Material taking device and processing equipment

Abstract

The utility model discloses a material taking device and machining equipment. The material taking device comprises a supporting hook, a limiting piece, a driving piece and an elastic piece. The supporting hook comprises a hook-shaped part, the supporting hook can extend into the narrow material box space, and the hook-shaped part at the lower end supports the workpiece. The limiting piece is arranged on one side of the supporting hook and located above the hook-shaped part, and the driving piece is used for driving any one of the supporting hook and the limiting piece to move towards the other one of the supporting hook and the limiting piece; the elastic piece is elastically connected with the limiting piece, so that the limiting piece and the hook-shaped part can elastically clamp the workpiece, and the workpiece is prevented from being damaged. In the material taking process, only the edge of the workpiece is contacted, and the surface of the workpiece is not polluted.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation equipment, in particular to a material taking device and a processing equipment. BACKGROUND

[0002] In the field of fine micro-processing, the production and workpiece circulation of most products are in a clean room environment, and the dust control in the processing process and product circulation process is relatively strict. For products with high surface cleanliness requirements (such as silicon wafers, flat sheet materials, and glass), it is necessary to prevent secondary dust particle pollution of the products during processing and circulation in the workshop. Therefore, most flat sheet materials used for 3C product parts are circulated in material boxes during circulation in each process equipment. In order to improve efficiency, combined with the characteristics of the product, densely arranged material boxes are used to achieve optimal space utilization. However, this workpiece circulation method has a problem that the workpieces in the material boxes are very crowded, and it is relatively difficult to take and place the workpieces in the material boxes, which can affect the cleanliness of the workpiece surface. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a material taking device and a processing equipment, which can grab sheet-shaped workpieces in a narrow space without pollution.

[0004] The present application provides a material taking device, which comprises:

[0005] A hook is provided, which comprises a hook-shaped part for receiving the lower end of a workpiece;

[0006] A limiting piece is provided on one side of the hook and above the hook-shaped part, and the limiting piece is used to abut the upper end of the workpiece;

[0007] A driving piece is provided, which is used to drive any one of the hook and the limiting piece to move towards the other;

[0008] An elastic piece is provided, which is elastically connected with the limiting piece and can elastically clamp the workpiece between the limiting piece and the hook-shaped part.

[0009] In some embodiments, the hook is provided on the body of the driving piece, the limiting piece is connected with the driving part of the driving piece, and the elastic piece is provided between the driving part and the limiting piece.

[0010] In some embodiments, the hook is connected with the driving part of the driving piece, the limiting piece is provided on the body of the driving piece, and the elastic piece is connected with the body of the driving piece and the limiting piece.

[0011] In some embodiments, the material taking device further comprises a mounting seat provided on the body of the driving piece, the limiting piece is slidingly connected with the mounting seat, one end of the elastic piece is in abutment with the mounting seat, and the other end is in abutment with one end of the limiting piece away from the hook-shaped part.

[0012] In some embodiments, the limiting member has a limiting groove at one end facing the hook-shaped portion, the limiting groove being used to dock with the workpiece; the limiting groove is also provided with a receiving hole, and the receiving hole is also provided with a buffer member for abutting against the workpiece.

[0013] In some embodiments, the hook further includes a connecting portion connected to the driving portion, the hook-shaped portion and the connecting portion being slidably connected along the driving direction of the driving member, and the hook further includes a locking member for locking the connecting portion and the hook-shaped portion.

[0014] In some embodiments, the material handling device includes a first sensor disposed on the hook, the first sensor being used to detect the workpiece on the hook.

[0015] In some embodiments, the material handling device further includes a second sensor located on the body of the drive member, the second sensor being used to detect the position of the drive member.

[0016] In some embodiments, the drive element includes a cylinder, and the cylinder is provided with a flow regulating valve.

[0017] This application also proposes a processing device, including the above-described material handling device, and the processing device further includes a robotic arm that is driven and connected to the material handling device.

[0018] The material handling device and processing equipment in this embodiment include a hook, a limiting member, a driving member, and an elastic member. The hook includes a hook-shaped portion that can extend into a narrow material box space and supports the workpiece at its lower end. The limiting member is located on one side of the hook and above the hook-shaped portion. The driving member drives either the hook or the limiting member to move towards the other. The elastic member is elastically connected to the limiting member, enabling the limiting member and the hook-shaped portion to elastically clamp the workpiece and avoid damage to the workpiece. The above material handling process only contacts the edge of the workpiece and does not contaminate the surface of the workpiece. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the material handling device in one embodiment of this application during material handling;

[0020] Figure 2 for Figure 1 A schematic diagram of the material handling device in the embodiment;

[0021] Figure 3 for Figure 2 A partial enlarged view of the material handling device A in the embodiment;

[0022] Figure 4 This is a schematic diagram of the material handling device in another embodiment of this application;

[0023] Figure 5 This is a schematic diagram of the material handling device in another embodiment of this application.

