CN218057408U - Material transfer device - Google Patents

Abstract

The utility model provides a material transfer device. The material transfer device comprises a buffer memory mechanism, a detection mechanism, a discharging platform and a material transfer mechanism; the buffer mechanism comprises a bearing part and a stop part, wherein the bearing part is used for bearing the material, and the stop part is used for abutting against a first edge of the material; the detection mechanism is positioned at one end of the cache mechanism and used for detecting the distance between a second edge of the material and a preset edge position, and the second edge and the first edge are positioned at two adjacent sides of the material; the material moving mechanism is in communication connection with the detection mechanism and can take away materials positioned in the buffer device and place the materials on the material placing platform; the material moving mechanism adjusts the displacement of the material according to the distance between the second edge and the edge preset position. The utility model discloses a material transfer device can compensate and adjust the displacement that moves the material device according to the initial put position of material and the deviation between the predetermined initial position, guarantees that the material is accurately shifted to required final position.

Description

Material transfer device

Technical Field

The utility model relates to an automation equipment technical field especially relates to a material transfer device.

Background

In automated equipment, it is often necessary to transfer materials from one location to another. However, the material may not be placed on the preset initial position correctly at the beginning, and if the material is transferred by the material transferring device such as the mechanical arm according to the fixed moving path, the position where the material is placed after being transferred may be different from the preset final position, so that the material is placed irregularly or the placing position is deviated.

In order to solve the above problems, one of the methods in the prior art is to detect the position deviation of the material, and compensate and adjust the displacement of the mechanical arm according to the deviation, so as to ensure that the final placing position of the material is correct. However, in the prior art, more parameters need to be detected for compensation, which results in higher control difficulty of the mechanical arm.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a material transfer device, which can compensate and adjust the displacement of the material transfer device according to the deviation between the initial placing position of the material and the preset initial position; in addition, the process does not need to detect more parameters, and is favorable for reducing the control difficulty of the material moving device.

According to the utility model discloses material transfer device, include: the buffer mechanism comprises a bearing part and a stop part, wherein the stop part is positioned at one end of the bearing part, the bearing part is used for bearing materials, and the stop part is used for abutting against a first edge of the materials; the detection mechanism is positioned at one end of the cache mechanism and used for detecting the distance between a second edge of the material and a preset edge position, wherein the second edge and the first edge are positioned on two adjacent sides of the material; the discharging platform is arranged at intervals with the caching mechanism and can bear materials; the material moving mechanism is in communication connection with the detection mechanism and can take away the materials positioned in the cache device and place the materials on the material placing table; and the material moving mechanism adjusts the displacement of the material according to the distance between the second edge and the edge preset position.

According to the utility model discloses material transfer device has following beneficial effect at least: the utility model discloses a material transfer device presets the distance between the position through detecting second edge and edge to compensate and adjust the displacement of moving material mechanism or material according to this distance, thereby realize putting the material accurately the material bench preset position (the position is preset to the second).

In addition, because the stop part supports the first edge of material, the positional deviation in one of them dimension of the last material of buffer memory mechanism is eliminated, the utility model discloses a compensation of material transfer device with adjust only need consider the distance deviation in the dimension can for the adjustment moves the displacement of material mechanism and need use less with the parameter that detects, this is favorable to reducing the control degree of difficulty and cost.

According to some embodiments of the utility model, the stop part with bear the carrier interval and set up in order to form first detection clearance, detection mechanism is including being used for gathering the camera of the image at the second edge of material, the camera is located the below in first detection clearance, the camera lens orientation of camera first detection clearance.

According to some embodiments of the present invention, the supporting member is a conveyor belt, and the buffer mechanism further comprises a driving assembly, the driving assembly is connected to the supporting member and is used for driving the supporting member to move; the stop member is positioned at the end of the carrier to block the material from moving with the carrier.

According to some embodiments of the present invention, the detecting device further comprises a position sensor, wherein the position sensor is located at the end of the bearing member, and the position sensor is in communication connection with the detecting mechanism; the detection mechanism is configured to detect a distance between the second edge and the edge preset position when the position sensor detects the material.

According to some embodiments of the present invention, the buffer mechanism includes two of the bearing members, the two bearing members are distributed at intervals along a width direction of the bearing members, and a second detection gap is provided between the two bearing members; the position sensor is positioned in the second detection gap and arranged upwards; alternatively, the position sensor is located below the second detection gap and faces the second detection gap.

