CN220299685U - Get blowing mechanism and receiving device - Google Patents

Abstract

The application relates to the technical field of discharging, in particular to a material taking and discharging mechanism and a material collecting device, wherein the material taking and discharging mechanism comprises a displacement module, a first visual module, a grabbing module and a second visual module; the displacement module is provided with a movable displacement end, and the displacement end moves reciprocally in the first working area and the second working area; the first vision module and the grabbing component are arranged at the displacement end; the first visual module is provided with a first detection end facing the first working area; the second vision module set up in the second work area, and have towards snatch the second work area of subassembly, should get the blowing mechanism and can accurately put into the dysmorphism tool with the product in, improve blowing precision.

Description

Get blowing mechanism and receiving device

Technical Field

The application relates to the technical field of discharging, in particular to a material taking and discharging mechanism and a material collecting device.

Background

At present, in the product processing process, the product needs to be placed in the special-shaped jig, and certain requirements are met on a gap between the product and the jig (such as the gap is within 0.1 mm), and the requirement cannot be met by manual feeding. In the prior art, part of the device adopts a four-axis robot to photograph the lower side of the matching jig, and the product can be captured from the platform to the camera to photograph and calculate the position of the product through the matching of the four-axis robot and the gripper. Meanwhile, the lower camera takes the bottom hole position of the jig, gives the X and Y position degrees and the robot puts the product into the jig. However, because the lower camera and the robot are not in the same coordinate system, the position error is larger (the error is usually +/-0.06 mm), and meanwhile, the repeated precision of the robot is also error (the error is usually +/-0.05 mm), and the feeding operation cannot meet the feeding precision requirement under the action of the comprehensive error.

Disclosure of Invention

An object of the application is to provide a get blowing mechanism and receiving device, this get blowing mechanism can accurately put into the dysmorphism tool with the product in, improves blowing precision.

Therefore, in a first aspect, an embodiment of the present application provides a pick-and-place mechanism, including a displacement module, a first vision module, a grabbing module, and a second vision module; the displacement module is provided with a movable displacement end, and the displacement end moves reciprocally in the first working area and the second working area; the first visual module and the grabbing component are both arranged at the displacement end; the first visual module is provided with a first detection end facing the first working area; the second vision module is arranged in the second working area and provided with a second detection end facing the grabbing component.

In one possible implementation, the displacement module includes a horizontal movement module and a vertical movement module, the vertical movement module is disposed at a movable end of the horizontal movement module, and the displacement end is disposed depending on the movable end of the vertical movement module.

In one possible implementation, the horizontal movement module includes: a first linear module; the second linear module is arranged at the movable end of the first linear module, and the driving direction of the second linear module is mutually perpendicular to the driving direction of the first linear module; wherein, vertical removal module sets up in the expansion end of second sharp module.

In one possible implementation, the second vision module includes a code scanning assembly and a vision camera disposed at the second detection end.

In a second aspect, an embodiment of the present application provides a receiving device, including: the material taking and discharging mechanism; the feeding mechanism is arranged at the feeding end of the material taking and placing mechanism; and the blanking mechanism is arranged at the sending end of the taking and blanking mechanism.

In one possible implementation, the blanking mechanism includes: the slideway is arranged in the first working area of the material taking and placing mechanism; the storage component is arranged at the delivery end of the slideway and comprises a material receiving frame and a driving unit for driving the material receiving frame to lift; the pushing assembly is arranged corresponding to the slideway and provided with a feeding end moving along the slideway; and the jig is arranged on the feeding end.

In one possible implementation, the pushing assembly includes: the pushing sliding table is arranged on the slideway in a sliding way corresponding to the feeding end; the pushing cylinder is arranged on the pushing sliding table, and the telescopic end of the pushing cylinder acts on the jig; and the pushing motor is arranged on the slideway and is in transmission connection with the pushing sliding table.

In one possible implementation, the blanking mechanism further comprises a receiving trolley having a support position adapted to the receiving frame.

