Material taking mechanism, robot and automatic machining system

Abstract

The utility model belongs to the technical field of PCB processing, and particularly relates to a material taking mechanism, a robot and an automatic processing system. The material taking mechanism comprises a mounting frame and a plurality of material taking assemblies; the mounting frame comprises a connecting piece and a plurality of mounting beams, the connecting piece is used for being connected with a mechanical arm of the robot, the mounting beams extend in different directions and are arranged around the connecting piece, and the material taking assemblies are mounted on the mounting beams in a one-to-one correspondence mode; the material taking assembly comprises a first driving piece and telescopic clamping pieces, the first driving piece is installed on the installation beam, the first driving piece is used for driving the telescopic clamping pieces to stretch out and draw back, and the clamping range limited among the multiple telescopic clamping pieces can be adjusted, so that the material taking mechanism can be flexibly adjusted according to the size of the material plate, and the universality of the material taking mechanism is improved; and the material taking requirements of material plates with different sizes and shapes are met.

Description

Technical Field

[0001] The utility model belongs to the technical field of PCB processing, and in particular relates to a material taking mechanism, a robot and an automated processing system. Background Art

[0002] Currently, in the PCB production process, the sizes of PCBs (Printed Circuit Boards) are diverse.

[0003] Existing retrieving mechanisms are typically designed for PCBs within a specific size range, resulting in a limited gripping range. When faced with PCBs outside their designed range, the retrieving mechanism may not be able to securely grip the PCB or may damage the PCB, making it unable to accommodate the gripping needs of PCBs of a wider range of sizes. Utility Model Content

[0004] The technical problem to be solved by the present invention is: to provide a material taking mechanism, a robot and an automated processing system in view of the problem that the existing material taking mechanism cannot adapt to the clamping requirements of PCBs of more sizes.

[0005] In order to solve the above technical problems, on the one hand, the embodiment of the present utility model provides a material taking mechanism, including a mounting frame and a plurality of material taking components;

[0006] The mounting frame includes a connecting member and a plurality of mounting beams, the connecting member is used to connect the robotic arm, each of the mounting beams extends in different directions along the same plane and is arranged around the connecting member, and each of the retrieving assemblies is respectively mounted on an end of each of the mounting beams away from the connecting member in a one-to-one correspondence;

[0007] The material picking assembly includes a first driving member and a telescopic clamping member. The first driving member is installed on the mounting beam, and the first driving member is used to drive the telescopic clamping member to extend and retract.

[0008] Optionally, the material picking assembly further includes a guide portion, and the guide portions of the multiple material picking assemblies and the multiple mounting beams are arranged in a one-to-one correspondence, and each guide portion is connected between the telescopic clamp and the corresponding mounting beam to guide the telescopic clamp when the telescopic clamp is extended or retracted.

[0009] Optionally, the guide portion includes a guide block and a guide rod, the guide block is mounted on the mounting beam, one end of the guide rod is connected to the telescopic clamp, and the other end of the guide rod is passed through the guide block, and the guide block can slide along the guide rod when the first driving member drives the telescopic clamp to extend and retract.

[0010] Optionally, an avoidance groove is provided on the mounting beam, and the end of the guide rod facing away from the telescopic clamping member can pass through the guide block and enter the avoidance groove.

[0011] Optionally, a sensor is provided on the guide block, and a sensing sheet is provided on the telescopic clamping member, and the sensor is used to sense the sensing sheet to control the movement stroke of the telescopic clamping member when the telescopic clamping member approaches the mounting beam.

[0012] Optionally, the telescopic clamping member includes a mounting seat, a second driving member and a clamping claw head, the mounting seat is connected to the mounting beam, and the second driving member is mounted on the mounting seat;

[0013] A guide groove is provided on the mounting seat, a first end of the clamping claw head is disposed in the guide groove and connected to the output end of the second driving member, a second end of the clamping claw head protrudes from the guide groove, and a clamping space for accommodating a portion of the material sheet is formed between the mounting seat and the second end of the clamping claw head;

[0014] The second driving member can drive the clamping jaw head to move back and forth along the guide groove, so as to clamp the material sheet between the clamping jaw head and the mounting seat or release the material sheet.

[0015] Optionally, the telescopic clamping member further includes a connecting shaft, an elastic member, and a frame member, wherein the frame member is disposed in the guide groove, the connecting shaft is disposed inside the frame member, the elastic member is sleeved on the outer circumference of the connecting shaft, and one end of the connecting shaft protrudes from the frame member and is connected to the output end of the second driving member;

[0016] The first end of the clamping head is slidably connected to the connecting shaft, and the first end of the clamping head is located between the end of the elastic member close to the second driving member and the frame component. The elastic member is used to generate elastic force when the second end of the clamping head and the mounting seat clamp the material plate.