According to some embodiments of the utility model, the detection mechanism is including being used for gathering the camera of the image at the second edge of material, material transfer device still includes adjustment mechanism, the camera install in adjustment mechanism, adjustment mechanism is used for the drive the camera is followed the width direction who holds the carrier removes.

According to some embodiments of the present invention, the adjusting mechanism comprises a first bracket, a first motor, a first driving wheel, a first driven wheel, a first belt, and a connecting seat; the first motor is mounted on the first support, the first driving wheel is connected with the first motor, the first driven wheel is rotatably connected with the first support, the first driving wheel and the first driven wheel are distributed at intervals along the width direction of the bearing piece, the first belt surrounds the first driving wheel and the first driven wheel, the connecting seat is connected with the first belt, and the camera is fixed on the connecting seat; the first motor can drive the first driving wheel to rotate so as to enable the first belt to move, and therefore the camera moves along the width direction of the bearing piece.

According to some embodiments of the utility model, the adjustment mechanism still includes the slide rail, the slide rail install in first support, the slide rail is followed the width direction who holds the piece extends, the connecting seat with slide rail sliding connection.

According to some embodiments of the invention, the adjustment mechanism is located below the carrier.

According to some embodiments of the utility model, it includes multiaxis arm and sucking disc to move material mechanism, the sucking disc install in the end of multiaxis arm.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention will be further described with reference to the following drawings and examples, in which:

fig. 1 is a schematic view of a material transfer device according to an embodiment of the present invention;

FIG. 2 is a schematic view of a buffer mechanism, an adjustment mechanism and a camera of the material transfer device;

a top view of the structure shown in fig. 3 and 2;

fig. 4 is a schematic view of the first edge of the material abutting against the stop member.

Reference numerals: 100-material transfer device, 101-multi-axis robot arm, 102-suction cup, 103-discharge table, 104-bearing part, 105-stop part, 106-first motor, 107-second support, 108-buffer mechanism, 109-material moving mechanism, 110-first driving wheel, 111-adjusting mechanism, 112-conveying belt, 201-second motor, 202-camera, 203-connecting seat, 204-first driven wheel, 205-sliding rail, 206-first belt, 207-first support, 208-second driven wheel, 209-second driving wheel, 210-second belt, 301-first detection gap, 302-second detection gap, 303-position sensor, 304-driven shaft, 305-driving shaft, 401-first edge, 402-second edge, 403-material, 501-first preset position, 502-second preset position.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the directional descriptions, such as the directions or positional relationships indicated by upper, lower, front, rear, left, right, etc., are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but not for indicating or implying that the mechanism or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means is one or more, a plurality of means is two or more, and the terms greater than, less than, more than, etc. are understood as excluding the term, and the terms greater than, less than, etc. are understood as including the term. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

In the description of the present invention, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The utility model provides a material transfer device 100, material transfer device 100 include buffer memory mechanism 108, blowing platform 103, move material mechanism 109 and detection mechanism.

Referring to fig. 1, the buffer mechanism 108 includes a carrier 104 and a stopper 105, the stopper 105 being located at one end of the carrier 104; as shown in fig. 4, the carrier 104 is used for carrying the material 403, and the stopper 105 is used for abutting against the first edge 401 of the material 403. The material 403 may be in the form of a sheet or plate, for example, the material 403 may be a PCB, a board, or the like.

The detection mechanism is located at one end of the buffer mechanism 108, and is configured to detect a distance between the second edge 402 of the material 403 and a preset edge position. Wherein the second edge 402 and the first edge 401 are located adjacent to each other on both sides of the material 403. Taking fig. 4 as an example, material 403 is rectangular, first edge 401 is the back-side edge of material 403, and second edge 402 may be the right-side edge of material 403.

The "edge preset position" is explained here. Referring to fig. 1, the buffer mechanism 108 can provide a first predetermined position 501 for placing the material 403, and the discharge table 103 can provide a second predetermined position 502 for placing the material 403. When the material 403 is accurately placed at the first predetermined position 501, the first edge 401 of the material 403 abuts against the stop member 105, and at this time, the position of the second edge 402 of the material 403 is the edge predetermined position. Taking fig. 4 as an example, the straight line L0 coincides with the edge preset position. In the case where the image capturing range of the camera 202 is fixed, the position of the preset edge position on the image may be recorded in the controller in advance; the controller can receive the image captured by the camera 202, and by comparison and calculation, obtain the distance between the second edge 402 and the preset edge position. Taking fig. 4 as an example, the distance between the second edge 402 and the preset edge position is D0.

