Manipulator, stock bin equipment and feeding and discharging system

Abstract

The utility model relates to the technical field of plate transferring equipment, discloses a mechanical arm, stock bin equipment and a feeding and discharging system, and aims to solve the problem that in the feeding process, adhered and falling plates cannot be accurately stacked and positioned. The mechanical arm comprises a support body, at least one adsorption assembly and a plurality of limiting assemblies. The adsorption assembly is connected with the support body and comprises a suction cup, the suction cup is used for grabbing a preset plate in the first direction, and the limiting assembly is connected with the support body. Wherein the first direction, the second direction and the third direction are perpendicular to one another. And at least one limiting assembly is arranged in a telescopic mode in the second direction, at least one limiting assembly is arranged in a telescopic mode in the third direction, and the limiting assemblies are used for controlling the stacking positions of the preset plates in the second direction and the third direction. And the stacking space and the stacking position of the preset plates in the stock bin piece are limited through the multiple limiting assemblies.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of plate conveying equipment, in particular to a mechanical hand, a stock bin device and a feeding and discharging system. BACKGROUND

[0002] In the plate processing process, the mechanical hand needs to grab the plate in the stock bin and convey the plate to the preset processing position, so as to realize the automatic operation of plate processing.

[0003] Since a large number of plates (i.e. a material pile) are stacked in the stock bin in the up-down direction, in the process of grabbing and lifting the plate in the stock bin by the mechanical hand, the grabbed plate will be adsorbed and drive the lower layer or multiple layers of plates to move upward under the action of atmospheric pressure.

[0004] Even if the adhesion of one layer or multiple layers of plates is separated from the grabbed plate by shaking the mechanical hand, the adhesion of the plate falling above the material pile will be horizontally offset under the action of air cushion below, so as to cause the misaligned stacking of the multiple layers of plates on the upper side of the material pile. In this way, in the process of continuously grabbing the plate by the mechanical hand, due to the misaligned stacking of the upper layer of plates, the mechanical hand cannot grab the accurate position of the adsorbed plate, or the mechanical hand simultaneously grabs multiple plates, so as to cause the abnormal automatic processing of the plate, and even cause the plate processing to be scrapped. CONTENT OF THE UTILITY MODEL

[0005] The application aims to provide a mechanical hand, a stock bin device and a feeding and discharging system, and aims to solve the problem that the adhesion of the falling plate cannot be accurately stacked and positioned in the feeding process.

[0006] In order to achieve the above-mentioned purpose, the application adopts the following technical scheme:

[0007] In the first aspect, some embodiments of the application provide a mechanical hand, which comprises a support body, at least one adsorption assembly and multiple limiting assemblies. The adsorption assembly is connected with the support body, the adsorption assembly comprises a suction cup, the suction cup is used for grabbing a preset plate along a first direction, and the limiting assembly is connected with the support body. At least one limiting assembly is arranged in extension along a second direction, and at least one limiting assembly is arranged in extension along a third direction, which is used for controlling the stacking position of the preset plate in the second direction and the third direction. Wherein, the first direction, the second direction and the third direction are arranged perpendicular to each other.

[0008] Beneficial effects: in the process of adsorbing and grabbing the preset boards, when the manipulator approaches the stacked preset boards along the first direction, the plurality of limiting components connected with the support body also approach the stacked preset boards along the first direction. When the limiting components move along the first direction to coincide with part of the preset boards, the plurality of limiting components are controlled to shrink inward along the telescopic movement direction, thereby limiting the width space and length space of the top stacked preset boards in the second direction and the third direction. Subsequently, in the process of the manipulator sucking the preset boards by the suction cups, even if part of the preset boards are adhered and cause the part of the preset boards to fall off. Because the plurality of limiting components have limited the length space and width space of the stacked preset boards, the preset boards that are adhered and fall off will also be stacked neatly along the first direction under the limiting action of the plurality of limiting components. So that the manipulator can accurately and quickly grab the accurate position of the preset boards when next adsorbing and grabbing the preset boards, and avoid the situation of simultaneously grabbing multiple preset boards due to mispositioning of the boards. It is beneficial to improve the stability and smoothness of the automatic processing of the preset boards, thereby improving the yield rate of the automatic processing of the preset boards.

[0009] In a second aspect, some embodiments of the present application provide a stock bin device, which includes a stock bin support, a stock bin piece, and a plurality of limiting components. The stock bin piece is detachably connected with the stock bin support, and the stock bin piece is used for stacking preset boards in a first direction. The limiting components are connected with the stock bin support.

[0010] At least one limiting component is arranged to be telescopic in a second direction, and at least one limiting component is arranged to be telescopic in a third direction, for controlling the stacking position of the preset boards in the second direction and the third direction. The first direction, the second direction, and the third direction are arranged to be perpendicular to each other.

[0011] Beneficial effects: by arranging the plurality of limiting components in the stock bin device, the length space and width space of the stacked preset boards in the stock bin piece can also be limited, and the preset boards that are adhered and fall off will also be stacked neatly along the first direction under the limiting action of the plurality of limiting components. So that the manipulator can accurately and quickly grab the accurate position of the preset boards when next adsorbing and grabbing the preset boards, and avoid the situation of simultaneously grabbing multiple preset boards due to mispositioning of the boards. It is beneficial to improve the stability and smoothness of the automatic processing of the preset boards, thereby improving the yield rate of the automatic processing of the preset boards.