[0017] Optionally, the material taking mechanism further includes an edge-finding sensor and a height sensor, and the edge-finding sensor and the height sensor are arranged on the mounting frame;

[0018] The edge-finding sensor is used to detect the edge of the material sheet, and the height sensor is used to detect the height of the material sheet.

[0019] Optionally, a plurality of height sensors are provided, and the plurality of height sensors are respectively mounted on different mounting beams;

[0020] A plurality of edge-finding sensors are provided, and the plurality of edge-finding sensors are respectively mounted on different mounting beams.

[0021] Optionally, the material taking mechanism further comprises a gyroscope, the gyroscope being mounted on one of the mounting beams, the gyroscope being used to calibrate a horizontal reference plane; and / or,

[0022] The material picking mechanism also includes a barcode scanner, which is installed on one of the mounting beams and is used to identify the identification code on the material plate.

[0023] On the other hand, an embodiment of the present invention provides a robot, including an automatic guided transport vehicle, a manipulator and the material picking mechanism as described above, the manipulator is installed on the automatic guided transport vehicle, the connecting part of the mounting frame is installed on the manipulator, and the manipulator is used to drive the material picking mechanism to transport the material plate.

[0024] Optionally, a first camera is provided on the mounting frame, and a second camera is provided on the automatic guided transport vehicle, and the first camera and the second camera are used to calibrate the position of the material plate.

[0025] On the other hand, an embodiment of the present invention provides an automated processing system, characterized in that it includes PCB processing equipment, a material rack and the robot as described above, the material rack is used to load the material plate, and the robot is used to transfer the material plate between the PCB processing equipment and the material rack.

[0026] The retrieving mechanism provided by the present invention utilizes multiple mounting beams extending in different directions on the same plane, allowing multiple retrieving assemblies to be arranged around a connecting member. The retractable clamping members of the multiple retrieving assemblies are capable of grasping different positions on the outer edge of a sheet of material. When grasping sheets of material of different sizes, the retractable clamping members are driven to extend and retract by a first driving member, thereby adjusting the clamping range defined by the multiple retractable clamping members. This allows the retrieving mechanism to be flexibly adjusted according to the size of the sheet of material, thereby improving its versatility and enabling it to meet the needs of retrieving sheets of material of different sizes and shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of a material taking mechanism provided in one embodiment of the present utility model;

[0028] Figure 2 This is a schematic diagram of a first driving member provided in one embodiment of the present utility model;

[0029] Figure 3 This is a schematic diagram of a telescopic clamping member provided in one embodiment of the present utility model;

[0030] Figure 4 This is a cross-sectional view of a telescopic clamping member provided in one embodiment of the present utility model;

[0031] Figure 5It is a schematic diagram of a robot provided by an embodiment of the present utility model.

[0032] The reference numerals in the specification are as follows:

[0033] 100. Reclaiming mechanism;

[0034] 11. Mounting frame; 111. Connecting member; 1111. First connecting member; 1112. Second connecting member; 1113. Third connecting member; 112. Mounting beam; 1121. Avoidance groove;

[0035] 12. Telescopic clamping member; 121. Mounting seat; 1211. Guide groove; 1212. Sensor plate; 122. Second driving member; 123. Clamping claw head; 124. Connecting shaft; 125. Elastic member; 126. Frame member; 127. Clamping space;

[0036] 13. First driving member; 131. Motor; 132. Screw; 133. Screw nut; 134. Transition member;

[0037] 14. Guide portion; 141. Guide block; 1411. Sensor; 142. Guide rod;

[0038] 15. Edge sensor; 16. Altitude sensor; 17. Gyroscope; 18. First camera;

[0039] 200, robot;

[0040] 21. Automated guided vehicle; 22. Robotic arm; 23. Second camera;

[0041] a. First direction; b. Second direction; c. Third direction. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0043] like Figures 1 to 4 As shown, an embodiment of the present invention provides a retrieving mechanism 100, comprising a mounting frame 11 and a plurality of retrieving components. The mounting frame 11 includes a connector 111 and a plurality of mounting beams 112. The connector 111 is used to connect to the manipulator 22 of the robot 200. The connector 111 connects the retrieving mechanism 100 to the manipulator 22 of the robot 200, allowing the retrieving mechanism 100 to move under the influence of the manipulator 22.

