TWI822475B - Material picking arm device - Google Patents

Abstract

The invention provides a material picking arm device including a picking head mechanism, a first suction device, a second suction device and a mechanical arm. The picking head mechanism includes a carrier, a first extending bracket and a second extending bracket. The carrier is formed with a first elongated groove. The first extending bracket and the second extending bracket are respectively arranged in the first elongated groove. The first extending bracket and the second extending bracket are different in length. The first suction device is arranged on the first extending bracket and able to move relative to the first extending bracket, and the second suction device is arranged on the second extending bracket and able to move relative to the second extending bracket. Both the first suction device and the second suction device are sucked on an object to be taken. The mechanical arm is connected to the carrier to move the picking head mechanism.

Description

Retrieving arm device

The present invention relates to a material picking arm device, in particular to a material picking arm device with a material picking head mechanism.

Generally speaking, when a tester wants to conduct electrical testing on an object under test (such as a circuit board module), he or she will use a robotic arm to pick up and carry the object under test to the test station. Because the circuit layout of different objects under test is usually different, the suction nozzle equipped with the robot arm is often blocked by the object under test and cannot smoothly face and adsorb to the adsorbable surface of the object under test.

However, although the industry has successively developed carrier frames with fish-bone structures, the carrier frames still have shortcomings such as difficulty in position adjustment, long adjustment time, and complicated locking processes, which results in a longer overall test time.

One object of the present invention is to provide a material picking arm device to solve the above difficulties mentioned in the prior art.

The invention provides a material taking arm device. The picking arm device includes a picking head mechanism, at least one first adsorption device, at least one second An adsorption device and a robotic arm. The material pickup head mechanism includes a bearing member, at least one first extension bracket and at least one second extension bracket. The bearing member has a first long and narrow groove. The first extension bracket is disposed in the first elongated groove. The second extension bracket is disposed in the first elongated groove and has different lengths from the first extension bracket. The first adsorption device is disposed on the first extension bracket and can move relative to the first extension bracket. The first adsorption device is used to adsorb an object to be picked up. The second adsorption device is disposed on the second extension bracket and can move relative to the second extension bracket. The second adsorption device is used to adsorb the object to be picked up. The mechanical arm is connected to the bearing member to move the material pickup head mechanism.

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the bearing member includes a plate-like structure. The plate-like structure has a first surface and a second surface that are opposite to each other, and the first long and narrow groove connects the first surface and the second surface. The first extension bracket is placed flatly on one of the first surface and the second surface of the bearing member. The second extension bracket is placed flatly on one of the first surface and the second surface of the bearing member.

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first extension bracket and the second extension bracket are respectively stacked on the same surface of the bearing member.

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first extension bracket and the second extension bracket are respectively stacked on different surfaces of the bearing member.

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the long axis direction of the first extension bracket and the long axis direction of the second extension bracket intersect with each other. The long axis direction of the first adsorption device is parallel to the second adsorption device The long axis direction is placed orthogonally to the long axis direction of the first extension bracket.

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first extension bracket includes a first arm, a first stud, at least a first hole and two first nuts. The first arm One end is locked in the first narrow groove through the first stud, and the first hole runs through the other end of the first arm and is coaxial with the first arm, in which the first adsorption device passes through The first hole and the first nuts are locked to the two opposite surfaces of the first arm, so that the first adsorption device is disposed in the first hole and can slide along the first hole. The second extension bracket includes a second arm, a second stud, at least one second hole and two second nuts. One end of the second arm is locked in the first narrow groove through the second stud. The second hole runs through the other end of the second arm and is coaxial with the second arm. The second adsorption device passes through the second hole and the second nuts, and the second nuts are locked on the second arm. The two opposing surfaces of the two arms enable the second adsorption device to penetrate the second hole and slide along the second hole.

According to one or more embodiments of the present invention, in the above-mentioned material picking arm device, the first hole and the second hole are respectively elongated holes. One end of the first hole is closer to the first elongated groove than the other end, and one end of the second hole is closer to the first elongated groove than the other end.

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the length of the first adsorption device extending toward the object to be retrieved through the first hole is different from the length of the second adsorption device extending toward the second hole toward the object to be retrieved. .

