Material taking and placing device and product assembly line
Through the rotating drive assembly and linear drive mechanism of the material pick-up and placement device, the synchronous adjustment of material displacement and angle is achieved, solving the complex problem of robot arm control in the prior art, and reducing the maintenance and programming costs of automated production lines.
Patent Information
- Application Number
- CN202422088470.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-27
- Publication Date
- 2025-07-04
- Estimated Expiration
- 2034-08-27
AI Technical Summary
In existing automated production lines, when robotic arms or robotics frequently adjust their working positions and postures, the control and programming are complex, resulting in high wiring, debugging and maintenance costs.
The material pick-and-place device is adopted, including a pick-and-place actuator, a rotary drive assembly and a first linear drive mechanism. Through the cooperation of the first guide rail part and the guide slider, the material displacement and angle synchronization adjustment is achieved, and the dependence on the rotary drive device is reduced.
The control process is simplified, the investment costs of equipment, manpower and time are reduced, and the efficiency and accuracy of material handling are improved.
Smart Images
Figure CN223057126U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of automated equipment, and specifically relates to a material picking and placing device and a product assembly line. Background Art
[0002] In existing automated production lines, the handling of products exists in almost every piece of equipment. Inside the equipment, there are various ways to handle materials or products between two workstations. For example, in some occasions that require high-precision handling, a robotic arm or a manipulator installed on a fixed position or a movable platform can be used to precisely grasp, handle, and place materials or products. However, in the face of some work scenarios that require frequent adjustment of the working position and posture, the control and programming of the robotic arm or the manipulator are relatively complex, and the workload of wiring, debugging, and maintenance is large, resulting in a sharp increase in costs. Summary of the Invention
[0003] In view of the above-mentioned at least one defect or deficiency of the prior art, this application provides a material picking and placing device and a product assembly line, which can simplify the displacement driving mechanism, help reduce the amount of control programming, and effectively reduce the input costs of wiring, debugging, and maintaining equipment.
[0004] To achieve the above object, on the one hand, this application provides a material picking and placing device, including:
[0005] A picking and placing execution member for grasping or releasing materials;
[0006] A rotational driving assembly, including a circumferential rotating member and a guiding and fixing member. The picking and placing execution member is arranged on the circumferential rotating member. One of the circumferential rotating member and the guiding and fixing member is provided with a first guide rail portion that surrounds its own circumferential wall and extends obliquely to its own axial direction, and the other of the circumferential rotating member and the guiding and fixing member is provided with a guiding slider that is slidably or rollably engaged with the first guide rail portion; and
[0007] A first linear driving mechanism having a first driving end, and the first driving end is rotatably connected to the circumferential rotating member and drives the circumferential rotating member to move along the axial direction.
[0008] In some embodiments, the first linear driving mechanism further has a first fixed end, the first driving end is movably arranged on the first fixed end, and the guiding and fixing member is fixedly connected to the first fixed end.
[0009] In some embodiments, the circumferential rotating member is formed as a transmission rotating shaft, the first guide rail portion is a guide groove formed on the outer circumferential wall of the circumferential rotating member, and the guiding slider is a guide pin formed on the guiding and fixing member.
[0010] In some embodiments, the rotational drive assembly further includes a pre-stretched elastic member. One end of the pre-stretched elastic member is connected to the circumferential rotating member, and the other end is connected to the first drive end to apply a force in the horizontal direction to the circumferential rotating member.
[0011] In some embodiments, the circumferential rotating member or the guiding and fixing member is further provided with a second guide rail portion extending along the axial direction. The second guide rail portion is located at the end of the first guide rail portion and communicates with the first guide rail portion.
[0012] In some embodiments, the material picking and placing device further includes a second linear drive mechanism and a first limiting structure. The second linear drive mechanism has a second drive end and a second fixed end. The second drive end is fixedly connected to the first linear drive mechanism and is used to drive the first linear drive mechanism to move between the material picking position and the material placing position. The first limiting structure acts on the first drive end located at the material picking position to make the moving length of the first drive end along the axial direction not greater than a first preset length.
