Automatic picking device

Abstract

The application provides an automatic material taking device. The first material taking mechanism and the second material taking mechanism are arranged, the moving module of the first material taking mechanism can drive the first suction cup to move to contact with the first material, so that the first material is grabbed, after the automatic material taking device is turned by a certain angle, the second material taking mechanism can be used to grab the second material, only one mechanical hand can be used to grab more than two kinds of materials, cost can be reduced, work efficiency can be improved, the structure of the automatic equipment is compact, and the volume of the automatic equipment is reduced. The elastic member can reduce the force of the suction cup on the material, and the pressure sensor can monitor the pressure on the material in real time, so that the probability of damage of the material can be reduced.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, and in particular to an automatic material handling device. Background Technology

[0002] Currently, many robotic arms on the market have end effectors that can only perform a single function. For example, the gripper at the end of a robotic arm can only pick up products; when it is necessary to move a tray, another robotic arm is needed. This not only increases costs but also increases the overall size of the automated equipment. Utility Model Content

[0003] In view of this, this application proposes an automatic material handling device that can be installed at the end of a robotic arm to grasp a variety of materials, thereby reducing costs and decreasing the overall size of the equipment.

[0004] One embodiment of this application discloses an automatic material handling device, which includes a connecting plate, a first material handling mechanism, a second material handling mechanism, and a buffer mechanism. The first material handling mechanism includes a first mounting plate, a moving module, a base plate, and a first suction cup. The first mounting plate is fixed to the connecting plate, and the moving module is connected to the first mounting plate. The base plate is connected to the moving module, and the first suction cup is fixed to the surface of the base plate opposite to the moving module. The base plate and the first suction cup are configured to move under the influence of the moving module. The second material handling mechanism includes a second mounting plate and a second suction cup fixed to the second mounting plate, the second mounting plate being fixed to the connecting plate. The buffer mechanism includes an elastic element and a pressure sensor. One end of the elastic element is connected to the first mounting plate, and the other end of the elastic element is connected to the pressure sensor, the pressure sensor being fixed to the base plate.

[0005] In one embodiment, the automatic material handling device further includes a positioning mechanism, which comprises a third mounting plate, a camera, a light source, and a fourth mounting plate. The third mounting plate is fixed to the side of the connecting plate away from the second mounting plate, the camera is fixed to the third mounting plate, and a lens is mounted on one end of the camera. The fourth mounting plate is fixed to the third mounting plate, and the light source is fixed to the fourth mounting plate and located on the side of the lens away from the camera.

[0006] In one embodiment, the positioning mechanism further includes a photoelectric sensor, which is fixed to the surface of the base plate opposite to the pressure sensor.

[0007] In one embodiment, the first mounting plate includes a first connecting block, a second connecting block, a third connecting block, and a mounting sub-plate. The first connecting block is fixed to the connecting plate, the second connecting block is fixed to the end of the first connecting block away from the connecting plate, and the third connecting block is fixed to the second connecting block. The mounting sub-plate is fixed to the third connecting block, and the movable module is connected to the mounting sub-plate.

[0008] In one embodiment, the mobile module includes a base, a guide rail fixed to the base, and a movable seat slidably connected to the guide rail. The base is fixed to the mounting plate, and the bottom plate is fixed to the movable seat.

[0009] In one embodiment, the movable seat includes a first seat body and a second seat body vertically connected. The first seat body is slidably connected to the guide rail, and the second seat body is fixedly connected to the base plate.

[0010] In one embodiment, a limiting block is provided on the surface of the second seat facing the base, and the limiting block is provided corresponding to the base.

[0011] In one embodiment, the buffer mechanism further includes a sleeve, a baffle, and a fastener. The sleeve is fitted onto the elastic element, and the baffle is fixed to the end of the sleeve away from the pressure sensor. The fastener includes an arc-shaped portion and connecting portions respectively connected to both sides of the arc-shaped portion. The arc-shaped portion surrounds the sleeve, and the connecting portions are fixed to the mounting plate.

