Automatic material taking equipment

Abstract

The utility model discloses automatic material taking equipment which comprises a mechanical arm and a material taking module, the material taking module is fixed to the end of the mechanical arm, the material taking module can be driven by the mechanical arm to move back and forth between a first feeding station and an assembling station, and the material taking module comprises a base. The device comprises a base, an adjusting mechanism, a first adsorption mechanism, a clamping mechanism and a visual identification mechanism, the adjusting mechanism is fixed to the top face of the base, the clamping mechanism is fixed to the moving end of the adjusting mechanism, the first adsorption mechanism is fixed to the bottom face of the base, and the visual identification mechanism is fixed to the side face of the base; the visual recognition mechanism can detect the position relation between a first workpiece and a second workpiece placed on the first feeding station, the position between the clamping mechanism and the first adsorption mechanism can be matched with the target position relation under driving of the adjusting mechanism, and the clamping mechanism can clamp or put down the second workpiece. The automatic material taking device is high in automation degree and high in material taking efficiency.

Description

Technical Field

[0001] The utility model relates to automation equipment, in particular to automatic material taking equipment. Background Art

[0002] With the development of the times, industrial production technology is also developing rapidly, and automated equipment is being used more and more in industrial production. At present, mobile phones need to pick up components to be assembled during the assembly process. In order to ensure the efficiency of assembly, two picking positions are usually set on a picking device to pick up two different components, which reduces the time for picking up materials back and forth. However, there is a problem with the above picking method. When two different components are placed on the picking position, there will be a certain error in the positions of the two components. At present, the positions of the two picking positions on a picking device are fixed. In this way, when the position between the two components deviates from the standard position, it is impossible to pick up two components at the same time in one picking. Often, after picking up a component, it is necessary to adjust the position of the picking mechanism and then pick up the material to pick up two components. In this way, the efficiency of picking up materials will be reduced, which lacks competitiveness in the industrial field that emphasizes cost reduction and efficiency improvement, and is not conducive to large-scale promotion and industrialized production. Utility Model Content

[0003] In order to overcome the above-mentioned defects, the utility model provides an automatic material retrieving device, which has the advantages of high automation and high material retrieving efficiency.

[0004] The technical solution adopted by the present invention to solve its technical problems is: an automatic material picking device, comprising: a robotic arm and a material picking module, the material picking module is fixed to the end of the robotic arm, and the material picking module can move back and forth between a first loading station and an assembly station under the drive of the robotic arm, the material picking module includes a base, an adjustment mechanism, a first adsorption mechanism, a clamping mechanism and a visual recognition mechanism, the adjustment mechanism is fixed to the top surface of the base, the clamping mechanism is fixed to the movable end of the adjustment mechanism, the first adsorption mechanism is fixed to the bottom surface of the base, and the visual recognition mechanism is fixed to the side of the base, a first workpiece and a second workpiece can be placed on the first loading station, the visual recognition mechanism can detect the positional relationship between the first workpiece and the second workpiece placed on the first loading station, and the positional relationship between the first workpiece and the second workpiece on the first loading station is defined as a target positional relationship, the adjustment mechanism can adjust the positional relationship between the clamping mechanism and the first adsorption mechanism by driving the clamping mechanism to move, and the position between the clamping mechanism and the first adsorption mechanism can match the target positional relationship under the drive of the adjustment mechanism, the first adsorption mechanism can absorb or put down the first workpiece, and the clamping mechanism can clamp or put down the second workpiece.

[0005] The transmission mechanism is configured to: enable the transmission gear of the second motor to rotate relative to the first motor; and the transmission mechanism is configured to enable the transmission gear of the second motor to rotate relative to the first motor.

[0006] Optionally, the first adsorption mechanism includes a first suction cup seat and a first suction cup, the top surface of the first suction cup seat is fixed to the bottom surface of the base, the first suction cup is fixed to the bottom surface of the first suction cup seat, and the first suction cup is connected to the vacuum generator.

[0007] Optionally, the motor is a servo motor.

[0008] Optionally, the clamping mechanism includes a clamping cylinder and two clamping jaws. The clamping cylinder is provided with two cylinder rods, one clamping jaw corresponds to the cylinder rod of one clamping jaw cylinder, and the clamping jaw is fixed to the cylinder rod of the clamping jaw cylinder. The clamping jaws can approach or move away from each other under the drive of the clamping jaw cylinder, and the ends of the clamping jaws can clamp the first workpiece.

