Material taking device

Abstract

The utility model relates to the technical field of automation, in particular to a material taking device used for the material taking process of workpieces at a machining station. Comprising a rotating shaft; the first connecting plate can rotate around the axis of the rotating shaft; the first positioning plate is mounted at one end of the first connecting plate and is provided with a profiling structure, a first sucker piece and a first positioning hole; the second positioning plate is mounted at the other end and is provided with a profiling structure, a second sucker piece and a second positioning hole; a driving member; the sucker assembly comprises a third sucker piece and a fourth sucker piece which are located at the two ends of the driving piece respectively; when the material taking device is in a first working state, the driving piece drives the third sucker piece to suck the workpiece; and the material taking device is in a second working state, the second positioning plate is located at the machining position, the driving piece drives the fourth suction cup piece to suck the workpiece, and the third suction cup piece shrinks to position the workpiece and the profiling structure. According to the material taking device, along with switching of the positions of the two positioning plates, material taking and fine positioning can be conducted at the same time through the material taking device, and the operation circulation time is shortened.

Description

Technical Field

[0001] This application relates to the field of automation technology, and particularly to a material taking device.

Background Art

[0002] Precise positioning means that during the material taking process, after the material taking robot or the material taking device on the transfer axis makes initial contact with the workpiece, in order to ensure the accuracy of the material taking and placing process, it is necessary to adjust the clamping position of the workpiece on the material taking device to ensure that the workpiece is in an accurate and predetermined position on the material taking device. In the prior art, usually an independent precise positioning platform is set up to cooperate with the material taking device for precise positioning of the workpiece. After setting up the independent precise positioning platform, the material taking device takes the material from the material placing place and puts it into the precise positioning platform. After the workpiece is precisely positioned on the material taking device, it is moved into the processing position or the storage position.

[0003] However, when the above precise positioning platform participates in the material taking process, during the operation of clamping the workpiece, the precise positioning time will increase the operation cycle time and reduce the operation efficiency.

Utility Model Content

[0004] In view of this, this application provides a material taking device. With the switching of the positions of the first positioning plate and the second positioning plate, the material taking device of this application can realize the simultaneous progress of the material taking, precise positioning, and material placing processes, accelerate the operation cycle time, and improve the efficiency of material taking and placing.

[0005] This application provides a material taking device, and the material taking device is used for the material taking process of the workpiece stored in the processing position; it includes:

[0006] A rotating shaft;

[0007] A first connecting plate, connected to the rotating shaft; the first connecting plate can rotate around the axis of the rotating shaft;

[0008] A first positioning plate, installed at one end of the first connecting plate; at least part of the surface of the first positioning plate is provided with a profiling structure and a first suction cup member, and at least one first positioning hole is opened on the first positioning plate; when the material taking device is in the first working state, the first positioning plate is located at the processing position;

[0009] A second positioning plate, installed at the other end of the first connecting plate; at least part of the surface of the second positioning plate is provided with a profiling structure and a second suction cup member, and at least one second positioning hole is opened on the second positioning plate; when the material taking device is in the second working state, the second positioning plate is located at the processing position;

[0010] A driving member, installed on the first connecting plate and located between the relatively arranged first positioning plate and the second positioning plate;

[0011] The suction cup assembly includes a third suction cup member and a fourth suction cup member. The third suction cup member is disposed at an end of the driving member close to the first positioning plate, and the fourth suction cup member is disposed at an end of the driving member close to the second positioning plate.

[0012] When the material taking device is in the first working state, the driving member drives the third suction cup member to extend out of the first positioning hole to suck the workpiece. The first connecting plate rotates around the rotating shaft. When the material taking device is in the second working state, the second positioning plate is located at the processing position. The driving member drives the fourth suction cup member to extend out of the second positioning hole to suck the workpiece, and the third suction cup member contracts into the first positioning hole so that the workpiece is positioned with the profiling structure, and the first suction cup member sucks the workpiece.

[0013] In some embodiments, the material taking device further includes a second connecting plate, and the second connecting plate is connected to the output end of the driving member.

[0014] The third suction cup member is disposed at one end of the second connecting plate, and the fourth suction cup member is disposed at the other end of the second connecting plate.

[0015] In some embodiments, the material taking device further includes a third connecting plate and a fourth connecting plate. The third connecting plate and the fourth connecting plate are respectively disposed at two ends of the second connecting plate. Mounting holes are formed in the third connecting plate and the fourth connecting plate.