[0024] Label Explanation:

[0025] 10. Hook; 11. Hook-shaped part; 12. Connecting part; 13. Locking element; 21. Limiting element; 22. Mounting base; 23. Connecting plate; 24. Elastic element; 25. Limiting groove; 26. Buffer element; 27. First sensor; 30. Driving element; 31. Body; 32. Mounting block; 33. Second sensor; 34. Flow regulating valve.

[0026] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0027] The solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments in this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] It should be noted that all directional indications in the embodiments of this application, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0029] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0030] Furthermore, the descriptions involving "first," "second," etc., in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0031] This application proposes a material handling device, referring to... Figures 1 to 3The material handling device includes: a hook 10, including a hook-shaped portion 11 for receiving the lower end of the workpiece; a limiting member 21, disposed on one side of the hook 10 and located above the hook-shaped portion 11, the limiting member 21 for holding the upper end of the workpiece; a driving member 30 for driving either the hook 10 or the limiting member 21 to move toward the other; and an elastic member 24, elastically connected to the limiting member 21, enabling the limiting member 21 and the hook-shaped portion 11 to elastically clamp the workpiece.

[0032] In this embodiment, the hook 10 can extend into a narrow material box space and the workpiece is supported by the hook-shaped portion 11 at its lower end. A limiting member 21 is located on one side of the hook 10 and above the hook-shaped portion 11. The driving member 30 drives either the hook 10 or the limiting member 21 to move towards the other. The elastic member 24 is elastically connected to the limiting member 21, enabling the limiting member 21 and the hook-shaped portion 11 to elastically clamp the workpiece, preventing damage. The above-described material handling process only contacts the edge of the workpiece and does not contaminate the surface of the workpiece.

[0033] In some embodiments, refer to Figure 4 The hook 10 is disposed on the body 31 of the driving member 30, the limiting member 21 is connected to the driving part of the driving member 30, and the elastic member 24 is disposed between the driving part and the limiting member 21. In this embodiment, the material picking action can be completed by fixing the hook 10 and moving the limiting member 21 toward the hook-shaped part 11. Specifically, a cylinder can be used as the driving member 30, the cylinder body is the aforementioned body 31, and the driving part is the free end of the cylinder push rod. The hook 10 can be fixed on the cylinder body, and its end away from the cylinder body is the hook-shaped part 11 facing the push rod. The limiting member 21 is slidably disposed on the mounting block 32 at the end of the push rod, and the sliding direction is along the extension and retraction direction of the push rod. At the same time, the two ends of the limiting member 21 are provided with limiting structures, which can limit the sliding range of the limiting member 21 on the mounting block 32. The elastic element 24 can be a spring with one end abutting against the limiting element 21 and the other end abutting against the mounting block 32. The spring force causes the limiting element 21 to move away from the mounting base 22. When the picking device clamps the workpiece, the limiting element 21 can abut against the workpiece, and the internal spring can buffer the kinetic energy of the limiting element 21 during movement to avoid damaging the workpiece. In actual use, the hook 10 at the lower end of the picking device can be inserted into the gap between the inner wall of the material box and the workpiece, and the hook-shaped part 11 extends down to the lower end of the workpiece and supports the lower end of the workpiece closest to the hook 10. Then the driving element 30 drives the limiting element 21 to move downward and abut against the upper end of the workpiece, completing the clamping and fixing of the workpiece. Finally, the workpiece can be taken out vertically upward.

[0034] In some embodiments, refer to Figures 1 to 3The hook 10 is connected to the driving part of the driving member 30, and the limiting member 21 is provided on the body 31 of the driving member 30. The elastic member 24 connects the body 31 of the driving member 30 and the limiting member 21. In this embodiment, the material picking action can be completed by moving the hook-shaped part 11 toward the limiting member 21. Specifically, a cylinder can be used as the driving member 30, the cylinder body is the aforementioned body 31, and the driving part is the free end of the cylinder push rod. One end of the hook 10 can be fixedly provided on the mounting block 32 at the end of the push rod, and the end of the hook 10 away from the cylinder body is the hook-shaped part 11 facing the push rod. The limiting member 21 is slidably provided on the mounting seat 22 of the cylinder body. The mounting seat 22 is connected to the cylinder body through the connecting plate 23. The connecting plate 23 is provided on the cylinder body, and one end extends out of the cylinder body along the driving direction. The mounting seat 22 is provided on the end of the connecting plate 23 located outside the cylinder body. This arrangement can avoid the workpiece from interfering with the movement of the cylinder body.

