Material taking device

Abstract

The utility model is suitable for the technical field of feeding, and provides a material taking device which comprises a base, an adsorption mechanism, a clamping mechanism and a limiting structure. The adsorption mechanism is arranged on the base and used for adsorbing materials in the first direction. The clamping mechanism comprises a driving structure and a clamping structure. The driving structure is arranged on the base, and the clamping structure is connected to the output end of the driving structure and used for being closed or opened under driving of the driving structure so as to clamp or loosen materials. The limiting structure is arranged on the base and used for limiting the opening amplitude of the clamping structure. Thus, the material taking device firstly adsorbs and positions the materials through the adsorption mechanism, so that the materials are stably adsorbed by the adsorption mechanism, then the materials are further clamped and fixed through the clamping mechanism, the adsorption mechanism and the clamping mechanism are jointly matched to take the materials, the risk that the materials are separated from the material taking device is reduced, and the material taking stability of the material taking device on the materials is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of material feeding, and more specifically, to a material taking device. Background Art

[0002] In automated production and processing, materials are usually picked up by grippers, robotic arms and other material picking devices, and then placed in corresponding workstations for installation. However, in actual production processes, some materials are flexible sheet materials. When the flexible sheet materials are clamped by grippers, robotic arms and other material picking devices, the materials are easily deformed under the action of the clamping force, making it easy for the materials to slip out of the picking devices, resulting in poor clamping stability of the picking devices on the materials. Utility Model Content

[0003] One of the purposes of the embodiments of the present application is to provide a material taking device, aiming to solve the technical problem in the related art that the material taking device has poor clamping stability for the material.

[0004] In order to solve the above technical problems, the technical solution adopted in the embodiment of the present application is:

[0005] A material taking device is provided, comprising:

[0006] Pedestal;

[0007] An adsorption mechanism, disposed on the base and used for adsorbing materials along a first direction;

[0008] The clamping mechanism comprises a driving structure and a clamping structure, wherein the driving structure is arranged on the base, and the clamping structure is connected to the output end of the driving structure and is used to move closer or open under the drive of the driving structure to clamp or release the material;

[0009] The limiting structure is arranged on the base and is used to limit the opening range of the clamping structure.

[0010] In some embodiments, the clamping structure comprises:

[0011] A first abutting component, connected to the output end of the driving structure, and used to abut at least one side of the material along the second direction, and capable of moving along the second direction;

[0012] A second abutting component, connected to the output end of the driving structure, and used to abut at least one side of the material along the third direction, and capable of moving along the third direction;

[0013] Wherein, the limiting structure is used to limit the movement stroke of the first abutting component in the second direction and / or the movement stroke of the second abutting component in the third direction; the first direction, the second direction and the third direction are perpendicular to each other.

[0014] In some embodiments, the limiting structure includes a first limiting member and a second limiting member spaced apart from each other on the base; the first limiting member is used to abut the first abutting component along the second direction to limit the movement of the first abutting component along the second direction; the second limiting member is used to abut the second abutting component along the third direction to limit the movement of the second abutting component along the third direction.

[0015] In some embodiments, the first abutting assembly includes a first abutting member and a second abutting member spaced apart along the second direction, the first abutting member and the second abutting member are both connected to the output end of the driving structure, and can move toward or away from each other along the second direction under the drive of the driving structure to clamp or release two opposite sides of the material along the second direction;

[0016] The second abutting assembly includes a third abutting member, which is connected to the output end of the driving structure and can move along the third direction under the drive of the driving structure to abut against one side of the material along the third direction;

[0017] The limiting structure is used to limit the movement stroke of the first resisting member in the second direction and / or the movement stroke of the second resisting member in the second direction and / or the movement stroke of the third resisting member in the third direction.

[0018] In some embodiments, the first abutting member includes a first abutting portion connected to the output end of the driving structure and a first receiving portion provided on the first abutting portion, the first abutting portion is used to abut the material along the second direction, and the first receiving portion is used to abut the side of the material away from the adsorption mechanism along the first direction;

[0019] And / or, the second abutting member includes a second abutting portion connected to the output end of the driving structure and a second receiving portion provided on the second abutting portion, the second abutting portion is used to abut the material along the second direction, and the second receiving portion is used to abut the side of the material away from the adsorption mechanism along the first direction;

[0020] And / or, the third supporting member includes a third supporting portion connected to the output end of the driving structure and a third receiving portion arranged on the third supporting portion, the third supporting portion is used to support the material along the third direction, and the third receiving portion is used to support the side of the material away from the adsorption mechanism along the first direction.