[0009] Optionally, the visual recognition mechanism includes a camera and a light source, the camera is fixed to the side of the base, and the light source is fixed to the side of the base next to the camera.

[0010] Optionally, it also includes a third electric slide, a second suction cup seat and a second suction cup, the third electric slide is fixed to the side of the base, the top of the second suction cup seat is fixed to the moving end of the third electric slide, the second suction cup is fixed to the bottom end of the second suction cup seat, the second suction cup is connected to the vacuum generator, and a second loading station is arranged next to the first loading station. The material picking module can stop at the first loading station, the second loading station and the assembly station in sequence under the drive of the robotic arm. A third workpiece is placed on the second loading station, and the visual recognition mechanism can detect the position of the third workpiece. The second suction cup seat and the second suction cup can move back and forth along the Z axis under the drive of the third electric slide, and the second suction cup can pick up or put down the third workpiece.

[0011] Optionally, the first workpiece is a wireless charging coil, the second workpiece is a vibration motor, and the third workpiece is a flash module.

[0012] Optionally, a third suction cup is further included. The wireless charging coil is provided with a cable. The third suction cup is fixed to the bottom surface of the first suction cup seat. The third suction cup is connected to a vacuum generator. The third suction cup can absorb or release the cable of the wireless charging coil.

[0013] The beneficial technical effect of the present invention is that the automatic material picking device comprises: a robotic arm and a material picking module, the material picking module comprises a base, an adjustment mechanism, a first adsorption mechanism, a clamping mechanism and a visual recognition mechanism. When in use, the material picking module moves to the first loading station under the drive of the robotic arm, and the visual recognition mechanism detects the positional relationship between the first workpiece and the second workpiece placed on the first loading station through visual recognition, and records the positional relationship as the target positional relationship. Then, the clamping mechanism moves under the drive of the adjustment mechanism, so that the positional relationship between the clamping mechanism and the first adsorption mechanism matches the target positional relationship. Then, the material picking module moves above the first workpiece and the second workpiece under the drive of the robotic arm, and The clamping mechanism is aligned with the second workpiece, and the first adsorption mechanism is aligned with the first workpiece. Then the clamping mechanism clamps the second workpiece, and the first adsorption mechanism adsorbs the first workpiece. Then the material picking module is driven by the robotic arm to move to the assembly station, and the clamping mechanism puts down the second workpiece, and the first adsorption mechanism puts down the first workpiece. This is repeated to achieve automatic material picking of the workpiece. At the same time, since the first adsorption mechanism and the clamping mechanism have been adjusted accordingly according to the positional relationship between the first and second workpieces before picking up the material, each time the first adsorption mechanism is aligned with the first workpiece, the clamping mechanism can also be aligned with the second workpiece. In the process of picking up the two workpieces, there is no need to make secondary adjustments and waste time, and the material picking efficiency is higher. It has the advantages of high degree of automation and high material picking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a three-dimensional view of the entire machine of the utility model;

[0015] Figure 2 It is a top view of the whole machine of the utility model;

[0016] Figure 3 It is a side view of the whole machine of the utility model;

[0017] in:

[0018] 1. Base; 2. Visual recognition mechanism; 3. First electric slide; 4. Second electric slide;

[0019] 5. Connecting seat; 6. Motor; 7. Driving wheel; 8. Driven wheel; 9. Transmission belt; 10. First suction cup seat; 11. First suction cup; 12. Gripping claw cylinder; 13. Gripping claw; 14. Third electric slide; 15. Second suction cup seat; 16. Second suction cup. DETAILED DESCRIPTION

