Material handling device

Abstract

This utility model belongs to the field of automatic material handling technology and discloses a material handling device. The device includes a push block, a first driving mechanism, and multiple outward expansion members. These outward expansion members can move away from each other under the push of the push block, which moves along a first direction, and abut against the inner wall of the center hole of the material tray to clamp the tray. The output end of the first driving mechanism can move along a second direction, which is angled to the first direction. The first driving mechanism drives the push block to push against the outward expansion members. This material handling device saves space, improves space utilization, and ensures high stability by using the push block to push against the outward expansion members to clamp the tray, thus improving the stability of the production cycle and increasing production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automatic material handling technology, and in particular to a material handling device. Background Technology

[0002] SMT fully automatic receptacle machines are intelligent devices used in surface mount technology (SMT) production lines. Their main function is to enable continuous material handling and automatic tape splicing without stopping the production line. By automatically detecting empty receptacles, adjusting tape width, and precisely aligning and linking them, they solve the problems of low efficiency and error-proneness associated with traditional manual receptacle machines, significantly improving production efficiency and product quality. In today's SMT fully automatic receptacle machine field, the core actions of picking up and placing circular tape reels are often performed by a collaborative robotic arm, requiring reliability and stability. This is crucial for optimizing CT (Cycle Time). Currently, the industry addresses this issue with two methods: gripper picking and rotary pick-up. However, gripper picking requires significant space, which doesn't meet the compact structural requirements of fully automatic receptacle machines. Ordinary rotary pick-up, due to its inability to completely fix and release the reel, requires additional auxiliary structures, resulting in incomplete tape collection and empty reel release.

[0003] Therefore, a material handling device is needed to solve the above problems. Utility Model Content

[0004] The purpose of this utility model is to provide a material picking device with a compact structure, which can pick up the material tray with high stability through multi-point clamping, and occupies less space, thereby improving space utilization.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] Material handling device, including:

[0007] The multiple expansion members are in an outward expansion position when they abut against the inner wall of the center hole of the tray, and in an inward retraction position when they are close to each other. The multiple expansion members can move between the outward expansion position and the inward retraction position.

[0008] The push block can slide along the first direction;

[0009] A first driving mechanism, the output end of which can move along a second direction, the first direction and the second direction being set at an angle, the first driving mechanism being able to push the push block to slide, and when the push block slides, it can push the plurality of the outward expansion members to move to the outward expansion position.

[0010] As an optional material handling device, the material handling device further includes a material handling seat, which is provided with a plurality of outward expansion grooves, and an outward expansion member is slidably disposed in each outward expansion groove.

[0011] As an optional material handling device, the material handling seat is provided with a first elastic element, which is sandwiched between the material handling seat and the outward expansion member. The first elastic element is configured to drive the outward expansion member to stop in the inward position. When multiple outward expansion members are all in the inward position, the material handling seat can extend into the central hole.

[0012] As an optional material handling device, the material handling seat includes an insertion part and a disc body surrounding the outer periphery of the insertion part. The outer expansion groove is disposed on the outer wall of the insertion part. A limiting channel is provided on the disc body for each outer expansion groove. A first elastic member is disposed in each limiting channel. The first elastic member abuts against the corresponding outer expansion member.

[0013] As an optional material handling device, the expansion includes a pressing part and a guiding part connected to each other. The pressing part is configured to extend into the expansion groove, and the guiding part is slidably disposed in the limiting channel.

[0014] As an optional material handling device, the material handling device is provided with a receiving groove that communicates with the outer expansion groove, and the pushing block extends into the outer expansion groove through the receiving groove.

[0015] As an optional material handling device, the material handling device further includes a second elastic element, which is sandwiched between the material handling seat and the push block. The second elastic element is configured to drive the push block to stop in an initial position. When the push block is in the initial position, the plurality of outward expansion members are all in the inward position, so that the material handling seat can extend into the central hole.

