1. A pick and place apparatus, comprising:

a first assembly including a cover connection portion and a first mating portion, the first mating portion being connected with the cover connection portion, the cover connection portion being configured to be secured with a cover;

a second assembly comprising a product connection portion and a second mating portion, the second mating portion being connected to the product connection portion, the product connection portion being configured for detachable connection to a product;

the first matching part and the second matching part have a first state and a second state, when the first state is reached, the first matching part and the second matching part are relatively fixed, and the product connecting part and the product are relatively fixed; when the cover plate is in the second state, the cover plate is configured to be pressed on the product, the first matching portion is separated from the second matching portion, and the product connecting portion is separated from the product.

2. The pick-and-place device according to claim 1, wherein in the first state, the first engaging portion is fixedly inserted into the second engaging portion, and the first engaging portion is engaged with the second engaging portion in a limited manner in a direction around an insertion direction.

3. The pick and place device of claim 1, wherein the product attachment portion comprises a vacuum chuck.

4. The pick-and-place device according to any one of claims 1 to 3, wherein the first engaging portion comprises a holding portion, a connecting shaft, and a sliding portion, the holding portion is configured to be connected to a side of the cover plate connecting portion facing away from the cover plate through the connecting shaft, the sliding portion is disposed between the holding portion and the cover plate connecting portion, a surface of the sliding portion facing away from the connecting shaft has a clamping groove, at least a part of an outer edge of the holding portion and at least a part of an outer edge of the sliding portion are both located outside the connecting shaft, the sliding portion and the holding portion form a holding space in an axial direction of the connecting shaft, and the holding space is configured to be in positioning fit with the second engaging portion in the axial direction of the connecting shaft.

5. The pick-and-place device according to claim 4, wherein the first engaging portion further comprises an elastic restoring portion, one end of the elastic restoring portion is fixed to the sliding portion, the other end of the elastic restoring portion is fixed to the retaining portion, and when the sliding portion moves closer to the retaining portion, the elastic restoring portion enters a stretching state or a compressing state.

6. The pick-and-place device according to claim 4, wherein an avoiding chamfer is provided at an end of the holding part facing away from the connecting shaft.

7. The pick-and-place device as claimed in claim 6, wherein the portion of the side wall of the slot adjacent to the catch is a guide structure.

8. The pick-and-place device of claim 4, wherein the second engaging portion comprises:

the product connecting part is arranged on the shell, the shell is provided with an accommodating cavity and a limiting hole, the accommodating cavity extends from the outer surface of the shell to the inside of the shell along the axial direction of the connecting shaft, the limiting hole extends from the hole wall of the accommodating cavity to the outside of the shell, and a preset included angle is formed between the axial direction of the limiting hole and the axial direction of the accommodating cavity;

the fixture block is movably arranged in the limiting hole through the elastic extrusion part, the stretching direction of the elastic extrusion part is the same as the axial direction of the limiting hole, when the elastic extrusion part is in a natural state, part of the fixture block is positioned in the accommodating cavity, and when the elastic extrusion part is in the first state, the fixture block extends into the clamping space.

9. The pick-and-place device as claimed in claim 8, wherein the axial direction of the limiting hole is perpendicular to the axial direction of the accommodating cavity.

10. The pick-and-place device according to claim 8, wherein the number of the limiting holes, the plurality of the locking blocks and the plurality of the elastic pressing portions is plural, the plurality of limiting holes are arranged around the accommodating cavity at intervals, and the plurality of limiting holes, the plurality of the locking blocks and the plurality of the elastic pressing portions are matched in a one-to-one correspondence manner.

11. The pick-and-place device as claimed in claim 8, wherein the second engaging portion further comprises an elastic pressing portion disposed in the housing, and one end of the elastic pressing portion is fixed to the housing, and in the first state, the elastic pressing portion and the holding portion are press-fitted in an axial direction of the connecting shaft.

12. The pick-and-place device as claimed in claim 11, wherein the second engaging portion further comprises a pressing block, the pressing block is connected to the other end of the elastic pressing portion, the pressing block is of a hard structure, and in the first state, the pressing block is pressed against the holding portion along the axial direction of the connecting shaft.

13. The pick-and-place device according to claim 8, wherein the fixture block comprises an axial limiting portion and a radial limiting portion, the radial limiting portion is connected with the elastic extrusion portion, the axial limiting portion is connected to one end of the radial limiting portion, which is away from the elastic extrusion portion, when the device is in the first state, the axial limiting portion extends into the clamping space, the radial limiting portion is in limiting fit with the sliding portion in the radial direction of the connecting shaft, and at least part of the radial limiting portion is located in the limiting hole.

14. The pick-and-place device as claimed in claim 13, wherein a guide structure is provided on a side of the axial limiting portion facing the opening of the accommodating cavity.

