Material taking mechanism, robot and PCB processing equipment

Abstract

The utility model belongs to the technical field of PCB production, and particularly relates to a material taking mechanism, a robot and PCB processing equipment. The material taking mechanism comprises a mounting frame, a first moving assembly, a clamping piece and an adsorption piece, and the adsorption piece is mounted on the mounting frame and used for adsorbing a material plate; the first movement assembly is installed on the installation frame, the clamping piece is installed on the first movement assembly, and the first movement assembly can drive the clamping piece to move in the first direction so that the clamping piece can clamp the material plate sucked by the adsorption piece. When a light, thin and easy-to-deform material plate is clamped, the material taking operation of firstly adsorbing and then clamping is realized, the damage to the material plate is reduced, the rejection rate is reduced, and the damage to a table board caused by a clamping piece is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of PCB manufacturing technology, and in particular relates to a material handling mechanism, a robot, and PCB processing equipment. Background Technology

[0002] In the PCB manufacturing industry, PCBs are stacked in a silo. The processing equipment is equipped with a material handling mechanism to pick up the PCBs. After the material handling mechanism picks up the PCBs from the silo, it is transported to the processing equipment for processing.

[0003] However, when a PCB is placed flat on the table of a processing equipment, its thinness and deformability make it susceptible to damage due to improper clamping force or clamping position deviation, which increases production costs and scrap rate. Furthermore, the table is easily scratched by the robotic arm during clamping, affecting the accuracy and efficiency of drilling. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a material handling mechanism, a robot, and PCB processing equipment to address the problem of PCB damage caused by improper clamping force or clamping position deviation in existing material handling mechanisms.

[0005] To solve the above-mentioned technical problems, on the one hand, this utility model provides a material picking mechanism, including a mounting frame, a first motion component, a clamping member and an adsorption member, wherein the adsorption member is mounted on the mounting frame and is used to pick up the material plate;

[0006] The first motion component is mounted on the mounting frame, and the clamping member is mounted on the first motion component. The first motion component can drive the clamping member to move along a first direction so that the clamping member can clamp the material plate sucked up by the adsorption member.

[0007] Optionally, the first motion component includes a first drive member and two sub-moving members, and the clamping member includes two sub-clamping members, with any one of the sub-clamping members mounted on one of the sub-moving members;

[0008] The first driving member is capable of driving at least one of the two sub-moving members to move along the first direction, so that the two sub-clamping members can clamp or release the material plate.

[0009] Optionally, the two sub-clamping members are disposed opposite each other on opposite sides of the conveying end of the first driving member, and the first driving member is used to drive the two sub-clamping members to move closer or further away simultaneously to clamp or release the material plate.

[0010] Optionally, the first driving member includes two sub-driving members, the output ends of the two sub-driving members are respectively connected to each of the sub-moving members, the sub-driving members are used to drive the sub-moving members to move along the first direction, so as to drive the sub-clamping members to move along the first direction, and clamp or release the material plate through the two sub-clamping members.

[0011] Optionally, the two sub-clamping members are disposed opposite to each other on opposite sides of the conveying end of the first driving member, one of the sub-moving members is fixed relative to the first driving member, and the other sub-moving member moves along the first direction driven by the first driving member, so that the two sub-clamping members can clamp or release the material plate.

[0012] Optionally, the first motion component further includes an adapter seat, the first motion component is connected to the mounting bracket through the adapter seat, the two sub-moving members are located on opposite sides of the adapter seat along the second direction, and the two sub-moving members move in opposite directions in the first direction respectively;

[0013] The two sub-clamping members are arranged opposite each other along the first direction, and the first direction and the second direction intersect.

[0014] Optionally, the first driving component includes a motor and a transmission component, the motor being mounted on the adapter, and the transmission component being connected to the output end of the motor;

[0015] The transmission member is disposed between the two sub-moving members in the second direction. The transmission member is connected to the two sub-moving members in a transmission manner. The motor can drive the transmission member to rotate so that the two sub-moving members move in opposite directions in the first direction.

