Material picking and placing apparatus

Abstract

A material picking and placing apparatus (10), said apparatus comprising a clamp mechanism (10a) and a grip mechanism (10b). The clamp mechanism comprises a support plate (200) and a first constraining assembly (300). The first constraining assembly can constrain on the support plate a material (20) located on the support plate so as to be in a constraining state, and the first constraining assembly can be separated from the material and located around the periphery of the material so as to be in a clearance state. The grip mechanism comprises a grip assembly (400) and a second constraining assembly (500) disposed on the grip assembly. The grip assembly has a bearing state and a separated state. In the bearing state, the grip assembly bears a material. In the separated state, the grip assembly is separated from the material and located around the periphery of the material. The second constraining assembly can constrain a material on the grip assembly so as to be in a constraining state. In a clearance state, the second constraining assembly is separated from the material, and the grip assembly can be switched from the bearing state to the separated state. The first constraining assembly and the second constraining assembly can be both in the constraining state at the same time.

Description

Loading and unloading device

[0001] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on September 21, 2023, with application number 202322572398.3 and application name “Material Picking and Discharging Device,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to a material taking and placing device. Background Art

[0003] Taking the automated production line of lithium batteries as an example, in related technologies, when removing and discharging the battery cells (especially the laminated battery cells with diaphragms without glue), the electrodes of the battery cells in an unrestrained state will move / shift, affecting their alignment, and then affecting the yield of subsequent testing equipment, resulting in lower production efficiency.

[0004] Summary of the Invention

[0005] The present disclosure provides a material taking and placing device, which aims to prevent materials in a stacked structure from shifting or deviating during the material taking and placing process.

[0006] The present disclosure provides a material taking and placing device, comprising:

[0007] A clamping mechanism includes a support plate and a first restraining assembly disposed on the periphery of the support plate, wherein the support plate is used to carry a material, and the first restraining assembly has a first restraining state and a first avoiding state. In the first restraining state, the first restraining assembly restrains the material on the support plate to the support plate. In the first avoiding state, the first restraining assembly is separated from the material and disposed on the periphery of the material, thereby releasing the restraint of the material by the first restraining assembly; and

[0008] The clamping mechanism comprises a clamping jaw assembly and a second restraining assembly provided on the clamping jaw assembly, the clamping jaw assembly being used to pick up and place materials on the pallet, the clamping jaw assembly having a load-bearing state and a separation state, in the load-bearing state, the clamping jaw assembly carries the materials, in the separation state, the clamping jaw assembly is separated from the materials and is located on the periphery of the materials to release the load of the materials by the clamping jaw assembly, the second restraining assembly having a second restraining state and a second avoidance state, in the second restraining state, the second restraining assembly restrains the materials located on the clamping jaw assembly on the clamping jaw assembly, in the second avoidance state, the second restraining assembly is separated from the materials to release the restraint of the materials by the second restraining assembly and enable the clamping jaw assembly to switch from the load-bearing state to the separation state;

[0009] Wherein, while the first restraint component is in the first restraint state, the second restraint component can be in the second restraint state.

[0010] In one embodiment, the first restraint assembly includes a first pressing member and a second pressing member, and the first pressing member and the second pressing member are respectively located on both sides of the support plate in the first direction. The first pressing member and the second pressing member can both reciprocate in the first direction and can both reciprocate in the height direction, so that the first restraint assembly can switch between the first restraint state and the first avoidance state.

[0011] In one embodiment, the first restraint assembly also includes a first horizontal cylinder, a second horizontal cylinder, a first height cylinder and a second height cylinder, the first horizontal cylinder and the second horizontal cylinder are respectively located on both sides of the support plate in the first direction, the first height cylinder and the second height cylinder are respectively arranged on the first horizontal cylinder and the second horizontal cylinder, the first pressing member and the second pressing member are respectively arranged on the first height cylinder and the second height cylinder, the first horizontal cylinder and the second horizontal cylinder can respectively drive the first pressing member and the second pressing member to reciprocate in the first direction, and the first height cylinder and the second height cylinder can respectively drive the first pressing member and the second pressing member to reciprocate in the height direction.