15. A pick and place apparatus, comprising:

a first assembly including a cover connection portion and a first mating portion, the first mating portion being connected with the cover connection portion, the cover connection portion being configured to be secured with a cover;

a second assembly comprising a product connection portion and a second mating portion, the second mating portion being connected to the product connection portion, the product connection portion being configured for detachable connection to a product;

wherein the content of the first and second substances,

when the product is arranged on the carrier and the cover plate together with the first component is arranged above the product, the second component can be used for moving towards the product, the product connecting part can be connected with the product to move the product away from the carrier, and the second matching part and the first matching part are combined and fixed with each other in the process that the product is moved away from the carrier;

when the product is not positioned on the carrier and the second matching part and the first matching part are combined and fixed with each other, the product connecting part can be connected with the product and move towards the carrier, after the product is placed on the carrier, the product connecting part is separated from the product, and the second matching part is separated from the first matching part, so that the cover plate and the first component are left above the product.

16. A pick and place apparatus, comprising:

the first assembly comprises a cover plate connecting part and a first matching part which are connected with each other, the cover plate connecting part is fixedly arranged on the cover plate, and the first matching part is provided with a clamping groove;

the second assembly comprises a product connecting part and a second matching part which are connected with each other, the product connecting part can be detachably connected with a product, the second matching part is provided with a clamping block which is extruded inwards along the radial direction by elasticity, when the product connecting part is connected with the product, the clamping block of the second matching part can be extruded by the elasticity to be clamped in the clamping space of the first matching part, so that the second matching part and the first matching part are combined and fixed with each other, and when the second matching part moves further relative to the first matching part, the clamping block of the second matching part can be separated from the clamping space of the first matching part, so that the second matching part is separated from the first matching part, and the cover plate and the first assembly are arranged above the product.

Background

The product and the cover plate are generally taken and placed in a manual operation mode at present, but because the stability of manual operation is relatively poor, the phenomena that the product, the carrying platform, the cover plate and the product are scratched and collided with each other easily occur in the process of taking and placing the product and the cover plate, and the product has three damage conditions.

Disclosure of Invention

The invention discloses a taking and placing device, which aims to solve the problem that products are damaged three times because the products are easily scratched and collided with a carrying platform and a cover plate in the process of manually taking and placing the products and the cover plate at present.

In order to solve the problems, the invention adopts the following technical scheme:

a pick and place device, comprising:

a first assembly including a cover connection portion and a first mating portion, the first mating portion being connected with the cover connection portion, the cover connection portion being configured to be secured with a cover;

a second assembly comprising a product connection portion and a second mating portion, the second mating portion being connected to the product connection portion, the product connection portion being configured for detachable connection to a product;

the first matching part and the second matching part have a first state and a second state, when the first state is reached, the first matching part and the second matching part are relatively fixed, and the product connecting part and the product are relatively fixed; when the cover plate is in the second state, the cover plate is configured to be pressed on the product, the first matching portion is separated from the second matching portion, and the product connecting portion is separated from the product.

The second aspect of the present invention also discloses a pick-and-place device, which includes:

a first assembly including a cover connection portion and a first mating portion, the first mating portion being connected with the cover connection portion, the cover connection portion being configured to be secured with a cover;

a second assembly comprising a product connection portion and a second mating portion, the second mating portion being connected to the product connection portion, the product connection portion being configured for detachable connection to a product;

wherein the content of the first and second substances,

when the product is arranged on the carrier and the cover plate together with the first component is arranged above the product, the second component can be used for moving towards the product, the product connecting part can be connected with the product to move the product away from the carrier, and the second matching part and the first matching part are combined and fixed with each other in the process that the product is moved away from the carrier;

when the product is not positioned on the carrier and the second matching part and the first matching part are combined and fixed with each other, the product connecting part can be connected with the product and move towards the carrier, after the product is placed on the carrier, the product connecting part is separated from the product, and the second matching part is separated from the first matching part, so that the cover plate and the first component are left above the product.

The third aspect of the present invention also discloses a pick-and-place device, comprising:

the first assembly comprises a cover plate connecting part and a first matching part which are connected with each other, the cover plate connecting part is fixedly arranged on the cover plate, and the first matching part is provided with a clamping groove;

the second assembly comprises a product connecting part and a second matching part which are connected with each other, the product connecting part can be detachably connected with a product, the second matching part is provided with a clamping block which is extruded inwards along the radial direction by elasticity, when the product connecting part is connected with the product, the clamping block of the second matching part can be extruded by the elasticity to be clamped in the clamping space of the first matching part, so that the second matching part and the first matching part are combined and fixed with each other, and when the second matching part moves relative to the first matching part, the clamping block of the second matching part can be separated from the clamping space of the first matching part, so that the second matching part is separated from the first matching part, and the cover plate and the first assembly are arranged above the product.