[0016] The third suction cup member is mounted on the third connecting plate through the mounting hole, and along the axial direction of the third suction cup member, the projection of the third suction cup member on the first positioning plate is located within the projection of the first positioning hole on the first positioning plate.

[0017] The fourth suction cup member is mounted on the fourth connecting plate through the mounting hole, and along the axial direction of the fourth suction cup member, the projection of the fourth suction cup member on the second positioning plate is located within the projection of the second positioning hole on the second positioning plate.

[0018] In some embodiments, the first positioning plate and the second positioning plate are provided with mounting grooves. The first suction cup member and the second suction cup member are mounted in the mounting grooves, and the suction cup openings of the first suction cup member are located on the surface of the first positioning plate away from the driving member, and the suction cup openings of the second suction cup member are located on the surface of the second positioning plate away from the driving member.

[0019] The first positioning plate and the second positioning plate are internally provided with negative pressure channels, and the negative pressure channels are communicated with the first suction cup member and the second suction cup member so as to generate negative pressure adsorption force for the first suction cup member and the second suction cup member.

[0020] In some embodiments, the material taking device further includes a negative pressure member, and the negative pressure member is connected to the negative pressure channel to generate negative pressure in the negative pressure channel.

[0021] In some embodiments, the profiling structure is at least one of profiling protrusions and profiling grooves on the surfaces of the first positioning plate and the second positioning plate.

[0022] In some embodiments, the driving member is a driving cylinder or a driving motor.

[0023] In some embodiments, the connection manner between the first connecting plate and the first positioning plate and the second positioning plate is at least one of bonding connection, welding connection or fastener connection;

[0024] The connection manner between the first connecting plate and the driving member is at least one of bonding connection, welding connection or fastener connection.

[0025] In some embodiments, the rotating shaft is perpendicularly connected to the center point of the first connecting plate.

[0026] In some embodiments, the part of the material taking device except the rotating shaft is a material taking structure, the rotating shaft is connected to at least two material taking structures, and adjacent material taking structures are arranged at an angle.

[0027] After adopting the technical solution of the present application, at least the following beneficial effects are achieved:

[0028] For the material taking device provided by the present application, when the material taking device is in the first working state, it is the material taking process of the first positioning plate. At this time, the driving member can drive the third suction cup member to extend out of the first positioning hole and suck the workpiece. Subsequently, the first connecting plate rotates around the rotating shaft, so that the first positioning plate and the second positioning plate switch positions. At this time, the material taking device is in the second working state, and the driving member can drive the fourth suction cup member to extend out of the second positioning hole and suck the workpiece. At the same time, the third suction cup member is driven by the driving member to contract back into the first positioning hole, so that the workpiece is cooperatively connected with the profiling structure on the first positioning plate, and the first suction cup member adsorbs the workpiece, completing the precise positioning process of the workpiece on the first positioning plate. By circulating the above process, the relatively arranged first positioning plate and the second positioning plate can simultaneously perform different operation steps. Among them, when one positioning plate is in the material taking process, the other positioning plate can perform the precise positioning process, that is, through the cooperation of the driving member, the first positioning plate and the second positioning plate, the material taking process, the precise positioning process and the material discharging process of the material taking device can be cycled, shortening the operation cycle time and improving the efficiency of material taking and placing.

Description of the Drawings

[0029] Figure 1 It is a schematic structural diagram of the material taking device provided by the present application.

[0030] Reference Signs:

[0031] 1. Rotating shaft; 2. First connecting plate; 31. First positioning plate; 312. First positioning hole; 32. Second positioning plate; 321. Second suction cup member; 322. Second positioning hole; 33. Profiled structure; 4. Driving member; 51. Third suction cup member; 52. Fourth suction cup member; 6. Second connecting plate; 7. Third connecting plate; 8. Fourth connecting plate.

Detailed implementation manners

[0032] In order to better understand the technical solution of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0033] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of 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.

[0034] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0035] It should be understood that the term " / and" used herein is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the preceding and following associated objects.

