Posture changing device

Abstract

The utility model provides a posture changing device. The posture changing device comprises a transferring mechanism, a material taking and placing mechanism and a posture changing mechanism. The transferring mechanism comprises a first transferring driving piece and a transferring base. The first transferring driving piece drives the transferring base to move to the material taking position or the material placing position, and the material taking and placing mechanism is connected to the transferring base. The material taking and placing mechanism is used for sucking the materials at the material taking position and releasing the materials at the material placing position. The taking and placing piece is provided with a center suction nozzle used for sucking the first component and an inclined suction nozzle used for sucking the second component. The posture changing mechanism is arranged at the discharging position. And the posture changing mechanism is used for receiving the materials released by the taking and placing part at the placing position. The posture changing piece is provided with a first bearing part and a second bearing part. The second bearing part is lower than the first bearing part. When the material taking and placing part is used for moving to the material placing position, the material taking and placing mechanism is opposite to the posture changing mechanism, the first bearing part is used for bearing the first component, and the second bearing part is used for bearing the second component. According to the posture changing device, posture changing of the materials is achieved automatically.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material conveying, in particular to a device capable of automatically changing the posture of a material. BACKGROUND

[0002] In the field of assembling, welding or testing of small materials, due to space limitations or process requirements, the materials need to have different positioning postures at different workstations. In the related art, the posture of the material is usually adjusted by manual transfer, which is low in efficiency and prone to errors. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the present application provides a device capable of automatically changing the posture of a material and facilitating the posture change of the material.

[0004] An embodiment of the present application provides a device capable of changing the posture of a material. The material includes a first component and a second component arranged obliquely. The device includes a transfer mechanism, a material taking and placing mechanism and a posture changing mechanism. The transfer mechanism includes a first transfer driving member and a transfer seat. The first transfer driving member is used to drive the transfer seat to move to a material taking position or a material placing position. The material taking and placing mechanism is connected to the transfer seat. The material taking and placing mechanism includes a material taking and placing member. The material taking and placing member is used to suck the material at the material taking position and release the material at the material placing position. The material taking and placing member has a central suction nozzle and an oblique suction nozzle. The central suction nozzle is used to suck the first component. The oblique suction nozzle is used to suck the second component. The posture changing mechanism is arranged at the material placing position. The posture changing mechanism includes a posture changing member. The posture changing member is used to receive the material released by the material taking and placing member at the material placing position. The posture changing member has a first receiving portion and a second receiving portion. The second receiving portion is lower than the first receiving portion. When the material taking and placing member moves to the material placing position, the material taking and placing mechanism and the posture changing mechanism are opposite to each other, the first receiving portion is used to receive the first component, and the second receiving portion is used to receive the second component.

[0005] The first transfer driving member drives the transfer seat to move the material taking and placing mechanism to the material taking position or the material placing position. After the material taking and placing mechanism takes the material from the material coming fixture, the material taking and placing mechanism moves to the material placing position to release the material to the posture changing member under the driving of the transfer mechanism. The suction surface of the inclined suction nozzle is inclined to adapt to the relative inclined structure relationship between the first component and the second component, so that the material taking and placing mechanism can stably take the material. The central suction nozzle sucks the first component and releases the first component to the first receiving part, and the inclined suction nozzle sucks the second component and releases the second component to the second receiving part, so as to complete the transfer of the material. The second receiving part is lower than the first receiving part, so that the distance between the first receiving part and the central suction nozzle is smaller than the distance between the second receiving part and the inclined suction nozzle. During the transfer process, the first component stops the transfer action before the second component, and the second component continues to transfer relative to the first component to produce deflection, so that the material changes the posture during the transfer from the material taking and placing mechanism to the posture changing member. Then, the posture changing member receives the material to stably maintain the changed posture state. Therefore, the posture changing device can automatically change the posture of the material.

[0006] In some embodiments of the present application, the central suction nozzle is provided with a first suction hole and a release groove. The first suction hole and the release groove are used to communicate with an external air source to suck the first component. The inclined suction nozzle is provided with a second suction hole. The second suction hole is used to communicate with the external air source to suck the second component. The release groove is used to release the first component with a smaller force than the first suction hole and the second suction hole.

[0007] The material taking and placing mechanism communicates with the external air source through the first suction hole, the release groove and the second suction hole, so that the central suction nozzle and the inclined suction nozzle inhale air to correspondingly suck the first component and the second component, so as to take the material from the material coming fixture and transfer the material. Moreover, the first suction hole, the release groove and the second suction hole can blow air to the sucked material by connecting the external air source, so as to stably release the material, which is beneficial to avoid the situation that the material still adheres to the material taking and placing mechanism after only stopping inhaling air, so as to improve the stability of transferring the material and changing the posture of the material. The force of the release groove blowing air to the first component is smaller than that of the first suction hole and the second suction hole, which helps to push the second component to produce deflection relative to the first component, so as to more easily change the posture of the material and improve the efficiency and stability of changing the posture of the material.

[0008] In some embodiments of the present application, the caliber of the release groove is larger than the caliber of the first suction hole; and / or, the caliber of the release groove is larger than the caliber of the second suction hole.

[0009] The release groove has a larger caliber than the first suction hole, and the release groove can reduce the air pressure provided by the external air source compared to the first suction hole, so that the release groove provides a smaller force than the first suction hole to release the first component. The release groove has a larger caliber than the second suction hole, and the release groove can reduce the air pressure provided by the external air source compared to the second suction hole, so that the release groove provides a smaller force than the second suction hole to release the first component.

[0010] In some embodiments of the present application, the posture changing member includes a receiving seat and a guide pin. The receiving seat has a first receiving part and a second receiving part. The guide pin is arranged on the receiving seat. When the material taking and placing member moves to the material placing position, the guide pin extends towards the material taking and placing mechanism.

[0011] When the material taking and placing member releases the material to the posture changing member, the guide pin guides the material to transfer to the receiving seat, which is conducive to improving the accuracy of the change of the posture of the material.

[0012] In some embodiments of the present application, the material taking and placing member is provided with an avoidance hole. When the material taking and placing member moves to the material placing position, the guide pin can extend into the avoidance hole.

[0013] During the process of transferring the material to the posture changing member by the material taking and placing member, the guide pin can extend into the avoidance hole, which can shorten the distance between the receiving seat of the posture changing member and the material taking and placing member, especially the distance between the second receiving part and the inclined suction nozzle, so as to reduce the difficulty of transferring the material from the material taking and placing member to the posture changing member, improve the stability of the material transfer, and improve the accuracy of the change of the posture of the material.