[0016] As an optional material handling device, the material handling device further includes a second drive mechanism, the output end of which is provided with a main shaft, and the push block is slidably sleeved on the outside of the main shaft.

[0017] As an optional material handling device, the push block is provided with a first inclined surface, which gradually moves away from the axis of the main shaft along the direction away from the outer expansion member.

[0018] As an optional material handling device, the first driving mechanism includes a first driving member and a pushing block. The first driving member can drive the pushing block to move along the second direction, and at least one of the end face of the pushing block facing the abutting block and the end face of the abutting block facing the pushing block is a second inclined surface.

[0019] The beneficial effects of this utility model are:

[0020] This utility model discloses a material handling device, which includes a push block, a first driving mechanism, and multiple outward expansion members. The multiple outward expansion members can move away from each other under the push of the push block, which moves along a first direction, and abut against the inner wall of the center hole of the material tray, thereby clamping the material tray. The output end of the first driving mechanism can move along a second direction, which is set at an angle to the first direction. The first driving mechanism is used to drive the push block to push against the outward expansion members. This material handling device can save space and improve space utilization by setting the first direction and the second direction at an angle. Moreover, by pushing the outward expansion members with the push block, it clamps the material tray with high stability, ensuring the stability of the material tray transfer process, thereby improving the stability of the production cycle and improving production efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the material handling device clamping seat provided in an embodiment of the present utility model;

[0022] Figure 2 This is a schematic diagram of the material handling device provided in an embodiment of the present utility model;

[0023] Figure 3 This is a schematic diagram showing the connection between a portion of the expansion material extraction structure provided in this embodiment of the utility model and the mounting plate;

[0024] Figure 4 This is a schematic diagram of the material tray gripped by the expansion material handling structure provided in this embodiment of the utility model;

[0025] Figure 5 This is a schematic diagram of the expansion material extraction structure provided in this embodiment of the utility model;

[0026] Figure 6 This is a schematic diagram of a portion of the structure of the expansion material extraction structure provided in this embodiment of the utility model;

[0027] Figure 7 This is an exploded view of a portion of the expansion material extraction structure provided in this embodiment of the utility model;

[0028] Figure 8 This is a schematic diagram of a portion of the structure of the expansion material taking structure (with the second driving mechanism hidden) provided in an embodiment of this utility model;

[0029] Figure 9 This is an exploded view of a portion of the expansion material taking structure (with the second driving mechanism hidden) provided in this embodiment of the utility model;

[0030] Figure 10 This is a side view of a portion of the structure of the expansion material taking structure (with the second drive mechanism hidden) provided in this embodiment of the utility model;

[0031] Figure 11 yes Figure 10 Sectional view at point AA;

[0032] Figure 12 yes Figure 11 A magnified view of a section at point B in the middle;

[0033] Figure 13 This is a schematic diagram of the first contact surface of the push block and the outer expansion member contacting each other according to an embodiment of the present utility model;

[0034] Figure 14 This is a schematic diagram of the first structure of the material handling seat provided in this embodiment of the utility model;

[0035] Figure 15 This is a schematic diagram of the second structure of the material handling seat provided in this embodiment of the utility model;

[0036] Figure 16 This is a schematic diagram showing the connection between the external expansion member and the first reset structure provided in this embodiment of the utility model;

[0037] Figure 17 This is a schematic diagram of the structure of the push block provided in an embodiment of the present invention;

[0038] Figure 18 This is a schematic diagram of the structure of the first driving mechanism provided in an embodiment of the present utility model;

[0039] Figure 19 This is a schematic diagram of the structure of the guide block provided in an embodiment of the present utility model;

[0040] Figure 20 This is a schematic diagram of the shielding component provided in an embodiment of the present invention.