[0013] In some embodiments, the first linear drive mechanism further has a first fixed end. The material picking and placing device further includes a second limiting structure. The second limiting structure acts on the first drive end located at the material placing position to make the moving length of the first drive end along the axial direction not greater than a second preset length.
[0014] In some embodiments, the first linear drive mechanism is a linear telescopic mechanism or a linear module.
[0015] The second aspect of the present application provides a product assembly line, and the product assembly line includes the above-mentioned material picking and placing device.
[0016] In some embodiments, the product assembly line further includes:
[0017] a loading component having a loading position; and
[0018] a turntable component. The turntable component has a turntable material position, and the turntable material position is inclined with respect to the loading position. The material is transferred from the loading position to the turntable material position through the material picking and placing device.
[0019] With the above technical solution, after the picking and placing actuator grasps the material, the circumferential rotating member can be driven by the first linear driving mechanism to move along its own axial direction, so as to drive the material grasped by the picking and placing actuator to move to the target position, realizing material transfer. At the same time, under the sliding or rolling cooperation between the first guide portion and the guide slider, the circumferential rotating member can rotate a certain angle relative to the guide fixing member, so as to drive the material grasped by the picking and placing actuator to rotate to the corresponding angle, realizing the synchronous adjustment of the placement position and placement angle of the material. Therefore, there is no need to additionally configure a rotation driving device and its corresponding programming for the angle adjustment of the material, making the control process simpler and saving the input costs of equipment, manpower and time.
[0020] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific embodiments section. Brief Description of the Drawings
[0021] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts. In the drawings:
[0022] Figure 1 is a schematic diagram of a material picking and placing device in a specific embodiment of the present application;
[0023] Figure 2 is Figure 1 a schematic diagram of the state of the material picking and placing device driving the material to move from the picking position to the placing position;
[0024] Figure 3 is Figure 1 a schematic diagram of the circumferential rotating member and the guide fixing member of the material picking and placing device;
[0025] Figure 4 is a schematic diagram of a product assembly line in a specific embodiment of the present application.
[0026] Description of the Reference Numerals
[0027] 1 Material picking and placing device 2 Feeding assembly
[0028] 3 Turntable assembly 4 Material
[0029] 101 Picking and placing actuator 102 Circumferential rotating member
[0030] 103 Guide fixing member 104 First linear driving mechanism
[0031] 105 Pre-tensioned elastic member 106 Second linear drive mechanism
[0032] 107 First limit structure 108 Second limit structure
[0033] 109 Mechanism mounting plate 110 First mounting block
[0034] 111 Second mounting block 112 Guide bushing
[0035] 113 Floating joint 201 Loading position
[0036] 301 Turntable position 1011 Suction cup
[0037] 1021 First guide rail part 1022 Second guide rail part
[0038] 1031 Guide slider 1041 First drive end
[0039] 1042 First fixed end 1061 Second drive end
[0040] 1062 Second fixed end 1071 First stop block
[0041] 1072 First limit block 1081 Second stop block
[0042] 1082 Second limit block Detailed implementation manners
[0043] The following will describe in detail the specific implementation manners of the present application with reference to the accompanying drawings. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the present application, and are not used to limit the present application.
[0044] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.