[0021] In some embodiments, the material taking device has a first center line parallel to the first direction, and when the clamping structure clamps the material, the first center line passes through the material along the first direction;

[0022] The first supporting portion and the first center line are spaced apart along the second direction, and at least a portion of the first receiving portion is disposed on a side of the first supporting portion along the second direction toward the first center line; and / or, the second supporting portion and the first center line are spaced apart along the second direction, and at least a portion of the second receiving portion is disposed on a side of the second supporting portion along the second direction toward the first center line; and / or, the third supporting portion and the first center line are spaced apart along the third direction, and at least a portion of the third receiving portion is disposed on a side of the third supporting portion along the third direction toward the first center line.

[0023] In some embodiments, the adsorption mechanism includes an adsorption member for adsorbing materials; the adsorption member is disposed on the base and is spaced apart from the third abutting member along the third direction.

[0024] In some embodiments, the suction member is a vacuum suction cup.

[0025] In some embodiments, the adsorption mechanism further includes a mounting frame, the adsorption component is disposed on the mounting frame, and the mounting frame is movably disposed on the base along the first direction.

[0026] In some embodiments, the material taking device further includes a conveying mechanism, and the base is disposed on the conveying mechanism and is used to move under the drive of the conveying mechanism.

[0027] The beneficial effects of the material taking device provided in the embodiment of the present application are:

[0028] The material picking device provided in the embodiment of the present application has an adsorption mechanism that adsorbs the material along the first direction when picking up the material, so that the material can be adsorbed to the adsorption mechanism along the first direction. The clamping structure is connected to the output end of the driving structure so that it can be brought together or opened under the drive of the driving structure to achieve the clamping or releasing operation of the material. At the same time, when the clamping structure is opened, the limiting structure can limit its opening amplitude. In this way, the material picking device firstly adsorbs and positions the material through the adsorption mechanism, so that the material is stably adsorbed by the adsorption mechanism, and then further clamps and fixes the material through the clamping mechanism. The adsorption mechanism and the clamping mechanism cooperate together to pick up the material, which reduces the risk of the material escaping from the material picking device and improves the clamping stability of the material picking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0030] Figure 1 Schematic diagram of the three-dimensional structure of the material taking device provided in the embodiment of the present application Figure 1 ;

[0031] Figure 2 Schematic diagram of the three-dimensional structure of the material taking device provided in the embodiment of the present application Figure 2 ;

[0032] Figure 3 for Figure 1 An exploded schematic diagram of the reclaimer is provided.

[0033] Among them, the reference numerals in the figure are:

[0034] 10-base; 20-adsorption mechanism; 21-adsorption member; 22-mounting frame; 221-strip groove; 30-clamping mechanism; 31-driving structure; 311-driving member; 312-connecting structure; 32-clamping structure; 321-first abutting assembly; 3211-first abutting member; 32111-first abutting portion; 32112-first receiving portion; 3212-second abutting member; 32121-second abutting portion; 32122-second receiving portion; 322-second abutting assembly; 3221-third abutting member; 32211-third abutting portion; 32212-third receiving portion; 40-limiting structure; 41-first limiting member; 42-second limiting member; L-first center line; Z-first direction; X-second direction; Y-third direction. DETAILED DESCRIPTION

[0035] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0036] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0038] In the description of the present application, "plurality" means more than two, and unless otherwise clearly and specifically defined, "more than two" includes two. Accordingly, "multiple groups" means more than two groups, including two groups.

[0039] In this application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, in this application, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0040] The following is a detailed description with reference to the accompanying drawings and embodiments:

[0041] In one embodiment of the present application, see Figure 1 The material taking device includes a base 10, an adsorption mechanism 20, a clamping mechanism 30 and a limiting structure 40. The adsorption mechanism 20 is arranged on the base 10, and is used to adsorb the material along the first direction Z. The clamping mechanism 30 includes a driving structure 31 and a clamping structure 32. The driving structure 31 is arranged on the base 10. The clamping structure 32 is connected to the output end of the driving structure 31, and is used to open under the drive of the driving structure 31 to loosen the material. The clamping structure 32 is also used to move closer under the drive of the driving structure 31 to clamp the material. The limiting structure 40 is arranged on the base 10, and is used to limit the opening range of the clamping structure 32.

[0042] The adsorption mechanism 20 can generate negative pressure through equipment such as an air pump and a fan, so that the material is adsorbed on the adsorption mechanism 20 .

[0043] Among them, the first direction Z is as follows Figure 1 Schematic direction Z. In actual use, the first direction Z is substantially parallel to the vertical direction, and the adsorption mechanism 20 can overcome the gravity of the material in the vertical direction to adsorb the material.

