CN112297297A - Pickup device - Google Patents

Abstract

The invention discloses a workpiece taking device which comprises a storage bin for storing workpieces and a workpiece taking manipulator for taking the workpieces out of the storage bin; the storage bins are arranged in an array; the workpiece taking device comprises a plurality of bins, a plurality of suction cups and a negative pressure device, wherein a gap is arranged between every two adjacent bins, a plurality of holding chambers are arranged on the side surfaces of the bins, the work pieces are spaced, each suction cup is provided with a suction cup and a negative pressure device for providing negative pressure for the suction cup, a piece taking space is arranged on one side of each bin, and the piece taking manipulator can drive the suction cups to enter the gap from the piece taking space and reach the space. The workpiece taking device has the advantages of large workpiece storage amount, multiple types and full-automatic workpiece taking.

Description

Pickup device

Technical Field

The invention relates to a storage device, in particular to a full-automatic workpiece taking device which is large in workpiece storage amount and various in types.

Background

In the automated production, a manipulator is usually used to process or assemble a product to replace manual operation, specifically, a workpiece is taken out from a storage container by the manipulator and then transferred to a production line, and then the workpiece is mounted on a product to be assembled on the production line. The whole process does not need manual operation, and the assembly efficiency is high. However, in the existing production line, because the storage containers are all in a conventional mode, the storage containers are large in size and small in storage capacity, workpieces are quickly consumed in the production process, and therefore manual frequent material supplement is needed, the labor intensity is increased, and the automatic production is not facilitated.

Disclosure of Invention

The invention aims to provide a pick-up device which has large work piece storage amount and various types and can pick up work pieces fully automatically.

In order to achieve the purpose, the invention provides a workpiece taking device which comprises a storage bin for storing workpieces and a workpiece taking manipulator for taking the workpieces out of the storage bin; the storage bins are arranged in an array; the workpiece taking device comprises a plurality of bins, a plurality of suction cups and a negative pressure device, wherein a gap is arranged between every two adjacent bins, a plurality of holding chambers are arranged on the side surfaces of the bins, the work pieces are spaced, each suction cup is provided with a suction cup and a negative pressure device for providing negative pressure for the suction cup, a piece taking space is arranged on one side of each bin, and the piece taking manipulator can drive the suction cups to enter the gap from the piece taking space and reach the space.

Compared with the prior art, the storage bins are arranged in an arrayed manner, the plurality of compartments for accommodating the workpieces are arranged on the side surfaces of the storage bins, and each compartment can store workpieces of different types, so that a large number of workpieces can be stored, the storage amount is large, the storage types are various, and the occupied volume is effectively reduced. And a workpiece taking manipulator is arranged to reach the compartment from a workpiece taking space on one side of the storage bin, so that the purpose of automatically taking workpieces is achieved, manual frequent material supplement is not needed, the labor intensity is reduced, and the automatic production is facilitated.

Preferably, the pick-up device further comprises a rack, the storage bin is vertically mounted on the rack, and the pick-up space is arranged below the storage bin, so that the pick-up manipulator can enter the storage bin from the lower part of the storage bin and pick up the pick-up.

In particular, the cartridge is slidable relative to the frame.

Specifically, the pick-up device further comprises a shifting mechanism, and the shifting mechanism is used for shifting part of the storage bin open so as to facilitate pick-up of the pick-up manipulator.

Specifically, toggle mechanism includes linear actuator, expansion bend and shifting block, linear actuator set up in the frame and be located the top in storage storehouse, the expansion bend is fixed in linear actuator's output, the output of expansion bend is connected the shifting block is in order to drive the shifting block stretches into or withdraws from adjacent two clearance between the storage storehouse.

Specifically, the linear actuator includes motor, lead screw and slider, the lead screw pin joint in the frame, the center pin is followed the array direction of storage storehouse extends, the output of motor connect in the one end of lead screw, the slider relative the frame slides and threaded connection in the lead screw, the expansion bend set up in on the slider.

