Automatic picking device

Abstract

This disclosure relates to an automatic material handling device for retrieving materials from a hopper. The hopper includes a main frame and partitions rotatably disposed on the main frame. Multiple partitions are arranged along a first direction, with adjacent partitions clamping both sides of the material to separate multiple materials. The automatic material handling device includes: a base; a gripping mechanism mounted on the base for gripping materials on at least one side of the material along the first direction; and a flipping drive mechanism mounted on the base for driving the partition at the material gripped by the gripping mechanism to flip away from the outer edge of the material. During material handling, the automatic material handling device can drive the partitions separating the materials to flip away from the material by using the flipping drive mechanism, thereby providing more space for the material in the first direction. This allows the gripping mechanism of the automatic material handling device to remove the material from the hopper without interference in a second direction after gripping it, thus automating material handling.

Description

Technical Field

[0001] This disclosure relates to the field of material handling in production lines, and more particularly to an automatic material handling device. Background Technology

[0002] As the demand for production line automation increases, more and more automated equipment is replacing traditional manual labor. For example, in related technologies, materials are placed by stacking or hanging, and robotic grippers are typically used to pick up the materials during the material handling process. However, for materials with high requirements for surface protection, such as vehicle hoods and door panels, stacking would affect the appearance, and these types of outer panels do not have suitable mounting holes. Therefore, automated material handling for these specially designed outer panels becomes difficult. Utility Model Content

[0003] To overcome the problems existing in related technologies, this disclosure provides an automatic material handling device.

[0004] According to a first aspect of the present disclosure, an automatic material handling device is provided for handling materials from a hopper, the hopper including a main frame and partitions rotatably disposed on the main frame, a plurality of partitions being arranged along a first direction, two adjacent partitions being sandwiched between the two sides of the material to separate the plurality of materials, the automatic material handling device including: a base; a gripping mechanism mounted on the base for gripping the material on at least one side of the material along the first direction; and a flipping drive mechanism mounted on the base for driving the partition at the material gripped by the gripping mechanism to flip away from the outer edge of the material.

[0005] The automatic material handling device can drive the partitions separating the materials to rotate away from the materials by a flipping drive mechanism during material handling. This provides more space for the materials in the first direction, so that the gripping mechanism of the automatic material handling device can grab the materials and remove them from the material box without interference in the second direction, thereby realizing the automation of material handling.

[0006] In one possible implementation, the gripping mechanism includes at least one clamping component for clamping the material on both sides of the material along the first direction.

[0007] The material is gripped by clamping, ensuring that both sides of the material can be contacted and gripped, thus guaranteeing the stability of the grip.

[0008] In one possible implementation, the clamping assembly includes a main arm and a secondary arm, the main arm being mounted on the base, the secondary arm being rotatably mounted on the main arm, and each of the main arm and the secondary arm being provided with a clamping block. The material has a first side and a second side along the first direction. The clamping block on the main arm is used to abut against the material on the first side, and the secondary arm is configured to rotate from the first side to the second side so that the clamping block on the secondary arm abuts against the material on the second side.

[0009] One of the two clamping blocks used to hold the material is set on the main arm and the other on the rotatable auxiliary arm. After the clamping block on the main arm contacts the first side of the material, the auxiliary arm rotates forward to make the clamping block contact the second side of the material. This arrangement allows the clamping force to be adjusted by the rotation range to accommodate materials of different specifications. On the other hand, it makes it easier for the automatic material handling device to approach and clamp the material from one side of the material's arrangement direction, without the need to arrange a gripping mechanism on the outer periphery or second side of the material, thus avoiding interference with the material.

[0010] In one possible implementation, the gripping mechanism includes at least one suction cup assembly mounted on the base and used to adsorb the material on the first side.

[0011] The suction cup assembly can grasp materials using vacuum adsorption, making the grasping method more convenient and eliminating the need to extend to the other side of the material to grasp it, thus making the automatic material handling device more accessible.

[0012] In one possible implementation, the automatic feeding device includes at least one suction cup assembly for adsorbing the material, a clamping assembly for clamping the material at its edge, and the suction cup assembly being positioned closer to the center of the material than the clamping assembly.

