Material taking and placing mechanism

Abstract

The utility model provides a material taking and placing mechanism, which comprises a mounting frame, a plurality of first guide parts and a plurality of second guide parts, the multiple taking and placing parts are movably connected with the mounting frame, and each taking and placing part can move along the corresponding first guide part; the driving assembly is arranged on the mounting frame, the driving assembly is connected with the multiple pick-and-place parts, the driving assembly is used for driving the multiple pick-and-place parts to be switched between a first state and a second state along the corresponding first guide parts, when the multiple pick-and-place parts are in the first state, the multiple pick-and-place parts are linearly arranged, and when the multiple pick-and-place parts are in the second state, the multiple pick-and-place parts are linearly arranged. And the plurality of pick-and-place parts are arranged in a curve. According to the material taking and placing mechanism, the arrangement mode of the multiple taking and placing parts can be changed, and then the arrangement mode of the materials obtained by the taking and placing parts is changed, so that multiple materials can be taken and placed in the one-time material taking and placing process of the material taking and placing mechanism, material taking and placing can be conducted under the condition that the rotating disc does not stop, the transfer speed is increased, and the transfer efficiency is improved. And the utilization rate of intelligent equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent production, and more specifically, to a material taking and placing mechanism. Background Art

[0002] In intelligent equipment, the material picking and placing mechanism is required to perform material picking and placing operations between the pallet and the turntable. The materials in the pallet are usually placed in a regular manner, while the material placement position on the turntable is limited by the shape of the turntable and is usually not consistent with the material placement position in the pallet. Therefore, in order to achieve smooth material picking and placing, the existing material picking and placing mechanism is mostly a single material picking and placing mechanism that can only transfer one material at a time, which greatly reduces production efficiency and easily leads to production redundancy.

[0003] One improvement method is to increase the turntable diameter and increase the number of loading and unloading mechanisms, such as setting up double-station loading and unloading. Although this can improve the transfer efficiency to a certain extent, the degree of improvement is limited, and it will cause the turntable diameter to increase, which in turn requires greater power to drive, and also increases the difficulty of turntable processing. Utility Model Content

[0004] The utility model provides a new technical solution for a material taking and placing mechanism, which can at least solve the problem of low transfer efficiency of the material taking and placing mechanism in the prior art.

[0005] The utility model provides a material picking and placing mechanism, comprising: a mounting frame, on which a plurality of first guide parts are arranged; a plurality of picking and placing parts, which are movably connected to the mounting frame, and each of the picking and placing parts is movable along the corresponding first guide part; a driving component, which is arranged on the mounting frame, connected to the plurality of picking and placing parts, and used to drive the plurality of picking and placing parts to switch between a first state and a second state along the corresponding first guide part, when the plurality of picking and placing parts are in the first state, the plurality of picking and placing parts are arranged in a straight line, and when the plurality of picking and placing parts are in the second state, the plurality of picking and placing parts are arranged in a curve.

[0006] Optionally, when the plurality of pick-and-place portions are in the second state, the plurality of pick-and-place portions are arranged in a fan shape.

[0007] Optionally, the driving assembly includes: a driving member, which is arranged on the mounting frame; a transmission assembly, an input end of the transmission assembly is connected to the driving member, and an output end of the transmission assembly is connected to the plurality of the picking and placing parts.

[0008] Optionally, the transmission assembly includes: a movable plate, which is connected to the driving member and is movable along a first direction under the drive of the driving member; a plurality of connecting rods, which are arranged in sequence, and the ends of two adjacent connecting rods are rotatably connected. In the arrangement direction of the connecting rods, the connecting rods located at both ends of the plurality of connecting rods are driving rods, and the two driving rods are respectively rotatably connected to the movable plate, each of the driving rods is movable relative to the movable plate in a second direction, and the second direction is perpendicular to the first direction, and each of the connecting rods is provided with a pick-up and release portion, and the pick-up and release portion is movable along the extension direction of the connecting rod.

[0009] Optionally, the transmission assembly further includes: a first rotating shaft, the first rotating shaft being rotatably connected to two of the most central connecting rods among the plurality of connecting rods, and the first rotating shaft being connected to the mounting frame.

[0010] Optionally, a plurality of the first guide portions are centrally symmetrically distributed along the first center line, and in the positive direction of the first direction, each of the first guide portions extends toward the first center line.

[0011] Optionally, two first guide members are provided on the movable plate, the two first guide members are spaced apart along the second direction, each first guide member extends along the second direction, a first matching portion is provided on the first guide member, the first matching portion is movable along the first guide member, and the driving rod is rotatably connected to the first matching portion.

[0012] Optionally, each of the connecting rods is provided with a second guide member, the second guide member extends along the length direction of the corresponding connecting rod, and the picking and placing portion is provided with a second matching portion, the second matching portion is connected to the second guide member, and can move along the second guide member.

[0013] Optionally, a third guide member is provided on the mounting frame, and the third guide member extends along the first direction. A third matching portion is provided on the movable plate, and the third matching portion is connected to the third guide member and can move along the third guide member.

[0014] Optionally, the mounting frame includes: a first plate body, on which the first guide portion is provided; a second plate body, which is connected to the first plate body, and the second plate body is spaced apart from the first plate body in a third direction, and the third direction is respectively perpendicular to the first direction and the second direction, and a second guide portion is provided on the second plate body, and second rotating shafts are provided between adjacent connecting rods and between the driving rod and the movable plate, each connecting rod is rotatable around a corresponding second rotating shaft, and a plurality of second rotating shafts are correspondingly arranged to a plurality of second guide portions, and each second rotating shaft is movable along a corresponding second guide portion.