[0036] It should be noted that the orientation terms such as "upper", "lower", "left" and "right" described in the embodiments of the present application are described from the angles shown in the drawings, and should not be construed as a limitation to the embodiments of the present application. In addition, in the context, it should also be understood that when it is mentioned that an element is connected "above" or "below" another element, it can not only be directly connected "above" or "below" another element, but also be indirectly connected "above" or "below" another element through an intermediate element.

[0037] Fine positioning refers to the operation of adjusting the clamping position of the workpiece on the material taking device during the material taking process to ensure the accuracy of the material taking and placing process after the material taking robot or the material taking device on the transfer axis makes initial contact with the workpiece, so as to ensure that the workpiece is in an accurate and predetermined position on the material taking device. In the prior art, an independent fine positioning platform is usually set up to cooperate with the material taking device for fine positioning of the workpiece. After setting up the independent fine positioning platform, the material taking device takes the material from the material placing place, puts it into the fine positioning platform, and after the workpiece is accurately positioned on the material taking device, it is moved into the processing position or the storage position.

[0038] However, when the above fine positioning platform participates in the material taking process, during the operation of clamping the workpiece, the fine positioning time will increase the operation cycle time and reduce the efficiency of material taking and placing.

[0039] In view of this, the present application provides a material taking device for the material taking process of the workpiece stored in the processing position. Please refer to Figure 1 , the material taking device includes:

[0040] Rotating shaft 1;

[0041] The first connecting plate 2 is connected to the rotating shaft 1; the first connecting plate 2 can rotate around the axis of the rotating shaft 1;

[0042] The first positioning plate 31 is installed at one end of the first connecting plate 2; at least part of the surface of the first positioning plate 31 is provided with a profiling structure 33 and a first suction cup member (not shown in the figure), and at least one first positioning hole 312 is opened on the first positioning plate 31; when the material taking device is in the first working state, the first positioning plate 31 is located at the processing position;

[0043] The second positioning plate 32 is installed at the other end of the first connecting plate 2; at least part of the surface of the second positioning plate 32 is provided with a profiling structure 33 and a second suction cup member 321, and at least one second positioning hole 322 is opened on the second positioning plate 32; when the material taking device is in the second working state, the second positioning plate 32 is located at the processing position;

[0044] The driving member 4 is installed on the first connecting plate 2 and is located between the oppositely arranged first positioning plate 31 and the second positioning plate 32;

[0045] The suction cup assembly includes a third suction cup member 51 and a fourth suction cup member 52. The third suction cup member 51 is arranged at the end of the driving member 4 close to the first positioning plate 31, and the fourth suction cup member 52 is arranged at the end of the driving member 4 close to the second positioning plate 32;

[0046] When the material taking device is in the first working state, the driving member 4 drives the third suction cup member 51 to extend out of the first positioning hole 312 to suck the workpiece; the first connecting plate 2 rotates around the rotating shaft 1. When the material taking device is in the second working state, the second positioning plate 32 is located at the processing position, the driving member 4 drives the fourth suction cup member 52 to extend out of the second positioning hole 322 to suck the workpiece, and the third suction cup member 51 contracts into the first positioning hole 312 so that the workpiece is positioned with the profiling structure 33, and the first suction cup member (not shown in the figure) on the first positioning plate 31 sucks the workpiece.

[0047] In the above solution, for the material taking device provided in the present application, when the material taking device is in the first working state, it is the material taking process of the first positioning plate 31. At this time, the driving member 4 can drive the third suction cup member 51 to extend out of the first positioning hole 312 and suck the workpiece. Subsequently, the first connecting plate 2 rotates 180° around the rotating shaft 1, so that the first positioning plate 31 and the second positioning plate 32 switch positions. At this time, the material taking device is in the second working state, and the driving member 4 can drive the fourth suction cup member 52 to extend out of the second positioning hole 322 and suck the workpiece. At the same time, the third suction cup member 51 is driven by the driving member 4 to contract back into the first positioning hole 312, so that the workpiece is cooperatively connected with the profiling structure 33 on the first positioning plate 31, and the first suction cup member (not shown in the figure) adsorbs the workpiece, completing the fine positioning process of the workpiece on the first positioning plate 31. By circulating the above process, the first positioning plate 31 and the second positioning plate 32 arranged oppositely can simultaneously perform different operation steps. Among them, when one positioning plate is in the material taking process, the other positioning plate can perform the fine positioning process, that is, through the cooperation of the driving member 4, the first positioning plate 31 and the second positioning plate 32, the material taking process, the fine positioning process and the material discharging process of the material taking device can be cycled, shortening the operation cycle time and improving the efficiency of material taking and discharging.