[0044] Each mounting beam 112 extends in different directions along the same plane and is arranged around the connecting member 111. One end of the mounting beam 112 is connected to the connecting member 111, and the other end of the mounting beam 112 is connected to the telescopic clamping member 12. Each material-retrieving assembly is installed one by one at the end of each mounting beam 112 away from the connecting member 111.

[0045] The material picking assembly includes a first driving member 13 and a telescopic clamping member 12. The first driving members 13 of multiple material picking assemblies and multiple mounting beams 112 are arranged in a one-to-one correspondence. The first driving member 13 is installed on the mounting beam 112. The output end of each first driving member 13 is connected to the corresponding telescopic clamping member 12. The first driving member 13 is used to drive the telescopic clamping member 12 to extend and retract, so as to drive the telescopic clamping member 12 to approach or move away from the corresponding mounting beam 112. The first driving member 13 can drive the telescopic clamping member 12 to move to a suitable clamping position, so that multiple telescopic clamps can grab the material plate.

[0046] Specifically, before the material picking mechanism 100 moves to a suitable clamping position, the first driving member 13 drives the telescopic clamping member 12 away from the mounting beam 112 to increase the distance between the telescopic clamping member 12 and the connecting member 111, so that when the material picking mechanism 100 reaches the material sheet, the range defined between the multiple telescopic clamping members 12 can accommodate the material sheet. Then, the first driving member 13 drives the telescopic clamping member 12 close to the mounting beam 112, so that the telescopic clamping member 12 can abut against the edge of the material sheet, so that the telescopic clamping member 12 can clamp the material sheet.

[0047] In addition, by driving the telescopic clamping member 12 to move through the first driving member 13, the position of the telescopic clamping member 12 relative to the connecting member 111 can be changed, so that multiple telescopic clamping members 12 can adapt to the gripping of material plates of various different plate pairs, thereby increasing the scope of use of the material picking mechanism 100.

[0048] Among them, the telescopic clamping member 12 has a telescopic direction consistent with the extension direction of its corresponding mounting beam 112. For example, when the mounting beam 112 extends along a first direction, the telescopic clamping member 12 mounted on the mounting beam 112 can move back and forth along the first direction driven by the first driving member 13.

[0049] In this embodiment, multiple mounting beams 112 extend in different directions along the same plane, allowing multiple retrieving assemblies to be arranged around the connecting member 111. The retractable clamping members 12 of the multiple retrieving assemblies can grasp different positions on the outer edge of the sheet. When grasping sheets of different sizes, the retractable clamping members 12 are driven to extend and retract by the first driving member 13, adjusting the clamping range defined by the multiple retractable clamping members 12. This allows the retrieving mechanism to be flexibly adjusted according to the size of the sheet, improving its versatility and enabling it to meet the needs of retrieving sheets of different sizes and shapes.

[0050] In one embodiment, if Figure 1 As shown, multiple mounting beams 112 are radially distributed around the connecting member 111, and one end of the multiple mounting beams 112 is connected to the connecting member 111, so that the telescopic clamping members 12 of the multiple material picking components are arranged around the connecting member 111, thereby enabling the multiple telescopic clamping members 12 to grab the edge of the material plate.

[0051] The number of mounting beams 112 is determined based on the size of the sheet material to ensure stability when the multiple telescopic clamping members 12 clamp the edge of the sheet material, thereby reducing the risk of the sheet material falling. It is understood that when the retrieving mechanism 100 is used to grasp materials of other shapes, the number of mounting beams 112 can be changed based on the shape of the material and the clamping stability.

[0052] In one embodiment, the material board is a square PCB. Four mounting beams 112 are provided, arranged around the connector 111. Four material removal assemblies are provided, and correspondingly, four telescopic clamps 12 are provided. To facilitate description of the structure of the mounting frame 11, the four mounting beams 112 are named the first mounting beam, the second mounting beam, the third mounting beam, and the fourth mounting beam.

[0053] To clamp the PCB, the first and second mounting beams extend in a first direction and are positioned on opposite sides of the connector 111 in the first direction. The third and fourth mounting beams extend in a second direction and are positioned on opposite sides of the connector 111 in the second direction. The first direction a and the second direction b are perpendicular. Thus, the four mounting beams 112 are connected by the connector 111 to form a cross-shaped structure. In the first direction a, the telescopic clamps 12 on the first mounting beam and the telescopic clamps 12 on the second mounting beam are positioned opposite each other. In the second direction b, the telescopic clamps 12 on the third mounting beam and the telescopic clamps 12 on the fourth mounting beam are positioned opposite each other. This allows the four telescopic clamps 12 to clamp onto the four edges of the PCB, respectively. The arrangement of the telescopic clamps 12 on the four edges ensures the stability of the PCB grip. The first direction a is the X direction, and the second direction b is the Y direction.

