Processing device

Abstract

The utility model relates to a machining device. The machining device comprises a containing disc, a laser module, a control module and a clamping module, the containing disc comprises a plurality of rows of containing hole sets arranged at intervals in the first direction, each row of containing hole set is provided with a plurality of containing holes arranged at intervals in the second direction, the containing holes are used for containing target objects, and the containing holes comprise target hole positions; the laser module is arranged on one side of the containing disc and comprises a base and a sensor, the sensor is movably connected with the base in the first direction and emits laser in the second direction, and the control module is electrically connected with the laser module, matched with the sensor and used for obtaining position information of a target hole site. And according to the position information, the clamping module is controlled to move to the target hole position so as to pick and place the target object, and the first direction intersects with the second direction. The sensor of the machining device obtains the position information of the target hole site, the efficiency is high, and the precision is high.

Description

Technical Field

[0001] This application relates to the technical field of processing equipment, and specifically relates to a processing device. Background Art

[0002] In a processing device, a workpiece is often placed on a material box, and the workpiece is picked up from or placed on the material box by a clamping jaw. In order to identify the placement position of the workpiece on the material box, an identification device is often set up to detect the placement situation of the workpiece on the material box. Commonly, the identification device is set above the material box or on the clamping jaw. If the identification device is set on the material box, due to factors such as the variable shape, diverse dimensions, and non-uniform height of the workpiece, on the one hand, the observation range of the identification device is too large, making debugging difficult; on the other hand, due to the special shape of the workpiece, misidentification may occur, reducing the identification accuracy. If the identification device is set on the clamping jaw, the clamping jaw needs to be repeatedly moved to move the identification device, reducing the efficiency of the identification device to detect the placement situation of the workpiece on the material box.

[0003] Therefore, there is an urgent need for an identification device that can quickly detect the placement situation of the workpiece on the material box and has high accuracy. Utility Model Content

[0004] In view of this, this application provides a processing device, and the sensor of the processing device can obtain the position information of the target hole position with high efficiency and high accuracy.

[0005] This application provides a processing device, which includes: a placement disk, a laser module, a control module, and a clamping module. The placement disk includes multiple rows of placement hole groups arranged at intervals in a first direction, and each row of the placement hole groups has multiple placement holes arranged at intervals in a second direction. The placement holes are used to place a target object, and the multiple placement holes include a target hole position. The laser module is arranged on one side of the placement disk. The laser module includes a base and a sensor. The sensor is movably connected to the base in the first direction. The sensor emits laser in the second direction. The control module is electrically connected to the laser module and cooperates with the sensor to obtain the position information of the target hole position, and controls the clamping module to move to the target hole position according to the position information to pick up and place the target object, where the first direction intersects with the second direction.

[0006] Further, the laser module is in a first coordinate system, and the control module cooperates with the laser module to obtain the first coordinates of the multiple placement holes in the first coordinate system; the placement disk is in a second coordinate system, and the clamping module includes a control unit, a position calibration unit, and a clamping jaw assembly. The control unit is electrically connected to the control module, the position calibration unit, and the clamping jaw assembly respectively. The control unit controls the clamping jaw assembly to move to the placement hole of the placement disk, and the position calibration unit calibrates the position of the placement hole of the placement disk according to the position of the clamping jaw assembly to obtain the second coordinates of each placement hole of the placement disk in the second coordinate system; the control module is used to establish a mapping relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate.

[0007] Further, the clamping jaw assembly includes a clamping jaw member, a transmission member, and a moving mechanism. The transmission member is connected to the clamping jaw member and the moving mechanism respectively. The moving mechanism can drive the transmission member to move, thereby driving the clamping jaw member to move; the clamping jaw member can move relative to the transmission member along a third direction; the control unit is used to control the moving mechanism to drive the transmission member to move, the clamping jaw member to move relative to the transmission member along the third direction, and the opening and closing of the clamping jaw member, so as to realize the picking and placing of the target object by the clamping jaw member, wherein the third direction intersects with the first direction and the second direction respectively.

[0008] Further, along the third direction, the range of the distance h from the laser emitted by the sensor to the surface of the placement disk facing the clamping jaw member is: 5mm ≤ h ≤ 13mm.

[0009] Further, the laser module includes a driving component, and the driving component includes a driving motor, a lead screw, a slider, and a connecting block. The driving motor is arranged on the base and electrically connected to the control module to be turned on or off under the control of the control module. The lead screw is arranged on the power output shaft of the driving motor. The lead screw extends along the first direction. The slider is sleeved on the outer periphery of the lead screw and is threadedly connected to the lead screw. The connecting block is connected to the slider and the sensor respectively; when the driving motor is turned on, the lead screw is driven to rotate, and the slider moves relative to the lead screw along the first direction to drive the sensor to move relative to the base along the first direction.

[0010] Further, the driving component further includes a guiding member, and the guiding member is arranged between the lead screw and the base. The guiding member extends along the first direction, and the slider is slidably connected to the guiding member along the first direction.

[0011] Further, the laser module further includes a detection component, the detection component includes a first detection element, a second detection element and a detected element, the first detection element and the second detection element are arranged at intervals along a first direction on the same side of the driving component facing away from the sensor, the detected element is connected to the slider, the multiple rows of placement hole groups include a first row of placement hole groups and a last row of placement hole groups, the first row of placement hole groups and the last row of placement hole groups are respectively located at opposite ends of the placement disk along the first direction; when the first detection element detects the first information of the detected element, the sensor is arranged corresponding to the first row of placement hole groups, and when the second detection element detects the second information of the detected element, the sensor is arranged corresponding to the last row of placement hole groups.