[0012] In one embodiment, the second material handling mechanism further includes a reinforcing rib, which is disposed between the connecting plate and the second mounting plate.

[0013] In one embodiment, the first material handling mechanism further includes a first air pipe connector, which is disposed on the base plate and connected to the first suction cup. The second material handling mechanism further includes a second air pipe connector, which is disposed on the second mounting plate and connected to the second suction cup.

[0014] This application, by setting up a first material-grabbing mechanism and a second material-grabbing mechanism, allows the first material-grabbing mechanism's moving module to move the first suction cup to contact the first type of material, thus completing the grasping of the first material. After the automatic material-grabbing device is rotated at a certain angle, the second material-grabbing mechanism can then grasp the second type of material. Only one robotic arm is needed to grasp two or more types of materials, thereby reducing costs, improving work efficiency, and making the automated equipment more compact and smaller in size. By setting up a buffer mechanism, the elastic element can reduce the force exerted by the suction cup on the material, and the pressure sensor can monitor the pressure acting on the material in real time, thus reducing the probability of material damage. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an automatic material handling device provided in one embodiment of this application.

[0016] Figure 2 for Figure 1 The diagram shows the structure of the automatic material handling device from another perspective.

[0017] Figure 3 for Figure 1 A schematic diagram of part of the structure of the automatic material handling device shown.

[0018] Figure 4 for Figure 1 A schematic diagram of the automatic material handling device shown from another perspective.

[0019] Figure 5 for Figure 1 A schematic diagram of the automatic material handling device shown from another perspective.

[0020] Figure 6 for Figure 1 A schematic diagram of the automatic material handling device shown from another perspective.

[0021] Explanation of main component symbols 100: Automatic material handling device; 10: Connecting plate; 20: First material handling mechanism; 30: Second material handling mechanism; 40: Buffer mechanism; 50: Positioning mechanism; 21: First mounting plate; 22: Moving module; 23: Base plate; 24: First suction cup; 25: First air pipe connector; 26: Limiting block; 211: First connecting block; 212: Second connecting block; 213: Third connecting block; 214: Mounting plate; 221: Base; 222: Guide rail; 223: Movable seat; 224: First seat body; 225: Second seat body; 31: Second mounting plate; 32: Second suction cup; 33: Second air pipe connector; 34: Reinforcing rib; 41: Elastic element; 42: Pressure sensor; 43: Sleeve; 44: Baffle; 45: Fastener; 451: Arc-shaped part; 452: Connecting part; 51: Third mounting plate; 52: Camera; 53: Light source; 54: Fourth mounting plate; 55: Lens; 56: Photoelectric sensor.

[0022] The following detailed description, in conjunction with the accompanying drawings, further illustrates the embodiments of this application. Detailed Implementation

[0023] 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 the embodiments of this application pertain. The terminology used herein is for the purpose of describing particular implementations only and is not intended to limit the embodiments of this application. Where specific conditions are not specified in the embodiments, conventional conditions or conditions recommended by the manufacturer shall apply. Reagents or instruments whose manufacturers are not specified are all conventional products that can be purchased commercially.

[0024] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0025] It will be understood that when a layer is referred to as "on" another layer, it can be directly on that other layer or there can be an intermediate layer in between. Conversely, when a layer is referred to as "directly on" another layer, there is no intermediate layer. When a component is referred to as "fixed to," "mounted to," "set on," or "connected to" another component, it can be directly on the other component or there can be an intermediate component.

[0026] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0027] It is understood that when describing the parallel / perpendicular setup of two components, the included angle between the two components is allowed to have a tolerance of ±10% relative to the standard parallel / perpendicular setup.