[0035] In this embodiment, the sliding direction of the limiting member 21 is set along the extension and retraction direction of the push rod. Simultaneously, limiting structures are provided at both ends of the limiting member 21, which can limit the sliding range of the limiting member 21 on the mounting block 32. Specifically, a groove can be provided in the mounting base 22, the shape of the middle section of the limiting member 21 is adapted to the groove, and limiting steps are provided at both ends of the limiting member 21 as the aforementioned limiting structures. A countersunk hole is provided at the end of the limiting member 21 away from the hook-shaped part 11. The elastic member 24 can be a spring with one end in the countersunk hole and the other end abutting against the mounting base 22. The spring force causes the limiting member 21 to move towards the side away from the mounting base 22. When the material handling device clamps the workpiece, the limiting member 21 can abut against the workpiece, and the internal spring can buffer the kinetic energy of the limiting member 21 during movement, preventing damage to the workpiece. In actual use, the hook 10 at the lower end of the material handling device can be inserted into the gap between the inner wall of the material box and the workpiece, and the hook-shaped part 11 extends down to the lower end of the workpiece. Then the driving member 30 drives the hook 10 to move upward, causing the upper end of the workpiece to abut against the limiting member 21, thus completing the clamping and fixing of the workpiece. Finally, the workpiece can be taken out vertically upward.

[0036] In some embodiments, refer to Figures 1 to 3 The limiting member 21 has a limiting groove 25 at one end facing the hook-shaped part 11, which is used to dock with the workpiece. The limiting groove 25 also has a receiving hole, in which a buffer member 26 is provided for abutting against the workpiece. In this embodiment, the limiting groove 25 can be a V-shaped groove, allowing the workpiece to be inserted into the bottom of the limiting groove 25 during docking. The buffer member 26 can be a rubber pad or a silicone pad, with one end slightly higher than the bottom of the V-shaped groove to provide greater cushioning compression and prevent direct contact between the workpiece and the limiting groove 25. The limiting groove 25 serves as a guide and centering element.

[0037] In some embodiments, refer to Figures 1 to 3The hook 10 also includes a connecting portion 12 connected to the driving part. The hook-shaped portion 11 and the connecting portion 12 are slidably connected along the driving direction of the driving member 30. The hook 10 also includes a locking member 13 for locking the connecting portion 12 and the hook-shaped portion 11. In this embodiment, a guide groove along the driving direction can be provided at one end of the connecting portion 12 near the hook-shaped portion 11. One end of the hook-shaped portion 11 is adapted to the guide groove and can slide in the guide groove. The locking member 13 can be a screw that passes through the connecting portion 12 laterally and abuts against the hook-shaped portion 11. The overall length of the hook 10 can be adjusted by loosening the screw to adapt to workpieces of different sizes. It is worth noting that the hook 10 can be provided with two hook-shaped portions 11 side by side to support the workpiece and ensure that the workpiece is subjected to balanced force. Of course, two limiting members 21 can also be provided, which can be provided on both sides of the mounting base 22 and correspond one-to-one with the hook-shaped portions 11 below.

[0038] Further reference Figure 2 and Figure 5 The material handling device includes a first sensor 27 mounted on the hook 10, which detects the workpiece on the hook 10. In this embodiment, the side wall of the connecting part 12 perpendicular to the workpiece is also provided with a notch for mounting the first sensor 27. Simultaneously, a wiring groove communicating with the notch is provided along the driving direction on this side wall. A cover plate can be installed at the wiring groove and the notch to shield the internal wires and the first sensor 27. The first sensor 27 can be a photoelectric sensor, proximity switch, etc. When the first sensor detects that its emitted light signal is blocked, it can determine that a workpiece is placed in the hook 10. The first sensor 27 identifies whether a workpiece has been picked up. The workpiece detection sensor is embedded inside the hook 10 and has a good protective device to prevent damage to the sensor due to collisions caused by misoperation.

[0039] In some embodiments, the material handling device further includes a second sensor 33 located on the body 31 of the drive member 30. The second sensor 33 is used to detect the position of the drive unit. In this embodiment, the surface of the cylinder body is provided with a mounting groove arranged along the driving direction, and the second sensor 33 is disposed in the mounting groove. It can be used to detect the extension state of the push rod to ensure that the clamping operation is monitored in real time.