[0012] In one embodiment, the clamping jaw assembly includes a first clamping jaw member and a second clamping jaw member, the first clamping jaw member and the second clamping jaw member are spaced apart in the second direction, and the first clamping jaw member and the second clamping jaw member are both capable of reciprocating in the second direction, so that the clamping jaw assembly can switch between the load-bearing state and the separation state;

[0013] The second restraining assembly includes a third pressing member and a fourth pressing member, the third pressing member and the fourth pressing member are respectively provided on the first clamping jaw member and the second clamping jaw member, and the third pressing member and the fourth pressing member are both capable of reciprocating in the height direction, so that the second restraining assembly can switch between the second restraining state and the second avoidance state;

[0014] The first direction, the second direction and the height direction are perpendicular to each other.

[0015] In one embodiment, the second restraint assembly further includes a third height cylinder and a fourth height cylinder, and the third height cylinder and the fourth height cylinder are respectively arranged on the first clamping jaw member and the second clamping jaw member, and the third pressing member and the fourth pressing member are respectively arranged on the third height cylinder and the fourth height cylinder, and the third height cylinder and the fourth height cylinder can respectively drive the third pressing member and the fourth pressing member to reciprocate in the height direction.

[0016] In one embodiment, the clamping jaw assembly further includes a first vertical plate and a second vertical plate, both of which can reciprocate in the second direction, the third clamping member is located between the first vertical plate and the second vertical plate, and is provided on the first vertical plate, the first clamping jaw member is floated on the side of the first vertical plate away from the third clamping member so as to be able to float in the height direction, the fourth clamping member is located between the first vertical plate and the second vertical plate, and is provided on the second vertical plate, the second clamping jaw member is floated on the side of the second vertical plate away from the fourth clamping member so as to be able to float in the height direction.

[0017] In one embodiment, the clamping jaw assembly further includes a clamping jaw cylinder, and the first clamping jaw member and the second clamping jaw member are both provided on the clamping jaw cylinder, and the clamping jaw cylinder can drive the first clamping jaw member and the second clamping jaw member to perform opening and closing movements in the second direction.

[0018] In one embodiment, the clamping jaw assembly further includes a first connecting plate, a second connecting plate, a first vertical plate, a second vertical plate, a first floating plate, and a second floating plate;

[0019] The first connecting plate and the second connecting plate are respectively connected to the clamping cylinder, and the clamping cylinder can drive the first connecting plate and the second connecting plate to open and close in the second direction;

[0020] The first vertical plate and the second vertical plate are respectively arranged on the first connecting plate and the second connecting plate;

[0021] The third pressing member is located between the first vertical plate and the second vertical plate and is provided on the first vertical plate. The first clamping member is provided on the side of the first vertical plate away from the third pressing member through the first floating plate so as to be able to float in the height direction. The fourth pressing member is located between the first vertical plate and the second vertical plate and is provided on the second vertical plate. The second clamping member is provided on the side of the second vertical plate away from the fourth pressing member through the second floating plate so as to be able to float in the height direction.

[0022] In one embodiment, the clamping jaw assembly includes a first clamping jaw member and a second clamping jaw member, the first clamping jaw member and the second clamping jaw member are spaced apart in the second direction, and the first clamping jaw member and the second clamping jaw member are both capable of reciprocating in the second direction, so that the clamping jaw assembly can switch between the load-bearing state and the separation state;

[0023] The second restraint assembly includes a third clamping member and a fourth clamping member, and the third clamping member and the fourth clamping member are respectively arranged on the first clamping member and the second clamping member, and the third clamping member and the fourth clamping member can both reciprocate in the height direction so that the second restraint assembly can switch between the second restraint state and the second avoidance state.

[0024] In one embodiment, the clamping mechanism further includes a driving assembly, the clamping assembly is provided on the driving assembly, and the driving assembly can drive the clamping assembly to reciprocate in the height direction.

[0025] When using the above-mentioned material taking and placing device to take materials, first, the material can be placed on the pallet, and the material can be restrained on the pallet by the first restraint component; then, the clamping assembly of the clamping mechanism can be controlled to carry the material on the pallet, and the material located on the clamping assembly can be restrained on the clamping assembly by the second restraint component. At this time, the first restraint component and the second restraint component restrain the material at the same time; then, the first restraint component can be controlled to switch from the first restraint state to the first avoidance state; finally, the clamping mechanism can take away the material restrained by the second restraint component to complete the process of taking materials.

[0026] When using the above-mentioned material picking and placing device to place materials, first, the material can be placed on the clamping assembly of the clamping mechanism, and the material on the clamping assembly is constrained on the clamping assembly by the second restraint assembly; then, the material on the clamping assembly can be placed on the pallet, and the material is constrained on the pallet by the first restraint assembly; then, the second restraint assembly can be controlled to switch from the second restraint state to the second avoidance state; finally, the clamping assembly can be switched from the load-bearing state to the separation state to complete the process of placing the material.

