficiency and safety of parts processing.

[0005] The utility model provides an automatic picking and placing device for picking and placing air-conditioning materials, comprising:

[0006] Discharging device, used to organize materials;

[0007] A discharging track, one end of which is connected to the discharging port of the discharging device;

[0008] A feeding device, arranged at the other end of the discharge track, for pushing the material on the discharge track to the material taking position;

[0009] A material picking robot, the material picking robot comprises a moving part and a clamping part, the clamping part comprises a plurality of clamping devices, the plurality of clamping devices can clamp the material at the material picking position and transport it to the material working position by the moving part.

[0010] Preferably, the feeding device comprises a feeding drive mechanism and a feeding slider connected to the output end of the feeding drive mechanism;

[0011] The feeding slide block is slidably arranged at the other end of the discharging track and can push out the material on the other end of the discharging track.

[0012] Preferably, the feeding device includes a feeding support seat, the feeding drive mechanism is arranged on the feeding support seat, one side of the feeding slider is slidably connected to the feeding support seat, the other side of the feeding slider faces the discharge track, and the other side of the feeding slider is provided with a material trough matching the shape of the material, and the side of the material trough facing the discharge track is open.

[0013] Preferably, the top of the material trough is open, and the height of the material trough is smaller than the height of the material.

[0014] Preferably, the sliding direction of the feeding slider is perpendicular to the discharging track.

[0015] Preferably, the material trough is provided with one.

[0016] Preferably, a material detection sensor is provided at the other end of the discharge track, and the material detection sensor is used to detect whether the material in the discharge track is fully loaded.

[0017] Preferably, each of the clamping devices comprises a clamping jaw supporting seat, a clamping jaw driving mechanism and a plurality of pneumatic clamping jaws, wherein the clamping jaw driving mechanism is arranged in the clamping jaw supporting seat, and the plurality of pneumatic clamping jaws are arranged at intervals along the circumferential direction on the outer side of the clamping jaw supporting seat.

[0018] Preferably, the discharging device comprises a discharging drive mechanism and a vibration plate, the discharging drive mechanism is connected to the vibration plate, the discharging port of the vibration plate is provided with a docking track, and the docking track is connected to one end of the discharging track.

[0019] The utility model also provides a processing device, comprising a punching machine and the automatic pick-and-place device as described in any one of the above items.

[0020] The embodiment of the utility model discloses an automatic picking and placing device and processing equipment. The embodiment of the utility model arranges a feeding device to regularize the material to be processed, and arranges a discharging track connected to the discharging port of the discharging device, so that the material regularized by the feeding device can be transmitted to the discharging track through the discharging port, and a feeding device is arranged at the other end of the discharging track, and the feeding device is used to push the material on the discharging track to the picking position. A picking robot including a moving part and a clamping part is also arranged, and the material at the picking position is clamped by the clamping claw device of the clamping part, and the material is transported to the material working position by the moving part. The embodiment of the utility model reduces the difficulty of obtaining materials through the material sorting function of the discharging device, and realizes the automatic transmission of materials without human intervention through the combination of the discharging track and the feeding device, thereby effectively reducing labor costs and improving the automation level of the production line. The coordinated work of the moving part and the clamping part of the material picking robot realizes accurate clamping and transportation of materials, which can further improve the automation level of the production line and also improve the work efficiency of the production line. In addition, the embodiment of the utility model does not require human participation in the material transportation work, which can reduce the risk of safety accidents caused by human operating errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of an automatic pick-and-place device provided in an embodiment of the utility model;

[0023] Figure 2 A partial schematic diagram of an automatic pick-and-place device provided in an embodiment of the utility model;

[0024] Figure 3 A schematic diagram of the structure of a feeding device in an automatic pick-and-place device provided in an embodiment of the utility model;

[0025] Figure 4 Another structural schematic diagram of a feeding device in an automatic pick-and-place device provided by an embodiment of the utility model;

[0026] Figure 5 A partial schematic diagram of a material picking robot in an automatic pick-and-place device provided by an embodiment of the utility model;

[0027] Figure 6 A schematic diagram of the structure of a clamping device in an automatic pick-and-place device provided by an embodiment of the utility model;

[0028] Figure 7 A schematic diagram of the structure of a discharging device in an automatic pick-and-place device provided in an embodiment of the utility model;

[0029] Figure 8 A schematic structural diagram of a material picking robot in an automatic pick-and-place device provided in an embodiment of the utility model.