[0016] Optionally, the sub-moving member includes a base plate and a rack mounted on the base plate, the base plate being slidably connected to the adapter seat, and the sub-clamping member being mounted on the end of the base plate away from the other sub-clamping member;

[0017] The transmission component is a gear, which simultaneously meshes with the racks of the two sub-moving components.

[0018] Optionally, the material handling mechanism further includes a second motion component, wherein the first motion component is connected to the mounting frame via the second motion component, and the second motion component is used to drive the first motion component and the clamping member to move along a second direction, wherein the first direction and the second direction intersect.

[0019] Optionally, the second motion component includes a second drive member, a drive wheel, a driven wheel, and a timing belt. The output end of the second drive member is connected to the drive wheel, the driven wheel is mounted on the mounting frame, and the timing belt is wound around the drive wheel and the driven wheel.

[0020] The timing belt is connected to the first motion component.

[0021] Optionally, the second motion component includes a third drive member, a lead screw, and a lead screw nut. The output end of the third drive member is connected to the lead screw, the lead screw nut is threadedly connected to the lead screw, and the lead screw nut is connected to the first motion component.

[0022] Optionally, multiple first motion components are provided, multiple clamping members are provided, and multiple clamping members are connected to multiple first motion components in a one-to-one correspondence;

[0023] Multiple first motion components are connected to the mounting frame and spaced apart along the second direction, where the first direction and the second direction intersect.

[0024] Optionally, the mounting bracket is provided with a plurality of linear guide rails that extend along the second direction, and each of the first motion components is capable of moving along the corresponding linear guide rail.

[0025] Optionally, the adsorption element is slidably connected to the mounting bracket via a third motion component.

[0026] Optionally, the material handling mechanism further includes a camera mounted on the mounting frame, the camera being used to identify the position of the material plate.

[0027] On the other hand, this utility model embodiment provides a robot, including an automated guided vehicle, a robotic arm, and a material handling mechanism as described above. The robotic arm is mounted on the automated guided vehicle, and the material handling mechanism is connected to the robotic arm through the mounting frame.

[0028] In another aspect, this utility model embodiment provides a PCB processing equipment, including a processing machine, a hopper, and a robot as described above. The hopper is used to store the PCB, and the robotic arm can drive the material handling mechanism to move so that the hopper and the processing machine can exchange the PCB. The processing machine is used to process the PCB.

[0029] The material handling mechanism provided in this embodiment of the utility model, when handling a material plate on the table of the processing equipment, uses an adsorption component to pick up the material plate, causing the material plate adsorbed by the adsorption component to detach from the table of the processing equipment. The first motion component drives the clamping component to move, enabling the clamping component to clamp the material plate. This achieves a material handling operation of first adsorption and then clamping, reducing damage to thin and easily deformable material plates caused by improper clamping force, reducing the scrap rate, and also reducing damage to the table surface caused by the clamping component. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of a material handling mechanism provided in an embodiment of the present invention;

[0031] Figure 2 This is an assembly diagram of the second motion component on the mounting frame according to an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the first motion component and clamping member provided in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of a robot provided in one embodiment of the present invention.

[0034] The reference numerals in the accompanying drawings are as follows:

[0035] 10. Material handling mechanism;

[0036] 1. Mounting bracket; 11. Linear guide rail;

[0037] 2. First motion assembly; 21. Adapter; 22. First drive component; 221. Motor; 222. Transmission component; 23. Sub-moving component; 231. Base plate; 232. Rack;

[0038] 3. Second motion component; 31. Second drive component; 32. Drive pulley; 33. Driven pulley; 34. Synchronous belt;

[0039] 4. Clamping component; 41. Sub-clamping component;

[0040] 5. Adsorption component; 51. Suction cup;

[0041] 6. Camera;

[0042] 20. Robotic arm; 30. Automated Guided Vehicle;

[0043] a) First direction; b) Second direction. Detailed Implementation

[0044] To make the technical problems solved, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0045] like Figures 1 to 3 As shown, an embodiment of this utility model provides a material handling mechanism 10, including a mounting frame 1, a first motion component 2, a clamping member 4, and an adsorption member 5. The adsorption member 5 is mounted on the mounting frame 1 and is used to pick up the material plate. The adsorption member 5 can pick up thin material plates, reducing damage to the material plates.