[0027] During the above-mentioned process of taking and placing materials, the materials are always restrained by the first restraint component and / or the second restraint component, that is, during the above-mentioned process of taking and placing materials, the materials are always in a restrained state, thereby avoiding the problem of movement / offset between layers of the stacked structure due to the materials being in an unrestrained state, affecting the alignment of the layers of the materials, and then affecting the yield of subsequent detection equipment, resulting in low production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a side view of a material handling device according to an embodiment of the present disclosure;

[0029] FIG2 is a front view of the clamp mechanism of the material taking and placing device shown in FIG1 ;

[0030] FIG3 is a front view of the clamping mechanism of the material taking and placing device shown in FIG1 . DETAILED DESCRIPTION

[0031] To facilitate understanding of the present disclosure, a more comprehensive description of the present disclosure will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present disclosure. However, the present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure.

[0032] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure pertains. The terms used herein in the specification of this disclosure are for the purpose of describing specific embodiments only and are not intended to limit this disclosure. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] As shown in Figures 1 to 3, an embodiment of the present disclosure provides a material taking and placing device 10. The material taking and placing device 10 includes a clamp mechanism 10a and a clamping claw mechanism 10b.

[0035] The clamping mechanism 10a includes a pallet 200 and a first restraining assembly 300 arranged on the periphery of the pallet 200. The pallet 200 is used to carry the material 20. The first restraining assembly 300 has a first restraining state and a first avoidance state. In the first restraining state, the first restraining assembly 300 restrains the material 20 located on the pallet 200 on the pallet 200. That is, in the first restraining state, the first restraining assembly 300 will hinder the removal of the material 20 from the pallet 200. In the first avoidance state, the first restraining assembly 300 is separated from the material 20 and is located on the periphery of the material 20 to release the restraint of the first restraining assembly 300 on the material 20. That is, in the first avoidance state, the first restraining assembly 300 will not hinder the removal of the material 20 from the pallet 200.

[0036] The clamping mechanism 10b includes a clamping assembly 400 and a second restraining assembly 500 provided on the clamping assembly 400. The clamping assembly 400 is used to pick up and place the material 20 on the pallet 200. The clamping assembly 400 has a load-bearing state and a separation state. In the load-bearing state, the clamping assembly 400 carries the material 20. In the separation state, the clamping assembly 400 is separated from the material 20 and is located on the periphery of the material 20 to release the clamping assembly 400 from carrying the material 20. The second restraining assembly 500 has a second restraining state and a second avoidance state. In the second restraining state, the second restraining assembly 500 restrains the material 20 located on the clamping assembly 400 on the clamping assembly 400. In the second avoidance state, the second restraining assembly 500 is separated from the material 20 to release the second restraining assembly 500 from restraining the material 20 and enable the clamping assembly 400 to switch from the load-bearing state to the separation state. The second restraint assembly 500 can be in the second restraint state while the first restraint assembly 300 is in the first restraint state. That is, when the first restraint assembly 300 switches between the first restraint state and the first avoidance state, the second restraint assembly 500 does not interfere with each other when switching between the second restraint state and the second avoidance state.

[0037] When using the above-mentioned material taking and placing device 10 to take the material 20, first, the material 20 can be placed on the pallet 200, and the material 20 can be restrained on the pallet 200 by the first restraint component 300; then, the clamping component 400 of the clamping mechanism 10b can be controlled to carry the material 20 on the pallet 200, and the material 20 located on the clamping component 400 can be restrained on the clamping component 400 by the second restraint component 500. At this time, the first restraining component 300 and the second restraining component 500 restrain the material 20 at the same time; then, the first restraining component 300 can be controlled to switch from the first restraining state to the first avoidance state; finally, the clamping mechanism 10b can take away the material 20 restrained by the second restraining component 500, completing the process of taking the material 20.

[0038] When using the above-mentioned material picking and placing device 10 to place the material 20, first, the material 20 can be placed on the clamping assembly 400 of the clamping mechanism 10b, and the material 20 on the clamping assembly 400 is constrained on the clamping assembly 400 by the second restraint assembly 500; then, the material 20 on the clamping assembly 400 can be placed on the pallet 200, and the material 20 is constrained on the pallet 200 by the first restraint assembly 300; then, the second restraint assembly 500 can be controlled to switch from the second restraint state to the second avoidance state; finally, the clamping assembly 400 can be switched from the carrying state to the separation state to complete the process of placing the material 20.