[0012] Further, the laser module further includes a wire harness and a storage component, the wire harness is used for electrically connecting the sensor and the control module, the storage component is used for storing the wire harness, the storage component includes a first column, a second column and a storage member, the first column and the second column are arranged at intervals along a first direction on opposite sides of the storage member, the driving component is arranged between the first column and the second column, and the storage member is located on the side of the driving component facing away from the base, the storage member has a storage groove extending along the first direction, and the storage groove is used for storing the wire harness.

[0013] Further, the storage component further includes a supporting member and a drag chain, the supporting member includes a first part, a second part and a third part which are bent and connected, the second part extends along the third direction, the first part and the third part are bent towards the side of the second part facing away from the placement disk, the first part is connected to the connecting block, along the third direction, the third part and the first part are located on opposite sides of the storage member; the drag chain is arranged on the second part and the third part and is used for threading the wire harness.

[0014] Further, the processing device further includes a workbench, the workbench is arranged adjacent to the clamping module, and the workbench is used for processing a target object.

[0015] In the present application, the sensor is disposed on one side of the placement tray. The sensor emits laser light in the second direction and the laser light is parallel to the horizontal direction. The sensor can sequentially detect a plurality of placement holes in the same-column placement hole group. During this process, the sensor does not need to move its position and is not restricted or affected by the shape, length, and structure of the target object, which is beneficial to improving the accuracy of the position information of the target hole obtained by the cooperation of the sensor and the control module. In addition, the speed at which the sensor emits laser light and the speed at which the laser light is reflected back to the sensor after encountering the target object are very fast, which improves the detection efficiency of the sensor for each placement hole. After the clamping module clamps the target object, the sensor can quickly detect the position of the next target object and provide the position information of the next target hole, avoiding affecting the processing rhythm of the processing device. Furthermore, the sensor can be movably connected to the base in the first direction to detect each column of placement hole groups on the placement tray. The structural design of the sensor is simple and does not require a large detection stroke or moving stroke, which is beneficial to simplifying the structure of the processing device. The sensor of the processing device in the present application can obtain the position information of the target hole with high efficiency and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 Partial structural schematic diagram of the processing device according to the first embodiment of the present application;

[0018] Figure 2 Partial structural schematic diagram of the processing device according to the second embodiment of the present application;

[0019] Figure 3 Circuit block diagram of the clamping module according to an embodiment of the present application;

[0020] Figure 4 Side view structural schematic diagram of the jaw assembly according to an embodiment of the present application;

[0021] Figure 5 Side view structural schematic diagram of the processing device according to an embodiment of the present application;

[0022] Figure 6 Partial structural schematic diagram of the processing device according to the third embodiment of the present application;

[0023] Figure 7 Partial exploded structural schematic diagram of the processing device according to an embodiment of the present application;

[0024] Figure 8 Structural schematic diagram of a supporting member according to an embodiment of the present application.

[0025] Description of the reference numerals in the drawings:

[0026] 100 - Processing device, 110 - Placing tray, 111 - Placing hole group, 112 - Placing hole, 113 - First row of placing hole groups, 114 - Last row of placing hole groups, 120 - Laser module, 121 - Base, 122 - Sensor, 123 - Driving assembly, 1231 - Driving motor, 1232 - Lead screw, 1233 - Slide block, 1234 - Connecting block, 1235 - Guide member, 124 - Detection assembly, 1241 - First detection element, 1242 - Second detection element, 1243 - Element to be detected, 126 - Storage assembly, 1261 - First column, 1262 - Second column, 1263 - Storage member, 1264 - Storage groove, 1265 - Supporting member, 1267 - First part, 1268 - Second part, 1269 - Third part, 130 - Control module, 140 - Gripping module, 141 - Control unit, 142 - Position calibration unit, 143 - Jaw assembly, 1431 - Jaw member, 1432 - Transmission member, 1433 - Moving mechanism, 150 - Workbench, 200 - Target object. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0028] Terms such as "first" and "second" in the specification, claims and the above-mentioned drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0029] References to "embodiments" or "implementations" in this document mean that specific features, structures, or characteristics described in connection with the embodiments or implementations can be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0030] In a processing device, a workpiece is often placed on a material box, and the workpiece is picked up from or placed on the material box by a gripper. In order to identify the placement position of the workpiece on the material box, an identification device is often set up to detect the placement situation of the workpiece on the material box. Commonly, the identification device is set above the material box or on the gripper. If the identification device is set on the material box, due to factors such as the variable shape, diverse sizes, and inconsistent heights of the workpieces, on the one hand, the observation range of the identification device is too large, making debugging difficult; on the other hand, due to the irregular shape of the workpieces, misidentification may occur, reducing the identification accuracy. If the identification device is set on the gripper, the gripper needs to be repeatedly moved to move the identification device, reducing the efficiency of the identification device in detecting the placement situation of the workpiece on the material box. Therefore, there is an urgent need for an identification device that can quickly detect the placement situation of the workpiece on the material box and has high accuracy.