[0020] In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0021] This specific embodiment describes in detail the automatic material taking device described in this application, such as Figure 1-Figure 3As shown, the automatic material picking equipment includes: a robotic arm and a material picking module, the material picking module is fixed at the end of the robotic arm, and the material picking module can move back and forth between the first loading station and the assembly station under the drive of the robotic arm, the material picking module includes a base 1, an adjustment mechanism, a first adsorption mechanism, a clamping mechanism and a visual recognition mechanism 2, the adjustment mechanism is fixed to the top surface of the base 1, the clamping mechanism is fixed to the movable end of the adjustment mechanism, the first adsorption mechanism is fixed to the bottom surface of the base 1, and the visual recognition mechanism 2 is fixed to the side of the base 1, the first workpiece and the second workpiece can be placed on the first loading station, the visual recognition mechanism 2 can detect the positional relationship between the first workpiece and the second workpiece placed on the first loading station, and define the positional relationship between the first workpiece and the second workpiece on the first loading station as a target positional relationship, the adjustment mechanism can adjust the positional relationship between the clamping mechanism and the first adsorption mechanism by driving the clamping mechanism to move, and the position between the clamping mechanism and the first adsorption mechanism can match the target positional relationship under the drive of the adjustment mechanism, the first adsorption mechanism can absorb or put down the first workpiece, and the clamping mechanism can clamp or put down the second workpiece. When in use, the picking module moves to the first loading station under the drive of the robotic arm, and the visual recognition mechanism 2 detects the positional relationship between the first workpiece and the second workpiece placed on the first loading station through visual recognition, and records the positional relationship as the target positional relationship. The clamping mechanism then moves under the drive of the adjusting mechanism, so that the positional relationship between the clamping mechanism and the first adsorption mechanism matches the target positional relationship. The picking module then moves above the first workpiece and the second workpiece under the drive of the robotic arm, and aligns the clamping mechanism with the second workpiece, and at the same time aligns the first adsorption mechanism with the first workpiece. The clamping mechanism then clamps the second workpiece, and the first adsorption mechanism adsorbs the first workpiece. In this embodiment, between the first workpiece and the second After the workpiece is picked up, the clamping mechanism returns to its initial position under the drive of the adjustment mechanism, ensuring that the positional relationship between the first workpiece and the second workpiece can be unified each time the workpiece is unloaded. Then, the picking module moves to the assembly station under the drive of the robotic arm, the clamping mechanism puts down the second workpiece, and the first adsorption mechanism puts down the first workpiece. This is repeated to achieve automatic picking of the workpiece. At the same time, since the first adsorption mechanism and the clamping mechanism have been adjusted accordingly according to the positional relationship between the first and second workpieces before picking up the workpiece, each time the first adsorption mechanism is aligned with the first workpiece, the clamping mechanism can also be aligned with the second workpiece. There is no need to make secondary adjustments and waste time in the process of picking up the two workpieces, and the picking efficiency is higher. It has the advantages of high degree of automation and high picking efficiency.

[0022] Optionally, in this embodiment, the adjustment mechanism includes a first electric slide 3, a second electric slide 4, a connecting seat 5, a motor 6, a rotating shaft, a driving wheel 7, a driven wheel 8 and a transmission belt 9. The first electric slide 3 is fixed to the top surface of the base 1, the second electric slide 4 is fixed to the moving end of the first electric slide 3, the connecting seat 5 is fixed to the moving end of the second electric slide 4, the motor 6 is fixed to the connecting seat 5, the rotating shaft is vertical to the ground, the middle part of the rotating shaft is rotatably connected to the connecting seat 5, the driving wheel 7 is fixed to the rotating shaft of the motor 6, the driven wheel 8 is fixed to the top of the rotating shaft, the driving wheel 7 and the driven wheel 8 are fixed to the top of the rotating shaft. The driving wheels 8 are connected by a transmission belt 9, and the clamping mechanism is fixed to the bottom end of the rotating shaft. The second electric slide 4, the connecting seat 5, the motor 6, the rotating shaft, the driving wheel 7, the driven wheel 8, the transmission belt 9 and the clamping mechanism can move back and forth along the X-axis under the drive of the first electric slide 3. The connecting seat 5, the motor 6, the rotating shaft, the driving wheel 7, the driven wheel 8, the transmission belt 9 and the clamping mechanism can move back and forth along the Y-axis under the drive of the second electric slide 4. The driving wheel 7 can rotate under the drive of the motor 6 and drive the driven wheel 8, the rotating shaft and the clamping mechanism to rotate through the transmission belt 9. The clamping mechanism is adjusted in the X-axis direction by the first electric slide 3, and adjusted in the Y-axis direction by the second electric slide 4. The clamping mechanism is driven to rotate by the motor 6 to adjust the angle between it and the first adsorption mechanism. The coordinated movement of the first electric slide 3, the second electric slide 4 and the motor 6 drives the clamping mechanism to move to the corresponding position, so that the positional relationship between the clamping mechanism and the first adsorption mechanism can match the target positional relationship.

[0023] Optionally in this embodiment, the first adsorption mechanism includes a first suction cup seat 10 and a first suction cup 11, the top surface of the first suction cup seat 10 is fixed to the bottom surface of the base 1, the first suction cup 11 is fixed to the bottom surface of the first suction cup seat 10, and the first suction cup 11 is connected to the vacuum generator.