Preferably, the workpiece taking manipulator comprises an X-direction translation mechanism, a Y-direction translation mechanism, a Z-direction translation mechanism, a sliding plate, a sucker and a negative pressure device, wherein an output end of the X-direction translation mechanism is connected with the Y-direction translation mechanism, an output end of the Y-direction translation mechanism is connected with the Z-direction translation mechanism, an output end of the Z-direction translation mechanism is connected with the sliding plate and drives the sliding plate to slide, and the sucker is arranged on the sliding plate and communicated with the negative pressure device.

Preferably, the storage bins are fixedly arranged in a stacked manner, and a space for the workpiece taking manipulator to enter is formed between every two adjacent storage bins.

Specifically, the part taking manipulator comprises an X-direction translation mechanism, a Y-direction translation mechanism, a main arm, an auxiliary arm, a first motor, a second motor, a fixed plate, a sucker and a negative pressure device, wherein an output end of the X-direction translation mechanism is connected with an output end of the Y-direction translation mechanism, an output end of the Y-direction translation mechanism is pivoted with one end of the main arm, the other end of the main arm is pivoted with one end of the auxiliary arm, the other end of the auxiliary arm is connected with the fixed plate, the sucker is arranged on the fixed plate and communicated with the negative pressure device, the first motor is arranged on the main arm and drives the main arm to swing, and the second motor is arranged on the auxiliary arm and drives the auxiliary arm to swing.

Preferably, the workpiece taking manipulator comprises an X-direction translation mechanism, a Y-direction translation mechanism, a Z-direction translation mechanism, a sliding plate, a sucker and a negative pressure device, wherein an output end of the Y-direction translation mechanism is connected with the X-direction translation mechanism, an output end of the X-direction translation mechanism is connected with the Z-direction translation mechanism, an output end of the Z-direction translation mechanism is connected with the sliding plate and drives the sliding plate to slide, and the sucker is arranged on the sliding plate and communicated with the negative pressure device.

Drawings

FIG. 1 is a perspective view of an automatic film laminator of the present invention.

FIG. 2 is another perspective view of the automatic film laminator of the present invention.

FIG. 3 is a front view of the automatic film laminator of the present invention.

Fig. 4 is a perspective view of a first embodiment of the pickup device of the automatic film laminator according to the present invention.

FIG. 5 is a front view of a first embodiment of the film removing device of the automatic film laminator according to the present invention.

Fig. 6 is a perspective view of a second embodiment of the pickup device of the automatic film laminator according to the present invention.

Fig. 7 is a perspective view of a pick-up robot according to a second embodiment of the pick-up device of the automatic laminator.

Fig. 8 is a top view of a pick-up robot according to a second embodiment of the pick-up device of the automatic laminator of the present invention.

Fig. 9 is a perspective view of a third embodiment of the pickup device of the automatic film laminator according to the present invention.

Fig. 10 is another perspective view of a third embodiment of the film removing device of the automatic film laminator according to the present invention.

Fig. 11 is a perspective view of a pick-up robot according to a third embodiment of the pick-up device of the automatic laminator of the present invention.

Detailed Description

In order to explain technical contents, structural features, and effects achieved by the present invention in detail, the following detailed description is given with reference to the embodiments and the accompanying drawings.

The workpiece taking device comprises a storage bin for storing workpieces and a workpiece taking manipulator for taking the workpieces out of the storage bin; the storage bins are arranged in an array; the workpiece taking device comprises a plurality of bins, a plurality of suction cups and a negative pressure device, wherein a gap is arranged between every two adjacent bins, a plurality of holding chambers are arranged on the side surfaces of the bins, the work pieces are spaced, each suction cup is provided with a suction cup and a negative pressure device for providing negative pressure for the suction cup, a piece taking space is arranged on one side of each bin, and the piece taking manipulator can drive the suction cups to enter the gap from the piece taking space and reach the space.

