A tablet grabbing device and a corresponding feeding mechanism

Abstract

The utility model provides a kind of sheet material grabbing device and corresponding feeding mechanism, sheet material grabbing device includes pedestal, adsorption subassembly and shaking subassembly.Adhesion subassembly is movably connected with pedestal, for adsorbing and grabbing sheet material;Shaking subassembly is installed on pedestal and is connected with adsorption subassembly, can drive adsorption subassembly to shake to shake off excess sheet material.Shaking subassembly specifically contains rotating power source, rotating member, fixed column, first output bearing, second output bearing and connecting sleeve: rotating power source is installed in pedestal, output shaft is connected rotating member center to drive its rotation;Fixed column is eccentrically fixed in the lower end surface of rotating member, first output bearing top end is rotatably connected with fixed column, second output bearing is directly below it and is connected with adsorption subassembly, and connecting sleeve two ends are respectively inserted with two output bearings.The device efficiently solves the problem of stacking material through shaking subassembly, simple structure, transmission is stable, can protect sheet material surface, improve production efficiency and product yield.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a material gripping device and a feeding mechanism using the device. Background Technology

[0002] In automated production lines for electronic products, it is often necessary to grip and transport materials such as PCB boards, lenses, and films. Traditional gripping methods mostly use vacuum suction cups for direct adsorption.

[0003] However, in actual production, due to static electricity, air pressure, or adhesion between material sheets, the suction cup often picks up one or more sheets below it when grabbing one sheet, resulting in a "stacking" phenomenon. This can lead to errors in subsequent processes, damage to equipment or products, and severely impact production efficiency and product yield. To solve the stacking problem, some existing technologies use air blowing devices or mechanical scrapers, but these methods are complex in structure and easily damage the surface of the material sheets.

[0004] Therefore, it is necessary to provide a material gripping device and a feeding mechanism using the device to solve the above-mentioned technical problems. Utility Model Content

[0005] This invention provides a material gripping device and a feeding mechanism using the device to solve the problem of material stacking in existing material gripping devices.

[0006] To solve the above-mentioned technical problems, the technical solution of this utility model is: a material gripping device, comprising: Base An adsorption assembly, movably connected to the base, is used to adsorb and grip material sheets; and A shaking component is disposed on the base and connected to the adsorption component. The shaking component is used to drive the adsorption component to generate shaking to shake off excess material. The jitter component includes: A rotational power source is mounted on the base. A rotating component is located below the base and is rotatably connected to the base. The output shaft of the rotational power source is fixedly connected to the center of the rotating component to drive the rotating component to rotate around its central axis. A fixed column is eccentrically fixed on the downward-facing end face of the rotating component; The first output bearing is rotatably connected to the fixed column at its top end; The second output bearing is located directly below the first output bearing and is connected to the adsorption assembly; and The connecting sleeve has its top end inserted into the first output bearing and its bottom end inserted into the second output bearing.

[0007] In this invention, the adsorption component includes: The suction head is used to pick up the material sheets; A fixing plate, located below the base, is fixedly connected to the suction head; and A vertical bearing is fixedly connected at its upper end to the base and at its lower end to the fixing plate, thereby suspending the fixing plate below the base so that it can move up and down.

[0008] In this invention, at least two suction heads are provided, and both suction heads are connected to the fixing plate, and the at least two suction heads are distributed at intervals along the circumference or radial direction of the fixing plate.

[0009] In this invention, at least two of the suction heads include: The first suction head is fixedly connected to the fixing plate; and The second suction head is adjustablely connected to the fixed plate via an adjusting member to adjust the position of the second suction head relative to the first suction head.

[0010] The material gripping device of this utility model also includes a sensor, which is mounted on the fixing plate via a sensor fixing plate and is used to detect whether the suction head has adsorbed excess material.

[0011] In this invention, the sensor fixing plate is provided with a vertical adjustment groove, and the sensor fixing plate is adjustablely connected to the fixing plate by fasteners passing through the adjustment groove, thereby realizing the adjustment of the vertical position of the sensor.