[0046] The first motion component 2 is mounted on the mounting frame 1, and the clamping member 4 is mounted on the first motion component 2. The first motion component 2 can drive the clamping member 4 to move along the first direction a, so that the clamping member 4 can clamp the material plate sucked by the adsorption member 5.

[0047] When picking up PCBs from the processing table of the PCB processing equipment, the suction component 5 picks up the PCB and positions it. After the PCB picked up by the suction component 5 is removed from the table surface, the first motion component 2 drives the clamping component 4 to move, so that the clamping component 4 can clamp the PCB. This realizes the picking operation of first suction and then clamping. For ordinary PCBs, it can improve the stability of the PCB gripping process. For thin, easily deformable PCBs that are not easy to clamp directly, it can reduce the damage to the PCB caused by improper clamping force, and at the same time, it can also reduce the damage to the table surface caused by the clamping component 4.

[0048] In this embodiment, the material is picked up by combining the adsorption member 5 and the clamping member 4, enabling the material picking mechanism 10 to adapt to material plates of different shapes, sizes, and materials. The adsorption member 5 can adapt to material plates with different surface characteristics by adjusting the adsorption force, the number and layout of the suction cups 51, etc. The clamping member 4 can adjust its clamping range according to the shape and size of the material plate through the first motion component 2, thus expanding the applicability of the material picking mechanism 10.

[0049] In one embodiment, such as Figure 3 As shown, the first motion component 2 includes a first drive component 22 and two sub-moving components 23, and the clamping component 4 includes two sub-clamping components 41, with any one sub-clamping component 41 mounted on a sub-moving component 23.

[0050] The first driving member 22 can drive at least one of the two sub-moving members 23 to move along the first direction a, so that the two sub-clamping members 41 can clamp or release the material plate. When it is necessary to clamp the material plate, the first driving member 22 drives one or both sub-moving members 23 to move along the first direction a, so that the two sub-clamping members 41 gradually approach each other until the two sub-clamping members 41 contact the material plate and apply a certain clamping force. Conversely, when it is necessary to release the material plate, the first driving member 22 drives one or both sub-moving members 23 to move along the first direction a, so that when the two sub-clamping members 41 separate, the clamping of the material plate is released.

[0051] By controlling the output of the first driving member 22, the movement distance of one or two sub-moving members 23 can be adjusted, thereby adjusting the clamping range of the two sub-clamping members 41, so that the clamping member 4 can adapt to material plates of different sizes.

[0052] Specifically, the output end of the first driving member 22 is connected to one of the sub-moving members 23, while the other sub-moving member 23 remains stationary. The first driving member 22 drives the sub-moving member 23 connected to it to move, and the sub-clamping member 41 on the sub-moving member 23 can move toward or away from the other sub-clamping member 41, thereby realizing the clamping or releasing of the two sub-clamping members 41.

[0053] Alternatively, the output end of the first driving member 22 can be connected to both sub-moving members 23 simultaneously. The first driving member 22 can drive the two sub-moving members 23 to move simultaneously, so that the two sub-clamping members 41 can move closer or further away from each other at the same time, thereby realizing the clamping or releasing of the material plate by the two sub-clamping members 41.

[0054] The above two situations will be explained below through specific embodiments. For ease of description and understanding, the two sub-moving components 23 are distinguished as "first sub-moving component" and "second sub-moving component", and the two sub-clamping components 41 are distinguished as "first sub-clamping component" and "second sub-clamping component".

[0055] In one embodiment, such as Figure 3 As shown, two sub-moving members 23 are located on opposite sides of the output end of the first driving member 22 in the second direction b, and two sub-clamping members 41 are arranged on opposite sides of the conveying end of the first driving member 22 in the first direction a. The first driving member 22 is used to drive the two sub-clamping members 41 to move closer or further away at the same time to clamp or release the material plate.

[0056] The output end of the first driving member 22 is located between the two sub-moving members 23, and the output end of the first driving member 22 is simultaneously connected to the two sub-moving members 23. The first driving member 22 can drive the two sub-moving members 23 to move synchronously and in opposite directions in the first direction a, so that the two sub-clamping members 41 move closer or further away in the first direction a, thereby achieving clamping or releasing of the material plate.

