Multi-shaft rotating vertical material taking and placing module

Abstract

The utility model discloses a multi-axis rotating vertical material taking and placing module, and relates to the field of automation equipment, and the multi-axis rotating vertical material taking and placing module comprises two supporting seats arranged in a first direction at intervals; the first mounting plate is vertically arranged, and the two ends of the first mounting plate in the first direction are connected with the two supporting seats correspondingly; the material taking and placing mechanism is rotationally connected to the first mounting plate, and the material taking and placing mechanism is located on one side of the first mounting plate in the second direction; the material taking and placing mechanism comprises a plurality of bearing seats which are evenly arranged at intervals in the first direction, and each bearing seat is connected with a first driving piece used for driving the bearing seat to rotate. The second driving piece is connected with the material taking and placing mechanism and used for driving the material taking and placing mechanism to rotate between the material taking and placing position and the working position; when the material taking and placing mechanism is located at the material taking and placing position, the bearing seat is arranged downwards; and when the material taking and placing mechanism is located at the working position, the bearing seat is arranged upwards or towards one side deviating from the first mounting plate. According to the multi-shaft rotating vertical material taking and placing module, the material taking and placing mode can be improved, and damage to workpieces is avoided.

Description

Technical Field

[0001] This specification relates to the field of automation equipment technology, and in particular to a multi-axis rotating vertical pick-and-place module. Background Technology

[0002] With the continuous development of technology and the constant upgrading of digital products such as smartphones and iPads, various workpieces need to be inspected before installation. Manual inspection alone is not only inefficient but also yields unsatisfactory results. Therefore, it is necessary to design corresponding automated equipment to perform photographic inspection of the workpieces.

[0003] However, since the workpieces being inspected, such as cameras and small PCBAs, are three-dimensional physical structures, the retrieval results are not ideal if only one side is photographed for inspection. Therefore, it is necessary to design an automated inspection device that can photograph multiple sides of the workpiece.

[0004] In the prior art, published under CN119071476A and titled "Five-Axis Inspection Equipment," the structural design enables smooth material receiving and multi-angle rotation of multiple workpieces, achieving multi-angle photographic inspection. However, in actual use, it has been found that workpiece damage occurs during the operation of this five-axis inspection equipment. Utility Model Content

[0005] The inventors discovered that the main point of damage to the workpiece is during the workpiece loading and unloading process. During this process, the two working surfaces that need to be handed over are vertically positioned and close to each other, with the workpiece also vertically positioned. When the workpiece is handed over between the two working surfaces, the receiving surface generates a negative pressure to hold the workpiece in place. The other working surface needs to be disconnected from the negative pressure source to remove this negative pressure and prevent it from holding the workpiece.

[0006] Ideally, before the negative pressure on the working surface is deactivated, the working surface with applied negative pressure should be able to hold the workpiece well. However, due to the difficulty in improving control precision, it still happens that when the negative pressure on the working surface deactivates, the working surface with applied negative pressure has not yet adsorbed the workpiece. In this case, because the working surface that was originally adsorbing the workpiece has deactivated negative pressure, and the workpiece is not adsorbed by another working surface, it will fall downwards, causing damage to the workpiece. Since the workpiece is expensive, this situation will also lead to an increase in production costs.

[0007] In view of the shortcomings of the prior art, one object of this specification is to provide a multi-axis rotating vertical pick-and-place module that can improve the pick-and-place method and avoid damage to the workpiece.

[0008] To achieve the above objectives, this specification provides a multi-axis rotating vertical pick-and-place module, comprising:

[0009] Two support seats are spaced apart in the first direction;

[0010] A vertically arranged first mounting plate is connected to two support seats at both ends along the first direction; the first mounting plate is perpendicular to the second direction, and the first direction, the second direction, and the vertical direction are mutually perpendicular to each other.