[0040] In some embodiments, the drive unit 30 includes a cylinder, and the cylinder is provided with a flow regulating valve 34. The air intake of the cylinder can be adjusted by the flow regulating valve 34, thereby controlling the clamping speed of the material handling device when clamping the workpiece, and avoiding impact damage to the workpiece due to excessive speed.

[0041] This application also proposes a processing device, including the aforementioned material handling device, and further including a robotic arm driven and connected to the material handling device. The robotic arm can be an articulated robotic arm or an orthogonally driven robotic arm. Of course, it can also be a combination or variation of both, and there is no specific limitation. The processing device can be a loading and unloading device, or it can include some laser cutting or engraving equipment, etc.

[0042] The processing device in this embodiment can be used as a pneumatic flat sheet gripper, which can pick up and place workpieces in confined spaces. It is suitable for gripping and conveying small flat sheet workpieces in the 3C automation field, and will not cause secondary dust pollution to the front and back of the product, making it highly applicable in the industry. Due to its pneumatic drive, it has low cost and is simple to control and integrate; built-in sensor detection meets the closed-loop control logic requirements of automated functional components; the lower end of the gripper is replaceable, expanding the applicability of product size specifications and facilitating maintenance by end customers; the upper end of the gripper has elastic clamping, meeting the requirements for gripping thin and fragile products, and is compatible with minor dimensional differences in products of the same specification. This gripper has been successfully mass-produced and applied in relevant project equipment, achieving good economic results.

[0043] In this embodiment, the working principle of the material handling device and processing equipment is as follows: The material handling device and processing equipment include a hook 10, a limiting member 21, a driving member 30, and an elastic member 24; the hook 10 includes a hook-shaped portion 11, which can extend into a narrow material box space and support the workpiece by the hook-shaped portion 11 at its lower end. The limiting member 21 is located on one side of the hook 10 and above the hook-shaped portion 11. The driving member 30 is used to drive either the hook 10 or the limiting member 21 to move towards the other; the elastic member 24 is elastically connected to the limiting member 21, enabling the limiting member 21 and the hook-shaped portion 11 to elastically clamp the workpiece and avoid damaging the workpiece. The above material handling process only contacts the edge of the workpiece and will not contaminate the surface of the workpiece.

[0044] The above are only some or preferred embodiments of this application. Neither the text nor the drawings should limit the scope of protection of this application. All equivalent structural transformations made using the content of this application's specification and drawings under the overall concept of this application, or direct / indirect applications in other related technical fields, are included within the scope of protection of this application.

Claims

1. A material handling device, characterized in that, include: A hook, including a hook-shaped part for receiving the lower end of a workpiece; A limiting member is provided on one side of the hook and located above the hook-shaped part. The limiting member is used to hold the upper end of the workpiece. A driving component is used to drive either the hook or the limiting component to move toward the other. An elastic element is elastically connected to the limiting element, enabling the limiting element and the hook-shaped portion to elastically clamp the workpiece.

2. The material handling device according to claim 1, characterized in that, The hook is disposed on the body of the driving member, the limiting member is connected to the driving part of the driving member, and the elastic member is disposed between the driving part and the limiting member.

3. The material handling device according to claim 1, characterized in that, The hook is connected to the driving part of the driving member, the limiting member is provided on the body of the driving member, and the elastic member connects the body of the driving member and the limiting member.

4. The material handling device according to claim 3, characterized in that, The material handling device further includes a mounting base disposed on the body of the driving member, the limiting member being slidably connected to the mounting base, one end of the elastic member abutting against the mounting base, and the other end abutting against the end of the limiting member away from the hook-shaped part.

5. The material handling device according to claim 4, characterized in that, The limiting member has a limiting groove at one end facing the hook-shaped part, which is used to dock with the workpiece; the limiting groove is also provided with a receiving hole, and the receiving hole is also provided with a buffer member for resisting the workpiece.

6. The material handling device according to claim 4, characterized in that, The hook also includes a connecting portion connected to the driving part, the hook-shaped portion and the connecting portion being slidably connected along the driving direction of the driving member, and the hook also includes a locking member for locking the connecting portion and the hook-shaped portion.

7. The material handling device according to claim 4, characterized in that, The material handling device includes a first sensor disposed on the hook, the first sensor being used to detect the workpiece on the hook.

8. The material handling device according to claim 4, characterized in that, The material handling device also includes a second sensor located on the body of the drive unit, the second sensor being used to detect the position of the drive unit.

9. The material handling device according to claim 1, characterized in that, The driving component includes a cylinder, and the cylinder is equipped with a flow regulating valve.

10. A processing device, characterized in that, It includes the material handling device according to any one of claims 1 to 9, and a robotic arm drivenly connected to the material handling device.

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