[0014] In some embodiments of the present application, the posture changing mechanism further includes a limiting seat. The limiting seat is provided with a limiting groove. The first receiving part and the second receiving part are located in the limiting groove.

[0015] When the material taking and placing member releases the material to the receiving seat, the material is guided and constrained by the limiting groove during the transfer process, which improves the accuracy of the material transfer and is conducive to guiding the change of the posture of the material.

[0016] In some embodiments of the present application, the first receiving part and the second receiving part are fixedly connected.

[0017] The first receiving part and the second receiving part are fixedly connected, so that the relative position of the first receiving part and the second receiving part is fixed, which is conducive to more controllable change of the posture of the material and is conducive to maintaining the state after the change of the posture of the material.

[0018] In some embodiments of the present application, the posture changing mechanism further includes a posture changing driving member. The posture changing driving member is connected with the posture changing member. When the material taking and placing member moves to the material placing position, the posture changing driving member is used to drive the first receiving part and the second receiving part to move synchronously to approach or move away from the material taking and placing member.

[0019] The posture changing driving member can drive the first receiving part and the second receiving part to move synchronously, so as to approach the material taking and placing part to take the material, and move away from the material taking and placing part to form sufficient space between the posture changing member and the material taking and placing part for the posture of the material to deflect.

[0020] In some embodiments of the present application, the first receiving part and the second receiving part are relatively separated. The posture changing mechanism further comprises a posture changing driving member. The posture changing driving member is connected with the posture changing member. The posture changing driving member is used to drive the second receiving part to move relative to the first receiving part, so that the second receiving part is lower than the first receiving part.

[0021] The posture changing driving member drives the second receiving part to move relative to the first receiving part, so that the second receiving part is lower than the first receiving part. When the material is transferred to the receiving seat, the second member moves a longer distance than the first member, so that the material deflects, and the posture of the material changes after being transferred to the receiving seat.

[0022] In some embodiments of the present application, a plurality of material taking and placing parts are provided. The plurality of material taking and placing parts are distributed at intervals and the distribution direction is perpendicular to the first direction. A plurality of posture changing members are provided. The plurality of posture changing members are distributed at intervals and the distribution direction is perpendicular to the first direction. The number of material taking and placing parts is the same as the number of posture changing members. The material taking and placing mechanism further comprises a material taking and placing distance changing member, and / or the posture changing mechanism further comprises a posture changing distance changing member. The material taking and placing distance changing member is used to change the distance between different material taking and placing parts, so that each material taking and placing part is opposite to one posture changing member along the first direction. The posture changing distance changing member is used to change the distance between different posture changing members, so that each posture changing member is opposite to one material taking and placing part along the first direction.

[0023] The plurality of material taking and placing parts and the plurality of posture changing members cooperate with each other to improve the operation efficiency of the posture changing device. The material taking and placing distance changing member adjusts the relative positions between different material taking and placing parts, so as to adapt to the positions of the materials in the incoming jig and adapt to the positions of the posture changing members. The posture changing distance changing member adjusts the relative positions between different material taking and placing parts, so as to adapt to the positions of the material taking and placing parts and adapt to the device for changing the posture of the material after the posture is changed.

[0024] In some embodiments of the present application, the material transferring mechanism further comprises a second material transferring driving member. The second material transferring driving member is used to drive the material taking and placing mechanism and / or the posture changing mechanism to move, so that the material taking and placing mechanism and the posture changing mechanism approach or move away from each other.

[0025] The second material transferring driving member drives the material taking and placing mechanism and the posture changing mechanism to approach each other, so as to reduce the difficulty of transferring the material from the material taking and placing part to the posture changing member, and improve the stability of the material transferring and the posture changing. The second material transferring driving member drives the material taking and placing mechanism and the posture changing mechanism to move away from each other, so as to increase the space between the material taking and placing part and the posture changing member, and provide sufficient space for the posture of the material to change.

[0026] In some embodiments of the present application, the material taking and placing mechanism further comprises a material taking and placing elastic member, and / or the posture changing mechanism further comprises a posture changing elastic member. The material taking and placing elastic member is connected to the material taking and placing member and is capable of being elastically deformed in the first direction. The posture changing elastic member is connected to the posture changing member and is capable of being elastically deformed in the first direction.

[0027] By providing the material taking and placing elastic member and / or the posture changing elastic member, when the material taking and placing mechanism and the posture changing mechanism are close to each other, the material taking and placing member and the posture changing member are allowed to abut against each other with buffering, thereby prolonging the service life of the posture changing device.

[0028] In some embodiments of the present application, the posture changing device further comprises a waste material suction mechanism. The waste material suction mechanism is arranged on the transfer seat. The waste material suction mechanism is used to suction material at the material taking position and / or the material placing position.

[0029] The transfer seat drives the waste material suction mechanism to move, so that the waste material suction mechanism suctions material at the material taking position, thereby suctioning away material that is not suctioned by the material taking and placing mechanism at the material taking position, and facilitating the incoming material fixture to prepare for the next material to be changed in posture. The transfer seat drives the waste material suction mechanism to move, so that the waste material suction mechanism suctions material at the material placing position, thereby suctioning away material that is not transferred by the posture changing mechanism, and facilitating the posture changing mechanism to receive the next material to be changed in posture.

[0030] In some embodiments of the present application, the material is capable of being magnetically suctioned. The waste material suction mechanism comprises a waste material suction driving member, a magnet and a magnetized member. The waste material suction driving member is arranged on the transfer seat. The magnet is arranged on the waste material suction driving member. The magnetized member is arranged on the transfer seat. The waste material suction driving member is used to drive the magnet to approach or move away from the magnetized member. When the magnet approaches the magnetized member, the magnet is capable of magnetizing the magnetized member, so that the magnetized member is capable of suctioning the material. When the magnet moves away from the magnetized member, the magnetized member is capable of being demagnetized, so that the magnetized member is capable of releasing the material.

[0031] The magnet approaches the magnetized member to magnetize the magnetized member, and the magnetized member is capable of magnetically suctioning the material, so that the waste material suction mechanism suctions the material at the material taking position and / or the material placing position. Then, the magnet moves away from the magnetized member to demagnetize the magnetized member, and the material is capable of being separated from the magnetized member, so that the waste material suction mechanism is capable of collecting the suctioned material and preparing for subsequent suction.

[0032] In some embodiments of the present application, the posture changing member is provided with an air passage. The air passage is used to communicate with an external air source, so that the posture changing member is capable of blowing air towards the received material.

[0033] By providing the air passage, the material remaining on the receiving seat can be blown up, and the waste material suction mechanism is capable of suctioning the remaining material of the posture changing mechanism.