[0039] During the above-mentioned process of taking the material 20 and placing the material 20, the material 20 is always restrained by the first restraint component 300 and / or the second restraint component 500, that is, during the above-mentioned process of taking the material 20 and placing the material 20, the material 20 is always in a restrained state, thereby avoiding the problem of movement / offset between layers of the stacked structure of the material 20 due to the material 20 being in an unrestrained state, affecting the alignment of the layers of the material 20, and then affecting the yield of subsequent detection equipment, resulting in low production efficiency.

[0040] In this embodiment, the material 20 is a battery cell. It is understood that in other embodiments, the material 20 may also be other materials with a laminated structure.

[0041] In the present embodiment, the first restraint assembly 300 includes a first pressing member 310 and a second pressing member 320. The first pressing member 310 and the second pressing member 320 are respectively arranged on both sides of the support plate 200 in the first direction. The first pressing member 310 and the second pressing member 320 can both reciprocate in the first direction and can both reciprocate in the height direction, so that the first restraint assembly 300 can switch between the first restraint state and the first avoidance state. It should be noted that, in the present embodiment, the first pressing member 310 and the second pressing member 320 can both reciprocate in the first direction, which means that the first pressing member 310 can move toward or away from the support plate 200 in the first direction, and the second pressing member 320 can move toward or away from the support plate 200 in the first direction. The first pressing member 310 and the second pressing member 320 can both reciprocate in the height direction, which means that the first pressing member 310 can move toward or away from the support plate 200 in the height direction, and the second pressing member 320 can move toward or away from the support plate 200 in the height direction.

[0042] Among them, the first pressing member 310 and the second pressing member 320 can be controlled to move in the first direction, and the first pressing member 310 and the second pressing member 320 are both directed toward the pallet 200, so that the first pressing member 310 and the second pressing member 320 are located above the pallet 200, and then the first pressing member 310 and the second pressing member 320 can be controlled to move in the height direction, and the first pressing member 310 and the second pressing member 320 are both directed toward the pallet 200, so that the first pressing member 310 and the second pressing member 320 are respectively pressed on the material 20 located on the pallet 200, thereby realizing the switching of the first restraint assembly 300 from the first avoidance state to the first restraint state.

[0043] The first pressing member 310 and the second pressing member 320 can be controlled to move in the height direction, and the first pressing member 310 and the second pressing member 320 can be moved away from the pallet 200, so that the first pressing member 310 and the second pressing member 320 are respectively separated from the material 20 on the pallet 200, and then the first pressing member 310 and the second pressing member 320 can be moved in the first direction, and the first pressing member 310 and the second pressing member 320 can be moved away from the pallet 200, so that the first pressing member 310 and the second pressing member 320 are located at the periphery of the pallet 200, thereby realizing the switching of the first restraint assembly 300 from the first restraint state to the first avoidance state.

[0044] In this way, it is very convenient to achieve the first restraining state and the first avoiding state of the first restraining assembly 300. It is understood that in other embodiments, when the distance between the first pressing member 310 and the second pressing member 320 and the support plate 200 is the same as the thickness of the material 20, the first pressing member 310 and the second pressing member 320 may also be unable to reciprocate in the height direction.

[0045] In this embodiment, the first restraint assembly 300 also includes a first horizontal cylinder 330, a second horizontal cylinder 340, a first height cylinder 350 and a second height cylinder 360. The first horizontal cylinder 330 and the second horizontal cylinder 340 are respectively located on both sides of the support plate 200 in the first direction. The first height cylinder 350 and the second height cylinder 360 are respectively arranged on the first horizontal cylinder 330 and the second horizontal cylinder 340. The first pressing member 310 and the second pressing member 320 are respectively arranged on the first height cylinder 350 and the second height cylinder 360. The first horizontal cylinder 330 and the second horizontal cylinder 340 can respectively drive the first pressing member 310 and the second pressing member 320 to reciprocate in the first direction. The first height cylinder 350 and the second height cylinder 360 can respectively drive the first pressing member 310 and the second pressing member 320 to reciprocate in the height direction. The first horizontal cylinder 330 and the second horizontal cylinder 340 are arranged at the bottom, while the first height cylinder 350 and the second height cylinder 360 are arranged at the top, which is more conducive to the structural stability of the first restraint assembly 300. It is understood that in other embodiments, the first height cylinder 350 and the second height cylinder 360 can also be arranged at the bottom, while the first horizontal cylinder 330 and the second horizontal cylinder 340 are arranged at the top, that is, the first horizontal cylinder 330 and the second horizontal cylinder 340 are respectively arranged on the first height cylinder 350 and the second height cylinder 360, and the first pressing member 310 and the second pressing member 320 are respectively arranged on the first horizontal cylinder 330 and the second horizontal cylinder 340.