[0015] Optionally, a plurality of the second guide portions are centrally symmetrically distributed along the second center line, and in the positive direction of the first direction, each of the second guide portions extends in a direction away from the second center line.

[0016] Optionally, the first guide portion is a first guide groove penetrating the first plate body along the thickness direction of the first plate body, and the second guide portion is a second guide groove penetrating the first plate body along the thickness direction of the second plate body.

[0017] According to the material picking and placing mechanism of the utility model, a plurality of picking and placing parts are arranged on the mounting frame, and the driving assembly is used to drive the plurality of picking and placing parts to move along the first guide part, so that the arrangement mode of the plurality of picking and placing parts can be changed, and then the arrangement mode of the materials obtained by the picking and placing parts can be changed. When the materials are arranged in a straight line, they can be adapted to the tray, and when the materials are arranged in a curve, they can be adapted to the turntable. Therefore, multiple materials can be picked and placed in one picking and placing process of the material picking and placing mechanism, and the picking and placing can be performed without stopping the turntable, which is conducive to improving the transportation speed and improving the utilization rate of the intelligent equipment. In addition, compared with the traditional technology of increasing the diameter of the turntable to increase the picking and placing stations, the material picking and placing mechanism of this embodiment can be applied to turntables of any diameter, which is conducive to reducing the size of the turntable and reducing the difficulty of driving the turntable.

[0018] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present invention and, together with the description, serve to explain the principles of the present invention.

[0020] Figure 1 It is a three-dimensional diagram of a material taking and placing mechanism according to an embodiment of the utility model;

[0021] Figure 2 It is a top view of a material taking and placing mechanism according to an embodiment of the utility model;

[0022] Figure 3 It is a bottom view of a material taking and placing mechanism according to an embodiment of the utility model;

[0023] Figure 4 It is a bottom view of a material picking and placing mechanism according to an embodiment of the utility model, when a plurality of picking and placing parts are in a first state, after the second plate body is removed;

[0024] Figure 5 It is a top view of a material picking and placing mechanism according to an embodiment of the utility model when a plurality of picking and placing parts are in a first state;

[0025] Figure 6 It is a bottom view of a material picking and placing mechanism according to an embodiment of the utility model, when a plurality of picking and placing parts are in a second state, after the second plate is removed;

[0026] Figure 7 It is a top view of a material picking mechanism according to an embodiment of the utility model when a plurality of picking and placing parts are in a second state;

[0027] Figure 8 It is a three-dimensional diagram of a driving assembly and a plurality of pick-and-place parts in a pick-and-place material mechanism according to an embodiment of the utility model;

[0028] Fig. 9 It is a front view of a driving assembly and a plurality of pick-and-place parts in a pick-and-place material mechanism according to an embodiment of the utility model;

[0029] Fig.10 It is a bottom view of a driving assembly and a plurality of pick-and-place parts in a pick-and-place material mechanism according to an embodiment of the utility model;

[0030] Fig.11 It is a schematic diagram of a first plate body in a material taking and placing mechanism according to an embodiment of the utility model;

[0031] Fig.12 It is a schematic diagram of a second plate body in a material taking and placing mechanism according to an embodiment of the utility model.

[0032] Reference numerals

[0033] Material taking and placing mechanism 100;

[0034] Mounting frame 1; first plate body 11; first guide portion 111; second plate body 12; second guide portion 121; support plate 13;

[0035] Pick and place unit 2;

[0036] Drive component 3;

[0037] Driving member 30; telescopic end 31;

[0038] Transmission assembly 40; moving plate 41; connecting rod 42; first rod 42a; second rod 42b; third rod 42c; fourth rod 42d; driving rod 43; first rotating shaft 44; second rotating shaft 45; first guide member 46; first matching portion 47; second guide member 48; second matching portion 49; third guide member 50; third matching portion 51; connecting shaft 52;

[0039] Materials 200;

[0040] First center line A; second center line B. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0042] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present invention, its application, or uses.

[0043] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] The material taking and placing mechanism 100 according to the embodiment of the utility model is described in detail below with reference to the accompanying drawings.

[0047] like Figures 1 to 12 As shown, the material picking and placing mechanism 100 according to the embodiment of the utility model includes: a mounting frame 1, a plurality of picking and placing parts 2 and a driving assembly 3.

[0048] Specifically, a plurality of first guide portions 111 are provided on the mounting frame 1. A plurality of pick-and-place portions 2 are movably connected to the mounting frame 1, and each pick-and-place portion 2 is movable along the corresponding first guide portion 111. A driving assembly 3 is provided on the mounting frame 1, and the driving assembly 3 is connected to the plurality of pick-and-place portions 2. The driving assembly 3 is used to drive the plurality of pick-and-place portions 2 to switch between the first state and the second state along the corresponding first guide portion 111. When the plurality of pick-and-place portions 2 are in the first state, the plurality of pick-and-place portions 2 are arranged in a straight line, and when the plurality of pick-and-place portions 2 are in the second state, the plurality of pick-and-place portions 2 are arranged in a curve.

[0049] In other words, the material picking and placing mechanism 100 according to the embodiment of the utility model is mainly composed of a mounting frame 1, a plurality of picking and placing parts 2 and a driving assembly 3.

[0050] The material picking and placing mechanism 100 can be arranged between two workstations, and the two workstations may include a material picking station and a material placing station. The material picking and placing mechanism 100 can pick up materials from the material picking station and then move to the material placing station to place the materials.