[0044] As an example, the material may be a thin sheet structure, and the first direction Z may be parallel to the thickness direction of the material.

[0045] In one possible design, the clamping structure 32 may include a plurality of components, which are spaced apart from each other and clamped at different positions of the material. In another possible design, the clamping structure 32 is a single component, which may be clamped at multiple positions of the material.

[0046] It should be noted that the opening of the clamping structure 32 means that the part of the clamping structure 32 used for clamping the material moves away from the material along the direction of clamping the material. The closing of the clamping structure 32 means that the part of the clamping structure 32 used for clamping the material moves towards each other along the direction of clamping the material under the drive of the driving structure 31, so as to finally clamp the material.

[0047] The limiting structure 40 may be a columnar structure, a plate-like structure, etc., and can abut against the clamping structure 32 when the clamping structure 32 is opened by the driving structure 31 , so that the clamping structure 32 cannot continue to open.

[0048] The opening amplitude of the clamping structure 32 refers to the maximum straight-line distance of the part of the clamping structure 32 used for clamping the material along the direction of clamping the material when the part of the clamping structure 32 used for clamping the material moves away from the driving structure 31 .

[0049] The material taking device provided in the embodiment of the present application firstly adsorbs the material along the first direction Z through the adsorption mechanism 20 when taking the material, so that the material can be adsorbed on the adsorption mechanism 20 along the first direction Z. Since the clamping structure 32 is connected to the output end of the driving structure 31, the clamping structure 32 can be opened and surround at least part of the edge of the material under the drive of the driving structure 31, and then the driving structure 31 drives the clamping structure 32 to move closer, so that the clamping structure 32 can clamp the material. The clamping structure 32 can also be opened under the drive of the driving structure 31, so that the clamping structure 32 can release the material to place the material in the corresponding work station, thereby realizing the material loading operation. When the clamping structure 32 is opened, the limiting structure 40 can limit the opening range of the clamping structure 32. In this way, the material picking device firstly uses the adsorption mechanism 20 to adsorb and position the material, so that the material is stably adsorbed by the adsorption mechanism 20, and then further clamps and fixes the material through the clamping mechanism 30. The adsorption mechanism 20 and the clamping mechanism 30 work together to pick up the material, reducing the risk of the material escaping from the material picking device and improving the material holding stability of the material picking device. At the same time, the movement stroke of the clamping structure 32 is shortened by the limiting structure 40, thereby improving the working efficiency of the clamping structure 32.

[0050] In some embodiments, please refer to Figure 1 and Figure 2 The driving structure 31 includes a driving member 311 and a connecting structure 312. The output end of the driving member 311 is connected to the connecting structure 312, so that the connecting structure 312 can move under the drive of the driving member 311. The clamping structure 32 is arranged on the connecting structure 312 to move with the connecting structure 312. In this way, one driving member 311 can drive multiple connecting structures 312 to move at the same time, thereby improving the driving efficiency of the driving structure 31 to the clamping structure 32. Among them, the driving member 311 can be a cylinder, a motor, etc.

[0051] In one embodiment of the present application, see Figure 1 and Figure 2 The clamping structure 32 includes a first abutting component 321 and a second abutting component 322. The first abutting component 321 is connected to the output end of the driving structure 31, and is used to abut at least one side of the material along the second direction X. The first abutting component 321 can move along the second direction X. The second abutting component 322 is connected to the output end of the driving structure 31, and is used to abut at least one side of the material along the third direction Y. The second abutting component 322 can move along the third direction Y. The limiting structure 40 is used to limit at least one of the moving stroke of the first abutting component 321 in the second direction X and the moving stroke of the second abutting component 322 in the third direction Y. Wherein, the first direction Z is perpendicular to the second direction X, the second direction X is perpendicular to the third direction Y, and the third direction Y is also perpendicular to the first direction Z.

[0052] The first abutting component 321 and the second abutting component 322 define a clamping space, and the clamping space is used to accommodate materials. When the materials are accommodated in the clamping space, the adsorption mechanism 20 can adsorb the materials, and the first abutting component 321 and the second abutting component 322 can cooperate to clamp the materials.

[0053] The first resisting component 321 is used to resist at least one side of the material along the second direction X, which means that the first resisting component 321 can be used to resist one side of the material along the second direction X, and can also be used to resist two opposite sides of the material along the second direction X.

[0054] In the case where the first abutting component 321 is used to abut the opposite sides of the material along the second direction X, under the drive of the driving structure 31, the parts of the first abutting component 321 located on the opposite sides of the material along the second direction X can move toward each other along the second direction X toward the clamping space to clamp the material and realize the closing of the clamping structure 32; the parts of the first abutting component 321 located on the opposite sides of the material along the second direction X can also move back to back to loosen the material and realize the opening of the clamping structure 32.