[0046] In this embodiment, the clamping jaw assembly 400 includes a first clamping jaw member 410 and a second clamping jaw member 420. The first clamping jaw member 410 and the second clamping jaw member 420 are spaced apart in the second direction. The first clamping jaw member 410 and the second clamping jaw member 420 can both reciprocate in the second direction, so that the clamping jaw assembly 400 can switch between a load-bearing state and a separation state. The second restraining assembly 500 includes a third pressing member 510 and a fourth pressing member 520. The third pressing member 510 and the fourth pressing member 520 are respectively arranged on the first clamping jaw member 410 and the second clamping jaw member 420, and the third pressing member 510 and the fourth pressing member 520 can both reciprocate in the height direction, so that the second restraining assembly 500 can switch between a second restraining state and a second avoidance state.

[0047] Among them, the first clamping member 410 and the second clamping member 420 can be controlled to move in the second direction, and the first clamping member 410 and the second clamping member 420 are directed toward the material 20, so that the first clamping member 410 and the second clamping member 420 carry the material 20, and then the third clamping member 510 and the fourth clamping member 520 can be controlled to move in the height direction, and the third clamping member 510 and the fourth clamping member 520 are directed toward the material 20, so that the third clamping member 510 and the fourth clamping member 520 are respectively pressed on the material 20 located on the first clamping member 410 and the second clamping member 420, thereby realizing the switching of the second restraint assembly 500 from the second avoidance state to the second restraint state.

[0048] The third pressing member 510 and the fourth pressing member 520 can be controlled to move in the height direction, and the third pressing member 510 and the fourth pressing member 520 can be moved away from the material 20, so that the third pressing member 510 and the fourth pressing member 520 are separated from the material 20 located on the first clamping member 410 and the second clamping member 420 respectively, so that the second restraint assembly 500 is switched from the second restraint state to the second avoidance state, and then the first clamping member 410 and the second clamping member 420 can be controlled to move in the second direction, and the first clamping member 410 and the second clamping member 420 can be moved away from the material 20, so that the first clamping member 410 and the second clamping member 420 are separated from the material 20 and are located on the periphery of the material 20. At this time, the third pressing member 510 and the fourth pressing member 520 are also located on the periphery of the material 20.

[0049] In this way, it is very convenient to achieve the second restraining state and the second avoiding state of the second restraining assembly 500. It is understood that in other embodiments, when the distance between the third pressing member 510 and the first clamping member 410 is the same as the thickness of the material 20, and the distance between the fourth pressing member 520 and the second clamping member 420 is the same as the thickness of the material 20, the third pressing member 510 and the fourth pressing member 520 may also be unable to reciprocate in the height direction.

[0050] In this embodiment, the first direction, the second direction and the height direction are perpendicular to each other, that is, the first direction, the second direction and the height direction can construct a three-dimensional rectangular coordinate system. In this way, it is very convenient to realize that when the first restraint assembly 300 is in the first restraint state, the second restraint assembly 500 can be in the second restraint state. It can be understood that in other embodiments, the first clamping member 410 and the second clamping member 420 can both reciprocate in the first direction, so that the clamping member 400 can switch between the load-bearing state and the separation state. At this time, the whole formed by the first clamping member 310 and the second clamping member 320 and the whole formed by the first clamping member 410 and the second clamping member 420 can be arranged in the second direction.

[0051] In this embodiment, the second restraint assembly 500 also includes a third height cylinder 530 and a fourth height cylinder 540. The third height cylinder 530 and the fourth height cylinder 540 are respectively arranged on the first clamping jaw member 410 and the second clamping jaw member 420. The third pressing member 510 and the fourth pressing member 520 are respectively arranged on the third height cylinder 530 and the fourth height cylinder 540. The third height cylinder 530 and the fourth height cylinder 540 can respectively drive the third pressing member 510 and the fourth pressing member 520 to reciprocate in the height direction. In this way, it is very convenient to realize that the second restraint assembly 500 has a second restraint state and a second avoidance state. It can be understood that in other embodiments, structures such as screw rods can also be used to replace the third height cylinder 530 and the fourth height cylinder 540.