[0012] In a third aspect, some embodiments of the present application provide an up and down feeding system, which includes a stock bin device, a manipulator, and a plurality of limiting components.

[0013] The silo equipment includes a silo support and a silo component, which is detachably connected to the silo support. The silo component is used to stack preset plates along a first direction. The robotic arm includes a support body and at least one suction component, which is connected to the support body. The suction component includes a suction cup for gripping the preset plates along the first direction.

[0014] The limiting components are connected to the hopper support or the support body. At least one limiting component is telescopically arranged along a second direction, and at least one limiting component is telescopically arranged along a third direction, used to control the stacking position of the preset plates in the second and third directions. The first, second, and third directions are perpendicular to each other.

[0015] Beneficial effects: Since the loading and unloading system is a structural device corresponding to the robotic arm in the first aspect or the silo equipment in the second aspect, the loading and unloading system has all the beneficial effects of the robotic arm or the silo equipment mentioned above, which will not be elaborated here. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional structural diagram of a loading and unloading system provided in an embodiment of this application;

[0018] Figure 2 for Figure 1 A three-dimensional structural diagram of the loading and unloading system from another perspective;

[0019] Figure 3 for Figure 2 A three-dimensional structural diagram of the robotic arm shown in the image;

[0020] Figure 4 for Figure 3 A three-dimensional structural schematic diagram of the limiting component shown in the figure;

[0021] Figure 5 for Figure 4 An exploded view of the limiting component shown.

[0022] Figure 6 This is a schematic diagram of the signal connection of a robotic arm provided in an embodiment of this application;

[0023] Figure 7 for Figure 2 The loading and unloading system shown is a side view excluding the hopper support;

[0024] Figure 8 For Figure 7 A local enlarged view of the bracket body shown in FIG. 1B;

[0025] Figure 9 For Figure 3 A perspective structural schematic view of the adsorption assembly shown in FIG. 1C;

[0026] Figure 10 For Figure 3 A perspective structural schematic view of the bracket body shown in FIG. 1B.

[0027] Reference signs:

[0028] 100, feeding and discharging system;

[0029] 10, silo device; 11, silo bracket; 12, silo piece; 13, feeding opening; 14, second lifting assembly;

[0030] 20, manipulator; 21, bracket body; 211, beam body; 212, beam piece; 213, vertical beam piece; 22, adsorption assembly; 221, suction cup; 222, support arm; 223, adapter; 224, strip-shaped hole; 23, first lifting assembly;

[0031] 30, limiting assembly; 31, telescopic driving piece; 311, telescopic end; 32, limiting arm; 321, first end; 322, second end; 33, detection unit; 34, control unit; 35, buffer part; 36, connecting part. DETAILED DESCRIPTION

[0032] In order to make the above objectives, features and advantages of the present application more apparent and easy to understand, the specific embodiments of the present application are described in detail below in conjunction with the drawings. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0033] In the description of the present application, it should be understood that if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0036] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0037] like Figure 1 and Figure 2 As shown, this application provides a loading and unloading system 100, which includes a hopper device 10 and a robot arm 20. The hopper device 10 includes a hopper support 11 and a hopper component 12, which is detachably connected to the hopper support 11. The hopper component 12 is used to stack preset plates along a first direction (such as the Z direction, i.e., the up and down direction).

[0038] For example, the hopper component 12 can be a frame structure or a box structure. The hopper component 12 is provided with a stacking cavity so that multiple preset plates can be stacked sequentially in the vertical direction within the stacking cavity.

[0039] The detachable connection between the hopper component 12 and the hopper support 11 allows the hopper equipment 10 to feed materials via the robotic arm 20. If the preset plates in the hopper component 12 are exhausted, the hopper component 12 on the hopper support 11 can be replaced to replenish the preset plates, ensuring continuous and stable feeding of the preset plates.

[0040] In the process of grabbing the preset boards in the hopper 12 by the mechanical arm 20 and lifting, the grabbed preset boards will be adsorbed and drive the underlying one or more layers of preset boards to move upward under the action of atmospheric pressure (due to the negative pressure between the two adjacent preset boards).

[0041] Even if the one or more layers of adhesion boards are separated from the grabbed preset board by shaking the mechanical arm 20, the adhesion boards falling downward along the first direction above the material pile will be laterally offset under the action of air cushioning (at this time, the two adjacent preset boards are in a high pressure state), thereby causing the misaligned stacking of the multiple layers of preset boards on the upper side of the material pile. In this way, in the process of the mechanical arm 20 continuing to grab the preset boards, the mechanical arm 20 cannot grab the accurate position of the adsorbed preset boards due to the misaligned stacking of the upper preset boards, or the mechanical arm 20 simultaneously grabs and adsorbs multiple layers of preset boards, thereby causing abnormal automatic processing of the preset boards, and even causing the processing of the preset boards to be scrapped.

[0042] Therefore, in order to solve the problem that the adhesion boards falling during the feeding process cannot be accurately stacked and positioned.