[0055] In the case where the first abutting component 321 is only used to abut one side of the material along the second direction X, under the drive of the driving structure 31, the part of the first abutting component 321 used to abut the material can move toward the clamping space along the second direction X to cooperate with the second abutting component 322 to clamp the material, thereby achieving the closing of the clamping structure 32; the part of the first abutting component 321 used to abut the material can also move away from the clamping space along the second direction X to loosen the material and achieve the opening of the clamping structure 32.

[0056] The second supporting component 322 is used to support one side of the material along the third direction Y, which means that the second supporting component 322 can be used to support one side of the material along the third direction Y, and can also be used to support two opposite sides of the material along the third direction Y.

[0057] When the second supporting component 322 is used to support the opposite sides of the material along the third direction Y, under the drive of the driving structure 31, the parts of the second supporting component 322 located on the opposite sides of the material along the third direction Y can move toward each other along the third direction Y toward the clamping space to clamp the material and realize the closing of the clamping structure 32; the parts of the second supporting component 322 located on the opposite sides of the material along the third direction Y can also move back to back to loosen the material and realize the opening of the clamping structure 32.

[0058] In the case where the second abutting component 322 is only used to abut the material on one side along the third direction Y, under the drive of the driving structure 31, the part of the second abutting component 322 used to abut the material can move toward the clamping space along the third direction Y to cooperate with the first abutting component 321 to clamp the material, thereby achieving the closing of the clamping structure 32; the part of the second abutting component 322 used to abut the material can also move away from the clamping space along the third direction Y to loosen the material and achieve the opening of the clamping structure 32.

[0059] Among them, the first direction Z is as follows Figure 1 The direction Z shown in the figure, the second direction X is as follows Figure 1 The direction X indicated in the figure, Figure 1 The direction Y is also illustrated in the figure. The directions X, Y and Z are the directions of the three coordinate axes in the space coordinate system, that is, the direction X is perpendicular to the direction Y, the direction X is perpendicular to the direction Z, and the direction Y is perpendicular to the direction Z.

[0060] In this way, the clamping structure 32 can simultaneously hold the material along the second direction X and the third direction Y, so that the first holding component 321 and the second holding component 322 can both hold the material to cooperate with the adsorption mechanism 20 to pick up the material, thereby improving the material picking reliability and clamping stability of the picking device.

[0061] The setting of the limiting structure 40 limits at least one of the moving stroke of the first abutting component 321 in the second direction X and the moving stroke of the second abutting component 322 in the third direction Y, thereby avoiding excessive moving stroke of the first abutting component 321 or the second abutting component 322 as much as possible, and shortening the closing stroke of the first abutting component 321 or the second abutting component 322, thereby shortening the total stroke of the clamping structure 32 during opening and closing movements, thereby improving the working efficiency of the clamping structure 32.

[0062] In one embodiment of the present application, see Figure 1 and Figure 2 The limiting structure 40 includes a first limiting member 41 and a second limiting member 42. The first limiting member 41 and the second limiting member 42 are spaced apart on the base 10. The first limiting member 41 is used to abut the first abutting component 321 along the second direction X to limit the movement of the first abutting component 321 along the second direction X. The second limiting member 42 is used to abut the second abutting component 322 along the third direction Y to limit the movement of the second abutting component 322 along the third direction Y.

[0063] The first limiting member 41 and the second limiting member 42 may be structures such as baffles, bumps or bosses disposed on the base 10 .

[0064] The first stopper 41 can be separately connected to the base 10 by means of clamping, bonding, welding, etc., or the first stopper 41 can be integrally formed with the base 10 by means of casting, injection molding, etc. The installation method of the second stopper 42 on the base 10 can be obtained similarly.

[0065] In this way, the first limit member 41 limits the moving stroke of the first abutting component 321 in the second direction X, and the second limit member 42 limits the moving stroke of the second abutting component 322 in the third direction Y, thereby avoiding as much as possible the excessive moving stroke of the first abutting component 321 and the second abutting component 322 when they are opened, and shortening the moving stroke of the first abutting component 321 and the second abutting component 322, thereby shortening the total stroke of the clamping structure 32 during the opening and closing movements, thereby improving the working efficiency of the clamping structure 32.