[0034] In some embodiments of the present application, the material taking and placing mechanism sucks the material from the incoming material fixture at the material taking position. The vision detection mechanism is arranged on the transfer seat. The vision detection mechanism is used to detect the material of the incoming material fixture and the material of the posture changing mechanism.

[0035] The transfer seat drives the vision detection mechanism to move, so that the vision detection mechanism can detect the residual material at the material taking position and the residual material at the material placing position, facilitating the confirmation of the residual material and the determination of the condition that the waste material suction mechanism needs to suck the residual material. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope.

[0037] Figure 1 The structural schematic diagram of the posture changing device and the incoming material fixture provided in an embodiment of the present application is shown in the figure.

[0038] Figure 2 The structural schematic diagram of the material provided in an embodiment of the present application is shown in the figure.

[0039] Figure 3 The structural schematic diagram of the posture changing mechanism provided in an embodiment of the present application is shown in the figure. Figure 1 The structural schematic diagram of the cooperation between the material taking and placing mechanism and the waste material suction mechanism in an embodiment of the present application is shown in the figure.

[0040] Figure 4 The enlarged view of part A in the figure is shown in the figure. Figure 3

[0041] The sectional view of part B-B in the figure is shown in the figure. Figure 5 Figure 3 The sectional view of part D-D in the figure is shown in the figure.

[0042] Figure 6 Figure 1 The structural schematic diagram of the posture changing mechanism provided in an embodiment of the present application is shown in the figure.

[0043] Figure 7 The enlarged view of part C in the figure is shown in the figure. Figure 6

[0044] The sectional view of part D-D in the figure is shown in the figure. Figure 8 Figure 6 The sectional view of part E-E in the figure is shown in the figure.

[0045] Figure 9 Figure 6 The sectional view of part E-E in the figure is shown in the figure.

[0046] Explanation of main element symbols:

[0047] ​​​​100, posture changing device; 10, transfer mechanism; 11, first transfer driving member; 12, transfer seat; 13, second transfer driving member; 20, material taking and placing mechanism; 21, material taking and placing member; 211, central suction nozzle; 2111, first suction hole; 2112, release groove; 212, inclined suction nozzle; 2121, second suction hole; 213, position avoiding hole; 22, material taking and placing elastic member; 23, material taking and placing base; 30, posture changing mechanism; 31, posture changing member; 311, receiving seat; 3111, first receiving part; 3112, second receiving part; 3113, air channel; 312, guide pin; 32, limiting seat; 321, limiting groove; 33, posture changing driving member; 34, posture changing elastic member; 35, posture changing distance changing member; 40, waste material suction mechanism; 41, waste material suction driving member; 42, magnet; 43, magnetized member; 50, visual detection mechanism; 200, material; 201, first component; 202, second component; 203, pin hole; 300, material receiving jig; P1, material taking position; P2, material placing position; Z, first direction; X, second direction; Y, third direction. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments of the present application.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0050] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0051] In addition, the terms "first", "second", "third", etc. are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0052] Embodiments of the present application provide a posture changing device for changing posture of a material. The material includes a first component and a second component. The posture changing device includes a transfer mechanism, a material taking and placing mechanism, and a posture changing mechanism. The transfer mechanism includes a first transfer driving member and a transfer seat. The first transfer driving member is configured to drive the transfer seat to move to a material taking position or a material placing position. The material taking and placing mechanism is connected to the transfer seat. The material taking and placing mechanism includes a material taking and placing member. The material taking and placing member is configured to suck the material at the material taking position and release the material at the material placing position. The material taking and placing member has a central suction nozzle and an inclined suction nozzle. The central suction nozzle is configured to suck the first component. The inclined suction nozzle is configured to suck the second component. The posture changing mechanism is arranged at the material placing position. The posture changing mechanism includes a posture changing member. The posture changing member is configured to receive the material released by the material taking and placing member at the material placing position. The posture changing member has a first receiving portion and a second receiving portion. The second receiving portion is lower than the first receiving portion. When the material taking and placing member moves to the material placing position, the material taking and placing mechanism and the posture changing mechanism are opposite to each other, the first receiving portion is configured to receive the first component, and the second receiving portion is configured to receive the second component.

[0053] The first transfer driving member drives the transfer seat to move the material taking and placing mechanism to the material taking position or the material placing position. After the material taking and placing member sucks the material from the material fixture at the material taking position, the material taking and placing member moves to the material placing position to release the material to the posture changing member under the driving of the transfer mechanism. The suction surface of the inclined suction nozzle is inclined relative to the suction surface of the central suction nozzle to adapt to the relative inclined structural relationship between the first component and the second component, so that the material taking and placing member stably sucks the material. The central suction nozzle sucks the first component and releases the first component to the first receiving portion, and the inclined suction nozzle sucks the second component and releases the second component to the second receiving portion, thereby completing the transfer of the material. The second receiving portion is lower than the first receiving portion, so that the distance between the first receiving portion and the central suction nozzle is less than the distance between the second receiving portion and the inclined suction nozzle. During the transfer of the material, the first component stops the transfer action earlier than the second component, and the second component continues to transfer relative to the first component to produce a deflection, so that the material changes the posture during the transfer from the material taking and placing member to the posture changing member, and then the posture changing member receives the material to stably maintain the material in the changed posture state. Therefore, the posture changing device can automatically change the posture of the material.

[0054] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0055] Referring to Figure 1 and Figure 2 , an embodiment of the present application provides a posture changing device 100 for changing the posture of a material 200.

[0056] The material 200 includes a first component 201 and a second component 202. The first component 201 and the second component 202 are inclined. When the first component 201 and the second component 202 are assembled, for example, welded, the material 200 as a whole is in a posture. When the material 200 needs to be assembled with other components, for example, welded with other components, the material 200 needs to be turned so that the material 200 as a whole is in another posture, so as to facilitate the material 200 to assemble with other components. As an exemplary example, one posture of the material 200 needs the first component 201 to be substantially in a horizontal plane, and another posture needs the second component 202 to be substantially in a horizontal plane. Due to the limitation of the assembly cost of the automatic production line equipment, the overall structure of the material 200 is relatively small relative to the automatic production line equipment, so it is not easy to transfer and adjust the posture. Moreover, the first component 201 and the second component 202 of the material 200 are inclined to each other, which affects the stability of the material 200 when maintained in a certain posture, further increasing the difficulty of adjusting the posture of the material 200. Through the posture changing device 100 of the present application, the posture of the material 200 can be conveniently adjusted and changed.