[0043] As shown in Figure 3 , the mechanical arm 20 includes a support body 21 and at least one adsorption assembly 22. The adsorption assembly 22 is connected with the support body 21, and the adsorption assembly 22 includes a suction cup 221 for grabbing the preset boards along the first direction (i.e., the Z direction). In combination with Figure 2 , the suction cup 221 is arranged downward along the Z direction, and when the mechanical arm 20 moves above the hopper 12, the suction cup 221 can adsorb and grab the preset boards stacked one by one from bottom to top in the hopper 12 below.

[0044] Continuing to refer to Figure 3 , the mechanical arm 20 further includes a plurality of limiting assemblies 30 connected with the support body 21. Among them, the first direction (i.e., the Z direction), the second direction (such as the X direction) and the third direction (such as the Y direction) are arranged perpendicular to each other. At least one limiting assembly 30 is arranged to be telescopic along the X direction, and at least one limiting assembly 30 is arranged to be telescopic along the Y direction, for controlling the stacking position of the preset boards in the X direction and the Y direction.

[0045] In the process of adsorbing and grabbing the preset boards, when the manipulator 20 approaches the stacked preset boards in the Z direction, the plurality of limiting assemblies 30 connected with the support body 21 also approach the stacked preset boards in the Z direction. When the limiting assemblies move downward in the Z direction to coincide with the upper stacked partial preset boards, the plurality of limiting assemblies 30 are controlled to shrink inwardly in the X direction and the Y direction, so as to limit the width space and the length space of the upper stacked partial preset boards in the X direction and the Y direction. Subsequently, in the process of the manipulator 20 adsorbing and grabbing the preset boards by the suction cups 221, even if the lower partial preset boards are adhered and cause the partial preset boards to fall off. Since the plurality of limiting assemblies 30 have limited the length space and the width space of the stacked preset boards, the preset boards that are adhered and fall off will also be stacked in order in the Z direction under the limiting action of the plurality of limiting assemblies 30. So that the manipulator 20 can accurately and quickly grab the accurate position of the preset boards when adsorbing and grabbing the preset boards next time, and avoid the situation that multiple preset boards are grabbed at the same time due to mispositioning of the boards. It is beneficial to improve the stability and smoothness of the automatic processing of the preset boards, thereby improving the yield of the automatic processing of the preset boards.

[0046] In some embodiments, as shown in Figure 4 and Figure 5 , the limiting assembly 30 includes a telescopic driving member 31, a limiting arm 32, and a detection unit 33. The telescopic driving member 31 has a telescopic end (not shown in the figure), the first end of the limiting arm 32 is connected with the telescopic end of the telescopic driving member 31, and the second end of the limiting arm 32 is located on the same side of the support body 21 in the Z direction (as shown in Figure 3 ). The telescopic driving member 31 is arranged in connection with the support body 21. Referring to Figure 6 , the limiting assembly 30 further includes a control unit 34, the detection unit 33 is used for detecting the position state of the limiting arm 32 (as shown in Figure 5 ), and the control unit 34 is electrically connected with the detection unit 33 and the telescopic driving member 31, and is used for adjusting the position state of the limiting arm 32.

[0047] In the process of controlling the telescopic movement of the limiting arm 32 in the X direction or the Y direction, the telescopic driving member 31 of the limiting assembly 30 is provided with the detection unit 33 and the control unit 34, so that the detection unit 33 can detect the position state of the limiting arm 32, and the position state of the limiting arm 32 is adjusted by the control unit 34, that is, the telescopic end of the through-hole telescopic driving member 31 accurately adjusts the extension length of the limiting arm 32, so as to control the length size (in the X direction) and the width size (in the Y direction) when the preset boards are stacked. So that the preset boards can be stacked in order in the up-down direction within the preset length space and width space.

[0048] The cooperation of the telescopic driving member 31, the detection unit 33 and the control unit 34 can automatically and accurately jump the position state of the limiting arm, accurately limit the length space and width space of the preset plate stack, and realize the automatic adjustment and configuration of the system.

[0049] Taking the Z direction as the up-down direction, the X direction as the left-right direction, and the Y direction as the front-rear direction as an example.

[0050] The number of the limiting assembly 30 in the mechanical arm 20 can be two. One limiting assembly 30 is arranged in the left-right direction, and the other limiting assembly 30 is arranged in the front-rear direction.

[0051] As shown in the example, Figure 2 As shown in the example,

[0052] Based on this, one of the limiting assemblies 30 is arranged in the X direction, so that the telescopic driving member 31 is connected and fixed with the bracket body 21. The limiting arm 32 in the limiting assembly 30 is arranged close to the right end of the bracket body 21, and the limiting arm 32 connected with the telescopic end 311 is configured to be arranged by extending from left to right. The other limiting assembly 30 is arranged in the Y direction, so that the telescopic driving member 31 is connected and fixed with the bracket body 21. The limiting arm 32 in the limiting assembly 30 is arranged close to the rear end of the bracket body 21, and the limiting arm 32 connected with the telescopic end is configured to be arranged by extending from front to rear.