[0030] Markings in the figure:

[0031] 10. Discharging device; 11. Vibrating plate; 111. Docking track;

[0032] 20. Materials;

[0033] 30. Discharging track;

[0034] 40. Feeding device; 41. Feeding driving mechanism; 42. Feeding slider; 421. Material trough; 43. Feeding support seat;

[0035] 50. Material-picking robot; 51. Moving part; 52. Clamping part; 521. Clamping device; 5211. Clamping support seat; 5212. Pneumatic clamping jaw; 53. Material-picking robot base;

[0036] 60. Punch press. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0038] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0039] It should also be understood that the terms used in this utility model specification are only for the purpose of describing specific embodiments and are not intended to limit the utility model. As used in this utility model specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0040] It should be further understood that the term “and / or” used in the present specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0041] See below Figure 1 and Figure 2 The utility model provides an automatic pick-and-place device for picking up and placing air-conditioning materials, which specifically includes:

[0042] A discharging device 10 for arranging the material 20;

[0043] A discharge track 30, one end of which is connected to the discharge port of the discharge device 10;

[0044] A feeding device 40, disposed at the other end of the discharge track 30, for pushing the material 20 on the discharge track 30 to a material taking position;

[0045] The material picking robot 50 includes a moving part 51 and a clamping part 52. The clamping part 52 includes a plurality of clamping devices 521. The plurality of clamping devices 521 can clamp the material 20 at the material picking position and transport it to the material working position by the moving part 51.

[0046] In this embodiment, a discharging device 10 is provided to regularize the material 20 to be processed, and a discharging track 30 is provided to connect the discharging port of the discharging device 10, so that the material 20 regularized by the discharging device 10 can be transmitted to the discharging track 30 through the discharging port, and then a feeding device 40 is provided at the other end of the discharging track 30, and the feeding device 40 is used to push the material 20 on the discharging track 30 to the material picking position, and a material picking robot 50 including a moving part 51 and a clamping part 52 is provided, and the material 20 at the material picking position is clamped by the clamping claw device 521 of the clamping part 52, and the material is transported to the material working position by the moving part 51.

[0047] This embodiment reduces the difficulty of obtaining the material 20 through the regularization function of the material 20 by the discharge device 10, and realizes the automatic transmission of the material 20 without human intervention through the combination of the discharge track 30 and the feeding device 40, thereby effectively reducing the labor cost and improving the automation level of the production line. In addition, through the coordinated work of the moving part 51 and the clamping part 52 in the material picking robot 50, the material 20 is accurately clamped and conveyed, which can further improve the automation level of the production line and also improve the work efficiency of the production line. In addition, this embodiment does not require human participation in the transportation of the material 20, which can reduce the risk of safety accidents caused by human operational errors.

[0048] Combination Figure 3 and Figure 4As shown, in one embodiment, the feeding device 40 includes a feeding drive mechanism 41 and a feeding slider 42 connected to the output end of the feeding drive mechanism 41;

[0049] The feeding slider 42 is slidably disposed at the other end of the discharge track 30 and can push out the material 20 on the other end of the discharge track 30 .

[0050] In this embodiment, the components of the feeding device 40 include a feeding drive mechanism 41 and a feeding slider 42. The output end of the feeding drive mechanism 41 is connected to the feeding slider 42, and the feeding slider 42 is slidably arranged at the other end of the discharge track 30, so that the feeding slider 42 can push out the material 20 output from the other end of the discharge track 30, thereby realizing the feeding action of the material 20.