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the first adsorption device includes a first adsorption head and a first suction cup. The first adsorption head is connected to a vacuum generating device. The first suction cup is located at one end of the first adsorption head and is used to adsorb the object to be picked up through the vacuum suction force of the vacuum generating device. The second adsorption device includes a second adsorption head and a second suction cup. The second adsorption head is connected to the vacuum generating device, and the second suction cup is located at one end of the second adsorption head for adsorbing the object to be picked up through the vacuum suction of the vacuum generating device.

According to one or more embodiments of the present invention, the above-mentioned material picking arm device further includes at least one third adsorption device and at least one fourth adsorption device. The bearing member further has a connecting portion and a second long and narrow groove. The second and first long and narrow grooves are arranged opposite to each other. The connecting portion is located between the first and second long and narrow grooves for connection. Robotic arm. The pickup head mechanism further includes at least one third extension bracket and at least one fourth extension bracket. The third extension bracket and the fourth extension bracket are respectively slidably disposed in the second narrow groove, and the fourth extension bracket and the fourth extension bracket are slidably disposed in the second elongated groove. The lengths of the three extension brackets are different. The third adsorption device is slidably disposed on the third extension bracket to adsorb the object to be picked up. The fourth adsorption device is slidably disposed on the fourth extension bracket to adsorb the object to be picked up. Adsorb to the object to be taken.

According to one or more embodiments of the present invention, in the above-mentioned picking arm device, the third extension bracket and the fourth extension bracket are respectively stacked on different surfaces of the bearing member.

According to one or more embodiments of the present invention, in the above-mentioned material picking arm device, the third extension bracket and the fourth extension bracket are respectively stacked on the same surface of the bearing member.

In this way, through the structures described in the above embodiments, the present invention The picking arm device not only simplifies the adjustment mechanism and facilitates operator operation, but also can flexibly adjust the configuration of the adsorption device according to the characteristics of the objects to be picked, thereby shortening the mechanism adjustment time.

The above is only used to describe the problems to be solved by the present invention, the technical means to solve the problems, the effects thereof, etc. The specific details of the present invention will be introduced in detail in the following embodiments and related drawings.

The following will disclose multiple embodiments of the present invention in the drawings. For the sake of clarity, many practical details will be explained in the following description. However, it will be understood that these practical details should not limit the invention. That is to say, in various embodiments of the present invention, these practical details are not necessary. In addition, for the sake of simplifying the drawings, some commonly used structures and components will be illustrated in a simple schematic manner in the drawings.

Figure 1 is a schematic diagram of the material pickup head mechanism 10 according to an embodiment of the present invention. As shown in FIG. 1 , the pick-up head mechanism 10 includes a bearing member 100 , at least one first extension bracket 200 , at least one second extension bracket 300 , at least one third extension bracket 400 and at least one fourth extension bracket 500 . The bearing member 100 has a first elongated groove 110 and a second elongated groove 120 . The second elongated groove 120 and the first elongated groove 110 are arranged opposite to each other. The first extension bracket 200 and the second extension bracket 300 are respectively disposed in the first elongated groove 110 . The third extension bracket 400 and the fourth extension bracket 500 are respectively disposed in the second elongated groove 120 . The first extension bracket 200 , the second extension bracket 300 , the third extension bracket 400 and the fourth extension bracket 500 are respectively used to carry an adsorption device for picking up an object 800 (not shown in the figure).

In this way, before picking up the object 800 to be picked up, the first extension bracket 200 and the second extension bracket 300 can slide to a suitable position along the first elongated groove 110 respectively. The third extension bracket 400 and the fourth extension bracket 500 The adsorption devices can be slid to appropriate positions along the second elongated grooves 120 to adjust the corresponding positions of the respective adsorption devices on the object 800 to be picked up.

For example, the first elongated groove 110 and the second elongated groove 120 are respectively arc-shaped or C-shaped. Furthermore, the first elongated groove 110 and the second elongated groove 120 have the same curvature. However, the present invention is not limited thereto. In other embodiments, the first elongated groove 110 and the second elongated groove 120 do not necessarily need to have the same curvature.