The technical scheme adopted by the invention can achieve the following beneficial effects:

the taking and placing device disclosed by the embodiment of the invention can grab a product and the cover plate, place the cover plate on the product and place the product on the carrying platform, so that the situation that the product is scratched or collided with the carrying platform and the cover plate with the product can be avoided in the process. In detail, in the process of taking and placing the product and the cover plate, the cover plate and the first assembly can be fixed into a whole by the cover plate connecting part in the first assembly. Secondly, the second assembly and the first assembly are enabled to enter a first state, the product connecting portion and the product are fixed, and the second matching portion and the first matching portion are enabled to form a relatively fixed relation. Then, the pick-and-place device, the cover plate and the product are moved to a carrying platform such as a working platform. Finally, the first matching part and the second matching part are in the second state, so that the product and the product connecting part can be separated, and the cover plate is guaranteed to be pressed on the product, so that the product can be smoothly subjected to subsequent processing. The operation processes are automatically completed by a machine, the stability is good, and the cover plate and the product are in a relatively fixed state in the moving process; the cover plate is pressed on the product, so that the product can be normally subjected to subsequent processing, the phenomena of scraping and colliding the product due to relative movement between the cover plate and the product can be prevented, and the product quality is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a usage state diagram of a pick-and-place device disclosed in the embodiment of the invention;

fig. 2 is an exploded view of a pick-and-place device according to an embodiment of the disclosure;

fig. 3 is a schematic structural diagram of a first component in the pick-and-place device disclosed in the embodiment of the invention;

FIG. 4 is an exploded view of the first assembly and the cover plate;

FIG. 5 is an exploded view of a second component of the pick-and-place apparatus according to the disclosure;

FIG. 6 is a schematic cross-sectional view of a second assembly of the pick-and-place apparatus according to the disclosure;

fig. 7, fig. 9, fig. 11, fig. 13, fig. 15, fig. 17, fig. 19, fig. 21 and fig. 23 are assembly schematic diagrams of the pick-and-place device disclosed by the embodiment of the invention in different states;

fig. 8, fig. 10, fig. 12, fig. 14, fig. 16, fig. 18, fig. 20, fig. 22 and fig. 24 are partially enlarged views of the pick-and-place device disclosed by the embodiment of the invention in different states.

Description of reference numerals:

10-a pick-and-place device,

100-a first component, 110-a cover plate connecting part, 111-a positioning block, 111 a-a connecting hole, 112-a bolt, 120-a first matching part, 121-a clamping part, 121 a-avoiding chamfer, 122-a connecting shaft, 123-a sliding part, 123 a-a clamping groove, 123 b-a limiting sinking groove, 124-a clamping space, 125-an elastic resetting part, 126-an anti-rotation block,

200-second component, 210-product connecting part, 211-vacuum chuck, 212-vacuum generator, 213-joint, 214-air pipe, 215-spring, 220-second matching part, 221-shell, 221 a-containing cavity, 221 b-limiting hole, 221 c-anti-rotation hole, 222-clamping block, 222 a-axial limiting part, 222 b-radial limiting part, 222 c-guide structure, 223-elastic extrusion part, 224-elastic pressing part, 225-pressing block, 226-limiting groove, 227-mounting part,

300-cover plate, 310-through hole, 320-matching hole,

400-product, a,

500-carrying platform,

600-pull rod,

700-motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 24, the pick-and-place device 10 disclosed in the embodiment of the present invention includes a first assembly 100 and a second assembly 200. As shown in fig. 3, the first assembly 100 includes a cover connection part 110 and a first fitting part 120 connected to each other. As shown in fig. 5, the second assembly 200 includes a product connecting portion 210 and a second mating portion 220 connected to each other.

During the operation of the pick-and-place device 10, as shown in fig. 1 and 4, the cover connection portion 110 can be fixed on the cover 300, so that the first assembly 100 is connected with the cover 300. As further shown in fig. 7 and 13, the product connecting portion 210 may be detachably connected to the product 400, thereby connecting the second assembly 200 to the product 400.

In addition, the first engaging portion 120 and the second engaging portion 220 of the pick-and-place device 10 can engage with each other, and both have a first state and a second state. As shown in fig. 12, when the first and second engaging portions are in the first state, the first and second engaging portions 120 and 220 are relatively fixed, and the cover plate 300 and the product 400 are relatively fixed by relatively fixing the second assembly 200 and the product 400. In the state shown in fig. 15 and 16, the cover plate 300 and the product 400 may be moved together with the movement of the pick-and-place device 10 to place the product 400 and the cover plate 300 on the carrier 500. Alternatively, the mechanism for moving the pick-and-place device 10 may be a CNC spindle or a robot, etc., to improve the automation degree and the production efficiency of the machining process.

As shown in fig. 7 and 8, when the first and second engagement portions 120 and 220 are in the second state, the cover 300 is pressed against the product 400, and the first and second engagement portions 120 and 220 are separated, so that the product connection portion 210 is separated from the product 400. At this time, the second assembly 200 is separated from the product 400, and the cover plate 300 is pressed on the product 400, so that the subsequent processing operation of the product 400 can be smoothly performed.