[0012] This utility model also provides a feeding mechanism, which includes: support; A material box, mounted on the support, is used to hold stacked material sheets; A robotic arm is mounted on the support, and the material box is located within the range of motion of the robotic arm; and The sheet gripping device described above is mounted on the actuator end of the robotic arm. In this invention, the bottom end of the material box is provided with a first through hole; the feeding mechanism further includes: A material-ejecting device is connected to the support frame, and the material-ejecting device includes: A top plate, positioned corresponding to the first through hole, is located inside the material box and at the bottom end of the stacked material sheets; and A lifting power source is fixedly mounted on the bracket. The telescopic end of the lifting power source passes through the first through hole and is fixedly connected to the bottom end of the top plate to drive the top plate to move upward, thereby lifting the stacked material sheets.

[0013] In this invention, the material box and the bracket are detachably connected; The bottom wall of the bracket is provided with a positioning block, and the bottom end of the material box is provided with a positioning groove. The positioning groove corresponds to the position of the positioning block, and the positioning block cooperates with the positioning block.

[0014] The support includes: The base plate is used to support the material box; A vertical plate is fixedly installed on one side of the top of the base plate; The first positioning rod is horizontally positioned above the base plate and located on one side of the material box; A second positioning rod is disposed on the other side of the material box. The first positioning rod and the second positioning rod are disposed opposite to each other, together forming a clamping opening for clamping the material box; and A clamping power source is fixedly mounted on the upright plate. The output end of the clamping power source is driven to connect to the first positioning rod and the second positioning rod to drive the opening and closing of the clamping opening.

[0015] Compared to existing technologies, the advantages of this invention are as follows: The material gripping device of this invention uses an independent shaking component to shake the material after gripping, dislodging excess material and ensuring that only one piece is gripped at a time. The shaking component adopts the principle of an eccentric wheel, has a simple structure, high transmission efficiency, and can produce a stable shaking effect. The non-contact shaking separation method, compared with mechanical scraping and other methods, can better protect the surface of the material from damage.

[0016] The number and position of the suction heads in the adsorption assembly are adjustable, which can adapt to materials of different sizes and shapes, thus improving the versatility of the equipment.

[0017] The feeding mechanism, in conjunction with sensor detection and a robotic arm, can achieve a fully automated feeding process, improving production efficiency and reducing labor costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments are briefly introduced below. The drawings described below are only the corresponding drawings of some embodiments of this utility model.

[0019] Figure 1 The preferred embodiment of the material gripping device of this utility model has a three-dimensional structure. Figure 1 .

[0020] Figure 2 The main view cross-section of the sheet gripping device according to a preferred embodiment of this utility model Figure 1 .

[0021] Figure 3 The main view cross-section of the sheet gripping device according to a preferred embodiment of this utility model Figure 2 .

[0022] Figure 4 The preferred embodiment of the material gripping device of this utility model has a three-dimensional structure. Figure 2 .

[0023] Figure 5 This is a perspective view of the feeding mechanism of a preferred embodiment of the present invention.

[0024] Figure 6 This is a perspective view of the support and material box structure of a preferred embodiment of the present invention.

[0025] Figure 7 This is an exploded view of the support and material box structure of a preferred embodiment of the present invention.

[0026] Figure 8 This is a side view of the support and material box structure of a preferred embodiment of the present invention.

[0027] Figure 9 This is a cross-sectional view of the connection structure between the material box and the top material device in a preferred embodiment of the present invention.