[0041] In the picture:

[0042] 100. Material tray; 101. Center hole; 200. Frame; 201. Mounting plate;

[0043] 1. Second drive mechanism; 11. Main spindle;

[0044] 2. Material receiving seat; 21. Insertion part; 211. Outer expansion groove; 212. Receiving groove; 22. Disc body; 221. Limiting channel; 2211. Fastening bolt; 23. Mounting plate; 24. Bearing;

[0045] 3. Outer expansion component; 31. Pressing part; 32. Guide part;

[0046] 4. Push block; 41. First inclined surface; 42. First abutting surface; 43. Second abutting surface;

[0047] 5. First driving mechanism; 51. First driving component; 52. Push block; 521. Second inclined surface; 522. Third abutment surface; 523. Fourth abutment surface; 53. Guide block; 531. Guide groove;

[0048] 6. First elastic element;

[0049] 7. Second elastic element;

[0050] 8. Visual unit;

[0051] 9. Distance measuring unit;

[0052] 10. Obstruction component; 1001. Third drive component; 1002. Obstruction component. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0054] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0055] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0057] like Figures 1 to 20 As shown, this embodiment provides a material handling device, which includes a push block 4, a first driving mechanism 5, and multiple outward expansion members 3. When the multiple outward expansion members 3 abut against the inner wall of the center hole 101 of the material tray 100, they are in an outward expansion position. When the multiple outward expansion members 3 are close to each other, they are in an inward contraction position. The multiple outward expansion members 3 can move between the outward expansion position and the inward contraction position. The push block 4 can slide along a first direction, and the output end of the first driving mechanism 5 can move along a second direction. The first direction and the second direction are set at an angle. The first driving mechanism 5 can push the push block 4 to slide. When the push block 4 slides, it can push the multiple outward expansion members 3 to move to the outward expansion position.

[0058] Specifically, in this embodiment, when multiple outward-expanding parts 3 abut against the inner wall of the central hole 101 of the material tray 100, the material picking device is in the outward-expanding position. The arrangement of multiple outward-expanding parts 3 can improve the force balance of the material tray 100, thereby improving the clamping stability of the material tray 100 and enhancing its functionality. When multiple outward-expanding parts 3 are close to each other in the inward-retracting position, this arrangement can conveniently insert or extend multiple outward-expanding parts 3 into or out of the central hole 101 of the material tray 100, avoiding collisions and extending its service life; the output end of the first drive mechanism 5 can The first drive mechanism 5 can move along the second direction, and the first drive mechanism 5 is used to push the push block 4 to move along the first direction, so that the push block 4 can push multiple outward expansion parts 3 to move to the outward expansion position to clamp the material tray 100. In this setting, the output end of the first drive mechanism 5 can move along the second direction, while the second drive mechanism 1 can rotate around the first direction which is set at an angle to the second direction. This makes the installation position of the first drive mechanism 5 and the second drive mechanism 1 more flexible, thereby improving the space utilization rate and facilitating the miniaturization design of the material handling device.

[0059] Specifically, in this embodiment, as Figures 1 to 3 As shown, the material handling device also includes a frame 200, which includes a mounting plate 201. The material handling seat 2 is rotatably mounted on the mounting plate 201 via a bearing 24, thereby ensuring that the material handling seat 2 can rotate with the second drive mechanism 1, thus ensuring its performance.

[0060] Preferably, in this embodiment, the frame 200 can be connected to an external moving mechanism, which can drive the picking device to move, thereby ensuring that the picking device can pick up the material tray 100 at any position.

[0061] Furthermore, the material handling device also includes a material handling base 2, which is provided with multiple outward expansion grooves 211, and an outward expansion member 3 is slidably disposed in each outward expansion groove 211. Specifically, in this embodiment, an outward expansion member 3 is slidably disposed in each of the multiple outward expansion grooves 211 provided on the material handling base 2. When the multiple outward expansion members 3 all abut against the inner wall of the center hole 101 of the material tray 100, the material handling device is in the outward expansion position. The arrangement of multiple outward expansion members 3 can improve the force balance of the material tray 100, thereby improving the stability of the material tray 100 clamping. In addition, the outward expansion grooves 211 provided on the material handling base 2 can guide and limit the outward expansion members 3, improve the stability of the outward expansion members 3 during the sliding process, and ensure the performance of the material handling device.