[0053] When the manipulator 20 moves above the hopper piece 12, the telescopic drives 31 of the two limiting assemblies 30 are controlled to extend the two limiting arms 32 backward and rightward respectively. Then, the manipulator 20 and / or the hopper piece 12 are moved to make the plurality of suction cups 221 on the lower side of the support body 21 approach the preset boards in the hopper piece 12 along the Z direction. When the suction cups 221 approach, contact or adsorb the uppermost preset board, the two limiting arms 32 are controlled by the two telescopic drives 31 to retract forward and leftward until the leftward retracted limiting arm 32 has a gap of 2-5 mm with the right end of the material pile and the forward retracted limiting arm 32 has a gap of 2-5 mm with the rear end of the material pile, and generally the distance between the limiting arm 32 and the material pile is 2 mm or 3 mm. Then, after adsorbing and grabbing the preset board, the manipulator 20 and the hopper piece 12 are separated along the Z direction, at this time, the manipulator 20 can be controlled to shake to make the adhered preset board fall off. Since the front side wall, the left side wall, the rear side limiting arm 32 and the right side limiting arm 32 of the hopper piece 12 enclose a space with a length and a width slightly larger than the contour of the preset board, the adhered and fallen preset board can be accurately and neatly stacked under the limiting condition. Thus, the drift misalignment of the lower one or more preset boards during stacking is avoided, and the accuracy and stability of grabbing the preset board for processing are improved.

[0054] That is, in the above scheme, by arranging one limiting assembly 30 along the X direction and one limiting assembly 30 along the Y direction, the two adjacent side walls of the hopper piece 12 can be matched, the preset boards in the hopper piece 12 can be effectively limited, and the preset boards can still maintain a neat stacked state during the feeding and grabbing process. The structure is simple and can effectively limit the stacking of the preset boards.

[0055] It can be understood that the number of limiting assemblies 30 can also be three or more. For example, a plurality of limiting assemblies 30 can be arranged to extend along the X direction, and part of the limiting assemblies 30 are distributed along the Y direction. A plurality of limiting assemblies 30 can also be arranged to extend along the Y direction, and part of the limiting assemblies 30 are distributed along the X direction.

[0056] In other embodiments, the number of limiting assemblies 30 can also be at least four. Taking the case that the number of limiting assemblies 30 is four as an example. Two limiting assemblies 30 are arranged to extend along the X direction, one limiting arm 32 of the two limiting assemblies 30 is used to extend backward, and the other limiting arm 32 is used to extend forward. Two limiting assemblies 30 are arranged to extend along the Y direction, one limiting arm 32 of the two limiting assemblies 30 is used to extend rightward, and the other limiting arm 32 is used to extend leftward. That is, in the above two groups of limiting assemblies 30, the two telescopic ends 311 in each group are located at the two ends of the two telescopic drives 31 away from each other.

[0057] Therefore, in the process of grabbing the preset plates stacked in the hopper 12, the length space and the width space of the preset plates in the stacking process can be independently limited by the at least four limiting assemblies 30 arranged in the four directions in sequence without the cooperation of the inner wall of the hopper 12, so that the preset plates stacked in the hopper 12 can be flexibly selected to stack at a position.

[0058] In some embodiments, as shown in Figure 4 and Figure 5 , when the telescopic driving part 31 is arranged to be telescopic along the Y direction. Referring to Figure 5 , the second end 322 (the lower end) of the limiting arm 32 is arranged to be bent along the Y direction towards the side (i.e. the outer side, such as the rear side or the right side) away from the telescopic driving part 31.

[0059] Correspondingly, when the telescopic driving part 31 is arranged to be telescopic along the X direction, the second end 322 of the limiting arm 32 is arranged to be bent along the X direction towards the side (i.e. the outer side, such as the right side) away from the telescopic driving part 31.

[0060] That is, the second end 322 (i.e. the lower end) of the limiting arm 32 is arranged to be bent outwards along the X direction or the Y direction. When the manipulator 20 and the hopper 12 are close to each other along the Z direction, even if the lower end of the limiting arm 32 contacts the preset plates, the limiting arm 32 with the lower end bent outwards can exert an inward moving force on the preset plates, which is beneficial to the stacking and resetting of the preset plates. Moreover, the limiting arm 32 with the lower end bent can avoid directly pressing and damaging the preset plates downwards.

[0061] As shown in Figure 7 and Figure 8 , along the Z direction, the second end of the limiting arm 32 is lower than the suction cup 221.

[0062] That is, along the Z direction, the first spacing dimension between the second end 322 of the limiting arm 32 and the bracket body 21 is greater than the second spacing dimension between the suction cup 221 and the bracket body 21. For example, the first spacing dimension is greater than the second spacing dimension by 30-50 mm.

[0063] In this way, when the manipulator 20 and the preset plates in the hopper 12 are close to each other along the Z direction until the suction cup 221 contacts the uppermost preset plates, the second end 322 of the limiting arm 32 is arranged to overlap the multiple preset plates below the grabbed preset plates in the up-down direction. When the telescopic driving part 31 drives the limiting arm 32 to contract inwards, the inner side of the limiting arm 32 can limit the stacking length space and the stacking width space of the multiple preset plates.

[0064] In some embodiments, the limiting arm 32 is in a sheet structure. The limiting arm 32 is made of metal, alloy or high polymer material with good elastic properties.