[0028] Reference numerals: 11. Bracket; 111. Base plate; 112. Vertical plate; 113. First positioning rod; 114. Second positioning rod; 115. Clamping power source; 116. Positioning block; 12. Material box; 121. Positioning groove; 122. Enclosure plate; 123. Movable plate; 124. Support plate; 13. Robotic arm; 14. Material gripping device; 141. Base; 142. Adsorption assembly; 1421. Suction head; 1421a. First suction head; 1421b. Second suction head Head; 1422, Fixing plate; 1423, Vertical bearing; 1424, Adjusting component; 143, Vibration assembly; 1431, Rotation power source; 1432, Rotating component; 1433, Fixing column; 1434, First output bearing; 1435, Second output bearing; 1436, Connecting sleeve; 143, Sensor; 144, Sensor fixing plate; 1441, Adjusting groove; 15, Top material device; 151, Top material plate; 152, Lifting power source; 10, Material sheet. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] The directional terms mentioned in this utility model, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side", "top" and "bottom", are only for reference to the orientation of the accompanying drawings. The directional terms used are for the purpose of explaining and understanding this utility model, and are not intended to limit this utility model.

[0031] The terms "first" and "second" in this utility model are used for descriptive purposes only and should not be construed as indicating or implying relative importance, nor as a restriction on the order of events.

[0032] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0033] The following is a preferred embodiment of a material gripping device provided by this utility model that can solve the above-mentioned technical problems.

[0034] Please refer to Figure 1 and Figure 2 ,in Figure 1 The preferred embodiment of the material gripping device of this utility model has a three-dimensional structure. Figure 1 . Figure 2 The main view cross-section of the sheet gripping device according to a preferred embodiment of this utility model Figure 1 .

[0035] In the diagram, units with similar structures are represented by the same labels.

[0036] This invention provides a sheet gripping device 14, including a base 141, an adsorption component 142, and a shaking component 143. The adsorption component 142 is movably connected to the base 141 and is used to adsorb and grip sheet 10. The shaking component 143 is disposed on the base 141 and connected to the adsorption component 142. The shaking component 143 drives the adsorption component 142 to shake, thereby shaking off excess sheet 10. By setting the relatively movable adsorption component 142 and shaking component 143, an independent shaking anti-stacking mechanism is formed. Compared with traditional gripping devices, this structural design allows the adsorption component 142 to shake after gripping the sheet 10, effectively solving the problem of stacking caused by static electricity, adhesion, etc., ensuring that only a single sheet 10 is gripped each time, improving production accuracy and product yield.

[0037] The shaking assembly 143 includes a rotational power source 1431, a rotating component 1432, a fixed column 1433, a first output bearing 1434, a second output bearing 1435, and a connecting sleeve 1436. The rotational power source 1431 is mounted on the base 141. The rotating component 1432 is located below the base 141 and is rotatably connected to the base 141. The output shaft of the rotational power source 1431 is fixedly connected to the center of the rotating component 1432 to drive the rotating component 1432 to rotate around its central axis. The fixed column 1433 is eccentrically fixed on the downward-facing end face of the rotating component 1432. The top end of the first output bearing 1434 is rotatably connected to the fixed column 1433. The second output bearing 1435 is located directly below the first output bearing 1434 and is connected to the adsorption assembly 142. The top end of the connecting sleeve 1436 is inserted into the first output bearing 1434, and the bottom end of the connecting sleeve 1436 is inserted into the second output bearing 1435.

[0038] The shaking component 143 drives the rotating component 1432 to rotate via the rotation power source 1431. The eccentric fixed column 1433 converts the circular motion into a reciprocating pushing and pulling motion on the adsorption component 142, achieving high-frequency stable shaking. This structure is simple and compact, with high transmission efficiency. Compared to complex pneumatic or hydraulic shaking structures, it is lower in cost, easier to maintain, and can precisely control the shaking frequency and amplitude, improving the effect of shaking off excess material pieces 10.

[0039] The structure of the adsorption component 142 in this embodiment is described below: Combination Figure 1 and Figure 3In this invention, the adsorption assembly 142 includes a suction head 1421, a fixing plate 1422, and a vertical bearing 1423. The suction head 1421 is used to adsorb the material sheet 10. The fixing plate 1422 is located below the base 141 and is fixedly connected to the suction head 1421. The upper end of the vertical bearing 1423 is fixedly connected to the base 141, and the lower end of the vertical bearing 1423 is fixedly connected to the fixing plate 1422, thereby suspending the fixing plate 1422 below the base 141 in a way that allows it to move up and down. The vertical bearing 1423 provides a stable guide for the vertical movement of the fixing plate 1422, keeping the adsorption assembly 142 stable during shaking and preventing swaying from affecting the adsorption and shaking effect of the material sheet 10. At the same time, this connection method ensures that the adsorption assembly 142 can effectively receive the power transmitted by the shaking assembly 143, achieving efficient shaking, and has a simple and reliable structure.