[0031] Please refer to Figures 1 to 3 , this application provides a processing device 100, the processing device 100 includes: a placement plate 110, a laser module 120, a control module 130, and a gripping module 140. The placement plate 110 includes multiple rows of placement hole groups 111 arranged at intervals in a first direction (such as Figure 1 the X direction shown in Figure 1 ), and each row of the placement hole groups 111 has multiple placement holes 112 arranged at intervals in a second direction (such as Figure 1 the Y direction shown in Figure 1 ). The placement holes 112 are used to place the target object 200, and the multiple placement holes 112 include target hole positions; the laser module 120 is arranged on one side of the placement plate 110. The laser module 120 includes a base 121 and a sensor 122. The sensor 122 is movably connected to the base 121 in the first direction. The sensor 122 emits laser in the second direction. The control module 130 is electrically connected to the laser module 120 and cooperates with the sensor 122 to obtain the position information of the target hole positions, and controls the gripping module 140 to move to the target hole positions according to the position information to pick up and place the target object 200, wherein the first direction intersects with the second direction.

[0032] In the terms of this application, "multiple columns" means greater than or equal to two columns, which can be, but are not limited to, two columns, four columns, five columns, seven columns, nine columns, ten columns, twelve columns, etc.

[0033] Understandably, the sensor 122 is disposed on the side of the base 121 facing the placement tray 110.

[0034] Understandably, the multiple placement holes 112 of the multiple-column placement hole group 111 are arranged in an array.

[0035] Optionally, in some embodiments, the first direction is perpendicular to the second direction.

[0036] Understandably, the sensor 122 is a laser displacement sensor.

[0037] In this embodiment, the sensor 122 is movably connected to the base 121 along a first direction. Then, the sensor 122 can be moved along the first direction to be correspondingly arranged with one of the multiple columns of placement hole groups 111. As an identification device, the sensor 122 can identify a target object disposed on the placement plate 110. When the sensor 122 emits laser light in a direction towards the placement plate 110 along a second direction, it can detect whether a target object 200 is disposed in the placement holes 112 of the correspondingly arranged multiple columns of placement hole groups 111, so as to obtain the position information of the target hole position. Specifically, for example, when the clamping module 140 clamps the target object 200 from the placement plate 110, the sensor 122 is correspondingly arranged with one of the multiple columns of placement hole groups 111 and emits laser light along the second direction. When the laser light hits the target object 200 closest to the sensor 122 in the placement hole group 111, the laser light is reflected back to the sensor 122. The sensor 122 obtains the distance from the placement hole 112 provided with the target object 200 to the sensor 122 according to the time from when the laser light is emitted to when it is received. At this time, the placement hole 112 provided with the target object 200 is the target hole position. The control module 130 obtains the position information of the target hole position according to the distance from the placement hole 112 provided with the target object 200 to the sensor 122 and the relationship between the placement hole 112 provided with the target object 200 and the target hole position. Further, the control module 130 controls the clamping module 140 to move to the target hole position according to the position information, so as to clamp the target object 200. Similarly, when the clamping module 140 places the target object 200 into the placement plate 110, the sensor 122 is correspondingly arranged with one of the multiple columns of placement hole groups 111 and emits laser light along the second direction. When the laser light hits the target object 200 closest to the sensor 122 in the placement hole group 111, the laser light is reflected back to the sensor 122. The sensor 122 obtains the distance from the placement hole 112 provided with the target object 200 to the sensor 122 according to the time from when the laser light is emitted to when it is received. At this time, the placement hole 112 adjacent to and closer to the sensor 122 than the placement hole 112 provided with the target object 200 is the target hole position. The control module 130 obtains the position information of the target hole position according to the distance from the placement hole 112 provided with the target object 200 to the sensor 122 and the relationship between the placement hole 112 provided with the target object 200 and the target hole position. Further, the control module 130 controls the clamping module 140 to move to the target hole position according to the position information, so as to place the target object 200 clamped by the clamping module 140 into the target hole position.

[0038] In this embodiment, the sensor 122 is disposed on one side of the placement tray 110. The sensor 122 emits laser light in the second direction and the laser light is parallel to the horizontal direction. The sensor 122 can sequentially detect a plurality of placement holes 112 in the same-column placement hole group 111. During this process, the sensor 122 does not need to move its position and is not restricted or affected by the shape, length, and structure of the target object 200, which is beneficial to improving the accuracy of the position information of the target hole position obtained by the cooperation of the sensor 122 and the control module 130. In addition, the speed at which the sensor 122 emits laser light and the speed at which the laser light is reflected back to the sensor 122 after encountering the target object 200 are very fast, which improves the detection efficiency of the sensor 122 for each placement hole 112. After the clamping module 140 clamps the target object 200, the sensor 122 can quickly detect the position of the next target object 200 and provide the position information of the next target hole position, avoiding affecting the processing rhythm of the processing device 100. Furthermore, the sensor 122 can be movably connected to the base 121 in the first direction to detect each column of placement hole groups 111 on the placement tray 110. The structural design of the sensor 122 is simple and does not require a large detection stroke and moving stroke, which is beneficial to simplifying the structure of the processing device 100. The sensor 122 of the processing device 100 in this embodiment can obtain the position information of the target hole position with high efficiency and high accuracy.

[0039] It can be understood that in the embodiment of the present application, when the clamping module 140 places the target object 200 into the placement tray 110, according to the size of the target object 200, the target objects 200 can be arranged at intervals and the selection method of the target hole positions can be different. In other words, the control module 130 can determine the relationship between the placement hole 112 provided with the target object 200 and the target hole position according to the setting method of the target object 200 on the placement tray 110. Specifically, by way of example, the target hole position can be adjacent to the placement hole 112 provided with the target object 200 and the number of placement holes 112 therebetween is zero, the target hole position can be adjacent to the placement hole 112 provided with the target object 200 and the number of placement holes 112 therebetween is one, the target hole position can be adjacent to the placement hole 112 provided with the target object 200 and the number of placement holes 112 therebetween is two, which is not limited herein.

[0040] Optionally, in some embodiments, the target object 200 is a tool.