In one possible implementation manner, the feeding mechanism includes: the detection module comprises a turntable and a detection assembly, wherein the turntable is provided with a plurality of stations distributed around the rotation center, and the detection end of the detection assembly faces the stations; and the material taking module is provided with a first material loading assembly and a second material loading assembly which are matched with each other, and the material loading end of the second material loading assembly corresponds to the station.

In one possible implementation, the first feeding component includes a first double-deck running platform, the first double-deck running platform has two first moving platforms with opposite moving directions, and each first moving platform can move to a position below the feeding end of the second feeding component.

According to the material taking and discharging mechanism and the material collecting device, the material taking and discharging mechanism is used for grabbing a product through the grabbing component, the displacement end of the displacement module is moved to the first working area, the information of the material discharging position is acquired through the first vision module of the displacement end, the displacement end of the displacement module is moved to the second working area, the information of the product on the grabbing component is acquired through the second vision module of the second working area, and after the information of the product information and the material discharging position is determined, the displacement module is matched with the grabbing component to accurately place the product at the set material discharging position. Because snatch subassembly and first vision module and all set up the displacement end that displaces the module, so even the repetitive movement also can effectively reduce the error that gives the position to reach the purpose that improves the blowing precision.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.

Fig. 1 shows a schematic structural diagram of a material taking and placing mechanism provided in an embodiment of the present application;

fig. 2 shows a schematic structural diagram of a second vision module and a second feeding assembly according to an embodiment of the present disclosure;

fig. 3 shows a schematic structural diagram of a material receiving device according to an embodiment of the present application;

fig. 4 shows a schematic structural diagram of a first feeding assembly according to an embodiment of the present application;

fig. 5 shows a schematic structural diagram of a first double-deck running deck, a first mobile station and a transfer unit according to an embodiment of the present application;

fig. 6 shows a schematic structural diagram of a detection module and an angle adjustment unit according to an embodiment of the present application;

fig. 7 shows a schematic structural diagram of a blanking mechanism provided in an embodiment of the present application;

fig. 8 shows a schematic structural diagram of a fixture according to an embodiment of the present application.

Reference numerals illustrate:

1. a displacement module; 11. a horizontal movement module; 111. a first linear module; 112. a second linear module; 12. a vertical movement module;

2. a first vision module;

3. a grabbing component; 31. a rotating assembly; 32. a clamping jaw;

4. a second vision module; 41. a code scanning assembly; 42. a vision camera;

5. a feeding mechanism; 51. a detection module; 511. a turntable; 5111. a station; 512. a detection assembly; 52. a material taking module; 521. a first feeding assembly; 5211. a first double deck running deck; 5212. a first mobile station; 5213. a material taking unit in the upper working procedure; 5214. a transfer unit; 522. a second feeding assembly; 5221. an angle adjustment unit; 5222. a second double deck running deck; 5223. a second mobile station;

6. a blanking mechanism; 61. a slideway; 62. a storage assembly; 621. a material receiving frame; 622. a driving unit; 63. a pushing component; 631. pushing the sliding table; 632. a pushing cylinder; 6321. a support bar; 633. a pushing motor; 64. a jig; 65. and (5) receiving the material trolley.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.

The following disclosure provides many different embodiments, or examples, for implementing different structures of embodiments of the application. In order to simplify the disclosure of embodiments of the present application, components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the embodiments of the present application. Furthermore, embodiments of the present application may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

For ease of description, spatially relative terms, such as "inner," "outer," "lower," "upper," "above," "front," "rear," and the like, may be used herein to describe one element's or feature's relative positional relationship or movement to another element's or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figure experiences a position flip or a change in attitude or a change in state of motion, then the indications of these directivities correspondingly change, for example: an element described as "under" or "beneath" another element or feature would then be oriented "over" or "above" the other element or feature. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.

In order to solve the problem in the prior art, the application provides a get blowing mechanism, can effectively reduce the error that gives the position, improves blowing precision.

Fig. 1 shows a schematic structural diagram of a material taking and placing mechanism provided in an embodiment of the present application;

fig. 2 shows a schematic structural diagram of a second vision module and a second feeding assembly according to an embodiment of the present application.

As shown in fig. 1-2, the material taking and placing mechanism provided in the embodiments of the present application includes a displacement module 1, a first vision module 2, a grabbing module 3 and a second vision module 4.