[0028] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0029] Please see Figures 1 to 3 This application discloses an automatic material handling device 100, which includes a connecting plate 10, a first material handling mechanism 20, a second material handling mechanism 30, and a buffer mechanism 40. Both the first and second material handling mechanisms 20 and 30 are mounted on the connecting plate 10, and the buffer mechanism 40 is mounted on the first material handling mechanism 20. The connecting plate 10 can be used to connect to a robotic arm (not shown), thereby mounting the automatic material handling device 100 at the end of the robotic arm. The connecting plate 10 is generally a rectangular plate structure with a certain thickness. The first material handling mechanism 20 can be mounted on the bottom surface of the connecting plate 10, and the second material handling mechanism 30 can be mounted on one of the side surfaces of the connecting plate 10.

[0030] like Figures 1 to 3 As shown, the first material handling mechanism 20 includes a first mounting plate 21, a moving module 22, a base plate 23, and a first suction cup 24. The first mounting plate 21 is fixed to the connecting plate 10, for example, it can be fixed to the bottom surface of the connecting plate 10. The moving module 22 is connected to the first mounting plate 21, and the base plate 23 is connected to the moving module 22. The first suction cup 24 is fixed to the surface of the base plate 23 away from the moving module 22. For example, the first suction cup 24 can be located on the lower surface of the base plate 23, and the moving module 22 can be located on the upper surface of the base plate 23. The moving module 22 can move closer to or away from the connecting plate 10 along the thickness direction of the connecting plate 10, thereby driving the base plate 23 and the first suction cup 24 on the base plate 23 to move.

[0031] like Figures 1 to 3 As shown, the second material handling mechanism 30 includes a second mounting plate 31 and a second suction cup 32, with the second suction cup 32 fixed to the second mounting plate 31. The second mounting plate 31 is fixed to the connecting plate 10, for example, by means of, but not limited to, screws or other components, to one side surface of the connecting plate 10.

[0032] like Figures 1 to 3 As shown, the buffer mechanism 40 includes an elastic element 41 and a pressure sensor 42. One end of the elastic element 41 is connected to the first mounting plate 21, and the other end is connected to the pressure sensor 42. The pressure sensor 42 is fixed to the surface of the base plate 23 facing the connecting plate 10, that is, the upper surface of the base plate 23 in the figure.

[0033] When material needs to be grasped (e.g., a mobile phone frame, which can be placed in a material tray), the robotic arm moves the automatic material handling device 100 above the material. Then, the moving module 22 drives the base plate 23 and the first suction cup 24 to a suitable position, so that the first suction cup 24 contacts the material and continues to press down until the material is firmly sucked in, completing the material grasping. During the grasping process, the elastic element 41 can reduce the force exerted by the first suction cup 24 on the material, reducing the probability of material damage. The pressure sensor 42 can monitor the pressure acting on the material in real time, thereby adjusting the pressure on the material in a timely manner to further reduce the probability of material damage. After all the material has been grasped, the robotic arm can rotate the automatic material handling device 100 by 90°, so that the second suction cup 32 of the second material handling mechanism 30 is aligned with the material tray, and the material tray is grasped by the suction effect of the second suction cup 32. The automatic material handling device 100 of this application only requires one robotic arm to pick up two or more materials (e.g., mobile phone frame and material tray), without the need to replace or add robotic arms. Therefore, it can reduce the number of robotic arms, reduce costs, improve work efficiency, and make the structure of the automated equipment compact and reduce the size of the automated equipment.

[0034] In some embodiments, such as Figure 1 and Figure 4 As shown, the first mounting plate 21 includes a first connecting block 211, a second connecting block 212, a third connecting block 213, and a mounting sub-plate 214. The first connecting block 211 is fixed to the connecting plate 10 and can be fixed to the bottom surface of the connecting plate 10 by screws or other components, and can extend in a direction away from the connecting plate 10. The first connecting block 211 can be, but is not limited to, cylindrical. The second connecting block 212 can be fixed to the end of the first connecting block 211 away from the connecting plate 10. The second connecting block 212 can also be cylindrical, and its height can be less than the height of the first connecting block 211. The third connecting block 213 is fixed to the surface of the second connecting block 212 opposite to the first connecting block 211. The third connecting block 213 can also be cylindrical, and its diameter can be equal to the diameter of the second connecting block 212, and its height can also be equal to the height of the second connecting block 212; this application does not impose any limitations. The mounting sub-plate 214 can be a cuboid plate structure, which can be fixed to the side surface or bottom surface of the third connecting block 213. The mobile module 22 is connected to the mounting sub-board 214.