[0024] Optionally in this embodiment, the motor 6 is a servo motor.

[0025] Optionally, in this embodiment, the clamping mechanism includes a clamping cylinder 12 and two clamping jaws 13. The clamping cylinder 12 is provided with two cylinder rods. One clamping jaw 13 corresponds to the cylinder rod of one clamping jaw cylinder 12. The clamping jaw 13 is fixed to the cylinder rod of the clamping jaw cylinder 12. The clamping jaws 13 can approach or move away from each other under the drive of the clamping jaw cylinder 12. The end of the clamping jaw 13 can clamp the first workpiece.

[0026] Optionally, in this embodiment, the visual recognition mechanism 2 includes a camera and a light source. The camera is fixed to the side of the base 1 , and the light source is fixed to the side of the base 1 next to the camera.

[0027] Optionally, this embodiment further includes a third electric slide 14, a second suction cup seat 15, and a second suction cup 16. The third electric slide 14 is fixed to the side of the base 1, the top of the second suction cup seat 15 is fixed to the moving end of the third electric slide 14, the second suction cup 16 is fixed to the bottom of the second suction cup seat 15, the second suction cup 16 is connected to the vacuum generator, and a second loading station is provided next to the first loading station. The material picking module can stop at the first loading station, the second loading station, and the assembly station in sequence under the drive of the robotic arm. A third workpiece is placed on the second loading station, and the visual recognition mechanism 2 can detect the position of the third workpiece. The second suction cup seat 15 and the second suction cup 16 can move back and forth along the Z axis under the drive of the third electric slide 14, and the second suction cup 16 can pick up or put down the third workpiece. In this embodiment, the X-axis and the Y-axis are perpendicular to each other but parallel to the ground, and the Z-axis is perpendicular to the ground. The second suction cup 16 is set to be able to pick up the third workpiece. After the first and second workpieces are picked up, the robotic arm drives the picking module to move to the second loading station. Then the visual recognition mechanism 2 detects the position of the third workpiece and guides the robotic arm to drive the picking module to move directly above the third workpiece. Then the second suction cup seat 15 and the second suction cup 16 move downward under the drive of the third electric slide 14. After the second suction cup 16 absorbs the third workpiece located directly below, it is reset under the drive of the third electric slide 14. Then the picking module moves to the assembly station under the drive of the robotic arm, the clamping mechanism puts down the second workpiece, the first adsorption mechanism puts down the first workpiece, and the second suction cup 16 puts down the third workpiece. In this way, the picking module can pick up three kinds of workpieces, further improving the efficiency of picking up materials.

[0028] Optionally, in this embodiment, the first workpiece is a wireless charging coil, the second workpiece is a vibration motor, and the third workpiece is a flash module.

[0029] This embodiment optionally includes a third suction cup. The wireless charging coil is provided with a cable. The third suction cup is fixed to the bottom surface of the first suction cup seat 10 and is connected to a vacuum generator. The third suction cup can absorb or release the cable of the wireless charging coil. The third suction cup can absorb the cable of the wireless charging coil, so that the cable of the wireless charging coil is not easily entangled during movement. In this embodiment, the vibration motor and the flash module are connected via contacts and therefore do not have a cable. In some optional embodiments, if the vibration motor and the flash module have a cable, corresponding suction cups for absorbing the cable can also be provided as needed.

[0030] The use of the automatic material retrieving equipment in this embodiment has the advantages of high automation and high material retrieving efficiency.

Claims

1. An automatic material taking device, characterized in that: include: A robotic arm and a material picking module, wherein the material picking module is fixed to the end of the robotic arm and can move back and forth between a first loading station and an assembly station under the drive of the robotic arm. The material picking module comprises a base (1), an adjustment mechanism, a first adsorption mechanism, a clamping mechanism and a visual recognition mechanism (2). The adjustment mechanism is fixed to the top surface of the base (1), the clamping mechanism is fixed to the movable end of the adjustment mechanism, the first adsorption mechanism is fixed to the bottom surface of the base (1), and the visual recognition mechanism (2) is fixed to the side of the base (1). A first workpiece and a second workpiece can be placed on the first loading station. The visual recognition mechanism (2) can detect the positional relationship between the first workpiece and the second workpiece placed on the first loading station, and define the positional relationship between the first workpiece and the second workpiece on the first loading station as a target positional relationship. The adjustment mechanism can adjust the positional relationship between the clamping mechanism and the first adsorption mechanism by driving the clamping mechanism to move. The position between the clamping mechanism and the first adsorption mechanism can match the target positional relationship under the drive of the adjustment mechanism. The first adsorption mechanism can absorb or put down the first workpiece, and the clamping mechanism can clamp or put down the second workpiece.