[0041] In some embodiments, the laser module 120 is in a first coordinate system, and the control module 130 cooperates with the laser module 120 to obtain the first coordinates of the plurality of placement holes 112 in the first coordinate system; the placement disk 110 is in a second coordinate system, and the clamping module 140 includes a control unit 141, a position calibration unit 142, and a clamping jaw assembly 143. The control unit 141 is electrically connected to the control module 130, the position calibration unit 142, and the clamping jaw assembly 143 respectively. The control unit 141 controls the clamping jaw assembly 143 to move to the placement hole 112 of the placement disk 110, and the position calibration unit 142 calibrates the position of the placement hole 112 of the placement disk 110 according to the position of the clamping jaw assembly 143 to obtain the second coordinates of each placement hole 112 of the placement disk 110 in the second coordinate system; the control module 130 is used to establish a mapping relationship between the first coordinate system and the second coordinate system according to the first coordinates and the second coordinates.

[0042] It can be understood that the second coordinate is the position of the placement hole in the first direction and the position in the second direction in the second coordinate system.

[0043] In this embodiment, the laser module 120 is at the first coordinate. The control module 130 cooperates with the laser module 120 to obtain the distance between two adjacent groups of placement holes 111 through the distance that the sensor 122 moves along the first direction, and obtains the distance from each placement hole 112 on the placement disk 110 to the sensor 122 by emitting laser along the second direction through the sensor 122, so as to obtain the first coordinates of the multiple placement holes 112 in the first coordinate system. Further, the placement disk 110 is in the second coordinate system. The control unit 141 controls the gripper assembly 143 to move to the placement hole 112 of the placement disk 110, and the position calibration unit 142 calibrates the position of the placement hole 112, so as to obtain the second coordinates of each placement hole 112 of the placement disk 110. Further, the control module 130 is electrically connected to the laser module 120 and the gripping module 140 respectively. The laser module 120, the control module 130 and the gripping module 140 cooperate with each other to establish the association between the first coordinates of each placement hole 112 in the first coordinate system and the second coordinates of the second coordinate system, so as to obtain the second coordinates of the target hole position in the second coordinate system according to the position information of the target hole position, so as to control the gripping module 140 to move to the target hole position and pick up and place the target object 200. Specifically, when the gripping module 140 picks up the target object 200 from the placement disk 110 or places the target object 200 into the placement disk 110, the sensor 122 is used to obtain the position information of the target hole position. The sensor 122 cooperates with the control module 130 to obtain the first coordinates of the target hole position in the first coordinate system, so that the control module 130 converts the first coordinates into the second coordinates in the second coordinate system according to the position information, so as to control the gripping module 140 to move to the target hole position to pick up and place the target object 200. The sensor 122 of the processing device 100 in this embodiment is arranged on one side of the placement disk 110. During the process of obtaining the position information of the target hole position, it will not be restricted and affected by the shape, length and structure of the target object 200. The position information of the target hole position obtained by the cooperation of the sensor 122 and the control module 130 has high accuracy. In addition, the speed at which the sensor 122 emits laser and the speed at which the laser is reflected back to the sensor 122 by the target object 200 are very fast, which improves the detection efficiency of the sensor 122 for each placement hole 112. The sensor 122 of the processing device 100 in this embodiment has high efficiency in obtaining the position information of the target hole position and high precision.

[0044] Optionally, the position calibration unit 142 is a teach pendant.

[0045] Please refer to Figure 4, in some embodiments, the jaw assembly 143 includes a jaw member 1431, a transmission member 1432, and a moving mechanism 1433. The transmission member 1432 is connected to the jaw member 1431 and the moving mechanism 1433 respectively. The moving mechanism 1433 can drive the transmission member 1432 to move, thereby driving the jaw member 1431 to move. The jaw member 1431 can move relative to the transmission member 1432 along a third direction (such as Figure 4 the Z direction shown in

[0046] It can be understood that the first direction, the second direction, and the third direction intersect pairwise.

[0047] Optionally, in some embodiments, the first direction, the second direction, and the third direction are perpendicular to each other pairwise.

[0048] In this embodiment, the jaw member 1431, the transmission member 1432, and the moving mechanism 1433 are connected in sequence. The control unit 141 is used to control the moving mechanism 1433 to drive the transmission member 1432 to move, so as to realize the movement of the transmission member 1432 and the jaw member 1431 in the horizontal direction, so as to facilitate moving the jaw member 1431 to the target hole position. Further, the control unit 141 is used to control the movement of the jaw member 1431 relative to the transmission member 1432 along the third direction, so that the jaw member 1431 moves relative to the transmission member 1432 along the third direction towards the direction close to the placement plate 110, so as to reduce the distance between the jaw member 1431 and the placement plate 110 in the third direction; or make the jaw member 1431 move relative to the transmission member 1432 along the third direction towards the direction away from the placement plate 110, so as to increase the distance between the jaw member 1431 and the placement plate 110 in the third direction. Further, the control unit 141 is used to control the closing and opening of the jaw member 1431, so as to realize the clamping or placement of the target object 200 by the jaw member 1431. The control unit 141 is electrically connected to the jaw assembly 143. After receiving the position information of the target hole position transmitted by the control module 130, it can control the movement and clamping of the jaw assembly 143 according to the position information, and finally realize the picking and placing of the target object 200. The jaw assembly 143 of the present application has high flexibility.

[0049] Please refer toFigure 5 , in some embodiments, along the third direction, the distance h from the laser emitted by the sensor 122 to the surface of the placement tray 110 facing the jaw member 1431 ranges from: 5 mm ≤ h ≤ 13 mm.