[0011] A material handling mechanism is rotatably connected to the first mounting plate, and the material handling mechanism is located on one side of the first mounting plate in the second direction; the material handling mechanism includes a plurality of bearing seats evenly spaced along the first direction, each bearing seat is connected to a first driving member, the first driving member is used to drive the bearing seat to rotate, and the rotation axis of the bearing seat is perpendicular to the first direction;

[0012] A second driving member connected to the material picking and placing mechanism is used to drive the material picking and placing mechanism to rotate between the material picking and placing position and the working position. The rotation axis of the material picking and placing mechanism is parallel to the first direction. When the material picking and placing mechanism is in the material picking and placing position, the support seat is arranged downwards. When the material picking and placing mechanism is in the working position, the support seat is arranged upwards or towards the side away from the first mounting plate.

[0013] In a preferred embodiment, the second driving member is used to drive the material handling mechanism to rotate by an angle of 180°.

[0014] In a preferred embodiment, a first slide rail extending vertically is fixedly provided on the support base, and the first mounting plate is slidably connected to the first slide rail via a first slider; the first slider is connected to a third driving member for driving the first slider to move the first mounting plate along the first slide rail.

[0015] In a preferred embodiment, the multi-axis rotating vertical pick-and-place module further includes two second slide rails extending along the second direction, the two second slide rails being spaced apart in the first direction; the bottom of the support base is slidably connected to the second slide rails via a second slider; the second slider is connected to a fourth driving member for driving the second slider to move the support base, the first mounting plate and the pick-and-place mechanism along the second slide rails.

[0016] In a preferred embodiment, the support base has a support surface for supporting the workpiece; the support surface is provided with a plurality of suction nozzles for negative pressure adsorption on the workpiece surface; when the material handling mechanism is in the material handling position, the support surface is horizontally downward; when the material handling mechanism is in the working position, the support surface is horizontally upward or facing away from the first mounting plate.

[0017] In a preferred embodiment, the first mounting plate is fixedly provided with a support plate at both ends in the first direction, and the material handling mechanism is rotatably connected to the two support plates at both ends in the first direction.

[0018] In a preferred embodiment, the material handling mechanism further includes a second mounting plate, which has a plurality of through holes evenly spaced along the first direction; the bearing seat and the first driving member are respectively located on both sides of the second mounting plate; the driving shaft of the first driving member extends out of the through holes and is fixedly connected to one end of the bearing seat away from the bearing surface; the two opposite ends of the second mounting plate along the first direction are respectively rotatably connected to the two support plates.

[0019] In a preferred embodiment, the multi-axis rotating vertical pick-and-place module further includes multiple controllers, each controller being electrically connected to a plurality of adjacent first drive components; of the two first drive components connected to two adjacent carriers, one first drive component is in a working state, and the other first drive component is in a stopped state.

[0020] In a preferred embodiment, the material handling mechanism further includes a third mounting plate located on the side of the second mounting plate away from the support seat, and four side plates fixedly connected between the second mounting plate and the third mounting plate; the controller is fixedly connected to the third mounting plate and is located within the space enclosed by the second mounting plate, the third mounting plate and the four side plates.

[0021] In a preferred embodiment, two of the four side plates are spaced apart in a first direction, and the two side plates spaced apart in the first direction are rotatably connected to the two support plates respectively. The driving end of the second driving member is fixedly connected to one of the side plates. The first mounting plate has multiple receiving boxes on the side away from the material handling mechanism.

[0022] Beneficial effects

[0023] The multi-axis rotating vertical pick-and-place module provided in this embodiment includes a support base, a first mounting plate, a pick-and-place mechanism, and a second driving member. The pick-and-place mechanism includes multiple bearing seats evenly spaced along a first direction, which can accommodate multiple workpieces. By providing the second driving member, the bearing seats on the pick-and-place mechanism can be rotated around a rotation axis extending along the first direction. Furthermore, when the pick-and-place mechanism is in the pick-and-place position, the bearing seats are positioned downwards instead of vertically, and the corresponding workpieces are placed horizontally instead of vertically. Thus, during pick-and-place, even if the workpiece fails to be held by the bearing seat and falls, it will fall back to its original horizontal bearing surface without being damaged. Therefore, this multi-axis rotating vertical pick-and-place module can improve the pick-and-place method and avoid damage to the workpieces.