As shown in fig. 1 to 3, a first embodiment of an automatic film sticking machine is shown. The pick-up device is suitable for storing and picking up the protective film. The method comprises the following specific steps:

the automatic film sticking machine 100 is used for sticking a film on a product and comprises a platform 1, a positioning clamp 2, a pickup device 3, a film sticking manipulator 4, a bubble removing device 5, a cleaning device 6 and a conveying device 7; in order to improve the efficiency of pad pasting, positioning fixture 2, sticking film manipulator 4 and cleaning device 6 can be established to two and be the symmetry and set up, remove bubble device 5 and place the product that can be respectively on two positioning fixture 2 of left and right both sides in the centre and remove the bubble. The pick-up device 3, the film sticking manipulator 4, the bubble removing device 5 and the conveying device 7 are arranged on the platform 1. The conveying device 7 is transversely arranged on the platform 1, and the positioning clamp 2 is arranged at the output end of the conveying device 7 and can move along the conveying direction of the conveying device 7; the positioning clamp 2 is used for clamping and positioning the product. The pick-up device 3 is positioned above the conveying device 7, and the pick-up device 3 comprises a storage bin 31 for storing the protective film and a pick-up manipulator 32 for taking the protective film out of the storage bin 31. The film sticking mechanical arm 4 is positioned on one side of the conveying device 7 and between the bubble removing device 5 and the cleaning device 6; the film sticking manipulator 4 is used for transferring the protective film from the pick-up manipulator 32 to the positioning fixture 2 and attaching the protective film to the product. The bubble removing device 5 is located at one end of the conveying device 7, and the bubble removing device 5 is used for removing bubbles between the protective film and the product. The cleaning device 6 is positioned at the other end of the conveying device 7, the cleaning device 6 can clean the surface of the product, so that the surface of the product can be clean before film pasting, and the phenomenon that dust enters the protective film to generate bubbles to affect the attractiveness is avoided. The conveying device 7 can convey the product in the positioning jig 2 to the cleaning device 6, convey the product to the vicinity of the film sticking manipulator 4 for film sticking, and convey the product in the positioning jig 2 to the bubble removing device 5.

Referring to fig. 1 to 3, in particular, the conveying device 7 includes a guide rail 71 and a driving mechanism (not shown), the positioning fixture 2 is slidably disposed on the guide rail 71, and the driving mechanism drives the positioning fixture 2 to move. The positioning fixture 2 is provided with a positioning plate, a reference block, two positioning sliding blocks and drivers, wherein the reference block is fixed on the positioning plate, and the drivers respectively drive the positioning sliding blocks to slide along the direction X, Y so as to clamp the product together with the reference block.

Referring to fig. 2, 4 and 5, the storage bins 31 are multiple and arranged in a horizontal direction. The pick-up device 3 further comprises a rack 33, the storage bin 31 is vertically mounted on the rack 33 and can slide relative to the rack 33, and a film pick-up space 3a is arranged below the storage bin 31 and between the storage bin 31 and the conveying device 7, so that the pick-up manipulator 32 slides from the lower part of the storage bin 31 and enters the storage bin 31 of a target to pick up a film. By providing the bins 31 in a slidable arrangement, non-target bins may be abutted together, thereby reducing the space occupied or allowing more bins 31 to be used to store more protective film. In addition, each of the storage compartments 31 may be divided into a plurality of compartments 311 on both sides, the compartments 311 are open on one side, and one compartment 311 may be used to store one type of protection film, so that the storage compartment 31 may store almost all types of protection films corresponding to all electronic products on the market today. Through will the warehouse 31 is arranged ground, and be equipped with a plurality of holding in the side of warehouse 31 the compartment 311 of protection film, each compartment 311 can store the protection film of different models moreover to realize storing a large amount of protection films, not only the stock is big, stores the variety many, effectively reduces moreover and occupies the volume. Moreover, the film taking manipulator 32 is arranged to reach the compartment 311 from the film taking space 3a on one side of the storage bin 31, so that the purpose of automatically taking the film is achieved, manual frequent material supplement is not needed, the labor intensity is reduced, and the automatic production is facilitated.