However, the present invention is not limited thereto. Those skilled in the art of the present invention can adjust the respective shapes of the first and second elongated grooves 110 and 120 according to actual limitations and requirements. That is, the second aspect of the present invention is The outer shapes of the first long and narrow groove 110 and the second long and narrow groove 120 do not have to be the same. In other embodiments, the outer shapes of the first long and narrow groove 110 and the second long and narrow groove 120 may also be changed to U-shaped or linear shapes, etc. wait.

In addition, the first extension bracket 200 and the second extension bracket 300 have different lengths respectively, and the third extension bracket 400 and the fourth extension bracket 500 have different lengths respectively. More specifically, the length of the first extension bracket 200 is smaller than the length of the second extension bracket 300 and equal to the length of the third extension bracket 400 . The length of the fourth extension bracket 500 is larger than the length of the third extension bracket 400 and equal to the length of the second extension bracket 400 . 300 in length. However, the present invention is not limited thereto. In other embodiments, the first extension bracket 200 , the second extension bracket 300 , the third extension bracket 400 and the fourth extension bracket 500 may also have four different lengths. In this way, a person skilled in the art of the present invention can correspondingly adjust the corresponding position of the adsorption device on the object 800 according to the respective lengths of the first extension bracket 200 to the fourth extension bracket 500 .

In addition, in this embodiment, the first extension bracket 200, the second extension bracket 300, the third extension bracket 400 and the fourth extension bracket 500 are respectively stacked on the same surface of the carrier 100. However, the invention is not limited thereto. In other embodiments, the first extension bracket 200 , the second extension bracket 300 , the third extension bracket 400 and the fourth extension bracket 500 may also be arbitrarily located on different surfaces of the bearing member 100 . In this way, since the locking interfaces of the first extension bracket 200 to the fourth extension bracket 500 corresponding to the first elongated groove 110 and the second elongated groove 120 are substantially located on the same plane, the locking tool used by the user does not It is necessary to repeatedly change the operating direction to lock or unlock the locking interface.

More specifically, the first extension bracket 200 includes a first arm 210 , a first hole 220 and a first stud 230 . One end 211 of the first arm 210 is locked in the first elongated groove 110 through the first stud 230 . The first hole 220 penetrates the other end 212 of the first arm 210 . In this embodiment, the first hole 220 is a single long hole, and the long axis direction L1 of the first hole 220 and the long axis direction L1 of the first arm 210 are coaxial with each other. One end of the first hole 220 (ie, the proximal end 221 ) is closer to the first elongated groove 110 than the other end (ie, the distal end 222 ). The second extension bracket 300 includes a second arm 310, a second hole 320 and a second stud 330. One end 311 of the second arm 310 is locked in the first elongated groove 110 through the second stud 330 . The second hole 320 extends through the other end 312 of the second arm 310 . In this embodiment, the second hole 320 is a single long hole, and the long axis direction L2 of the second hole 320 and the long axis direction L2 of the second arm 310 are coaxial with each other. One end of the second hole 320 (ie, the proximal end 321 ) is closer to the first elongated groove 110 than the other end (ie, the distal end 322 ).

The third extension bracket 400 includes a third arm 410, a third hole 420 and a third stud 430. One end 411 of the third arm 410 is locked in the second elongated groove 120 through the third stud 430 . The third hole 420 penetrates the other end 412 of the third arm 410 . In this embodiment, the third hole 420 is a single long hole, and the long axis direction L3 of the third hole 420 and the long axis direction L3 of the third arm 410 are coaxial with each other. One end of the third hole 420 (ie, the proximal end 421) is closer to the second elongated groove 120 than the other end (ie, the distal end 422). The fourth extension bracket 500 includes a fourth arm 510 , a fourth hole 520 and a fourth stud 530 . One end 511 of the fourth arm 510 is locked in the second elongated groove 120 through the fourth stud 530 . The fourth hole 520 extends through the other end 512 of the fourth arm 510 . In this embodiment, the fourth hole 520 is a single long hole, and the long axis direction L4 of the fourth hole 520 and the long axis direction L4 of the fourth arm 510 are coaxial with each other. One end of the fourth hole 520 (ie, the proximal end 521 ) is closer to the second elongated groove 120 than the other end (ie, the distal end 522 ).