[0024] Furthermore, by setting a first driving component, the carrier can be driven to rotate around a rotation axis extending vertically. Thus, the combination of the first and second driving components enables multi-angle rotation of multiple workpieces on multiple carriers (combined rotations with the rotation axis parallel to and perpendicular to the first direction). Each carrier is individually connected to a first driving component, rather than multiple carriers sharing a single first driving component. This allows for separate driving of different carriers, ensuring that only one of the two first driving components connected to adjacent carriers is in operation while the other is in a stopped state. The carrier connected to the stopped first driving component is stationary, while the carrier connected to the operating first driving component can rotate. This allows the entire distance between adjacent carriers to be used for one carrier to carry a workpiece for rotation, thus adapting to the inspection of long workpieces and avoiding interference between adjacent workpieces caused by the simultaneous rotation of adjacent carriers.

[0025] Specific embodiments of the present invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the present invention can be employed. It should be understood that the scope of the embodiments of the present invention is not limited thereto.

[0026] Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0027] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, whole, step, or component, but does not exclude the presence or addition of one or more other features, wholes, steps, or components. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a three-dimensional structural diagram of a multi-axis rotating vertical picking and placing module provided in this embodiment;

[0030] Figure 2 for Figure 1 A three-dimensional structural diagram from another perspective;

[0031] Figure 3 This is a schematic diagram of the structure of a first mounting plate, a material handling mechanism, and a second driving component provided in this embodiment.

[0032] Figure 4 for Figure 3 A schematic diagram of the structure after removing the third mounting plate and one side plate;

[0033] Figure 5 for Figure 3 A schematic diagram of the material handling mechanism after it has been rotated 180°.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Support base; 2. First mounting plate; 21. Support plate; 22. Receiving box; 3. Material handling mechanism; 31. Bearing seat; 301. Bearing surface; 32. First driving component; 33. Second mounting plate; 34. Third mounting plate; 35. Side plate; 4. Second driving component; 51. First slide rail; 52. First slider; 53. Third driving component; 61. Second slide rail; 62. Second slider; 63. Fourth driving component; 7. Controller; X, First direction; Y, Second direction; Z, Vertical direction. Detailed Implementation

[0036] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0037] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or may be interposed in another element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or may be interposed in another element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0038] 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 invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0039] Please see Figures 1 to 5 This application provides a multi-axis rotating vertical pick-and-place module, including: a support base 1, a first mounting plate 2, a pick-and-place mechanism 3, and a second drive component 4.

[0040] Among them, such as Figure 1 and Figure 2 As shown, two support bases 1 are spaced apart along the first direction X. A first mounting plate 2 is vertically positioned. The first mounting plate 2 is connected to the two support bases 1 at both ends along the first direction X. The first mounting plate 2 is perpendicular to the second direction Y. The first direction X, the second direction Y, and the vertical direction Z are mutually perpendicular; that is, the first direction X and the second direction Y are two mutually perpendicular directions in the horizontal plane.

[0041] The material handling mechanism 3 is rotatably connected to the first mounting plate 2. The material handling mechanism 3 is located on one side of the first mounting plate 2 in the second direction Y. The material handling mechanism 3 includes a plurality of bearing seats 31 evenly spaced along the first direction X. Each bearing seat 31 is connected to a first driving member 32, which drives the bearing seat 31 to rotate. The rotation axis of the bearing seat 31 is perpendicular to the first direction X.

[0042] The second driving component 4 is connected to the material handling mechanism 3 and is used to drive the material handling mechanism 3 to rotate between the material handling position and the working position. The rotation axis of the material handling mechanism 3 is parallel to the first direction X. Figure 3 As shown, when the material handling mechanism 3 is in the material handling position, the support seat 31 is positioned downwards. Figure 5 As shown, when the material handling mechanism 3 is in the working position, the bearing seat 31 is positioned upwards or towards the side away from the first mounting plate 2.