[0062] Furthermore, such as Figures 10 to 13 and Figure 16 As shown, a first elastic element 6 is provided on the material picker. The first elastic element 6 is clamped between the material picker 2 and the outward expansion member 3. The first elastic element 6 is configured to drive the outward expansion member 3 to stop in the retracted position. When multiple outward expansion members 3 are in the retracted position, the material picker 2 can extend into the central hole 101. Specifically, in this embodiment, the first elastic element 6 is provided between the material picker 2 and the outward expansion member 3. The first elastic element 6 can cause the outward expansion member 3 to stop in the retracted position. When the outward expansion member 3 is in the retracted position, the outward expansion member 3 is received in the outward expansion groove 211, thereby allowing the material picker 2 to normally extend into the central hole 101 of the material tray 100. There is no need to perform the retracting step of the outward expansion member 3 before clamping, which improves the convenience of the material picker during use.

[0063] Optionally, in this embodiment, the first elastic element 6 is a first spring, and the first spring is always in a compressed state. The elastic force of the first spring acts between the material taking seat 2 and the outer expansion member 3, thereby making the outer expansion member 3 always have a tendency to move from the outward expansion position to the inward retraction position, which improves the convenience of use and effectively avoids jamming. When the pushing block 4 pushes the outer expansion member 3, the outer expansion member 3 simultaneously squeezes the first spring, thereby enabling the first spring to have elastic potential energy. When the pushing block 4 retracts, the first spring squeezes the outer expansion member 3, causing the outer expansion member 3 to move from the outward expansion position to the inward retraction position, ensuring the ease of use of the material taking device.

[0064] Furthermore, such as Figures 7 to 9As shown, the material receiving seat 2 includes an insertion part 21 and a disc body 22 surrounding the insertion part 21. An outer expansion groove 211 is provided on the outer wall of the insertion part 21. A limiting channel 221 is provided on the disc body 22 for each outer expansion groove 211. A first elastic member 6 is provided in each limiting channel 221. The first elastic member 6 abuts against the corresponding outer expansion member 3. Specifically, in this embodiment, the limiting channel 221 can effectively limit the first elastic member 6, and the first elastic member 6 abuts against the corresponding outer expansion member 3, which can ensure that the elastic force of the first elastic member 6 can act on the outer expansion member 3, reduce the risk of failure, and improve the performance. The insertion part 21 is used to insert and cooperate with the center hole 101 of the tray 100, and during the installation process, the tray body 22 can abut against the end face of the tray 100, which can not only perform preliminary positioning of the tray 100, but also have a certain abutting force on the tray 100, thereby improving the stability of the tray 100 clamping and the stability of the tray 100 during use.

[0065] Optionally, such as Figures 10 to 15 As shown, in this embodiment, a through hole communicating with the outer expansion groove 211 is machined on the disk body 22 along its own radial direction. The through hole is sealed by fasteners to form the aforementioned limiting channel 221, thereby improving the convenience of processing.

[0066] Specifically, in this embodiment, the end of the through hole is a threaded hole, and the fastener is a fastening bolt 2211. The fastening bolt 2211 is threadedly connected to the threaded hole to seal the through hole, and the fastening bolt 2211 can abut against the first elastic member 6, thereby ensuring the normal function of the first elastic member 6.

[0067] Furthermore, such as Figure 16 As shown, the outer expansion member 3 includes a pressing part 31 and a guiding part 32 connected to each other. The pressing part 31 is configured to extend into the central hole 101, and the guiding part 32 is slidably disposed in the limiting channel 221. Specifically, in this embodiment, the pressing part 31 of the outer expansion member 3 is slidably disposed in the outer expansion groove 211 to clamp the material tray 100, while the guiding part 32 is slidably disposed in the limiting channel 221. This arrangement can provide a certain guiding effect to the outer expansion member 3, thereby improving the positional stability of the outer expansion member 3 during movement and reducing the risk of jamming of the material handling device during clamping or releasing the material tray 100.