[0051] Optionally, a tray may be provided in one of the two workstations, and a turntable may be provided in the other, and the tray may be provided with a plurality of accommodating parts for accommodating the material 200, and the plurality of accommodating parts may be arranged in a straight line, so that the material 200 may be arranged in a straight line in the tray. The turntable may be provided with a plurality of supporting parts for carrying the material 200, and the plurality of supporting parts may be arranged in a curve on the turntable, so that the material 200 may be arranged in a curve on the turntable.

[0052] When the tray is set at the material taking station and the turntable is set at the material discharging station, the material taking and discharging mechanism 100 can take multiple materials 200 from the tray and transfer the materials 200 to the turntable. When the tray is set at the material discharging station and the turntable is set at the material taking station, the material taking and discharging mechanism 100 can take multiple materials 200 from the turntable and transfer the materials 200 to the tray.

[0053] Specifically, the mounting frame 1 may be provided with a plurality of first guide portions 111, and the mounting frame 1 may be movably connected to a plurality of pick-and-place portions 2, and the plurality of pick-and-place portions 2 may be arranged corresponding to the first guide portions 111, and each pick-and-place portion 2 may be movable along the corresponding first guide portion 111. The plurality of pick-and-place portions 2 may be combined to form a pick-and-place assembly.

[0054] The pick-and-place part 2 may include but is not limited to a suction cup and a clamp. The suction cup can absorb the material 200, and the clamp can clamp the material 200. The structure of the pick-and-place part 2 can be selected according to the structure of the material 200, and is not limited here.

[0055] The first guide portion 111 may include but is not limited to a guide rail, a guide rod, and a guide groove. In other words, the first guide portion 111 may be any form of guide structure as long as it can guide the pick-and-place portion 2 to move along itself. The first guide portion 111 may guide the pick-and-place portion 2 directly or indirectly, which is not limited here.

[0056] A driving assembly 3 may also be installed on the mounting frame 1. The driving assembly 3 may be connected to the plurality of pick-and-place parts 2 and drive the plurality of pick-and-place parts 2 to move along the corresponding first guide parts 111 so that the plurality of pick-and-place parts 2 can switch between the first state and the second state.

[0057] like Figure 4 and Figure 5 As shown, when the multiple pick-and-place parts 2 are in the first state, the multiple pick-and-place parts 2 in the pick-and-place assembly can be arranged in a straight line so that the multiple pick-and-place parts 2 correspond one-to-one to the multiple accommodating parts in the tray. At this time, the pick-and-place mechanism 100 can take materials from the tray or put materials into the tray.

[0058] like Figure 6 and Figure 7As shown, when the multiple pick-and-place parts 2 are in the second state, the multiple pick-and-place parts 2 in the pick-and-place assembly can be arranged in a curve, and the shape of the arrangement of the multiple pick-and-place parts 2 can be the same as the shape of the arrangement of the multiple supporting parts on the turntable, so that the multiple pick-and-place parts 2 correspond one-to-one to the multiple supporting parts on the turntable. At this time, the pick-and-place mechanism 100 can take materials from the turntable or put materials into the turntable.

[0059] It should be noted that the multiple pick-and-place parts 2 are arranged in a straight line, which may be that the multiple pick-and-place parts 2 are arranged in sequence, and the line formed by connecting the center points of each pick-and-place part 2 in sequence may be a straight line. The multiple pick-and-place parts 2 are arranged in a curve, which may be that the multiple pick-and-place parts 2 are arranged in sequence, and there is an angle between two adjacent pick-and-place parts 2. Optionally, the line formed by connecting the center points of each pick-and-place part 2 in sequence may be approximated as a curve, and the curve may include but is not limited to an S-shaped curve, a J-shaped curve, and a C-shaped curve.

[0060] In practical applications, the arrangement shape of the plurality of pick-and-place parts 2 in the second state can be designed according to the arrangement shape of the supporting parts on the turntable.

[0061] The first guide portion 111 can guide the multiple pick-up and placement portions 2 to switch between a straight line arrangement and a curved arrangement to change the arrangement form of the material 200 during the transfer process, thereby transferring multiple materials 200 in one pick-up and placement process, and making the arrangement of the multiple materials 200 able to adapt to the pallet and the turntable respectively.

[0062] The material taking and placing mechanism 100 of this embodiment is described in detail below by taking materials from a tray and placing them on a turntable as an example.

[0063] The material picking and placing mechanism 100 moves to the material picking station, and the driving component 3 drives the multiple picking and placing parts 2 to switch to the first state, so that the multiple picking and placing parts 2 are arranged in a straight line, and then the multiple materials 200 arranged in a straight line are obtained from the multiple receiving parts of the tray. Then, the material picking and placing mechanism 100 can move to the material discharging station, and the driving component 3 drives the multiple picking and placing parts 2 to switch to the second state, so that the multiple picking and placing parts 2 and the materials 200 are arranged in a curve, and then the materials 200 are released to the multiple bearing parts on the turntable, that is, one material picking and placing is completed.

[0064] Therefore, the material picking and placing mechanism 100 of the embodiment of the utility model is provided with a plurality of picking and placing parts 2 on the mounting frame 1, and the driving assembly 3 is used to drive the plurality of picking and placing parts 2 to move along the first guide part 111, so that the arrangement of the plurality of picking and placing parts 2 can be changed, and then the arrangement of the material 200 obtained by the picking and placing parts 2 can be changed. When the material 200 is arranged in a straight line, it can be adapted to the tray, and when the material 200 is arranged in a curve, it can be adapted to the turntable. Therefore, in one picking and placing process of the material picking and placing mechanism 100, a plurality of materials 200 can be picked and placed, and the picking and placing can be performed without stopping the turntable, which is conducive to improving the transportation speed and improving the utilization rate of the intelligent equipment. In addition, compared with the traditional technology of increasing the diameter of the turntable to increase the picking and placing stations, the material picking and placing mechanism 100 of this embodiment can be applied to turntables of any diameter, which is conducive to reducing the size of the turntable and reducing the difficulty of driving the turntable.