Referring to fig. 2, the detection mechanism may include a camera 202 and a controller (the controller is not specifically shown), the camera 202 being configured to capture an image of a second edge 402 of the item 403 on the buffer mechanism 108, the controller being communicatively coupled to the camera 202. A controller is a feedback loop component widely used in industrial control applications, such as a programmable memory, that internally stores instructions for performing logic operations, sequence control, timing, counting, and arithmetic operations, and controls various types of machinery or manufacturing processes via digital or analog input and output. Therefore, the embodiment of the present invention obtains the distance between the second edge 402 and the preset edge position through the controller, and controls the movement of the material moving mechanism 109 through the controller, which is realized by those skilled in the art according to the existing controller function, and the principle and the control method of the controller belong to the prior art, and are not described in detail herein.

The emptying platform 103 and the buffer mechanism 108 are arranged at intervals and can bear the materials 403, and the material moving mechanism 109 can transfer the materials 403 on the buffer mechanism 108 to the emptying platform 103. The material moving mechanism 109 is in communication connection with the detection mechanism, and the material moving mechanism 109 adjusts the displacement of the material moving mechanism 109 itself or the displacement of the material 403 driven by the material moving mechanism 109 according to the distance between the second edge 402 and the edge preset position.

How the displacement of the material moving mechanism 109 is adjusted will be briefly described below.

When the first edge 401 of the material 403 abuts against the stop member 105, the material 403 is not necessarily exactly located at the first predetermined position 501, and the second edge 402 may deviate from the edge predetermined position. If the material moving mechanism 109 transfers the material 403 from the first preset position 501 to the second preset position 502 according to the original displacement setting, the position of the material 403 is deviated from the second preset position 502 after the material 403 is placed on the material placing table 103. The actual displacement of the material moving mechanism 109 needs to be adjusted according to the actual position of the second edge 402.

With reference to fig. 1 and 4, a rectangular plane coordinate system is established on a horizontal plane, and it is assumed that the material 403 or the material moving mechanism 109 has a predetermined displacement D along the Y axis for transferring the material 403 from the first position to the second position _Y (D _Y Not shown in the figure), then when the detection mechanism detects D ₀ The controller then adjusts the displacement of the material moving mechanism 109 along the Y-axis to (D) _Y -D ₀ ). For example, referring to FIG. 4, the positive X-axis direction corresponds to the "backward" direction, and the positive Y-axis direction corresponds to the "right"; assuming that the preset displacement of the material 403 along the Y-axis is 0mm ₀ Which is 10mm (10 mm to the right of the edge preset position), the transfer mechanism 109 then needs to produce a displacement of-10 mm in the positive direction of the Y-axis. If D is ₀ Which is-10 mm (10 mm to the left of the edge preset position), the displacement to be generated next by the material moving mechanism 109 in the positive direction of the Y-axis is 10mm. Since the stop member 105 abuts against the first edge 401 of the material 403, the position of the material 403 along the X-axis is fixed, the deviation of the material 403 along the X-axis is eliminated, and the preset displacement of the material moving mechanism 109 along the X-axis does not need to be compensated and adjusted.

The utility model discloses a material transfer device 100, through detecting the second edge 402 and the edge distance between the preset position to compensate and adjust the displacement of moving material mechanism 109 or material 403 according to this distance, thereby realize putting material 403 accurately to the preset position (the second preset position 502) on blowing platform 103. In addition, because the stop part 105 supports the first edge 401 of material 403, the positional deviation (the positional deviation on the X axis) in one of the dimensions of material 403 on the buffer memory mechanism 108 is eliminated, the utility model discloses a compensation and regulation of material transfer device 100 only need consider the distance deviation in one dimension can for the adjustment moves that the displacement of material mechanism 109 need use and the parameter that detects less, and this is favorable to reducing the control degree of difficulty and cost.

Referring to fig. 1, in some embodiments, the material moving mechanism 109 may include a multi-axis robot arm 101 and a suction cup 102, the suction cup 102 being connected to a tip of the multi-axis robot arm 101. For example, the multi-axis robot arm 101 may be specifically configured as a SCARA robot arm. The suction cup 102 is used for sucking the material 403, and the multi-axis robot arm 101 drives the suction cup 102 to move, so that the material 403 is transferred.