[0054] In one embodiment, if Figure 2As shown, the first driving member 13 includes a motor 131, a screw rod 132, a screw nut 133 and a transition member 134. The motor 131 is installed on the mounting beam 112. One end of the screw rod 132 is connected to the output end of the motor 131. The screw nut 133 is sleeved on the outside of the screw rod 132 and is threadedly connected to the screw rod 132. One end of the transition member 134 is connected to the screw nut 133, and the other end of the transition member 134 is connected to the telescopic clamping member 12. When the motor 131 drives the screw rod 132 to rotate, the screw nut 133 can move along the screw rod 132, thereby driving the telescopic clamping member 12 to move through the transition member 134, so that the telescopic clamping member 12 can be extended and retracted to approach or move away from the mounting beam 112.

[0055] In one embodiment, if Figure 1 As shown, the material picking assembly also includes a guide portion 14, and the guide portions 14 of multiple material picking assemblies and multiple mounting beams 112 are arranged in a one-to-one correspondence. Each guide portion 14 is connected between the telescopic clamp 12 and the corresponding mounting beam 112 to guide the telescopic clamp 12 when the telescopic clamp 12 is extended or retracted, so that the telescopic clamp 12 can perform controllable linear motion along the guide rod 142 under the drive of the motor 131, thereby realizing the telescopic movement of the telescopic clamp 12.

[0056] Among them, the guide part 14 includes a guide block 141 and a guide rod 142. The guide block 141 is installed on the end of the mounting beam 112 away from the connecting member 111. One end of the guide rod 142 is connected to the telescopic clamping member 12, and the other end of the guide rod 142 is passed through the guide block 141. When the first driving member 13 drives the telescopic clamping member 12 to move, the guide rod 142 moves with the telescopic clamping member 12. The guide rod 142 can slide relative to the guide block 141, thereby guiding the telescopic clamping member 12.

[0057] Among them, a linear bearing is embedded in the guide block 141, and the guide rod 142 is inserted into the linear bearing to form a linear guide pair to ensure the smooth operation of the guide rod 142.

[0058] In one embodiment, two guide rods 142 are provided, and the two guide rods 142 are parallel to each other. Both guide rods 142 are passed through the guide block 141 to further ensure the stability when the first driving member 13 drives the telescopic clamping member 12 to move back and forth.

[0059] In one embodiment, an avoidance groove 1121 is provided on the mounting beam 112, and the end of the guide rod 142 facing away from the telescopic clamping member 12 can pass through the guide block 141 and enter the avoidance groove 1121, so that when the telescopic clamping member 12 approaches the mounting beam 112, the avoidance groove 1121 can avoid the part of the guide rod 142 that passes through the guide block 141.

[0060] In one embodiment, if Figure 1As shown, a sensor 1411 is provided on the guide block 141, and a sensing piece 1212 is provided on the telescopic clamping member 12. When the telescopic clamping member 12 is telescopically moved under the drive of the first driving member 13, the sensing piece 1212 moves with the telescopic clamping member 12, so that the sensing piece 1212 can approach or move away from the sensor 1411. The sensor 1411 is used to sense the sensing piece 1212 to control the moving stroke of the telescopic clamping member 12 when the telescopic clamping member 12 approaches the mounting beam 112, thereby limiting the stroke limit of the telescopic clamping member 12. When the sensing piece 1212 triggers the sensor 1411, the telescopic clamping member 12 stops moving to avoid the telescopic clamping member 12 colliding with the mounting beam 112 when the telescopic clamping member 12 approaches the mounting beam 112 under the drive of the first driving member 13, thereby causing damage to the telescopic clamping member 12.

[0061] When the sensing piece 1212 triggers the sensor 1411, the position of the telescopic clamp 12 can be used as the origin position. In this way, when the first driving member 13 drives the telescopic clamp 12 to move, the moving stroke of the telescopic clamp 12 can be determined, so that the position of the telescopic clamp 12 can be adaptively adjusted according to the size of the material plate.