[0050] Specifically, along the third direction, the value of the distance h from the laser emitted by the sensor 122 to the surface of the placement tray 110 facing the jaw member 1431 can be, but is not limited to, 5 mm, 5.2 mm, 5.6 mm, 5.8 mm, 6 mm, 6.2 mm, 6.5 mm, 6.8 mm, 7 mm, 7.2 mm, 7.5 mm, 8 mm, 8.5 mm, 9 mm, 9.4 mm, 9.8 mm, 10 mm, 10.5 mm, 10.8 mm, 11 mm, 11.5 mm, 12 mm, 12.5 mm, 13 mm, etc.

[0051] It can be understood that in Figure 5 the embodiment, the arrow A indicates the laser emitted by the sensor 122.

[0052] In this embodiment, the target object 200 is disposed on the placement tray 110, and the target object 200 is inserted into the placement hole 112 of the placement tray 110. When the sensor 122 emits laser light and the laser light hits the target object 200, the laser light is blocked and reflected back to the sensor 122. The sensor 122 obtains the distance between the target object 200 and the sensor 122, that is, the distance between the placement hole 112 provided with the target object 200 and the sensor 122. The sensor 122 provided in this embodiment can accurately identify the target object 200 and obtain the position information of the target hole position, with high accuracy. Along the third direction, the distance h from the laser light emitted by the sensor 122 to the surface of the placement tray 110 facing the gripper member 1431 satisfies the range of 5 mm ≤ h ≤ 13 mm. Then the laser light is emitted along the second direction and hits the end of the target object 200 close to the surface of the placement tray 110 facing the gripper member 1431. In order to adapt to the shape of the placement hole 112, the end usually has a high degree of matching with the shape of the placement hole 112. Thus, when the sensor 122 detects the distance between the target object 200 and the sensor 122, it can be equivalent to the distance between the placement hole 112 provided with the target object 200 and the sensor 122, and there is no need to consider the structure on the side of the target object 200 that deviates from the surface of the placement tray 110 facing the gripper member 1431. The processing device 100 has good applicability, and the accuracy for detecting the position information of the target hole position is high. Along the third direction, when the distance h from the laser light emitted by the sensor 122 to the surface of the placement tray 110 facing the gripper member 1431 is too large, the laser light may hit the upper part of the target object 200. If the upper part of the target object 200 is a special-shaped structure, it may affect the accuracy of the sensor 122 to obtain the position information of the target hole position. For example: If the target object 200 is a tool, the handle of the tool is inserted into the placement hole 112, and the blade of the tool is disposed on the side of the handle away from the placement tray 110, which is the upper part of the target object 200. When the laser light of the sensor 122 hits the blade, it is difficult to accurately obtain the position information of the target hole position if the blade is a special-shaped structure or the size of the blade is large. Along the third direction, when the distance h from the laser light emitted by the sensor 122 to the surface of the placement tray 110 facing the gripper member 1431 is too small, if the placement tray 110 is not placed flat or vibrates during the detection process, the laser light emitted by the sensor 122 may hit the surface of the placement tray 110 facing the picking module 140, so that the sensor 122 cannot detect the position information of the target hole position.

[0053] Understandably, the high accuracy of the processing device 100 in obtaining the position information of the target hole position is also reflected in that the distance from the target object 200 to the sensor 122 is detected by the sensor 122 to obtain the distance from the placement hole 112 where the target object 200 is set to the sensor 122, and the first coordinate of the target hole position in the first coordinate system is obtained. The second coordinate of the target hole position in the second coordinate system is obtained through the mapping relationship. The control unit 141 drives the jaw assembly 143 to move to the second coordinate of the target hole position in the second coordinate system to accurately identify the target hole position.

[0054] Please refer to Figure 6 and Figure 7 , in some embodiments, the laser module 120 includes a driving component 123. The driving component 123 includes a driving motor 1231, a lead screw 1232, a slider 1233 and a connecting block 1234. The driving motor 1231 is disposed on the base 121 and electrically connected to the control module 130 to be turned on or off under the control of the control module 130. The lead screw 1232 is disposed on the power output shaft of the driving motor 1231. The lead screw 1232 extends in a first direction. The slider 1233 is sleeved on the outer periphery of the lead screw 1232 and is threadedly connected to the lead screw 1232. The connecting block 1234 connects the slider 1233 and the sensor 122 respectively. When the driving motor 1231 is turned on, the lead screw 1232 is driven to rotate, and the slider 1233 moves relative to the lead screw 1232 in the first direction to drive the sensor 122 to move relative to the base 121 in the first direction.

[0055] In this embodiment, when the sensor 122 and the control module 130 detect that the target hole position is the placement hole 112 closest to the sensor 122 in the placement hole group 111 where it is located, the control module 130 controls the driving motor 1231 to be turned on to drive the lead screw 1232 to rotate, and the slider 1233 moves relative to the lead screw 1232 in the first direction, thereby driving the sensor 122 to move relative to the base 121 in the first direction to move the sensor 122 to be correspondingly arranged with another row of placement hole groups 111 to detect whether the placement hole 112 in another row of placement hole groups 111 is provided with the target object 200. The driving component 123 realizes the movement of the sensor 122 relative to the base 121 in the first direction, increases the flexibility of the movement of the sensor 122, so that in the processing device 100, only one sensor 122 needs to be provided to detect multiple rows of placement hole groups 111, and the sensor 122 does not require a large detection stroke and movement stroke, which is beneficial to simplifying the structure of the processing device 100.