[0048] In some embodiments, the material taking device can be connected to a material taking robot or a transfer shaft through one end of the rotating shaft 1. Then, driven by a driving mechanism on the material taking robot or the transfer shaft, other parts of the material taking device can rotate following the rotating shaft 1. It should be noted that, in order to ensure that the rotating shaft 1 can rotate to a predetermined angle during the rotation process, ensure the docking angle between the material taking mechanism and the workpiece, or between the workpiece and the processing position or the storage position, and prevent inaccurate docking between the material taking device and the workpiece due to too large or too small rotation angle, the driving mechanism of the rotating shaft 1 in the present application can adopt a stepping motor or a servo motor. It can be understood that when the driving mechanism of the rotating shaft 1 adopts a stepping motor or a servo motor, only the required angle of rotation of the rotating shaft 1 needs to be set in the control program, and the rotating shaft 1 can automatically stop at the predetermined position, improving the accuracy of the docking angle between the subsequent material taking mechanism and the workpiece, or between the workpiece and the processing position or the storage position.

[0049] The other end of the rotating shaft 1 is vertically connected to the first connecting plate 2, and the connection position of the rotating shaft 1 and the first connecting plate 2 is the center point of the first connecting plate 2. When the first connecting plate 2 rotates following the rotating shaft 1, the rotation paths at both ends of the first connecting plate 2 can coincide, so as to ensure that the movement trajectories of the first positioning plate 31 and the second positioning plate 32 arranged at both ends of the first connecting plate 2 coincide, and further realize the simultaneous feeding and discharging processes of the feeding device. In this application, the connection method between the first connecting plate 2 and the rotating shaft 1 can be at least one of adhesive connection, welding connection or fastener connection. Among them, adhesive connection is a connection method of bonding the rotating shaft 1 and the first connecting plate 2 with adhesives such as epoxy resin, acrylate, silicone sealant, etc.; welding is a connection method of making the local parts of the rotating shaft 1 and the first connecting plate 2 melt and combine together by heating, pressurizing or a combination of both; fastener connection is a method of fixing the rotating shaft 1 and the first connecting plate 2 with mechanical elements such as screws, bolts, rivets, etc. The connection method between the two can be selected according to actual needs and is not limited here.

[0050] In some embodiments, a driving member 4 is installed on the side of the first connecting plate 2 away from the rotating shaft 1, and is used to provide driving forces on both sides along the extending direction of the first connecting plate 2. In this application, the connection method between the driving member 4 and the first connecting plate 2 can be at least one of adhesive connection, welding connection or fastener connection. Among them, adhesive connection is a connection method of bonding the driving member 4 and the first connecting plate 2 with adhesives such as epoxy resin, acrylate, silicone sealant, etc.; welding is a connection method of making the local parts of the driving member 4 and the first connecting plate 2 melt and combine together by heating, pressurizing or a combination of both; fastener connection is a method of fixing the driving member 4 and the first connecting plate 2 with mechanical elements such as screws, bolts, rivets, etc. The connection method between the two can be selected according to actual needs and is not limited here.

[0051] At least one end of the driving member 4 is an output end, and an output rod is connected to the output end, and the output rod can move along the extending direction of the first connecting plate 2. Preferably, the driving member 4 used in this application is a driving cylinder or a driving motor, and the driving cylinder or the driving motor is only provided with one output rod.

[0052] On the side of the driving member 4 away from the first connecting plate 2, a second connecting plate 6 is installed. The second connecting plate 6 is fixedly connected to the output rod of the driving member 4, so that the output rod of the driving member 4 can drive the second connecting plate 6 to move along the extension direction of the first connecting plate 2. The connection mode between the second connecting plate 6 and the output rod of the driving member 4 can be at least one of adhesive connection, welding connection or fastener connection. Among them, adhesive connection is a connection mode in which the output rod of the driving member 4 and the second connecting plate 6 are bonded by adhesives such as epoxy resin, acrylate, silicone sealant, etc.; welding is a connection method in which the local parts of the output rod of the driving member 4 and the second connecting plate 6 are melted and combined together by heating, pressurizing or a combination of both; fastener connection is a method of fixing the output rod of the driving member 4 and the second connecting plate 6 together by mechanical elements such as screws, bolts, rivets, etc. The connection mode of the two can be selected according to actual needs and is not limited here.