[0045] As Figures 1 to 3As shown in the figure, the first exemplary embodiment of the present application provides a material picking and placing device 1, which includes a picking and placing actuator 101, a rotational driving assembly, and a first linear driving mechanism 104. Among them, the picking and placing actuator 101 is used to grasp or release the material 4. The rotational driving assembly includes a circumferential rotating member 102 and a guiding and fixing member 103. The picking and placing actuator 101 is arranged on the circumferential rotating member 102. One of the circumferential rotating member 102 and the guiding and fixing member 103 is provided with a first guide rail portion 1021 that surrounds its own circumferential wall and extends obliquely to its own axial direction. The other of the circumferential rotating member 102 and the guiding and fixing member 103 is provided with a guiding slider 1031 that is slidably or rollably engaged with the first guide rail portion 1021. In other words, when the circumferential rotating member 102 moves relative to the guiding and fixing member 103, under the guidance of the first guide rail portion 1021 or the guiding slider 1031, the circumferential rotating member 102 can rotate relative to the guiding and fixing member 103 and drive the picking and placing actuator 101 to move synchronously. For example, when the circumferential rotating member 102 is formed as a transmission rotating shaft, the guiding and fixing member 103 can be formed as a guiding and fixing block. Among them, the first guide rail portion 1021 can be spirally arranged on the circumferential wall of the transmission rotating shaft, and the first guide rail portion 1021 is inclined to its own axial direction. The guiding slider 1031 can be arranged on the circumferential wall of the guiding and fixing block; or, when the guiding and fixing member 103 is formed as a guiding fixed shaft, the circumferential rotating member 102 can be formed as a rotating shaft sleeve sleeved outside the guiding fixed shaft. Among them, the first guide rail portion 1021 can be spirally arranged on the circumferential wall of the guiding fixed shaft, and the first guide rail portion 1021 is inclined to its own axial direction. The guiding slider 1031 can be arranged on the inner circumferential wall of the rotating shaft sleeve.
[0046] Further, the first linear driving mechanism 104 has a first driving end 1041. The first driving end 1041 is rotatably connected to the circumferential rotating member 102 and drives the circumferential rotating member 102 to move axially.
[0047] Accordingly, the material picking and placing device 1 of this exemplary embodiment can drive the circumferential rotating member 102 to move axially by means of the first linear driving mechanism 104, so as to drive the picking and placing actuator 101 to move to the position where the material 4 is located and grab it. The key is that after the material 4 is grabbed by the picking and placing actuator 101, the circumferential rotating member 102 can be driven by the first linear driving mechanism 104 to move axially along its own axis, so as to drive the material grabbed by the picking and placing actuator 101 to move to the target position. At the same time, under the sliding or rolling cooperation of the first guide portion 1021 and the guide slider 1031, the circumferential rotating member 102 can rotate a certain angle relative to the guide fixing member 103, so as to drive the material 4 grabbed by the picking and placing actuator 101 to rotate to the corresponding angle, realizing the synchronous adjustment of the placement position and placement angle of the material 4. For example, when it is required that the material 4 rotates 30° during the process from being grabbed to being released, the first guide portion 1021 can be set to be inclined 30° axially relative to the circumferential rotating member 102 or the guide fixing member 103. In this way, when the circumferential rotating member 102 moves axially, it can rotate 30° relative to the guide fixing member 103 along the inclination direction of the first guide portion 1021. It can be seen that the material picking and placing device 1 of the present application does not need to additionally configure a rotation driving device and its corresponding programming for the angle adjustment of the material 4, making the control process simpler and helping to save the input costs of equipment, manpower and time.
[0048] In Figure 1 and Figure 2 In the illustrated embodiment, the picking and placing actuator 101 is a suction cup assembly, and the suction cup assembly includes one or more suction cups 1011 for adsorbing materials. Those skilled in the art can understand that the picking and placing actuator 101 is not limited to the above-mentioned suction cup assembly, and may also be other structural forms such as a jaw assembly that can realize the grasping or releasing of materials, and all should fall within the protection scope of the present application.
[0049] Furthermore, in the illustrated embodiment, the first linear driving mechanism 104 further has a first fixed end 1042, and the first driving end 1041 is movably arranged vertically on the first fixed end 1042, and the guide fixing member 103 is fixedly connected to the first fixed end 1042. Specifically, referring to Figure 1 and Figure 2 , the circumferential rotating member 102 can be fixedly installed on the first driving end 1041 through the first mounting block 110, so that the first driving end 1041 can drive the circumferential rotating member 102 to move up and down axially along its own axis. The guide fixing member 103 can be fixedly installed on the first fixed end 1042 through the second mounting block 111, so that the circumferential rotating member 102 can move and rotate relative to the guide fixing member 103.