[0068] Optionally, in this embodiment, as Figures 14 to 15 As shown, the disc body 22 has a through groove on the side away from the insertion part 21 that communicates with the outer slot. The through groove facilitates the installation of the outer expansion part 3 from the side of the disc body 22 away from the insertion part 21. The material take-up seat 2 also includes a baffle, which is bolted to the side of the disc body 22 away from the insertion part 21, thereby closing the through groove and ensuring the stability of the outer expansion part 3 during use.

[0069] Optionally, such as Figures 14 to 15 As shown, the material handling base 2 also includes mounting pieces 23, which are mounted on the end of the disc body 22 away from the insertion part 21. Several mounting pieces 23 are arranged circumferentially around the disc body 22, and a mounting groove is formed between two adjacent mounting pieces 23. The expansion member 3 is installed into the limiting channel 221 and the expansion groove 211 through the mounting groove. The mounting pieces 23 are used to connect to the mounting plate 201 through the bearing 24.

[0070] Furthermore, such as Figures 14 to 15 As shown, the material receiving base 2 is provided with a receiving groove 212 communicating with the outer expansion groove 211, and the push block 4 extends into the outer expansion groove 211 through the receiving groove 212. Specifically, in this embodiment, the material receiving base 2 is provided with a receiving groove 212 communicating with the outer expansion groove 211. The receiving groove 212 can be used to accommodate the push block 4 so that the push block 4 can abut against the outer expansion member 3 in the outer expansion groove 211, ensuring the normal expansion and contraction of the outer expansion member 3.

[0071] Furthermore, such as Figure 11 As shown, the material handling device also includes a second elastic element 7, which is sandwiched between the material handling seat 2 and the push block 4. The second elastic element 7 is configured to drive the push block 4 to stop in the initial position. When the push block 4 is in the initial position, the multiple outward expansion parts 3 are all in the retracted position, so that the material handling seat 2 can extend into the central hole 101. Specifically, in this embodiment, the second elastic element 7 is a second spring. The material handling seat 2 is provided with a first boss, and the push block 4 is provided with a second boss. The second spring is elastically disposed between the first boss and the second boss. When the first driving mechanism 5 pushes the push block 4, the push block 4 pushes the outward expansion parts 3 while compressing the second spring, so that the second spring is in a compressed state. When the force applied by the first driving mechanism 5 to the push block 4 disappears, the second spring can apply a force to the push block 4, thereby causing the push block 4 to move to the initial position, thereby ensuring that the outward expansion parts 3 can be in the retracted position, avoiding the situation where the outward expansion parts 3 are stuck, and improving the convenience during use.

[0072] Furthermore, such as Figures 5 to 11As shown, the material handling device also includes a second drive mechanism 1. The output end of the second drive mechanism 1 is provided with a main shaft 11, and the push block 4 is slidably sleeved on the outside of the main shaft 11. Specifically, in this embodiment, the second drive mechanism 1 is a first motor. The output shaft of the first motor is fixedly connected to the main shaft 11. The main shaft 11 passes through the receiving groove 212 and is fixedly connected to the insertion part 21 of the material handling seat 2, thereby ensuring that the material handling seat 2 can rotate synchronously with the first motor, thereby ensuring that the material tray 100 can be loaded and unloaded by the rotation of the first motor, improving the convenience of use. Furthermore, by adjusting the speed of the first motor, the speed of the material tray 100 can be adjusted, ensuring the flexibility of use. The push block 4 is sleeved on the outside of the main shaft 11, and the outer periphery of the push block 4 is provided with an annular push wall. The annular push wall can push multiple outward expansion parts 3 simultaneously, which can improve the clamping or disassembly efficiency, reduce the number of components, reduce costs, and reduce the possibility of failure.