[0062] In one embodiment, if Figure 1 As shown, the connecting member 111 includes a first connecting member 1111, a second connecting member 1112, and a third connecting member 1113. The first connecting member 1111 and the second connecting member 1112 are arranged opposite to each other in a first direction. One end of the third connecting member 1113 is connected to the first connecting member 1111, and the other end of the third connecting member 1113 is connected to the manipulator 22. The first connecting member 1111 is provided with a plurality of first connecting portions, and the second connecting member 1112 is provided with a plurality of second connecting portions. The plurality of first connecting portions and the plurality of second connecting portions are arranged in a one-to-one correspondence, and the number of the first connecting portions and the number of the second connecting portions are consistent with the number of the mounting beams 112. One end of the mounting beam 112 is connected between a first connecting portion and a corresponding second connecting portion. The first connecting portion and the second connecting portion enable the connecting member 111 to be fixedly connected to the mounting beam 112.

[0063] The first connecting member 1111 and the second connecting member 1112 are arranged opposite to each other in the third direction, the third direction c, the first direction a and the second direction b are perpendicular to each other, and the third direction c is the Z direction.

[0064] In one embodiment, the first connecting member 1111 is cross-shaped, and four first connecting portions are provided on the first connecting member 1111; the second connecting member 1112 is cross-shaped, and four second connecting portions are provided on the second connecting member 1112; the mounting beam 112 is provided with four first connecting portions and the corresponding second connecting portions are located on opposite sides of the mounting beam 112 in the third direction, thereby ensuring the stability of the mounting beam 112 after being fixed.

[0065] In one embodiment, if Figure 2 、 Figure 3 As shown, the telescopic clamping member 12 includes a mounting seat 121, a second driving member 122 and a clamping claw head 123, the sensing plate 1212 is mounted on the mounting seat 121, and the mounting seat 121 is connected to the mounting beam 112, wherein the guide block 141 is mounted on the mounting beam 112, one end of the guide rod 142 is fixed on the mounting seat 121, and the other end of the guide rod 142 is passed through the guide block 141.

[0066] The second driving member 122 is installed on the mounting seat 121, and a guide groove 1211 is provided on the mounting seat 121. The output end of the second driving member 122 can extend into the guide groove 1211. The first end of the clamping head 123 is provided in the guide groove 1211 and is connected to the output end of the second driving member 122. The second end of the clamping head 123 protrudes out of the guide groove 1211, thereby forming a clamping space 127 for accommodating part of the material sheet between the mounting seat 121 and the second end of the clamping head 123. When the edge of the material sheet enters the clamping space 127, it indicates that the telescopic clamping member 12 is in the clamping position, and the position of the telescopic clamping member 12 can be limited by the clamping space 127.

[0067] The guide groove 1211 can guide the movement of the clamping head 123, and the second driving member 122 can drive the clamping head 123 to reciprocate along the guide groove 121. The size of the clamping space 127 between the second end of the clamping head 123 and the mounting seat 121 can be adjusted to clamp or release the sheet material between the clamping head 123 and the mounting seat 121, thereby achieving clamping or release of the sheet material. When the second end of the clamping head 123 approaches the mounting seat 121, the clamping space 127 decreases, and the sheet material is clamped between the second end of the clamping head 123 and the mounting seat 121. When the clamping head 123 moves away from the mounting seat 121, the clamping space 127 increases, thereby releasing the sheet material.

[0068] Specifically, in the third direction c, the second driving member 122 is located above the mounting seat 121, and the guide groove 1211 extends along the third direction c. A clamping space 127 is formed between the lower surface of the mounting seat 121 and the second end of the clamping claw head 123. When the material picking mechanism 100 moves to the material sheet, the first driving member 13 drives the telescopic clamping member 12 to approach the mounting beam 112, so that the edge of the material sheet enters the clamping space 127. Then, when the second driving member 122 drives the clamping claw head 123 to move upward along the guide groove 1211, the distance between the second end of the clamping claw head 123 and the lower surface of the mounting seat 121 can be reduced, so that the material sheet is clamped, making it easier for the material picking mechanism 100 to remove the material sheet. When the second driving member 122 drives the clamping claw head 123 to move downward along the guide groove 1211, the distance between the second end of the clamping claw head 123 and the lower surface of the mounting seat 121 is increased, which can loosen the clamping of the material sheet. After the first driving member 13 drives the telescopic clamping member 12 away from the mounting beam 112, the telescopic clamping member 12 is separated from the material sheet.

[0069] In one embodiment, the second driving member 122 is a screw stepping motor, and the screw 132 of the screw stepping motor can perform linear motion, thereby driving the clamping jaw head 123 to move up and down.