[0050] The present application does not limit the specific structures of the first mounting block 110 and the second mounting block 111. As an example, they can be strip-shaped, long plate-shaped, etc., as long as they do not interfere with the movement of the circumferential rotating member 102.
[0051] In Figures 1 to 3 In the illustrated embodiment, the circumferential rotating member 102 is formed as a transmission rotating shaft, the first guide rail portion 1021 is a guide groove formed on the outer peripheral wall of the circumferential rotating member 102, and the guide slider 1031 is a guide pin formed on the guide fixing member 103. Specifically, the transmission rotating shaft as the circumferential rotating member 102 extends along the moving direction of the first driving end 1041, and the guide pin extends outward from the circumferential wall of the guide slider 1031 into the guide groove. Thus, when the circumferential rotating member 102 moves axially, the inner wall of the guide groove presses against the guide pin. Under the reaction force of the guide pin, the circumferential rotating member 102 can rotate self - clockwise along the inclination direction of the guide groove, thereby driving the pick - and - place actuator 101 to rotate self - clockwise, so that the material 4 grasped by the pick - and - place actuator 101 can follow the rotation, realizing the adjustment of the placement angle. As for the adjustable angle of the material 4, it is naturally limited by the length of the guide groove as the first guide rail portion 1021 and the inclination angle relative to its own axis, and can be specifically set according to actual production requirements. The present application does not limit this.
[0052] It can be understood that when the first driving end 1041 drives the circumferential rotating member 102 to move in the reverse direction, the circumferential rotating member 102 can rotate in the reverse direction, so that it can switch back and forth between the initial angle and the target rotation angle. In this way, through mechanical adaptive adjustment, the control program is made simpler.
[0053] In this embodiment, the specific shape of the transmission rotating shaft can be cylindrical, square - cylindrical, etc. The guide pin is preferably a cylindrical guide pin, so as to reduce the friction between the guide pin and the inner wall of the guide groove and improve the smoothness of the movement and rotation of the circumferential rotating member 102. Correspondingly, the width of the guide groove is greater than the diameter of the guide pin, which can be 0.04 mm to 0.2 mm larger, so that a clearance fit is formed between the guide pin and the guide groove. Therefore, the circumferential rotating member 102 moves smoothly during movement and will not get stuck.
[0054] In other embodiments, the guide slider 1031 can also be a guide wheel formed on the guide fixing member 103. A rolling fit is formed between the guide wheel and the guide groove, so as to further ensure that the smoothness of the movement of the circumferential rotating member 102 is extremely high, which is suitable for the situation where the pick - and - place actuator 101 and the weight of the grasped material are relatively large.
[0055] In some embodiments, the circumferential rotating member 102 may also be formed as a rotating shaft sleeve (not shown in the drawings). A guiding slider 1031 is formed on the inner circumferential wall of the rotating shaft sleeve. Correspondingly, the guiding fixing member 103 is formed as a guiding fixed shaft (not shown in the drawings), and the first guide rail portion 1021 is formed on the outer circumferential wall of the guiding fixed shaft. Specifically, the rotating shaft sleeve serving as the circumferential rotating member 102 can be sleeved on the guiding fixed shaft serving as the guiding fixing member 103 and can move axially along the guiding fixed shaft. During the movement, under the sliding or rolling cooperation of the first guide rail portion 1021 and the guiding slider 1031, the rotating shaft sleeve can generate a self-rotating motion, so as to drive the grasped material to rotate and adjust its own angle.
[0056] The rotation driving assembly further includes a pre-tensioned elastic member 105. As Figure 1 and Figure 2 shown, one end of the pre-tensioned elastic member 105, which is a pre-tensioned spring for example, is rotatably connected to the circumferential rotating member 102, and the other end is rotatably connected to the first driving end 1041. Specifically, the pre-tensioned elastic member 105 is pre-tensioned and arranged between the circumferential rotating member 102 and the first driving end 1041. In this way, the pre-tensioned elastic member 105 can move synchronously with the first driving end 1041 and the circumferential rotating member 102. And under the tensioning action of the pre-tensioned elastic member 105, the axial rotating member 102 can always be horizontally pulled towards the first driving end 1041, and the circumferential rotating member 102 can always maintain a pressing connection with the guiding fixing member 103. Specifically, it can be that the inner wall of the guiding groove as shown in the figure maintains a pressing connection with the guiding pin, so as to avoid the width of the guiding groove being greater than the diameter of the guiding pin and causing the circumferential rotating member 102 to shake during movement, and ensure the accurate rotation angle of the circumferential rotating member 102 without error.