[0073] Specifically, in this embodiment, the material picking seat 2 is fixedly connected to the output end of the second drive mechanism 1, and the output end of the second drive mechanism 1 can rotate around the first direction. Thus, when the material picking seat 2 holds the material tray 100, it can ensure the normal picking and putting of the material tray 100, and improve the convenience of use.

[0074] Specifically, in this embodiment, as Figures 1 to 3 As shown, the material handling device also includes a frame 200, which includes a mounting plate 201. The material handling seat 2 is rotatably mounted on the mounting plate 201 via a bearing 24, thereby ensuring that the material handling seat 2 can rotate with the second drive mechanism 1, thus ensuring its performance.

[0075] Preferably, in this embodiment, the frame 200 can be connected to an external moving mechanism, which can drive the picking device to move, thereby ensuring that the picking device can pick up the material tray 100 at any position.

[0076] Preferably, in this embodiment, the first motor is connected to the mounting plate 201 via the first connecting plate 202 and fasteners, which can ensure the stability of the first motor when it rotates and improve its performance.

[0077] Furthermore, such as Figure 17 As shown, the push block 4 is provided with a first inclined surface 41, which gradually moves away from the axis of the main shaft 11 in the direction away from the outer expansion member 3. Specifically, in this embodiment, the provision of the first inclined surface 41 enables the displacement of the push block 4 in the first direction to become the radial displacement of the outer expansion member 3 along the disc body 22, ensuring the clamping effect. Furthermore, the gradual movement of the first inclined surface 41 away from the axis of the main shaft 11 in the direction away from the outer expansion member 3 ensures that the push block 4 pushes the outer expansion member 3 so that the outer expansion member 3 extends out of the outer expansion groove 211, ensuring its performance.

[0078] Optionally, such as Figure 17 As shown, the push block 4 is also provided with a first abutting surface 42 connected to the first inclined surface 41. The distance between each point on the first abutting surface 42 and the axis of the main shaft 11 is equal, and when the first abutting surface 42 abuts against the outward expansion member 3, all the outward expansion members 3 are in the outward expansion position. Specifically, in this embodiment, this arrangement ensures that when the outward expansion member 3 is in the outward expansion position, the first abutting surface 42 and the outward expansion member 3 abut against each other, thereby improving the abutting stability of the push block 4 and the outward expansion member 3 and improving the clamping stability of the material handling device.

[0079] Optionally, in another embodiment, the push block 4 is further provided with a second abutment surface 43. The second abutment surface 43 is located on the side of the first inclined surface 41 away from the first abutment surface 42. The distance from each point on the second abutment surface 43 to the axis of the main shaft 11 is equal. This arrangement ensures that when the second abutment surface 43 abuts against the outwardly expanding member 3, all outwardly expanding members 3 are in the retracted position, thereby preventing the outwardly expanding members 3 from shifting position and improving stability during use. It can be understood that the first inclined surface 41, the first abutment surface 42, and the second abutment surface 43 form the push wall surface of the push block 4.

[0080] Furthermore, such as Figure 18 As shown, the first driving mechanism 5 includes a first driving member 51 and a pushing block 52. The first driving member 51 can drive the pushing block 52 to move along the second direction, and at least one of the end face of the pushing block 52 facing the abutting block 4 and the end face of the abutting block 4 facing the pushing block 52 is a second inclined surface 521. Specifically, in this embodiment, the first driving member 51 is a hydraulic cylinder, which is connected to the mounting plate 201 through a second connecting plate and fasteners; the telescopic rod of the hydraulic cylinder is fixedly connected to the pushing block 52, and the telescopic rod of the hydraulic cylinder extends along the second direction, thereby enabling the pushing block 52 to move along the second direction to effectively push the abutting block 4. With this arrangement, when clamping the material tray 100, the pushing block 52 is always pressed against the abutting block 4, thereby enabling the material picking device to have a self-locking function, further improving the stability of the material tray 100 during the material picking and unloading process.