Referring to fig. 4 and 5, the pick-up device 3 further includes a toggle mechanism 34, and the toggle mechanism 34 is used for toggling apart a part of the storage bin 31, so as to facilitate the pick-up manipulator 32 to pick up the film. The toggle mechanism 34 is disposed above the frame 33 and above the storage bin 31. Specifically, the toggle mechanism 34 includes a linear actuator 341, a telescopic device 342, and a toggle block 343, the linear actuator 341 is disposed on the frame 33 and located above the storage bin 31, the telescopic device 342 is fixed to an output end of the linear actuator 341, and an output end of the telescopic device 342 is connected to the toggle block 343 to drive the toggle block 343 to extend into or withdraw from a gap between two adjacent storage bins 31. By arranging the linear driver 341, the shifting block 343 can reach the upper part of any bin 31, and then the telescopic device 342 is utilized, so that the shifting block 343 can extend into the space between two adjacent bins 31 to shift off a part of the bins 31, and the target bin 31 can have a space for the pick-up manipulator 32 to enter, so that the pick-up manipulator 32 can smoothly pick up the film. More specifically, the linear driver 341 includes a motor 341a, a screw rod 341b, and a slider 341c, the screw rod 341b is pivoted to the frame 33, a central axis extends along the arrangement direction of the storage bin 31, an output end of the motor 341a is connected to one end of the screw rod 341b, the slider 341c slides relative to the frame 33 and is threadedly connected to the screw rod 341b, and the expansion piece 342 is disposed on the slider 341 c. The telescopic device 342 is a cylinder and the output end is downward.

Referring to fig. 4 and 5, the pick-up manipulator 32 includes an X-direction translation mechanism 321, a Y-direction translation mechanism 322, a Z-direction translation mechanism 323, a sliding plate 324, a suction cup 325, and a negative pressure device (not shown), an output end of the X-direction translation mechanism 321 is connected to the Y-direction translation mechanism 322, the X-direction translation mechanism 321 is a belt driven by a motor, and the belt drives the Y-direction translation mechanism 322 to move. The output end of the Y-direction translation mechanism 322 is connected with the Z-direction translation mechanism 323, and the Y-direction translation mechanism 322 is in a form that a motor drives a screw nut. The output end of the Z-direction translation mechanism 323 is connected with the sliding plate 324 and drives the sliding plate 324 to slide, and the Z-direction translation mechanism 323 is in a form that a motor drives a lead screw nut. The sucking disc 325 is arranged on the sliding plate 324, and the sucking disc 325 is symmetrically arranged left and right and is communicated with the negative pressure device. The X-direction translation mechanism 321, the Y-direction translation mechanism 322, and the Z-direction translation mechanism 323 can drive the suction cup 325 to move in directions X, Y and Z, so as to suck the protective film at any position in the storage bin 31.

In addition, the picking device 3 may be provided with another toggle mechanism 34, and such a toggle mechanism 34 may be provided on the picking robot 32 and move with the picking robot 32. When the picking manipulator 32 moves to the lower part of the target bin 31, the toggle mechanism 34 can extend into the narrow gap between the target bin 31 and the bin 31 adjacent to the target bin 31, and then pushes the bin 31 adjacent to the target bin 31 to make it away from the target bin 31 by a certain distance, so that the picking manipulator 32 can enter the bin.