Figure 2 is a schematic diagram of the discharging head mechanism 11 according to an embodiment of the present invention. As shown in FIG. 2 , the feeding head mechanism 11 of this embodiment is substantially the same as the feeding head mechanism 10 described above. The difference is that the first extension bracket 200 further includes a first fixing column 240 . The first fixing post 240 also passes through the end 211 of the first arm 210 and is locked on the carrier 100, and is parallel to the first stud 230. The second extension bracket 300 further includes a second fixing post 340 . The second fixing post 340 also passes through the end 311 of the second arm 310 and is locked on the carrier 100, and is parallel to the second stud 330. In this way, by fixing the first arm 210 with the first stud 230 and the first fixing post 240, the first arm 210 can be prevented from unintended rotation due to shaking. Similarly, by fixing the second arm 310 with the second stud 330 and the second fixing post 340, the second arm 310 can be prevented from unintended rotation due to shaking.

The third extension bracket 400 further includes a third fixing post 440 . The third fixing post 440 also passes through the end 411 of the third arm 410 to be locked on the carrier 100, and is parallel to the third stud 430. The fourth extension bracket 500 further includes a fourth fixing post 540 . The fourth fixing post 540 also passes through the end 511 of the fourth arm 510 to be locked on the carrier 100, and is parallel to the fourth stud 530. In this way, by fixing the third arm 410 with the third stud 430 and the third fixing post 440, the third arm 410 can be prevented from unintended rotation due to shaking. Similarly, by fixing the fourth arm 510 with the fourth stud 530 and the fourth fixing column 540, the fourth arm 510 can be prevented from unexpected rotation due to shaking.

Figure 3 is a schematic diagram of the material picking arm device 1 according to an embodiment of the present invention. Figure 4 is a usage operation diagram of the discharging head mechanism 12 in Figure 3 . As shown in Figures 3 to 4, the picking arm device 1 includes the above-mentioned picking head mechanism 12, at least one (for example, four) first adsorption devices 610, at least one second adsorption device 620, at least one (for example, three) ) third adsorption device 630, at least one fourth adsorption device 640 and a robot arm 700. Each first adsorption device 610 is disposed on one of the first extension brackets 200 and can move relative to the corresponding first extension bracket 200 . Each second adsorption device 620 is disposed on one of the second extension brackets 300 and can move relative to the corresponding second extension bracket 300 . Each third adsorption device 630 is disposed on one of the third extension brackets 400 and can move relative to the corresponding third extension bracket 400 . Each fourth adsorption device 640 is disposed on one of the fourth extension brackets 500 and can move relative to the corresponding fourth extension bracket 500 . The first adsorption device 610 , the second adsorption device 620 , the third adsorption device 630 and the fourth adsorption device 640 jointly adsorb to different positions of an object 800 (such as a circuit board module) to be picked up. The robotic arm 700 is connected to the carrier 100 of the material picking head mechanism 12 to pick up and move the objects 800 to be picked up on the material picking head mechanism 12 .

In this way, the feeding head mechanism 12 is designed based on the eight legs of the biological crab, so that the first to fourth extending brackets 200 to 500 can respectively extend asymmetrically from the center of the bearing member 100 along the radial direction. Therefore, the positions of the first adsorption device 610 to the fourth adsorption device 640 to adsorb the object 800 can be more flexibly configured.

Figure 5 is a partial cross-sectional view along line AA in Figure 4. As shown in FIGS. 4 and 5 , more specifically, the carrier 100 includes a plate-like structure having a first surface 101 and a second surface 102 opposite to each other, and the first elongated groove 110 The second elongated groove 120 is connected to the first surface 101 and the second surface 102 respectively. A part of the first extension bracket 200 is placed flatly on the first surface 101 of the carrier 100 , another part of the first extension bracket 200 is placed flatly on the second surface 102 of the carrier 100 , and the second extension bracket 300 is placed flatly on the carrier 100 The second surface 102 , more specifically, the first extension bracket 200 and the second extension bracket 300 are stacked on different surfaces of the carrier 100 . However, the present invention is not limited to this. A part of the third extension bracket 400 lies flatly on the first surface 101 of the carrier 100 , another part of the third extension bracket 400 lies flatly on the second surface 102 of the carrier 100 , and the fourth extension bracket 500 lies flatly on the carrier 100 The second surface 102 , more specifically, the third extension bracket 400 and the fourth extension bracket 500 are stacked on different surfaces of the carrier 100 . However, the present invention is not limited to this.