As shown in fig. 8, a pull rod 600 may be attached to the stage 500, and the pull rod 600 may be driven by a motor 700. As shown in fig. 18, in a situation where the cover plate 300 and the product 400 are placed on the carrier 500, the pull rod 600 may penetrate through the product 400 and the cover plate 300 and be in a limit fit with the cover plate 300 in the axial direction of the pull rod 600 to further prevent the product 400 and the cover plate 300 from moving relatively. In addition, as shown in fig. 10, the motor 700 may drive the pull rod 600 to rotate through a predetermined angle, so that the pull rod 600 and the cover plate 300 move relatively in the axial direction of the pull rod 600, and the cover plate 300 and the product 400 can be ensured to leave the carrier 500.

Alternatively, as shown in fig. 3 and 4, the cover plate coupling part 110 may include a positioning block 111 and a bolt 112, the positioning block 111 may be coupled with the first fitting part 120, and the positioning block 111 has a coupling hole 111 a. As shown in fig. 4, the cover plate 300 may be provided with a fitting hole 320, and in the process of fixing the cover plate connecting portion 110 and the cover plate 300, the bolt 112 may pass through the connecting hole 111a and extend into the fitting hole 320, so that the positioning block 111 may be fixed with the cover plate 300, and the first assembly 100 may form a relatively stable fixed connection relationship with the cover plate 300. In addition, the cover plate connection portion 110 and the cover plate 300 may be separated from each other by loosening the bolts 112.

Further, a surface of the positioning block 111 facing away from the first mating part 120 and a surface of the cover plate 300 may be adapted to each other, so that the fixing relationship between the cover plate connecting part 110 and the cover plate 300 is more stable. In addition, the number of the bolts 112 and the connection holes 111a may be plural, and the plural bolts 112 may be respectively connected to the cover plate 300 through the plural connection holes 111a, and the connection reliability between the cover plate 300 and the cover plate connection part 110 may be further improved.

Alternatively, as shown in fig. 2, 5 and 6, the product connecting part 210 may include a vacuum chuck 211 to fix the product 400 and the product connecting part 210 to each other in a negative pressure or vacuum suction manner. When the connecting mode is adopted, holes do not need to be punched or other parts do not need to be added on the product 400, the original structure of the product 400 can be prevented from being damaged, and after the product 400 is separated from the product connecting part 210, any connecting mark can not be left on the product 400, so that the integrity and the cleanliness of the product 400 are high.

Further, the number of the vacuum suction cups 211 can be plural, which can further improve the stability of the fixed connection relationship between the product connecting portion 210 and the product 400, and prevent the product connecting portion 210 and the product 400 from being separated from each other during the movement of the pick-and-place device 10, which results in the product 400 falling and being damaged. Optionally, a plurality of vacuum cups 211 are spaced around the second mating portion 220.

Alternatively, as shown in fig. 2 and 5, the plurality of vacuum suction cups 211 may form a negative pressure or even a vacuum by an external negative pressure mechanism (not shown) or the like to suck the product 400. Optionally, the product connection portion 210 may further include a vacuum generator 212, and the plurality of vacuum cups 211 may communicate with the vacuum generator 212 through an air tube 214. By separately providing the product connecting part 210 with a vacuum generating mechanism such as the vacuum generator 212, the working scene and the application range of the taking and placing device 10 can be enlarged. The number of vacuum generators 212 may be one in order to minimize the number of parts in the overall pick-and-place device 10. As shown in fig. 2 and 5, the vacuum generator 212 may be simultaneously communicated with the plurality of vacuum chucks 211 through the joint 213 and the air tube 214 to provide the plurality of vacuum chucks 211 with the negative pressure.

Alternatively, each of the plurality of vacuum chucks 211 may be made of a flexible material. As shown in fig. 15 and 16, even if a certain gap exists between the product 400 and the cover plate 300, when the flexible vacuum chuck 211 is used to grasp the product 400, the gap between the product 400 and the cover plate 300 can be eliminated by causing the flexible vacuum chuck 211 to deform by pressing, so that the product 400 and the cover plate 300 contact with each other or even adhere to each other. Alternatively, the vacuum chuck 211 may be elastically deformable by coupling with a spring 215, which allows the vacuum chuck 211 to be elastically deformed.

Further, as shown in fig. 2 and 5, in order to improve the compactness of the whole pick-and-place device 10, a plurality of vacuum suction cups 211 may be disposed on the outer periphery of the second fitting portion 220. In this case, since the first assembly 100 is further connected to the cover plate 300, if the size of the cover plate 300 is relatively large, the cover plate 300 may be optionally provided with a plurality of through holes 310 corresponding to the plurality of vacuum cups 211, so that the vacuum cups 211 can be engaged with the product 400 positioned under the cover plate 300 through the through holes 310 during the engagement of the second assembly 200 with the product 400.