[0013] Clamping components can improve gripping force and ensure better gripping during grasping, but they are more likely to approach and clamp the material at the edge, leaving the middle area of ​​the material unloaded and resulting in decreased gripping stability. Suction cup components, on the other hand, can grip the material by adsorbing it in the middle area, thus compensating for the inability to clamp the material in the middle.

[0014] In one possible implementation, the flipping drive mechanism includes a drive cylinder and a pusher protrusion. The cylinder body of the drive cylinder is mounted on the base, and the pusher protrusion is mounted on the end of the drive rod of the drive cylinder to push the partition to rotate away from the outer edge of the material by the extension of the drive rod.

[0015] After the automatic feeding device reaches the feeding position in the hopper, the gripping mechanism can grab the material. Correspondingly, the drive cylinder can extend its drive rod to push the protrusion to the position shown in the figure, thereby releasing usable space for the material in the first direction and ensuring that the material is not interfered with by the barrier in the first direction when it is taken out in the second direction. Compared with the motor drive method, this drive cylinder method is more cost-effective and has better stability.

[0016] In one possible implementation, the automatic feeding device includes a plurality of limiting components mounted on the base and extending toward the material side. The plurality of limiting components are arranged around the outer edge of the material and configured to stop at the outer edge of the material before the gripping mechanism grips the material.

[0017] By setting a limiting component, the clamping block of the main arm of the gripping component and the suction cup component can extend to the outer edge of the material before they come into contact with the material. The limiting component can then stop the material at the outer edge, making the gripping position of the gripping mechanism more accurate and stable, and preventing the material from shaking significantly during the gripping process.

[0018] In one possible implementation, the automatic material handling device includes a vision component for identifying the position of the material, the vision component being mounted on the base, and the gripping mechanism extending beyond the vision component in the direction toward the material.

[0019] The vision component can identify and determine the position of the material so that it can be grasped at the appropriate location.

[0020] In one possible implementation, the vision component includes a controller and at least one camera, the controller being electrically connected to the camera, the gripping mechanism, and the flipping drive mechanism, and configured to identify the position of the material based on a photograph of the material taken by the camera, in order to control the operation of the gripping mechanism and the flipping drive mechanism.

[0021] The camera can take pictures of the material in front and transmit the pictures to the controller. The controller uses software algorithms to calculate and identify the position of the material. When the position of the material is identified as a suitable position for picking up the material, the controller can control the action of the gripping mechanism and the flipping drive mechanism to perform the picking up operation on the material.

[0022] In one possible implementation, the automatic material handling device includes a robotic arm connected to the base for driving the base in a second direction to move the gripping mechanism out of the hopper, the second direction being perpendicular to the first direction.

[0023] The robotic arm has a higher degree of freedom and can move along a predetermined path or a path given in real time by the control equipment, which facilitates the automated picking of materials at various locations, improves picking efficiency, and saves labor costs.

[0024] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: the automatic material handling device can drive the partition separating the material to rotate away from the material by a flipping drive mechanism during material handling, thereby providing more space for the material in the first direction, so that the gripping mechanism of the automatic material handling device can grab the material and remove it from the material box without interference in the second direction, thereby realizing the automation of material handling.

[0025] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0027] Figure 1 This is a schematic diagram illustrating the placement of materials in a hopper according to an exemplary embodiment;

[0028] Figure 2 This is a schematic diagram illustrating a barrier during material handling according to an exemplary embodiment;

[0029] Figure 3 This is a schematic diagram of an automatic material handling device in the process of handling materials, according to an exemplary embodiment.

[0030] Figure 4 This is illustrated according to an exemplary embodiment. Figure 3 Enlarged view of part A in the image;

[0031] Figure 5 This is a schematic diagram of the material side of an automatic material handling device when handling material, according to an exemplary embodiment.

[0032] Figure 6 This is a schematic diagram of an automatic material handling device according to an exemplary embodiment;

[0033] Figure 7 This is a schematic diagram of an automatic material handling device according to an exemplary embodiment;

[0034] Figure 8 This is a schematic diagram of a clamping assembly according to an exemplary embodiment.