[0051] In one embodiment, the feeding device 40 includes a feeding support seat 43, the feeding drive mechanism 41 is arranged on the feeding support seat 43, one side of the feeding slider 42 is slidably connected to the feeding support seat 43, the other side of the feeding slider 42 faces the discharge track 30, and the other side of the feeding slider 42 is provided with a material groove 421 matching the shape of the material 20, and the side of the material groove 421 facing the discharge track 30 is open.

[0052] In this embodiment, the feeding device 40 also includes a feeding support seat 43 disposed below the feeding drive mechanism 41, and one side of the feeding slider 42 is slidably connected to the feeding support seat 43, thereby ensuring that the feeding slider 42 can slide along the set sliding direction. The other side of the feeding slider 42 is arranged toward the discharge track 30, and the side arranged toward the discharge track 30 is also provided with a material slot 421, the shape of which matches the shape of the material 20, and at the same time, the material slot 421 is opened toward one side of the discharge track 30, so that the material 20 can be transmitted from the discharge track 30 to the feeding slider 42, and transmitted to the material slot 421 of matching shape, and then the feeding drive mechanism 41 pushes the feeding slider 42, and finally the material is sent from the discharge track 30 to the material working position. Specifically, the end of the discharge track 30 facing the material trough 421 is also open, so that the material can be transferred from the discharge track 30 from the opening to the material trough 421. The shape of the material trough 421 is set to accommodate the material 20 entering from the discharge track 30 and can limit the material 20 from moving over a large range. For example, when the material 20 is a cylindrical rivet bolt, the material trough 421 is an open semicircular groove. When the feeding slider 42 is in the initial position, the position of the material trough 421 just corresponds to the end of the discharge track 30 facing the material trough 421. In this way, each time the material 20 is conveyed, the material 20 can be accurately transferred from the opening of the discharge track 30 to the material trough 421, and then the feeding drive mechanism 41 pushes the feeding slider 42 and carries the material 20 in the material trough 421 to the material picking position, and finally the picking robot 50 clamps the material 20 from the opening side of the material trough 421.

[0053] In a specific application scenario, the feed support seat 43 is also provided with a slide groove adapted to the feed slider 42. The feed slider 42 can slide along the direction of the slide groove under the drive of the feed drive mechanism 41. It can be understood that the direction of the slide groove is the direction in which the material 20 is sent out. In addition, the specific choice of the feed drive mechanism 41 can be a piston cylinder, and one end of the piston cylinder is fixedly connected to the feed support seat 43, and the other end is fixedly connected to the feed slider 42. In this way, the reciprocating motion of the piston cylinder can be utilized to complete the repeated action of pushing out and retracting the feed slider 42, so that multiple materials 20 can be continuously sent out.

[0054] In one embodiment, the top of the material trough 421 is open, and the height of the material trough 421 is smaller than the height of the material 20 .

[0055] In this embodiment, by setting the height of the material trough 421 to be smaller than the height of the material 20, after the material 20 is discharged from the discharge track 30 to the material trough 421, the upper end of the material 20 will extend out of the material trough 421. On this basis, the clamping device 521 of the material picking robot 50 can smoothly clamp the part of the material 20 extending out of the material trough 421, thereby clamping the material 20 and conveying it to the material working position.

[0056] In a specific application scenario, the height difference between the material slot 421 and the material 20 can be set according to the shape of the actual material or the different material slots 421, for example Figure 5 As shown, when the material 20 is a compression rivet bolt, since the compression rivet bolt includes a rivet head and a long screw rod, the height of the upper end portion of the material trough 421 can be set lower than the height of the rivet head, so that the clamping device 521 of the material picking robot 50 can smoothly clamp the rivet head of the compression rivet bolt, thereby carrying out the next step of material transportation. In addition, it should be noted that in order to ensure that the clamping device 521 of the material picking robot 50 can clamp the material 20 firmly and not loose, the height difference between the material trough 421 and the material 20 cannot be too small, and the portion of the material 20 extending outside the material trough 421 cannot be too small.