[0056] Optionally, the drive motor 1231 is a lead screw motor.

[0057] Understandably, the drive motor 1231 is electrically connected to the control module 130. The control module 130 can determine the distance that the sensor 122 moves relative to the base 121 in the first direction according to the type of the drive motor 1231, the number of turns, and the rotation speed of the drive motor 1231 driving the lead screw 1232 to rotate, so as to obtain the distance between two adjacent placement hole groups 111.

[0058] In some embodiments, the drive assembly 123 further includes a guide member 1235. The guide member 1235 is disposed between the lead screw 1232 and the base 121. The guide member 1235 extends in the first direction, and the slider 1233 is slidably connected to the guide member 1235 in the first direction.

[0059] In this embodiment, the guide member 1235 extends in the first direction, and the slider 1233 is slidably connected to the guide member 1235 in the first direction. Then, when the drive motor 1231 is turned on, the lead screw 1232 rotates. When the slider 1233 moves relative to the lead screw 1232, the guide member 1235 guides the movement of the slider 1233, so that the slider 1233 moves relative to the lead screw 1232 in the first direction, thereby achieving the accuracy of the slider 1233 in the moving direction and avoiding the inclination of the moving direction of the slider 1233 and the sensor 122 relative to the base 121. If the moving direction of the sensor 122 relative to the base 121 is inclined, the moving direction of the sensor 122 relative to the placement disk 110 is inclined, resulting in the laser emitted by the sensor 122 deviating from the second direction and not being correspondingly arranged with a row of placement hole groups 111. As a result, the cooperation between the sensor 122 and the control module 130 cannot accurately obtain the position information of the target hole. Therefore, the setting of the guide member 1235 is beneficial to ensuring the accuracy of the processing device 100 in obtaining the position information of the target hole.

[0060] In some embodiments, the laser module 120 further includes a detection component 124. The detection component 124 includes a first detection element 1241, a second detection element 1242, and a detected element 1243. The first detection element 1241 and the second detection element 1242 are arranged at intervals along a first direction on the same side of the driving component 123 away from the sensor 122. The detected element 1243 is connected to the slider 1233. The multi-column placement hole groups 111 include a first-column placement hole group 113 and a last-column placement hole group 114. The first-column placement hole group 113 and the last-column placement hole group 114 are respectively located at opposite ends of the placement disc 110 along the first direction. When the first detection element 1241 detects the first information of the detected element 1243, the sensor 122 is arranged corresponding to the first-column placement hole group 113. When the second detection element 1242 detects the second information of the detected element 1243, the sensor 122 is arranged corresponding to the last-column placement hole group 114.

[0061] Understandably, the first detection element 1241 is arranged close to the first-column placement hole group 113, and the second detection element 1242 is arranged close to the last-column placement hole group 114.

[0062] In this embodiment, the first detection element 1241 and the second detection element 1242 are arranged at intervals in the first direction on the same side of the driving assembly 123 away from the sensor 122. When the slider 1233 moves relative to the base 121 in the first direction, the detected element 1243 is driven to move relative to the base 121 in the first direction, so that one of the first detection element 1241 and the second detection element 1242 detects the information that the detected element 1243 and the base 121 are arranged oppositely in the first direction. The sensor 122 is arranged on the slider 1233 through the connecting block 1234. Then, the position information of the sensor 122 and the base 121 arranged oppositely in the first direction can be obtained through the information that the detected element 1243 and the base 121 are arranged oppositely in the first direction, so as to facilitate the control module 130 to control the movement of the sensor 122 in the first direction. Specifically, when the first detection element 1241 detects the first information of the detected element 1243, the sensor 122 is arranged corresponding to the first row of placement hole groups 113. Then, after the sensor 122 finishes detecting whether the target object 200 is arranged in all the placement holes 112 in the first row of placement hole groups 113, the control module 130 controls the sensor 122 to move in the first direction towards the direction close to the last row of placement hole groups 114, or the control module 130 controls the sensor 122 to stop detecting. When the second detection element 1242 detects the second information of the detected element 1243, the sensor 122 is arranged corresponding to the last row of placement hole groups 114. Then, after the sensor 122 finishes detecting whether the target object 200 is arranged in all the placement holes 112 in the last row of placement hole groups 114, the control module 130 controls the sensor 122 to move in the first direction towards the direction close to the first row of placement hole groups 113, or the control module 130 controls the sensor 122 to stop detecting.

[0063] Optionally, in some embodiments, the first direction is the direction from the first row of placement hole groups 113 to the last row of placement hole groups 114, and the last row of placement hole groups 114 is closer to the moving mechanism 1433 than the first row of placement hole groups 113. When the clamping module 140 is used to place the target object 200 on the placement tray 110, the placement sequence is to first place the target object 200 in the placement holes 112 of the first row of placement hole groups 113, then sequentially place the target object 200 in the placement holes 112 of each row of placement hole groups 111 along the first direction, and finally place the target object 200 in the placement holes 112 of the last row of placement hole groups 114. Among them, in each row of placement hole groups 111, the target object 200 is sequentially placed in the placement holes 112 from the end far away from the sensor 122 to the end close to the sensor 122 in each row of placement hole groups 111. When the clamping module 140 is used to pick up the target object 200 from the placement tray 110, the picking-up sequence is to first pick up the target object 200 arranged in the last row of placement hole groups 114, then pick up the target object 200 from each row of placement hole groups 111 in the opposite direction of the first direction, and finally pick up the target object 200 from the first row of placement hole groups 113. Among them, in each row of placement hole groups 111, the target object 200 is sequentially taken out from the placement holes 112 from the end close to the sensor 122 to the end far away from the sensor 122 in each row of placement hole groups 111.