[0043] The multi-axis rotating vertical pick-and-place module provided in this embodiment includes a support base 1, a first mounting plate 2, a pick-and-place mechanism 3, and a second driving member 4. The pick-and-place mechanism 3 includes multiple bearing seats 31 evenly spaced along the first direction X, which can accommodate multiple workpieces. By providing the second driving member 4, the bearing seats 31 on the pick-and-place mechanism 3 can be rotated around a rotation axis extending along the first direction X. Furthermore, when the pick-and-place mechanism 3 is in the pick-and-place position, the bearing seats 31 are positioned downwards instead of vertically, and the corresponding workpieces are also placed horizontally instead of vertically. Thus, during pick-and-place, even if the workpiece fails to be held by the bearing seat 31 and falls, it will fall back to its original horizontal bearing surface without being damaged. Therefore, this multi-axis rotating vertical pick-and-place module can improve the pick-and-place method and avoid damage to the workpieces.

[0044] Furthermore, by setting the first driving member 32, the carrier 31 can be driven to rotate around a rotation axis extending in the vertical direction Z. Thus, the first driving member 32 and the second driving member 4 combine to allow for multi-angle rotation of multiple workpieces on multiple carriers 31 (a combination of rotation axes parallel to the first direction X and rotation axes perpendicular to the first direction X). Each carrier 31 is individually connected to a first driving member 32, rather than multiple carriers 31 sharing a single first driving member 32. This allows for separate driving of different carriers 31, ensuring that only one of the two first driving members 32 connected to adjacent carriers 31 is in a working state while the other is in a stopped state. The carrier 31 connected to the stopped first driving member 32 is stationary, while the carrier 31 connected to the working first driving member 32 can rotate. This allows the entire distance between adjacent carriers 31 to be used for one carrier 31 to carry a workpiece for rotation, thus adapting to the detection of long workpieces and avoiding interference between adjacent workpieces caused by the simultaneous rotation of adjacent carriers 31.

[0045] In this embodiment, the second driving member 4 is used to drive the material handling mechanism 3 to rotate by an angle of 180°, so that the material handling mechanism 3 can... Figure 3 The positions shown and Figure 5 The material handling mechanism 3 rotates between the positions shown, and in order to avoid interference between the bearing seat 31 and the workpiece on the bearing seat 31 and the first mounting plate 2, the material handling mechanism 3 rotates in a direction away from the first mounting plate 2.

[0046] like Figure 1 and Figure 2As shown, a first slide rail 51 extending vertically in the Z direction is fixedly mounted on the support base 1. The first mounting plate 2 is slidably connected to the first slide rail 51 via a first slider 52. The first slider 52 is connected to a third driving member 53, which drives the first slider 52 to move the first mounting plate 2 along the first slide rail 51. When the first mounting plate 2 moves the picking and placing mechanism 3 downward, the picking and placing mechanism 3 is located at the picking and placing position, which can be close to the workpiece to be picked or the horizontal bearing surface to be placed; when the first mounting plate 2 moves the picking and placing mechanism 3 upward, it can be close to the imaging component, which is convenient for subsequent imaging and inspection.

[0047] In one embodiment, the multi-axis rotary vertical pick-and-place module further includes two second slide rails 61 extending along the second direction Y, with the two second slide rails 61 spaced apart in the first direction X. The bottom of the support base 1 is slidably connected to the second slide rails 61 via a second slider 62. The second slider 62 is connected to a fourth driving member 63, which drives the second slider 62 to move the support base 1, the first mounting plate 2, and the pick-and-place mechanism 3 along the second slide rails 61. This allows the pick-and-place mechanism 3 to move closer to or further away from the workpiece to be picked up in the second direction Y, so that the mechanism carrying the workpiece does not need to move or rotate, only the pick-and-place mechanism 3 needs to be moved and rotated, further simplifying the structure.