[0057] In some embodiments, the posture changing device 100 includes a transfer mechanism 10, a material taking and placing mechanism 20, and a posture changing mechanism 30. The material 200 to be changed in posture is transported to the working position of the posture changing device 100 by the incoming material jig 300. The transfer mechanism 10 can at least drive the material taking and placing mechanism 20 to move, the material taking and placing mechanism 20 grasps the material 200 from the incoming material jig 300, and then transfers the material 200 to the posture changing mechanism 30 and adjusts the posture of the material 200.

[0058] Among them, Figure 1 The structural relationship of the posture changing device 100 shown is that the material taking and placing mechanism 20 and the incoming material jig 300 are opposite along the first direction Z, and the material taking and placing mechanism 20 and the posture changing mechanism 30 are opposite along the first direction Z; the material taking and placing mechanism 20 moves along the second direction X to cooperate with the incoming material jig 300 or the posture changing mechanism 30. In some embodiments, the first direction Z, the second direction X and the third direction Y are mutually intersected two by two. Exemplarily, the first direction Z, the second direction X and the third direction Y are mutually perpendicular two by two.

[0059] In some embodiments, the transfer mechanism 10 includes a first transfer driving member 11 and a transfer seat 12. The first transfer driving member 11 is used to drive the transfer seat 12 to move to a material taking position P1 or a material placing position P2. The material taking and placing mechanism 20 is connected to the transfer seat 12. The posture changing mechanism 30 is arranged at the material placing position P2. Among them, the posture changing mechanism 30 can be fixed to the material placing position P2; the posture changing mechanism 30 can also move relative to the material placing position P2, but can at least move to the material placing position P2. Exemplarily, Figure 1The diagram shows the state when both the material handling mechanism 20 and the attitude-changing mechanism 30 are in the material handling position P2. As an example, the first transfer drive 11 can be a cylinder or a motor, and can guide the movement direction of the transfer seat 12 through a structure such as a guide rail.

[0060] The first transfer drive 11 drives the transfer seat 12 to move the pick-up and release mechanism 20 to the pick-up position P1 or the release position P2. After the pick-up and release component 21 picks up the material 200 from the incoming jig 300 at the pick-up position P1, the pick-up and release mechanism 20 moves to the release position P2 under the drive of the transfer mechanism 10 to release the material 200 to the posture change mechanism 30.

[0061] See Figures 1 to 3 , Figure 6 In some embodiments, the material handling mechanism 20 includes a material handling component 21. The material handling component 21 is used to pick up material 200 at the picking position P1 and release material 200 at the discharging position P2. Figure 4 As shown, the pick-and-place component 21 has a central suction nozzle 211 and an inclined suction nozzle 212. The central suction nozzle 211 is used to pick up the first component 201. The inclined suction nozzle 212 is used to pick up the second component 202. Wherein, along the first direction Z, the inclined suction nozzle 212 is inclined to the side away from the incoming material fixture 300 and away from the posture changing mechanism 30.

[0062] The inclined suction nozzle 212 is provided with an inclined adsorption surface, and the central suction nozzle 211 is provided with a flat adsorption surface, so as to adapt to the relative inclined structural relationship between the first component 201 and the second component 202, thereby enabling the pick-and-place component 21 to stably pick up the material 200.

[0063] In some embodiments, the attitude-changing mechanism 30 includes an attitude-changing member 31. The attitude-changing member 31 is used to receive the material 200 released by the pick-up / discharge member 21 at the discharge position P2. Figure 7 As shown, the attitude-changing component 31 has a first receiving portion 3111 and a second receiving portion 3112. The second receiving portion 3112 is lower than the first receiving portion 3111. When the pick-and-place component 21 is moved to the placement position P2, the pick-and-place mechanism 20 and the attitude-changing mechanism 30 are opposite each other. The first receiving portion 3111 is used to receive the first component 201, and the second receiving portion 3112 is used to receive the second component 202. Specifically, along the first direction Z, the side of the second receiving portion 3112 facing the pick-and-place mechanism 20 is lower than the side of the first receiving portion 3111 facing the pick-and-place mechanism 20.

[0064] The central suction nozzle 211 adsorbs the first component 201 and releases it to the first receiving part 3111. The tilting suction nozzle 212 adsorbs the second component 202 and releases it to the second receiving part 3112, thus completing the transfer of material 200. The second receiving part 3112 is lower than the first receiving part 3111, making the distance between the first receiving part 3111 and the central suction nozzle 211 smaller than the distance between the second receiving part 3112 and the tilting suction nozzle 212. During the transfer of material 200, the first component 201 stops transferring before the second component 202. The second component 202 continues to transfer relative to the first component 201 and deflects. Therefore, the material 200 changes its posture during the transfer from the pick-and-place component 21 to the posture-changing component 31. Then, the posture-changing component 31 receives the material 200 and keeps it stably in the changed posture state. Therefore, the posture changing device 100 can automatically change the posture of the material 200, which helps to save labor costs and improves the efficiency of the posture changing operation of the material 200.

[0065] Understandably, in some embodiments, the relative positions of the central suction nozzle 211 and the inclined suction nozzle 212 correspond to the relative positions of the first component 201 and the second component 202 of the material 200 in the feeding fixture 300, so that the overall posture of the material 200 remains unchanged during the adsorption process, thereby accurately picking up the material 200. Because the overall structure of the material 200 is small, the adsorption force of the pick-and-place component 21 cannot be too large, otherwise it may cause the position of the material 200 relative to the pick-and-place component 21 to shift, which is not conducive to the transfer of the material 200, or it may adsorb structures at non-corresponding positions. Furthermore, because the adsorption force of the pick-and-place component 21 in absorbing the material 200 is small, the relative positions of the central suction nozzle 211 and the inclined suction nozzle 212 need to correspond to the relative positions of the first component 201 and the second component 202 to accurately and stably pick up the material 200. The feeding fixture 300 is typically provided with a groove to accommodate the material 200, and the pick-and-place component 21 can extend into the groove of the feeding fixture 300 to accurately pick up the material 200.

[0066] In some embodiments, the first transfer drive 11 drives the transfer seat 12 to move in the second direction X. In other embodiments, the first transfer drive 11 drives the transfer seat 12 to move in a direction parallel to the first direction Z. The attitude change device 100, by providing a rotating drive or other structure, causes the transfer seat 12 to drive the picking and unloading mechanism 20 to have different orientations at the picking position P1 and the unloading position P2, so that the picking and unloading mechanism 20 can pick up materials at the picking position P1 and unload materials at the unloading position P2.