[0057] In addition, it should be noted that in addition to the side of the material trough 421 facing the discharge track 30 being open, the top of the material trough 421 is also open, so that the material 20 can protrude from the material trough 421, so that the material picking robot 50 can clamp the material 20 from the open side of the material trough 421.

[0058] In one embodiment, the sliding direction of the feeding slider 42 is perpendicular to the discharging track 30 .

[0059] In this embodiment, a vertical relationship is formed between the sliding direction of the feed slider 42 and the extension direction of the discharge track 30, thereby ensuring that the feed slider 42 can slide perpendicular to the discharge track 30, and ensuring that the material 20 transported by the discharge track 30 can be transported to the material slot 421 of the feed slider 42 in the most direct way. At the same time, making the sliding direction of the feed slider 42 perpendicular to the discharge track 30 can also facilitate the spatial design of the automatic pick-up and placement device.

[0060] In one embodiment, the material trough 421 is provided with one.

[0061] In this embodiment, a material slot 421 for receiving the material 20 is provided on the feeding slider 42. When the feeding slider 42 is in the initial position, the position of the material slot 421 just corresponds to the material outlet of the discharge track 30, so that each time the material 20 is conveyed, the material 20 can be accurately transferred to the material slot 421, so that the feeding driving mechanism 41 pushes the feeding slider 42 and carries the material 20 in the material slot 421 to the material picking position, and then the material picking robot 50 clamps the material 20 and transports it to the material working position. After the material picking robot 50 clamps the material 20, the feeding driving mechanism 41 will drive the feeding slider 42 back to the initial position, and receive the next material 20, and then repeat the subsequent clamping, transportation and other actions.

[0062] In other embodiments, the number of material slots 421 may also be arranged side by side in multiple numbers, such as two, three, etc. Specifically, the number of material slots 421 may be set according to the material distribution at the material processing position or the number of material outlets of the discharge track. For example, when the material distribution at the material processing position is that two materials are placed along the same horizontal line, two material slots 421 located on the same horizontal line may be set on the feeding slider. In this case, when the feeding slider 42 is in the initial position, the discharge track 30 first outputs a material to one of the material slots 421, and then the feeding drive mechanism 41 drives the feeding slider 42 to make the other material slot 421 correspond to the material outlet of the discharge track 30, and then the discharge track 30 outputs the second material to the other material slot 421, and then drives the feeding slider 42 to rotate. 2 two materials are moved to the material taking position at one time, so that the material taking robot 50 can pick up two materials at one time; for another example, a plurality of material outlets can be arranged side by side on the discharge track 30 corresponding to the number of material slots 421, for example, three material outlets are arranged, and the initial positions of the three material slots 421 on the feeding slide 42 can be arranged to correspond exactly to the positions of the three material outlets, so that three materials can be output to the feeding slide 42 at one time, and then the feeding slide 42 is driven to move the three materials to the material taking position at one time, so that the material taking robot 50 can pick up three materials at one time, and so on.

[0063] In one embodiment, a material detection sensor is disposed at the other end of the discharge track 30 , and the material detection sensor is used to detect whether the material 20 in the discharge track 30 is fully loaded.

[0064] In this embodiment, a material detection sensor capable of detecting the material 20 is provided at one end of the discharge track 30 close to the feeding device 40. The main function of the material detection sensor is to monitor the accumulation of the material 20 inside the discharge track 30, so as to confirm whether the discharge track 30 has reached a full load state, to avoid the material 20 overflowing and failing to be pushed away by the feeding device 40 in time, thereby avoiding the material 20 falling and causing unexpected damage to the automatic pick-up and placement device. At the same time, it can also detect whether the material 20 has reached the material outlet of the discharge track 30, so as to control when the feeding device 40 starts and stops pushing based on the detection result.

[0065] In actual application scenarios, material detection sensors can be infrared sensors, ultrasonic sensors, photoelectric sensors or other types of detection sensors. Specifically, they can be selected according to different material types or site conditions.