[0048] like Figure 5 As shown, the support base 31 has a support surface 301 for supporting the workpiece. The support surface 301 is provided with multiple suction nozzles (not shown) for negative pressure adsorption on the workpiece surface. When the material handling mechanism 3 is in the material handling position, the support surface 301 is horizontally downward. When the material handling mechanism 3 is in the working position, the support surface 301 is horizontally upward or facing away from the first mounting plate 2.

[0049] Specifically, such as Figure 3 and Figure 4 As shown, the first mounting plate 2 has a support plate 21 fixed at both ends in the first direction X. The material handling mechanism 3 is rotatably connected to the two support plates 21 at both ends in the first direction X, and the connection between the material handling mechanism 3 and the first mounting plate 2 is realized through the support plates 21.

[0050] In this embodiment, the material handling mechanism 3 further includes a second mounting plate 33, which has a plurality of through holes (not shown) evenly spaced along the first direction X. The support seat 31 and the first driving member 32 are located on opposite sides of the second mounting plate 33, with each driving member 32 corresponding to the support seat 31. The drive shaft of the first driving member 32 extends out of the through hole and is fixedly connected to the end of the support seat 31 away from the bearing surface 301. The two opposite ends of the second mounting plate 33 along the first direction X are rotatably connected to two support plates 21.

[0051] like Figure 4As shown, to control multiple first driving components 32 and simplify wiring, the multi-axis rotary vertical pick-and-place module also includes multiple controllers 7, each controller 7 being electrically connected to multiple adjacent first driving components 32. Of the two first driving components 32 connected to two adjacent carrier seats 31, one first driving component 32 is in a working state, while the other is in a stopped state. That is, of two adjacent carrier seats 31, one is in a stationary state (non-detection state position, generally corresponding to the initial bearing position of the incoming material), while the other can be driven to rotate by the first driving component 32. The carrier seats 31 spaced apart are in the same state, which can improve detection efficiency.

[0052] Of two adjacent support seats 31, one is in a non-detection state and does not participate in rotation, while the other is in a detection state and can be driven to rotate by the first driving member 32, creating an anomaly. In this way, the entire distance between the two adjacent support seats 31 can be used for one support seat 31 to carry the workpiece and rotate, thus adapting to the detection of long workpieces and avoiding interference between adjacent workpieces caused by the simultaneous rotation of adjacent support seats 31. The distance between the two adjacent support seats 31 is at its maximum when both are in a non-detection state, which also corresponds to the position for receiving incoming materials.

[0053] Of course, when the workpiece is short, in order to improve the detection efficiency and without causing interference, all bearing seats 31 can move synchronously without the need for adjacent bearing seats 31 to move differently.

[0054] Furthermore, the plurality of first driving members 32 are configured such that the posture of each of the carrier seats 31 is the same as that of the carrier seats 31 spaced apart, that is, the posture of the workpieces on the carrier seats 31 spaced apart is the same, and different first driving members 32 drive different carrier seats 31 to rotate by the same angle. This allows for regular angle changes in the workpieces during photographic inspection, facilitating photographic inspection and further improving inspection efficiency.

[0055] Since the number of first driving components 32 is equal to the number of carrier seats 31, and the number of carrier seats 31 on this multi-axis rotating vertical pick-and-place module is relatively large (10-30), if only one controller 7 is set, the accuracy requirement of the controller 7 is high, resulting in excessive cost. Therefore, multiple controllers 7 are set to control each first driving component 32 in groups, reducing costs and improving control accuracy. Preferably, each controller 7 is electrically connected to four first driving components 32. Of course, depending on budget and design needs, in other embodiments, each controller 7 can be electrically connected to six, eight, etc.

[0056] In this embodiment, the material handling mechanism 3 further includes a third mounting plate 34 located on the side of the second mounting plate 33 opposite to the support seat 31, and four side plates 35 fixedly connected between the second mounting plate 33 and the third mounting plate 34. The controller 7 is fixedly connected to the third mounting plate 34 and is located within the space enclosed by the second mounting plate 33, the third mounting plate 34, and the four side plates 35. The second mounting plate 33, the third mounting plate 34, and the four side plates 35 shield the first drive member 32 and the controller 7, thus protecting the first drive member 32 and the controller 7.