[0067] In some embodiments, the pick-up position P1 and the discharge position P2 are distributed along the second direction X. That is, the distribution direction of the pick-up position P1 and the discharge position P2 intersects with the first direction Z. The transfer mechanism 10 also includes a second transfer drive 13. The second transfer drive 13 is used to drive the pick-up / discharge mechanism 20 and / or the attitude-changing mechanism 30 to move along the first direction Z, so that the pick-up / discharge mechanism 20 and the attitude-changing mechanism 30 move closer to or further away from each other along the first direction Z. As an exemplary example, the second transfer drive 13 may be a cylinder or a motor, and may guide the movement direction of the pick-up / discharge mechanism 20 and the attitude-changing mechanism 30 through a structure such as a guide rail.

[0068] The second transfer drive 13 drives the pick-and-place mechanism 20 and the attitude-changing mechanism 30 to move closer together, reducing the difficulty of transferring material 200 from the pick-and-place component 21 to the attitude-changing component 31 and improving the stability of material 200 transfer and attitude change. The second transfer drive 13 also drives the pick-and-place mechanism 20 and the attitude-changing mechanism 30 to move further apart, increasing the space between the pick-and-place component 21 and the attitude-changing component 31, providing sufficient space for the attitude change of material 200.

[0069] It is understood that in some embodiments, the second transfer drive 13 can drive the pick-and-place mechanism 20 and the attitude-changing mechanism 30 to move independently; or the second transfer drive 13 can drive the pick-and-place mechanism 20 and the attitude-changing mechanism 30 to move synchronously. For example, Figure 1 The embodiment shown only illustrates the second transfer drive 13 driving the pick-and-place mechanism 20 without driving the attitude change mechanism 30.

[0070] In some embodiments, the second transfer drive 13 is disposed on the transfer seat 12 so as to cooperate with the first transfer drive 11 to control the movement of the material pick-and-place mechanism 20 and other structures in different directions.

[0071] See Figures 2 to 4 In some embodiments, the central suction nozzle 211 is provided with a first suction hole 2111 and a release groove 2112. The first suction hole 2111 and the release groove 2112 are used to connect to an external air source to draw in the first component 201. The first suction hole 2111 and the release groove 2112 can be connected to the same external air source; or the first suction hole 2111 and the release groove 2112 can be connected to different external air sources.

[0072] The material handling component 21 is connected to an external air source through the first suction hole 2111 and the release groove 2112, allowing the central suction nozzle 211 to draw in air, thereby adsorbing the first component 201. This facilitates the removal and transfer of material 200 from the incoming jig 300. Furthermore, the central suction nozzle 211, connected to the external air source through the first suction hole 2111 and the release groove 2112, can blow air onto the adsorbed material 200, ensuring stable release of the material 200. This helps prevent the material 200 from remaining attached to the material handling component 21 after suction stops, thus improving the stability of transferring and changing the posture of the material 200.

[0073] The tilting nozzle 212 is provided with a second suction hole 2121, which is used to connect to an external air source to suck up the second component 202. The second suction hole 2121 can be connected to the same external air source as the first suction hole 2111 and / or the release groove 2112; or the second suction hole 2121 can be connected to different external air sources as the first suction hole 2111 and the release groove 2112.

[0074] The pick-and-place component 21 is connected to an external air source through the second suction hole 2121, causing the inclined suction nozzle 212 to draw air, thereby adsorbing the second component 202. This facilitates the removal and transfer of material 200 from the incoming material fixture 300. Furthermore, the inclined suction nozzle 212, connected to the external air source through the second suction hole 2121, can blow air onto the adsorbed material 200, ensuring stable release of the material 200. This helps prevent the material 200 from remaining attached to the pick-and-place component 21 after suction stops, thus improving the stability of transferring and changing the orientation of the material 200.

[0075] In some embodiments, the release groove 2112 is used to provide a smaller force than the first suction hole 2111 and the second suction hole 2121 to release the first component 201, which helps to push the second component 202 to deflect relative to the first component 201, thereby making it easier to change the posture of the material 200 and improving the efficiency and stability of changing the posture of the material 200.

[0076] In some embodiments, the diameter of the release groove 2112 is larger than the diameter of the first suction hole 2111. The release groove 2112 can reduce the air pressure provided by the external air source compared to the first suction hole 2111, so that the release groove 2112 provides a smaller force than the first suction hole 2111 to release the first component 201.

[0077] The diameter of the release groove 2112 is larger than the diameter of the second suction hole 2121. Compared with the second suction hole 2121, the release groove 2112 can reduce the air pressure provided by the external air source, so that the release groove 2112 can provide a smaller force than the second suction hole 2121 to release the first component 201.

[0078] In some embodiments, the release groove 2112 is connected to different air sources relative to the first suction hole 2111 and the second suction hole 2121, so that the release groove 2112 provides a smaller force than the first suction hole 2111 to release the first component 201.

[0079] It is understood that in some embodiments, the diameter of the release groove 2112 is larger than the diameter of the first suction hole 2111 and the second suction hole 2121, and the release groove 2112 is also connected to a different external air source relative to the first suction hole 2111 and the second suction hole 2121, so that the release groove 2112 provides a smaller force than the first suction hole 2111 to release the first component 201.

[0080] In some embodiments, when the material 200 rotates and changes its posture, the release groove 2112 is located closer to the axis of the material 200 than the first suction hole 2111 and the second suction hole 2121, so that the second component 202 can rotate more easily relative to the first component 201.

[0081] See Figure 3 and Figure 5 In some embodiments, the material handling mechanism 20 further includes a material handling elastic member 22. The material handling elastic member 22 is connected to the material handling member 21. The material handling elastic member 22 is capable of elastic deformation along a first direction Z. The material handling member 21 may be connected to one or more material handling elastic members 22.

[0082] By setting up the material handling elastic element 22, a buffer is provided for the material handling component 21 and the posture changing component 31 to come into contact with each other when the material handling mechanism 20 and the posture changing mechanism 30 are close to each other, thereby improving the service life of the posture changing device 100.

[0083] In some embodiments, the pick-and-place mechanism 20 further includes a pick-and-place base 23. The pick-and-place base 23 is connected to the transfer seat 12. A pick-and-place member 21 is disposed on the pick-and-place base 23. A pick-and-place elastic member 22 is connected between the pick-and-place member 21 and the pick-and-place base 23 so that the pick-and-place member 21 can move relative to the pick-and-place base 23 in a first direction Z.

[0084] See Figures 1 to 3 In some embodiments, multiple picking and placing components 21 are provided. Each picking and placing component 21 picks up one piece of material 200. The multiple picking and placing components 21 are distributed at intervals. The distribution direction of the multiple picking and placing components 21 is parallel to the second direction X and / or the third direction Y. By setting multiple picking and placing components 21, multiple pieces of material 200 can be transferred simultaneously, improving the operating efficiency of the posture changing device 100.