[0057] As Figure 1 and 2 shown, the pre-tensioned elastic member 105 is pre-tensioned and arranged at the bottom end of the circumferential rotating member 102 and the bottom end of the first driving end 1041. The circumferential rotating member 102 is always pulled to the left towards the first driving end, so that the guiding pin of the guiding fixing member 103 always abuts against the right side of the guiding groove of the circumferential rotating member 102, fixing the position of the guiding pin after movement and ensuring the rotation accuracy. However, without limitation, the pre-tensioned elastic member 105 can also be connected to other parts other than the bottom ends of the circumferential rotating member 102 and the first driving end 1041, as long as it can generate a horizontal pulling force on the circumferential rotating member 102, which is not limited herein.
[0058] In the present exemplary embodiment, when the circumferential rotating member 102 is a transmission rotating shaft or a rotating shaft sleeve, one end of the pre-stretched elastic member 105 can be rotatably connected to the circumferential rotating member 102 through a bearing, and the other end can be rotatably connected to the first driving end 1041 through a pin shaft. Specifically, the connection position can be the extending end of the first driving end 1041, so that the pre-stretched elastic member 105 will not rotate along with the circumferential rotating member 102 when the circumferential rotating member 102 rotates. One end of the pre-stretched elastic member 105 can also be indirectly connected to the circumferential rotating member 102. Referring to Figure 1 , when the picking and placing actuator 101 is fixedly connected to the end of the circumferential rotating member 102, one end of the pre-stretched elastic member 105 is rotatably connected to the picking and placing actuator 101 through a pin shaft, and the other end can be rotatably connected to the first driving end 1041 through a pin shaft.
[0059] In addition, in the illustrated embodiment, in order to ensure that the transmission rotating shaft serving as the circumferential rotating member 102 does not deviate, a guide bushing 112 is further provided. Specifically, the guide bushing 112 can be fixedly installed on the first fixed end 1042 through the second mounting block 111, and the transmission rotating shaft is arranged through the guide bushing 112. Under the limiting action of the guide bushing 112, the transmission rotating shaft can accurately move along the axial direction.
[0060] In order to compensate for the displacement of the circumferential rotating member 102 other than the axial direction, the transmission rotating shaft of the present embodiment can be connected to the first mounting block 110 through a floating joint 113. The floating joint 113 can compensate for the displacement caused by factors such as thermal expansion, ground settlement, and vibration, and prevent damage to related components due to local stress concentration.
[0061] In some embodiments, the first guide rail portion 1021 can also be formed as a guide slide bar. Correspondingly, the guide slider 1031 can also be formed as a guide chute. In this case, the inclination of the guide slide bar is the same as that of the guide chute, and the guide slide bar is embedded in the guide chute, and the self-rotation movement of the circumferential rotating member 102 can also be realized.
[0062] In an alternative or preferred embodiment, referring to Figure 3 , the circumferential rotating member 102 or the guide fixing member 103 is further provided with a second guide rail portion 1022 extending along the axial direction. The second guide rail portion 1022 is located at the end of the first guide rail portion 1021 and is communicated with the first guide rail portion 1021. Thus, when the first linear driving mechanism 104 drives the circumferential rotating member 102 to move a certain distance to pick up or release the material 4 at the target station, the second guide rail portion 1022 can be used to guide the circumferential rotating member 102 to accurately move along the axial direction, ensuring that the picking and placing actuator 101 does not deviate relative to the above axial direction when contacting the material 4. For example, the picking and placing actuator 101 can be kept at 0° to pick up the material 4 at one station, and then kept at 30° to place the material 4 at another station after rotating 30°.