Figure 6 is a side perspective view of the material pickup mechanism 12 of Figure 4 . As shown in FIGS. 4 and 6 , more specifically, the long axis direction L4 of the first extension bracket 200 and the long axis direction L2 of the second extension bracket 300 intersect with each other. The long axis direction L3 of the third extension bracket 400 and the long axis direction L4 of the fourth extension bracket 500 intersect with each other. The long axis direction D1 of the first adsorption device 610 and the long axis direction L1 of the first extension bracket 200 are orthogonal to each other. The long axis direction D2 of the second adsorption device 620 and the long axis direction L2 of the second extension bracket 300 are orthogonal to each other. The long axis direction D3 of the third adsorption device 630 and the long axis direction L3 of the third extension bracket 400 are orthogonal to each other. The long axis direction D4 of the fourth adsorption device 640 and the long axis direction L4 of the fourth extension bracket 500 are orthogonal to each other. The long axis directions L1 to L4 of the first adsorption device 610 , the second adsorption device 620 , the third adsorption device 630 and the fourth adsorption device 640 are parallel to each other.

In this embodiment, since the first hole 220 to the fourth hole 520 are elongated holes respectively, the proximal ends of the first hole 220 to the fourth hole 520 can roughly define an inner circle imaginary line I, and the first hole 220 An outer circle imaginary line O can be roughly defined to the far end of the fourth hole 520. From this, it can be seen that the range between the inner circle imaginary line I and the outer circle imaginary line O is the range that the first to fourth adsorption devices 610 to 640 can Configuration scope.

As shown in FIGS. 4 and 6 , the first extension bracket 200 further includes two first nuts 250 . The first adsorption device 610 passes through the first hole 220 and the first nuts 250, and the first nuts 250 are locked on the two opposite surfaces of the first arm 210, so that the first adsorption device 610 passes through the first hole 220. within. The second extension bracket 300 further includes two second nuts 350 . The second adsorption device 620 passes through the second hole 320 and the second nuts 350, and the second nuts 350 are locked on the two opposite surfaces of the second arm 310, so that the second adsorption device 620 passes through the second hole 320. within. The third extension bracket 400 further includes two third nuts 450 . The third adsorption device 630 passes through the third hole 420 and the third nuts 450, and the third nuts 450 are locked on two opposite surfaces of the third arm 410, so that the third adsorption device 630 passes through the third hole 420. within. The fourth extension bracket 500 further includes two fourth nuts 550 . The fourth adsorption device 640 passes through the fourth hole 520 and the fourth nuts 550, and the fourth nuts 550 are locked on two opposite surfaces of the fourth arm 510, so that the fourth adsorption device 640 passes through the fourth hole 520. within.

In this way, before locking the first stud 230 and the second stud 330 to the first elongated groove 110, the user can respectively adjust the first extending bracket 200 and the second extending bracket along the extension path of the first elongated groove 110. The position of the bracket 300 is adjusted around the first stud 230 to adjust the rotation angle of the first extension bracket 200 and around the second stud 330 to adjust the rotation angle of the second extension bracket 300 . Similarly, before locking the third stud 430 and the fourth stud 530 to the second elongated groove 120, the user can respectively adjust the third extension bracket 400 and the fourth extension bracket 400 along the extension path of the second elongated groove 120. The position of the extension bracket 500 is adjusted around the third stud 430 to adjust the rotation angle of the third extension bracket 400, and the rotation angle of the fourth extension bracket 500 is adjusted around the fourth stud 530.

In addition, since the first hole 220 to the fourth hole 520 are elongated holes, the first adsorption device 610 to the fourth adsorption device 640 can move vertically or laterally in the corresponding first hole 220 to the fourth hole 520 to adjust them. Configure location. For example, in order to adjust the corresponding positions of the first adsorption device 610 and the second adsorption device 620 on the object to be picked up 800, the second adsorption device 620 can be closer to the first elongated groove 110 than the first adsorption device 610; or, Let the second adsorption device 620 be closer to the surface of the object 800 to be picked up than the first adsorption device 610; or, make one of the first adsorption devices 610 be closer to the first narrow groove 110 than the other first adsorption device 610.