[0081] Specifically, in this embodiment, the push block 52 includes a second inclined surface 521. Along the direction away from the main shaft 11, the second inclined surface 521 gradually approaches the push block 4. This arrangement makes the position of the push block 52 along the second direction change to the displacement of the push block 4 along the first direction, thereby reducing the space occupation of the second drive mechanism 1 and the first drive mechanism 5 and improving the space utilization rate.

[0082] Optionally, in this embodiment, as Figure 18As shown, the push block 52 also includes a third abutting surface 522 connected to the second inclined surface 521. The third abutting surface 522 is a plane, and when the third abutting surface 522 abuts against the push block 4, the outward expansion member 3 is in the outward expansion position. This setting can further improve the clamping stability of the material handling device.

[0083] Optionally, in another embodiment, the push block 52 further includes a fourth abutment surface 523, which is located on the side of the second inclined surface 521 away from the third abutment surface 522. The fourth abutment surface 523 can abut against the push block 52 when the push block 52 is in the initial position, thereby preventing the push block 52 from leaving the pushing range of the push block 52 under the action of the second elastic member 7, thereby improving the stability during use and avoiding failure.

[0084] In another embodiment, the second inclined surface 521 can also be disposed on the push block 4. The end face of the push block 4 facing the push block 52 is the second inclined surface 521, while the end face of the push block 52 facing the push block 4 is a plane. When the first driving member 51 drives the push block 52 to move along the second direction, the plane and the second inclined surface 521 abut against each other, which can also push the push block 4 to move, thereby achieving the purpose of pushing the outer expansion member 3 and ensuring the normal use function of the material handling device.

[0085] In another embodiment, the end face of the push block 52 facing the push block 4 and the end face of the push block 4 facing the push block 52 can be configured as a second inclined surface 521 and another inclined surface. As long as the push block 52 can be pushed to move along the first direction during the process of the first driving member 51 driving the push block 52 to move, the purpose of pushing the outer expansion member 3 can be achieved, thereby ensuring the normal use function of the material handling device. No specific restrictions are made here.

[0086] Alternatively, the first driving component 51 can also be other mechanisms that can drive the push block 52 to make linear motion, such as an electric actuator, etc., which will not be described in detail here.

[0087] Specifically, in this embodiment, as Figure 18 and Figure 19 As shown, the first drive mechanism 5 also includes a guide member with a guide groove 531. The push block is slidably disposed in the guide groove 531. This arrangement can provide guidance for the push block, thereby ensuring the effectiveness of its movement trajectory and improving its performance.

[0088] Optionally, in this embodiment, as Figures 1 to 3 As shown, the material handling device also includes a vision unit 8 and a distance measuring unit 9. The vision unit 8 is used to align the material handling seat 2 with the center hole 101 of the material tray 100, and the distance measuring unit 9 is used to detect the distance between the expansion material handling structure and the material tray 100.

[0089] Specifically, in this embodiment, the material handling device is typically connected to a robotic arm, which is connected to a control module. The control module and the vision unit 8 are electrically connected. When clamping the material tray 100, the vision unit 8 can identify the center hole 101 of the material tray 100 and feed back the position information of the center hole 101 of the material tray 100 to the control module. The control module can control the movement of the robotic arm based on the position information, thereby aligning the insertion part 21 of the material handling seat 2 with the center hole 101 of the material tray 100. The distance measuring unit 9 is also electrically connected to the control module. The distance measuring unit 9 can measure the distance between the end face of the material handling seat 2 of the material tray 100 and feed back the distance to the control module. The control module controls the movement of the robotic arm based on the distance information, thereby ensuring the clamping stability of the material tray 100.

[0090] Specifically, in this embodiment, the vision unit 8 includes a camera and a ring light source. The ring light source is disposed on the outer periphery of the camera to provide illumination to the camera. The camera is used to take pictures of the tray 100, thereby ensuring the effectiveness of the visual inspection.

[0091] Specifically, in this embodiment, the ranging unit 9 is a laser ranging sensor, which is mounted on the frame 200 to ensure the ranging stability of the laser ranging sensor.

