CN220950085U - Conveying equipment - Google Patents

Abstract

The application provides carrying equipment which comprises a manipulator and a material taking device connected with the manipulator, wherein the material taking device comprises a substrate with a first side and a second side, a driving piece and a transmission piece which are arranged on the first side, a plurality of matching mechanisms which are arranged adjacent to the transmission piece, and a plurality of material taking mechanisms which are respectively connected with the transmission piece. The manipulator is connected with the first side. One end of the transmission piece is connected with the driving piece, and the driving piece drives the transmission piece to slide back and forth on the first side. The plurality of matching mechanisms are arranged on the base plate at intervals along the sliding direction of the transmission piece. The plurality of material taking mechanisms are slidably arranged on the second side, each material taking mechanism is connected with one matching mechanism, and when the transmission piece slides reciprocally, the plurality of matching mechanisms drive the plurality of material taking mechanisms to slide together so that each material taking mechanism can grasp or loosen a workpiece. The plurality of material taking mechanisms are driven to slide through the plurality of matching mechanisms, so that each material taking mechanism can grasp a workpiece, and the efficiency of carrying the workpiece is high.

Description

Conveying equipment

Technical Field

The application relates to the field of workpiece conveying, in particular to conveying equipment.

Background

During production, the workpiece is required to be grabbed and carried so as to facilitate the steps of processing, detecting, assembling and the like on the workpiece, the workpiece can be carried manually, but the workpiece is easy to scratch due to low manual carrying efficiency, so that the workpiece can be grabbed by the manipulator in the related art, but the number of the workpieces which are grabbed at one time by the manipulator is small due to the fact that each driving unit can only drive one grabbing piece to grab the workpiece, and the number of grabbing pieces connected by the manipulator is small, so that the workpiece carrying efficiency is too low.

Disclosure of utility model

In view of this, it is necessary to provide a conveying apparatus having high conveying efficiency.

The embodiment of the application provides carrying equipment which comprises a manipulator and a material taking device connected with the manipulator, wherein the material taking device is used for grabbing workpieces and comprises a substrate, a driving piece, a transmission piece, a plurality of matching mechanisms and a plurality of material taking mechanisms. The substrate is provided with a first side and a second side which are opposite, and the manipulator is connected with the first side. The driving piece is arranged on the first side and is positioned on one side of the manipulator. The transmission piece slidingly sets up in first side, the slip direction of transmission piece with the plane at first side place is parallel, the one end of transmission piece with the driving piece is connected, the driving piece is followed the slip direction of transmission piece is concertina movement in order to drive the transmission piece is in the reciprocal slip of first side, the transmission piece is followed the slip direction of transmission piece extends. The plurality of matching mechanisms are arranged adjacent to the transmission piece and are arranged on the base plate at intervals along the sliding direction of the transmission piece, and the plurality of matching mechanisms are respectively connected with the transmission piece. The plurality of material taking mechanisms are slidably arranged on the second side, each material taking mechanism is connected with the corresponding matching mechanism, and when the transmission piece slides reciprocally, the plurality of matching mechanisms drive the plurality of material taking mechanisms to slide together so that each material taking mechanism can grasp or loosen the workpiece.

In the handling equipment of the above embodiment, the manipulator drives the material taking device to move, the driving piece drives the transmission piece to slide, and the plurality of material taking mechanisms are driven to slide through the plurality of matching mechanisms, so that each material taking mechanism can grasp a workpiece, and the handling equipment can handle a plurality of workpieces at one time, and is high in handling efficiency.

In at least one embodiment, each of the mating mechanisms includes a first mating component and a second mating component. The first matching component is connected with the base plate and is positioned on one side of the transmission piece, and the first matching component is connected with the transmission piece. The second matching component is connected with the base plate and is positioned on one side, far away from the first matching component, of the transmission piece, and the first matching component is connected with the transmission piece. Each material taking mechanism comprises a first material taking assembly and a second material taking assembly. The first material taking assembly is arranged on the second side in a sliding manner, and the first material taking assembly is connected with the corresponding first matching assembly. The second material taking assembly is slidingly arranged on the second side, the second material taking assembly is connected with the corresponding second matching assembly, and the second material taking assembly and the corresponding first material taking assembly are arranged along a plane parallel to the second side and perpendicular to the sliding direction of the transmission piece. When the transmission piece slides reciprocally, the first matching components respectively drive the corresponding first material taking components, and the second matching components respectively drive the corresponding second material taking components to slide synchronously, so that the first material taking components and the corresponding second material taking components can grasp or loosen the same workpiece.

In at least one embodiment, a plurality of transmission teeth are arranged on one side, close to the first matching component, of the transmission member, and the plurality of transmission teeth are arranged along the sliding direction of the transmission member; each first matching component comprises a gear and a rotating part. The gear is located on the first side, and the gear is meshed with the transmission teeth. The rotating part penetrates through the base plate, one end of the rotating part is coaxially connected with the gear, the other end of the rotating part is connected with the first material taking assembly, and each first material taking assembly is driven to slide to be used for grabbing or loosening the workpiece when the corresponding rotating part rotates.

In at least one embodiment, the rotating portion includes a rotating shaft and a turntable. The rotating shaft penetrates through the base plate, and one end of the rotating shaft is coaxially connected with the gear. The rotary table is coaxially connected with the other end of the rotary shaft, the rotary table is provided with a plurality of arc-shaped guide grooves, and the arc-shaped guide grooves are circumferentially arranged along the axis of the rotary part. Each first material taking assembly comprises a plurality of first clamping claws, the first clamping claws are circumferentially arranged around the axis of the rotating part, each first clamping claw is in sliding connection with the base plate, each first clamping claw comprises a first guide block matched with one arc-shaped guide groove, and the first clamping claws are far away from each other to grab the workpiece or close to each other to loosen the workpiece.

In at least one embodiment, each of the first claws further includes a first connecting block, a first clamping block and a first spring. The first connecting block is in sliding connection with the base plate, the first connecting block is connected with the first guide block, and the first connecting block is provided with a first mounting groove. One end of the first clamping block is positioned in the first mounting groove and is rotationally connected with the groove wall of the first mounting groove, the rotation axis of the first clamping block is perpendicular to the axis of the rotation part, and the other end of the first clamping block is used for being matched with the workpiece so as to grab the workpiece. The first spring is located one side of the first clamping block, which is close to the axis of the rotating part, one end of the first spring is connected with the groove wall of the first mounting groove, and the other end of the first spring is connected with the first clamping block.

In at least one embodiment, the transmission member is provided with a plurality of inclined slots, the inclined slots are arranged at intervals along the sliding direction of the transmission member, the extending direction of the inclined slots intersects with the sliding direction of the transmission member, and the second matching component comprises a guide pin, a sliding block and a second guide block. The guide pin is located within the chute. The sliding block is connected with the guide pin and is in sliding connection with the first side, the sliding direction of the sliding block is perpendicular to the sliding direction of the transmission piece, and the sliding block is driven to slide by the guide pin at different positions of the chute. The second guide block is in sliding connection with the sliding block, the second guide block is configured to slide along the sliding direction parallel to the transmission piece when the sliding block slides, and the second guide block penetrates through the substrate and is connected with the second material taking assembly.