[0035] Explanation of reference numerals in the attached figures

[0036] 100-Bag, 101-Main frame, 102-Baffle, 103-Slot, 200-Material, 300-Automatic material handling device, 310-Base, 320-Gripping mechanism, 321-Clamping assembly, 322-Suction cup assembly, 3211-Main arm, 3212-Secondary arm, 3213-Clamping block, 330-Tilting drive mechanism, 331-Drive cylinder, 3311-Cylinder body, 3312-Drive rod, 332-Pushing protrusion, 340-Limiting assembly, 350-Vision assembly, 351-Controller, 352-Camera. Detailed Implementation

[0037] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0038] As the demand for production line automation increases, more and more automated equipment is replacing traditional manual labor. For example, in related technologies, materials are placed by stacking or hanging, and robotic grippers are typically used to pick up the materials during the material handling process. However, for materials with high requirements for surface protection, such as vehicle hoods and door panels, stacking would affect the appearance, and these types of outer panels do not have suitable mounting holes. Therefore, automated material handling for these specially designed outer panels becomes difficult.

[0039] For example, in one embodiment, the arrangement of materials 200 can be as follows: Figure 1 As shown, the material bin 100 includes a main frame 101 and partitions 102 disposed on the main frame 101. The main frame 101 can be a frame formed by multiple crossbeams and longitudinal beams, with an opening on at least one side for access by the automatic material handling device 300. Multiple partitions 102 are arranged along a first direction, with adjacent partitions 102 sandwiched between the two sides of the material 200 to separate the multiple materials 200. By setting the partitions 102, materials 200 with high requirements for appearance can be isolated from each other to prevent mutual friction from affecting their appearance. For clarity, Figure 1 In the material bin 100, only one material 200 is placed between a pair of partitions 102, and no material is placed between the other partitions 102.

[0040] When the material 200 is placed using this partition 102, retrieving the material 200 becomes difficult. Firstly, due to the obstruction of the partition 102, the material 200 cannot be directly retrieved along the first direction. Secondly, for example… Figure 2 As shown, when the material 200 has a curved structure, if the material 200 is taken out directly along the second direction, it will interfere with the partition 102.

[0041] Therefore, this disclosure provides an automatic material handling device capable of automatically handling materials from the aforementioned material bin 100. A partition 102 is rotatably mounted on the main frame 101. The automatic material handling device 300 provided in this disclosure includes a base 310, a gripping mechanism 320, and a flipping drive mechanism 330. (Refer to...) Figure 6 and Figure 7 The base 310 can be formed by connecting multiple crossbeams and longitudinal beams, and the crossbeams and longitudinal beams can be provided with a number of mounting holes to provide a mounting base for other components. A gripping mechanism 320 can be mounted on the base 310 to grip the material 200 on at least one side along a first direction. For example, it can grip the outermost side of the material 200 in the placement direction, or it can grip both sides of the outermost material 200. The gripping method includes, but is not limited to, clamping, adsorption, and other methods that do not damage the appearance of the material 200. A flipping drive mechanism 330 is mounted on the base 310 to drive the partition 102 at the material 200 gripped by the gripping mechanism 320 to flip away from the outer edge of the material 200. After the material 200 is placed in the hopper 100, both sides of the material 200 can be clamped by the partition 102. Additionally, the bottom of the material 200 can be inserted into a slot 103 provided on the main frame 101. When the gripping mechanism 320 grips the material 200 to remove it from the material box 100, if Figure 2 As shown, when the extension path of material 200 along the picking direction (i.e., the second direction in the figure) is a curved surface, if the material is picked up directly, the partition 102 will interfere with the material 200 in the second direction, making it impossible to pick up the material. Therefore, before picking up the material 200 along the second direction, the partition 102 at the material 200 can be rotated to the desired position. Figure 2 The upright position shown makes the partition 102 away from the edge of the material 200 so as not to block the side of the material 200 along the first direction.

[0042] Through the above technical solution, the automatic material handling device 300 can drive the partition 102 separating the material 200 to rotate away from the material 200 by the flipping drive mechanism 330 during material handling, thereby providing more space for the material 200 in the first direction. This allows the gripping mechanism 320 of the automatic material handling device 300 to grip the material 200 and remove it from the material box 100 without interference in the second direction, thus realizing the automation of material handling of the material 200.

[0043] Reference Figure 6 In one embodiment of this disclosure, the gripping mechanism 320 may include at least one clamping component 321. The clamping component 321 may be mounted on the base 310 and used to clamp the material 200 on both sides along a first direction. For example, the number of clamping components 321 may be two, three, or four, etc., and gripping can be performed around the circumference of the material 200. By gripping the material 200, both sides of the material 200 can be contacted and gripped, ensuring the stability of the gripping.