[0057] As an example, the output end of the first drive member 22 is connected to both the first sub-moving member and the second sub-moving member. The first sub-clamping member is mounted on the first sub-moving member, and the second sub-clamping member is mounted on the second sub-moving member. The first sub-clamping member and the second sub-clamping member are arranged opposite to each other in the first direction a. The first drive member 22 can drive the first sub-moving member and the second sub-moving member to move in opposite directions in the first direction a, thereby causing the first sub-clamping member and the second sub-clamping member to move closer or further away synchronously, so that the first sub-clamping member and the second sub-clamping member can clamp or release the material plate.

[0058] In one embodiment, two sub-moving members 23 are positioned opposite each other in the second direction b, and two sub-clamping members 41 are positioned opposite each other in the first direction a at the conveying end of the first driving member 22. The output end of the first driving member 22 is connected to one of the sub-moving members 23. One sub-moving member 23 is fixed relative to the first driving member 22, while the other sub-moving member 23 can move along the first direction a under the drive of the first driving member 22, allowing the two sub-clamping members 41 to clamp or release the material plate. Under the drive of the first driving member 22, the sub-moving member 23 connected to the first driving member 22 can move along the first direction a, thereby causing one sub-clamping member 41 to move away from or closer to the other sub-clamping member 41, thus achieving the clamping or releasing of the material plate.

[0059] As an example, taking the connection between the output end of the first driving member 22 and the first sub-moving member as an example, the position of the output end of the first driving member 22 is not limited to being set between the two sub-moving members 23.

[0060] A first sub-clamping member is mounted on a first sub-moving member, and a second sub-clamping member is mounted on a second sub-moving member. The second sub-moving member remains stationary relative to the first driving member 22. The first driving member 22 can drive the first sub-moving member to move along a first direction a, thereby driving the first sub-clamping member to move along the first direction a, thus changing the distance between the first and second sub-clamping members. When the first sub-clamping member approaches the second sub-clamping member under the action of the first driving member 22, it can clamp the material plate. When the first sub-clamping member moves away from the second sub-clamping member under the action of the first driving member 22, it releases the material plate.

[0061] In another embodiment (not shown), the first driving member 22 includes two sub-driving members, the output ends of which are respectively connected to each sub-moving member 23. The sub-driving members drive the sub-moving members 23 to move along the first direction a, thereby driving the sub-clamping members 41 to move along the first direction a, and clamping or releasing the material plate through the two sub-clamping members 41. Each sub-driving member acts independently on its corresponding sub-moving member 23. When it is necessary to clamp the material plate, the two sub-driving members receive a control signal simultaneously, each starting and pushing the connected sub-moving member 23 to move along the first direction a, thereby driving the two sub-clamping members 41 to move synchronously, and completing the clamping and releasing actions through the cooperation of the two sub-clamping members 41.

[0062] In one embodiment, such as Figure 1 , Figure 3 As shown, the first motion assembly 2 also includes an adapter 21, a first drive member 22 is mounted on the adapter 21, and two sub-moving members 23 are movably connected to the adapter 21. The first motion assembly 2 is connected to the mounting frame 1 through the adapter 21. The two sub-moving members 23 are located on opposite sides of the adapter 21 along the second direction b, and two sub-clamping members 41 are arranged opposite each other along the first direction a, where the first direction a and the second direction b intersect. The output end of the first drive member 22 is simultaneously connected to the two sub-moving members 23, causing the two sub-moving members 23 to move in opposite directions along the first direction a, thereby driving the two sub-clamping members 41 to move closer or further away in the first direction a, realizing the clamping or releasing operation of the two sub-clamping members 41 on the material plate.

[0063] The adapter 21 is slidably connected to the mounting frame 1 along the second direction b, thereby enabling the first motion component 2 to move relative to the mounting frame 1. The clamping member 4 can move together with the first motion component 2, so that the clamping member 4 can perform material picking operations at different positions on the mounting frame 1.