In at least one embodiment, each of the second material taking assemblies includes two second claws, the two second claws slide and are oppositely disposed on the base plate, and the opposite directions and the sliding directions of the two second claws are parallel to the sliding direction of the transmission member. Each second matching component comprises two second guide blocks, each sliding block is provided with two inclined guide grooves, each sliding block is far away from the direction of the transmission piece, each inclined guide groove inclines towards the direction of mutual approaching, each second guide block is matched with one inclined guide groove, and each second clamping jaw is connected with one second guide block.

In at least one embodiment, each of the second mating assemblies further includes two bearings and a mounting block. The two bearings are arranged on the base plate at intervals along the sliding direction of the transmission piece, and the sliding block is at least partially positioned between the two bearings and is in rolling contact with the bearings. The mounting block is arranged on the base plate and is positioned on one side, away from the corresponding first matching component, of the bearing, the mounting block is provided with a sliding groove, and the sliding block is at least partially positioned on the sliding groove so as to guide the sliding block to slide.

In at least one embodiment, the slider includes a first portion, a second portion, and a third portion. The first portion is located between two of the bearings. The second part is connected with the first part, and the width of the second part along the sliding direction of the transmission piece is gradually reduced towards the direction away from the first part. The third part is connected with the second part, the second part is positioned between the first part and the third part, and the third part penetrates through the sliding groove.

According to the carrying equipment disclosed by the application, the driving part drives the transmission part to move, so that the plurality of material taking mechanisms are driven by the plurality of matching mechanisms to synchronously move, the plurality of workpieces are grabbed at one time, and the efficiency of grabbing the workpieces is high. The feeding mechanism can drive the feeding mechanisms to move through one driving source, so that the feeding mechanism is low in cost, few in driving source and capable of reducing weight.

Drawings

Fig. 1 is a perspective view of a carrying apparatus according to an embodiment of the present application.

Fig. 2 is a perspective view of the tray and the mobile phone frame.

Fig. 3 is a perspective view of a part of a manipulator, a material taking device and a mobile phone frame of the handling apparatus in fig. 1.

Fig. 4 is a perspective view of a material taking device and a mobile phone frame of the handling apparatus in fig. 1.

Fig. 5 is a top view of the reclaimer device of the handling apparatus of fig. 1 in a gripping state.

Fig. 6 is a bottom view of the gripping side pick-up device of the handling apparatus of fig. 1 in a gripping state and a cell phone frame.

Fig. 7 is a top view of the take-off device of fig. 1 in an undamped condition of the handling apparatus.

Fig. 8 is a bottom view of the take-off device of the fig. 1 carrier in an undamped condition.

Fig. 9 is a perspective view of a portion of the transfer member, the first mating assembly, and the first take-off assembly of the handling apparatus of fig. 1.

Fig. 10 is an exploded view of a first mating assembly and a first take out assembly of the handling apparatus of fig. 1.

Fig. 11 is an exploded view of a first mating assembly and a first take-out assembly of the handling apparatus of fig. 1 at another angle.

Fig. 12 is a schematic view of the handling apparatus of fig. 9 with the first take-off assembly in an undamped condition.

Fig. 13 is a schematic view of the handling apparatus of fig. 9 with the first take-out assembly in a gripping position and gripping a cell phone module.

Fig. 14 is a perspective view of a portion of the transfer member, the second mating assembly, and the second take-off assembly of the handling apparatus of fig. 1.

Fig. 15 is a perspective view of a second mating assembly and a second take-out assembly of the handling apparatus of fig. 1.

Fig. 16 is an exploded view of a second mating assembly and a second take out assembly of the handling apparatus of fig. 1.

Description of the main reference signs

Conveying apparatus 1

Material taking device 100

Substrate 10

First side 11

Second side 12

Suction cup 13

Drive member 20

Connecting plate 21

Transmission member 30

Gear teeth 31

Bump 32

Chute 321

Mating mechanism 40

First mating assembly 41

Gear 411

Rotation part 412

Rotating shaft 4121

Turntable 4122

Arc-shaped guide groove 41221

Axis O

Second mating assembly 42

Guide pin 421

Sliding block 422

First portion 4221

Second portion 4222

Oblique guide groove 42221

Third portion 4223

Second guide block 423

Wedge 4231

Wedge-shaped groove 42311

Fixed block 4232

Bearing 424

Mounting block 425

Chute 4251

Material taking mechanism 50

First take-off assembly 51

First claw 511

First guide block 5111

First connection block 5112

First block 51121

First L-shaped block 51122

First mounting groove 51123

First clamping block 5113

First hook 51131

First connecting groove 51132

First spring 5114

Installation space 515

Second take out assembly 52

Second jaw 521

Second connecting block 5211

Second block 52111

Second L-shaped block 52112

Second mounting groove 52113

Second clamping block 5212

Second hook 52121

Second connecting groove 52122

Second spring 5213

Connection assembly 80

Riser 81

Transverse plate 82

Connecting rod 83

Guide block 90

Guide groove 91

Manipulator 200

Material platform 300

Scanning terminal 400

Mobile phone frame 500

Long side 501

Short side 502

Backboard 503

Inner cavity surface 5031

Lateral side 5032

Cyclone module hole 5033

Camera module hole 5034

Tray 600

Placement tank 601

Sidewall 6011

Bottom wall 6012

Detailed Description

The following description of the technical solutions according to the embodiments of the present application will be given with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments.

It is noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component or intervening components may also be present. When an element is referred to as being "disposed" on another element, it can be directly on the other element or intervening elements may also be present. The terms "top," "bottom," "upper," "lower," "left," "right," "front," "rear," and the like are used herein for illustrative purposes only.

When two elements (planes, lines) are arranged in parallel, it is understood that the relationship between the two elements includes both parallel and substantially parallel. Wherein substantially parallel is understood to mean that there may be an angle between the two elements that is greater than 0 deg. and less than or equal to 10 deg..

When two elements (planes, lines) are disposed vertically, it is understood that the relationship between the two elements includes both vertically and generally vertically. Wherein substantially perpendicular is understood to mean that the angle between the two elements is greater than or equal to 80 deg. and less than 90 deg..

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

The utility model provides a handling equipment, includes manipulator and the extracting device who is connected with the manipulator, extracting device is used for snatching the work piece, extracting device includes base plate, driving piece, a plurality of cooperation mechanism and a plurality of extracting mechanism. The substrate is provided with a first side and a second side which are opposite, and the manipulator is connected with the first side. The driving piece is arranged on the first side and is positioned on one side of the manipulator. The transmission piece slidingly sets up in first side, the slip direction of transmission piece with the plane at first side place is parallel, the one end of transmission piece with the driving piece is connected, the driving piece can be flexible motion, in order to drive the transmission piece is in the reciprocal slip of first side, the transmission piece is followed the slip direction extension of transmission piece. The plurality of matching mechanisms are adjacent to the transmission piece and are arranged on the base plate at intervals along the sliding direction of the transmission piece, and the plurality of matching mechanisms are respectively connected with the transmission piece. The plurality of material taking mechanisms are slidably arranged on the second side, each material taking mechanism is connected with the corresponding matching mechanism, and when the plurality of material taking mechanisms are configured to reciprocate by the transmission piece, the plurality of matching mechanisms drive the plurality of material taking mechanisms to slide together so that each material taking mechanism is used for grabbing or loosening the workpiece.

In the handling equipment of the above embodiment, the manipulator drives the material taking device to move, the driving piece drives the transmission piece to slide, and the plurality of material taking mechanisms are driven to slide through the plurality of matching mechanisms, so that each material taking mechanism can grasp a workpiece, and the handling equipment can handle a plurality of workpieces at one time, and is high in handling efficiency.