[0035] In some embodiments, such as Figure 3 As shown, the movable module 22 includes a base 221, a guide rail 222, and a movable seat 223. The guide rail 222 is fixed to the base 221, and the movable seat 223 is slidably connected to the guide rail 222. The base 221 is fixed to the mounting plate 214, and the movable seat 223 is fixed to the base plate 23. Thus, when the movable seat 223 slides on the guide rail 222, the base plate 23 and the first suction cup 24 on the base plate 23 can move up and down (i.e., move closer to or away from the connecting plate 10). The movable module 22 shown in this embodiment is also called a cross roller slide, and the model and brand of the cross roller slide are not limited in this application. The cross roller slide has high positioning accuracy, which can reduce the phenomenon of material picking failure due to shaking during material picking.

[0036] Furthermore, such as Figure 3 As shown, the movable seat 223 may include a first seat body 224 and a second seat body 225 connected vertically, and the cross-section of the movable seat 223 may be "T" shaped. The first seat body 224 is slidably connected to the guide rail 222, and the second seat body 225 is fixedly connected to the base plate 23.

[0037] Furthermore, such as Figure 3 As shown, a limiting block 26 is provided on the surface of the second seat 225 facing the base 221. The limiting block 26 is positioned corresponding to the base 221, that is, the orthographic projection of the base 221 on the second seat 225 at least partially overlaps with the orthographic projection of the limiting block 26. The limiting block 26 can control the movement of the movable seat 223. Specifically, when the limiting block 26 rises to the position of contacting the base 221, the limiting block 26 prevents the second seat 225 from moving further upward, at which point the movable seat 223 has already risen to its highest position.

[0038] In some embodiments, such as Figures 1 to 3 As shown, the first material handling mechanism 20 also includes a first air pipe connector 25. The first air pipe connector 25 can be disposed on the base plate 23 and connected to the first suction cup 24. There can be multiple first suction cups 24, and one or more first air pipe connectors 25. One first air pipe connector 25 can connect to multiple first suction cups 24, or one first air pipe connector 25 can connect to one first suction cup 24. The first air pipe connector 25 can be used to connect to an external vacuum device (not shown), thereby creating a negative pressure inside the first suction cup 24, which can then firmly adsorb the material without it falling.

[0039] In some embodiments, such as Figure 1 and Figure 2 As shown, the second material handling mechanism 30 also includes a second air pipe connector 33. The second air pipe connector 33 can be disposed on the second mounting plate 31 and connected to the second suction cup 32. There can be multiple second suction cups 32 and multiple second air pipe connectors 33; one second air pipe connector 33 can connect to one second suction cup 32. In this embodiment, there are four second suction cups 32 and four second air pipe connectors 33, and the four second suction cups 32 can be respectively disposed at the four corners of the second mounting plate 31. The second air pipe connector 33 can be used to connect an external vacuum device (not shown), thereby creating a negative pressure inside the second suction cup 32, which can then firmly adsorb the material without it falling.

[0040] In some embodiments, such as Figure 1 and Figure 4 As shown, the second material handling mechanism 30 also includes a reinforcing rib 34. The reinforcing rib 34 is disposed between the connecting plate 10 and the second mounting plate 31 to enhance the strength of the mating surface between the connecting plate 10 and the second mounting plate 31.