[0092] Specifically, in this embodiment, the vision unit 8 and the ranging unit 9 work together to correct the deviation of the robot arm, thereby achieving rapid positioning of the material tray 100 and ensuring the accurate placement and retraction of the material tray 100.

[0093] Optionally, such as Figure 1 , Figure 2 and Figure 20 As shown, the material handling device also includes a blocking assembly 10, which includes a third driving member 1001 and a blocking member 1002. The third driving member 1001 can drive the blocking member 1002 to rotate, thereby enabling the blocking member 1002 to block the side of the material tray 100 away from the support frame. When the material tray 100 is clamped in the material handling seat 2, the blocking assembly 10 can limit the side of the material tray 100 away from the frame 200, further ensuring the stability of the material tray 100 during rotation and ensuring safety during use.

[0094] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A material taking device characterized by, include: Multiple outward expansion members (3) are in an outward expansion position when they abut against the inner wall of the center hole (101) of the tray (100), and in an inward contraction position when they approach each other. The multiple outward expansion members (3) are able to move between the outward expansion position and the inward contraction position. The push block (4) can slide along the first direction; The first driving mechanism (5) has an output end that can move along a second direction. The first direction and the second direction are set at an angle. The first driving mechanism (5) can push the push block (4) to slide. When the push block (4) slides, it can push multiple expansion members (3) to move to the expansion position.

2. The material taking-out device according to claim 1, characterized by The material handling device also includes a material handling seat (2), which is provided with a plurality of outward expansion grooves (211), and an outward expansion member (3) is slidably disposed in each outward expansion groove (211).

3. The material handling device according to claim 2, characterized in that, The material taking seat (2) is provided with a first elastic element (6), which is sandwiched between the material taking seat (2) and the outward expansion member (3). The first elastic element (6) is configured to drive the outward expansion member (3) to stop in the inward position. When multiple outward expansion members (3) are all in the inward position, the material taking seat (2) can extend into the central hole (101).

4. The material handling device according to claim 3, characterized in that, The material receiving seat (2) includes an insertion part (21) and a disc body (22) surrounding the outer periphery of the insertion part (21). The outer expansion groove (211) is provided on the outer wall of the insertion part (21). A limiting channel (221) is provided on the disc body (22) for each outer expansion groove (211). A first elastic member (6) is provided in each limiting channel (221). The first elastic member (6) abuts against the corresponding outer expansion member (3).

5. The material handling device according to claim 4, characterized in that, The expansion member (3) includes a pressing part (31) and a guiding part (32) connected to each other. The pressing part (31) is configured to extend into the expansion groove (211), and the guiding part (32) is slidably disposed in the limiting channel (221).

6. The material handling device according to claim 2, characterized in that, The material receiving seat (2) is provided with a receiving groove (212) that communicates with the outer expansion groove (211), and the push block (4) extends into the outer expansion groove (211) through the receiving groove (212).

7. The material handling device according to claim 6, characterized in that, The material handling device further includes a second elastic element (7), which is sandwiched between the material handling seat (2) and the push block (4). The second elastic element (7) is configured to drive the push block (4) to stop in the initial position. When the push block (4) is in the initial position, the plurality of outward expansion members (3) are all in the inward position so that the material handling seat (2) can extend into the central hole (101).

8. The material handling device according to claim 1, characterized in that, The material handling device also includes a second drive mechanism (1), the output end of which is provided with a main shaft (11), and the push block (4) is slidably sleeved on the outside of the main shaft (11).

9. The material handling device according to claim 8, characterized in that, The push block (4) is provided with a first inclined surface (41), which gradually moves away from the axis of the main shaft (11) in a direction away from the outer expansion member (3).

10. The material handling device according to any one of claims 1-9, characterized in that, The first driving mechanism (5) includes a first driving member (51) and a push block (52). The first driving member (51) can drive the push block (52) to move along the second direction, and at least one of the end face of the push block (52) facing the push block (4) and the end face of the push block (4) facing the push block (52) is a second inclined surface (521).

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