Some embodiments of the present application will be described below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, an embodiment of the present application provides a handling apparatus 1, where the handling apparatus 1 includes a material taking device 100 and a manipulator 200 connected to the material taking device 100. The material taking device 100 can be used for grabbing a plurality of workpieces at one time, and the manipulator 200 drives the material taking device 100 grabbing the workpieces to move so as to carry the workpieces, so that the workpieces can be conveniently scanned, processed, assembled and the like.

The workpiece includes, but is not limited to, a mobile phone frame, a computer housing, a camera housing, a game machine housing, etc., and the embodiment of the application is described by taking the workpiece as a mobile phone frame 500, and carrying the mobile phone frame 500 by the material taking device 100 to scan codes.

The carrying device 1 further comprises a material platform 300, a scanning dock 400 and a plurality of trays 600, wherein the material platform 300 is positioned at one side of the manipulator 200, the trays 600 are stacked on the material platform 300 and respectively bear the mobile phone frame 500, and the scanning dock 400 is positioned at one side of the manipulator 200 and is electrically connected with the manipulator 200. The material taking device 100 takes out the mobile phone frame 500 in the tray 600, and drives the material taking device 100 to move above the scanning head 400 through the manipulator 200, so that the scanning head 400 can scan the mobile phone frame 500.

Referring to fig. 2, the mobile phone frame 500 is generally rectangular and includes two long sides 501, two short sides 502, and a back plate 503 connected to the long sides 501 and the short sides 502, wherein each long side 501 is connected between the two short sides 502, one side of the back plate 503 close to the two long sides 501 and the two short sides 502 is an inner cavity surface 5031, and the other side of the back plate 503 is an outer side surface 5032. The inner cavity surface 5031 is provided with an identification code for scanning.

The back plate 503 is provided with a cyclone module hole 5033 and a camera module hole 5034 disposed adjacent to the cyclone module hole 5033, and the cyclone module hole 5033 is located at a substantially middle position of the back plate 503. The cyclone module hole 5033 is substantially circular in shape for mounting a wireless charging module (not shown) later, and the camera module hole 5034 is substantially rectangular in shape for mounting a camera module (not shown) later. It is understood that the shapes of the camera module hole 5034 and the cyclone module hole 5033 are not limited to circular and rectangular, for example, when the camera module is circular, the camera module hole 5034 may be circular.

Each tray 600 is provided with a plurality of placement grooves 601, the placement grooves 601 are arranged in a rectangular array, and each placement groove 601 accommodates one mobile phone frame 500. Each of the holding tanks 601 has four side walls 6011 which are vertically arranged, and a bottom wall 6012 which is connected with the side walls 6011 and is horizontally arranged, wherein the shape enclosed by the four side walls 6011 is a rectangle similar to that of the mobile phone frame 500, and the rectangle enclosed by the four side walls 6011 is slightly larger than the mobile phone frame 500, when the mobile phone frame 500 is placed in the holding tank 601, the long side 501 and the short side 502 of the mobile phone frame 500 are not contacted with the side walls 6011 of the holding tank 601, so that the mobile phone frame 500 can be conveniently taken and placed, the situation that the tray 600 is lifted together with the mobile phone frame 500 when the mobile phone frame 500 is taken out due to the contact of the long side 501 and the short side 502 with the side walls 6011 of the holding tank 601 is avoided, and the situation that the mobile phone frame 500 is scraped can be reduced.

The long side 501 and the short side 502 are directly contacted with the bottom wall 6012, the backboard 503 is located above the bottom wall 6012, and the backboard 503 is not directly contacted with the bottom wall 6012, that is, the outer side 5032 of the backboard 503 faces upward, and the inner cavity 5031 of the backboard 503 faces downward. Therefore, the contact area between the mobile phone frame 500 and the placement groove 601 can be reduced, the material taking device 100 can be conveniently inserted into the camera module hole 5034 and the cyclone module hole 5033, and the side walls of the camera module hole 5034 and the cyclone module hole 5033 are propped against, so that the mobile phone frame 500 is grabbed. How the material taking device 100 grips the mobile phone frame 500 will be described in detail later.

Referring to fig. 3 to 8, the material taking device 100 has a gripping state and a releasing state, when the material taking device 100 is in the gripping state, the mobile phone frame 500 (as shown in fig. 3, 4, 5 and 6) can be gripped, and when the material taking device 100 is in the releasing state, the mobile phone frame 500 (as shown in fig. 7 and 8) can be released. Fig. 3 is a perspective view of a part of the manipulator 200, the gripping material taking device 100, and the mobile phone frame 500. Fig. 4 is a perspective view of the gripping pick-up device 100 and the phone frame 500. Fig. 5 is a top view of the reclaimer device 100 in a gripping state. Fig. 6 is a bottom view of the reclaimer device 100 and the phone frame 500 in a gripping state. Fig. 7 is a top view of the reclaimer device 100 in an unclamped state. Fig. 8 is a bottom view of the extraction device 100 in an unclamped state.

Referring to fig. 3 and 4, the material taking device 100 can be inserted into the camera module hole 5034 and the cyclone module hole 5033, and prop against the sidewalls of the camera module hole 5034 and the cyclone module hole 5033 to grasp the mobile phone frame 500. The material taking device 100 comprises a base plate 10, a driving member 20, a transmission member 30, a plurality of matching mechanisms 40 and a plurality of material taking mechanisms 50. The base plate 10 is connected with the manipulator 200, the driving piece 20 is connected with the base plate 10, the transmission piece 30 is connected with the base plate 10 in a sliding way, one end of the transmission piece 30 is connected with the driving piece 20, and the transmission piece 30 can be driven to reciprocate through telescopic movement of the driving piece 20. The plurality of matching mechanisms 40 are arranged on the base plate 10 along the sliding direction of the transmission member 30, and the plurality of material taking mechanisms 50 are arranged on the base plate 10 in a sliding manner. The extracting mechanisms 50 are configured such that as the driving member 30 reciprocates, the cooperating mechanisms slide together to cause each extracting mechanism 50 to grasp or feed a workpiece.

The base plate 10 has a first side 11 and a second side 12 opposite to each other, and the first side 11 of the base plate 10 is provided with a connecting assembly 80 and is connected with the manipulator 200 through the connecting assembly 80, so that the manipulator 200 can drive the material taking device 100 to move. The connecting assembly 80 comprises two vertical plates 81 oppositely arranged on the first side 11, a transverse plate 82 arranged on one side, far away from the first side 11, of the two vertical plates 81, and a connecting rod 83, one end of the connecting rod is connected with the transverse plate 82, and the other end of the connecting rod is connected with the manipulator 200. The two risers 81 and the cross plate 82 are connected to form a generally U-shape.

The substrate 10 has a substantially rectangular plate shape, and the first side 11 and the second side 12 are both planar. For convenience of description, a coordinate system is established in the drawing, an X-axis of the coordinate system is parallel to a length direction of the substrate 10, a Y-axis is parallel to a width direction of the substrate 10, and a Z-axis is perpendicular to a plane in which the first side 11 is located. It should be understood that the coordinate system is merely for convenience of understanding, and is not a further limitation of the material taking device 100, and in other embodiments, the X axis may be parallel to the width direction of the substrate 10 or intersect the length direction and the width direction of the substrate 10. The coordinate system is understood to be established based on the position of the substrate 10, i.e. the position of the coordinate system should also be relatively changed when the robot 200 drives the substrate 10 to move, rotate, etc.