[0040] In this invention, at least two suction heads 1421 are provided, and both suction heads 1421 are connected to the fixing plate 1422. The suction heads 1421 are distributed at intervals along the circumference or radial direction of the fixing plate 1422. This distribution of multiple suction heads 1421 increases the adsorption force on the material sheet 10, preventing it from falling off during adsorption or handling and improving gripping stability. For larger material sheets 10, the multiple suction heads 1421 can evenly distribute the adsorption force, preventing deformation of the material sheet 10 due to uneven force. For irregularly shaped material sheets 10, reliable gripping can also be achieved through the reasonable distribution of suction heads 1421, expanding the applicability of the device to different material sheets 10.

[0041] like Figure 4 As shown, in this invention, at least two suction heads 1421 include a first suction head 1421a and a second suction head 1421b. The first suction head 1421a is fixedly connected to a fixed plate 1422; the second suction head 1421b is adjustablely connected to the fixed plate 1422 via an adjusting member 1424 to adjust the position of the second suction head 1421b relative to the first suction head 1421a. The adjustable position design of the suction heads 1421 further enhances the versatility and flexibility of the device. Depending on the size and shape of the material sheet 10, the position of the second suction head 1421b can be adjusted to adapt the suction head 1421 layout to the material sheet 10, ensuring optimal adsorption effect. During production, when changing to a different specification of material sheet 10, it is not necessary to replace the entire adsorption assembly 142; simple adjustments are sufficient to meet the gripping requirements of the new material sheet 10, reducing equipment adjustment costs and improving production efficiency.

[0042] The other structures of the material gripping device 14 in this embodiment will be described: Combination Figure 1The material gripping device 14 of this utility model also includes a sensor 143, which is mounted on a fixing plate 1422 via a sensor fixing plate 144. The sensor 143 is used to detect whether the suction head 1421 has adsorbed excess material pieces 10. The sensor 143 enables real-time monitoring of the gripping state, allowing for timely detection of material stacking. When excess material pieces 10 are detected, an alarm can be triggered to alert the operator, or the device can be linked with the control system to control the shaking component 143 to initiate secondary shaking, further ensuring gripping accuracy and preventing errors in subsequent processes due to undetected material stacking, thereby improving the level of automation and reliability in production.

[0043] In this invention, a vertical adjustment groove 1441 is provided on the sensor fixing plate 144. The sensor fixing plate 144 is tunably connected to the fixing plate 1422 via fasteners passing through the adjustment groove 1441, thereby enabling adjustment of the vertical position of the sensor 143. This adjustable sensor 143 design can adapt to the detection requirements of sheets 10 of different thicknesses. When different sheets 10 are stacked, their top heights differ. By adjusting the vertical position of the sensor 143, it can be ensured that the sensor 143 is always in the optimal detection position, accurately detecting whether the suction head 1421 has adsorbed excess sheet 10, improving the accuracy and reliability of detection, and enhancing the adaptability of the device to various sheets 10.

[0044] Combination Figure 5 This utility model also provides a feeding mechanism, which includes a support 11, a material box 12, a robotic arm 13, and a material gripping device 14. The material box 12 is disposed on the support 11 and is used to hold stacked material sheets 10. The discharge port of the material box 12 is located at the top. The robotic arm 13 is disposed on the support 11, and the material box 12 is located within the range of motion of the robotic arm 13. The material gripping device 14 is mounted on the execution end of the robotic arm 13. The structure of the material gripping device 14 in this embodiment is the same as that in the above embodiments, and will not be described again here.