The displacement module 1 has a movable displacement end, and the displacement end reciprocates in the first working area and the second working area.

The first vision module 2 and the grabbing component 3 are arranged at the displacement end.

The first vision module 2 has a first detection end facing the first working area.

The second vision module 4 is disposed in the second working area and has a second detection end facing the grabbing component 3.

In this application, snatch the product through snatch subassembly 3, displacement end that displacement module 1 moved to first work area, obtain the information of blowing position through the first vision module 2 of displacement end. The displacement end of the displacement module 1 moves to a second working area, and the information of the product on the grabbing component 3 is acquired through a second vision module 4 of the second working area. The displacement module 1 and the grabbing module 3 accurately place products at the set discharging positions according to the detected product information and the detected discharging position information, and the grabbing module 3 and the first vision module 2 are arranged at the displacement end of the displacement module 1, so that errors of the given positions can be effectively reduced in the repeated moving process, and the purpose of improving the discharging precision is achieved.

Specifically, the first vision module 2 is disposed at a displacement end of the displacement module 1, and when the displacement module 1 drives the first vision module 2 to move to the first working area, a jig hole on the jig 64 for placing a product is photographed, and position coordinates of the jig hole on the jig 64 are obtained (the jig 64 is a special-shaped jig, and the jig hole on the jig corresponds to the placement position of the product); the second vision module 4 is arranged in the second working area, and when the displacement module 1 drives the product on the grabbing component 3 to move to the second working area, the product is shot through the second vision module 4, and the position coordinates of the product are obtained. Obviously, by utilizing the cooperation of the first vision module 2 and the second vision module 4, the jig hole information and the product position information can be fully identified, and the action errors of the displacement module 1 and the grabbing component 3 can be regulated and eliminated in real time, so that the products can be accurately placed on the jig 64.

In some embodiments, the displacement module 1 includes a horizontal movement module 11 and a vertical movement module 12, the vertical movement module 12 is disposed at a movable end of the horizontal movement module 11, and the displacement end is disposed depending on the movable end of the vertical movement module 12.

In the application, the horizontal movement module 11 drives the displacement end to move in the horizontal plane, and the vertical movement module 12 drives the displacement end to move in the vertical direction, so that the displacement end is moved in the three-dimensional space. The grabbing component 3 and the first vision module 2 are arranged at the movable end of the vertical moving module 12, so that the relative positions of the grabbing component 3 and the first vision module 2 in the horizontal plane are kept fixed, errors of the given positions are effectively reduced, and the discharging precision is improved.

Optionally, the horizontal moving module 11 may further drive the displacement end to move in a certain plane according to actual needs, and the vertical moving module 12 drives the displacement end to move along a direction perpendicular to the plane, so that the discharging position of the product, that is, the placing position of the jig 64, is parallel to the plane, and the effect of improving the discharging precision can be achieved.

Specifically, snatch subassembly 3 including set up in the rotation subassembly 31 of vertical removal module 12 expansion end and set up in the clamping jaw 32 of rotation subassembly 31 expansion end, rotation subassembly 31 can drive the center pin rotation of clamping jaw 32 along vertical direction, realizes rotating the regulation to the product on the clamping jaw 32.

In some embodiments, the horizontal movement module 11 includes: a first linear module 111; the second linear module 112 is arranged at the movable end of the first linear module 111, and the driving direction of the second linear module 112 is perpendicular to the driving direction of the first linear module 111; the vertical moving module 12 is disposed at the movable end of the second linear module 112, and is configured to drive the displacement end to move along the vertical direction.

In this application, first straight line module 111 drives the displacement end and removes along first direction, and second straight line module 112 drives the displacement end and removes along the second direction, and then realizes the removal of displacement end in the horizontal plane, and vertical removal module 12 sets up in the expansion end of second straight line module 112, drives the displacement end through vertical removal module 12 and removes in vertical direction, and then drives first vision module 2 and snatchs subassembly 3 and remove in three-dimensional space.