To prevent the camera 202 from obstructing the movement of the material mover, the camera 202 may be disposed in a lower position. Specifically, with reference to fig. 3, the stopper 105 and the end of the carrier 104 have a first detection gap 301 therebetween; referring to fig. 2 and 3, the camera 202 is located below the first detection gap 301, and the camera 202 is disposed upward so as to face the first detection gap 301 (the orientation of the camera 202 specifically refers to the orientation of the lens of the camera 202). With reference to fig. 3 and 4, when the material 403 abuts against the stop member 105, a portion of the material 403 covers the first detection gap 301, and an image of a portion of the second edge 402 above the first detection gap 301 may be captured by the camera 202. This arrangement can ensure that the camera 202 does not obstruct the material taking of the material moving mechanism 109, and can also ensure that the image of the second edge 402 can be acquired.

With the same configuration and size of the buffer mechanism 108, the position of the second edge 402 of the material 403 may be slightly different after the materials 403 of different sizes are placed on the carrier 104. Referring to fig. 1, in some embodiments, the material transfer device 100 further includes an adjustment mechanism 111, the adjustment mechanism 111 being configured to drive the camera 202 to move along the width of the carrier 104. In fig. 1 to 4, the width direction of the carrier 104 may correspond to the left-right direction. In this arrangement, the position of the camera 202 can be adjusted to ensure that the image capture range of the camera 202 can cover the portion of the second edge 402 above the first detection gap 301, so that the material transfer device 100 can be adapted to materials 403 of different sizes.

Referring to fig. 1 and 2, in some embodiments, the adjustment mechanism 111 includes a first bracket 207, a first motor 106, a first drive pulley 110, a first driven pulley 204, a first belt 206, and a connection mount 203. The first motor 106 is mounted on the first bracket 207, the first driving pulley 110 is connected with the first motor 106, and the first driven pulley 204 is rotatably connected with the first bracket 207. The first belt 206 is wound around the first driving pulley 110 and the first driven pulley 204, the connecting base 203 is connected to the first belt 206, and the camera 202 is fixed to the connecting base 203. When the first motor 106 drives the first driving wheel 110 to rotate, the first belt 206 moves, and the connecting base 203 and the camera 202 fixed to the connecting base 203 move along the width direction of the carrier 104, so as to change the position of the camera 202.

Referring to fig. 2, the adjusting mechanism 111 may further include a sliding rail 205, the sliding rail 205 is mounted on the first bracket 207, the sliding rail 205 extends along the width direction of the bearing component 104, and the connecting seat 203 is slidably connected to the sliding rail 205. The cooperation of the slide rail 205 and the connection seat 203 guides the movement of the connection seat 203, thereby ensuring a smooth movement of the camera 202. In order to make the layout of the material transfer device 100 more compact and to avoid the adjustment mechanism 111 to obstruct the movement of the material moving mechanism 109 and the material 403, the adjustment mechanism 111 may be arranged below the carrier 104.

The carrier 104 may be provided as a conveyor belt 112 and the buffer mechanism 108 includes a drive assembly for driving the trough carrier 104 to move so that the material 403 on the carrier 104 moves in a direction approaching the stop 105. Accordingly, the stop member 105 is located at the end of the carrier 104 (based on the moving direction of the carrier 104), and in conjunction with fig. 4, the material 403 can move backward along with the carrier 104, and when the stop member 105 abuts against the first edge 401 of the material 403, the stop member 105 blocks the material 403 from moving along with the carrier 104. In this arrangement, the first edge 401 of the material 403 can be ensured to abut against the stop member 105 after the carrier 104 moves for a certain time.

Specifically, with reference to fig. 2 and 3, the buffer mechanism 108 further includes a second support 107, and the driving assembly includes a second motor 201, a second driving wheel 209, a second driven wheel 208, a driving shaft 305, a driven shaft 304, and a second belt 210. The stopper 105 is fixed to the second bracket 107, the second motor 201 is fixed to the second bracket 107, and the driving shaft 305 and the driven shaft 304 are rotatably mounted to the second bracket 107. The carrier 104 (the transfer belt 112) surrounds the driving shaft 305 and the driven shaft 304. The second driving pulley 209 is mounted on the second motor 201, the second driven pulley 208 is connected with the driving shaft 305 and can synchronously rotate, and the second belt 210 encircles the second driving pulley 209 and the second driven pulley 208. The second motor 201 drives the second driving wheel 209 to rotate, so as to drive the driving shaft 305 to rotate, and further drive the bearing element 104 to move.

In other embodiments, the buffer device may also be considered as a roller conveyor, and correspondingly the carrier 104 as a transport roller.