[0064] Optionally, the first detection element 1241 is a photoelectric sensor. The first detection element 1241 includes a first emitter and a first receiver. The first emitter and the first receiver are arranged opposite to each other. In the unobstructed case, the first emitter emits infrared light or visible light, and the first receiver receives the infrared light or visible light. When the detected element 1243 moves to the first detection element 1241, the infrared light or visible light is blocked, and the first receiver cannot receive the infrared light or visible light and generates an electrical signal, that is, the first information of the detected element 1243 is detected.

[0065] Optionally, the second detection element 1242 is a photoelectric sensor. The second detection element 1242 includes a second emitter and a second receiver. The second emitter and the second receiver are arranged opposite to each other. In the unobstructed case, the second emitter emits infrared light or visible light, and the second receiver receives the infrared light or visible light. When the detected element 1243 moves to the second detection element 1242, the infrared light or visible light is blocked, and the second receiver cannot receive the infrared light or visible light and generates an electrical signal, that is, the second information of the detected element 1243 is detected.

[0066] In some embodiments, the laser module 120 also includes a wiring harness (not shown) and a storage assembly 126, wherein the wiring harness is used to electrically connect the sensor 122 and the control module 130, and the storage assembly 126 is used to store the wiring harness, and the storage assembly 126 includes a first column 1261, a second column 1262 and a storage member 1263, wherein the first column 1261 and the second column 1262 are arranged at intervals along a first direction on opposite sides of the storage member 1263, and the drive assembly 123 is arranged between the first column 1261 and the second column 1262, and the storage member 1263 is located on the side of the drive assembly 123 away from the base 121, and the storage member 1263 has a storage groove 1264 extending along the first direction, and the storage groove 1264 is used to store the wiring harness.

[0067] In this embodiment, the first column 1261 and the second column 1262 are arranged at intervals along the first direction on opposite sides of the storage member 1263 to support the storage member 1263. When the wire harness is used to electrically connect the sensor 122 and the control module 130, one end of the wire harness is connected to the sensor 122, the other end of the wire harness is connected to the control module 130, and the middle part of the wire harness is arranged in the storage groove 1264 of the storage member 1263. When the sensor 122 moves along the first direction relative to the base 121, the wire harness moves with the movement of the sensor 122 and is accommodated in the storage groove 1264, so as to avoid the wire harness interfering with the movement of the sensor 122 and avoiding the wire harness being worn during the movement, which is conducive to extending the use performance of the wire harness, thereby ensuring the use performance of the sensor 122.

[0068] See also Figure 7 and Figure 8 In some embodiments, the storage component 126 also includes a supporting member 1265 and a drag chain (not shown in the figure), the supporting member 1265 includes a first portion 1267, a second portion 1268 and a third portion 1269 that are bent and connected to each other, the second portion 1268 extends along the third direction, the first portion 1267 and the third portion 1269 are bent toward the side of the second portion 1268 away from the placement tray 110, the first portion 1267 is connected to the connecting block 1234, and along the third direction, the third portion 1269 and the first portion 1267 are located on opposite sides of the storage member 1263; the drag chain is arranged on the second portion 1268 and the third portion 1269, and is used to pass the wiring harness.

[0069] Optionally, along the third direction, the third portion 1269 and the first portion 1267 are located on opposite sides of the receiving member 1263 and are spaced apart from the receiving member 1263 .

[0070] In this embodiment, the first part 1267 is connected to the connecting block 1234, the second part 1268 extends along the third direction, the third part 1269 is bent away from the placing plate 110 toward the second part 1268 with the first part 1267, and the third part 1269 is disposed on the side of the receiving member 1263 away from the base 121. When the drag chain is disposed on the second part 1268 and the third part 1269, the wire harness is threaded through the drag chain, and the wire harness sequentially passes through the sensor 122, the drag chain, the receiving member 1263 to the control module 130. The third part 1269 has a certain distance from the receiving member 1263 in the third direction, so that the moving distance of the wire harness between the sensor 122 and the receiving member 1263 is increased. When the sensor 122 moves along the first direction, the moving distance of the wire harness between the sensor 122 and the receiving member 1263 is relatively large, which can further prevent the wire harness from being bent and damaged. In addition, the wire harness is fixed to the supporting member 1265 by the drag chain, so that when the slider 1233 drives the sensor 122 to move, the wire harness disposed on the supporting member 1265 can move driven by the slider 1233, without the need for the sensor 122 to drag the wire harness disposed on the supporting member 1265, reducing the resistance of the wire harness disposed on the supporting member 1265 to move following the sensor 122, and improving the smoothness of the sensor 122 moving along the first direction.

[0071] Please refer to Figure 1 , in some embodiments, the processing device 100 further includes a workbench 150, the workbench 150 is disposed adjacent to the clamping module 140, and the workbench 150 is used for processing the target object 200.

[0072] In this embodiment, the workbench 150 is disposed adjacent to the clamping module 140. When the clamping module 140 is used to take out the target object 200 from the placing plate 110, the clamping module 140 clamps the target object 200 and transfers it to the workbench 150, so that the workbench 150 processes the target object 200. When the clamping module 140 is used to place the target object 200 on the placing plate 110, the clamping module 140 clamps the processed target object 200 from the workbench 150 to transfer it to the placing plate 110 for storage.