Specifically, the first linear module 111, the second linear module 112, the vertical moving module 12 and the rotating assembly 31 are respectively high-precision harmonic reducers, the given position error is +/-0.04 mm, the first visual module 2 and the grabbing assembly 3 are always in the same horizontal coordinate system, the given position error is +/-0.02 mm, the comprehensive position error is less than 0.1mm, and the discharging precision of the product placed in the special-shaped jig 64 can be met.

Optionally, the first vision module 2 may also be disposed at the movable end of the second linear module 112, and the grabbing component 3 is disposed at the movable end of the vertical moving module 12, where the first vision module 2 and the grabbing component 3 have relative displacement in the vertical direction, so that the first vision module 2 and the grabbing component 3 can be always located in the same horizontal plane, and the discharging precision can be also satisfied.

In some embodiments, the second vision module 4 includes a scan code component 41 and a vision camera 42 disposed at the second detection end.

In the application, the two-dimensional code scanning identification is carried out on the product through the code scanning component 41, and the product information is recorded; the product is photographed by the vision camera 42, the position coordinates of the product are obtained, and the product is precisely positioned.

Specifically, the first vision module 2 photographs the jig 64 in the first working area, and obtains the position coordinates of each jig hole on the jig 64. Then snatch the subassembly 3 and snatch the product in proper order and remove to second vision module 4 departments, sweep the sign indicating number record to the product two-dimensional code with the sign indicating number subassembly 41 that sweeps of second vision module 4, visual camera 42 carries out the fine positioning to the product, puts into the tool hole of tool 64 with the product again.

It can be understood that the two-dimensional code scanning code recognition results include normal results (capable of being recognized) and abnormal results (incapable of being recognized). The product with normal two-dimension code correspondingly acquires and records the position coordinates of feeding, and the product needs to be placed in a jig 64 to finish feeding; and the product with abnormal two-dimensional code is recorded as abnormal recovery and needs to be placed in a two-dimensional code abnormal recovery box for recovery treatment.

The material taking and discharging mechanism is used for grabbing products through the grabbing component 3, the displacement end of the displacement module 1 moves to a first working area, and information of a material discharging position is obtained through the first vision module 2 of the displacement end; the displacement end of the displacement module 1 moves to a second working area, and the information of the product on the grabbing component 3 is acquired through a second vision module 4 of the second working area. The grabbing component 3 accurately places the product at a set discharging position according to the product information and the information of the discharging position, and the grabbing component 3 and the first vision module 2 are arranged at the displacement end of the displacement module 1, so that errors of the given position can be effectively reduced, and the discharging precision is improved.

Fig. 3 shows a schematic structural diagram of a material receiving device according to an embodiment of the present application; fig. 4 shows a schematic structural diagram of a first feeding assembly according to an embodiment of the present application; fig. 5 shows a schematic structural diagram of a first double-deck running deck, a first mobile station and a transfer unit according to an embodiment of the present application; fig. 6 shows a schematic structural diagram of a detection module and an angle adjustment unit according to an embodiment of the present application; fig. 7 shows a schematic structural diagram of a blanking mechanism provided in an embodiment of the present application; fig. 8 shows a schematic structural diagram of a fixture according to an embodiment of the present application.

As shown in fig. 3-8, an embodiment of the present application provides a receiving device, including: the material taking and discharging mechanism; the feeding mechanism 5 is arranged at the feeding end of the taking and discharging mechanism; and a discharging mechanism 6 arranged at the delivery end of the taking and discharging mechanism.

In this application, get the input of feed mechanism through feed mechanism 5 with the product delivery to get the snatch subassembly 3 of feed mechanism and snatch the product, get the feed mechanism and accurately put the product in the tool 64 after, accomplish the blowing of product, treat after accomplishing the blowing in the whole tool 64, send out the tool 64 of accomplishing the blowing through feed mechanism 6, realize the full-automatic receipts material of product.

As shown in fig. 7, in some embodiments, the blanking mechanism 6 includes: the slideway 61 is arranged in the first working area of the material taking and placing mechanism; the storage component 62 is arranged at the sending end of the slideway 61, and the storage component 62 comprises a material receiving frame 621 and a driving unit 622 for driving the material receiving frame 621 to lift; the pushing component 63 is arranged corresponding to the slideway 61, and the pushing component 63 is provided with a feeding end moving along the slideway 61; and a jig 64 disposed on the feeding end.