Alternatively, as shown in fig. 3 and 4, the first fitting part 120 may include a catch 121, a connecting shaft 122, a sliding part 123, an elastic restoring part 125, and an anti-rotation block 126. The clamping portion 121 and the connecting shaft 122 may be integrally formed bolts, the clamping portion 121 is connected to the cover plate connecting portion 110 through the connecting shaft 122, and the clamping portion 121 is located on a side of the cover plate connecting portion 110 away from the cover plate 300. The sliding portion 123 is movably disposed between the catch portion 121 and the cover connecting portion 110, and a surface of the sliding portion 123 facing away from the connecting shaft 122 is provided with a catching groove 123a, so that the sliding portion 123 and the catch portion 121 can form a catching space 124 in the axial direction of the connecting shaft 122 by having at least a part of an outer edge of the catch portion 121 and at least a part of an outer edge of the sliding portion 123 located outside the connecting shaft 122. As shown in fig. 11 and 12, the first mating part 120 and the second mating part 220 can form a limit fit relation in the axial direction of the connecting shaft 122 by clamping the lower end of the second mating part 220 in the clamping space 124.

Specifically, the catch 121 may be disposed to protrude outward of the connecting shaft 122 relative to the connecting shaft 122, or at least a part of the catch 121 may be larger in size in the radial direction of the connecting shaft 122 than in the radial direction of the connecting shaft 122. In addition, since the sliding part 123 is located between the catch part 121 and the cover connecting part 110, the sliding part 123 is entirely located outside the connecting shaft 122, so that it can be ensured that the catch part 121 and the sliding part 123 can form the catch space 124 in the axial direction of the connecting shaft 122.

Alternatively, as shown in fig. 4, the clamping portion 121 and the sliding portion 123 may both be circular structures, so that the clamping space 124 formed by the clamping portion 121 and the sliding portion 123 is an annular structure, and therefore, no matter what angle the first matching portion 120 and the second matching portion 220 are inserted and matched, the lower end of the second matching portion 220 can be ensured to extend into the clamping space 124, so that the second matching portion 220 and the first matching portion 120 form a limit matching relationship in the axial direction of the connecting shaft 122.

As shown in fig. 8, one end of the elastic restoring portion 125 may be fixed to the sliding portion 123, and the other end of the elastic restoring portion 125 may be connected to the catch portion 121, or the other end of the elastic restoring portion 125 may be connected to the cover connecting portion 110. When the sliding part 123 moves towards the clamping part 121, the elastic resetting part 125 is elastically deformed, so that when the sliding part 123 is no longer under the action of other external forces, the sliding part 123 can be restored to the original position by the elastic acting force provided by the elastic resetting part 125, and therefore, when no external force acts, the clamping space 124 can be formed between the clamping part 121 and the sliding part 123 all the time.

Specifically, the elastic restoring portion 125 may be a spring, and the elastic restoring portion 125 may be disposed between the sliding portion 123 and the cover connecting portion 110. Preferably, as shown in fig. 20, the elastic restoring part 125 may be disposed between the sliding part 123 and the catch 121, which enables the catch space 124 between the sliding part 123 and the catch 121 to provide an installation space for the elastic restoring part 125 to improve the structural compactness of the entire first assembly 100. In addition, as shown in fig. 4, a limit sunken groove 123b may be formed on a surface of the sliding part 123 opposite to the catching part 121, so that an end of the elastic restoring part 125 extends into the limit sunken groove 123b, and the elastic restoring part 125 is prevented from being bent or deviated during the compression process.

Alternatively, as shown in fig. 2, 5 and 6, the second fitting portion 220 may include a housing 221, a latch 222, an elastic pressing portion 223, an elastic pressing portion 224, a pressing piece 225, a stopper groove 226 and a mounting portion 227. As described above, the second fitting part 220 may be connected with a CNC spindle or a robot, and the specific structure of the mounting part 227 may be determined according to actual circumstances in order to facilitate the connection of the pick-and-place apparatus 10 and the robot, for example, the mounting part 227 may be adapted to the end of the CNC spindle or the robot.

The product connecting part 210 may be mounted on the case 221, and may be mounted outside the case 221. As shown in fig. 2, 5, 6, 7 and 8, the housing 221 may be provided with an accommodation cavity 221a and a stopper hole 221 b. The receiving cavity 221a is formed to extend from an outer surface of the housing 221 toward an inside of the housing 221 in an axial direction of the connecting shaft 122, thereby providing an insertion space for the first mating part 120. The stopper hole 221b may be formed to extend from a hole wall of the receiving cavity 221a to the outside of the housing 221, and the stopper hole 221b may provide an installation space for the latch 222 and the elastic pressing portion 223.

The latch 222 is movably disposed in the stopper hole 221b through the elastic pressing portion 223, and the elastic pressing portion 223 extends in the same axial direction as the stopper hole 221 b. When the elastic pressing portion 223 is in the natural state, a part of the fixture block 222 is located in the accommodating cavity 221a, so that when the first matching portion 120 and the second matching portion 220 are in the first state (as shown in fig. 12), the fixture block 222 can extend into the holding space 124, and further the first matching portion 120 and the second matching portion 220 are in limited engagement in the axial direction of the connecting shaft 122.