[0052] In this embodiment, the clamping jaw assembly 400 also includes a first vertical plate 430 and a second vertical plate 440. The first vertical plate 430 and the second vertical plate 440 can both reciprocate in the second direction. The third clamping member 510 is located between the first vertical plate 430 and the second vertical plate 440 and is provided on the first vertical plate 430. The first clamping jaw member 410 is floatingly provided on a side of the first vertical plate 430 away from the third clamping member 510 so as to be able to float in the height direction. The fourth clamping member 520 is located between the first vertical plate 430 and the second vertical plate 440 and is provided on the second vertical plate 440. The second clamping jaw member 420 is floatingly provided on a side of the second vertical plate 440 away from the fourth clamping member 520 so as to be able to float in the height direction. The first clamping jaw member 410 and the second clamping jaw member 420 can float in the height direction, which can buffer the restraining force of the second restraining assembly 500 on the material 20, avoid hard pressure, and better protect the material 20. It is understandable that in other embodiments, the first clamping jaw 410 and the second clamping jaw 420 may not float in the height direction. In this case, a buffer layer may be provided at the end of the second restraint assembly 500 to avoid hard pressure on the material 20 .

[0053] In the present embodiment, the clamping jaw assembly 400 further includes a clamping jaw cylinder 450. The first clamping jaw member 410 and the second clamping jaw member 420 are both disposed on the clamping jaw cylinder 450. The clamping jaw cylinder 450 can drive the first clamping jaw member 410 and the second clamping jaw member 420 to perform opening and closing motions in the second direction. In this way, not only is it convenient to achieve that the first clamping jaw member 410 and the second clamping jaw member 420 can both reciprocate in the second direction, but the structure of the clamping jaw assembly 400 can also be simplified. It is understood that in other embodiments, two clamping jaw cylinders can also be provided, namely a first clamping jaw cylinder connected to the first clamping jaw member 410 and a second clamping jaw cylinder connected to the second clamping jaw member 420, and the first clamping jaw cylinder and the second clamping jaw cylinder can respectively drive the first clamping jaw member 410 and the second clamping jaw member 420 to reciprocate in the second direction.

[0054] In this embodiment, the clamping jaw assembly 400 further includes a first connecting plate 460, a second connecting plate 470, a first vertical plate 430, a second vertical plate 440, a first floating plate 480, and a second floating plate 490. The first connecting plate 460 and the second connecting plate 470 are respectively connected to the clamping jaw cylinder 450. The clamping jaw cylinder 450 can drive the first connecting plate 460 and the second connecting plate 470 to open and close in the second direction. The first vertical plate 430 and the second vertical plate 440 are respectively disposed on the first connecting plate 460 and the second connecting plate 470. The third pressing member 510 is located between the first vertical plate 430 and the second vertical plate 440 and is disposed on the first vertical plate 430. The first clamping jaw member 410 is disposed on a side of the first vertical plate 430 away from the third pressing member 510 via the first floating plate 480 so as to be able to float in the height direction. The fourth pressing member 520 is located between the first vertical plate 430 and the second vertical plate 440 and is disposed on the second vertical plate 440. The second clamping jaw 420 is disposed on a side of the second vertical plate 440 away from the fourth pressing member 510 via the second floating plate 490 so as to float in the height direction.

[0055] In the present embodiment, the clamping mechanism 10b further includes a drive assembly. The clamping assembly 400 is arranged on the drive assembly, and the drive assembly can drive the clamping assembly 400 to reciprocate in the height direction. Specifically, in the present embodiment, the clamping assembly 400 further includes a clamping back plate 400a. The clamping assembly 400 is connected to the drive assembly via the clamping back plate 400a. In this way, it is very convenient for the clamping assembly 400 to approach or move away from the clamping mechanism 10a. It will be understood that in other embodiments, when the position of the clamping assembly 400 and the clamping mechanism 10a in the height direction does not need to be adjusted, the drive assembly can be omitted.