The driving member 20 is disposed on the first side 11, the driving member 30 is slidably disposed on the first side 11 along the X axis, and one end of the driving member 30 is connected to the driving member 20, where the driving member 20 can perform telescopic motion along the X axis, for driving the driving member 30 to slide reciprocally, and the extending direction of the driving member 30 is parallel to the sliding direction of the driving member 30, that is, the driving member 30 extends along the X axis direction.

Alternatively, in some embodiments, the driving member 20 is a cylinder, the cylinder body of which is fixed to the base plate 10 by a bolt, and the piston rod of which extends in the X-axis direction and is connected to the driving member 30, so as to drive the driving member 30 to reciprocate along the X-axis. It will be appreciated that the driving member 20 is not limited to a cylinder, and in other embodiments, the driving member 20 may be a lead screw slider structure and coupled to the driving member 30 to drive the driving member 30 to reciprocate along the X-axis.

The plurality of matching mechanisms 40 are arranged on the base plate 10 at intervals along the X axis and are adjacent to the transmission piece 30, and each matching mechanism 40 is connected with the transmission piece 30.

The plurality of extracting mechanisms 50 are slidably disposed on the second side 12, the extracting mechanisms 50 are disposed at intervals along the X-axis direction, and the plurality of extracting mechanisms 50 are in one-to-one correspondence with the plurality of matching mechanisms 40, and each extracting mechanism 50 is connected with one matching mechanism 40. The material taking mechanisms 50 extend into the cyclone module holes 5033 and the camera module holes 5034 and prop against the side walls of the cyclone module holes 5033 and the camera module holes 5034 to grasp the mobile phone frame 500.

Because the material taking device 100 includes a plurality of material taking mechanisms 50, and one material taking mechanism 50 can grasp one mobile phone frame 500, the material taking device 100 can grasp a plurality of mobile phone frames 500 at a time, and the carrying efficiency is high.

The mobile phone frame 500 is grabbed through the cyclone module holes 5033 and the camera module holes 5034 of the mobile phone frame 500, the shape of the mobile phone frame 500 is fully utilized, and additional holes or additional structures are not needed to be formed in the mobile phone frame 500.

Optionally, in some embodiments, the extracting device 100 further includes a connecting plate 21, where the connecting plate 21 extends along the Y-axis direction, the connecting plate 21 is located on the first side 11, one side of the connecting plate 21 is connected to the driving member 20, and the opposite side is connected to the driving member 30, and the driving member 20 drives the driving member 30 to slide along the X-axis direction through the connecting plate 21.

The material taking device 100 comprises a plurality of transmission members 30, the plurality of transmission members 30 are arranged at intervals along the Y-axis direction, one ends of the plurality of transmission members 30 are connected with the connecting plate 21, so that the driving member 20 can simultaneously drive the plurality of transmission members 30 to slide, and each transmission member 30 can be connected with the plurality of material taking mechanisms 50, so that the number of the material taking device 100 for grabbing the mobile phone frames 500 can be increased. Alternatively, the number of the transmission members 30 is two.

The driving member 30 slides reciprocally along the X-axis and drives the take-off mechanism via the engagement mechanism 40. Optionally, in some embodiments, the extracting device 100 further includes a plurality of guide blocks 90, and the plurality of guide blocks 90 are fixed to the first side 11 at intervals along the X-axis direction. The number of rows of guide blocks 90 corresponds to the number of driving members 30, for example, when the number of driving members 30 is two, there are two rows of guide blocks 90, and each row of guide blocks 90 is engaged with one driving member 30.

Referring to fig. 9, the guide block 90 is provided with guide grooves 91, the guide grooves 91 penetrate the guide block 90 along the X-axis direction, and one transmission member 30 penetrates the guide grooves 91 of the same row to guide the transmission member 30 to slide along the X-axis relative to the substrate 10.

Alternatively, the transmission member 30 is disposed through the guide groove 91 and is located above the substrate 10, so that the transmission member 30 is not in direct contact with the substrate 10, the contact area between the transmission member 30 and the guide block 90 is small, the friction force applied to the transmission member 30 is small, and the transmission member 30 is convenient to slide.

The driving member 30 is elongated in shape so that the driving member 30 can be coupled to a plurality of mating mechanisms 40. The transmission member 30 is provided with a plurality of transmission structures, and the transmission structures are arranged along the X axis and are used for being matched with the matching mechanism 40 so as to drive the matching mechanism 40 to move.

In some embodiments, the mating mechanism 40 includes a first mating component 41 and a second mating component 42 that are both connected to the substrate 10, the first mating component 41 and the second mating component 42 being located on opposite sides of the transmission member 30. The first mating component 41 and the second mating component 42 are both connected to the transmission member 30 through a transmission structure on the transmission member 30. The first mating components 41 and the second mating components 42 are in one-to-one correspondence.

The extracting mechanism 50 includes a first extracting component 51 and a second extracting component 52 that are both slidably disposed on the second side 12, where the first extracting component 51 is connected to the corresponding first matching component 41, and the second extracting component 52 is connected to the corresponding second matching component 42. The first and second take off assemblies 51, 52 are spaced apart along the Y-axis. The first material taking components 51 and the second material taking components 52 are in one-to-one correspondence.

Through the reciprocating sliding of the transmission piece 30 along the X-axis direction, the plurality of first matching components 41 and the plurality of second matching components 42 respectively drive the plurality of first material taking components 51 and the plurality of second material taking components 52 to synchronously slide, so that one first material taking component 51 stretches into one cyclone module hole 5033, the corresponding second material taking component 52 stretches into one camera module hole 5034, and accordingly one first material taking component 51 and the corresponding second material taking component 52 are matched to grab the same mobile phone frame 500 or loosen the mobile phone frame 500.

The first material taking component 51 is matched with the cyclone module hole 5033, and the second material taking component 52 is matched with the camera module hole 5034 to grasp the same mobile phone frame 500, so that stability and precision of grasping the mobile phone frame 500 can be improved. Simultaneously grabbing the mobile phone frame 500 through the first material taking component 51 and the second material taking component 52 can reduce the situation that the mobile phone frame 500 is askew, so that the accuracy of later scanning is higher.

The structure of the present application will be described in the order of the first engagement assembly 41 and the first take-out assembly 51, and then the second engagement assembly 42 and the second take-out assembly 52.

Referring to fig. 9, 10 and 11, optionally, the transmission structure of the transmission member 30 includes a plurality of transmission teeth 31, the plurality of transmission teeth 31 are located on one side of the transmission member 30, and the plurality of transmission teeth 31 are arranged along the X-axis direction. The transmission teeth 31 may be arranged in multiple segments, the multiple segments of transmission teeth 31 are arranged along the X-axis direction, and each segment of transmission teeth 31 is connected with one first matching component 41 to drive the first matching component 41 to operate. By providing the transmission teeth 31 in a plurality of stages, a portion of the transmission member 30 in the X-axis direction where the transmission teeth 31 are not provided is penetrated through the guide groove 91 so that the guide groove 91 can stably guide the transmission member 30 to slide.