[0066] Combination Figure 6 As shown, in one embodiment, each of the clamping devices 521 includes a clamping support seat 5211, a clamping drive mechanism and a plurality of pneumatic clamps 5212, wherein the clamping drive mechanism is disposed in the clamping support seat 5211, and the plurality of pneumatic clamps 5212 are circumferentially spaced apart on the outer side of the clamping support seat 5211.

[0067] In this embodiment, each clamp device 521 is composed of a clamp support base 5211, a plurality of pneumatic clamps 5212 and a clamp driving mechanism, wherein the clamp driving mechanism is arranged inside the clamp support base 5211, and the plurality of pneumatic clamps 5212 are arranged on the outside of the clamp support base 5211 and distributed at intervals along the circumferential direction, so that the clamp driving mechanism can be used to drive the plurality of pneumatic clamps 5212 to close to clamp the material 20, and then the pneumatic clamps 5212 are released after the material 20 is transported to the material working position.

[0068] Specifically, the jaw driving mechanism arranged inside the jaw support seat 5211 includes structures such as a piston and a cylinder. The working principle of the pneumatic jaw 5212 is to compress the air through the piston mechanism to drive the pneumatic jaw 5212 to close and release. Specifically, when the compressed air enters the cylinder, the piston is pushed, which will drive the pneumatic jaw 5212 to close and clamp the material 20. Conversely, when the compressed air is discharged from the cylinder, the piston returns and the pneumatic jaw 5212 releases the object. Preferably, the pneumatic clamp 5212 in this embodiment can be a three-point pneumatic clamp. The three-point pneumatic clamp has a simple and stable structure and can meet the clamping tasks with high precision requirements. Specifically, the three-point pneumatic clamp can realize the clamping function of the material 20 by the three clamp heads performing piston actions at the same time. When the compressed air enters the cylinder, the three pistons corresponding to the three clamp heads move toward the outer center of the clamp support seat 5211 respectively, pushing the clamp heads to clamp the material 20 toward the center. Conversely, when the compressed air is discharged from the cylinder, the three pistons corresponding to the three clamp heads return respectively, driving the clamp heads to move toward the outer edge, thereby releasing the material 20. Of course, in specific application scenarios, different clamps can also be selected according to the shape of the actual material.

[0069] In addition, the specific number of the clamping devices 521 can also be set according to different actual work tasks. For example, when three materials need to be processed at one time at the material working position, three clamping devices 521 can be set, and the distribution intervals of the three clamping devices 521 are set to match the three material positions at the material working position. In this way, three materials can be continuously clamped by the three clamping devices 521, and then the three materials can be transferred to the material working position, thereby achieving the effect of placing three materials at one time. This is more efficient than clamping, transporting and placing only one material each time.

[0070] Combination Figure 7 As shown, in one embodiment, the discharging device 10 includes a discharging drive mechanism and a vibration plate 11, the discharging drive mechanism is connected to the vibration plate 11, the discharging port of the vibration plate 11 is provided with a docking track 111, and the docking track 111 is connected to one end of the discharging track 30.

[0071] In this embodiment, the discharging device 10 includes a vibration plate 11 for regularizing the material 20 by vibration, and a discharging driving mechanism connected to the vibration plate 11 and used to drive the material 20 from the vibration plate 11 to the discharging track 30. A discharging port is provided on the vibration plate 11, and the regularized material 20 will be driven to the discharging port by the discharging driving mechanism for discharging, and a docking track 111 for docking with the discharging track 30 is provided at the discharging port of the vibration plate 11. The material 20 regularized by the vibration plate 11 enters the docking track 111 from the discharging port and is transferred from the docking track 111 to the discharging track 30, thereby performing the next pushing action.

[0072] like Figure 8 As shown, in a specific embodiment, the moving part 51 of the material-picking robot 50 includes a plurality of rotatably connected mechanical arms, and a material-picking robot base 53 is also connected below the moving part 51. Based on this, the material-picking robot 50 can move the clamping part 52 to the corresponding feeding position or working position by adjusting the rotation angle of each part according to different feeding positions and different material working positions, thereby realizing material picking and placing. Furthermore, the material-picking robot 50 also includes a control component, which can control the rotation angle of each part, thereby controlling the position and moving speed of each movement of the material-picking robot 50, and controlling the continuous operation of the material-picking robot 50.