[0065] In some optional embodiments, when the plurality of pick-and-place portions 2 are in the second state, the plurality of pick-and-place portions 2 are arranged in a fan shape.

[0066] Specifically, the materials can be arranged in a fan-shaped manner on the turntable, and the fan-shaped materials can match the circular turntable or the semicircular turntable. The circular turntable and the semicircular turntable have the advantages of simple structure and wide application. Therefore, the plurality of pick-up and put-down parts 2 are arranged in a fan-shaped manner in the second state, so that the pick-up and put-down mechanism 100 of this embodiment can be better applied to the circular turntable or the semicircular turntable, and multiple materials can be picked up and put in a single transfer, which is conducive to improving the transfer efficiency.

[0067] When multiple pick-and-place parts 2 are arranged in a fan shape, the line between the center point of each pick-and-place part 2 and the center of the fan shape can be defined as a ray, and the angle between two adjacent rays is α, α>0°, and α<180°.

[0068] In some optional embodiments, when multiple pick-and-place parts 2 are arranged in a fan shape, the multiple pick-and-place parts 2 can be evenly arranged, the distance between two adjacent pick-and-place parts 2 can be equal, and the angle between any two adjacent rays can be equal. Since the supporting parts on the turntable are usually arranged at equal intervals, therefore, setting multiple pick-and-place parts 2 to be evenly arranged in a fan shape can make the pick-and-place mechanism 100 better adapt to the turntable.

[0069] When a plurality of pick-and-place portions 2 are arranged in a straight line, the distance between any two adjacent pick-and-place portions 2 can be equal. Since the accommodating portions in the tray are arranged at equal intervals, the pick-and-place mechanism 100 of this embodiment can be better adapted to the tray.

[0070] According to an embodiment of the present invention, the driving assembly 3 includes a driving member 30 and a transmission assembly 40. The driving member 30 is disposed on the mounting frame 1. The transmission assembly 40 has an input end connected to the driving member 30 and an output end connected to the plurality of pick-and-place parts 2.

[0071] That is, the driving assembly 3 may be mainly composed of a driving member 30 and a transmission assembly 40, and the driving member 30 may be a power source for providing the power required to drive the plurality of pick-and-place parts 2. The driving member 30 may be connected to the mounting frame 1, for example, a housing of the driving member 30 may be fixed to the mounting frame 1.

[0072] Optionally, the driving member 30 may include a linear driving member 30, such as a cylinder, or may include a rotary driving member 30, such as a motor, which is not limited herein.

[0073] The transmission assembly 40 can be connected between the driving member 30 and the plurality of pick-and-place parts 2, and is used to transmit the power of the driving member 30 to the plurality of pick-and-place parts 2. When the driving member 30 is a linear driving member 30, the transmission assembly 40 can convert the linear motion of the driving member 30 into the movement of the pick-and-place part 2 along the first guide part 111; when the driving member 30 is a rotary driving member 30, the transmission assembly 40 can convert the rotary motion of the driving member 30 into the movement of the pick-and-place part 2 along the first guide part 111.

[0074] In this embodiment, a driving member 30 and a transmission assembly 40 are provided to cooperate in driving the pick-up and place portion 2, and a single power source is used to control multiple pick-up and place portions 2, thereby achieving a change in the arrangement of multiple materials 200, which is beneficial to simplifying the structure of the pick-up and place mechanism 100 and reducing the cost of the pick-up and place mechanism 100.

[0075] In some specific embodiments of the present invention, the transmission assembly 40 includes a moving plate 41 and a plurality of connecting rods 42 .

[0076] The moving plate 41 is connected to the driving member 30 and is movable along a first direction under the drive of the driving member 30. A plurality of connecting rods 42 are arranged in sequence, and the ends of two adjacent connecting rods 42 are rotatably connected. In the arrangement direction of the connecting rods 42, the connecting rods 42 at both ends of the plurality of connecting rods 42 are driving rods 43, and the two driving rods 43 are rotatably connected to the moving plate 41 respectively. Each driving rod 43 is movable along a second direction relative to the moving plate 41, and the second direction is perpendicular to the first direction. Each connecting rod 42 is provided with a pick-up and placement portion 2, and the pick-up and placement portion 2 is movable along the extension direction of the connecting rod 42.

[0077] Specifically, the transmission assembly 40 of this embodiment may be mainly composed of a moving plate 41, a plurality of connecting rods 42 and a first rotating shaft 44. The output end of the driving member 30 may be connected to the moving plate 41 and drive the moving plate 41 to move along the first direction.

[0078] A plurality of connecting rods 42 can be combined to form a connecting rod structure. In the connecting rod structure, a plurality of connecting rods 42 can be arranged in sequence, and the ends of two adjacent connecting rods 42 can be rotatably connected. In other words, the end of the previous connecting rod 42 can be rotatably connected to the front end of the next connecting rod 42, so that the two adjacent connecting rods 42 can rotate freely.

[0079] In the arrangement direction of the plurality of connecting rods 42 , the connecting rods 42 at both ends of the plurality of connecting rods 42 can be formed as driving rods 43 , that is, the connecting rods 42 at the front end and the end end of the plurality of connecting rods 42 can be formed as driving rods 43 .