[0063] There may be two second guide rail parts 1022, and the two second guide rail parts 1022 are respectively arranged at both ends of the first guide rail part 1021. Or, one second guide rail part 1022 may be arranged on one section of the first guide rail part 1021. In actual application, it can be set according to actual needs, and the present application does not make any limitations in this regard.
[0064] In some embodiments, the circumferential rotating part 102 is detachably connected to the first driving end 1041 of the first linear driving mechanism 104. Thus, in actual application, a suitable circumferential rotating part 102 can be replaced according to actual usage requirements. Different circumferential rotating parts 102 can be provided with first guide rail parts 1021 having different inclination angles or lengths, so as to meet the adjustment requirements of the material 4 at different angles.
[0065] In Figure 1 and Figure 2 In the illustrated embodiment, the material picking and placing device 1 further includes a second linear driving mechanism 106 and a first limiting structure 107. Among them, the second linear driving mechanism 106 has a second driving end 1061 and a second fixed end 1062. The second driving end 1061 is fixedly connected to the first linear driving mechanism 104. For example, the first fixed end 1042 of the first linear driving mechanism 104 can be installed on the second driving end 1061 through a mechanism mounting plate 109, so that the second driving end 1061 can drive the first linear driving mechanism 104 to move between the material picking position (such as Figure 1 the position where the first linear driving mechanism 104 is located as shown) and the material placing position. The first limiting structure 107 acts on the first driving end 1041 located at the material picking position and makes the moving length of the first driving end 1041 along the axial direction not greater than a first preset length.
[0066] As an example, in this embodiment, the second linear driving mechanism 106 can be a linear module or a linear telescopic device such as a cylinder. The material picking position and the material placing position are respectively two positions on the axis of the second linear driving mechanism 106. Driven by the second linear driving mechanism 106, the first linear driving mechanism 104 can be moved between the material picking position and the material placing position. The first limiting structure 107 includes a first stop block 1071 and a first limiting block 1072. Among them, the first stop block 1071 is fixedly arranged at the second fixed end 1062, and the first limiting block 1072 is fixedly arranged at the first driving end 1041. When the first limiting block 1072 presses against the first stop block 1071, the picking and placing actuator 101 stops moving, and the picking and placing actuator 101 can just contact the material 4 to avoid damaging the material 4. For example, referring to Figure 1, when the second linear drive mechanism 106 is arranged horizontally and the first linear drive mechanism 104 is arranged vertically, the first stopper 1071 and the first limit block 1072 can be respectively arranged at one end of the second fixed end 1062 and the bottom end of the first drive end 1041. Thus, under the combined limitation of the first stopper 1071 and the first limit block 1072, the descending distance of the first drive end 1041 at the material taking position is not greater than the first preset length. When the first drive end 1041 descends to the point where the first limit block 1072 contacts the first stopper 1071, the first drive end 1041 is blocked and automatically stops. At this time, the picking and placing actuator 101 located below the first drive end 1041 can just contact the material 4 on the material taking and placing table to grab it, avoiding damaging the material 4.
[0067] In addition, when the second drive end 1061 drives the first linear drive mechanism 104 to move from the material taking position to the material placing position, the first limit block 1072 can follow the movement of the first linear drive mechanism 104 and move away from the first stopper 1071. At this time, the first stopper 1071 no longer restricts the movement of the first drive end 1041, enabling the first drive end 1041 to move a movement length greater than the first preset length.
[0068] If there is a certain distance between the material placing table and the material taking table in the axial direction of the first linear drive mechanism 104, in order to enable the first drive end 1041 to further drive the grabbed material 4 to accurately move onto the material placing table, the material picking and placing device 1 further includes a second limiting structure 108. The second limiting structure 108 acts on the first drive end 1041 at the material placing position and makes the movement length of the first drive end 1041 in the axial direction not greater than a second preset length, and the second preset length is greater than the above-mentioned first preset length. Specifically, referring to Figure 2 , the second limiting structure 108 includes a second stopper 1081 arranged at the first fixed end 1042 and a second limit block 1082 arranged at the first drive end 1041. When the second limit block 1082 presses against the second stopper 1081, the material 4 grabbed by the picking and placing actuator 101 can just move onto the material placing table, avoiding damaging the material 4 when released.