[0070] In one embodiment, if Figure 2 、 Figure 3 As shown, the telescopic clamping member 12 further includes a connecting shaft 124, an elastic member 125, and a frame member 126. The frame member 126 is disposed in the guide groove 1211. The frame member 126 and the guide groove 1211 define the installation positions of the elastic member 125 and the connecting shaft 124. The connecting shaft 124 is disposed inside the frame member 126. The elastic member 125 is sleeved on the outer circumference of the connecting shaft 124 and is located inside the frame member 126. One end of the connecting shaft 124 protrudes from the frame member 126 and is connected to the output end of the second driving member 122. Driven by the second driving member 122, the connecting shaft 124 can drive the frame member 126 to move. The frame member 126 moves along the guide groove 1211, thereby enabling the jaw head 123 to slide in the guide groove 1211.

[0071] The first end of the clamping head 123 is slidably connected to the connecting shaft 124. The first end of the clamping head 123 is located between the end of the elastic member 125 near the second driving member 122 and the frame member 126. The second end of the clamping head 123 extends out of the guide slot 1211 and is located below the mounting seat 121. The elastic member 125 generates an elastic force when clamping the sheet between the second end of the clamping head 123 and the mounting seat 121. After the sheet enters the clamping space 127, the second driving member 122 drives the clamping head 123 upward, and the clamping head 123 can slide along the connecting shaft 124 and gradually clamp the sheet. The sheet presses against the second end of the clamping head 123, causing one end of the clamping head 123 to squeeze the elastic member 125, generating an elastic force on the elastic member 125. This elastic force acts on the sheet through the clamping head 123, thereby enhancing the clamping effect on the sheet.

[0072] In one embodiment, the second driving member 122 is a screw stepper motor. Since the second driving member 122 is a non-torque-controlled motor with a relatively fixed travel range, the elastic member 125 is compressed and deformed, thereby allowing the clamping head 123 to continue moving a certain distance before reaching a mechanical limit. The deformation of the elastic member 125 provides the clamping head 123 with additional travel distance, which can increase the flexibility of the travel of the clamping head 123. Moreover, when the second end of the clamping head 123 approaches the mounting seat 121, the elastic member 125 can gradually decelerate the clamping head 123 before impact, thereby reducing the impact and vibration between the second end of the clamping head 123 and the mounting seat 121.

[0073] In one embodiment, the elastic member 125 is a spring.

[0074] In one embodiment, if Figure 3 As shown, the frame member 126 is a U-shaped frame, and the opening direction of the U-shaped frame is toward the clamping claw head 123. When the sheet is pressed on the second end of the clamping claw head 123 and squeezes the elastic member 125, the clamping claw head 123 can move on the open side of the U-shaped frame without interference.

[0075] In one embodiment, if Figure 1 As shown, the material picking mechanism 100 also includes an edge-finding sensor 15 and a height sensor 16. The edge-finding sensor 15 and the height sensor 16 are arranged on the mounting frame 11. The edge-finding sensor 15 is used to detect the edge of the material sheet, and the height sensor 16 is used to detect the height position of the material sheet. The edge-finding sensor 15 and the height sensor 16 can determine the clamping position of the material sheet, which facilitates the material picking component to clamp the material sheet.

[0076] Based on the edge position of the sheet detected by the edge-finding sensor 15, the horizontal positions of the telescopic clamping members 12 of the multiple material-retrieving assemblies in the three-dimensional coordinate system are adjusted. Specifically, the first driving member 13 drives the telescopic clamping member 12 to move, so that the telescopic clamping member 12 moves to the clamping position, allowing the sheet to enter the clamping space 127. Based on the height position of the sheet detected by the height sensor 16, the height positions of the clamping claw heads 123 of the multiple telescopic clamping members 12 in the three-dimensional coordinate system are adjusted. Specifically, the second driving member 122 drives the clamping claw heads 123 to move up and down, completing the clamping and release of the sheet.

[0077] The edge-finding sensor 15 is a photoelectric sensor, and its signal can change when the light is blocked or not blocked, thereby detecting the edge of the sheet.

[0078] In one embodiment, multiple height sensors 16 are provided, each mounted at different locations on the mounting beam 112. The multi-point arrangement of the height sensors 16 allows for rapid determination of the positional relationship between the gripper heads 123 and the sheet material. This positional relationship refers to the parallel relationship between the planes defined by the gripper heads 123 of the multiple telescopic grippers 12 and the sheet material, facilitating the gripper heads 123 of the multiple telescopic grippers 12 to grip the sheet material on all sides.