The first matching component 41 includes a gear 411 located at the first side 11 and a rotating portion 412 coaxially disposed with the gear 411, that is, the gear 411 and the transmission member 30 are located at the same side of the base plate 10. The gear 411 is engaged with the gear teeth 31, so that the gear 411 can be driven to rotate when the transmission member 30 slides in the X-axis direction. The rotating portion 412 is disposed through a through hole (not shown) of the substrate 10, so that part of the rotating portion 412 is located on the first side 11 and the other part is located on the second side 12. One end of the driving member 30 remote from the gear 411 is connected to a first take off assembly 51. Since the rotating portion 412 is disposed through the through hole of the base plate 10, when the transmission member 30 slides, the first matching component 41 does not slide along the X-axis along with the first transmission member 30, but rotates around the self axis O parallel to the Z-axis direction.

When the transmission member 30 slides along the X-axis direction, the rotation portion 412 can be driven to rotate by the engagement of the transmission gear 31 and the gear 411, and when the rotation portion 412 rotates, the first material taking assembly 51 is driven to slide, so that the first material taking assembly 51 is in a gripping state to grip the mobile phone frame 500, or in a releasing state to release the mobile phone frame 500.

Through driving piece 20 drive driving piece 30 slip, driving piece 30 can drive the rotation of a plurality of first cooperation subassembly 41 simultaneously, and then lets a plurality of first material subassembly 51 remove simultaneously to snatch or loosen cell-phone frame 500 simultaneously, a plurality of first material subassembly 51 action unifies and just uses a driving piece 20 alright snatch a plurality of cell-phone frames 500 simultaneously, and is with low costs to can alleviate extracting device 100's weight.

The rotating portion 412 includes a rotating shaft 4121 extending along the Z-axis direction and a rotating disc 4122 coaxially disposed with the rotating shaft, where the rotating shaft 4121 extends along the Z-axis direction and is disposed through the through hole of the substrate 10, so that one end of the rotating shaft 4121 is located on the first side 11 and the other end is located on the second side 12. One end of the rotating shaft 4121 located at the first side 11 is coaxially connected with the gear 411, so that the rotating shaft 4121 can rotate synchronously when the gear 411 rotates. The turntable 4122 is located on the second side 12, and the turntable 4122 is capable of rotating synchronously with the rotating shaft 4121. Specifically, the rotating shaft 4121 is disposed through a through hole (not shown) of the gear 411, and is connected by a flat key, and a clamp spring is disposed on the rotating shaft 4121, and is connected to the gear 411, so that the gear 411 and the rotating shaft 4121 are relatively fixed.

The turntable 4122 is provided with a plurality of arc-shaped guide grooves 41221, and a plurality of arc-shaped guide grooves 41221 are provided along the circumference of the rotating shaft 4121 portion. The arc-shaped guide groove 41221 can be matched with the first material taking component 51, so that the first material taking component 51 can be driven to slide through the guide of the arc-shaped guide groove 41221 when the rotary table 4122 rotates, and the mobile phone frame 500 can be grabbed or loosened.

The first take-out assembly 51 includes a plurality of first claws 511 arranged around the axis O of the rotating portion 412, and the number of the first claws 511 corresponds to the number of the arc-shaped guide grooves 41221 and corresponds to the arc-shaped guide grooves 41221 one by one. The first claws 511 are slidably disposed on the second side 12, and each first claw 511 includes a first guide block 5111, and each first guide block 5111 is matched with one arc-shaped guide groove 41221, so that when the turntable 4122 rotates, the first claws 511 can be driven to slide by the matching of the arc-shaped guide grooves 41221 and the first guide blocks 5111, so that the first claws 511 can be close to or far away from each other. When the first plurality of jaws 511 are moved closer together, the first take-off assembly 51 is in a released condition wherein the first plurality of jaws 511 are at least partially able to extend into the cyclone module aperture 5033. When the first claws 511 are far away from each other, the first material taking assembly 51 is in a gripping state, and at least part of the first claws 511 can contact with the wall of the cyclone module hole 5033 and apply tension, so as to grip the mobile phone frame 500.

Through the cooperation of arc guide way 41221 and first guide block 5111, can drive a plurality of first jack catchs 511 synchronous motion simultaneously, the structure is ingenious and because the radian shape of a plurality of arc guide ways 41221 is the same to set up around the axis O circumference of rotation portion 412, so a plurality of first jack catchs 511 can synchronous motion, and the amount of movement is unanimous, in order to promote the stability of snatching cell-phone frame 500.

Optionally, each turntable 4122 is provided with four arcuate guide slots 41221, each arcuate guide slot 41221 cooperating with a first guide block 5111 of one of the first jaws 511. Among the four first claws 511, two pairs of the first claws 511 are arranged oppositely, and the sliding directions of the two first claws 511 arranged oppositely are opposite, and the sliding directions of the two adjacent first claws 511 are mutually perpendicular. Alternatively, the sliding direction of each first jaw 511 is 45 ° from the X-axis.

The four first clamping claws 511 are matched with the cyclone module holes 5033, so that force can be applied to the mobile phone frame 500 in different directions, and the stability of grabbing the mobile phone frame 500 is improved.

Optionally, in some embodiments, each first jaw 511 further includes a first connection block 5112, a first latch 5113, and a first spring 5114. The first connection block 5112 is slidably connected to the second side 12, and the first connection block 5112 is connected to the first guide block 5111, so that the first guide block 5111 can integrally slide the first jaw 511 through the first connection block 5112.

The first clamping block 5113 is rotatably connected with the first connecting block 5112, one end of the first spring 5114 is connected with the first clamping block 5113, and the other end of the first spring 5114 is connected with the first connecting block 5112, so that a buffering effect is achieved when the first clamping block 5113 rotates, and the mobile phone frame 500 can be flexibly grabbed.

Referring to fig. 10 and 11, specifically, the first connecting block 5112 includes a first block 51121 and a first L-shaped block 51122, a slider is disposed on a side of the first block 51121 near the second side 12, a sliding rail is disposed on the second side 12, and the first connecting block 5112 is slidably connected to the second side 12 by the slider and the sliding rail. The first guide block 5111 is connected to the first block 51121.

The first L-shaped block 51122 is connected to the first block 51121 along the upper end of the Z-axis, and a part of the first L-shaped block 51122 and the first block 51121 form an installation space 515 therebetween, and the first guide block 5111 and a part of the turntable 4122 are positioned in the installation space 515, so that space is saved. First L-shaped block 51122 is provided with first mounting groove 51123, and first mounting groove 51123 penetrates first L-shaped block 51122 in the Z-axis direction.

One end of the first clamping block 5113 is located in the first mounting groove 51123 and is rotationally connected with the groove wall of the first mounting groove 51123, and the rotation axis O of the first clamping block 5113 is perpendicular to the Z axis. The other end of the first clamping block 5113 extends out of the first mounting groove 51123 and forms a first hook 51131, and the first hook 51131 is located at one side of the first clamping block 5113 away from the axis O of the rotating portion 412. The first clamping block 5113 is used for contacting with the hole wall of the cyclone module hole 5033, and the first clamping hook 51131 is used for contacting with the inner cavity surface 5031 of the back plate 503, so as to grasp the mobile phone frame 500.

One side of the first clamping block 5113, which is close to the axis O of the rotating portion 412, is provided with a first connecting groove 51132, the first spring 5114 is located in the first mounting groove 51123, one end of the first spring 5114 is connected with the groove wall of the first mounting groove 51123, and the other end of the first spring 5114 is connected with the groove wall of the first connecting groove 51132 of the first clamping block 5113.