[0045] A complete feeding mechanism is constructed, combining the material gripping device 14 with the support 11, the material box 12, and the robotic arm 13 to achieve an automated process for the material sheet 10 from storage, gripping, to transfer. The robotic arm 13 enables the material gripping device 14 to move flexibly between different workstations, complete efficient feeding operations, reduce manual intervention, improve production efficiency, reduce labor intensity, and is suitable for large-scale automated production scenarios.

[0046] The other structures of the feeding mechanism in this embodiment are described below: Combination Figure 6 and Figure 7In this invention, the bottom end of the material box 12 is provided with a first through hole; the feeding mechanism also includes a top feeding device 15, which is connected to the support 11. The top feeding device 15 includes a top feeding plate 151 and a lifting power source 152. The top feeding plate 151 is positioned corresponding to the first through hole and is located inside the material box 12 and placed at the bottom end of the stacked material sheets 10. The lifting power source 152 is fixedly mounted on the support 11. The telescopic end of the lifting power source 152 passes through the first through hole and is fixedly connected to the bottom end of the top feeding plate 151 to drive the top feeding plate 151 to move upward, thereby lifting the stacked material sheets 10. The design of the top feeding device 15 solves the problem of the bottom material sheets 10 being difficult to grasp when stacking material sheets 10. As the material pieces 10 are continuously removed, the height of the material pile decreases. The lifting power source 152 drives the top plate 151 to move upward, lifting the material pile so that the topmost material piece 10 is always kept at a height that is easy to grasp. This ensures that the adsorption component 142 can successfully adsorb the material piece 10 each time, improving the feeding efficiency and stability, while avoiding situations where the suction cup is not strong enough or cannot accurately adsorb the material piece 10 due to it being too low.

[0047] In this invention, the material box 12 and the bracket 11 are detachably connected. This detachable connection facilitates the replacement and maintenance of the material box 12.

[0048] like Figure 9 As shown, a positioning block 116 is provided on the bottom wall of the bracket 11, and a positioning groove 121 is provided on the bottom end of the material box 12. The positioning groove 121 corresponds to the positioning block 116, and the positioning block 116 cooperates with the positioning block 116. When the material box 12 is damaged or needs to be replaced with a material box 12 of a different specification to adapt to different material pieces 10, it can be quickly disassembled and installed. The cooperative design of the positioning block 116 and the positioning groove 121 ensures accurate positioning of the material box 12 during installation, ensures accurate relative position of the material box 12 outlet with the robotic arm 13 and the material piece gripping device 14, avoids gripping failure or feeding errors due to installation deviations, and improves the convenience and reliability of equipment use.

[0049] Combination Figure 7 and Figure 9The bracket 11 includes a base plate 111, an upright plate 112, a first positioning rod 113, a second positioning rod 114, and a clamping power source 115. The base plate 111 supports the material box 12; the upright plate 112 is vertically fixed on one side of the top of the base plate 111; the first positioning rod 113 is horizontally positioned above the base plate 111 and located on one side of the material box 12; the second positioning rod 114 is positioned on the other side of the material box 12, and the first positioning rod 113 and the second positioning rod 114 are positioned opposite each other to form a clamping opening for clamping the material box 12; the clamping power source 115 is fixedly mounted on the upright plate 112, and the output end of the clamping power source 115 is drivenly connected to the first positioning rod 113 and the second positioning rod 114 to drive the opening and closing of the clamping opening. The bracket 11 is designed to quickly clamp and release the material box 12 by controlling the opening and closing of the clamping opening formed by the first positioning rod 113 and the second positioning rod 114 through the clamping power source 115. This clamping method can be adjusted according to the size of the material box 12 to accommodate different specifications of material boxes 12, enhancing the versatility of the bracket 11. At the same time, it can effectively fix the material box 12 in the clamped state, preventing the material box 12 from shifting during the movement of the robotic arm 13 or the operation of the feeding device 15, thus ensuring the stability and reliability of the feeding mechanism.