Specifically, the accommodating cavity 221a may have a circular structure, and in the case that the catch 121 has a circular structure, the difficulty of fitting between the catch 121 and the accommodating cavity 221a is relatively low. Further, as shown in fig. 12, the axial direction of the stopper hole 221b may be perpendicular to the axial direction of the accommodation chamber 221 a. In this case, when the latch 222 extends into the retaining space 124, the interaction force between the latch 222 and the first matching portion 120 is the same as the axial direction of the connecting shaft 122, and almost all the interaction force between the first matching portion 120 and the latch 222 can act on the latch 222, so as to better promote the latch 222 to retract into the limiting hole 221 b.

Specifically, the latch 222 may be made of a hard material such as metal, so as to provide a stable position limiting effect for the first engaging portion 120 and the second engaging portion 220 when the latch extends into the retaining space 124. As shown in fig. 8, the elastic pressing portion 223 may be a spring, one end of the spring may be connected to the latch 222, and the other end of the spring may be connected to the bottom of the stopper hole 221 b. Under the action of the spring, the latch 222 can move inside and outside the limiting hole 221b, so that the latch 222 extends into or separates from the limiting space 124, and the first matching portion 120 and the second matching portion form a connection or separation relationship.

In addition, the dimension of the retaining space 124 in the axial direction of the connecting shaft 122 may be determined according to the dimension of the latch 222, and the dimension of the retaining space 124 may be larger than the dimension of the latch 222, so as to reduce the difficulty in matching the second matching part 220 with the first matching part 120. In addition, in order to reduce the difficulty of the latch 222 moving from the side of the catch 121 away from the connecting shaft 122 to the position of the catching space 124 over the catch 121, as shown in fig. 4, an avoiding chamfer 121a may be provided at one end of the catch 121 away from the connecting shaft 122. Under the condition that the clamping part 121 is of a circular structure, an avoiding chamfer 121a can be formed on the outer edge of one end of the clamping part 121, which is far away from the connecting shaft 122, and the size of the avoiding chamfer 121a can be flexibly determined according to actual requirements.

Further, as shown in fig. 5, the fixture block 222 may include an axial limiting portion 222a and a radial limiting portion 222b, the radial limiting portion 222b is connected to the elastic pressing portion 223, and the axial limiting portion 222a is connected to one end of the radial limiting portion 222b, which is away from the elastic pressing portion 223. As shown in fig. 12, when the first engaging portion 120 and the second engaging portion 220 are in the first state, the axial direction-limiting portion 222a can extend into the holding space 124, and can prevent the first engaging portion 120 and the second engaging portion 220 from being separated from each other. Moreover, the radial limiting portion 222b can be in limiting fit with the sliding portion 123 in the radial direction of the connecting shaft 122, and at least part of the radial limiting portion 222b is still located in the limiting hole 221b, so that the radial limiting portion 222b is used for limiting the radial movement distance of the whole fixture block 222 along the connecting shaft 122, and the fixture block 222 is prevented from being separated from the limiting hole 221b under the elastic action and the self inertia action of the elastic pressing portion 223, so that the limiting relation between the fixture block 222 and the clamping space 124 in the axial direction of the connecting shaft 122 fails.

Specifically, the axial limiting portion 222a and the radial limiting portion 222b may be formed in an integrated manner, and both the limiting hole 221b and the radial limiting portion 222b may be circular structures, so that the relative movement process of the fixture block 222 and the limiting hole 221b is more flexible, and the situation that the fixture block 222 is clamped in the limiting hole 221b can be basically prevented. The axial position-limiting portion 222a may be a semi-cylindrical structure or a square structure, and is disposed on a side of the radial position-limiting portion 222b away from the position-limiting hole 221b to be in position-limiting engagement with the retaining space 124.

Further, a guide structure 222c may be disposed on a side of the axial limiting portion 222a facing the opening of the accommodating cavity 221a, so that when the retaining portion 121 extends from the opening of the accommodating cavity 221a to the accommodating cavity 221a, the guide structure 222c can prevent the retaining portion 121 from moving to the deep position of the accommodating cavity 221a due to the axial limiting portion 222a not being able to avoid the retaining portion 121.

Specifically, the guiding structure 222c may be a straight inclined chamfer, or the guiding structure 222c may also be an arc chamfer, and the guiding structure 222c may extend from the farthest end of the axial limiting portion 222a away from the radial limiting portion 222b to the position of the radial limiting portion 222b, so as to further improve the guiding and avoiding effect of the guiding structure 222c, and ensure that the latching portion 222 may avoid the latching portion 121 under the action of the guiding structure 222c under the condition that the latching portions 121 interfere with each other, so that the latching portion 121 may continue to move toward the inside of the accommodating cavity 221 a.

Similarly, a similar guiding structure 222c may be formed on a side of the axial limiting portion 222a away from the opening of the accommodating cavity 221a, so that in the process of detaching the first matching portion 120 and the second matching portion 220, the latch 222 may also easily slide out of the slot 123a, move along the side of the sliding portion 123 to the side of the retaining portion 121, and finally detach from the first matching portion 120, thereby achieving the purpose of separating the first matching portion 120 and the second matching portion 220. In addition, as shown in fig. 22, in order to make the fixture block 222 less difficult to separate from the sliding portion 123, a portion of the sidewall of the clamping groove 123a close to the retaining portion 121 may be configured to be an inclined straight structure, so that when the fixture block 222 drives the sliding portion 123 to move close to the retaining portion 121 until the sliding portion 123 contacts with the retaining portion 121, the sidewall of the clamping groove 123a provides a certain guiding function for the fixture block 222, and it is ensured that the first matching portion 120 and the second matching portion 220 can smoothly complete the splitting operation.