[0065] In the process of approaching each other along the Z direction of the manipulator 20 and the bin piece 12, by setting the limiting arm 32 as a sheet structure with good elastic performance, the situation of force fracture of the limiting arm caused by extrusion contact of the second end 322 of the limiting arm 32 with the frame, bottom plate or preset plate of the bin piece 12 and other components in the up-down direction can be avoided.

[0066] As shown in Figure 5 and Figure 8 , the limiting assembly 30 further comprises a buffer part 35, and at least the second end of the limiting arm 32 is provided with the buffer part 35.

[0067] For example, the buffer part 35 can be a buffer sleeve structure, and the second end 322 of the limiting arm 32 is sleeved with the buffer part 35. When the second end 322 of the limiting arm 32 contacts the frame, bottom plate or preset plate of the bin piece 12, the direct contact of the limiting arm 32 with the above-mentioned components can be avoided by the setting of the buffer part 35, so as to buffer and protect the above-mentioned components and the limiting arm 32 by the setting of the buffer part 35.

[0068] Alternatively, the buffer part 35 can also be a coating structure, that is, at least the second end of the limiting arm 32 is sprayed with the buffer part 35, and the entire limiting arm 32 vertically arranged along the Z direction can also be sprayed with the buffer part 35, which is not limited.

[0069] In some embodiments, as shown in Figure 4 and Figure 5 , the limiting arm 32 is approximately L-shaped structure. That is, the limiting arm 32 is vertically bent to be arranged, so that the first end 321 of the limiting arm 32 is transversely arranged (i.e. perpendicular to the Z direction), and the upper part of the second end 322 of the limiting arm 32 is vertically arranged (i.e. parallel to the Z direction).

[0070] At this time, when connecting the limiting arm 32 and the telescopic end 311, the first end 321 of the limiting arm 32 contacts and fits the upper side of the telescopic end 311, and the upper end of the vertical part of the limiting arm 32 contacts and fits the end face of the telescopic end 311, so as to increase the contact area of the limiting arm 32 and the telescopic end 311, thereby improving the firmness and stability of the fixation of the two.

[0071] Continuing to refer to Figure 4 and Figure 5 , the detection unit 33 is connected with the telescopic end 311 of the telescopic driving piece 31. Along the Z direction, the sensing end of the detection unit 33 and the second end 322 of the limiting arm 32 are located on the same side of the telescopic driving piece 31. Along the telescopic direction of the telescopic driving piece 31, the second end 322 of the limiting arm 32 is provided with the detection unit 33 close to the inner side of the telescopic driving piece 31.

[0072] Since the preset board material to be processed (such as a printed circuit board substrate) has a specific color. The detection unit 33 can be set as a color sensor for detecting whether there is a color change of the preset board material below the detection unit 33. That is, by detecting whether the moving position has the color change of the preset board material, the detection unit 33 can detect the gap size of the limiting arm 32 compared with the preset board material.

[0073] Taking a PCB (Printed Circuit Board) substrate with a preset board material whose color is brownish yellow as an example. Along the extension direction of the telescopic drive 31 (such as the X direction or the Y direction), the sensing end of the detection unit 33 is arranged in a spaced manner with the limiting arm 32 (such as the vertical part of the limiting arm).

[0074] Referring to Figure 8 , the gap size d between the sensing end of the detection unit 33 and the limiting arm 32 can be 2mm-5cm. For example, the gap size d between them can be set to 30mm.

[0075] In the process of the telescopic drive 31 driving the limiting arm 32 to move inwards, the sensing end of the detection unit 33 moves synchronously towards the edge of the preset board material until the sensing end is flush with the edge of the preset board material along the Z direction. At this time, the detection unit can identify the color (such as brownish yellow) of the preset board material and send a sensing signal.

[0076] The control unit 34 can receive the sensing signal and learn that the gap between the vertical part of the limiting arm 32 and the preset board material is 30mm at this time. Subsequently, the control unit 34 can accurately control the retraction stroke of the telescopic drive 31 so that the vertical part of the limiting arm 32 has a suitable gap size (such as 2mm or 3mm) with the preset board material along the telescopic movement direction, thereby enabling the preset board material that is stuck and falls to be stacked neatly within a limited length space and width space.

[0077] Based on this, the control unit 34 can be configured such that when the detection unit 33 detects the color of the preset board material and sends a sensing signal, the control unit 34 receives the sensing signal and controls the telescopic drive 31 to stop retracting the limiting arm 32 after a preset time period, so that the gap size between the limiting arm 32 and the preset board material along the telescopic direction (such as the X direction or the Y direction) of the telescopic drive 31 is 2-5mm.

[0078] For example, the telescopic drive 31 is uniformly moving at least in the process of driving the limiting arm 32 to retract. And the control unit 34 can be a time delay relay, which controls the telescopic drive 31 to stop moving after a preset time period after receiving the sensing signal sent by the detection unit 33. The time delay relay can flexibly adjust the specific value of the preset time period, as long as the gap size between the limiting arm 32 and the preset board material is 2-5mm.