[0044] Combination Figure 5 and Figure 8 As shown, the clamping assembly 321 may include a main arm 3211 and a secondary arm 3212. The main arm 3211 may be mounted on the base 310, and the secondary arm 3212 is rotatably mounted on the main arm 3211. Each of the main arm 3211 and the secondary arm 3212 is provided with a clamping block 3213. The material 200 has a first side and a second side along a first direction. The clamping block 3213 on the main arm 3211 is used to abut against the material 200 on the first side. The secondary arm 3212 is configured to rotate from the first side to the second side, so that the clamping block 3213 on the secondary arm 3212 abuts against the material 200 on the second side. (Refer to...) Figure 8Before the clamping assembly 321 clamps the material 200, the auxiliary arm 3212 can be positioned to the left of its current position, ensuring that the auxiliary arm 3212 does not extend forward beyond the main arm 3211 in the first direction, thus avoiding interference with the contact between the clamping block 3213 on the main arm 3211 and the material 200. Furthermore, at this position, the auxiliary arm 3212 is positioned higher than the main arm 3211 or higher than the material 200 to be clamped, ensuring that subsequent rotation of the auxiliary arm 3212 can avoid the material 200, guaranteeing smooth rotation of the auxiliary arm 3212. After the auxiliary arm 3212 rotates to its current position, the material 200 can be clamped between the main arm 3211 and the clamping block 3213 of the auxiliary arm 3212. For ease of description, "front" here and below refers to the direction in which the automatic material handling device 300 approaches the material 200 along the first direction, and the opposite is "rear". One of the two clamping blocks 3213 used to clamp the material 200 is mounted on the main arm 3211, and the other is mounted on the rotatable auxiliary arm 3212. After the clamping block 3213 on the main arm 3211 contacts the first side of the material 200, the auxiliary arm 3212 rotates forward to bring the clamping block 3213 into contact with the second side of the material 200. This arrangement allows for adjustment of the clamping force through rotation to accommodate materials 200 of different specifications. Furthermore, it facilitates the automatic material handling device 300 approaching and clamping the material 200 from one side of its arrangement direction, eliminating the need for a gripping mechanism 320 on the outer periphery or second side of the material 200, thus avoiding interference. The clamping block 3213 can be made of rubber to ensure clamping force through compression.

[0045] In one embodiment, reference is made to... Figure 6 The gripping mechanism 320 may include at least one suction cup assembly 322, which may be mounted on the base 310 and used to adsorb material 200 on a first side, that is, adsorb material 200 on the side of the automatic feeding device 300 that is close to material 200. The suction cup assembly 322 can grip material 200 by vacuum adsorption, which is more convenient and does not require extending to the other side of material 200 to grip, making the automatic feeding device 300 more accessible.

[0046] In this embodiment of the disclosure, the gripping mechanism 320 may include one of the suction cup assembly 322 and the clamping assembly 321, or both. By combining the two methods, the gripping of the material 200 is made more stable.

[0047] When the automatic material handling device 300 includes at least one suction cup assembly 322 and at least one clamping assembly 321, refer to Figures 5 to 7 The clamping assembly 321 is used to clamp the material 200 at its edge, and the suction cup assembly 322 is positioned closer to the center of the material 200 than the clamping assembly 321. Figure 5 As shown, the eight circular dots on the material 200 represent the positions where the suction cup assembly 322 is attached. The clamping assembly 321 can improve the gripping force and ensure better gripping during gripping, but it is more likely to approach and clamp the material 200 at the edge of the material 200, leaving the middle area of ​​the material 200 without force, resulting in a decrease in gripping stability. The suction cup assembly 322 can grip by adsorbing in the middle area, thus compensating for the defect that the middle of the material 200 cannot be clamped.