[0053] At both ends of the second connecting plate 6, a third connecting plate 7 and a fourth connecting plate 8 are further provided. The third connecting plate 7 and the fourth connecting plate 8 are perpendicularly arranged at both ends of the second connecting plate 6. In this application, the connection mode between the third connecting plate 7, the fourth connecting plate 8 and the second connecting plate 6 is at least one of adhesive connection, welding connection or fastener connection. Among them, adhesive connection is a connection mode in which the third connecting plate 7, the fourth connecting plate 8 and the second connecting plate 6 are bonded by adhesives such as epoxy resin, acrylate, silicone sealant, etc.; welding is a connection method in which the local parts of the third connecting plate 7, the fourth connecting plate 8 and the second connecting plate 6 are melted and combined together by heating, pressurizing or a combination of both; fastener connection is a method of fixing the third connecting plate 7, the fourth connecting plate 8 and the second connecting plate 6 together by mechanical elements such as screws, bolts, rivets, etc. The connection mode of the three can be selected according to actual needs and is not limited here.

[0054] The third connecting plate 7 is used to provide an installation position for the third suction cup member 51. Specifically, an installation hole penetrating along the extension direction of the first connecting plate 2 is formed on the third connecting plate 7. The third suction cup member 51 is installed on the third connecting plate 7 through the installation hole, and the suction cup opening of the third suction cup member 51 faces the surface away from the driving member 4. It can be understood that when the third suction cup member 51 is installed on the third connecting plate 7, with the movement of the output rod of the driving member 4, the third suction cup member 51 can be driven to move along the extension direction of the first connecting plate 2, so that the first suction cup member (not shown in the figure) approaches or moves away from the workpiece.

[0055] The fourth connecting plate 8 is used to provide an installation position for the fourth suction cup member 52. Specifically, the fourth connecting plate 8 is provided with an installation hole penetrating along the extending direction of the first connecting plate 2. The fourth suction cup member 52 is installed on the fourth connecting plate 8 through the installation hole, and the suction cup opening of the fourth suction cup member 52 faces the surface away from the driving member 4. It can be understood that when the fourth suction cup member 52 is installed on the fourth connecting plate 8, after the rotating shaft 1 rotates, with the movement of the output rod of the driving member 4, the fourth suction cup member 52 can be driven to move along the extending direction of the first connecting plate 2, so that the first suction cup member (not shown in the figure) approaches or moves away from the workpiece. At this time, the third suction cup member 51 and the fourth suction cup member 52 can take turns to perform the workpiece suction process and the fine positioning process.

[0056] In some embodiments, the fine positioning process of the workpiece to be sucked is realized by the first positioning plate 31 and the second positioning plate 32. The first positioning plate 31 and the second positioning plate 32 with the same structure are respectively vertically arranged at both ends of the first connecting plate 2. The connection manner between the first connecting plate 2 and the first positioning plate 31 and the second positioning plate 32 is at least one of bonding connection, welding connection or fastener connection. Among them, the bonding connection is a connection manner in which the first connecting plate 2 is bonded to the first positioning plate 31 and the second positioning plate 32 through adhesives such as epoxy resin, acrylate, silicone sealant, etc.; welding is a connection method in which the first connecting plate 2 and the first positioning plate 31 and the second positioning plate 32 are locally melted and combined together by heating, pressurization or a combination of both; the fastener connection is a method of fixing the first connecting plate 2 to the first positioning plate 31 and the second positioning plate 32 by mechanical elements such as screws, bolts, rivets, etc. The connection manner of the three can be selected according to actual needs and is not limited here.

[0057] In some embodiments, along the moving direction of the third suction cup member 51, at least one first positioning hole 312 is provided on the first positioning plate 31. The number of the first positioning holes 312 is the same as the number of the third suction cup members 51, and the projection of the third suction cup member 51 on the first positioning plate 31 is located within the projection of the first positioning hole 312 on the first positioning plate 31. It can be understood that after the first positioning hole 312 is provided, when the first positioning plate 31 is in the processing position, the output rod can drive the third suction cup member 51 on the third connecting plate 7 to extend out of the first positioning hole 312 and move in the direction away from the first positioning plate 31, that is, move in the direction close to the workpiece at the processing position, so that the third suction cup member 51 can suck the workpiece; during the subsequent operation process, the output rod can drive the third suction cup member 51 on the third connecting plate 7 to retract into the first positioning hole 312, that is, drive the workpiece to approach the first positioning plate 31.