[0079] The value of the preset time length can be determined according to the moving speed of the limiting arm 32 and the gap size between the detection unit 33 and the limiting arm 32. For example, when d = 30 mm, the moving speed of the limiting arm 32 is 0.4 m / s when the limiting arm 32 is retracted, and the gap between the limiting arm 32 and the preset plate is 2 mm. The preset time length t = (30-2) / (0.4*1000) = 70 ms.

[0080] In addition, the control unit 34 can also be a control chip to flexibly adjust the preset time length through a preset program, so as to adjust the gap between the limiting arm 32 and the preset plate.

[0081] Alternatively, the telescopic driving member 31 can also adjust and control the stroke of the telescopic end 311. For example, when the control unit 34 receives the sensing signal, the control unit 34 controls the telescopic driving member 31 to continue retracting by 27 mm or 28 mm, so that the gap between the limiting arm 32 and the preset plate is 3 mm or 2 mm.

[0082] In some embodiments, as shown in Figure 5 The limiting assembly 30 can further include a connecting portion 36, one end of the connecting portion 36 is arranged between the telescopic end 311 and the limiting arm 32 along the moving direction of the telescopic driving member 31, and the connecting portion 36 is connected with the telescopic end 311. The other end of the connecting portion 36 is vertically bent and used for connecting the detection unit 33.

[0083] In other embodiments, the detection unit 33 can also be a pressure sensor. At this time, the limiting arm 32 is connected with the telescopic end 311 through the detection unit 33. Alternatively, the detection unit 33 is arranged between the telescopic end 311 and the limiting arm 32 along the telescopic direction of the telescopic driving member 31. In this way, the detection unit 33 can detect the acting force between the telescopic end 311 and the limiting arm 32.

[0084] In this way, when the telescopic driving member 31 drives the limiting arm 32 to retract and move until the limiting arm 32 contacts the edge of the preset plate, the preset plate will exert a reverse acting force on the telescopic end 311 through the limiting arm 32. When the pressure sensor detects that the reverse acting force is greater than or equal to a preset pressure value, the detection unit 33 sends a pressure signal to the control unit 34. At this time, the limiting arm 32 contacts the preset plate, that is, the control unit 34 controls the limiting arm 32 to reversely extend by 2-5 mm through the telescopic driving member 31.

[0085] In the embodiments of the present application, the telescopic driving member 31 can be an electric cylinder. The driving motor thereof can be powered by a stepping motor or a servo motor. At this time, the control unit 34 is electrically connected with the driving motor, so as to flexibly control the rotation angle and rotation speed of the driving motor through an electric signal, thereby adjusting the telescopic stroke and telescopic moving speed of the limiting arm 32.

[0086] Alternatively, the telescopic driving member 31 can also be a compressed air cylinder, and a separate pneumatic pipeline can be arranged together with the suction cup 221 to accurately control the stroke of the telescopic driving member 31.

[0087] Wherein, along the Z direction, the telescopic driving member 31 and the suction cup 221 are respectively arranged on opposite sides of the support body 21. For example, the telescopic driving member 31 is arranged above the support body 21 and connected with the support body, and the plurality of suction cups 221 are arranged below the support body 21 and distributed at intervals.

[0088] In some embodiments, as shown in Figure 10 , the support body 21 includes a beam body 211, a plurality of beam members 212, and a plurality of longitudinal beam members 213. The beam body 211 and the beam members 212 extend along the Y direction, and at least two beam members 212 are distributed along the X direction on opposite sides of the beam body 211. The longitudinal beam members 213 extend along the X direction, and a plurality of longitudinal beam members 213 are distributed along the Y direction. One longitudinal beam member 213 connects the beam body 211 and at least one beam member 212 to form a frame structure of the support body 21.

[0089] Wherein, in the plane perpendicular to the Z direction, the space between the plurality of beam members 212 and the plurality of longitudinal beam members 213 of the support body 21 is the inner side of the support body 21, and the other is the outer side of the support body 21.

[0090] Based on this, one of the telescopic driving members 31 is fixedly connected with the beam body 211 and is arranged to extend along the Y direction, and the support body 21 is provided with a avoiding part at a position close to the telescopic end 311 along the Y direction, so that the telescopic end 311 of the telescopic driving member 31 can drive the limiting arm 32 to move along the Y direction on the inner and outer sides of the support body 21.

[0091] The other telescopic driving member 31 is fixedly connected with the support body 21 and is arranged to extend along the X direction. The support body 21 is provided with a avoiding part at a position close to the telescopic end 311 along the X direction, so that the telescopic end 311 of the telescopic driving member 31 can drive the limiting arm 32 to move along the X direction on the inner and outer sides of the support body 21.

[0092] In some embodiments, as shown in Figure 3 , the manipulator 20 further includes a first lifting assembly 23 connected with the support body 21 and located on the upper side of the support body 21 along the Z direction, for controlling the support body 21 to move up and down along the Z direction.

[0093] Referring to Figure 7 , the silo device 10 further includes a second lifting assembly 14. In combination with Figure 2The second lifting component 14 is connected and fixed to the hopper bracket 11, and the second lifting component 14 supports the hopper component 12 through the bracket so that the hopper component 12 can be detached.