Referring to fig. 11, 12 and 13, the first clamping block 5113 contacts with the wall of the cyclone module hole 5033. When the first clamping block 5113 just contacts with the hole wall of the cyclone module hole 5033, the length of the first clamping block 5113 extends along the Z-axis direction, and as the first connecting block 5112 continues to slide along the axial line O direction away from the rotating portion 412, the acting force of the first clamping block 5113 and the hole wall of the cyclone module hole 5033 increases so as to grasp the mobile phone frame 500. At this time, the groove walls of the first clamping block 5113 and the first mounting groove 51123 press the first spring 5114, and the first clamping block 5113 rotates relative to the first connecting block 5112, so that the first clamping block 5113 is inclined in the direction away from the axis O of the rotating portion 412 along the Z-axis upward direction.

In the process of grabbing the mobile phone frame 500, the first clamping blocks 5113 are buffered through the first springs 5114, so that the acting force of the first clamping blocks 5113 on the hole wall of the air rotating module hole 5033 is increased more gently, and the process of grabbing the mobile phone frame 500 is flexible through the cooperation of the plurality of first clamping blocks 5113.

The phone bezel 500 is lightweight and easily scratched, so that excessive force is not required to grasp the phone bezel 500. Because the first clamping block 5113 is rotationally connected with the first connecting block 5112, the force arm of the contact position of the first clamping block 5113 and the hole wall of the cyclone module hole 5033 is larger than the force arm of the contact position of the first clamping block 5113 and the first spring 5114, so that the first spring 5114 can be extruded more easily, the mobile phone frame 500 can be flexibly grasped, and the situation that the first spring 5114 cannot be compressed still when the first clamping block 5113 applies larger acting force to the hole wall of the cyclone module hole 5033 is reduced.

The first material taking component 51 is matched with the cyclone module hole 5033, and meanwhile, the second material taking component 52 is matched with the camera module hole 5034, so that the mobile phone frame 500 can be stably grasped, and in the process that the transmission piece 30 moves along the X-axis direction and drives the first material taking component 51 to move, the transmission structure on the transmission piece 30 can be matched with the second matching component 42 to drive the second material taking component 52 to move, so that the first material taking component 51 and the corresponding second material taking component 52 can synchronously grasp the same mobile phone frame 500.

Referring to fig. 14, 15 and 16, optionally, the transmission structure of the transmission member 30 includes a plurality of inclined slots 321 disposed at intervals along the X-axis direction, each inclined slot 321 penetrates the transmission member 30 along the Z-axis direction, and the inclined slot 321 is inclined toward the corresponding first mating assembly 41 along the X-axis direction. Each second engaging member 42 engages with one of the chute 321 to move the corresponding second take out member 52. It will be appreciated that in other embodiments, the direction of inclination of the chute 321 may be reversed and engaged with the second engagement assembly 42 to move the second engagement assembly 42.

Specifically, a plurality of protruding blocks 32 are formed on one side of the transmission member 30 away from the transmission teeth 31, the protruding blocks 32 are arranged at intervals along the X-axis direction, each chute 321 is arranged on one protruding block 32, each protruding block 32 is located between two guide blocks 90, the position of each chute 321 can be farther away from the transmission teeth 31 by arranging the protruding blocks 32, the position of the second material taking component 52 is convenient to control, and when the position of the first material taking component 51 corresponds to the cyclone module hole 5033, the position of the second material taking component 52 corresponds to the camera module hole 5034.

Each second matching component 42 comprises a guide pin 421, a sliding block 422 and a second guide block 423, one end of the guide pin 421 is located on the chute 321, the other end of the guide pin 421 is connected with the sliding block 422, the sliding block 422 is slidably arranged on the first side 11 along the Y axis, so that the driving member 20 performs extending motion, and when the transmission member 30 moves along the X axis, the guide pin 421 moves from one end of the chute 321 away from the driving member 20 to one end close to the driving member 20, so as to drive the sliding block 422 to move along the Y axis direction. When the driving member 20 retracts and drives the driving member 30 to move in the opposite direction of the X axis, the guide pin 421 correspondingly drives the sliding block 422 to move in the opposite direction of the Y axis.

The second guide block 423 is disposed through the through hole of the substrate 10, so that a part of the second guide block 423 is located at the first side 11 and another part is located at the second side 12. The portion of the second guide block 423 on the first side 11 is slidably coupled to the slide block 422, and the portion of the second guide block 423 on the second side 12 is coupled to the second take-off assembly 52. The second guide block 423 is configured such that the second guide block 423 slides in the parallel X-axis direction when the slide block 422 slides.

The movement process of the second mating assembly 42 is: the transmission member 30 moves along the X-axis direction, the chute 321 pushes the guide pin 421 to move the sliding block 422 along the Y-axis direction, and the second guide block 423 moves along the direction parallel to the X-axis under the driving of the sliding block 422 and drives the second material taking component 52 to grasp the mobile phone frame 500.

The second guide block 423 can be driven to move by the driving member 30 to reciprocate along the X-axis, so that the second material taking device 100 is controlled to grasp or loosen the mobile phone frame 500, and the operation is simple and the practicability is high.

In some embodiments, the second mating assembly 42 further includes two bearings 424 spaced apart along the X-axis and a mounting block 425 disposed on the first side 11, the sliding block 422 being at least partially disposed between the two bearings 424 and in rolling contact with the bearings 424. The mounting block 425 is located at one side of the bearing 424 away from the corresponding first matching component 41, the mounting block 425 is provided with a sliding groove 4251, the sliding groove 4251 penetrates through the mounting block 425 along the second direction, the sliding block 422 at least partially penetrates through the sliding groove 4251, and the sliding block 422 can stably slide back and forth along the Y-axis direction through the guiding of the sliding groove 4251 and the two bearings 424. Since the mounting block 425 is fixed on the first side 11, the sliding block 422 is inserted into the sliding groove 4251, so that the sliding block 422 and the substrate 10 can not be directly separated, the sliding block 422 and the bearing 424 are in rolling contact, the guiding function can be achieved, and the direct friction force between the sliding block 422 and the bearing 424 is small, so that the sliding block 422 can slide conveniently. It should be understood that the sliding connection manner of the sliding block 422 and the first side 11 is not limited thereto, and other manners may be adopted, for example, the second matching component 42 includes two mounting blocks 425, not including the bearing 424, where the two mounting blocks 425 are disposed opposite to each other along the Y-axis direction, and the sliding block 422 is disposed through the two sliding grooves 4251. For another example, the second mating assembly 42 includes four bearings 424, the four bearings 424 being arranged in a rectangular array, and the slider 422 being in rolling connection with the four bearings 424. It is also possible, for example, to provide a sliding rail at the second side 12 and a sliding block at the sliding block 422, by means of which the sliding block 422 can be slidingly connected to the first side 11.

The slider 422 includes a first portion 4221, a second portion 4222, and a third portion 4223 sequentially arranged along the Y-axis, and the second portion 4222 is located between the first portion 4221 and the third portion 4223. The first portion 4221 is located between two bearings 424, and a guide pin 421 is fixed to an upper side of the first portion 4221, and the first portion 4221 is rectangular in shape and is in rolling contact with the bearings 424. The width of the second portion 4222 gradually decreases in a direction away from the first portion 4221 such that the second portion 4222 is generally trapezoidal in shape, wherein the width direction of the second portion 4222 is parallel to the X-axis. The second portion 4222 cooperates with the second guide 423 to drive the second guide 423 to move along the X-axis direction. The third portion 4223 is disposed through the chute 4251, and the third portion 4223 is rectangular in shape.