Referring to fig. 1 to 3, the bubble removing device 5 includes a sealed cavity 51, an air pressure system and a lifting mechanism 52, the sealed cavity 51 is used for accommodating the product, the lifting mechanism 52 is disposed on the platform 1, an output end of the lifting mechanism is connected to the sealed cavity 51, a lower side of the sealed cavity 51 is open, so that the sealed cavity 51 can descend and form a seal with the positioning fixture 2, and at this time, the sealed cavity 51 can cover the product in a sealed manner. The pneumatic system is communicated with the inside of the sealed cavity 51 to provide positive pressure or negative pressure to the sealed cavity 51. The product is placed in the sealed cavity 51, and the sealed cavity 51 is pressurized or vacuumized by using the air pressure system, so that bubbles in the protective film can be removed, and the film attaching effect is effectively improved.

Referring to fig. 1 to 3, the cleaning device 6 includes at least one rotatable cleaning roller 61, and the embodiment includes two cleaning rollers 61 arranged side by side. The cleaning roller 61 is disposed above the conveying track of the conveying device 7 and is driven to rotate by a motor. The cleaning roller 61 is provided with cleaning cloth or cleaning sponge. By providing the cleaning roller 61, the product can be automatically conveyed by the conveying device 7 through the cleaning roller 61, so that automatic cleaning can be realized. The cleaning device 6 further includes a cleaner 62 disposed near the cleaning roller 61. The vacuum cleaner 62 can suck away excess dust accumulated on the cleaning roller 61, thereby ensuring that the product is not secondarily contaminated.

The automatic film sticking machine 100 further comprises a film tearing device 101, wherein the film tearing device 101 is used for tearing off the outer film on the surface of the protective film before film sticking. The film tearing device 101 is arranged on the platform 1, and when the protective film is provided with one outer film, the outer film can be torn off through the film tearing device 101. Tearing film device 101 is a clip, can with the adventitia on protection film surface is cliied, and meanwhile, the protection film is inhaled to pad pasting manipulator 4, then makes pad pasting manipulator 4 drive the protection film and keep away from tearing film device 101 to make the adventitia tear from the protection film.

The operation of the automatic laminator 100 of the present invention is described in detail below with reference to the above figures, as follows:

taking a mobile phone as an example, when a film needs to be pasted on a mobile phone screen, the mobile phone is placed on the positioning plate, then the model of the mobile phone is input on the control panel of the film pasting machine, or the model of the mobile phone is automatically detected through the film pasting machine, then, the control system of the film pasting machine controls the driver to drive the positioning sliding block 341c to move, and further the mobile phone is pushed to move towards the direction of the reference block until the reference block and the positioning sliding block 341c clamp the mobile phone. At this time, the driving mechanism of the conveying device 7 drives the positioning jig 2 to slide along the guide rail 71 and slide to the lower side of the cleaning device 6. The cleaning roller 61 rotates, the conveying device 7 drives the positioning clamp 2 to pass through the cleaning roller 61, and the cleaning roller 61 automatically wipes the surface of the mobile phone clean. Meanwhile, the control system determines the position of the protective film of the corresponding model according to the model of the mobile phone, then controls the linear driver 341 to start, so that the linear driver 342 drives the expansion piece 342 to translate to the position above the corresponding bin 31, then the expansion piece 342 drives the shifting block 343 to extend into the space between two adjacent bins 31, and then the linear driver 341 starts again to drive the expansion piece 342 and the shifting block 343, so that the shifting block 343 shifts two bins 31 apart by a certain gap. And controls the pick-up robot 32. The X-direction translation mechanism 321, the Y-direction translation mechanism 322, and the Z-direction translation mechanism 323 of the pick-up manipulator 32 cooperate to enter the suction cup 325 into the gap of the target storage bin 31 from the film pick-up space 3a below the storage bin 31 and reach the position of the corresponding type of protective film, and then the negative pressure device generates negative pressure on the suction cup 325 to suck one piece of protective film. Finally, the pick-up manipulator 32 takes out the protective film. At this moment, the sticking film manipulator 4 starts, the sticking film manipulator 4 follows it grabs on the manipulator 32 to get the protection film, then send to on the dyestripping device 101, the dyestripping device 101 is cliied the adventitia on protection film surface, later the sticking film manipulator 4 continues to suck the protection film and keeps away from the dyestripping device 101 to make the adventitia peel off the protection film.