[0079] Preferably, three height sensors 16 are provided, and the three height sensors 16 are respectively arranged on three mounting beams 112 . The measurement accuracy can be improved by arranging the height sensors 16 at three points.

[0080] In one embodiment, a plurality of edge-finding sensors 15 are provided, and the plurality of edge-finding sensors 15 are respectively mounted on different mounting beams 112 , so as to detect the edges of the material sheet at different positions, thereby calibrating the position of the discharge plate.

[0081] The number of edge-finding sensors 15 is consistent with the number of mounting beams 112. Each mounting beam 112 is provided with an edge-finding sensor 15, which can more accurately detect all edges of the sheet. Preferably, four edge-finding sensors 15 are provided to detect the four edges of the sheet.

[0082] In one embodiment, if Figure 1 As shown, the material picking mechanism 100 also includes a gyroscope 17, which is installed on one of the mounting beams 112. The gyroscope 17 is used to calibrate the horizontal reference plane. The posture of the material picking mechanism 100 can be adjusted through the horizontal reference plane so that the material plate can be clamped when the mounting frame 11 of the material picking mechanism 100 is in a horizontal state.

[0083] Alternatively, the material retrieving mechanism 100 may further include a barcode scanner mounted on one of the mounting beams 112. The barcode scanner is used to identify the identification code on the material sheet to obtain the material information of the material sheet. In an alternative embodiment, the identification code of the material sheet may also be identified by a camera. The barcode scanner and camera may be selectively installed according to actual needs.

[0084] On the other hand, Figure 5 As shown, an embodiment of the utility model provides a robot 200, including an automatic guided transport vehicle 21, a manipulator 22 and the material picking mechanism 100 of the above embodiment, the manipulator 22 is installed on the automatic guided transport vehicle 21, and the connecting piece 111 of the mounting frame 11 is installed on the manipulator 22 to realize the connection between the material picking mechanism 100 and the manipulator 22, and the manipulator 22 is used to drive the material picking mechanism 100 to transfer the material plate.

[0085] In one embodiment, a first camera 18 is provided on the mounting frame 11, and a second camera 23 is provided on the automatic guided transport vehicle 21. The first camera 18 and the second camera 23 are used to calibrate the position of the sheet material to obtain the horizontal position of the sheet material in the three-dimensional coordinate system.

[0086] The first camera 18 and the second camera 23 are used in conjunction with each other. The first camera 18 can locate the upper surface of the material plate, and the second camera 23 can locate the lower surface of the material plate, thereby calibrating the position of the discharge plate.

[0087] In addition, the first camera 18 and the second camera 23 can be used to calibrate the horizontal reference plane. When calibrating the horizontal reference plane, the functions of the gyroscope 17 and the two cameras overlap. They can be installed selectively according to actual needs. You can choose to install the gyroscope 17 or two cameras, or you can install both the gyroscope 17 and the two cameras.

[0088] As an example, a first camera 18 and multiple height sensors 16 are provided on the mounting frame 11, and a second camera 23 is provided on the automatic guided transport vehicle 21. The height position of the material plate can be calibrated through the height sensor 16. The two cameras cooperate with the height sensor 16 to calibrate a three-dimensional spatial coordinate system. With the material plate as a reference, the spatial position of the material picking mechanism 100 is calibrated to facilitate the material picking mechanism 100 to clamp the material plate.

[0089] On the other hand, an embodiment of the present invention provides an automated processing system, including PCB processing equipment, a material rack and the robot 200 of the above embodiment, the material rack is used to load material plates, and the robot 200 is used to transfer material plates between the PCB processing equipment and the material rack.

[0090] The robot 200 can be moved between the PCB processing equipment and the material rack through the automatic guided transport vehicle 21, wherein two material racks are provided, one of which is loaded with the material plate to be processed, and the material picking mechanism 100 clamps the material plate to be processed and transfers the material plate to be processed to the PCB processing equipment for processing. After the processing is completed, the material picking mechanism 100 clamps the processed material plate and transfers the processed material plate to the other material rack.

[0091] PCB processing equipment includes drilling machines, gong machines or integrated drilling and gong machines.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A material taking mechanism, characterized in that: Includes a mounting frame and multiple reclaiming assemblies; The mounting frame includes a connecting member and a plurality of mounting beams, the connecting member is used to connect the robotic arm, each of the mounting beams extends in different directions along the same plane and is arranged around the connecting member, and each of the retrieving assemblies is respectively mounted on an end of each of the mounting beams away from the connecting member in a one-to-one correspondence; The material picking assembly includes a first driving member and a telescopic clamping member. The first driving member is installed on the mounting beam, and the first driving member is used to drive the telescopic clamping member to extend and retract.