[0085] It is understood that in some embodiments, when there are multiple picking and placing components 21, all of the picking and placing components 21 are located on the picking and placing base 23. Each picking and placing component 21 is provided with a corresponding picking and placing elastic component 22.

[0086] See Figure 2 , Figure 6 and Figure 7 In some embodiments, the changing posture member 31 includes a receiving seat 311. The receiving seat 311 has a first receiving portion 3111 and a second receiving portion 3112. The size of the receiving seat 311 is adapted to the material 200 to facilitate receiving the material 200 and to facilitate cooperation with other devices for subsequent operations on the material 200.

[0087] In some embodiments, the posture-changing component 31 further includes a guide pin 312. The guide pin 312 is disposed on the receiving seat 311. When the picking and placing component 21 moves to the placing position P2, the guide pin 312 extends toward the picking and placing mechanism 20 along the first direction Z. Each receiving seat 311 may be provided with one guide pin 312 or multiple guide pins 312.

[0088] When the material 200 is released from the pick-and-place component 21 to the posture change component 31, the material 200 is guided to the receiving seat 311 by setting the guide pin 312, which helps to improve the accuracy of the posture change of the material 200.

[0089] Understandably, in some embodiments, the material 200 has a pin hole 203. The guide pin 312 can pass through the pin hole 203, which is beneficial for accurately guiding the orientation deflection of the material 200.

[0090] It is understood that in some embodiments, the guide pin 312 is provided on the second receiving part 3112. The second receiving part 3112 corresponds to the second component 202 that receives the material 200. Since the second component 202 has a large attitude deflection relative to the first component 201, the guide pin 312 is provided to guide the attitude deflection of the second component 202.

[0091] Understandably, in some embodiments, the end of the guide pin 312 facing the material pick-up / placement component 21 in the first direction Z is a tapered tip, which facilitates the guide pin 312 to pass into the pin hole 203 of the material 200.

[0092] See Figure 2 , Figure 4 and Figure 7 In some embodiments, the pick-and-place component 21 is provided with a clearance hole 213. The clearance hole 213 extends along a first direction Z. When the pick-and-place component 21 moves to the placement position P2, the guide pin 312 can extend into the clearance hole 213.

[0093] During the process of transferring material 200 from pick-up / placement component 21 to posture-changing component 31, guide pin 312 can extend into clearance hole 213, which can shorten the distance between receiving seat 311 of posture-changing component 31 and pick-up / placement component 21, especially the distance between second receiving part 3112 and inclined suction nozzle 212, so as to reduce the difficulty of transferring material 200 from pick-up / placement component 21 to posture-changing component 31, improve the stability of material 200 transfer and the accuracy of material 200 posture change.

[0094] See Figure 2 , Figure 6 and Figure 7 In some embodiments, the attitude-changing mechanism 30 further includes a limiting seat 32. The limiting seat 32 is provided with a limiting groove 321. A receiving seat 311 is provided on the limiting seat 32. And the first receiving part 3111 and the second receiving part 3112 are located within the limiting groove 321.

[0095] When the material 200 is released from the pick-up / placement component 21 to the receiving seat 311, the material 200 is guided and constrained by the limiting groove 321 during the transfer process, which improves the accuracy of the transfer of the material 200 and helps to guide the change of the posture of the material 200.

[0096] Understandably, in some embodiments, along the first direction Z, the side of the first receiving portion 3111 facing the material picker 21 is lower than the groove of the limiting groove 321 facing the material picker 21, and the side of the second receiving portion 3112 facing the material picker 21 is lower than the groove of the limiting groove 321 facing the material picker 21.

[0097] Understandably, in some embodiments, the boundary of the limiting groove 321 coincides with the boundary of the receiving seat 311 when projected along the first direction Z.

[0098] In some embodiments, the first receiving portion 3111 and the second receiving portion 3112 are fixedly connected to fix their relative positions, which facilitates more controllable changes in the posture of the material 200 and helps maintain the state of the material 200 after the posture change. The first receiving portion 3111 and the second receiving portion 3112 can be an integrally formed structure.

[0099] It is understood that in some embodiments, when the first receiving part 3111 and the second receiving part 3112 are fixedly connected, the relative positions of the first receiving part 3111 and the second receiving part 3112 can be adjusted by replacing different receiving seats 311.

[0100] In some embodiments, the first receiving part 3111 and the second receiving part 3112 are relatively separated (not shown) to facilitate adjustment of the relative positions of the first receiving part 3111 and the second receiving part 3112, which is beneficial to control the posture of the material 200 to change to different forms according to different needs.

[0101] See Figure 2 , Figures 6 to 8 In some embodiments, the attitude-changing mechanism 30 further includes an attitude-changing drive 33. The attitude-changing drive 33 is connected to the attitude-changing component 31.

[0102] When the first receiving part 3111 and the second receiving part 3112 are fixedly connected and the pick-and-place component 21 moves to the placement position P2, the attitude-changing drive component 33 drives the first receiving part 3111 and the second receiving part 3112 to move synchronously along the first direction Z to synchronously approach or move away from the pick-and-place component 21. The attitude-changing drive component 33 can drive the first receiving part 3111 and the second receiving part 3112 to move synchronously, so as to approach the pick-and-place component 21 to pick up the material 200, and to move away from the pick-and-place component 21 so that a sufficient space is formed between the attitude-changing drive component 31 and the pick-and-place component 21 for the material 200 to deflect.

[0103] When the first receiving portion 3111 and the second receiving portion 3112 are separated relative to each other (not shown), the attitude-changing drive member 33 drives the second receiving portion 3112 to move relative to the first receiving portion 3111 along the first direction Z, so that the second receiving portion 3112 is lower than the first receiving portion 3111. The attitude-changing drive member 33 drives the second receiving portion 3112 to move relative to the first receiving portion 3111, so that the relative position of the second receiving portion 3112 and the first receiving portion 3111 is different from the relative position of the inclined suction nozzle 212 and the center suction nozzle 211, thereby enabling the material 200 to change its posture after being transferred to the receiving seat 311.

[0104] See Figure 6 , Figure 7 and Figure 9 In some embodiments, the attitude-changing mechanism 30 further includes an attitude-changing elastic element 34. The attitude-changing elastic element 34 is connected to the attitude-changing element 31. The attitude-changing elastic element 34 is capable of elastic deformation along a first direction Z. The attitude-changing element 31 may be connected to one or more attitude-changing elastic elements 34.

[0105] By setting up the posture-changing elastic element 34, a buffer is provided for the picking and placing component 21 and the posture-changing component 31 to come into contact with each other when the picking and placing mechanism 20 and the posture-changing mechanism 30 approach each other, thereby improving the service life of the posture-changing device 100.