[0066] In one embodiment of the present application, see Figures 1 to 3 The first abutting assembly 321 includes a first abutting member 3211 and a second abutting member 3212, and the first abutting member 3211 and the second abutting member 3212 are spaced apart along the second direction X. The first abutting member 3211 and the second abutting member 3212 are both connected to the output end of the driving structure 31. The first abutting member 3211 and the second abutting member 3212 can move toward each other along the second direction X under the drive of the driving structure 31 to clamp the opposite sides of the material along the second direction X. The first abutting member 3211 and the second abutting member 3212 can also move in opposite directions along the second direction X under the drive of the driving structure 31 to release the material. The second abutting assembly 322 includes a third abutting member 3221. The third abutting member 3221 is connected to the output end of the driving structure 31. The third abutting member 3221 can move along the third direction Y under the drive of the driving structure 31 to abut one side of the material along the third direction Y. The limiting structure 40 is used to limit at least one of the movement stroke of the first resisting member 3211 in the second direction X, the movement stroke of the second resisting member 3212 in the second direction X, and the movement stroke of the third resisting member 3221 in the third direction Y.

[0067] The first resisting member 3211 , the second resisting member 3212 and the third resisting member 3221 may be, but are not limited to, structures such as pawls, columns, and springs.

[0068] In a possible design, the number of the first abutting members 3211 can be set to at least one. When the first abutting members 3211 are set to multiple, the multiple first abutting members 3211 are spaced apart along the third direction Y, and each first abutting member 3211 is used to abut the material on one side along the second direction X. The number of the second abutting members 3212 can be set to at least one. When the second abutting members 3212 are set to multiple, the multiple second abutting members 3212 are spaced apart along the third direction Y, and each second abutting member 3212 is used to abut the material on the other side along the second direction X.

[0069] In a possible design, the number of the third resisting member 3221 can be set to at least one. When there are multiple third resisting members 3221, the multiple third resisting members 3221 are spaced apart along the second direction X, and each third resisting member 3221 is used to resist one side of the material along the third direction Y.

[0070] Such arrangement enables the first abutting member 3211 and the second abutting member 3212 to clamp and support the material in the second direction X, thereby ensuring the clamping reliability and stability of the material by the clamping structure 32. The third abutting member 3221 also improves the clamping stability of the material by the clamping structure 32 in the third direction Y.

[0071] The limiting structure 40 limits at least one of the moving stroke of the first abutting member 3211 in the second direction X, the moving stroke of the second abutting member 3212 in the second direction X, and the moving stroke of the third abutting member in the third direction Y, so as to avoid as much as possible that the first abutting member 3211, the second abutting member 3212 or the third abutting member 3221 has an excessive stroke when opened, shortening the approaching stroke of the first abutting member 3211, the second abutting member 3212 or the third abutting member 3221, thereby shortening the total movement stroke of the clamping structure 32 and improving the working efficiency of the clamping structure 32.

[0072] In one embodiment, the second abutting assembly 322 further includes a fourth abutting member, and the third abutting member 3221 and the fourth abutting member can move toward each other along the third direction Y under the drive of the driving structure 31 to clamp the material on two opposite sides along the third direction Y. In this way, the clamping stability of the clamping structure 32 on the material along the third direction Y is further improved.

[0073] In one embodiment of the present application, see Figures 1 to 3 The first abutting member 3211 includes a first abutting portion 32111 and a first receiving portion 32112. The first abutting portion 32111 is connected to the output end of the driving structure 31. The first receiving portion 32112 is disposed on the first abutting portion 32111. The first abutting portion 32111 is used to abut the material along the second direction X. The first receiving portion 32112 is used to abut the side of the material away from the adsorption mechanism 20 along the first direction Z.

[0074] Specifically, at least part of the structure of the first supporting portion 32111 and at least part of the structure of the first receiving portion 32112 are bent relative to each other, and the relative bending angle is 90 degrees, so that at least part of the structure of the first supporting portion 32111 and at least part of the structure of the first receiving portion 32112 can respectively support one side of the material along the second direction X and the first direction Z.

[0075] In actual use, the first direction Z is roughly the vertical direction. The material is placed on a horizontal plane, and the adsorption mechanism 20 is adsorbed on the upper surface of the material in the vertical direction, so that the material is lifted in the vertical direction. The first abutting member 3211 approaches the material along the second direction X until the first abutting portion 32111 abuts against one side of the material along the second direction X, and the first receiving portion 32112 abuts against the lower surface of the material in the vertical direction, so as to cooperate with the adsorption mechanism 20 to take the material.

[0076] In this way, the material is respectively supported by the first receiving portion 32112 and adsorbed by the adsorption mechanism 20 on two opposite sides along the first direction Z, thereby improving the stability of the material in the material taking device and reducing the risk of the material escaping from the material taking device.