Referring to fig. 3, in some embodiments, the material transfer device 100 further includes a position sensor 303, the position sensor 303 being configured to detect whether the material 403 abuts against the stop 105. When the position sensor 303 detects that the material 403 abuts against the stop member 105, the detecting mechanism starts to detect the distance between the second edge 402 of the material 403 and the preset edge position. This can reduce the situation of false detection and can avoid the long-time high-load operation of detection mechanism.

The position sensor 303 may be disposed at a relatively lower position, so as to prevent the position sensor 303 from obstructing the movement of the material moving device, or prevent the material moving mechanism 109 from causing a misjudgment of the position sensor 303. For example, referring to fig. 3, for the carriers 104 provided as the conveyor belts 112, two carriers 104 may be provided, two carriers 104 are spaced apart in the width direction of the carriers 104, and the two carriers 104 have the second detection gap 302 therebetween. The position sensor 303 may be disposed in the second detection gap 302 and disposed upward; alternatively, the position sensor 303 is disposed below the second detection gap 302, and the position sensor 303 is disposed upward and toward the second detection gap 302. When the material 403 moves to abut against the stop member 105, the position sensor 303 detects the material 403.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims (10)

1. Material transfer device, its characterized in that includes:

the buffer mechanism comprises a bearing part and a stop part, wherein the stop part is positioned at one end of the bearing part, the bearing part is used for bearing materials, and the stop part is used for abutting against a first edge of the materials;

the detection mechanism is positioned at one end of the cache mechanism and used for detecting the distance between a second edge of the material and a preset edge position, wherein the second edge and the first edge are positioned on two adjacent sides of the material;

the discharging platform is arranged at intervals with the caching mechanism and can bear materials;

the material moving mechanism is in communication connection with the detection mechanism and can take away the materials positioned in the cache device and place the materials on the material placing table; and the material moving mechanism adjusts the displacement of the material according to the distance between the second edge and the edge preset position.

2. The material transfer device of claim 1, wherein the stop is spaced from the carrier to form a first detection gap, the detection mechanism including a camera for capturing an image of a second edge of the material, the camera being located below the first detection gap with a lens of the camera facing the first detection gap.

3. The material transfer device of claim 1, wherein the carrier is configured as a conveyor belt, and wherein the buffer mechanism further comprises a drive assembly coupled to the carrier and configured to drive the carrier in motion; the stop member is positioned at the end of the carrier to block the material from moving with the carrier.

4. The material transfer device of claim 3, further comprising a position sensor located at an end of the carrier, the position sensor communicatively coupled to the detection mechanism;

the detection mechanism is configured to detect a distance between the second edge and the edge preset position when the position sensor detects the material.

5. The material transfer device of claim 4, wherein the buffer mechanism comprises two of the carriers, the two carriers are spaced apart along a width direction of the carriers, and a second detection gap is provided between the two carriers;

the position sensor is positioned in the second detection gap and is arranged upwards; alternatively, the position sensor is located below the second detection gap and faces the second detection gap.

6. The material transfer device of claim 1, wherein the detection mechanism comprises a camera for capturing an image of the second edge of the material, the material transfer device further comprising an adjustment mechanism, the camera mounted to the adjustment mechanism, the adjustment mechanism for driving the camera to move in a width direction of the carrier.

7. The material transfer device of claim 6, wherein the adjustment mechanism comprises a first bracket, a first motor, a first drive wheel, a first driven wheel, a first belt, and a connecting seat;

the first motor is mounted on the first support, the first driving wheel is connected with the first motor, the first driven wheel is rotatably connected to the first support, the first driving wheel and the first driven wheel are distributed at intervals along the width direction of the bearing piece, the first belt surrounds the first driving wheel and the first driven wheel, the connecting seat is connected to the first belt, and the camera is fixed on the connecting seat;

the first motor can drive the first driving wheel to rotate so as to enable the first belt to move, and therefore the camera can move along the width direction of the bearing piece.

8. The material transfer device of claim 7, wherein the adjustment mechanism further comprises a slide rail mounted to the first bracket, the slide rail extending along a width of the carrier, the connection seat being slidably connected to the slide rail.

9. The material transfer device of claim 7, wherein the adjustment mechanism is located below the carrier.

10. The material transfer device of claim 1, wherein the material transfer mechanism comprises a multi-axis robotic arm and a suction cup mounted to a distal end of the multi-axis robotic arm.

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