Figure 7 is a schematic diagram of the first adsorption device 610 and the second adsorption device 620 respectively adsorbing the object 800 to be picked up according to an embodiment of the present invention. As shown in Figures 6 and 7, the first adsorption device 610 includes a first adsorption head 611 and a first suction cup 612. The first suction head 611 is connected to a vacuum generating device (not shown in the figure) through a tube 650 . The first suction cup 612 is located at one end of the first suction head 611 and is used to adsorb to the surface of the object 800 to be picked up through the vacuum suction force of the vacuum generating device. The second adsorption device 620 includes a second adsorption head 621 and a second suction cup 622 . The second adsorption head 621 is connected to the vacuum generating device through a tube 650. The second suction cup 622 is located at one end of the second adsorption head 621 and is used to adsorb the object 800 to be picked up through the vacuum suction of the vacuum generating device.

In addition, as shown in FIGS. 4 and 6 , the third adsorption device 630 includes a third adsorption head 631 and a third suction cup 632 . The third adsorption head 631 is connected to the vacuum generating device through a tube 650 . The third suction cup 632 is located at one end of the third adsorption head 631 and is used to adsorb to the surface of the object 800 to be picked up through the vacuum suction force of the vacuum generating device. The fourth adsorption device 640 includes a fourth adsorption head 641 and a fourth suction cup 642 . The fourth adsorption head 641 is connected to the vacuum generating device through a tube 650. The fourth suction cup 642 is located at one end of the fourth adsorption head 641 and is used to adsorb the object 800 to be picked up through the vacuum suction of the vacuum generating device.

It should be understood that in this embodiment, the first to fourth suction cups 612 to 642 are elastic spring suction nozzles, which can easily overcome the flatness problem of the respective suction nozzles.

As shown in Figure 6, since the first adsorption device 610 and the second adsorption device 620 are respectively located on different surfaces of the carrier 100, the first suction cup 612 of the first adsorption device 610 is used to adsorb to the end surface and the second end surface of the object 800 to be picked up. The end surfaces of the second suction cups 622 of the two adsorption devices 620 are used to adsorb the object 800 to be picked up that are not coplanar with each other. At this time, the length by which the first adsorption device 610 extends toward the object 800 through the first hole 220 is the same as the length by which the second adsorption device 620 extends toward the object 800 through the second hole 320 . However, the present invention is not limited to this.

As shown in Figure 7, by adjusting the front and rear positions of the first adsorption head 611 in the first hole 220, and the front and back positions of the second adsorption head 621 in the second hole 320, the first adsorption device 610 faces the object 800 to be picked up. The length of the first hole 220 is different from the length of the second hole 320 of the second adsorption device 620 toward the object 800, so that the first suction cup 612 and the second suction cup 622 can adsorb to different planes of the object 800. For example, the first suction cup 612 of the first adsorption device 610 can be adsorbed to a flat surface 810 of the object 800 to be picked up, but the second suction cup 622 of the second adsorption device 620 can be adsorbed to the protrusions 820 on the flat surface 810 of the object 800 to be picked up.

As shown in FIG. 3 , the feeding head mechanism 12 further includes a connecting portion 130 . The connecting portion 130 is protruding from the first surface 101 of the carrier 100 and is between the second elongated groove 120 and the first elongated groove 110 . The robot arm 700 is, for example, a multi-axis arm. The connecting portion 130 of the multi-axial arm connecting the bearing member 100 is capable of multi-axial rotation and is used to pick up and move the object 800 to be picked up on the picking head mechanism 12 . The multi-axis arm has the working characteristics of a six-axis robotic arm to perform flexible angular movements (up to six degrees of freedom). However, the present invention is not limited to the type of robot arm 700.

In this way, through the structures described in the above embodiments, the picking arm device and its picking head mechanism of the present invention can not only simplify the adjustment mechanism and facilitate personnel operation, but also can flexibly adjust the configuration of the adsorption device according to the characteristics of the object 800 to be picked up. , thereby shortening the mechanism adjustment time.