[0064] In one embodiment, such as Figure 3 As shown, the first driving component 22 includes a motor 221 and a transmission component 222. The motor 221 is mounted on the adapter 21, and the transmission component 222 is connected to the output end of the motor 221. The motor 221 can drive the transmission component 222 to rotate. The motor 221 can precisely control its rotation angle and number of revolutions, thereby precisely controlling the rotation of the transmission component 222, and ultimately precisely controlling the moving distance of the two sub-moving components 23. This allows the material handling mechanism 10 to accurately position the two sub-clamping components 41 to adapt to the clamping requirements of material plates of different sizes.

[0065] The transmission component 222 is positioned between the two sub-moving components 23 in the second direction b. The transmission component 222 is connected to the two sub-moving components 23. The motor 221 can drive the transmission component 222 to rotate, so that the two sub-moving components 23 move in opposite directions in the first direction a, thereby driving the two sub-clamping components 41 to move closer or further away in the first direction a. Through the transmission connection between the transmission component 222 and the two sub-moving components 23, the synchronicity of the movement of the two sub-moving components 23 is ensured, thereby ensuring the synchronicity of the two sub-clamping components 41. This allows the two sub-clamping components 41 to contact the material plate simultaneously and apply a uniform clamping force, enabling quick clamping and releasing actions.

[0066] In one embodiment, such as Figure 3 As shown, the sub-moving component 23 includes a base plate 231 and a rack 232 mounted on the base plate 231. The base plate 231 is slidably connected to the adapter 21. The sub-clamping component 41 is mounted on the base plate 231. Two sub-clamping components 41 are correspondingly mounted on the base plates 231 of the two sub-moving components 23. By sliding the base plate 231 relative to the adapter 21, the sub-clamping components 41 can be moved. The base plates 231 of both sub-moving components 23 are slidably connected to the adapter 21, and the base plates 231 are slidably connected to the adapter 21 via linear guide rails.

[0067] Two sub-moving members 23 are located on opposite sides of the adapter 21 along the second direction b, and two sub-clamping members 41 are arranged opposite each other along the first direction a. One sub-clamping member 41 is mounted on the end of the base plate 231 away from the other sub-clamping member 41. Specifically, the first sub-clamping member and the second sub-clamping member are arranged opposite each other in the first direction a. The first sub-clamping member is mounted on the end of the base plate 231 of the first sub-moving member away from the second sub-clamping member. This allows the first and second sub-clamping members to move closer or further apart in the first direction a when the two sub-moving members 23 move synchronously, thus enabling the extension and retraction of the clamping member 4. When clamping a material plate, the first and second sub-clamping members clamp the two sides of the material plate.

[0068] The transmission component 222 is a gear, which meshes with the racks 232 of the two sub-moving components 23. The motor 221 drives the gear to rotate, and the gear is located between the racks 232 of the two sub-moving components 23 in the second direction b. Under the meshing of the gear with the two racks 232, the gear can drive the racks 232 of the two sub-moving components 23 to move synchronously, thereby realizing the movement of the two sub-moving components 23 in opposite directions in the first direction a, and thus realizing the approach or distance of the two sub-clamping components 41 in the first direction a, so as to realize the clamping or releasing of the material plate.

[0069] In one embodiment, the rack 232 is a spur rack or a helical rack, and correspondingly, the gear is a spur gear or a helical gear.

[0070] In another embodiment (not shown), the first driving member 22 includes two sub-driving members with identical structures. Each sub-driving member includes a motor 221 and a gear. The gears of the two sub-driving members mesh with the racks 232 of the two sub-moving members 23, respectively.

[0071] In one embodiment, such as Figure 1 , Figure 2 As shown, the material handling mechanism 10 also includes a second motion component 3. The first motion component 2 is connected to the mounting frame 1 via the second motion component 3, meaning the second motion component 3 is mounted on the mounting frame 1. The first motion component 2 and the second motion component 3 are connected, and the second motion component 3 is used to drive the first motion component 2 and the clamping member 4 to move along the second direction b. The first direction a and the second direction b intersect. Through the driving of the second motion component 3, the position of the first motion component 2 and the clamping member 4 in the second direction b can be adjusted.