[0057] Specifically, two of the four side plates 35 are spaced apart in the first direction X. These two spaced-apart side plates 35 are rotatably connected to two support plates 21, and the driving end of the second driving member 4 is fixedly connected to one of the side plates 35. The first mounting plate 2 has multiple receiving boxes 22 on the side opposite to the material handling mechanism 3, which can accommodate the air passage connection structure connected to the suction nozzle.

[0058] In a specific application scenario, when receiving materials, the second drive member 4 rotates the pick-and-place mechanism 3 to the pick-and-place position, the third drive member 53 moves the pick-and-place mechanism 3 downward, and the fourth drive member 63 moves the pick-and-place mechanism 3 towards the workpiece to be picked up; when photographing and inspecting the workpiece, the second drive member 4 rotates the pick-and-place mechanism 3 to the working position, the third drive member 53 moves the pick-and-place mechanism 3 upward, and the fourth drive member 63 moves the pick-and-place mechanism 3 towards the camera; when releasing materials, the second drive member 4 rotates the pick-and-place mechanism 3 to the pick-and-place position, the third drive member 53 moves the pick-and-place mechanism 3 downward, and the fourth drive member 63 moves the pick-and-place mechanism 3 towards the horizontal bearing surface of the material to be released.

[0059] It should be noted that in the description of this specification, the terms "first," "second," etc., are used only for descriptive purposes and to distinguish similar objects; there is no order between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of this specification, unless otherwise stated, "a plurality of" means two or more.

[0060] Any numerical values ​​cited herein include all values ​​ranging from a lower limit to an upper limit, increasing by one unit, with at least two units between any lower and any higher value. For example, if the quantity of a component or the value of a process variable (e.g., temperature, pressure, time, etc.) is described as being from 1 to 90, preferably from 20 to 80, more preferably from 30 to 70, the purpose is to illustrate that values ​​such as 15 to 85, 22 to 68, 43 to 51, 30 to 32 are also explicitly listed in this specification. For values ​​less than 1, a unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1, etc. These are merely examples intended for explicit expression, and it can be assumed that all possible combinations of values ​​listed between the minimum and maximum values ​​are explicitly described in this specification in a similar manner.

[0061] Unless otherwise stated, all ranges include the endpoints and all numbers between them. The terms "approximately" or "about" used with ranges apply to both endpoints of the range. Thus, "approximately 20 to 30" is intended to cover "approximately 20 to approximately 30," including at least the specified endpoints.

[0062] All articles and references disclosed herein, including patent applications and publications, are incorporated herein by reference for various purposes. The term “substantially constitutes…” used to describe a combination should include the identified elements, components, parts, or steps, as well as other elements, components, parts, or steps that do not substantially affect the essential novelty of the combination. The use of the terms “comprising” or “including” to describe combinations of elements, components, parts, or steps herein also contemplates embodiments substantially constituted by such elements, components, parts, or steps. The use of the term “may” herein is intended to indicate that any described attribute included by “may” is optional.

[0063] Multiple elements, components, parts, or steps can be provided by a single integrated element, component, part, or step. Alternatively, a single integrated element, component, part, or step can be divided into multiple separate elements, components, parts, or steps. The use of "a" or "an" to describe an element, component, part, or step does not imply the exclusion of other elements, components, parts, or steps.

[0064] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this teaching should not be determined by reference to the above description, but rather by reference to the appended claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the inventors have not considered that subject matter as part of the disclosed utility model subject matter.