[0050] Combination Figure 7 In this embodiment, the material box 12 specifically includes a surrounding plate 122, a movable plate 123, and a support plate 124. The surrounding plate 122 is a vertically oriented cylindrical structure, providing vertical storage space for the material sheets 10, ensuring that the material sheets 10 can be stacked orderly inside. A support plate 124 is fixedly installed at the bottom of the inner wall of the surrounding plate 122, supporting the movable plate 123 and ensuring its stable placement at the bottom of the surrounding plate 122. The movable plate 123 directly contacts the vertically stacked material sheets 10 inside the material box 12, providing bottom support for the stacked material sheets 10 and ensuring the stability of the stacked state.

[0051] In this embodiment, the top plate 151 pushes the movable plate 123 upward, indirectly causing the stacked material sheets 10 above the movable plate 123 to rise synchronously. This design can effectively increase the contact area between the top plate device 15 and the stacked material sheet 10, so that the top plate force is transmitted to the stack of material sheets 10 more evenly, avoiding the tilting or damage of the material sheets 10 due to uneven local force, and further improving the stability and reliability of the top plate process.

[0052] Working principle of the material gripping device 14 and feeding mechanism of this utility model: I. Working Principle of the Material Gripping Device 14 (a) Adsorption preparation The base 141 serves as the fundamental support component of the entire device, providing an installation platform for the adsorption assembly 142 and the shaking assembly 143. The adsorption assembly 142 is connected to the base 141 via a vertical bearing 1423, allowing relative movement. The upper end of the vertical bearing 1423 is fixed to the base 141, and the lower end is connected to the fixed plate 1422, enabling the fixed plate 1422 to move stably up and down in the vertical direction. The suction head 1421 is fixedly installed below the fixed plate 1422. Before the gripping operation begins, the robotic arm 13 moves the material gripping device 14 above the material box 12, aligning the suction head 1421 with the material sheet 10.

[0053] (ii) Adsorbent sheet 10 Once the suction head 1421 reaches the appropriate position (above the material sheet 10 inside the material box 12), the suction head 1421 activates its adsorption function (e.g., a vacuum suction cup generates negative pressure), using the adsorption force to tightly adhere to the surface of the material sheet 10, thus adsorbing the material sheet 10 onto the suction head 1421. At this time, the design of at least two suction heads 1421 spaced circumferentially or radially along the fixing plate 1422 provides a uniform and stable adsorption force for the material sheet 10, preventing the material sheet 10 from shifting or falling off during the adsorption process due to uneven force. For material sheets 10 of different sizes and shapes, the position of the second suction head 1421b relative to the first suction head 1421a can be adjusted using the adjusting component 1424 to adapt the suction head 1421 layout to the current material sheet 10, ensuring optimal adsorption performance.

[0054] (iii) Shaking separation After the material sheet 10 is adsorbed, the rotational power source 1431 is activated. The rotational power source 1431 is fixedly mounted on the base 141, and its output shaft is fixedly connected to the center of the rotating component 1432, driving the rotating component 1432 to rotate around the central axis. Since the fixing column 1433 is eccentrically positioned on the lower end face of the rotating component 1432, when the rotating component 1432 rotates, the fixing column 1433 performs a circular motion. Through the first output bearing 1434, the connecting sleeve 1436, and the second output bearing 1435, the circular motion of the rotating component 1432 is converted into a periodic pushing and pulling action on the adsorption assembly 142. This causes the adsorption assembly 142 to vibrate up and down at high frequency under the guidance of the vertical bearing 1423, and the material sheet 10 adsorbed on the suction head 1421 vibrates accordingly. The excess material pieces 10 that were originally attached to the target material piece 10 due to static electricity, adhesion, etc. are separated from the target material piece 10 by the inertia and gravity generated by the shaking and fall into the return box 12, thereby achieving the purpose of grabbing only a single material piece 10 each time.