[0072] As an example, such as Figure 1 , Figure 2 As shown, the material handling mechanism 10 includes a first motion component 2 and a second motion component 3. The first motion component 2 can drive the clamping member 4 to move in the first direction a, adjusting the clamping range of the clamping member 4. The second motion component 3 can drive the clamping member 4 to move in the second direction b, increasing the movement of the clamping member 4 in the second direction b. Through the cooperation of the second motion component 3 and the first motion component 2, the clamping member 4 can be positioned on the material plate more quickly, improving the flexibility of material handling.

[0073] In one embodiment, such as Figure 2 As shown, the second motion assembly 3 includes a second drive member 31, a drive pulley 32, a driven pulley 33, and a timing belt 34. The output end of the second drive member 31 is connected to the drive pulley 32. The driven pulley 33 is mounted on the mounting bracket 1. The timing belt 34 is wound around the drive pulley 32 and the driven pulley 33. The timing belt 34 is connected to the first motion assembly 2. The second drive member 31 drives the drive pulley 32 to rotate, thereby driving the timing belt 34 to move, so that the first motion assembly 2 and the clamping member 4 connected to the first motion assembly 2 can move along the second direction b.

[0074] Preferably, the second driving component 31 is a motor.

[0075] In another embodiment, the second motion component 3 includes a third drive member, a lead screw, and a lead screw nut. The output end of the third drive member is connected to the lead screw, and the lead screw nut is threadedly connected to the lead screw. The lead screw nut is connected to the first motion component 2. The lead screw extends along the second direction b. Under the drive of the third drive member, the lead screw can rotate, causing the lead screw nut to move linearly along the lead screw, thereby enabling the first motion component 2 and the clamping member 4 connected to the first motion component 2 to move along the second direction b. Preferably, the third drive member is a motor.

[0076] In one embodiment, multiple first motion components 2 and multiple clamping members 4 are provided, with each clamping member 4 connected to a corresponding first motion component 2. The multiple first motion components 2 are all connected to the mounting frame 1 and spaced apart along the second direction b, where the first direction a and the second direction b intersect. The adapter seats 21 of the multiple first motion components 2 are all connected to a synchronous belt 34. The synchronous belt 34 is driven to move by the second driving member 31, enabling the multiple first motion components 2 to move along the second direction b.

[0077] like Figure 1 As shown, taking two first motion components 2 as an example, there are two clamping members 4, and the two clamping members 4 are connected to the two first motion components 2 in a one-to-one correspondence. The two clamping members 4 are spaced apart in the second direction b, and the material plate is clamped together by the two clamping members 4, which increases the clamping force and improves the clamping stability of the material plate.

[0078] The second driving component 31 can drive at least one of the two first motion components 2 to move along the second direction b, so as to adjust the distance between the two first motion components 2 in the second direction b, so that the material picking mechanism 10 can flexibly handle the clamping of different plate pairs.

[0079] In this context, the adapters 21 of both first motion components 2 are connected to the timing belt 34. Figure 2 In the vertical direction, one of the first motion components 2 has its adapter 21 connected to the first position of the synchronous belt 34, and the other first motion component 2 has its adapter 21 connected to the second position of the synchronous belt 34. The first position is located above the second position. In this way, when the synchronous belt 34 moves, the adapter 21 at the first position and the adapter 21 at the second position can move towards each other or away from each other, so that the two first motion components 2 can move closer to each other or further away from each other, thereby realizing the adjustment of the distance between the two first motion components 2 in the second direction b.

[0080] In one embodiment, such as Figure 1 , Figure 2As shown, the mounting bracket 1 is provided with multiple linear guide rails 11, which extend along the second direction b. Each first motion component 2 can move along the corresponding linear guide rail 11. The adapter 21 of the first motion component 2 is connected to the linear guide rail 11. The linear guide rail 11 provides precise guidance for the adapter 21 of the first motion component 2, so that the movement of the first motion component 2 in the second direction b can be strictly along the direction of the linear guide rail 11, and the linear guide rail 11 makes the movement of the first motion component 2 smoother.