Further, as shown in fig. 2, 5, 6, 7 and 8, the number of the limiting holes 221b, the stoppers 222 and the elastic pressing portions 223 may be plural, and the plural limiting holes 221b may be arranged around the accommodating cavity 221a at intervals, and the plural limiting holes 221b, the plural stoppers 222 and the plural elastic pressing portions 223 may be arranged in one-to-one correspondence, so as to further improve the stability when the first matching portion 120 and the second matching portion 220 are fixedly connected.

Preferably, as shown in fig. 5 and 8, the plurality of limiting holes 221b may be uniformly disposed on the housing 221, so that the supporting effect provided by the plurality of fixture blocks 222 for the first matching portion 120 is substantially consistent, and the fixed connection relationship between the first matching portion 120 and the second matching portion 220 is more stable, so that when the pick-and-place device 10 is fixed with the cover plate 300 and the product 400, the cover plate 300 and the product 400 can be further prevented from moving relatively, and the product 400 is ensured not to be scraped and bumped.

As described above, the second fitting portion 220 includes the elastic pressing portion 224, and as shown in fig. 5, 8 and 12, the elastic pressing portion 224 is disposed in the accommodating chamber 221a, and one end of the elastic pressing portion 224 may be fixed to the housing 221. As shown in fig. 12, when the first fitting part 120 and the second fitting part 220 are in the first state, the elastic pressing part 224 may be press-fitted with the catch 121 in the axial direction of the connecting shaft 122, so that by causing the elastic pressing part 224 to press the cover 300 in the process of grasping the cover 300 and the product 400, the gap between the cover 300 and the product 400 may be eliminated, and the cover 300 and the product 400 may be brought into contact with each other.

Specifically, the elastic pressing portion 224 may be a spring, one end of the spring may be connected to the bottom of the accommodating cavity 221a, and the other end of the spring may be capable of cooperating with the holding portion 121, so as to provide a pressing effect for the holding portion 121 in the process that the holding portion 121 extends into the accommodating cavity 221a, so that the holding portion 121 can drive the cover plate 300 to press on the product 400.

As described above, the second fitting part 220 includes the pressing piece 225, and as shown in fig. 5 and 12, the pressing piece 225 is connected to the other end of the elastic pressing part 224, and the pressing piece 225 may be a hard structure formed of a relatively hard material such as metal. As shown in fig. 12, when the first mating part 120 and the second mating part 220 are in the first state, each part of the pressing block 225 may provide a relatively uniform pressing effect for the catch 121, so as to further improve the degree of engagement between the cover plate 300 and the product 400, and prevent the cover plate 300 and the product 400 from being scratched or collided with the product 400 due to relative movement after the first mating part 120 and the second mating part 220 are separated.

As shown in fig. 6-8, a limiting groove 226 is disposed in the housing 221, and the pressing block 225 is movably disposed in the limiting groove 226 along the axial direction of the connecting shaft 122, so that in the process of the mutual matching of the first matching portion 120 and the second matching portion 220, because the pressing block 225 can only move in the limiting groove 226 along the axial direction of the connecting shaft 122, under the limiting action of the pressing block 225, the clamping portion 121 can be prevented from freely extending into the accommodating cavity 221a, which may cause the first matching portion 120 and the second matching portion 220 to fail to work normally, or even be damaged.

Specifically, the limiting groove 226 may be formed by extending from the cavity wall of the accommodating cavity 221a to the outside of the housing 221 along the radial direction of the connecting shaft 122, both the pressing block 225 and the limiting groove 226 may be of a circular structure, and the pressing block 225 is movably connected to the cavity bottom of the accommodating cavity 221a through the elastic pressing portion 224. In addition, the specific position and the actual size of the limiting groove 226 can be determined according to the actual conditions such as the size of the holding part 121 and the position of the fixture 222.

Referring to fig. 5 and 6, the wall of the accommodating chamber 221a is provided with an anti-rotation hole 221 c. Accordingly, as shown in fig. 2, 3 and 6, the first fitting portion 120 includes an anti-rotation block 126, and the anti-rotation block 126 is protrudingly provided on the outer periphery of the connecting shaft 122. As the clamping portion 121 gradually extends into the accommodating cavity 221a, the anti-rotation block 126 can also extend into the anti-rotation hole 221c, so as to ensure that the first matching portion 120 and the second matching portion 220 can be in limited fit in the circumferential direction of the connecting shaft 122. Optionally, the number of the anti-rotation holes 221c and the anti-rotation blocks 126 can be multiple, and the multiple anti-rotation blocks 126 can be uniformly distributed on the periphery of the connecting shaft 122, so that the anti-rotation blocks 126 and the anti-rotation holes 221c can be mutually matched only by relatively rotating by a small angle, and the first matching portion 120 and the second matching portion 220 are prevented from relatively rotating.