[0073] References to "embodiments" or "implementation manners" in this application mean that the specific features, structures, or characteristics described in connection with the embodiments may be included in at least one embodiment of this application. The phrase appearing at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described in this application may be combined with other embodiments. In addition, it should also be understood that the features, structures, or characteristics described in the embodiments of this application may be combined arbitrarily with each other without contradiction to form another embodiment that does not depart from the spirit and scope of the technical solution of this application.

[0074] Finally, it should be noted that the above implementation manners are only used to illustrate the technical solutions of this application and not to limit them. Although the technical solutions of this application have been described in detail with reference to the above preferred implementation manners, those of ordinary skill in the art should understand that modifications or equivalent replacements of the technical solutions of this application should not depart from the spirit and scope of the technical solutions of this application.

Claims

1. A processing device, characterized in that: The processing device includes: a placement plate, a laser module, a control module and a clamping module, the placement plate includes a plurality of columns of placement hole groups arranged at intervals along a first direction, and each column of the placement hole groups has a plurality of placement holes arranged at intervals along a second direction, the placement holes are used to place a target object, and the plurality of placement holes include a target hole position; the laser module is arranged on one side of the placement plate, the laser module includes a base and a sensor, the sensor is movably connected to the base along a first direction, the sensor emits laser along a second direction, the control module is electrically connected to the laser module and cooperates with the sensor, and is used to obtain position information of the target hole position, and control the clamping module to move to the target hole position according to the position information, so as to pick and place the target object, wherein the first direction intersects with the second direction.

2. The processing device according to claim 1, characterized in that: The laser module is in a first coordinate system, and the control module cooperates with the laser module to obtain first coordinates of the plurality of placement holes in the first coordinate system; The placement plate is in a second coordinate system, the clamping module includes a control unit, a position calibration unit and a clamping jaw assembly, the control unit is electrically connected to the control module, the position calibration unit and the clamping jaw assembly respectively, the control unit controls the clamping jaw assembly to move to the placement hole of the placement plate, and the position calibration unit performs position calibration on the placement hole of the placement plate according to the position of the clamping jaw assembly to obtain a second coordinate of each placement hole of the placement plate in the second coordinate system; The control module is used to establish a mapping relationship between the first coordinate system and the second coordinate system according to the first coordinate and the second coordinate.

3. The processing device according to claim 2, characterized in that: The clamping jaw assembly includes a clamping jaw member, a transmission member and a moving mechanism, wherein the transmission member is respectively connected to the clamping jaw member and the moving mechanism, and the moving mechanism can drive the transmission member to move, thereby driving the clamping jaw member to move; the clamping jaw member can move relative to the transmission member along a third direction; the control unit is used to control the moving mechanism to drive the transmission member to move, the movement of the clamping jaw member relative to the transmission member along the third direction, and the closing and opening of the clamping jaw member, so as to realize the clamping jaw member to pick up and place the target object, wherein the third direction intersects with the first direction and the second direction respectively.

4. The processing device according to claim 3, characterized in that: Along the third direction, the distance h from the laser emitted by the sensor to the surface of the placement plate facing the clamping claw member is in the range of 5 mm ≤ h ≤ 13 mm.

5. The processing device according to claim 3, characterized in that: The laser module includes a driving component, which includes a driving motor, a screw, a slider and a connecting block. The driving motor is arranged on the base and electrically connected to the control module so as to be opened or closed under the control of the control module. The screw is arranged on the power output shaft of the driving motor, and the screw extends along a first direction. The slider is sleeved on the outer circumference of the screw and is threadedly connected to the screw. The connecting block is respectively connected to the slider and the sensor. When the driving motor is turned on, the screw is driven to rotate, and the slider moves relative to the screw in the first direction to drive the sensor to move relative to the base in the first direction.

6. The processing device according to claim 5, characterized in that: The driving assembly further comprises a guide member, wherein the guide member is arranged between the screw rod and the base, the guide member extends along a first direction, and the sliding block is slidably connected to the guide member along the first direction.

7. The processing device according to claim 5, characterized in that: The laser module further includes a detection assembly, the detection assembly includes a first detection element, a second detection element and a detected element, the first detection element and the second detection element are arranged at intervals along the first direction on the same side of the driving assembly away from the sensor, the detected element is connected to the slider, the multiple columns of placement hole groups include a first column of placement hole groups and a last column of placement hole groups, the first column of placement hole groups and the last column of placement hole groups are respectively located at opposite ends of the placement plate along the first direction; When the first detection element detects the first information of the detected element, the sensor is set corresponding to the first row of placement hole groups, and when the second detection element detects the second information of the detected element, the sensor is set corresponding to the last row of placement hole groups.

8. The processing device according to claim 5, characterized in that: The laser module also includes a wiring harness and a storage component. The wiring harness is used to electrically connect the sensor and the control module. The storage component is used to store the wiring harness. The storage component includes a first column, a second column and a storage member. The first column and the second column are arranged at opposite sides of the storage member along a first direction. The drive component is arranged between the first column and the second column, and the storage member is located on the side of the drive component away from the base. The storage member has a storage groove extending along the first direction, and the storage groove is used to store the wiring harness.

9. The processing device according to claim 8, characterized in that: The storage component also includes a supporting member and a drag chain, the supporting member includes a first part, a second part and a third part that are bent and connected to each other, the second part extends along the third direction, the first part and the third part are bent toward the side of the second part away from the placement plate, the first part is connected to the connecting block, and along the third direction, the third part and the first part are located on opposite sides of the storage member; the drag chain is arranged on the second part and the third part, and is used to pass the wiring harness.

10. The processing device according to claim 2, characterized in that: The processing device also includes a workbench, which is arranged adjacent to the clamping module and is used to process the target object.

Images