[0081] Among them, Figure 2 On the left and right sides of the mounting bracket 1, at least one linear guide rail 11 is provided on each side. The linear guide rail 11 on the left side is connected to the adapter 21 of the first motion component 2 on the left side, and the linear guide rail 11 on the right side is connected to the adapter 21 of the first motion component 2 on the right side.

[0082] In one embodiment, such as Figure 1 As shown, the adsorption component 5 includes a vacuum pump and a suction cup 51. The vacuum pump is used to extract air so that the suction cup 51 can be adsorbed onto the material plate.

[0083] Preferably, the adsorption element 5 is an electric adsorption element, which has its own power supply and is connected to the vacuum pump.

[0084] In one embodiment, the adsorption element 5 is fixedly mounted on the mounting bracket 1.

[0085] In an alternative embodiment, the adsorption element 5 is slidably connected to the mounting frame 1 via a third motion component. This third motion component allows the adsorption element 5 to move on the mounting frame 1, enabling it to reach a designated position for suction. The third motion component typically includes a power source and a transmission mechanism. The transmission mechanism is connected to the adsorption element 5. The power source can be a motor 221, a cylinder, or similar device. Taking motor 221 as an example, after being energized, motor 221 generates rotational motion. Through a transmission mechanism, such as a belt drive, chain drive, or lead screw and nut drive, this rotational motion is converted into linear motion of the adsorption element 5, thereby achieving the movement of the adsorption element 5.

[0086] In one embodiment, such as Figure 1 As shown, the material handling mechanism 10 also includes a camera 6, which is mounted on the mounting bracket 1. The camera 6 is used to identify the position of the material plate. By positioning the material plate using the camera 6, the clamping member 4 can more accurately grasp the material plate during material handling. The camera 6 is a commonly used CCD industrial camera.

[0087] On the other hand, such as Figure 4As shown, this embodiment of the present invention provides a robot, including an automated guided vehicle 30, a robotic arm 20, and a material handling mechanism 10 as described in the above embodiment. The robotic arm 20 is mounted on the automated guided vehicle 30, and the material handling mechanism 10 is connected to the robotic arm 20 via a mounting frame 1. The automated guided vehicle 30 enables the overall movement of the robot.

[0088] Among them, the robot arm 20 is a multi-axis robot arm, which can drive the material handling mechanism 10 to perform rotation or translation, so that the clamping component 4 can clamp the material plate.

[0089] On another front, this utility model provides a PCB processing equipment, including a processing machine, a hopper, and the robot described in the above embodiment. The hopper is used to store PCBs, and the robotic arm 20 can drive the material handling mechanism 10 to move so that PCBs can be exchanged between the hopper and the processing machine. The processing machine is used to process the PCBs.

[0090] During loading, the automated guided vehicle 30 moves to one side of the processing machine table, and the robot arm 20 drives the material picking mechanism 10 to move to the material bin. After the clamping part 4 extends and retracts in the first direction a and clamps the material plate, the robot arm 20 drives the material picking mechanism 10 to move above the processing machine table. The material picking mechanism 10 releases the material plate, places the material plate on the processing machine table, and then processes the material plate.

[0091] In one embodiment, the processing machine is a multi-axis drilling machine with multiple workstations. After the robot arm 20 places the material plates in sequence at the multiple workstations, the spindle of the multi-axis drilling machine performs drilling processing on the material plates at the workstations.

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

Claims

1. A material handling mechanism, characterized in that, It includes a mounting frame, a first motion component, a clamping component, and an adsorption component, wherein the adsorption component is mounted on the mounting frame and is used to pick up a material plate; The first motion component is mounted on the mounting frame, and the clamping member is mounted on the first motion component. The first motion component can drive the clamping member to move along a first direction so that the clamping member can clamp the material plate sucked up by the adsorption member.

2. The material handling mechanism as described in claim 1, characterized in that, The first motion component includes a first drive member and two sub-moving members, and the clamping member includes two sub-clamping members, with each of the sub-clamping members mounted on one of the sub-moving members; The first driving member is capable of driving at least one of the two sub-moving members to move along the first direction, so that the two sub-clamping members can clamp or release the material plate.

3. The material handling mechanism as described in claim 2, characterized in that, The two sub-clamping members are disposed opposite each other on opposite sides of the conveying end of the first driving member. The first driving member is used to drive the two sub-clamping members to move closer or further away simultaneously to clamp or release the material plate.