2. The material taking mechanism according to claim 1, characterized in that: The material picking assembly also includes a guide portion, and the guide portions of the multiple material picking assemblies and the multiple mounting beams are arranged in a one-to-one correspondence. Each guide portion is connected between the telescopic clamp and the corresponding mounting beam to guide the telescopic clamp when the telescopic clamp is extended or retracted.

3. The material taking mechanism according to claim 2, characterized in that: The guide portion includes a guide block and a guide rod, the guide block is installed on the mounting beam, one end of the guide rod is connected to the telescopic clamping member, and the other end of the guide rod is passed through the guide block, and the guide block can slide along the guide rod when the first driving member drives the telescopic clamping member to extend and retract.

4. The material taking mechanism according to claim 3, characterized in that: An avoidance groove is provided on the mounting beam, and the end of the guide rod away from the telescopic clamping member can pass through the guide block and enter the avoidance groove.

5. The material taking mechanism according to claim 3, characterized in that: The guide block is provided with a sensor, and the telescopic clamp is provided with a sensor sheet. The sensor is used to sense the sensor sheet so as to control the movement stroke of the telescopic clamp when the telescopic clamp approaches the mounting beam.

6. The material taking mechanism according to any one of claims 1 to 5, characterized in that: The telescopic clamping member includes a mounting seat, a second driving member and a clamping claw head, the mounting seat is connected to the mounting beam, and the second driving member is installed on the mounting seat; A guide groove is provided on the mounting seat, the first end of the clamping claw head is disposed in the guide groove and connected to the output end of the second driving member, the second end of the clamping claw head protrudes from the guide groove, and a clamping space for accommodating part of the sheet is formed between the mounting seat and the second end of the clamping claw head; The second driving member can drive the clamping jaw head to move back and forth along the guide groove, so as to clamp the material sheet between the clamping jaw head and the mounting seat or release the material sheet.

7. The material taking mechanism according to claim 6, characterized in that: The telescopic clamping member further includes a connecting shaft, an elastic member, and a frame member, wherein the frame member is disposed in the guide groove, the connecting shaft is disposed inside the frame member, the elastic member is sleeved on the outer circumference of the connecting shaft, and one end of the connecting shaft protrudes from the frame member and is connected to the output end of the second driving member; The first end of the clamping head is slidably connected to the connecting shaft, and the first end of the clamping head is located between the end of the elastic member close to the second driving member and the frame component. The elastic member is used to generate elastic force when the second end of the clamping head and the mounting seat clamp the material plate.

8. The material taking mechanism according to claim 1, characterized in that: The material picking mechanism further includes an edge-finding sensor and a height sensor, and the edge-finding sensor and the height sensor are arranged on the mounting frame; The edge-finding sensor is used to detect the edge of the material plate, and the height sensor is used to detect the height of the material plate.

9. The material taking mechanism according to claim 8, characterized in that: There are multiple height sensors, and the multiple height sensors are respectively installed on different mounting beams; A plurality of edge-finding sensors are provided, and the plurality of edge-finding sensors are respectively mounted on different mounting beams.

10. The material taking mechanism according to claim 1, characterized in that: The material taking mechanism further comprises a gyroscope, the gyroscope being mounted on one of the mounting beams, the gyroscope being used to calibrate a horizontal reference plane; and / or, The material picking mechanism also includes a barcode scanner, which is installed on one of the mounting beams and is used to identify the identification code on the material plate.

11. A robot, characterized in that: It comprises an automatic guided transport vehicle, a manipulator and the material picking mechanism according to any one of claims 1 to 10, wherein the manipulator is installed on the automatic guided transport vehicle, the connecting part of the mounting frame is installed on the manipulator, and the manipulator is used to drive the material picking mechanism to transfer the material plate.

12. The robot according to claim 11, wherein: The mounting frame is provided with a first camera, and the automatic guided transport vehicle is provided with a second camera. The first camera and the second camera are used to calibrate the position of the material plate.

13. An automated processing system, characterized in that: It comprises PCB processing equipment, a material rack and the robot according to any one of claims 11-12, wherein the material rack is used to load the material plate, and the robot is used to transfer the material plate between the PCB processing equipment and the material rack.

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