The first portion 4221 is connected to a guide pin 421, and the guide pin 421 is positioned at the chute 321 such that the slider 422 can move in the Y-axis direction when the transmission member 30 slides along the X-axis. The first portion 4221 is in rolling contact with the bearing 424, the third portion 4223 is slidably disposed through the bearing to improve stability of the sliding block 422, and the second portion 4222 is engaged with the second guide block 423 to facilitate moving the second take-out assembly 52.

Optionally, in some embodiments, the sliding block 422 is provided with two oblique guide grooves 42221, specifically, two oblique guide grooves 42221 are located on the lower side of the second portion 4222 in the Z-axis direction.

The two oblique guide grooves 42221 are oppositely arranged, and are inclined towards the direction far away from the transmission piece 30, the two oblique guide grooves 42221 are inclined towards the direction close to each other, the second matching component 42 comprises two second guide blocks 423, each second guide block 423 is slidably connected with one oblique guide groove 42221, and the second guide blocks 423 can be blocked from moving along the Y-axis direction due to the fact that the second guide blocks 423 are connected with the second material taking component 52, when the sliding blocks 422 slide back and forth along the Y-axis direction, the two second guide blocks 423 can be close to each other or far away from each other along the X-axis direction so as to drive the first material taking component 51 to switch between the gripping state and the releasing state.

Optionally, the length direction of the two oblique guide grooves 42221 is parallel to the plane where the side wall 6011 of the second portion 4222 is located, each second guide block 423 includes a wedge block 4231 and a fixed block 4232, and the wedge block 4231 is provided with a wedge groove 42311 matching with the oblique guide groove 42221, so that the sliding block 422 can drive the second guide block 423 to move. The fixed block 4232 is fixed on one side of the wedge block 4231, the fixed block 4232 is generally L-shaped, and the lower end of the fixed block 4232 is connected with the second material taking assembly 52 so as to drive the second material taking assembly 52 to move.

Optionally, the second material taking assembly 52 includes two second claws 521 slidably disposed on the second side 12, the sliding direction of the second claws 521 is parallel to the X-axis direction, the two second claws 521 are oppositely disposed along the X-axis direction, each second claw 521 is connected to a fixed block 4232 of one second guide block 423, and the second claws 521 are driven to move by sliding the second guide block 423, so that the two second claws 521 are close to each other to make the second material taking assembly 52 in a loose state or far away from each other to make the second material taking assembly 52 in a gripping state.

When the second material taking assembly 52 is in the loose state, the second claws 521 extend at least partially into the camera module holes 5034, and then the two second claws 521 move away from each other, so that the second material taking assembly 52 is in the gripping state, and the second claws 521 contact with the hole walls of the camera module holes 5034 and apply tension to grip the mobile phone frame 500. The mobile phone frame 500 can be stably grasped by the mutual cooperation of the first material taking assembly 51 and the second material taking assembly 52.

Optionally, in some embodiments, the second jaw 521 includes a second connection block 5211, a second latch 5212, and a second spring 5213.

The second connection block 5211 is slidably connected to the second side 12, and the second connection block 5211 is connected to the fixed block 4232 such that the second jaw 521 can be synchronously moved when the second guide block 423 is moved.

The second fixture block 5212 is rotationally connected with the second connecting block 5211, and second spring 5213 one end is connected with the second fixture block 5212, and the other end is connected with the second connecting block 5211 to when the second fixture block 5212 rotates, can play the cushioning effect, thereby can flexibly snatch cell-phone frame 500.

Specifically, the second connection block 5211 includes a second block 52111 and a second L-shaped block 52112, a slider is disposed on a side of the second block 52111 adjacent to the second side 12, and a sliding rail is disposed on the second side 12, and the second connection block 5211 is slidably connected to the second side 12 by the slider and the sliding rail. The fixed block 4232 is connected to the second block 52111.

The second L-shaped block 52112 is connected to the second block 52111 along the upper end of the Z-axis, and a portion of the L-shaped block and block are generally U-shaped. The second L-shaped block 52112 is provided with a second mounting groove 52113, and the second mounting groove 52113 penetrates the second L-shaped block 52112 in the Z-axis direction.

One end of the second clamping block 5212 is located in the second mounting groove 52113 and is rotatably connected with the groove wall of the second mounting groove 52113, and the rotation axis O of the second clamping block 5212 is parallel to the Y axis. The other end of the second clamping block 5212 extends out of the second mounting groove 52113 and forms a second clamping hook 52121, and the second clamping hook 52121 is located at one side of the second clamping block 5212 away from the other second clamping block 5212. The second clamping block 5212 is used for contacting with the hole wall of the camera module hole 5034, and the second clamping hook 52121 is used for contacting with the inner cavity surface 5031 of the back plate 503, so as to grasp the mobile phone frame 500.

One side of the second clamping block 5212, which is close to the other second clamping block 5212, is provided with a second connecting groove 52122, the second spring 5213 is positioned in the second mounting groove 52113, one end of the second spring 5213 is connected with the groove wall of the second mounting groove 52113, and the other end of the second spring 5213 is connected with the groove wall of the second connecting groove 52122 of the second clamping block 5212.

Optionally, the first jaw 511 and the second jaw 521 are identical in structure and size, so that the types of parts of the material taking device 100 can be reduced, and the parts of the first jaw 511 and the second jaw 521 can be interchanged, so that the installation and maintenance are convenient.

Through the cooperation of the first material taking component 51 and the second material taking component 52, the material taking device 100 can grasp a plurality of mobile phone frames 500 at one time, and after code scanning, the mobile phone frames 500 are put back to the original tray 600. Since the trays 600 are stacked, the first-layer tray 600 needs to be transported before the second-layer tray 600 is grasped, so that the new first-layer tray 600 is taken out of the mobile phone frame 500 of the new first-layer tray 600 when the original second-layer tray 600 is used as the new first-layer tray 600.

Thus, as shown in fig. 3, in some embodiments, the material taking assembly further includes suction cups 13 penetrating through the substrate 10, where the number of suction cups 13 is four and are disposed at four corners of the substrate 10 in a rectangular array, and each suction cup 13 extends along the Z-axis direction. The sucking disc 13 can directly adsorb the tray 600 so as to carry the tray 600 with the mobile phone frame 500 with the code scanning completed.

The workflow of the handling apparatus 1 is: the first and second take off assemblies 51 and 52 are in an undamped condition. The manipulator 200 drives the material taking device 100 to move, so that the plurality of first material taking components 51 extend into the corresponding cyclone module holes 5033, and the second material taking components 52 extend into the corresponding camera module holes 5034. The driving member 20 drives the driving member 30 to move along the X-axis direction, so that the first matching component 41 drives the first material taking component 51 to move, and the second matching component 42 drives the second material taking component 52 to move. The first jaw 511 contacts with the wall of the cyclone module hole 5033, and the second jaw 521 contacts with the wall of the camera module hole 5034, thereby grabbing the plurality of phone rims 500 of one tray 600.

The manipulator 200 drives the material taking device 100 to move to the upper side of the scanning dock 400, the scanning dock 400 sequentially scans the mobile phone frame 500 below the material taking device 100, and after the scanning is completed, the manipulator 200 drives the material taking device 100 to move to the tray 600 and places the mobile phone frame 500 on the tray 600.

The sucking disc 13 sucks the tray 600 with the scanned code, and moves the tray 600 to one side, so that the tray 600 originally positioned on the second layer is changed into a new first layer tray 600, and the handling device 1 repeats the above process to scan the code for the mobile phone frame 500.