4. The material handling mechanism as described in claim 2, characterized in that, The first driving member includes two sub-driving members, the output ends of the two sub-driving members are respectively connected to each of the sub-moving members. The sub-driving members are used to drive the sub-moving members to move along the first direction, so as to drive the sub-clamping members to move along the first direction, and clamp or release the material plate through the two sub-clamping members.

5. The material handling mechanism as described in claim 2, characterized in that, Two sub-clamping members are disposed opposite each other on opposite sides of the conveying end of the first driving member. One of the sub-moving members is fixed relative to the first driving member, and the other sub-moving member moves along the first direction driven by the first driving member, so that the two sub-clamping members can clamp or release the material plate.

6. The material handling mechanism as described in claim 2, characterized in that, The first motion component further includes an adapter seat, the first motion component is connected to the mounting frame through the adapter seat, and the two sub-moving members are located on opposite sides of the adapter seat along the second direction, and the two sub-moving members move in opposite directions in the first direction respectively; The two sub-clamping members are arranged opposite each other along the first direction, and the first direction and the second direction intersect.

7. The material handling mechanism as described in claim 6, characterized in that, The first driving component includes a motor and a transmission component. The motor is disposed on the adapter, and the transmission component is connected to the output end of the motor. The transmission member is disposed between the two sub-moving members in the second direction. The transmission member is connected to the two sub-moving members in a transmission manner. The motor can drive the transmission member to rotate so that the two sub-moving members move in opposite directions in the first direction.

8. The material handling mechanism as described in claim 7, characterized in that, The sub-moving component includes a base plate and a rack mounted on the base plate. The base plate is slidably connected to the adapter seat, and the sub-clamping component is mounted on the end of the base plate away from the other sub-clamping component. The transmission component is a gear, which simultaneously meshes with the racks of the two sub-moving components.

9. The material handling mechanism as described in claim 1, characterized in that, It also includes a second motion component, the first motion component being connected to the mounting frame via the second motion component, the second motion component being used to drive the first motion component and the clamping member to move along a second direction, the first direction and the second direction intersecting.

10. The material handling mechanism as described in claim 9, characterized in that, The second motion component includes a second drive member, a drive wheel, a driven wheel, and a timing belt. The output end of the second drive member is connected to the drive wheel. The driven wheel is mounted on the mounting frame. The timing belt is wound around the drive wheel and the driven wheel. The timing belt is connected to the first motion component.

11. The material handling mechanism as described in claim 9, characterized in that, The second motion component includes a third drive member, a lead screw, and a lead screw nut. The output end of the third drive member is connected to the lead screw, the lead screw nut is threadedly connected to the lead screw, and the lead screw nut is connected to the first motion component.

12. The material handling mechanism as described in claim 1, characterized in that, Multiple first motion components are provided, and multiple clamping members are provided, with each clamping member connected to a corresponding first motion component; Multiple first motion components are connected to the mounting frame and spaced apart along a second direction, the first direction and the second direction intersecting.

13. The material handling mechanism as described in claim 12, characterized in that, The mounting bracket is provided with multiple linear guide rails that extend along the second direction, and each of the first motion components can move along the corresponding linear guide rail.

14. The material handling mechanism as described in claim 1, characterized in that, The adsorption element is slidably connected to the mounting frame via a third motion component.

15. The material handling mechanism as described in claim 1, characterized in that, The material handling mechanism also includes a camera, which is mounted on the mounting frame and is used to identify the position of the material plate.

16. A robot, characterized in that, The device includes an automated guided vehicle, a robotic arm, and a material handling mechanism as described in any one of claims 1-15, wherein the robotic arm is mounted on the automated guided vehicle, and the material handling mechanism is connected to the robotic arm via the mounting frame.

17. A PCB processing equipment, characterized in that, The device includes a processing machine, a hopper, and the robot as described in claim 16. The hopper is used to store the material plate, and the robotic arm is capable of moving the material handling mechanism so that the material plate can be exchanged between the hopper and the processing machine. The processing machine is used to process the material plate.

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