When the cleaning of the mobile phone by the cleaning device 6 is completed, the conveying device 7 drives the positioning clamp 2 to the vicinity of the film sticking mechanical arm 4. At this moment, the control system can obtain the film sticking position of the mobile phone according to the reference position of the reference block, so as to control the film sticking manipulator 4 to move and stick the protective film on the mobile phone. After the film is attached, the conveying device 7 conveys the positioning fixture 2 to the position below the bubble removing device 5, at this time, the lifting mechanism 52 drives the sealing cavity 51 to descend and hermetically press the positioning fixture 2 to place the mobile phone in the sealing cavity 51, at this time, the air pressure system pressurizes or vacuumizes the sealing cavity 51, and the invention adopts a pressurizing mode, so that bubbles in the protective film are removed by high pressure. After the bubble removing operation is completed, the conveying device 7 conveys the positioning fixture 2 to the initial position, and the driver drives the positioning sliding block 341c to be away from the reference block, so that the mobile phone is loosened, and then the mobile phone can be taken out.

Compared with the prior art, the automatic film sticking machine has the advantages that the protective films with various specifications are stored in the storage bin 31, the positioning fixture 2 is used for positioning a product, the pick-up manipulator 32 is used for picking up the protective films corresponding to the specifications of the product in the storage bin 31, the film sticking manipulator 4 is arranged, and the protective films are stuck to the surface of the product through the film sticking manipulator 4, so that the automatic film sticking of the product is realized, and the film sticking efficiency is improved; and the products on the positioning fixture 2 are conveyed to the bubble removing device 5 through the conveying device 7 for bubble removal, so that bubbles between the protective film and the products are effectively removed, and the film sticking effect is greatly improved.

As shown in fig. 6 to 8, a second embodiment of the pick-up device of the automatic film sticking machine according to the present invention is shown.

The platform 1, the positioning fixture 2, the film sticking manipulator 4, the bubble removing device 5, the cleaning device 6 and the conveying device 7 of the automatic film sticking machine in the embodiment are the same as those of the first embodiment in structure, function and operation mode, and the difference lies in the structure of the pickup device. Specifically, the pickup device 8 of the present embodiment includes a plurality of storage bins 81 and a pickup manipulator 82, the storage bins 81 are fixedly disposed in a stacked manner along a vertical direction, one side of the storage bin 81 has a film pickup space for the pickup manipulator 32 to move, and a gap 811 is provided between two adjacent storage bins 81 for the pickup manipulator 82 to enter. By arranging the bins 81 in a stacked manner, the occupied space can be reduced or more bins 81 can be used to store more protective films. The part taking manipulator 82 comprises an X-direction translation mechanism 821, a Y-direction translation mechanism 822, a main arm 823, an auxiliary arm 824, a first motor 825, a second motor 826, a fixing plate 827, a suction cup 828 and a negative pressure device, wherein the output end of the X-direction translation mechanism 821 is connected with the output end of the Y-direction translation mechanism 822, the output end of the Y-direction translation mechanism 822 is pivoted with one end of the main arm 823, the other end of the main arm 823 is pivoted with one end of the auxiliary arm 824, the other end of the auxiliary arm 824 is connected with the fixing plate 827, the suction cup 828 is arranged on the fixing plate 827 and is communicated with the negative pressure device, the first motor 825 is arranged on the main arm 823 and drives the main arm 823 to swing in a gear manner, and the second motor 826 is arranged on the auxiliary arm 824 and drives the auxiliary arm 824 to swing in a gear manner. The X-direction translation mechanism 821 can drive the suction cup 828 to move in the horizontal direction; the Y-direction translation mechanism 822 can drive the suction cup 828 to move vertically to the height of the target bin 81, and the main arm 823 and the auxiliary arm 824 can drive the suction cup 828 to enter the target position of the bin 81, so that the protective film at any position in the bin 81 can be sucked.