2. The automatic material reclaiming equipment according to claim 1, characterized in that: The regulating mechanism comprises a first electric slide (3), a second electric slide (4), a connecting seat (5), a motor (6), a rotating shaft, a driving wheel (7), a driven wheel (8) and a transmission belt (9); the first electric slide (3) is fixed to the top surface of the base (1); the second electric slide (4) is fixed to the moving end of the first electric slide (3); the connecting seat (5) is fixed to the moving end of the second electric slide (4); the motor (6) is fixed to the connecting seat (5); the rotating shaft is vertical to the ground; the middle part of the rotating shaft is rotatably connected to the connecting seat (5); the driving wheel (7) is fixed to the rotating shaft of the motor (6); the driven wheel (8) is fixed to the top end of the rotating shaft; the driving wheel (7) and the driven wheel (8) are fixed to the top of the rotating shaft. (8) are connected by a transmission belt (9), the clamping mechanism is fixed to the bottom end of the rotating shaft, the second electric slide (4), the connecting seat (5), the motor (6), the rotating shaft, the driving wheel (7), the driven wheel (8), the transmission belt (9) and the clamping mechanism can move back and forth along the X axis under the drive of the first electric slide (3), the connecting seat (5), the motor (6), the rotating shaft, the driving wheel (7), the driven wheel (8), the transmission belt (9) and the clamping mechanism can move back and forth along the Y axis under the drive of the second electric slide (4), the driving wheel (7) can rotate under the drive of the motor (6) and drive the driven wheel (8), the rotating shaft and the clamping mechanism to rotate through the transmission belt (9).

3. The automatic material reclaiming equipment according to claim 2, characterized in that: The first adsorption mechanism comprises a first suction cup seat (10) and a first suction cup (11), the top surface of the first suction cup seat (10) is fixed to the bottom surface of the base (1), the first suction cup (11) is fixed to the bottom surface of the first suction cup seat (10), and the first suction cup (11) is connected to the vacuum generator.

4. The automatic material reclaiming equipment according to claim 2, characterized in that: The motor (6) is a servo motor.

5. The automatic material reclaiming equipment according to claim 2, characterized in that: The clamping mechanism comprises a clamping cylinder (12) and two clamping jaws (13). The clamping cylinder (12) is provided with two cylinder rods. One clamping jaw (13) corresponds to the cylinder rod of one clamping jaw cylinder (12). The clamping jaw (13) is fixed to the cylinder rod of the clamping jaw cylinder (12). The clamping jaws (13) can approach or move away from each other under the drive of the clamping jaw cylinder (12). The ends of the clamping jaws (13) can clamp the first workpiece.

6. The automatic material reclaiming device according to claim 5, characterized in that: The visual recognition mechanism (2) comprises a camera and a light source, wherein the camera is fixed to the side of the base (1), and the light source is fixed to the side of the base (1) and is located next to the camera.

7. The automatic material reclaiming device according to claim 5, characterized in that: The invention also includes a third electric slide (14), a second suction cup seat (15) and a second suction cup (16), wherein the third electric slide (14) is fixed to the side of the base (1), the top of the second suction cup seat (15) is fixed to the movable end of the third electric slide (14), the second suction cup (16) is fixed to the bottom of the second suction cup seat (15), the second suction cup (16) is connected to the vacuum generator, a second loading station is arranged next to the first loading station, the material picking module can stop at the first loading station, the second loading station and the assembly station in sequence under the drive of the robot arm, a third workpiece is placed on the second loading station, the visual recognition mechanism (2) can detect the position of the third workpiece, the second suction cup seat (15) and the second suction cup (16) can move back and forth along the Z axis under the drive of the third electric slide (14), and the second suction cup (16) can absorb or put down the third workpiece.

8. The automatic material reclaiming equipment according to claim 7, characterized in that: The first workpiece is a wireless charging coil, the second workpiece is a vibration motor, and the third workpiece is a flash module.

9. The automatic material reclaiming device according to claim 8, characterized in that: It also includes a third suction cup, the wireless charging coil is provided with a cable, the third suction cup is fixed to the bottom surface of the first suction cup seat (10), the third suction cup is connected to the vacuum generator, and the third suction cup can absorb or put down the cable of the wireless charging coil.

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