[0048] Reference Figure 3 and Figure 4 The flipping drive mechanism 330 may include a drive cylinder 331 and a pushing protrusion 332. The cylinder body 3311 of the drive cylinder 331 is mounted on the base 310, and the pushing protrusion 332 is mounted on the end of the drive rod 3312 of the drive cylinder 331, so that the extension of the drive rod 3312 pushes the partition 102 to rotate away from the outer edge of the material 200. Here, "extension" refers to the direction in which the drive rod 3312 extends out of the cylinder body 3311. After the automatic feeding device 300 reaches the feeding position in the hopper 100, the gripping mechanism 320 can grip the material 200. Correspondingly, the drive cylinder 331 can drive the pushing protrusion 332 to push the partition 102 away from the outer edge of the material 200 by the extension of the drive rod 3312. Figure 4 The position shown indicates that the space available for the material 200 is freed up in the first direction, ensuring that the material 200 is not interfered with by the partition 102 in the first direction when it is removed in the second direction. This driving method using the drive cylinder 331 is more cost-effective and has better stability compared to motor-driven methods. In this embodiment, the arrangement direction of the drive cylinder 331 can be... Figure 4 The tilt direction shown can also be vertical, and this disclosure does not limit it. In addition, it should be noted that the installation between the partition 102 and the main frame 101 has damping, that is, when the partition 102 is not subjected to external force, it can remain in its current position and will not fall due to gravity. For example, the damping effect can be achieved by tightly connecting the partition 102 to the rotation axis.

[0049] In this embodiment of the disclosure, reference is made to Figure 5 and Figure 6The automatic material handling device 300 may include multiple limiting components 340. These limiting components 340 can be mounted on the base 310 and extend towards the material 200, meaning they can extend forward in the material handling direction of the automatic material handling device 300. The multiple limiting components 340 are arranged around the outer edge of the material 200 and can be configured to stop and limit the material 200 at its outer edge before the gripping mechanism 320 grips it. By setting the limiting components 340, they can extend beyond the outer edge of the material 200 before the gripping block 3213 of the main arm 3211 of the gripping assembly 321 and the suction cup assembly 322 contact the material. The stopping action of the limiting components 340 on the outer edge limits the material 200, making the gripping position of the gripping mechanism 320 more precise and stable, and preventing significant shaking of the material 200 during gripping.

[0050] The limiting component 340 may include a limiting block with an inclined surface at the front end. The inclined surface can play a guiding role when the limiting component 340 comes into contact with the material 200, so as to guide the material 200 into the limiting space enclosed by the multiple limiting components 340.

[0051] In this embodiment of the disclosure, reference is made to Figure 6 The automatic material handling device 300 may include a vision component 350 for identifying and determining the position of the material 200. The vision component 350 is mounted on the base 310. The gripping mechanism 320 extends beyond the vision component 350 in the direction of the material 200 to avoid the vision component 350 interfering with the gripping mechanism 320's gripping of the material 200. The vision component 350 can identify and determine the position of the material 200 so that the material 200 can be gripped at an appropriate position.

[0052] The vision component 350 may include a controller 351 and at least one camera 352. The controller 351 is electrically connected to the camera 352, the gripping mechanism 320, and the flipping drive mechanism 330. The camera 352 can take a picture of the material 200 in front and transmit the picture to the controller 351. The controller 351 calculates and identifies the position of the material 200 through software algorithms. When the position of the material 200 is identified as a suitable position for picking up the material, the controller 351 can control the gripping mechanism 320 and the flipping drive mechanism 330 to perform a picking operation on the material 200.

[0053] In this embodiment, the automatic material handling device 300 may include a robotic arm. After the gripping mechanism 320 grips the material 200 and the flipping drive mechanism 330 pushes the partition 102 away from the material 200, the robotic arm can drive the base 310 along a second direction to move the gripping mechanism 320 out of the material box 100. The second direction is perpendicular to the first direction, and the robotic arm can be connected to the base 310. The robotic arm can travel on a walking axis to allow the automatic material handling device 300 to move forward or backward away from the material 200 along the first direction, or to move the material 200 out of the material box 100 along the second direction. The robotic arm has a higher degree of freedom and can travel along a predetermined path or a path given in real time by the control device, facilitating automated material handling at various locations, improving handling efficiency, and saving labor costs.

[0054] In the above detailed description, reference has been made to the accompanying drawings, which illustrate specific aspects of this disclosure by way of illustration. In this regard, terms indicating direction or positional relationship, such as “center,” “longitudinal,” “lateral,” “length,” “width,” “thickness,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential,” are used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, directional terms are used for illustrative purposes and not for limitation. It should be understood that other aspects can be utilized and structural or logical changes can be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.