Claims

1. A multi-axis rotating vertical pick-and-place module, characterized in that, include: Two support seats are spaced apart in the first direction; A vertically arranged first mounting plate is connected to two support seats at both ends along the first direction; the first mounting plate is perpendicular to the second direction, and the first direction, the second direction, and the vertical direction are mutually perpendicular to each other. A material handling mechanism is rotatably connected to the first mounting plate, and the material handling mechanism is located on one side of the first mounting plate in the second direction; the material handling mechanism includes a plurality of bearing seats evenly spaced along the first direction, each bearing seat is connected to a first driving member, the first driving member is used to drive the bearing seat to rotate, and the rotation axis of the bearing seat is perpendicular to the first direction; A second driving member connected to the material picking and placing mechanism is used to drive the material picking and placing mechanism to rotate between the material picking and placing position and the working position. The rotation axis of the material picking and placing mechanism is parallel to the first direction. When the material picking and placing mechanism is in the material picking and placing position, the support seat is arranged downwards. When the material picking and placing mechanism is in the working position, the support seat is arranged upwards or towards the side away from the first mounting plate.

2. The multi-axis rotating vertical pick-and-place module according to claim 1, characterized in that, The second driving member is used to drive the material handling mechanism to rotate by an angle of 180°.

3. The multi-axis rotating vertical pick-and-place module according to claim 1, characterized in that, The support base is fixedly provided with a first slide rail extending in the vertical direction, and the first mounting plate is slidably connected to the first slide rail through a first slider; the first slider is connected to a third driving member, which is used to drive the first slider to move the first mounting plate along the first slide rail.

4. The multi-axis rotating vertical pick-and-place module according to claim 1, characterized in that, The multi-axis rotating vertical pick-and-place module further includes two second slide rails extending along the second direction, and the two second slide rails are spaced apart in the first direction; the bottom of the support base is slidably connected to the second slide rails via a second slider; the second slider is connected to a fourth driving member, which drives the second slider to move the support base, the first mounting plate and the pick-and-place mechanism along the second slide rails.

5. The multi-axis rotating vertical pick-and-place module according to claim 1, characterized in that, The support base has a support surface for supporting the workpiece; the support surface is provided with a plurality of suction nozzles for negative pressure adsorption on the workpiece surface; when the material handling mechanism is located in the material handling position, the support surface is horizontally downward; when the material handling mechanism is located in the working position, the support surface is horizontally upward or facing away from the first mounting plate.

6. The multi-axis rotating vertical pick-and-place module according to claim 5, characterized in that, The first mounting plate has a support plate fixed at both ends in the first direction, and the material handling mechanism is rotatably connected to the two support plates at both ends in the first direction.

7. The multi-axis rotating vertical pick-and-place module according to claim 6, characterized in that, The material handling mechanism further includes a second mounting plate, which has a plurality of through holes evenly spaced along the first direction; the bearing seat and the first driving member are respectively located on both sides of the second mounting plate; the driving shaft of the first driving member extends out of the through holes and is fixedly connected to one end of the bearing seat away from the bearing surface; the two opposite ends of the second mounting plate along the first direction are respectively rotatably connected to the two support plates.

8. The multi-axis rotating vertical pick-and-place module according to claim 7, characterized in that, The multi-axis rotating vertical picking and placing module also includes multiple controllers, each of which is electrically connected to multiple adjacent first drive components; of the two first drive components connected to two adjacent carriers, one first drive component is in a working state and the other first drive component is in a stopped state.

9. The multi-axis rotating vertical pick-and-place module according to claim 8, characterized in that, The material handling mechanism further includes a third mounting plate located on the side of the second mounting plate away from the support seat, and four side plates fixedly connected between the second mounting plate and the third mounting plate; the controller is fixedly connected to the third mounting plate and is located within the space enclosed by the second mounting plate, the third mounting plate and the four side plates.

10. The multi-axis rotating vertical pick-and-place module according to claim 9, characterized in that, Of the four side plates, two side plates are spaced apart in a first direction. The two side plates spaced apart in the first direction are rotatably connected to the two support plates respectively. The driving end of the second driving member is fixedly connected to one of the side plates. The first mounting plate has multiple receiving boxes on the side away from the material handling mechanism.

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