[0094] Thus, by setting the first lifting component 23, the height position of the robot arm 20 can be adjusted along the Z direction so that the robot arm 20 moves downward toward the preset plates stacked in the hopper component 12. The second lifting component 14 is used to adjust the height position of the hopper component 12 so that the preset plates stacked in the hopper component 12 maintain a relatively stable height, so that the robot arm 20 can accurately adsorb and grasp the preset plates.

[0095] For example, such as Figure 6 As shown, the control unit 34 is electrically connected to the first lifting assembly 23 and the second lifting assembly 14, and is used to control the operation of the first lifting assembly 23 and the second lifting assembly 14, thereby flexibly controlling the height position of the robot arm 20 and the hopper component 12.

[0096] In some embodiments, the robotic arm 20 is provided with a plurality of adsorption components 22, which are connected to and spaced apart from the support body 21. This increases the contact area between the robotic arm 20 and the preset material when the robotic arm 20 adsorbs and grasps it, so that the robotic arm 20 can stably grasp the preset material and can adapt to preset materials of different sizes and specifications.

[0097] like Figure 9 As shown, the adsorption assembly 22 also includes a support arm 222 and an adapter 223. The support arm 222 has a slotted hole 224 for connecting... Figure 3 The support arm 222 is connected to the bracket body 21 via bolts, rivets, or quick-release bolts through a strip hole. The support arm 222 is connected to the adapter 223, which is positioned along the Z direction, and a suction cup 221 is connected to the lower end of the adapter 223.

[0098] For example, the upper end of the adapter 223 is a lead screw structure and is connected to the threaded hole on the support arm 222 so as to flexibly adjust the height position of the adapter 223, thereby flexibly adjusting the height of the suction cup 221 so that multiple suction cups 221 are on the same plane perpendicular to the Z direction.

[0099] The middle or lower section of the adapter 223 can be configured as a buffer component, such as a spring or a rubber column, so that the adapter 223 can provide elastic buffering at the moment when the suction cup 221 contacts the preset plate, so as to absorb the force of the preset plate and the suction cup 221 at the moment of contact.

[0100] Thus, in this embodiment of the application, by installing a limiting component 30 along the X and Y directions at the robot arm 20, the stacking space and stacking position of the preset plates are restricted in conjunction with the two adjacent side walls of the hopper device 10.

[0101] For example, one or more of the mechanical hands 20 are moved in the X direction from left to right into the hopper support 11, and when one of the mechanical hands 20 is directly above the hopper piece 12 (or the preset plate stack) in the Z direction. The control unit 34 controls the two telescopic driving members 31 to be at the maximum stroke at the telescopic end 311, and then the mechanical hand is controlled to move downward by the first lifting assembly 23 until the plurality of suction cups 221 contact the uppermost preset plate of the stack. At this time, the control unit 34 controls the two telescopic driving members 31 to uniformly retract the limiting arms 32, and the detection unit 33 senses until the two limiting arms 32 are 2-3 mm apart from the preset plate in the X direction and the Y direction.

[0102] At this time, the two limiting arms 32 are respectively at the right side and the rear side of the stack, and the front side and the left side of the stack are in contact with the front inner wall and the left inner wall of the hopper piece 12.

[0103] Then the plurality of suction cups 221 are controlled to adsorb and grab the uppermost preset plate. Then the mechanical hand 20 is shaken during the lifting process to make the preset plate or more preset plates adhered below the grabbed preset plate fall off. Due to the space limitation of the left inner side, the front inner wall, the rear limiting arm 32 and the right limiting arm 32 of the hopper piece 12, the fallen preset plates can be sequentially stacked in the original position, or in the stacking space of the length space and the width space of the limiting (i.e. small offset). In this way, when the preset plate is adsorbed and grabbed by the mechanical hand 20 next time, the corresponding position of the preset plate can be accurately grabbed, and multiple preset plates can be avoided. The stability of the process of grabbing the preset plate for processing is ensured.

[0104] Among them, as the number of preset plates stacked in the hopper piece 12 decreases, the height of the hopper piece 12 can be raised by the second lifting assembly 14, so that the uppermost preset plate can maintain a relatively stable height position, so as to control the mechanical hand 20 to accurately grab the preset plate.

[0105] In other embodiments, in the feeding and discharging system 100, a plurality of limiting assemblies 30 can also be arranged at the hopper device 10. That is, the limiting assembly 30 (such as the telescopic driving member 31) is arranged in connection with the hopper support 11. At this time, at least one limiting assembly 30 is arranged in the X direction, and at least one limiting assembly 30 is arranged in the Y direction, for controlling the stacking position of the preset plate in the X direction and the Y direction.

[0106] A limiting assembly 30 is fixed to the right side of the silo support 11, so that the telescopic drive 31 can control the connected limiting arm 32 to move leftwardly and rightwardly. A limiting assembly is fixed to the rear side of the silo support 11, so that the corresponding telescopic drive 31 can control the connected limiting arm to move forwardly and backwardly. The front inner wall and the left inner wall of the silo member 12 together limit the length space and the width space of the stack.

[0107]

[0108] It should be noted that when multiple limiting assemblies 30 are provided in the silo device 10, the multiple limiting assemblies 30 in the silo device 10 can be flexibly adjusted according to the above embodiments to adapt to different application environments, and no limitation is made.