[0106] Understandably, in some embodiments, the distance between the guide pin 312 and the pick-and-place component 21 along the first direction Z is less than the distance between the receiving seat 311 and the pick-and-place component 21. A variable-position elastic element 34 is connected between the guide pin 312 and the receiving seat 311 to allow the guide pin 312 to move relative to the receiving seat 311 along the first direction Z. In other embodiments, the variable-position elastic element 34 may be connected between the receiving seat 311 and the limiting seat 32.

[0107] See Figure 5 and Figure 9 It is understood that in some embodiments, only one of the material handling elastic element 22 and the posture changing elastic element 34 may be provided, or both may be provided.

[0108] See Figure 2 and Figure 6 In some embodiments, multiple attitude-changing components 31 are provided. Each attitude-changing component 31 receives one material 200. The multiple attitude-changing components 31 are distributed at intervals. The distribution direction of the multiple attitude-changing components 31 is parallel to the second direction X and / or the third direction Y. By setting multiple attitude-changing components 31, multiple materials 200 can be received simultaneously, improving the operating efficiency of the attitude-changing device 100.

[0109] See Figure 6 and Figure 9 In some embodiments, when multiple posture-changing components 31 are provided, the multiple posture-changing components 31 are provided on the limiting seat 32, each posture-changing component 31 is provided with a corresponding posture-changing elastic component 34, and each posture-changing component 31 is provided with a corresponding posture-changing driving component 33.

[0110] See Figures 1 to 3 , Figure 6 It is understood that in some embodiments, the number of pick-up / placement components 21 is the same as the number of orientation change components 31. And along the first direction Z, each pick-up / placement component 21 can be positioned opposite to an orientation change component 31.

[0111] In some embodiments, when multiple picking and placing components 21 and multiple posture changing components 31 are provided, the picking and placing mechanism 20 further includes a picking and placing distance changing component (not shown), and the posture changing mechanism 30 further includes a posture changing distance changing component 35. Only one of the picking and placing distance changing component 21 or both of the posture changing distance changing component 35 may be provided. The picking and placing distance changing component 21 is used to change the distance between different picking and placing components 21 so that each picking and placing component 21 and one posture changing component 31 are opposite each other along the first direction Z. The posture changing distance changing component 35 is used to change the distance between different posture changing components 31 so that each posture changing component 31 and one picking and placing component 21 are opposite each other along the first direction Z.

[0112] Multiple pick-and-place components 21 and multiple posture-changing components 31 cooperate to improve the operating efficiency of the posture-changing device 100. Furthermore, the pick-and-place distance-changing component adjusts the relative positions between different pick-and-place components 21 to adapt to the positions of each material 200 within the incoming material fixture 300 and to the positions of each posture-changing component 31. The posture-changing distance-changing component 35 adjusts the relative positions between different pick-and-place components 21 to adapt to the positions of each pick-and-place component 21 and to the device for handling the material 200 after its posture has been changed.

[0113] See Figures 1 to 3 In some embodiments, the changing posture device 100 further includes a waste adsorption mechanism 40. The waste adsorption mechanism 40 is disposed on the transfer seat 12. The waste adsorption mechanism 40 is used to adsorb material 200 at the material pick-up position P1 and / or the material discharge position P2.

[0114] The transfer seat 12 moves the waste adsorption mechanism 40, causing it to adsorb material 200 at the picking position P1. This allows the material 200 not adsorbed by the picking and discharging mechanism 200 at the picking position P1 to be removed, facilitating the receiving fixture 300 to prepare for the next change of orientation of material 200. The transfer seat 12 also moves the waste adsorption mechanism 40, causing it to adsorb material 200 at the discharging position P2. This allows the material 200 not transferred by the orientation change mechanism 30 to be removed, facilitating the orientation change mechanism 30 to receive the next change of orientation of material 200.

[0115] In some embodiments, the changing posture device 100 further includes a waste container (not shown). The waste container is used to hold the material 200 adsorbed by the waste adsorption mechanism 40. It is understood that in some embodiments, the waste container is located between the picking position P1 and the discharging position P2, and the transfer seat 12 can pass through the location of the waste container when moving between the picking position P1 and the discharging position P2, so that the waste adsorption mechanism 40 can release the adsorbed material 200 into the waste container.

[0116] In some embodiments, the material 200 can be magnetically adsorbed. The waste adsorption mechanism 40 can magnetically adsorb the material 200 from the feeding fixture 300 or the posture changing mechanism 30. Compared with airflow adsorption, magnetic adsorption eliminates the need to consider the construction of gas flow channels and the risk of accidental aspiration of other structures.

[0117] In some embodiments, the waste adsorption mechanism 40 includes a waste adsorption drive 41, a magnet 42, and a magnetizing element 43. The waste adsorption drive 41 is disposed on the transfer base 12. The magnet 42 is disposed on the waste adsorption drive 41. The magnetizing element 43 is disposed on the transfer base 12. The waste adsorption drive 41 drives the magnet 42 to move closer to or away from the magnetizing element 43. When the magnet 42 moves closer to the magnetizing element 43, the magnet 42 magnetizes the magnetizing element 43, so that the magnetizing element 43 can adsorb the material 200. When the magnet 42 moves away from the magnetizing element 43, the magnetizing element 43 demagnetizes, so that the magnetizing element 43 can release the material 200. The magnet 42 is a permanent magnet. Exemplarily, the waste adsorption drive 41 is connected to the pick-and-place base 23.

[0118] Magnet 42 approaches magnetizing element 43 to magnetize it, enabling it to magnetically attract material 200. This allows waste adsorption mechanism 40 to adsorb material 200 at the picking position P1 and / or discharging position P2. Then, magnet 42 moves away from magnetizing element 43 to demagnetize it, allowing material 200 to detach from it. This facilitates the collection of material 200 adsorbed by waste adsorption mechanism 40 and prepares the waste adsorption mechanism 40 for subsequent adsorption.

[0119] In other embodiments, the waste adsorption mechanism 40 is capable of adsorbing the material 200 by means of an electromagnet.

[0120] See Figure 1 , Figures 7 to 9 In some embodiments, the first receiving portion 3111 and / or the second receiving portion 3112 are provided with an air passage 3113. The air passage 3113 is used to connect to an external air source so that the first receiving portion 3111 and / or the second receiving portion 3112 can blow air toward the material 200 being received.

[0121] By setting the air passage 3113, the residual material 200 on the receiving seat 311 can be blown up, which makes it easier for the waste adsorption mechanism 40 to adsorb the residual material 200 of the posture changing mechanism 30.