[0080] The two driving rods 43 may be spaced apart in the second direction, each driving rod 43 may be rotatably connected to the moving plate 41, and each driving rod 43 may move along the second direction relative to the moving plate 41. The second direction may be perpendicular to the first direction, and each connecting rod 42 may be connected to a pick-and-place portion 2.

[0081] When the movable plate 41 moves along the first direction, since the pick-and-place part 2 is restricted by the first guide part 111 and needs to move along the first guide part 111, the two driving rods 43 can approach or move away from each other along the second direction, and each driving rod 43 can rotate in opposite directions at the same time, so that the multiple connecting rods 42 can switch between a straight line arrangement and a curved arrangement, thereby switching the multiple pick-and-place parts 2 between the first state and the second state.

[0082] When the multiple connecting rods 42 are arranged in a straight line, each connecting rod 42 can extend along the first direction and be located on the same straight line. When the multiple connecting rods 42 are arranged in a curve, the connecting rod structure formed by connecting the multiple connecting rods 42 can be roughly arc-shaped, and the angle between two adjacent connecting rods 42 can be less than 180°.

[0083] In this embodiment, a movable plate 41 is provided to be connected to the connecting rods 42 at the two ends of the plurality of connecting rods 42. The movable plate 41 can be used to transmit power from a single power source to the plurality of connecting rods 42, and a single power source can be used to simultaneously drive the picking and placing parts 2 on the plurality of connecting rods 42 to switch between the first state and the second state, which has the advantages of simple structure and high reliability.

[0084] When the driving member 30 is a cylinder, the cylinder may have a telescopic rod that can extend and retract along a first direction, and the movable plate 41 may be connected to the telescopic rod and move along the first direction under the drive of the telescopic rod.

[0085] When the driving member 30 is a motor, the output shaft of the motor can be connected to the screw and drive the screw to rotate. The screw can extend along the first direction, and the movable plate 41 can be screwed to the screw. Therefore, when the screw rotates, the movable plate 41 can move along the first direction.

[0086] According to some other embodiments of the present invention, the transmission assembly 40 further includes a first rotating shaft 44 , which is rotatably connected to two central connecting rods 42 of the plurality of connecting rods 42 , and the first rotating shaft 44 is connected to the mounting frame 1 .

[0087] Specifically, when the number of connecting rods 42 is even, in the arrangement direction of the multiple connecting rods 42, the ends of the two connecting rods 42 located at the center of the multiple connecting rods 42 can be rotatably connected to the first rotating shaft 44, and the first rotating shaft 44 can be fixed on the mounting frame 1, so that the positions of the connected ends of the two most central connecting rods 42 are relatively fixed on the mounting frame 1. Therefore, when the movable plate 41 drives the driving rod 43 to move, the positions of the connected ends of the two most central connecting rods 42 can remain unchanged, so that when the multiple connecting rods 42 move to be arranged in a fan shape, the multiple connecting rods 42 are symmetrically distributed in the center.

[0088] For example, Figure 8 As shown, the number of connecting rods 42 can be four, and the four connecting rods 42 can be defined as a first rod 42a, a second rod 42b, a third rod 42c and a fourth rod 42d, respectively, and the first rod 42a, the second rod 42b, the third rod 42c and the fourth rod 42d are rotatably connected in sequence. Among them, the first rod 42a and the fourth rod 42d can be formed as a driving rod 43.

[0089] One end of the second rod 42b can be rotatably connected to the first rod 42a, the other end of the second rod 42b and one end of the third rod 42c can be rotatably connected to the first rotating shaft 44 respectively, and the other end of the third rod 42c can be rotatably connected to the fourth rod 42d.

[0090] The first rod 42a and the fourth rod 42d can be rotatably connected to the moving plate 41 and can move respectively along the second direction. When the plurality of pick-and-place parts 2 are changed from a linear arrangement to a fan-shaped arrangement, the first connecting rod 42 and the fourth connecting rod 42 can be close to each other, and when the plurality of pick-and-place parts 2 are changed from a fan-shaped arrangement to a linear arrangement, the first connecting rod 42 and the fourth connecting rod 42 can be away from each other.

[0091] The length of the first guide portion 111 corresponding to the first rod 42a and the fourth rod 42d may be greater than the length of the first guide portion 111 corresponding to the second rod 42b and the third rod 42c.

[0092] In some other embodiments, when the number of connecting rods 42 is odd, the most central connecting rod 42 among the multiple connecting rods 42 can be fixed on the mounting frame 1, so that the positions of the two ends of the connecting rod 42 can remain unchanged, and the remaining connecting rods 42 can be neutrally symmetrically distributed relative to the connecting rod 42.

[0093] According to some other embodiments of the present invention, the plurality of first guide portions 111 are centrally symmetrically distributed along the first center line A, and each first guide portion 111 extends toward the first center line A in the positive direction of the first direction.

[0094] Specifically, the positive direction of the first direction can be Fig.11 The plurality of first guide portions 111 may be centrally symmetrically distributed, and the center line of the symmetrical distribution may be the first center line A.

[0095] When the driving member 30 is a cylinder, the first direction may be the direction in which the telescopic rod of the cylinder extends. Since each first guide portion 111 extends toward the first center line A in the positive direction of the first direction, when the telescopic rod is extended, the moving plate 41 moves in the positive direction of the first direction, and drives the multiple pick-and-place portions 2 to gradually approach the first center line A through the multiple connecting rods 42. When the telescopic rod is retracted, the moving plate 41 moves in the reverse direction of the first direction, and drives the multiple pick-and-place portions 2 to gradually move away from the first center line A through the multiple connecting rods 42.