In this application, tool 64 sets up on the pay-off of pushing component 63, in the blowing stage, tool 64 is located first work area, after tool 64 is full of the product, promote tool 64 through pushing component 63 and slide to the delivery end along slide 61, tool 64 is located one of them and bears the position of the receipts material frame 621 of storage component 62 this moment, receive the tool 64 who fills the product through the position that bears of receipts material frame 621, rise through the drive unit 622 drive receipts material frame 621 for the delivery end of slide 61 is aimed at to the next position that bears in the receipts material frame 621, is used for receiving subsequent tool 64.

Specifically, the plurality of bearing positions on the material receiving frame 621 are arranged along the vertical direction, each bearing position is used for bearing a group of jigs 64, the driving unit 622 drives the material receiving frame 621 to rise at a height which is the distance between two adjacent bearing positions, and after the jigs 64 are arranged on the plurality of bearing positions in the material receiving frame 621, the material receiving of the whole material receiving frame 621 is completed.

Further, the pushing assembly 63 includes: the pushing sliding table 631 is arranged on the slide way 61 in a sliding way corresponding to the feeding end of the pushing sliding table 631; the pushing cylinder 632 is arranged on the pushing sliding table 631, and the telescopic end of the pushing cylinder 632 acts on the jig 64; and a pushing motor 633, disposed on the slide 61, wherein the pushing motor 633 is in transmission connection with the pushing slide 631.

In this application, tool 64 is placed in the flexible end of pushing away material cylinder 632, and specific pushing away material cylinder 632 is provided with two side by side, and the flexible end of two pushing away material cylinders 632 is holds in the palm strip 6321, supports tool 64 through holding in the palm strip 6321. In the first working area, the position coordinates of the jig holes on the jig 64 are obtained through the first vision module 2, and the accurate positions of the jig holes are determined. After the jig 64 is filled with the product, the pushing motor 633 drives the pushing sliding table 631 to slide along the sliding way 61, the pushing cylinder 632 pushes the jig 64 into the receiving frame 621 at one end of the sliding way 61 far away from the first working area, and the lifting of the receiving frame 621 lifts the jig 64 on the supporting bar 6321 to complete receiving of the jig 64.

Specifically, the empty jig 64 is placed in advance on the carrying position of the material receiving frame 621, and after the pushing cylinder 632 pushes the jig 64 filled with the product into the material receiving frame 621, the material receiving frame 621 is separated by a distance such that the jig 64 is separated from the supporting bar 6321 of the pushing cylinder 632. Then the pushing cylinder 632 is reset, the material receiving frame 621 continues to rise so that the empty fixture 64 below rises above the pushing material, and the pushing cylinder 632 pushes out the supporting strip 6321. The empty jig 64 is placed on the supporting strip 6321 under the material collecting frame 621 by the driving unit 622, and the material pushing cylinder 632 and the material pushing motor 633 drive the empty jig 64 to return to the first working area.

In some embodiments, the blanking mechanism 6 further comprises a receiving trolley 65, the receiving trolley 65 having a support position adapted to the receiving frame 621.

In this application, after the full jig 64 is mounted on the bearing position in the material receiving frame 621, the driving unit 622 drives the material receiving frame 621 to wholly descend, the material receiving frame 621 is lowered onto the material receiving trolley 65, the material receiving frame 621 is moved away by the trolley and the material receiving frame 621 of the next group of full jig 64 is moved to the material receiving position, and the driving unit 622 lifts the material receiving frame 621 to separate the material receiving frame 621 from the material receiving trolley 65.

As shown in fig. 4-6, in some embodiments, the loading mechanism 5 includes: the detection module 51 comprises a turntable 511 and a detection assembly 512, the turntable 511 is provided with a plurality of stations 5111 distributed around a rotation center, and the detection end of the detection assembly 512 faces the stations 5111; and a material taking module 52, wherein the material taking module 52 is provided with a first material loading component 521 and a second material loading component 522 which are matched with each other, and the material loading end of the second material loading component 522 corresponds to the station 5111.