[0058] Meanwhile, at least part of the surface of the first positioning plate 31 is provided with a profiling structure 33, which is designed according to the geometric shape of the workpiece. It can be understood that after the profiling structure 33 is provided, the profiling structure 33 can closely fit the specific contour of the surface or edge of the workpiece, so as to realize the precise positioning of the workpiece on the material taking device. The profiling structure 33 used in this application is at least one of profiling protrusions, profiling grooves or a combination of both on the surface of the first positioning plate 31, and the profiling structure 33 can be distributed in any area on the surface of the first positioning plate 31, and can be selected according to the structure of the workpiece, which is not limited here.

[0059] Furthermore, at least part of the surface of the first positioning plate 31 is also provided with a first suction cup member (not shown in the figure) for further fixing the workpiece precisely positioned by the profiling structure 33 on the first positioning plate 31. Specifically, the first positioning plate 31 is provided with an installation groove, and the first suction cup member (not shown in the figure) is installed in the installation groove, and the suction cup opening of the first suction cup member (not shown in the figure) is located on the surface of the first positioning plate 31 away from the driving member 4. At the same time, a negative pressure channel is provided inside the first positioning plate 31, and the material taking device further includes a negative pressure member, and the negative pressure member is connected to the negative pressure channel to generate negative pressure in the negative pressure channel, and the negative pressure channel is communicated with the first suction cup member (not shown in the figure) in the installation groove, so that the first suction cup member (not shown in the figure) generates a negative pressure adsorption force, so that after the first suction cup member (not shown in the figure) contacts the surface of the workpiece, the negative pressure of the first suction cup member (not shown in the figure) can further fix the workpiece on the first positioning plate 31.

[0060] In some embodiments, along the moving direction of the fourth suction cup member 52, at least one second positioning hole 322 is provided on the second positioning plate 32. The number of the second positioning holes 322 is the same as the number of the fourth suction cup members 52, and the projection of the fourth suction cup member 52 on the second positioning plate 32 is located within the projection of the second positioning hole 322 on the second positioning plate 32. It can be understood that after the second positioning hole 322 is provided, when the second positioning plate 32 rotates to the processing position, the output rod can drive the fourth suction cup member 52 on the third connecting plate 7 to extend out of the second positioning hole 322 and move in a direction away from the second positioning plate 32, that is, move in the direction of the workpiece near the processing position, so that the fourth suction cup member 52 can suck the workpiece; during the subsequent operation process, the output rod can drive the fourth suction cup member 52 on the third connecting plate 7 to retract into the second positioning hole 322, that is, drive the workpiece to approach the second positioning plate 32.

[0061] Meanwhile, at least part of the surface of the second positioning plate 32 is provided with a profiling structure 33. The profiling structure 33 is designed according to the geometric shape of the workpiece. It can be understood that after the profiling structure 33 is provided, the profiling structure 33 can closely fit the specific contour of the surface or edge of the workpiece, so as to realize the precise positioning of the workpiece on the material taking device. The profiling structure 33 used in this application is at least one of profiling protrusions, profiling grooves or a combination of both on the surface of the second positioning plate 32, and the profiling structure 33 can be distributed in any area on the surface of the second positioning plate 32 and can be selected according to the structure of the workpiece, which is not limited here.

[0062] Furthermore, at least part of the surface of the second positioning plate 32 is also provided with a second suction cup member 321 for further fixing the workpiece precisely positioned by the profiling structure 33 on the second positioning plate 32. Specifically, the second positioning plate 32 is provided with a mounting groove, the second suction cup member 321 is mounted in the mounting groove, and the suction cup opening of the second suction cup member 321 is located on the surface of the second positioning plate 32 away from the driving member 4. At the same time, a negative pressure channel is provided inside the second positioning plate 32. The material taking device further includes a negative pressure member, and the negative pressure member is connected to the negative pressure channel to generate negative pressure in the negative pressure channel, and the negative pressure channel is communicated with the second suction cup member 321 in the mounting groove, so that the second suction cup member 321 generates a negative pressure adsorption force, so that after the second suction cup member 321 contacts the surface of the workpiece, the negative pressure of the second suction cup member 321 can further fix the workpiece on the second positioning plate 32.