[0055] (iv) Testing Feedback During the shaking process, a sensor 143 mounted on the fixed plate 1422 continuously monitors whether the suction head 1421 has absorbed excess material pieces 10. The sensor 143 is connected to the fixed plate 1422 via a sensor fixing plate 144. A vertical adjustment slot 1441 on the sensor fixing plate 144 allows adjustment of the sensor 143's vertical position to accommodate detection of material pieces 10 of varying thicknesses. If the sensor 143 detects excess material pieces 10, it can trigger an alarm to alert the operator, or it can be linked with the control system to restart the shaking assembly 143 for a secondary shaking action, further ensuring the accuracy of the gripping.

[0056] II. Working Principle of the Feeding Mechanism (a) Storage and positioning of material sheet 10 The support frame 11 serves as the supporting structure for the feeding mechanism, and its base plate 111 supports the material box 12. The material box 12 is detachably connected to the support frame 11, and precise positioning is achieved through the cooperation of the positioning block 116 on the bottom wall of the support frame 11 and the positioning groove 121 at the bottom of the material box 12. Simultaneously, the first positioning rod 113 and the second positioning rod 114 on the support frame 11 can open and close to form a clamping opening under the action of the clamping power source 115, firmly clamping the material box 12 and ensuring its stable position during operation. The material box 12 is used to accommodate stacked material sheets 10, and its discharge port is located at the top for easy material handling by the material sheet gripping device 14.

[0057] (ii) Top Material Operation The first through hole at the bottom of the material box 12 works in conjunction with the top material device 15. The top material plate 151 of the top material device 15 is located at the bottom of the material sheet 10 inside the material box 12, corresponding to the position of the first through hole. The lifting power source 152 is fixed on the bracket 11, and its telescopic end passes through the first through hole and is connected to the top material plate 151. As the material sheet 10 is continuously grabbed, the height of the material pile decreases, the lifting power source 152 is activated, and the top material plate 151 is pushed upward to lift the stacked material sheets 10, so that the uppermost material sheet 10 is always kept at a height that is easy to grab, ensuring that the adsorption component 142 can successfully adsorb the material sheet 10 every time, and avoiding the situation where the suction cup is not strong enough or difficult to accurately adsorb due to the material sheet 10 being too low.

[0058] (iii) Grabbing and Transfer The robotic arm 13 is mounted on the support 11, with the material box 12 within its range of motion. Once the material piece 10 is lifted to the appropriate position, the robotic arm 13 moves the material piece gripping device 14 above the material box 12, completing the adsorption, shaking separation, and detection of the material piece 10 according to the working process of the material piece gripping device 14. After confirming that a single material piece 10 has been gripped, the robotic arm 13 moves the material piece gripping device 14 to the target station, the suction head 1421 stops its adsorption function, and the material piece 10 is released, completing the loading operation. Subsequently, the robotic arm 13 moves the material piece gripping device 14 back above the material box 12, waiting for the next gripping command. This cycle repeats continuously, achieving automated loading.

[0059] This completes the working process of the sheet gripping device 14 in this preferred embodiment.

[0060] The sensor 143 in this utility model is used to detect whether the suction head 1421 adsorbs excess material 10; the robotic arm 13 adopts a two-axis drive structure, and the robotic arm 13 can also adopt a three-axis or four-axis drive mechanism according to production needs. Both the sensor 143 and the robotic arm 13 are common existing technologies and have been widely used in various automated equipment. Their specific structure and working principle are not the important inventive points of this utility model, so they will not be described in detail here.

[0061] In this embodiment, the rotation power source 1431 is preferably a rotary motor, the clamping power source 115 is preferably a clamping cylinder, and the lifting power source 152 is preferably a lifting cylinder. The above selection can ensure the stability, accuracy, and ease of implementation of the actions of each mechanism. Moreover, the driving method of the above power source includes but is not limited to the above types. In actual applications, it can be flexibly replaced according to specific working conditions, power parameters, and installation requirements. For example, the rotation power source 1431 can be replaced with a stepper motor, servo motor, etc., and the clamping power source 115 and the lifting power source 152 can be replaced with electric push rods, hydraulic cylinders, etc., which have the same power output performance and can meet the action requirements of the corresponding mechanism. All of these do not depart from the protection scope of this invention.