[0041] In some embodiments, such as Figure 3 and Figure 4As shown, the buffer mechanism 40 also includes a sleeve 43, a baffle 44, and a fastener 45. The sleeve 43 may be a hollow cylinder, which can be fitted onto the elastic member 41 to restrict the movement of the elastic member 41. The elastic member 41 may be, but is not limited to, a spring. The baffle 44 is fixed to the end of the sleeve 43 away from the pressure sensor 42, and one end of the elastic member 41 can abut against the baffle 44 (that is, one end of the elastic member 41 can contact the baffle 44 and there is a force between them). The fastener 45 is used to fix the sleeve 43 to the mounting plate 214, thereby fixing one end of the elastic member 41 to the mounting plate 214. The fastener 45 may include an arcuate portion 451 and two connecting portions 452 respectively connected to both sides of the arcuate portion 451. The arcuate portion 452 may be arranged around the sleeve 43, that is, the arcuate portion 451 surrounds the sleeve 43. The two connecting parts 452 are respectively attached to the mounting plate 214. Each connecting part 452 is provided with an opening, and screws and other components can be installed in the opening to fix the sleeve 43 and the elastic element 41 to the mounting plate 214.

[0042] In some embodiments, such as Figure 1 , Figure 2 and Figure 4 As shown, the automatic material handling device 100 also includes a positioning mechanism 50. The positioning mechanism 50 may include a third mounting plate 51, a camera 52, a light source 53, and a fourth mounting plate 54. The third mounting plate 51 is fixed to the side of the connecting plate 10 away from the second mounting plate 31. For example, the third mounting plate 51 may be fixed to the left surface of the connecting plate 10, and the second mounting plate 31 may be fixed to the right surface of the connecting plate 10. A portion of the third mounting plate 51 may also extend to cover a portion of the upper surface of the connecting plate 10. The camera 52 is fixed to the surface of the third mounting plate 51 opposite to the second mounting plate 31, and a lens 55 is mounted on the end of the camera 52 away from the connecting plate 10. The fourth mounting plate 54 is fixed to the surface of the third mounting plate 51 opposite to the second mounting plate 31, and the fourth mounting plate 54 may extend beyond the third mounting plate 51 in a direction away from the connecting plate 10. The light source 53 is fixed to the fourth mounting plate 54 and located on the side of the lens 55 away from the camera 52. The light source 53 may be, but is not limited to, an LED light source. During the grasping process, the robotic arm moves to bring the automatic material handling device 100 above the material. The camera 52 in the positioning mechanism 50 takes a picture of the material, thereby identifying and locating it, which then guides the first material handling mechanism 20 or the second material handling mechanism 30 to grasp the material. The light source 53 can assist the camera 52 and lens 55 in taking pictures in low-light conditions, thereby identifying and locating the material to be grasped.

[0043] In some embodiments, such as Figure 3 , Figure 5 and Figure 6As shown, the positioning mechanism 50 may also include a photoelectric sensor 56. The photoelectric sensor 56 can be fixed to the surface of the base plate 23 opposite to the pressure sensor 42. The photoelectric sensor 56 can be used to monitor the distance between the first suction cup 24 of the automatic material handling device 100 and the material to be grasped, so that the movement of the moving module 22 can be adjusted in a timely manner. For example, when the photoelectric sensor 56 detects that the distance between the first suction cup 24 and the material is very close or that the first suction cup 24 has already contacted the material, the photoelectric sensor 56 can send a signal, and the robot can stop moving. Then the moving module 22 can be started, and the precise movement of the moving module 22 can drive the first suction cup 24 to move, thereby adsorbing the material.

[0044] The automatic material handling device 100 of this application embodiment, by setting a first material handling mechanism 20 and a second material handling mechanism 30, allows the first suction cup 24 to be moved by the moving module 22 of the first material handling mechanism 20 to contact the first material and thus complete the grasping of the first material. After the automatic material handling device 100 is rotated at a certain angle, the second material handling mechanism 30 can be used to grasp the second material. Only one robotic arm is needed to grasp two or more materials, thus reducing costs, improving work efficiency, and making the structure of the automated equipment compact and reducing its size. By setting a buffer mechanism 40, the elastic element 41 can reduce the force of the suction cup on the material, and the pressure sensor 42 can monitor the pressure acting on the material in real time, thus reducing the probability of material damage.