[0063] It should be noted that the negative pressure member used for the first suction cup member (not shown in the figure), the second suction cup member 321, the third suction cup member 51 and the fourth suction cup member 52 in this application can be the same one, or an additional negative pressure member can be separately provided to connect the fourth suction cup member 52, which can be selected according to the structural layout of the material taking device and is not limited here.

[0064] In the actual application process, the material taking and placing and fine positioning processes of the material taking device are carried out in the following steps: First step, when the material taking device moves to the workpiece placement area, the driving member 4 drives the third suction cup member 51 to move through the first positioning plate 31 in the direction close to the workpiece, so that the third suction cup member 51 abuts against and sucks the workpiece; Second step, the rotating shaft 1 rotates to exchange the positions of the first positioning plate 31 and the second positioning plate 32, and the second positioning plate 32 is in the processing position. The driving member 4 applies a driving force in the opposite direction to the first step. The workpiece above the first positioning plate 31 moves towards the surface of the first positioning plate 31 due to the driving of the driving member 4, and abuts against the profiling structure 33 and the first suction cup member (not shown in the figure) to complete the fine positioning process on the first positioning plate 31. During this process, the driving member 4 drives the fourth suction cup member 52 to move through the second positioning plate 32 in the direction close to the workpiece, and the fourth suction cup member 52 abuts against and sucks the workpiece; Third step, the material taking device moves to the processing position or the storage position, the rotating shaft 1 rotates to exchange the positions of the first positioning plate 31 and the second positioning plate 32, and the driving member 4 drives the workpiece above the second positioning plate 32 to move towards the surface of the second positioning plate 32, and abuts against the profiling structure 33 and the second suction cup member 321 to complete the fine positioning process on the second positioning plate 32. At the same time, the first suction cup member (not shown in the figure) at the first positioning plate 31 cancels the negative pressure adsorption with the third suction cup member 51, so that the workpiece falls into the processing position or the storage position; Fourth step, the rotating shaft 1 rotates to exchange the positions of the first positioning plate 31 and the second positioning plate 32, and the driving rod drives the workpiece on the second positioning plate 32 in the opposite direction to move towards the processing position or the storage position. At the same time, the second suction cup member 321 and the fourth suction cup member 52 at the second positioning plate 32 cancel the negative pressure adsorption, so that the workpiece adsorbed on the second positioning plate 32 falls into the processing position or the storage position. Fifth step, by cycling the above process, the material taking process, the fine positioning process and the material placing process of the material taking device can be carried out simultaneously, shortening the operation cycle time and improving the efficiency of material taking and placing.

[0065] In some embodiments, to reduce the weight of the material taking device so as to reduce the driving force required for the rotation of the rotating shaft 1, the rotating shaft 1, the first connecting plate 2, the second connecting plate 6, the third connecting plate 7 and the fourth connecting plate 8 can be provided with a hollow structure, thereby reducing the weight of the material taking device and accelerating the material taking and placing processes.

[0066] As an alternative technical solution of the present application, the material taking structure of the material taking device of the present application except the rotating shaft 1 is a U-shaped structure. The rotating shaft 1 can be connected to at least two U-shaped material taking structures at the same time, and the U-shaped material taking structures are arranged at an angle, and this angle can be an acute angle or a right angle. Exemplarily, when the rotating shaft 1 is connected to two U-shaped material taking structures at the same time, the central points of the bottoms of the two U-shaped material taking structures coincide, and the two are vertically arranged; when the rotating shaft 1 is connected to more than two U-shaped material taking structures at the same time, the central points of the bottoms of the more than two U-shaped material taking structures coincide, and the included angles of adjacent U-shaped material taking mechanisms are the same. That is, in this solution, the material taking device can simultaneously perform the fine positioning process of at least four or more workpieces, and the number of U-shaped material taking structures can be selected according to actual needs, which is not limited here.

[0067] The structure, features and function effects of the present utility model have been described in detail based on the embodiments shown in the drawings. The above are only the preferred embodiments of the present utility model, but the present utility model is not limited to the implementation scope shown in the drawings. Any changes made according to the concept of the present utility model, or modified into equivalent embodiments with equivalent changes, should still be within the protection scope of the present utility model as long as they do not exceed the spirit covered by the description and the drawings.