[0096] In this embodiment, a plurality of first guide portions 111 are symmetrically distributed, so that the plurality of pick-up and placement portions 2 guided by the first guide portions 111 are centrally symmetrically distributed, and further the materials 200 on the pick-up and placement portions 2 are centrally symmetrically distributed, which not only facilitates the synchronous driving of the plurality of pick-up and placement portions 2 by the driving member 30 through the transmission assembly 40, but also facilitates the alignment of the material 200 with the receiving portion on the tray or the bearing portion on the turntable.

[0097] According to some optional embodiments of the utility model, two first guide members 46 are provided on the movable plate 41, and the two first guide members 46 are spaced apart along the second direction. Each first guide member 46 extends along the second direction. A first matching portion 47 is provided on the first guide member 46, and the first matching portion 47 is movable along the first guide member 46. The driving rod 43 is rotatably connected to the first matching portion 47.

[0098] Specifically, two first guide members 46 may be fixed on the movable plate 41, each of the first guide members 46 may extend in the second direction, and in the second direction, the two first guide members 46 may be spaced apart. The driving rod 43 may be rotatably connected to the first matching portion 47, and the first guide member 46 may be matched with the first matching portion 47 to guide the first matching portion 47 to move in the second direction, thereby realizing the rotatable connection between the driving rod 43 and the movable plate 41, and the movement of the driving rod 43 relative to the movable plate 41 in the second direction.

[0099] In this embodiment, a first guide member 46 is provided on the movable plate 41, and a first matching portion 47 which can rotate relative to the driving rod 43 is provided on the driving rod 43. The first guide member 46 has good guiding properties, and the first matching portion 47 as a moving part has good rigidity, thereby making the movement of the driving rod 43 smoother.

[0100] Optionally, the first guide member 46 may include but is not limited to a guide rail and a guide rod, and the first matching portion 47 may include but is not limited to a slide block.

[0101] Optionally, the two first guide members 46 may be extended and connected as one, whereby only one first guide member 46 may be provided on the movable plate 41 , and the two driving members 30 may be slidably connected to the first guide member 46 respectively via corresponding first matching portions 47 .

[0102] According to some other embodiments of the utility model, each connecting rod 42 is provided with a second guide member 48, and the second guide member 48 extends along the length direction of the corresponding connecting rod 42. A second matching portion 49 is provided on the picking and placing portion 2, and the second matching portion 49 is connected to the second guide member 48 and can move along the second guide member 48.

[0103] That is to say, each connecting rod 42 can be connected to the corresponding picking and placing part 2 through the second guide member 48 and the second matching part 49. The second guide member 48 can extend along the length direction of the connecting rod 42, and the second matching part 49 can move along the second guide member 48 to guide the picking and placing part 2 connected to the second matching part 49 to move along the length direction of the connecting rod 42.

[0104] In this embodiment, the second guide member 48 has good guiding performance, and the second matching portion 49 has good rigidity, thereby making the movement of the pick-and-place portion 2 on the connecting rod 42 more stable.

[0105] While the pick-and-place part 2 moves along the first guide part 111, the pick-and-place part 2 can move along the second guide member 48. When the plurality of connecting rods 42 are switched from a linear arrangement to a fan-shaped arrangement, two adjacent connecting rods 42 rotate, and the pick-and-place part 2 only moves linearly relative to the connecting rod 42. Therefore, the pick-and-place part 2 can rotate together with the connecting rod 42. Therefore, when the plurality of picking-and-place parts 2 are arranged in a fan-shaped arrangement, Figure 7 As shown, the materials 200 on adjacent pick-and-place portions 2 may have an angle therebetween.

[0106] Optionally, the second guide member 48 may include but is not limited to a guide rail and a guide rod, and the second matching portion 49 may include but is not limited to a slide block.

[0107] In some specific embodiments of the present invention, a third guide member 50 is provided on the mounting frame 1, and the third guide member 50 extends along the first direction. A third matching portion 51 is provided on the movable plate 41, and the third matching portion 51 is connected to the third guide member 50 and can move along the third guide member 50.

[0108] Specifically, the third guide member 50 can be fixed on the mounting frame 1, and a third matching portion 51 can be fixed on the movable plate 41. The third guide member 50 can guide the third matching portion 51 to slide along the first direction, so that the movement of the movable plate 41 along the first direction can be more stable.

[0109] Optionally, the third guide member 50 may include but is not limited to a guide rail and a guide rod, and the third matching portion 51 may include but is not limited to a slide block.

[0110] According to some optional embodiments of the utility model, the mounting frame 1 includes a first plate body 11 and a second plate body 12. A first guide portion 111 is provided on the first plate body 11. The second plate body 12 is connected to the first plate body 11, and the second plate body 12 is spaced apart from the first plate body 11 in a third direction, and the third direction is respectively perpendicular to the first direction and the second direction. A second guide portion 121 is provided on the second plate body 12, and a second rotating shaft 45 is provided between adjacent connecting rods 42 and between the driving rod 43 and the moving plate 41. Each connecting rod 42 is rotatable around a corresponding second rotating shaft 45, and a plurality of second rotating shafts 45 are correspondingly arranged with a plurality of second guide portions 121, and each second rotating shaft 45 is movable along a corresponding second guide portion 121.

[0111] Specifically, the first plate 11 and the second plate 12 may be spaced apart from each other along the third direction, the first plate 11 and the second plate 12 may be parallel to each other, and the first plate 11 may be parallel to a plane formed by the first direction and the second direction.