Figure 8 is a schematic diagram of the first extension bracket 201 according to an embodiment of the present invention. As shown in Figure 8, the first extension bracket 201 of this embodiment is substantially the same as the above-mentioned first extension bracket 200. The difference is that the first hole of the first extension bracket 201 is not a long hole, but a plurality of openings. 260, these openings 260 are arranged equidistantly along the long axis direction L1 of the first arm 210. In this way, the first adsorption device 610 can be selectively locked in one of the openings 260 as needed, and the first adsorption device 610 will not deviate from the original preset position due to slippage.

In this embodiment, at least one of the second extension bracket 300 to the fourth extension bracket 500 can also be changed from an elongated hole to a plurality of openings 260 .

Finally, the above-disclosed embodiments are not intended to limit the present invention. Anyone familiar with this art may not deviate from the spirit and scope of the present invention. Within this scope, various modifications and modifications can be made, all of which can be protected by the present invention. Therefore, the protection scope of the present invention shall be determined by the appended patent application scope.

1: Retrieving arm device

10, 11, 12: Retrieving head mechanism

100: Bearing part

101: First surface

102: Second surface

110: The first long and narrow groove

120: The second long and narrow groove

130:Connection part

200, 201: first extension bracket

210:First arm

211:End

212:The other end

220: first hole

221: Near end

222:Remote

230: First stud

240:First fixed column

250:First nut

260:Opening

300: Second extension bracket 310:Second arm 311:End 312:The other end 320:Second hole 321: Near end 322:Remote 330: Second stud 340:Second fixed column 350:Second nut 400:Third extension bracket 410:Third arm 411:End 412:The other end 420:Third hole 421: Near end 422:Remote 430:Third stud 440:Third fixed column 450:Third nut 500: The fourth extension bracket 510:Fourth arm 511:End 512:The other end 520:Fourth hole 521: near end 522:Remote 530:Fourth stud 540: The fourth fixed column 550:Fourth nut 610: First adsorption device 611: First adsorption head 612:The first sucker 620: Second adsorption device 621: Second adsorption head 622:Second suction cup 630: The third adsorption device 631: The third adsorption head 632:Third suction cup 640: The fourth adsorption device 641: The fourth adsorption head 642:The fourth sucker 650:tube body 700:Robotic arm 800: Item to be picked up 810:Plane 820:Protrusion AA: line segment L1, L2, L3, L4: long axis direction D1, D2, D3, D4: long axis direction I: Inner circle imaginary line O: Imaginary line of outer circle

In order to make the above and other objects, features, advantages and embodiments of the present invention more obvious and easy to understand, the accompanying drawings are described as follows: Figure 1 is a schematic diagram of the unloading head mechanism according to one embodiment of the present invention; Figure 2 Figure 3 is a schematic diagram of the material picking arm device according to one embodiment of the present invention; Figure 4 is a usage operation diagram of the material picking head mechanism in Figure 3; Figure 5 The figure is a partial cross-sectional view along line AA in Figure 4; Figure 6 is a side perspective view of the discharging head mechanism in Figure 4; Figure 7 is a first adsorption device and a second adsorption device adsorbing respectively according to an embodiment of the present invention. A schematic diagram of the object to be retrieved; and Figure 8 is a schematic diagram of the first extension bracket according to an embodiment of the present invention.

Domestic storage information (please note in order of storage institution, date and number) without Overseas storage information (please note in order of storage country, institution, date, and number) without

10: Retrieving head mechanism 100: Bearing part 110: The first long and narrow groove 120: The second long and narrow groove 200:First extension bracket 210:First arm 211:End 212:The other end 220: first hole 221: Near end 222:Remote 230: First stud 300: Second extension bracket 310:Second arm 311:End 312:The other end 320:Second hole 321: Near end 322:Remote 330: Second stud 400:Third extension bracket 410:Third arm 411:End 412:The other end 420:Third hole 421: Near end 422:Remote 430:Third stud 500: The fourth extension bracket 510:Fourth arm 511:End 512:The other end 520:Fourth hole 521: near end 522:Remote 530:Fourth stud L1, L2, L3, L4: long axis direction

Claims (11)