[0045] The above description describes some specific embodiments of this application, but in actual applications, the application should not be limited to these embodiments. For those skilled in the art, other modifications and alterations made based on the technical concept of this application should fall within the protection scope of this application.

Claims

1. An automatic material handling device, characterized in that, include: Connecting plate; The first material handling mechanism includes a first mounting plate, a moving module, a base plate, and a first suction cup. The first mounting plate is fixed to the connecting plate, the moving module is connected to the first mounting plate, the base plate is connected to the moving module, and the first suction cup is fixed to the surface of the base plate away from the moving module. The base plate and the first suction cup are configured to move under the drive of the moving module. The second material handling mechanism includes a second mounting plate and a second suction cup fixed to the second mounting plate, wherein the second mounting plate is fixed to the connecting plate; and The buffer mechanism includes an elastic element and a pressure sensor. One end of the elastic element is connected to the first mounting plate, and the other end of the elastic element is connected to the pressure sensor, which is fixed to the base plate.

2. The automatic material handling device as described in claim 1, characterized in that, The automatic material handling device further includes a positioning mechanism, which includes a third mounting plate, a camera, a light source, and a fourth mounting plate. The third mounting plate is fixed to the side of the connecting plate away from the second mounting plate. The camera is fixed to the third mounting plate, and a lens is mounted on one end of the camera. The fourth mounting plate is fixed to the third mounting plate, and the light source is fixed to the fourth mounting plate and located on the side of the lens away from the camera.

3. The automatic material handling device as described in claim 2, characterized in that, The positioning mechanism also includes a photoelectric sensor, which is fixed to the surface of the base plate opposite to the pressure sensor.

4. The automatic material handling device as described in claim 1, characterized in that, The first mounting plate includes a first connecting block, a second connecting block, a third connecting block, and a mounting sub-plate. The first connecting block is fixed to the connecting plate, the second connecting block is fixed to the end of the first connecting block away from the connecting plate, the third connecting block is fixed to the second connecting block, the mounting sub-plate is fixed to the third connecting block, and the movable module is connected to the mounting sub-plate.

5. The automatic material handling device as described in claim 4, characterized in that, The mobile module includes a base, a guide rail fixed to the base, and a mobile seat slidably connected to the guide rail. The base is fixed to the mounting plate, and the base plate is fixed to the mobile seat.

6. The automatic material handling device as described in claim 5, characterized in that, The movable seat includes a first seat body and a second seat body that are vertically connected. The first seat body is slidably connected to the guide rail, and the second seat body is fixedly connected to the base plate.

7. The automatic material handling device as described in claim 6, characterized in that, The second seat body has a limiting block on its surface facing the base, and the limiting block is provided corresponding to the base.

8. The automatic material handling device as described in claim 4, characterized in that, The buffer mechanism further includes a sleeve, a baffle, and a fastener. The sleeve is fitted onto the elastic element, and the baffle is fixed to the end of the sleeve away from the pressure sensor. The fastener includes an arc-shaped portion and connecting portions respectively connected to both sides of the arc-shaped portion. The arc-shaped portion is arranged around the sleeve, and the connecting portion is fixed to the mounting plate.

9. The automatic material handling device as described in claim 1, characterized in that, The second material handling mechanism also includes a reinforcing rib, which is disposed between the connecting plate and the second mounting plate.

10. The automatic material handling device as described in claim 1, characterized in that, The first material handling mechanism further includes a first air pipe connector, which is disposed on the base plate and connected to the first suction cup; the second material handling mechanism further includes a second air pipe connector, which is disposed on the second mounting plate and connected to the second suction cup.

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