[0112] Optionally, the first plate body 11 and the second plate body 12 may be connected via two support plates 13 , and the first plate body 11 , the second plate body 12 and the two support plates 13 may be combined to form a rectangular frame.

[0113] The first guide portion 111 may be disposed on the first plate 11, and the plurality of pick-and-place portions 2 may be disposed on a side of the first plate 11 away from the second plate 12. Each pick-and-place portion 2 may obtain the material 200 from a side of the first plate 11 away from the second plate 12.

[0114] The second plate 12 may be provided with a second guide portion 121, which may be connected to the driving rod 43 and guide the movement of the driving rod 43. It should be noted that the connection between the second guide portion 121 and the driving rod 43 may be a direct connection or an indirect connection, which is not limited here.

[0115] Any two adjacent connecting rods 42 may be rotatably connected via the second rotating shaft 45 , the driving rod 43 and the movable plate 41 may also be rotatably connected via the second rotating shaft 45 , and optionally, the driving rod 43 and the first matching portion 47 may be rotatably connected via the second rotating shaft 45 .

[0116] The plurality of second guide portions 121 may be correspondingly connected to the plurality of second rotating shafts 45 , and each second rotating shaft 45 may move along the corresponding second guide portion 121 , thereby the plurality of connecting rods 42 may also slide along the corresponding second guide portion 121 during the rotation process.

[0117] The moving plate 41 and the driving member 30 may be disposed on a side of the second plate body 12 away from the first plate body 11. The third guide member 50 may be installed on a side of the second plate body 12 away from the first plate body 11. The plurality of connecting rods 42 may be located between the first plate body 11 and the second plate body 12 to prevent the plurality of connecting rods 42 from being exposed.

[0118] In this embodiment, a first guide portion 111 is provided on the first plate body 11 to guide the movement of the pick-up and placement portion 2, and a second guide portion 121 is provided on the second plate body 12 to guide the movement of the driving rod 43. The two can cooperate to convert the linear motion of the movable plate 41 into switching of multiple pick-up and placement portions 2 between the first state and the second state. The structure is simple and easy to manufacture.

[0119] According to some other embodiments of the present invention, the plurality of second guide portions 121 are centrally symmetrically distributed along the second center line B, and each second guide portion 121 extends in a direction away from the second center line B in the positive direction of the first direction.

[0120] Specifically, the positive direction of the first direction can be Fig.12 In the direction indicated by the first direction arrow, the plurality of second guide portions 121 may be centrally symmetrically distributed, and the center line of the symmetrical distribution may be the second center line B.

[0121] The outermost ends of the multiple connecting rods 42 are the two ends of the connecting rod 42 mechanism formed by the multiple connecting rods 42. When the multiple connecting rods 42 are arranged in a straight line, the distance between the two ends of the connecting rod structure is L1, and when the multiple connecting rods 42 are arranged in a fan shape, the distance between the two ends of the connecting rod structure is L2, L1>L2.

[0122] When the driving member 30 is a cylinder, the first direction may be the direction in which the telescopic rod of the cylinder extends. Since each second guide portion 121 extends in a direction away from the second center line B in the positive direction of the first direction, when the telescopic rod is extended, the movable plate 41 moves in the positive direction of the first direction and drives the second rotating shaft 45 to gradually move away from the second center line B, so that the outermost ends of the plurality of connecting rods 42 are close to each other in the second direction, and the plurality of connecting rods 42 can be arranged in a fan shape. When the telescopic rod is retracted, the movable plate 41 moves in the reverse direction of the first direction and drives the second rotating shaft 45 to gradually move close to the second center line B. The outermost ends of the plurality of connecting rods 42 can be moved away from each other in the second direction, and the plurality of connecting rods 42 can be arranged in a straight line.

[0123] In some specific embodiments of the present invention, the first guide portion 111 is a first guide groove penetrating the first plate body 11 along the thickness direction of the first plate body 11 , and the second guide portion 121 is a second guide groove penetrating the first plate body 11 along the thickness direction of the second plate body 12 .

[0124] Specifically, the first guide portion 111 and the second guide portion 121 can be guide groove structures respectively. The first guide groove can penetrate the first plate body 11 along the thickness direction of the first plate body 11, and a connecting shaft 52 can be provided on the pick-and-place portion 2, and the connecting shaft 52 can pass through the first guide groove and connect with the second matching portion 49.

[0125] The second guide groove may penetrate the second plate body 12 along the thickness direction of the second plate body 12 , and the second rotating shaft 45 may pass through the second guide groove and be connected to the driving rod 43 and the first matching portion 47 respectively.

[0126] In this embodiment, the first guide groove and the second guide groove have the advantages of simple structure and easy manufacturing. By using the first guide groove and the second guide groove, multiple connecting rods 42 can be accommodated between the first plate body 11 and the second plate body 12 to protect the multiple connecting rods 42.

[0127] In some specific embodiments, the utility model can also provide a material picking and placing device, which can include a material picking and placing mechanism 100, a turntable and a tray, wherein the material picking and placing mechanism 100 is any of the above-mentioned material picking and placing mechanisms 100.

[0128] In a material picking and placing device, the number of material picking and placing mechanisms 100 can be one or more, which is not limited here. In other words, the material picking and placing device can be provided with one or more transfer stations, each transfer station can be provided with a material picking and placing mechanism 100, and each material picking and placing mechanism 100 can independently perform material picking and placing.

[0129] In this embodiment, one material taking and placing mechanism 100 is provided, which is beneficial to reducing the diameter of the turntable, thereby reducing the power required to drive the turntable. Providing multiple material taking and placing mechanisms 100 is beneficial to further improving the transfer efficiency and the utilization rate of the intelligent equipment.