In summary, in the embodiment of the present application, the driving member 20 drives the driving member 30 to move along the X-axis direction, so that the plurality of first material taking components 51 and the plurality of second material taking components 52 can synchronously move, and the plurality of mobile phone frames 500 can be grasped at one time, so that the efficiency of grasping the mobile phone frames 500 is high.

The driving source can drive the first material taking assemblies 51 and the second material taking assemblies 52 to move, the cost is low, the driving source is few, the weight can be reduced, and the accuracy of synchronous movement of the first material taking assemblies 51 and the second material taking assemblies 52 is high.

The same mobile phone frame 500 is grabbed through the cooperation of the first material taking component 51 and the second material taking component 52, and the precision of grabbing the mobile phone frame 500 is high, so that the precision of code scanning of the mobile phone frame 500 is improved.

In addition, those skilled in the art will recognize that the foregoing embodiments are merely illustrative of the present application and are not intended to be limiting, as appropriate modifications and variations of the foregoing embodiments are within the scope of the present disclosure.

Claims (10)

1. The utility model provides a handling equipment, includes manipulator and the extracting device who is connected with the manipulator, extracting device is used for snatching the work piece, its characterized in that, extracting device includes:

The substrate is provided with a first side and a second side which are opposite, and the manipulator is connected with the first side;

The driving piece is arranged on the first side and is positioned on one side of the manipulator;

The driving piece is arranged on the first side in a sliding manner, the sliding direction of the driving piece is parallel to the plane where the first side is located, one end of the driving piece is connected with the driving piece, the driving piece stretches and contracts along the sliding direction of the driving piece to drive the driving piece to slide back and forth on the first side, and the driving piece extends along the sliding direction of the driving piece;

the plurality of matching mechanisms are arranged adjacent to the transmission piece and are arranged on the base plate at intervals along the sliding direction of the transmission piece, and the plurality of matching mechanisms are respectively connected with the transmission piece;

The material taking mechanisms are slidably arranged on the second side, each material taking mechanism is connected with the corresponding matching mechanism, and when the transmission piece slides reciprocally, the material taking mechanisms are driven to slide together so that each material taking mechanism can grasp or loosen the workpiece.

2. The handling apparatus of claim 1, wherein each of the engagement mechanisms comprises:

The first matching component is connected with the base plate and positioned at one side of the transmission piece, and the first matching component is connected with the transmission piece;

The second matching component is connected with the base plate and is positioned at one side of the transmission piece away from the first matching component, and the first matching component is connected with the transmission piece;

Each of the take off mechanisms includes:

The first material taking assembly is arranged on the second side in a sliding manner and is connected with the corresponding first matching assembly;

The second material taking assembly is arranged on the second side in a sliding manner, is connected with the corresponding second matching assembly, is arranged along a plane parallel to the second side and is perpendicular to the sliding direction of the transmission piece;

When the transmission piece slides reciprocally, the first matching components respectively drive the corresponding first material taking components, and the second matching components respectively drive the corresponding second material taking components to slide synchronously, so that the first material taking components and the corresponding second material taking components can grasp or loosen the same workpiece.

3. The handling apparatus of claim 2 wherein a side of the drive member adjacent the first mating assembly is provided with a plurality of drive teeth aligned in a sliding direction of the drive member; each of the first mating assemblies includes:

A gear located on the first side, the gear being in mesh with the drive teeth;

And the rotating part penetrates through the substrate, one end of the rotating part is coaxially connected with the gear, the other end of the rotating part is connected with the first material taking assembly, and when the corresponding rotating part rotates, the first material taking assembly is driven to slide so as to be used for grabbing or loosening the workpiece.

4. A handling apparatus according to claim 3, wherein the rotating portion comprises:

The rotating shaft penetrates through the base plate, and one end of the rotating shaft is coaxially connected with the gear;

The rotary table is coaxially connected with the other end of the rotary shaft, and is provided with a plurality of arc-shaped guide grooves which are circumferentially arranged along the axis of the rotary part;

Each first material taking assembly comprises a plurality of first clamping claws, the first clamping claws are circumferentially arranged around the axis of the rotating part, each first clamping claw is in sliding connection with the base plate, each first clamping claw comprises a first guide block matched with one arc-shaped guide groove, and the first clamping claws are far away from each other to grab the workpiece or close to each other to loosen the workpiece.

5. The handling apparatus of claim 4 wherein each of the first jaws further comprises:

The first connecting block is in sliding connection with the substrate, is connected with the first guide block and is provided with a first mounting groove;

One end of the first clamping block is positioned in the first mounting groove and is rotationally connected with the groove wall of the first mounting groove, the rotation axis of the first clamping block is perpendicular to the axis of the rotation part, and the other end of the first clamping block is used for being matched with the workpiece to grab the workpiece;

The first spring is positioned on one side, close to the axis of the rotating part, of the first clamping block, one end of the first spring is connected with the groove wall of the first mounting groove, and the other end of the first spring is connected with the first clamping block.

6. The handling apparatus of claim 2 wherein the transmission member is provided with a plurality of chute grooves, the plurality of chute grooves being disposed at intervals along a sliding direction of the transmission member, an extending direction of the chute grooves intersecting the sliding direction of the transmission member, the second mating assembly comprising:

a guide pin located within the chute;

The sliding block is connected with the guide pin and is in sliding connection with the first side, the sliding direction of the sliding block is perpendicular to the sliding direction of the transmission piece, and the sliding block is driven to slide by the guide pin at different positions of the chute;

The second guide block is in sliding connection with the sliding block, the second guide block is configured to slide along the sliding direction of the transmission piece when the sliding block slides, and the second guide block penetrates through the substrate and is connected with the second material taking assembly.

7. The handling apparatus of claim 6 wherein each of said second take out assemblies includes two second jaws that slide and oppositely position said base plate, and wherein the relative direction and sliding direction of said two second jaws are parallel to the sliding direction of said drive member;

Each second matching component comprises two second guide blocks, each sliding block is provided with two inclined guide grooves, each sliding block is far away from the direction of the transmission piece, each inclined guide groove inclines towards the direction of mutual approaching, each second guide block is matched with one inclined guide groove, and each second clamping jaw is connected with one second guide block.

8. The handling apparatus of claim 6, wherein each of the second mating assemblies further comprises:

The two bearings are arranged on the base plate at intervals along the sliding direction of the transmission piece, and the sliding block is at least partially positioned between the two bearings and is in rolling contact with the bearings;

The mounting block is arranged on the base plate and is positioned on one side, away from the corresponding first matching component, of the bearing, a sliding groove is formed in the mounting block, and the sliding block is at least partially positioned on the sliding groove so as to guide the sliding block to slide.

9. The handling apparatus of claim 8, wherein the slider comprises:

a first portion located between two of the bearings;

The second part is connected with the first part, and the width of the second part along the sliding direction of the transmission piece is gradually reduced towards the direction away from the first part;

The third part is connected with the second part, the second part is positioned between the first part and the third part, and the third part penetrates through the sliding groove.

10. Handling apparatus according to any one of claims 1 to 9, wherein the take-off device further comprises a connection plate located on the first side, the connection plate extending in a sliding direction perpendicular to the transmission member;

the material taking device comprises a plurality of transmission parts, the transmission parts are arranged at intervals along the direction perpendicular to the sliding direction of the transmission parts, one side of the connecting plate is connected with the driving parts, and the opposite side is connected with the transmission parts.