[0062] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A sheet gripping device, characterized in that, include: Base An adsorption component is movably connected to the base and is used to adsorb and grip material pieces. as well as A shaking component is disposed on the base and connected to the adsorption component. The shaking component is used to drive the adsorption component to generate shaking to shake off excess material. The jitter component includes: A rotational power source is mounted on the base. A rotating component is located below the base and is rotatably connected to the base. The output shaft of the rotational power source is fixedly connected to the center of the rotating component to drive the rotating component to rotate around its central axis. A fixed column is eccentrically fixed on the downward-facing end face of the rotating component; The first output bearing is rotatably connected to the fixed column at its top end; The second output bearing is located directly below the first output bearing and is connected to the adsorption assembly; and The connecting sleeve has its top end inserted into the first output bearing and its bottom end inserted into the second output bearing.

2. The material gripping device according to claim 1, characterized in that, The adsorption component includes: The suction head is used to pick up the material sheets; A fixing plate, located below the base, is fixedly connected to the suction head; and A vertical bearing is fixedly connected at its upper end to the base and at its lower end to the fixing plate, thereby suspending the fixing plate below the base so that it can move up and down.

3. The material gripping device according to claim 2, characterized in that, At least two suction heads are provided, and both suction heads are connected to the fixing plate. The suction heads are distributed at intervals along the circumference or radial direction of the fixing plate.

4. The material gripping device according to claim 3, characterized in that, At least two of the suction heads include: The first suction head is fixedly connected to the fixing plate; and The second suction head is adjustablely connected to the fixed plate via an adjusting member to adjust the position of the second suction head relative to the first suction head.

5. The material gripping device according to claim 2, characterized in that, It also includes a sensor, which is mounted on the fixing plate via a sensor fixing plate, for detecting whether the suction head has adsorbed excess material.

6. The material gripping device according to claim 5, characterized in that, The sensor mounting plate is provided with a vertical adjustment groove. The sensor mounting plate is adjustablely connected to the mounting plate by fasteners passing through the adjustment groove, thereby realizing the adjustment of the vertical position of the sensor.

7. A feeding mechanism, characterized in that, include: support; A material box, mounted on the support, is used to hold stacked material sheets; A robotic arm is mounted on the support, and the material box is located within the range of motion of the robotic arm; and The material gripping device as described in any one of claims 1-6, wherein the material gripping device is mounted on the execution end of the robotic arm.

8. The feeding mechanism according to claim 7, characterized in that, The bottom of the material box is provided with a first through hole; The feeding mechanism also includes: A material-ejecting device is connected to the support frame, and the material-ejecting device includes: A top plate, positioned corresponding to the first through hole, is located inside the material box and at the bottom end of the stacked material sheets; and A lifting power source is fixedly mounted on the bracket. The telescopic end of the lifting power source passes through the first through hole and is fixedly connected to the bottom end of the top plate to drive the top plate to move upward, thereby lifting the stacked material sheets.

9. The feeding mechanism according to claim 7, characterized in that, The material box is detachably connected to the bracket; The bottom wall of the bracket is provided with a positioning block, and the bottom end of the material box is provided with a positioning groove. The positioning groove corresponds to the position of the positioning block, and the positioning block cooperates with the positioning block.

10. The feeding mechanism according to claim 7, characterized in that, The support includes: The base plate is used to support the material box; A vertical plate is fixedly installed on one side of the top of the base plate; The first positioning rod is horizontally positioned above the base plate and located on one side of the material box; A second positioning rod is disposed on the other side of the material box. The first positioning rod and the second positioning rod are disposed opposite to each other, together forming a clamping opening for clamping the material box; and A clamping power source is fixedly mounted on the upright plate. The output end of the clamping power source is driven to connect to the first positioning rod and the second positioning rod to drive the opening and closing of the clamping opening.

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