[0077] Alternatively, in another embodiment, the second abutting member 3212 includes a second abutting portion 32121 and a second receiving portion 32122. The second abutting portion 32121 is connected to the output end of the driving structure 31. The second receiving portion 32122 is disposed on the second abutting portion 32121. The second abutting portion 32121 is used to abut the material along the second direction X. The second receiving portion 32122 is used to abut the side of the material away from the adsorption mechanism 20 along the first direction Z.

[0078] Specifically, at least part of the second supporting portion 32121 and at least part of the second receiving portion 32122 are bent relative to each other, and the bending angle is 90 degrees, so that at least part of the second supporting portion 32121 and at least part of the second receiving portion 32122 respectively support one side of the material along the second direction X and the first direction Z.

[0079] In actual use, the first direction Z is roughly the vertical direction. The material is placed on a horizontal plane, and the adsorption mechanism 20 adsorbs on the upper surface of the material in the vertical direction, so that the material is lifted in the vertical direction. The second abutting member 3212 approaches the material along the second direction X until the second abutting portion 32121 abuts on one side of the material along the second direction X, and the second receiving portion 32122 abuts on the lower surface of the material in the vertical direction, so as to cooperate with the adsorption mechanism 20 to take the material.

[0080] In this way, the material is respectively supported by the second receiving portion 32122 and adsorbed by the adsorption mechanism 20 on two opposite sides along the first direction Z, thereby improving the stability of the material in the material taking device and reducing the risk of the material escaping from the material taking device.

[0081] Alternatively, in another embodiment, the third abutting member 3221 includes a third abutting portion 32211 and a third receiving portion 32212. The third abutting portion 32211 is connected to the output end of the driving structure 31. The third receiving portion 32212 is disposed on the third abutting portion 32211. The third abutting portion 32211 is used to abut the material along the third direction Y. The third receiving portion 32212 is used to abut the side of the material away from the adsorption mechanism 20 along the first direction Z.

[0082] Specifically, at least a portion of the third supporting portion 32211 and at least a portion of the third receiving portion 32212 are bent relative to each other, and the bending angle is 90 degrees, so as to respectively support one side of the material along the first direction Z and the third direction Y.

[0083] In actual use, the first direction Z is roughly the vertical direction. The material is placed on a horizontal plane, and the adsorption mechanism 20 is adsorbed on the upper surface of the material in the vertical direction, so that the material is lifted in the vertical direction. The third abutting member 3221 approaches the material along the third direction Y until the third abutting portion 32211 abuts against one side of the material along the third direction Y, and the third receiving portion 32212 abuts against the lower surface of the material in the vertical direction, so as to cooperate with the adsorption mechanism 20 to take the material.

[0084] In this way, the material is respectively supported by the third supporting portion 32211 and adsorbed by the adsorption mechanism 20 on two opposite sides along the first direction Z, thereby improving the stability of the material in the material taking device and reducing the risk of the material escaping from the material taking device.

[0085] It should be noted that the material picking device of the present application can have at least one of the above three embodiments, so that the material is respectively supported and adsorbed on two opposite sides along the first direction Z, thereby improving the stability of the material in the material picking device and reducing the risk of the material escaping from the material picking device.

[0086] The material taking device has a first center line L, and the first center line L is parallel to the first direction Z. When the clamping structure 32 clamps the material, the first center line L passes through the material along the first direction Z.

[0087] Among them, the first center line L is as follows Figure 1 The center line L shown in the figure, the first direction Z is as follows Figure 1 In the Z axis shown in the figure, the center line L is parallel to the Z axis, that is, the first direction Z is parallel to the first center line L.

[0088] In one embodiment of the present application, see Figures 1 to 3The first abutting portion 32111 and the first center line L are spaced apart from each other along the second direction X. At least a portion of the first receiving portion 32112 is disposed on a side of the first abutting portion 32111 along the second direction X toward the first center line L.

[0089] The first receiving portion 32112 may be entirely arranged on the side of the first supporting portion 32111 along the second direction X toward the first center line L; or, the first receiving portion 32112 may be partially arranged on the side of the first supporting portion 32111 along the second direction X toward the first center line L.

[0090] In this way, the first abutting portion 32111 and the first receiving portion 32112 cooperate to better abut against the edge of the material along the second direction X, thereby improving the reliability of the first abutting member 3211 in clamping the material.

[0091] Alternatively, in another embodiment, the second abutting portion 32121 is spaced apart from the first center line L along the second direction X. At least a portion of the second receiving portion 32122 is disposed on a side of the second abutting portion 32121 along the second direction X toward the first center line L.