[0073] The embodiment of the utility model further provides a processing device, comprising a punching machine 60 and the automatic pick-and-place device as described in any one of the above items.

[0074] In this embodiment, if Figure 1 As shown, the processing equipment includes an automatic pick-and-place device and a punch press 60 next to the automatic pick-and-place device. The material 20 to be processed is transported to the material working position on the punch press 60 by the automatic pick-and-place device, realizing the automatic transmission of the material 20 without manual intervention, thereby effectively reducing the labor cost and improving the automation level of the production line. In this way, not only can the material 20 be accurately clamped and transported, but also the work efficiency of the production line can be improved, and there is no need for manual participation in the transportation of the material 20, reducing the risk of safety accidents caused by human operation errors. For example, when the work performed on the punch press 60 is the riveting work of the compressor positioning bolts, it is generally necessary to place a plurality of riveting bolts on the chassis parts, and the manual production method requires multiple employees to cooperate to obtain a plurality of riveting bolts and manually place them on the chassis parts. In this process, the employees need to reach out to obtain the materials and reach out to the mold cavity of the chassis parts to place the materials. This behavior has a large safety hazard and is extremely inefficient. The automatic pick-and-place device can accurately, safely and quickly place the riveting bolts on the chassis parts, thereby overcoming the defects of the manual production method.

[0075] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0076] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. An automatic pick-and-place device for picking up and placing air-conditioning materials, characterized in that: include: Discharging device, used to organize materials; A discharging track, one end of which is connected to the discharging port of the discharging device; A feeding device, arranged at the other end of the discharge track, for pushing the material on the discharge track to the material taking position; A material picking robot, the material picking robot comprises a moving part and a clamping part, the clamping part comprises a plurality of clamping devices, the plurality of clamping devices can clamp the material at the material picking position and transport it to the material working position by the moving part.

2. An automatic pick-and-place device according to claim 1, characterized in that: The feeding device comprises a feeding drive mechanism and a feeding slider connected to the output end of the feeding drive mechanism; The feeding slide block is slidably arranged at the other end of the discharging track and can push out the material on the other end of the discharging track.

3. An automatic pick-and-place device according to claim 2, characterized in that: The feeding device also includes a feeding support seat, the feeding drive mechanism is arranged on the feeding support seat, one side of the feeding slider is slidably connected to the feeding support seat, the other side of the feeding slider faces the discharge track, and the other side of the feeding slider is provided with a material trough matching the shape of the material, and the side of the material trough facing the discharge track is open.

4. The automatic pick-and-place device according to claim 3, characterized in that: The top of the material trough is open, and the height of the material trough is smaller than the height of the material.

5. The automatic pick-and-place device according to claim 3, characterized in that: The sliding direction of the feeding slide block is perpendicular to the discharging track.

6. The automatic pick-and-place device according to claim 3, characterized in that: The material trough is provided with one.

7. The automatic pick-and-place device according to claim 1, characterized in that: A material detection sensor is arranged at the other end of the discharge track, and the material detection sensor is used to detect whether the material in the discharge track is fully loaded.

8. The automatic pick-and-place device according to claim 1, characterized in that: Each of the clamping jaws comprises a clamping jaw supporting seat, a clamping jaw driving mechanism and a plurality of pneumatic clamping jaws. The clamping jaw driving mechanism is arranged in the clamping jaw supporting seat, and the plurality of pneumatic clamping jaws are arranged at intervals along the circumferential direction on the outer side of the clamping jaw supporting seat.

9. The automatic pick-and-place device according to claim 1, characterized in that: The discharging device comprises a discharging drive mechanism and a vibration plate, wherein the discharging drive mechanism is connected to the vibration plate, and a docking track is provided at a discharging port of the vibration plate, wherein the docking track is connected to one end of the discharging track.

10. A processing equipment, characterized in that: It comprises a punching machine and an automatic pick-and-place device as described in any one of claims 1 to 9.

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