[0069] For example, when the first linear drive mechanism 104 is arranged in the vertical direction and the material placing platform is lower than the material picking platform, the height of the second stopper 1081 can be set to be approximately the same as the height of the first stopper 1071, and the height of the second limit block 1082 can be set to be greater than the height of the first limit block 1072, so that the second preset length is greater than the above-mentioned first preset length. Thus, under the combined limit of the second stopper 1081 and the second limit block 1082, the descending distance of the first drive end 1041 at the material placing position is at most equal to the second preset length, that is, when the first drive end 1041 descends until the second limit block 1082 contacts the second stopper 1081, the first drive end 1041 is blocked and automatically stops. At this time, the material 4 grasped by the pick-and-place actuator 101 can just be placed on the material placing platform, avoiding crushing the material 4.
[0070] In the illustrated embodiment, the first linear drive mechanism 104 is a linear telescopic mechanism, such as a cylinder. In other embodiments, the first linear drive mechanism 104 can also be a linear module. The present application does not limit this.
[0071] It can be seen that under the segmented limit of the first limit structure 107 and the second limit structure 108, the first linear drive mechanism 104 of the present application can move at least within two length ranges, realizing the segmented conveying of materials, eliminating the setting of another linear drive mechanism, and reducing the programming amount and control difficulty.
[0072] As Figure 4 shown, the second exemplary embodiment of the present application further provides a product assembly line, which includes the above-mentioned material pick-and-place device 1. Obviously, the product assembly line of this exemplary embodiment has all the technical features brought by the above-mentioned material pick-and-place device 1, so it will not be elaborated here.
[0073] In addition, in Figure 4In the illustrated embodiment, the product assembly line further includes a loading component 2 and a turntable component 3. Among them, the loading component 2 has a loading position 201, which is the above-mentioned material picking and placing table. The material 4 to be grabbed can be placed on the loading position 201; the turntable component 3 has a turntable material position 301, which is the above-mentioned discharging and placing table. The material 4 to be released can be placed on the turntable material position 301. The turntable material position 301 is arranged obliquely with respect to the loading position 201, so that the material 4 placed on the turntable material position 301 forms a certain angle with the material 4 placed on the loading position 201, for example, it can be 30°. The product assembly line of this exemplary embodiment can use the material picking and placing device 1 to grab the material 4 from the loading position 201 and transfer it to the turntable material position 301. During the process of releasing it to the turntable material position 301, the material picking and placing device 1 can rotate the material 4 to a certain angle through the mutual cooperation of the circumferential rotating member 102 and the guiding and fixing member 103, and finally realize the position adjustment and the adjustment of the placing angle of the material 4.
[0074] In a specific embodiment, the process of picking up the product from the loading position 201 and then placing it on the turntable material position 301 is as follows:
[0075] S1, the material picking and placing device 1 horizontally moves above the loading position 201, the first linear driving mechanism 104 extends, the first driving end 1041 descends, and the first driving end 1041 stops descending after the first limiting block 1072 contacts the first stop block 1071. The first driving end 1041 descends a first preset length, the picking and placing executing member 101 adsorbs the product, and then the first linear driving mechanism 104 retracts, and the material picking is completed;
[0076] During the material picking process, the circumferential rotating member 102 only slides relative to the guiding and fixing member 103 in its vertical second guide part 1022, so the picking and placing executing member 101 does not change its angle.