[0122] See Figure 1 and Figure 2 In some embodiments, the attitude-changing device 100 further includes a vision inspection mechanism 50. The vision inspection mechanism 50 is disposed on the transfer seat 12. The vision inspection mechanism 50 is used to inspect the material 200 of the incoming fixture 300 and the material 200 of the attitude-changing mechanism 30.

[0123] The transfer seat 12 drives the vision inspection mechanism 50 to move, so that the vision inspection mechanism 50 can detect the residual material 200 at the material pick-up position P1 and the residual material 200 at the material discharge position P2, so as to confirm the residual material 200 and clarify the situation where the waste adsorption mechanism 40 needs to adsorb the residual material 200.

[0124] Understandably, in some embodiments, the visual inspection unit 50 detects and identifies the material 200 using a CCD (charge coupled device) camera.

[0125] In some embodiments, the first transfer drive 11 can drive the pick-and-place mechanism 20, the waste adsorption mechanism 40, and the vision inspection mechanism 50 to move between the pick-up position P1 and the placement position P2. The second transfer drive 13 can drive the pick-and-place mechanism 20, the waste adsorption mechanism 40, and the vision inspection mechanism 50 to move closer to or further away from the posture change mechanism 30 along the first direction Z, or drive the pick-and-place mechanism 20, the waste adsorption mechanism 40, and the vision inspection mechanism 50 to move closer to or further away from the incoming fixture 300 along the first direction Z.

[0126] See Figure 1 and Figure 2 In some embodiments, the working principle of the attitude-changing device 100 is as follows:

[0127] The incoming fixture 300 carries the material 200 to the picking position P1; the vision inspection mechanism 50 moves to the picking position P1 to check if the incoming material is normal; if it is not normal, the material is reintroduced; if it is normal, the picking can continue and the posture of the material 200 can be adjusted.

[0128] The material handling mechanism 20 moves to the material handling position P1 and picks up the material 200 from the incoming material fixture 300; the vision inspection mechanism 50 moves to the material handling position P1 and checks whether there is any residual material in the incoming material fixture 300; if there is residual material, the waste adsorption mechanism 40 picks up the material 200.

[0129] The visual inspection mechanism 50 moves to the discharge position P2 to check whether there is residual material in the posture change mechanism 30; if there is residual material, the waste adsorption mechanism 40 picks up the material 200; the pick-up and discharge mechanism 20 moves to the discharge position P2 and prepares to release the material 200 to the posture change mechanism 30.

[0130] The material 200 is subjected to air blowing by the pick-up and drop-out component 21, and the posture change drive component 33 drives the posture change component 31 to move, so that the material 200 completes the posture change.

[0131] Furthermore, those skilled in the art should recognize that the above embodiments are merely illustrative of this application and are not intended to limit this application. Any appropriate changes and variations made to the above embodiments within the essential spirit and scope of this application fall within the scope of this application's disclosure.

Claims

1. A repositioning device for changing the position of material, said material comprising a first member and a second member arranged in an inclined manner, characterized in that, The posture changing device comprises: a transfer mechanism comprising a first transfer driving member and a transfer seat, the first transfer driving member being configured to drive the transfer seat to move to a material taking position or a material releasing position; a material taking and releasing mechanism connected to the transfer seat, the material taking and releasing mechanism comprising a material taking and releasing member, the material taking and releasing member being configured to suck the material at the material taking position and release the material at the material releasing position, the material taking and releasing member having a central suction nozzle and an inclined suction nozzle, the central suction nozzle being configured to suck the first component, and the inclined suction nozzle being configured to suck the second component; a posture changing mechanism arranged at the material releasing position, the posture changing mechanism comprising a posture changing member, the posture changing member being configured to receive the material released by the material taking and releasing member at the material releasing position, the posture changing member having a first receiving part and a second receiving part, the second receiving part being lower than the first receiving part, the material taking and releasing mechanism and the posture changing mechanism being opposite to each other when the material taking and releasing member moves to the material releasing position, the first receiving part being configured to receive the first component, and the second receiving part being configured to receive the second component.

2. The attitude change device according to claim 1, characterized by The central suction nozzle is provided with a first suction hole and a release groove, the first suction hole and the release groove being configured to communicate with an external air source to suck the first component, the inclined suction nozzle is provided with a second suction hole, the second suction hole being configured to communicate with the external air source to suck the second component, and the release groove is configured to provide a smaller force than the first suction hole and the second suction hole to release the first component.

3. The attitude change device according to claim 2, characterized by The caliber of the release groove is larger than the caliber of the first suction hole, and / or the caliber of the release groove is larger than the caliber of the second suction hole.

4. The attitude change device according to claim 1, characterized by The posture changing member comprises a receiving seat and a guide pin, the receiving seat having the first receiving part and the second receiving part, and the guide pin being arranged in the receiving seat, The material taking and releasing member is provided with an avoidance hole, and the guide pin is configured to extend into the avoidance hole when the material taking and releasing member moves to the material releasing position.

5. The attitude change device according to claim 1, characterized by The posture changing mechanism further comprises a limiting seat provided with a limiting groove, the first receiving part and the second receiving part being located in the limiting groove, and the first receiving part and the second receiving part being fixedly connected.

6. The attitude change device according to claim 5, characterized by The posture changing mechanism further comprises a posture changing driving member, the posture changing driving member being connected with the posture changing member, and the posture changing driving member being configured to drive the first receiving part and the second receiving part to move synchronously to approach or move away from the material taking and releasing member when the material taking and releasing member moves to the material releasing position.

7. The attitude change device according to claim 1, characterized by The first receiving part and the second receiving part are opposite to each other, the posture changing mechanism further comprises a posture changing driving member, the posture changing driving member being connected with the posture changing member, and the posture changing driving member being configured to drive the second receiving part to move relative to the first receiving part, so that the second receiving part is lower than the first receiving part.

8. The attitude change device according to any one of claims 1 to 7, characterized by, The transfer mechanism further comprises a second transfer driving member, the second transfer driving member being configured to drive the material taking and releasing mechanism and / or the posture changing mechanism to move, so that the material taking and releasing mechanism and the posture changing mechanism approach or move away from each other.

9. The attitude change device according to claim 8, characterized by The material taking and releasing mechanism further comprises a material taking and releasing elastic member, and / or the posture changing mechanism further comprises a posture changing elastic member, wherein The taking and placing elastic member is connected with the taking and placing member, and the taking and placing elastic member can be elastically deformed.

10. The attitude change device according to any one of claims 1 to 7, characterized by, The posture changing device further comprises a waste material adsorbing mechanism, which is arranged on the moving seat and is used for adsorbing the material at the taking position and / or the placing position.

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