Claims

1. A material taking device, characterized in that, The workpiece picking device is used for the process of picking workpieces stored at the processing position; it includes: A rotating shaft; A first connecting plate, connected to the rotating shaft; the first connecting plate can rotate around the axis of the rotating shaft; A first positioning plate, installed at one end of the first connecting plate; at least part of the surface of the first positioning plate is provided with a profiling structure and a first suction cup member, and at least one first positioning hole is formed on the first positioning plate; when the picking device is in the first working state, the first positioning plate is located at the processing position; A second positioning plate, installed at the other end of the first connecting plate; at least part of the surface of the second positioning plate is provided with a profiling structure and a second suction cup member, and at least one second positioning hole is formed on the second positioning plate; when the picking device is in the second working state, the second positioning plate is located at the processing position; A driving member, installed on the first connecting plate and located between the relatively arranged first positioning plate and the second positioning plate; A suction cup assembly, including a third suction cup member and a fourth suction cup member, the third suction cup member is arranged at the end of the driving member close to the first positioning plate, and the fourth suction cup member is arranged at the end of the driving member close to the second positioning plate; When the picking device is in the first working state, the driving member drives the third suction cup member to extend out of the first positioning hole to pick up the workpiece; the first connecting plate rotates around the rotating shaft. When the picking device is in the second working state, the second positioning plate is located at the processing position, the driving member drives the fourth suction cup member to extend out of the second positioning hole to pick up the workpiece, and the third suction cup member contracts into the first positioning hole to position the workpiece with the profiling structure, and the first suction cup member sucks the workpiece.

2. The material taking device according to claim 1, wherein, The picking device further includes a second connecting plate, and the second connecting plate is connected to the output end of the driving member; The third suction cup member is arranged at one end of the second connecting plate, and the fourth suction cup member is arranged at the other end of the second connecting plate.

3. The material taking device according to claim 2, wherein, The picking device further includes a third connecting plate and a fourth connecting plate, the third connecting plate and the fourth connecting plate are respectively arranged at both ends of the second connecting plate; installation holes are formed on the third connecting plate and the fourth connecting plate; The third suction cup member is installed on the third connecting plate through the installation hole, and along the axial direction of the third suction cup member, the projection of the third suction cup member on the first positioning plate is located within the projection of the first positioning hole on the first positioning plate; The fourth suction cup member is installed on the fourth connecting plate through the installation hole, and along the axial direction of the fourth suction cup member, the projection of the fourth suction cup member on the second positioning plate is located within the projection of the second positioning hole on the second positioning plate.

4. The material taking device according to claim 1, wherein Installation grooves are formed on the first positioning plate and the second positioning plate, the first suction cup member and the second suction cup member are installed in the installation grooves, and the suction cup openings of the first suction cup member are located on the surface of the first positioning plate away from the driving member, and the suction cup openings of the second suction cup member are located on the surface of the second positioning plate away from the driving member; The first positioning plate and the second positioning plate are internally provided with a negative pressure channel, and the negative pressure channel is communicated with the first suction cup member and the second suction cup member, so as to enable the first suction cup member and the second suction cup member to generate a negative pressure adsorption force.

5. The material taking device according to claim 4, wherein The material taking device further includes a negative pressure member, and the negative pressure member is connected to the negative pressure channel to generate negative pressure in the negative pressure channel.

6. The material taking device according to claim 1, wherein, The profiling structure is at least one of profiling protrusions and profiling grooves on the surfaces of the first positioning plate and the second positioning plate.

7. The material taking device according to claim 1, wherein The driving member is a driving cylinder or a driving motor.

8. The material taking device according to claim 1, characterized in that The connection mode of the first connecting plate with the first positioning plate and the second positioning plate is at least one of adhesive connection, welding connection or fastener connection; The connection mode of the first connecting plate with the driving member is at least one of adhesive connection, welding connection or fastener connection.

9. The material taking device according to claim 1, wherein, The rotating shaft is vertically connected to the center point of the first connecting plate.

10. The material taking device according to claim 1, wherein The part of the material taking device except the rotating shaft is a material taking structure, the rotating shaft is connected with at least two material taking structures, and adjacent material taking structures are arranged at an angle.

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