In this application, first material loading subassembly 521 is used for getting the product of last process and puts one of them station 5111 of carousel 511 on, drives the below that the product was rotatory to detection component 512 through carousel 511, detects the pad pasting and the hole of product by detection component 512, and the carousel 511 rotates the material loading end of second material loading subassembly 522 with the product after the completion of detection, takes away the product on the station 5111 through second material loading subassembly 522 and gives and get the feed mechanism.

Specifically, four stations 5111 are disposed on the turntable 511, the four stations 5111 are respectively a loading level, a detecting position, a vacancy and a unloading level, the first loading component 521 places a product on the loading level, the turntable 511 rotates the product on the loading level to the detecting position, then photographs the product through the detecting component 512, whether the film and the hole are qualified or not is detected, and the program records a structure, and the product rotates to the unloading level to be taken away by the second loading component 522.

It should be noted that the product herein also has a different detection result to be recorded after rotation detection on the turntable 511. Specifically, the detection is mainly used for detecting whether the film hole on the product is qualified or not, so that the result is recorded as the film hole qualification and the film Kong Yichang. The qualified product of the film hole is recorded as qualified, and the placing position is required to be further judged by combining the two-dimensional code scanning result of the material taking and placing mechanism; and the product with abnormal film holes is recorded as abnormal, and no matter what result the subsequent two-dimensional code scanning detection is, the product is uniformly put into a film hole abnormal recovery box for recovery treatment.

In some embodiments, the first loading assembly 521 includes a first double deck 5211, the first double deck 5211 having two first mobile stations 5212 with opposite movement directions, each first mobile station 5212 being capable of moving below the loading end of the second loading assembly 522.

In this application, the first feeding component 521 performs feeding through the first mobile station 5212 with opposite moving directions, so as to achieve high efficiency of feeding.

Specifically, the first feeding component 521 further includes a feeding unit 5213 located at an input end of the first double-deck running platform 5211, and a transferring unit 5214 located at an output end of the first double-deck running platform 5211, where a product with a film attached is taken from the assembly line by the feeding unit 5213, transported to the input end of the first double-deck running platform 5211, and placed on the first moving platform 5212, the first double-deck running platform 5211 transports the product to a lower side of the transferring unit 5214, and the transferring unit 5214 takes the product on the first moving platform 5212 and then transports the product to a feeding position of the turntable 511.

Specifically, the second feeding component 522 includes an angle adjusting unit 5221 and a second double-layer running platform 5222, the second double-layer running platform 5222 has two second moving platforms 5223 with opposite moving directions, the angle adjusting unit 5221 absorbs the product at the discharging position of the turntable 511 and moves upwards, after moving to a certain height, the product is driven to rotate by a set angle (for example, the product can be turned over by 180 degrees in cooperation with the placing requirement of the second moving platform 5223, or the product can be inclined by a certain angle to meet the actual placing requirement, and the product is placed on the second moving platform 5223 of the second double-layer running platform 5222 and is conveyed to the material taking and discharging mechanism through the second moving platform 5223. Obviously, here, by providing two second mobile stations 5223, the length of waiting for loading can be reduced, and the work efficiency can be improved.

This application is implemented and is provided receiving device at the during operation, get the product of pasting the membrane from the assembly line through last process extracting unit 5213 at first, and carry the input to first double-deck running platform 5211, place the product on first mobile station 5212, first double-deck running platform 5211 carries the product to transfer unit 5214, transfer unit 5214 carries the material loading position of carousel 511 with the product, the product rotates and accomplish the detection on carousel 511, rotate to the unloading position, place on the second mobile station 5223 after the product of unloading position is inhaled through angle adjustment unit 5221 and rotation settlement angle, carry the material to getting the feed mechanism department through second double-deck running platform 5222, snatch the product to the second work area by snatch the subassembly 3, take a picture the product through second vision module 4 of second work area, obtain the position coordinates of product, the displacement end of displacement module 1 has accomplished the collection of jig hole position coordinates through first vision module 2 when first work area. According to the position coordinates of the jig holes and the position coordinates of the products, the grabbing component 3 accurately places the products into the jig holes of the jig 64 through the displacement module 1. After the jig 64 is filled with the product, the pushing motor 633 drives the pushing sliding table 631 to slide along the sliding way 61, the pushing cylinder 632 pushes the jig 64 into the receiving frame 621 at one end of the sliding way 61 far away from the first working area, and the lifting of the receiving frame 621 lifts the jig 64 on the supporting bar 6321 to complete receiving of the jig 64. After the material receiving frame 621 is filled with the jig 64, the material receiving frame 621 is lowered onto the material receiving trolley 65 to complete material receiving.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The material taking and discharging mechanism is characterized by comprising a displacement module (1), a first vision module (2), a grabbing component (3) and a second vision module (4); wherein,