[0077] S2, the material picking and placing device 1 horizontally moves above the turntable material position 301, controls the first driving end 1041 to descend, and the first driving end 1041 stops descending after the second limiting block 1082 contacts the second stop block 1081. The first driving end 1041 descends a second preset length, and the second preset length is greater than the first preset length;
[0078] During the material placing process, after the circumferential rotating member 102 slides relative to the guiding and fixing member 103 in the second guide part 1022, its inclined first guide part 1021 also acts on the guiding and fixing member 103, so that the angle of the picking and placing executing member 101 changes to the placing angle required by the turntable material position 301, thereby realizing the picking and placing of materials with both height and angle changed.
[0079] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.
[0080] In the present application, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.
[0081] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0082] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.
Claims
1. A material picking and placing device, characterized in that, Comprising: A pick-and-place actuator (101) for grasping or releasing a material (4); A rotary drive assembly including a circumferentially rotating member (102) and a guiding and fixing member (103). The pick-and-place actuator (101) is disposed on the circumferentially rotating member (102). One of the circumferentially rotating member (102) and the guiding and fixing member (103) is provided with a first guide rail portion (1021) that surrounds its own circumferential wall and extends obliquely to its own axial direction. The other of the circumferentially rotating member (102) and the guiding and fixing member (103) is provided with a guiding slider (1031) that is in sliding or rolling cooperation with the first guide rail portion (1021); and A first linear drive mechanism (104) having a first drive end (1041). The first drive end (1041) is rotatably connected to the circumferentially rotating member (102) and drives the circumferentially rotating member (102) to move along the axial direction.
2. The material picking and placing device according to claim 1, characterized in that The first linear drive mechanism (104) further has a first fixed end (1042). The first drive end (1041) is movably disposed on the first fixed end (1042), and the guiding and fixing member (103) is fixedly connected to the first fixed end (1042).
3. The material picking and placing device according to claim 1, wherein, The circumferentially rotating member (102) is formed as a transmission rotating shaft. The first guide rail portion (1021) is a guide groove formed on the outer circumferential wall of the circumferentially rotating member (102), and the guiding slider (1031) is a guide pin formed on the guiding and fixing member (103).
4. The material picking and placing device according to claim 3, characterized in that, The rotary drive assembly further includes a pre-stretched elastic member (105). One end of the pre-stretched elastic member (105) is connected to the circumferentially rotating member (102), and the other end is connected to the first drive end (1041) to generate a force on the circumferentially rotating member (102) in the horizontal direction.
5. The material picking and placing device according to claim 1, characterized in that, The circumferentially rotating member (102) or the guiding and fixing member (103) is further provided with a second guide rail portion (1022) that extends along the axial direction. The second guide rail portion (1022) is located at the end of the first guide rail portion (1021) and is in communication with the first guide rail portion (1021).
6. The material picking and placing device according to claim 1, characterized in that, The material pick-and-place device (1) further includes a second linear drive mechanism (106) and a first limiting structure (107). The second linear drive mechanism (106) has a second drive end (1061) and a second fixed end (1062). The second drive end (1061) is fixedly connected to the first linear drive mechanism (104) and is used to drive the first linear drive mechanism (104) to move between a material picking position and a material placing position. The first limiting structure (107) acts on the first drive end (1041) located at the material picking position and makes the moving length of the first drive end (1041) along the axial direction not greater than a first preset length.
7. The material picking and placing device according to claim 6, wherein The first linear driving mechanism (104) further has a first fixed end (1042), and the material picking and placing device (1) further includes a second limiting structure (108). The second limiting structure (108) acts on the first driving end (1041) located at the material discharging position, so that the moving length of the first driving end (1041) along the axial direction is not greater than a second preset length.
8. The material picking and placing device according to any one of claims 1 to 7, characterized in that, The first linear driving mechanism (104) is a linear telescopic mechanism or a linear module.
9. A product assembly line, characterized in that, The product assembly line includes the material picking and placing device (1) according to any one of claims 1 to 8.
10. The product assembly line according to claim 9, characterized in that, The product assembly line further includes: a loading component (2) having a loading position (201); and a turntable component (3). The turntable component (3) has a turntable material position (301). The turntable material position (301) is arranged obliquely with respect to the loading position (201). The material is transferred from the loading position (201) to the turntable material position (301) through the material picking and placing device.