[0130] In summary, the material picking and placing mechanism 100 of the embodiment of the utility model is provided with a plurality of picking and placing parts 2 on the mounting frame 1, and the driving assembly 3 is used to drive the plurality of picking and placing parts 2 to move along the first guide part 111, so that the arrangement of the plurality of picking and placing parts 2 can be changed, and then the arrangement of the materials 200 acquired by the picking and placing parts 2 can be changed. When the materials 200 are arranged in a straight line, they can be adapted to the tray, and when the materials 200 are arranged in a curve, they can be adapted to the turntable. Therefore, in one picking and placing process of the material picking and placing mechanism 100, a plurality of materials 200 can be picked and placed, and the picking and placing can be performed without stopping the turntable, which is conducive to improving the transportation speed and improving the utilization rate of the intelligent equipment. In addition, compared with the traditional technology of increasing the diameter of the turntable to increase the picking and placing stations, the material picking and placing mechanism 100 of this embodiment can be applied to turntables of any diameter, which is conducive to reducing the size of the turntable and reducing the difficulty of driving the turntable.

[0131] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A material taking and placing mechanism, characterized in that: include: A mounting frame, wherein a plurality of first guide portions are provided on the mounting frame; A plurality of pick-and-place parts, wherein the plurality of pick-and-place parts are movably connected to the mounting frame, and each of the pick-and-place parts is movable along the corresponding first guide part; A driving assembly, the driving assembly is arranged on the mounting frame, the driving assembly is connected to the plurality of the pick-and-place parts, and the driving assembly is used to drive the plurality of the pick-and-place parts to switch between the first state and the second state along the corresponding first guide part. When the plurality of pick-and-place parts are in the first state, the plurality of pick-and-place parts are arranged in a straight line. When the plurality of pick-and-place portions are in the second state, the plurality of pick-and-place portions are arranged in a curve.

2. The material taking and placing mechanism according to claim 1, characterized in that: When the plurality of pick-and-place portions are in the second state, the plurality of pick-and-place portions are arranged in a fan shape.

3. The material taking and placing mechanism according to claim 1, characterized in that: The drive assembly comprises: A driving member, wherein the driving member is arranged on the mounting frame; A transmission assembly, wherein an input end of the transmission assembly is connected to the driving member, and an output end of the transmission assembly is connected to the plurality of pick-and-place parts.

4. The material taking and placing mechanism according to claim 3, characterized in that: The transmission assembly comprises: A movable plate, the movable plate is connected to the driving member and is movable along a first direction under the driving of the driving member; A plurality of connecting rods are arranged in sequence, and the ends of two adjacent connecting rods are rotatably connected. In the arrangement direction of the connecting rods, the connecting rods located at both ends of the plurality of connecting rods are driving rods, and the two driving rods are rotatably connected to the movable plate respectively. Each of the driving rods is movable along a second direction relative to the movable plate, and the second direction is perpendicular to the first direction. Each of the connecting rods is provided with a picking and placing portion, and the picking and placing portion is movable along the extension direction of the connecting rod.

5. The material taking and placing mechanism according to claim 4, characterized in that: The transmission assembly also includes: A first rotating shaft is rotatably connected to two of the most central connecting rods among the plurality of connecting rods, and the first rotating shaft is connected to the mounting frame.

6. The material taking and placing mechanism according to claim 4, characterized in that: The plurality of first guide portions are centrally symmetrically distributed along the first center line, and in the positive direction of the first direction, each of the first guide portions extends toward the first center line.

7. The material taking and placing mechanism according to claim 6, characterized in that: Two first guide members are provided on the movable plate, the two first guide members are spaced apart along the second direction, each first guide member extends along the second direction, a first matching portion is provided on the first guide member, the first matching portion is movable along the first guide member, and the driving rod is rotatably connected to the first matching portion.

8. The material taking and placing mechanism according to claim 6, characterized in that: A second guide is provided on each connecting rod, and the second guide extends along the length direction of the corresponding connecting rod. A second matching portion is provided on the picking and placing portion, and the second matching portion is connected to the second guide and can move along the second guide.

9. The material taking and placing mechanism according to claim 6, characterized in that: The mounting frame is provided with a third guide member, and the third guide member extends along the first direction. The movable plate is provided with a third matching portion, and the third matching portion is connected to the third guide member and can move along the third guide member.

10. The material taking and placing mechanism according to claim 5, characterized in that: The mounting frame comprises: a first plate body, wherein the first guide portion is provided on the first plate body; A second plate body, the second plate body is connected to the first plate body, the second plate body is spaced apart from the first plate body in a third direction, the third direction is respectively perpendicular to the first direction and the second direction, a plurality of second guide parts are provided on the second plate body, a second rotating shaft is provided between adjacent connecting rods and between the driving rod and the movable plate, each of the connecting rods is rotatable around the corresponding first rotating shaft, a plurality of the second rotating shafts are correspondingly arranged to a plurality of the second guide parts, and each of the second rotating shafts is movable along the corresponding second guide part.

11. The material taking and placing mechanism according to claim 10, characterized in that: The plurality of second guide portions are centrally symmetrically distributed along the second center line. In the positive direction of the first direction, each of the second guide portions extends in a direction away from the second center line.

12. The material taking and placing mechanism according to claim 10, characterized in that: The first guide portion is a first guide groove penetrating the first plate body along the thickness direction of the first plate body, and the second guide portion is a second guide groove penetrating the first plate body along the thickness direction of the second plate body.

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