When taking out the film, the X-direction translation mechanism 821 and the Y-direction translation mechanism 822 drive the main arm 823 to reach the level of the target storage bin 81, and then the first motor 825 drives the main arm 823 to swing, thereby driving the sub arm 824 to enter the gap 811 above the target storage bin 81. Then the second motor 825 drives the auxiliary arm 824 to swing to drive the suction cup 828 to be close to the upper part of the storage bin for storing the protective film of the model, then the Y-direction translation mechanism 822 drives the main arm 823 and the auxiliary arm 824 to move downwards to enable the suction cup 828 to be close to the protective film, then the negative pressure device is started to enable the suction cup 828 to suck the protective film, and then the protective film is moved out of the storage bin 81 through the cooperation of the X-direction translation mechanism 821, the Y-direction translation mechanism 822, the main arm 823, the auxiliary arm 824, the first motor 825 and the second motor 826.

As shown in fig. 9 to 11, a third embodiment of the pick-up device of the automatic laminator of the invention is shown.

The platform 1, the positioning fixture 2, the film 4, the bubble removing device 5, the cleaning device 6 and the conveying device 7 of the automatic film sticking machine in this embodiment are the same as those of the first embodiment in structure, function and operation mode, and the difference lies in the structure of the pickup device. Specifically, the picking device 9 of the present embodiment includes a plurality of storage bins 91 and a picking manipulator 92, wherein the storage bins 91 are fixedly arranged in a horizontal direction, and a gap 911 for the picking manipulator 92 to enter is provided between two adjacent storage bins 91. By arranging the bins 91 in an array, the occupied space may be reduced or more bins 91 may be used to store more protective films. The workpiece taking manipulator 92 comprises an X-direction translation mechanism 921, a Y-direction translation mechanism 922, a Z-direction translation mechanism 923, a sliding plate 924, a suction cup 925 and a negative pressure device (not shown), wherein the output end of the Y-direction translation mechanism 922 is connected with the X-direction translation 921, and the Y-direction translation mechanism 922 is located at four corners of an array formed by a plurality of storage bins 91 and drives the X-direction translation mechanism 921 to move in the vertical direction; the output end of the X-direction translation mechanism 921 is connected to the Z-direction translation mechanism 923, the X-direction translation mechanism 921 drives the Z-direction translation mechanism 923 to move along the horizontal direction, a moving space 912 spanning all the storage bins 91 is arranged above the storage bins 91, and the Z-direction translation mechanism 923 moves along the horizontal direction in the moving space 912; the output of Z to translation mechanism 923 with slide 924 is connected and is driven slide 924 removes along the Z direction, sucking disc 925 set up in on the slide 924, sucking disc 925 be the symmetry on a left side, the right side set up and with the vacuum device intercommunication.

When getting the membrane, Y rises to the highest to translation mechanism 921 with X to translation mechanism 922, makes Z is located to translation mechanism 923 the top of warehouse 91 is promptly in moving the space 912, then X is to translation mechanism 921 drive Z moves the clearance 911 between target warehouse 91 and the warehouse 91 rather than adjacent to translation mechanism 923, at this moment, Y is to translation mechanism 922 drive Z descends to translation mechanism 923, makes it get into in the clearance 911 and reach on the same level of the protection film of this model. Z is to translation mechanism 923 drive slide 924 translation and adjust the protection film well, later negative pressure device starts to make sucking disc 925 hold the protection film, then passes through again X is to translation mechanism 921, Y to translation mechanism 922 and Z to translation mechanism 923 work, will the protection film shifts out storage 91.

The circuit structure and the control principle of the control system related to the automatic film sticking machine are well known to those skilled in the art, and detailed description is omitted here.

The above disclosure is only a preferred embodiment of the present invention, and certainly should not be taken as limiting the scope of the present invention, which is therefore intended to cover all equivalent changes and modifications within the scope of the present invention.