[0056] Specifically, in this embodiment, when using the above-mentioned material taking and placing device 10 to take the material 20, before the clamping assembly 400 of the clamping mechanism 10b carries the material 20 on the pallet 200, the first clamping jaw member 410 and the second clamping jaw member 420 can be controlled by the driving assembly to move downward in the height direction close to the material 20 until the upper surface of the first clamping jaw member 410 and the second clamping jaw member 420 is at least 2 mm away from the lower surface of the material 20. The first clamping jaw member 410 and the second clamping jaw member 420 can be controlled to move in the second direction and make the first clamping jaw member 410 and the second clamping jaw member 420 face the material 20 so that the first clamping jaw member 410 and the second clamping jaw member 420 can carry the material 20. Then, the first clamping jaw member 410 and the second clamping jaw member 420 can be controlled by the driving assembly to move upward in the height direction to carry the material 20.

[0057] In this embodiment, as shown in Figure 2, the first pressing member 310, the first horizontal cylinder 330, and the first vertical cylinder 350 constitute a first restraint module, and the second pressing member 320, the second horizontal cylinder 340, and the second vertical cylinder 360 constitute a second restraint module. In this embodiment, there is only one first restraint module and one second restraint module. It is understood that in other embodiments, there may be multiple first restraint modules, with the multiple first restraint modules arranged at intervals along the second direction, and there may also be multiple second restraint modules, with the multiple second restraint modules arranged at intervals along the second direction.

[0058] In this embodiment, as shown in Figures 1 and 3, each of the first clamping jaw member 410 and the second clamping jaw member 420 has two clamping jaw portions 412, and the two clamping jaw portions 412 are spaced apart in the first direction. In this way, the material 20 can be better supported. It is understood that in other embodiments, the clamping jaw assembly 400 may also include multiple first clamping jaw members 410 and multiple second clamping jaw members 420, wherein the multiple first clamping jaw members 410 are located on one side of the material 20 in the second direction and are spaced apart along the first direction, and the multiple second clamping jaw members 420 are located on the other side of the material 20 in the second direction and are spaced apart along the first direction. It is understood that in other embodiments, the first clamping jaw member 410 and the second clamping jaw member 420 may also have only one clamping jaw portion 412.

[0059] The above descriptions are merely optional embodiments of the present disclosure and are not intended to limit the patent scope of the present disclosure. All equivalent structural transformations made using the contents of the present disclosure and the drawings under the inventive concept of the present disclosure, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present disclosure.

Claims

1. A material taking and placing device, comprising: The clamp mechanism comprises a support plate and a first restraint component arranged at the periphery of the support plate, the support plate is used to carry materials, the first restraint component has a first restraint state and a first avoidance state, in the first restraint state, the first restraint component restrains the materials on the support plate on the support plate, in the first avoidance state, the first restraint component is separated from the materials and is located at the periphery of the materials, so as to release the restraint of the materials by the first restraint component; as well as A clamping mechanism, comprising a clamping jaw assembly and a second restraining assembly arranged on the clamping jaw assembly, the clamping jaw assembly is used to pick up and place materials on the pallet, the clamping jaw assembly has a load-bearing state and a separation state, in the load-bearing state, the clamping jaw assembly carries the materials, in the separation state, the clamping jaw assembly is separated from the materials and is located at the periphery of the materials to release the clamping jaw assembly from carrying the materials, the second restraining assembly has a second restraining state and a second avoidance state, in the second restraining state, the second restraining assembly restrains the materials located on the clamping jaw assembly on the clamping jaw assembly, in the second avoidance state, the second restraining assembly is separated from the materials to release the second restraining assembly from restraining the materials and enable the clamping jaw assembly to switch from the load-bearing state to the separation state; Wherein, while the first restraint component is in the first restraint state, the second restraint component can be in the second restraint state.

2. The material handling device according to claim 1, wherein: The first restraint assembly includes a first clamping member and a second clamping member, and the first clamping member and the second clamping member are respectively located on both sides of the support plate in the first direction. The first clamping member and the second clamping member can both reciprocate in the first direction and can both reciprocate in the height direction, so that the first restraint assembly can switch between the first restraint state and the first avoidance state.

3. The material handling device according to claim 2, wherein: The first restraint assembly also includes a first horizontal cylinder, a second horizontal cylinder, a first height cylinder and a second height cylinder. The first horizontal cylinder and the second horizontal cylinder are respectively located on both sides of the support plate in the first direction. The first height cylinder and the second height cylinder are respectively arranged on the first horizontal cylinder and the second horizontal cylinder. The first clamping member and the second clamping member are respectively arranged on the first height cylinder and the second height cylinder. The first horizontal cylinder and the second horizontal cylinder can respectively drive the first clamping member and the second clamping member to reciprocate in the first direction. The first height cylinder and the second height cylinder can respectively drive the first clamping member and the second clamping member to reciprocate in the height direction.