A material-picking arm device includes: a material-picking head mechanism, including: a bearing member with a first long and narrow groove; at least a first extension bracket, including a first arm, a first stud, and at least one A first hole and two first nuts. One end of the first arm is locked in the first narrow groove through the first stud. The first hole penetrates the other end of the first arm. , and are coaxial with the first arm; and at least one second extension bracket, including a second arm, a second stud, at least a second hole and two second nuts, the second arm One end is locked in the first narrow groove through the second stud, and the second hole runs through the other end of the second arm and is coaxial with the second arm, wherein the second hole The two extension brackets and the first extension bracket are of different lengths; at least one first adsorption device is provided on the first extension bracket and can move relative to the first extension bracket. The first adsorption device is used to adsorb to a target to be Pick up the object, wherein the first adsorption device passes through the first hole and the first nuts, and the first nuts are locked on the two opposite surfaces of the first arm, so that the first adsorption device passes through in the first hole and can slide along the first hole; at least one second adsorption device is provided on the second extension bracket and can move relative to the second extension bracket, the second adsorption device is to be adsorbed to the object to be retrieved, wherein the second adsorption device passes through the second hole and the second nuts, and the second nuts are locked to the two opposite surfaces of the second arm, The second adsorption device is inserted into the second hole and can slide along the second hole; and a mechanical arm is connected to the bearing member to move the picking head mechanism. The picking arm device of claim 1, wherein the carrier includes a plate-like structure having a first surface and a second surface opposite each other, and the first long and narrow groove is connected to the the first surface and the second surface; the first extension bracket lies flatly on one of the first surface and the second surface of the carrier; and the second extension bracket lies flatly on the first surface of the carrier surface and one of the second surface. The picking arm device of claim 2, wherein the first extension bracket and the second extension bracket are respectively stacked on the same surface of the bearing member. The material picking arm device as claimed in claim 2, wherein the first extension bracket and the second extension bracket are respectively stacked on different surfaces of the bearing member. The picking arm device of claim 1, wherein the long axis direction of the first extension bracket and the long axis direction of the second extension bracket intersect with each other; and The long axis direction of the first adsorption device is parallel to the long axis direction of the second adsorption device, and is orthogonal to the long axis direction of the first extension bracket. The material picking arm device according to claim 1, wherein the at least one first hole and the at least one second hole are respectively a long hole, and one end of the first hole is closer to the first narrow groove than the other end. groove, one end of the second hole is closer to the first elongated groove than the other end. The picking arm device of claim 1, wherein the first adsorption device extends the first hole toward the object to be retrieved by a length different from the second adsorption device extends the second hole toward the object to be retrieved. length. The material picking arm device according to claim 1, wherein the first adsorption device includes a first adsorption head and a first suction cup, the first adsorption head is connected to a vacuum generating device, and the first suction cup is located on the first suction cup. One end of the head is used to adsorb the object to be picked up through the vacuum suction of the vacuum generating device; and the second adsorbing device includes a second adsorbing head and a second suction cup, the second adsorbing head is connected to the vacuum generating device , the second suction cup is located at one end of the second adsorption head, and is used to adsorb the object to be picked up through the vacuum suction of the vacuum generating device. The material picking arm device according to claim 1 further includes: at least one third adsorption device and at least one fourth adsorption device; The carrier further has a connecting portion and a second elongated groove. The second elongated groove and the first elongated groove are arranged opposite to each other. The connecting portion is located between the first elongated groove and the second elongated groove. between, for connecting the robotic arm; and the scraping head mechanism further includes at least a third extension bracket and at least a fourth extension bracket, the third extension bracket and the fourth extension bracket are respectively slidably disposed on In the second long and narrow groove, and the lengths of the fourth extension bracket and the third extension bracket are different, the third adsorption device is slidably disposed on the third extension bracket for adsorbing to the object to be taken. On the other hand, the fourth adsorption device is slidably disposed on the fourth extension bracket for adsorbing to the object to be picked up. The material picking arm device as claimed in claim 9, wherein the third extension bracket and the fourth extension bracket are respectively stacked on different surfaces of the bearing member. The material picking arm device according to claim 9, wherein the third extension bracket and the fourth extension bracket are respectively stacked on the same surface of the bearing member.