the displacement module (1) is provided with a movable displacement end, and the displacement end moves reciprocally in the first working area and the second working area;

the first vision module (2) and the grabbing component (3) are arranged at the displacement end;

the first vision module (2) is provided with a first detection end facing the first working area;

the second vision module (4) is arranged in the second working area and is provided with a second detection end facing the grabbing component (3).

2. The material taking and placing mechanism according to claim 1, wherein the displacement module (1) comprises a horizontal movement module (11) and a vertical movement module (12), the vertical movement module (12) is arranged at the movable end of the horizontal movement module (11), and the displacement end is arranged by depending on the movable end of the vertical movement module (12).

3. The pick-and-place mechanism according to claim 2, characterized in that said horizontal movement module (11) comprises:

a first linear module (111); and

the second linear module (112) is arranged at the movable end of the first linear module (111), and the driving direction of the second linear module (112) is perpendicular to the driving direction of the first linear module (111);

wherein, the vertical moving module (12) is arranged at the movable end of the second linear module (112).

4. A pick-and-place mechanism according to any one of claims 1 to 3, characterized in that the second vision module (4) comprises a code scanning assembly (41) and a vision camera (42) arranged at the second detection end.

5. A receiving device, characterized by comprising:

a pick-and-place mechanism as claimed in any one of claims 1 to 4;

the feeding mechanism (5) is arranged at the feeding end of the material taking and placing mechanism; and

and the blanking mechanism (6) is arranged at the sending end of the taking and blanking mechanism.

6. The receiving device according to claim 5, characterized in that the blanking mechanism (6) comprises:

the slideway (61) is arranged in the first working area of the material taking and placing mechanism;

the storage assembly (62) is arranged at the sending end of the slideway (61), and the storage assembly (62) comprises a material receiving frame (621) and a driving unit (622) for driving the material receiving frame (621) to lift;

the pushing assembly (63) is arranged corresponding to the slideway (61), and the pushing assembly (63) is provided with a feeding end which moves along the slideway (61); and

and the jig (64) is arranged on the feeding end.

7. The receiving device according to claim 6, wherein the pushing assembly (63) comprises:

the pushing sliding table (631) is arranged on the slideway (61) in a sliding way corresponding to the feeding end;

the pushing cylinder (632) is arranged on the pushing sliding table (631), and the telescopic end of the pushing cylinder (632) acts on the jig (64); and

the pushing motor (633) is arranged on the slide way (61), and the pushing motor (633) is in transmission connection with the pushing sliding table (631).

8. The receiving device according to claim 6 or 7, characterized in that the blanking mechanism (6) further comprises a receiving trolley (65), the receiving trolley (65) having a support position adapted to the receiving frame (621).

9. The receiving device according to claim 6, characterized in that the feeding mechanism (5) comprises:

the detection module (51) comprises a rotary table (511) and a detection assembly (512), wherein the rotary table (511) is provided with a plurality of stations (5111) distributed around a rotation center, and the detection end of the detection assembly (512) faces the stations (5111); and

the material taking module (52) is provided with a first material feeding assembly (521) and a second material feeding assembly (522) which are matched with each other, and the material feeding end of the second material feeding assembly (522) corresponds to the station (5111).

10. The receiving device according to claim 9, wherein the first feeding assembly (521) comprises a first double-deck running table (5211), the first double-deck running table (5211) has two first moving tables (5212) with opposite moving directions, and each first moving table (5212) can move below the feeding end of the second feeding assembly (522).