[0092] The second receiving portion 32122 may be entirely arranged on the side of the second supporting portion 32121 along the second direction X toward the first center line L; or, the second receiving portion 32122 may be partially arranged on the side of the second supporting portion 32121 along the second direction X toward the first center line L.

[0093] In this way, the second supporting portion 32121 and the second receiving portion 32122 cooperate to better support the edge of the material along the second direction X, thereby improving the reliability of the second supporting member 3212 in clamping the material.

[0094] Alternatively, in another embodiment, the third abutting portion 32211 is spaced apart from the first center line L along the third direction Y. At least a portion of the third receiving portion 32212 is disposed on a side of the third abutting portion 32211 along the third direction Y toward the first center line L.

[0095] The third supporting portion 32212 may be entirely arranged on the side of the third supporting portion 32211 along the third direction Y toward the first center line L; or, the third supporting portion 32212 may be partially arranged on the side of the third supporting portion 32211 along the third direction Y toward the first center line L.

[0096] In this way, the third supporting portion 32211 and the third receiving portion 32212 cooperate to better support the edge of the material along the third direction Y, thereby improving the reliability of the third supporting member 3221 in clamping the material.

[0097] It should be noted that the material taking device of the present application has at least one of the above three embodiments to improve the reliability of clamping the peripheral edge of the material.

[0098] In one embodiment of the present application, see Figure 2 The adsorption mechanism 20 includes an adsorption member 21. The adsorption member 21 is used to adsorb materials. The adsorption member 21 is disposed on the base 10. The adsorption member 21 and the third abutting member 3221 are spaced apart along the third direction Y.

[0099] When the material taking device takes the material, the material is firstly adsorbed along the first direction Z by the adsorption mechanism 20. Then, the clamping structure 32 is driven by the driving structure 31 to move closer, so that the first abutting member 3211 and the second abutting member 3212 abut the opposite sides of the material along the second direction X, and the third abutting member 3221 abuts one side of the material along the third direction Y. At the same time, the adsorption member 21 adsorbs the material along the third direction Y away from one end of the third abutting member 3221, so as to cooperate with the third abutting member 3221 to fix the opposite ends of the material along the third direction Y. The clamping structure 32 can also be opened under the drive of the driving structure 31, so that the first abutting member 3211, the second abutting member 3212 and the third abutting member can release the material, and at the same time, the adsorption structure removes the suction force of the adsorption member 21 on the material, so that the material can be placed in the corresponding work station.

[0100] In this way, the clamping structure 32 can be adsorbed or supported on both sides along the second direction X and the third direction Y, thereby improving the adsorption and positioning effect of the material by the material picking device and improving the reliability of the material in the material picking device, making it difficult for the material to fall off the material picking device.

[0101] In one embodiment of the present application, the suction member 21 is a vacuum suction cup.

[0102] Vacuum suction cups are usually made of materials such as silicone rubber or nitrile rubber.

[0103] When the adsorption member 21 is a vacuum suction cup, the vacuum suction cup has a greater bearing capacity for adsorbing materials and is less likely to cause damage to the materials during the adsorption process.

[0104] In one embodiment of the present application, see Figures 2 to 3 The adsorption mechanism 20 further includes a mounting frame 22. The adsorption member 21 is disposed on the mounting frame 22. The mounting frame 22 is movably disposed on the base 10 along the first direction Z.

[0105] In one possible design, the base 10 is provided with a slide groove, and the mounting frame 22 is slidably mounted in the slide groove. Alternatively, in another possible configuration, the base 10 is provided with a slide rail, and the mounting frame 22 is provided with a slide groove and is slidably mounted on the slide rail of the base 10. The mounting method of the mounting frame 22 and the base 10 is not limited to the above two methods, and may also be other methods.

[0106] By setting up the mounting frame 22, the adsorption member 21 can move along the first direction Z with the mounting frame 22 when it is pressed against the material along the first direction Z, so as to adjust the adsorption member 21 to align with the first pressing member 3211, the second pressing member 3212 and the third pressing member 3221, thereby facilitating the first pressing member 3211, the second pressing member 3212 and the third pressing member 3221 to better cooperate in clamping the material.

[0107] In one embodiment, the mounting frame 22 is provided with a strip groove 221, and the mounting frame 22 is limited to the base 10 by passing a bolt through the strip groove 221. In this way, the movement range of the mounting frame 22 relative to the base 10 along the first direction Z is further limited, and the installation stability of the mounting frame 22 on the base 10 is also improved.

[0108] In one embodiment of the present application, the material taking device further comprises a conveying mechanism (not shown). The base 10 is arranged on the conveying mechanism and is used to move under the drive of the conveying mechanism.