Claims (10)

1. A pick-up device is characterized in that: the workpiece taking device comprises a storage bin for storing workpieces and a workpiece taking manipulator for taking the workpieces out of the storage bin; the storage bins are arranged in an array; the workpiece taking device comprises a plurality of bins, a plurality of suction cups and a negative pressure device, wherein a gap is arranged between every two adjacent bins, a plurality of holding chambers are arranged on the side surfaces of the bins, the work pieces are spaced, each suction cup is provided with a suction cup and a negative pressure device for providing negative pressure for the suction cup, a piece taking space is arranged on one side of each bin, and the piece taking manipulator can drive the suction cups to enter the gap from the piece taking space and reach the space.

2. The pickup apparatus as set forth in claim 1, wherein: the pick-up device further comprises a rack, the storage bin is vertically mounted on the rack, and the pick-up space is arranged below the storage bin, so that the pick-up manipulator can enter the storage bin from the lower part of the storage bin and pick up the pick-up.

3. The pickup apparatus as set forth in claim 2, wherein: the bin is slidable relative to the frame.

4. The pickup apparatus as set forth in claim 3, wherein: the pick-up device also comprises a toggle mechanism, and the toggle mechanism is used for poking part of the storage bin to be convenient for the pick-up manipulator to pick up the parts.

5. The pickup apparatus as set forth in claim 4, wherein: the poking mechanism comprises a linear driver, a telescopic device and a poking block, wherein the linear driver is arranged on the rack and located above the storage bins, the telescopic device is fixed at the output end of the linear driver, and the output end of the telescopic device is connected with the poking block to drive the poking block to stretch into or withdraw from a gap between every two adjacent storage bins.

6. The pickup apparatus as set forth in claim 5, wherein: the linear driver comprises a motor, a screw rod and a sliding block, the screw rod is pivoted on the rack, a central shaft extends along the arrangement direction of the storage bins, the output end of the motor is connected with one end of the screw rod, the sliding block is opposite to the rack, slides and is in threaded connection with the screw rod, and the expansion piece is arranged on the sliding block.

7. The pickup apparatus as set forth in claim 1, wherein: get a manipulator and include X to translation mechanism, Y to translation mechanism, Z to translation mechanism, slide, sucking disc and negative pressure device, X to translation mechanism's output with Y is connected to translation mechanism, Y to translation mechanism's output with Z is to translation mechanism's connection, Z to translation mechanism's output with the slide is connected and is driven the slide slides, the sucking disc set up in on the slide and with negative pressure device intercommunication.

8. The pickup apparatus as set forth in claim 1, wherein: the storage bins are fixedly arranged in a stacked mode, and a space for the part taking manipulator to enter is formed between every two adjacent storage bins.

9. The pickup apparatus as set forth in claim 8, wherein: the part taking mechanical arm comprises an X-direction translation mechanism, a Y-direction translation mechanism, a main arm, an auxiliary arm, a first motor, a second motor, a fixing plate, a sucker and a negative pressure device, wherein the output end of the X-direction translation mechanism is connected with the output end of the Y-direction translation mechanism, the output end of the Y-direction translation mechanism is pivoted with one end of the main arm, the other end of the main arm is pivoted with one end of the auxiliary arm, the other end of the auxiliary arm is connected with the fixing plate, the sucker is arranged on the fixing plate and communicated with the negative pressure device, the first motor is arranged on the main arm and drives the main arm to swing, and the second motor is arranged on the auxiliary arm and drives the auxiliary arm to swing.

10. The pickup apparatus as set forth in claim 1, wherein: get a manipulator and include X to translation mechanism, Y to translation mechanism, Z to translation mechanism, slide, sucking disc and vacuum device, Y to translation mechanism's output with X is to translation mechanism's connection, X to translation mechanism's output with Z is to translation mechanism connects, Z to translation mechanism's output with the slide is connected and is driven the slide slides, the sucking disc set up in on the slide and with the vacuum device intercommunication.

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