4. The material handling device according to claim 2 or 3, wherein: The clamping jaw assembly comprises a first clamping jaw member and a second clamping jaw member, wherein the first clamping jaw member and the second clamping jaw member are arranged at intervals in a second direction, and the first clamping jaw member and the second clamping jaw member can reciprocate in the second direction, so that the clamping jaw assembly can switch between the load-bearing state and the separation state; The second restraint assembly includes a third pressing member and a fourth pressing member, the third pressing member and the fourth pressing member are respectively arranged on the first clamping jaw member and the second clamping jaw member, and the third pressing member and the fourth pressing member can reciprocate in the height direction, so that the second restraint assembly can switch between the second restraint state and the second avoidance state; The first direction, the second direction and the height direction are perpendicular to each other.

5. The material taking and placing device according to claim 4, wherein: The second restraint assembly also includes a third height cylinder and a fourth height cylinder, and the third height cylinder and the fourth height cylinder are respectively arranged on the first clamping jaw member and the second clamping jaw member, and the third clamping member and the fourth clamping member are respectively arranged on the third height cylinder and the fourth height cylinder, and the third height cylinder and the fourth height cylinder can respectively drive the third clamping member and the fourth clamping member to reciprocate in the height direction.

6. The material handling device according to claim 4 or 5, wherein: The clamping jaw assembly also includes a first vertical plate and a second vertical plate, both of which can reciprocate in the second direction, the third clamping member is located between the first vertical plate and the second vertical plate and is arranged on the first vertical plate, the first clamping jaw member is floatingly arranged on a side of the first vertical plate away from the third clamping member so as to be able to float in the height direction, the fourth clamping member is located between the first vertical plate and the second vertical plate and is arranged on the second vertical plate, the second clamping jaw member is floatingly arranged on a side of the second vertical plate away from the fourth clamping member so as to be able to float in the height direction.

7. The material handling device according to any one of claims 4 to 6, wherein: The clamping jaw assembly also includes a clamping jaw cylinder, the first clamping jaw member and the second clamping jaw member are both arranged on the clamping jaw cylinder, and the clamping jaw cylinder can drive the first clamping jaw member and the second clamping jaw member to perform opening and closing movements in the second direction.

8. The material taking and placing device according to claim 7, wherein: The clamping jaw assembly further includes a first connecting plate, a second connecting plate, a first vertical plate, a second vertical plate, a first floating plate, and a second floating plate; The first connecting plate and the second connecting plate are respectively connected to the clamping claw cylinder, and the clamping claw cylinder can drive the first connecting plate and the second connecting plate to perform opening and closing movements in the second direction; The first vertical plate and the second vertical plate are respectively arranged on the first connecting plate and the second connecting plate; The third clamping member is located between the first vertical plate and the second vertical plate and is arranged on the first vertical plate. The first clamping member is arranged on the side of the first vertical plate away from the third clamping member through the first floating plate so as to be able to float in the height direction. The fourth clamping member is located between the first vertical plate and the second vertical plate and is arranged on the second vertical plate. The second clamping member is arranged on the side of the second vertical plate away from the fourth clamping member through the second floating plate so as to be able to float in the height direction.

9. The material taking and placing device according to any one of claims 1 to 8, wherein: The clamping jaw assembly comprises a first clamping jaw member and a second clamping jaw member, wherein the first clamping jaw member and the second clamping jaw member are arranged at intervals in a second direction, and the first clamping jaw member and the second clamping jaw member can reciprocate in the second direction, so that the clamping jaw assembly can switch between the load-bearing state and the separation state; The second restraint assembly includes a third clamping member and a fourth clamping member, and the third clamping member and the fourth clamping member are respectively arranged on the first clamping member and the second clamping member, and the third clamping member and the fourth clamping member can reciprocate in the height direction, so that the second restraint assembly can switch between the second restraint state and the second avoidance state.

10. The material taking and placing device according to any one of claims 1 to 9, wherein: The clamping jaw mechanism also includes a driving assembly, the clamping jaw assembly is arranged on the driving assembly, and the driving assembly can drive the clamping jaw assembly to reciprocate in the height direction.

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