[0109] In one possible design, the conveying mechanism conveys in a horizontal direction; or, in another possible design, the conveying mechanism lifts and lowers in a vertical direction; or, in some other possible designs, the conveying mechanism can convey in other directions that intersect with the horizontal and vertical directions, which are not limited here.

[0110] In this way, after the material taking device finishes taking the material, it can be transported to the workstation corresponding to the material through the conveying mechanism for loading, thereby improving the loading efficiency of the material.

[0111] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A material taking device, characterized in that: include: Pedestal; An adsorption mechanism, disposed on the base and used for adsorbing materials along a first direction; The clamping mechanism comprises a driving structure and a clamping structure, wherein the driving structure is arranged on the base, and the clamping structure is connected to the output end of the driving structure and is used to move closer or open under the drive of the driving structure to clamp or release the material; The limiting structure is arranged on the base and is used to limit the opening range of the clamping structure.

2. The material taking device according to claim 1, characterized in that: The clamping structure comprises: A first abutting component, connected to the output end of the driving structure, and used to abut at least one side of the material along the second direction, and capable of moving along the second direction; A second abutting component, connected to the output end of the driving structure, and used to abut at least one side of the material along the third direction, and capable of moving along the third direction; Wherein, the limiting structure is used to limit the movement stroke of the first abutting component in the second direction and / or the movement stroke of the second abutting component in the third direction; the first direction, the second direction and the third direction are perpendicular to each other.

3. The material taking device according to claim 2, characterized in that: The limiting structure includes a first limiting member and a second limiting member spaced apart from each other on the base; the first limiting member is used to abut the first abutting component along the second direction to limit the movement of the first abutting component along the second direction; the second limiting member is used to abut the second abutting component along the third direction to limit the movement of the second abutting component along the third direction.

4. The material taking device according to claim 2, characterized in that: The first abutting assembly comprises a first abutting member and a second abutting member spaced apart along the second direction, wherein the first abutting member and the second abutting member are both connected to the output end of the driving structure and can move toward or away from each other along the second direction under the drive of the driving structure to clamp or release two opposite sides of the material along the second direction; The second abutting assembly includes a third abutting member, which is connected to the output end of the driving structure and can move along the third direction under the drive of the driving structure to abut against one side of the material along the third direction; The limiting structure is used to limit the movement stroke of the first resisting member in the second direction and / or the movement stroke of the second resisting member in the second direction and / or the movement stroke of the third resisting member in the third direction.

5. The material taking device according to claim 4, characterized in that: The first abutting member comprises a first abutting portion connected to the output end of the driving structure and a first receiving portion provided on the first abutting portion, the first abutting portion being used to abut the material along the second direction, and the first receiving portion being used to abut the side of the material away from the adsorption mechanism along the first direction; And / or, the second abutting member includes a second abutting portion connected to the output end of the driving structure and a second receiving portion provided on the second abutting portion, the second abutting portion is used to abut the material along the second direction, and the second receiving portion is used to abut the side of the material away from the adsorption mechanism along the first direction; And / or, the third supporting member includes a third supporting portion connected to the output end of the driving structure and a third receiving portion arranged on the third supporting portion, the third supporting portion is used to support the material along the third direction, and the third receiving portion is used to support the side of the material away from the adsorption mechanism along the first direction.

6. The material taking device according to claim 5, characterized in that: The material taking device has a first center line parallel to the first direction, and when the clamping structure clamps the material, the first center line passes through the material along the first direction; The first supporting portion and the first center line are spaced apart along the second direction, and at least a portion of the first receiving portion is disposed on a side of the first supporting portion along the second direction toward the first center line; and / or, the second supporting portion and the first center line are spaced apart along the second direction, and at least a portion of the second receiving portion is disposed on a side of the second supporting portion along the second direction toward the first center line; and / or, the third supporting portion and the first center line are spaced apart along the third direction, and at least a portion of the third receiving portion is disposed on a side of the third supporting portion along the third direction toward the first center line.

7. The material taking device according to claim 4, characterized in that: The adsorption mechanism comprises an adsorption member for adsorbing materials; the adsorption member is arranged on the base and is spaced apart from the third abutting member along the third direction.

8. The material taking device according to claim 7, characterized in that: The adsorbent is a vacuum suction cup.

9. The material taking device according to claim 7, characterized in that: The adsorption mechanism further comprises a mounting frame, the adsorption component is arranged on the mounting frame, and the mounting frame is movably arranged on the base along the first direction.

10. The material taking device according to any one of claims 1 to 9, characterized in that: The material taking device also includes a conveying mechanism, and the base is arranged on the conveying mechanism and is used to move under the drive of the conveying mechanism.

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