[0055] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.

[0056] It should be understood that, unless otherwise expressly specified and limited, the terms "joining," "attaching," "installing," "connecting," "linking," "fixing," etc., used in the embodiments of this disclosure 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, an electrical connection, or a connection that allows communication between them; 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 herein based on the specific circumstances.

[0057] Furthermore, the term "above" as used herein with respect to components, elements, or material layers formed or located "above" a surface may be used to indicate that the component, element, or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are arranged between the surface and the component, element, or material layer. However, the term "above" as used with respect to components, elements, or material layers formed or located "above" a surface may also optionally have a specific meaning: that the component, element, or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, for example, in direct contact with the surface.

[0058] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0059] It should be understood that spatial relative terms, such as “above,” “upper,” “below,” and “lower,” are used herein to describe the relationship between one element and another shown in the figures. In addition to the orientation depicted in the figures, these spatial relative terms are also intended to encompass different orientations of the device in use or operation. For example, if the device in the figures is flipped, an element described as “above” or “upper” relative to another element would be “below” or “lower” relative to that other element. Thus, depending on the spatial orientation of the device, the term “above” encompasses both above and below orientations. Devices may have other orientations (e.g., rotated 90 degrees or in other orientations), and the spatial relative terms used herein should be interpreted accordingly.

[0060] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0061] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0062] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0063] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. An automatic picking device for picking material from a magazine, characterized in that The material bin includes a main frame and partitions rotatably disposed on the main frame. Multiple partitions are arranged along a first direction, with adjacent partitions sandwiched between the two sides of the material to separate multiple materials. The automatic material handling device includes: Base; A gripping mechanism, mounted on the base, is used to grip the material on at least one side along the first direction; and A flipping drive mechanism, mounted on the base, is used to drive the barrier at the material gripped by the gripping mechanism to flip away from the outer edge of the material.

2. The automatic picking device according to claim 1, characterized in that The gripping mechanism includes at least one clamping component for clamping the material on both sides along the first direction.

3. The automatic picking device according to claim 2, characterized in that The clamping assembly includes a main arm and a secondary arm. The main arm is mounted on the base, and the secondary arm is rotatably mounted on the main arm. Each of the main arm and the secondary arm is provided with a clamping block. The material has a first side and a second side along the first direction. The clamping block on the main arm is used to abut against the material on the first side. The secondary arm is configured to rotate from the first side to the second side so that the clamping block on the secondary arm abuts against the material on the second side.

4. The automatic picking device according to claim 3, characterized in that The gripping mechanism includes at least one suction cup assembly, which is mounted on the base and used to adsorb the material on the first side.

5. The automatic picking device according to claim 2, characterized in that, The automatic material handling device includes at least one suction cup assembly for adsorbing the material, and a clamping assembly for clamping the material at its edge. The suction cup assembly is positioned closer to the center of the material than the clamping assembly.

6. The automatic picking device according to claim 1, characterized in that, The flipping drive mechanism includes a drive cylinder and a pusher protrusion. The cylinder body of the drive cylinder is mounted on the base, and the pusher protrusion is mounted on the end of the drive rod of the drive cylinder, so as to push the partition to rotate away from the outer edge of the material by the forward extension of the drive rod.

7. The automatic picking device according to claim 1, characterized in that, The automatic material handling device includes multiple limiting components, which are mounted on the base and extend toward the material side. The multiple limiting components are arranged around the outer edge of the material and configured to stop at the outer edge of the material before the gripping mechanism grips the material.

8. The automatic picking device according to claim 1, characterized in that, The automatic material handling device includes a vision component for identifying and determining the position of the material. The vision component is mounted on the base, and the gripping mechanism extends beyond the vision component in the direction toward the material.

9. The automatic picking device according to claim 8, characterized in that The vision component includes a controller and at least one camera. The controller is electrically connected to the camera, the gripping mechanism, and the flipping drive mechanism, and is configured to identify the position of the material based on a photograph of the material taken by the camera, so as to control the operation of the gripping mechanism and the flipping drive mechanism.

10. The automatic picking device according to claim 1, characterized in that, The automatic material handling device includes a robotic arm connected to the base, which drives the base along a second direction to move the gripping mechanism out of the material box. The second direction is perpendicular to the first direction.

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