[0109] In the embodiments of the present application, the silo device 10 and the manipulator 20 can be flexibly applied as needed. For example, the silo device 10 can be combined with the manipulator 20 to form a feeding and discharging system, or the manipulator 20 or the silo device 10 can be used alone, and no limitation is made.

[0110] In the feeding and discharging system 100, multiple limiting assemblies 30 can be provided in the silo device 10, or multiple limiting assemblies 30 can be provided in the manipulator 20. Multiple limiting assemblies 30 can also be provided in the silo device 10 and the manipulator 20 respectively, and no limitation is made.

[0111] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0112] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.​

Claims

1. A robot, characterized in that The support body (21) comprises: at least one adsorption assembly (22) connected with the support body (21), the adsorption assembly (22) comprising a suction cup (221) for grabbing a preset board along a first direction; and a plurality of limiting assemblies (30) connected with the support body (21); at least one of the limiting assemblies (30) is arranged in an extension-retraction mode along a second direction, and at least one of the limiting assemblies (30) is arranged in an extension-retraction mode along a third direction, the limiting assemblies (30) being used for controlling the stacking position of the preset board along the second direction and the third direction; wherein the first direction, the second direction and the third direction are arranged perpendicular to each other. The limiting assembly (30) comprises:

2. The robot according to claim 1, characterized in that a telescopic driving member (31) connected with the support body (21); a limiting arm (32), a first end (321) of the limiting arm (32) being connected with a telescopic end (311) of the telescopic driving member (31), and a second end (322) of the limiting arm (32) being located on the same side of the support body (21) along the first direction with the suction cup (221); a detection unit (33) for detecting the position state of the limiting arm (32); and a control unit (34) electrically connected with the detection unit (33) and the telescopic driving member (31), the control unit (34) being used for adjusting the position state of the limiting arm (32) according to the sensing signal of the detection unit (33). The detection unit (33) is connected with the telescopic end (311) of the telescopic driving member (31); 3. The robot of claim 2, wherein, along the first direction, a sensing end of the detection unit (33) is located on the same side of the telescopic driving member (31) with the second end (322) of the limiting arm (32); along the telescopic direction of the telescopic driving member (31), the second end (322) of the limiting arm (32) is provided with the detection unit (33) close to the inner side of the telescopic driving member (31); The detection unit (33) is a color sensor, which detects whether the moving position has a color change of the preset board, so that the detection unit (33) detects the gap size of the limiting arm (32) compared with the preset board. Along the telescopic direction of the telescopic driving member (31), the detection unit (33) is arranged in a spaced mode with the limiting arm (32); 4. The robot of claim 3, wherein The control unit (34) is configured to: the detection unit (33) detects the color of the preset board and sends a sensing signal, and the control unit (34) receives the sensing signal and controls the telescopic driving member (31) to stop retracting the limiting arm (32) after a preset time length, so that the gap size of the limiting arm (32) and the preset board along the telescopic direction of the telescopic driving member (31) is 2-5mm. The telescopic driving member (31) is a compression cylinder or an electric cylinder.

5. The robot of claim 2, wherein, ​ 6. The robot according to any one of claims 1 to 5, characterized in that, The number of the limiting assembly (30) is two, one of which is arranged in the second direction, and the other is arranged in the third direction.

7. The robot according to any one of claims 2 to 5, characterized in that, When the telescopic driving part (31) is arranged in the second direction, the second end (322) of the limiting arm (32) is arranged to be bent away from the support body (21) in the second direction. When the telescopic driving part (31) is arranged in the third direction, the second end (322) of the limiting arm (32) is arranged to be bent away from the telescopic driving part (31) in the third direction.

8. The robot according to any one of claims 2 to 5, characterized in that, The limiting assembly (30) further comprises a buffer part (35), and at least the second end (322) of the limiting arm (32) is provided with the buffer part (35).

9. A silo apparatus characterized by, It comprises: a silo support (11); a silo part (12) which is detachably connected with the silo support (11), and which is used for stacking the preset boards in a first direction; and a plurality of limiting assemblies (30) connected with the silo support (11); at least one of the limiting assemblies (30) is arranged in a second direction, and at least one of the limiting assemblies (30) is arranged in a third direction, and the limiting assemblies (30) are used for controlling the stacking position of the preset boards in the second direction and the third direction. The first direction, the second direction and the third direction are arranged perpendicular to each other.

10. A loading and unloading system, characterized by, It comprises: a silo device (10) comprising a silo support (11) and a silo part (12), the silo part (12) being detachably connected with the silo support (11), and the silo part (12) being used for stacking the preset boards in a first direction; a mechanical hand (20) comprising a support body (21) and at least one suction assembly (22), the suction assembly (22) being connected with the support body (21), and the suction assembly (22) comprising a suction disc (221) used for grabbing the preset boards in the first direction; and a plurality of limiting assemblies (30) connected with the silo support (11) or the support body (21); at least one of the limiting assemblies (30) is arranged in a second direction, and at least one of the limiting assemblies (30) is arranged in a third direction, and the limiting assemblies (30) are used for controlling the stacking position of the preset boards in the second direction and the third direction. The first direction, the second direction and the third direction are arranged perpendicular to each other.

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