Based on the pick-and-place device disclosed in the above embodiments, as shown in fig. 7 to fig. 24, a specific working process of the pick-and-place device is described, which is detailed as follows:

process of grasping the cover plate 300 and the product 400:

as shown in fig. 7 and 8, the cover plate connecting portion 110 and the cover plate 300 are fixed together, the cover plate 300 is pressed on the product 400, and the cover plate 300 and the pull rod 600 are in limited fit in the axial direction of the pull rod.

First, the second assembly 200 can be moved above the first assembly 100 by a mechanism such as a CNC spindle.

Next, as shown in fig. 9 and 10, when the second assembly 200 moves downward, the pressing block 225 and the holding part 121 are pressed and fitted in the axial direction of the pull rod 600 under the action of the elastic pressing part 224, and as the holding part 121 extends into the accommodating cavity 221a of the housing 221, the holding part 121 presses the latch 222, and the latch 222 presses the elastic pressing part 223 and contracts to the depth of the limiting hole 221 b; meanwhile, the vacuum chuck 211 is engaged with the product 400 through the through hole 310 of the cover plate 300, and as the second assembly 200 continues to move downward, the vacuum chuck 211 may press the spring 215, eliminating the positioning error.

Then, as shown in fig. 11 and 12, as the second assembly 200 continues to move downward, the holding part 121 continues to move toward the accommodating cavity 221a, the holding part 121 passes over the latch 222, a part of the latch 222 extends out of the limiting hole 221b under the action of the elastic pressing part 223, and a part of the latch 222 extends into the holding space 124, so that the latch 222 and the holding space 124 form a limiting fit in the axial direction of the pull rod 600, and the first assembly 100 and the second assembly 200 are fixed as a whole.

Finally, as shown in fig. 13 and 14, the motor 700 drives the pull rod 600 to rotate, so that the cover plate 300 and the pull rod 600 can move relatively in the axial direction of the pull rod 600, and the pick-and-place device 10 can drive the product 400 and the cover plate 300 to move together as the pick-and-place device 10 moves upwards, and the cover plate 300 and the product 400 are relatively fixed, so that the cover plate 300 and the product 400 cannot collide with each other.

Process of placing the cover plate 300 and the product 400:

first, as shown in fig. 13 and 14, the pick-and-place device 10 picks up the product 400 and moves the cover plate 300 to the upper side of the carrier 500.

Next, as shown in fig. 15 and 16, the pick-and-place device 10 is moved down, the product 400 is placed on the carrier 500, and the pull rod 600 is inserted into the product 400 and the cover plate 300.

Again, as shown in fig. 17 and 18, the second assembly 200 moves downwards continuously, and since the product 400 contacts the carrier 500, the vacuum chuck 211 can press the spring 215 to reduce the distance between the cover plate 300 and the product 400, so that the cover plate 300 is pressed on the product 400, and the motor 700 drives the pull rod 600 to rotate, so that the pull rod 600 and the cover plate 300 are in positioning fit in the axial direction of the pull rod 600.

Then, as shown in fig. 19 and 20, the second assembly 200 moves downward to continue to extrude the spring 215, and the second matching portion 220 moves downward integrally, so that the holding portion 121 moves toward the depth of the accommodating cavity 221a, and as the second matching portion 220 moves downward, the latch 222 is extruded by the sliding portion 123, the elastic extrusion portion 223 is compressed to drive the latch 222 to retract into the limiting hole 221b until the latch 222 moves to the latch groove 123a, part of the latch 222 extends from the limiting hole 221b, and the latch 222 is in limiting fit with the latch groove 123a in the axial direction of the pull rod 600.

Then, as shown in fig. 21 and 22, the second assembly 200 moves upward, the spring 215 expands, and the latch 222 drives the sliding portion 123 to move toward the holding portion 121 along the connecting shaft 122 until the sliding portion 123 contacts the holding portion 121.

Then, as shown in fig. 23 and 24, the latch 222 continues to move upward, being separated from the catch groove 123a, and the latch 222 comes into contact with the outer periphery of the catch 121.

Finally, as shown in fig. 7 and 8, as the second assembly 200 moves upward continuously, the vacuum chuck 211 is separated from the product 400, the latch 222 is separated from the first matching portion 120, so that the second assembly 200 is separated from the first assembly 100, the cover plate connecting portion 110 is pressed on the product 400 along with the cover plate 300, and the product 400 is placed on the carrier 500, thereby facilitating subsequent processing of the product 400.

In addition, when the picking and placing device disclosed in the above embodiment is used to pick and place products of different models or sizes, the picking and placing device can be used to pick and place other products and cover plates by only pre-installing the first assembly 100 on the cover plate corresponding to other products and adjusting the arrangement position of the product connecting part, so that the switching is convenient, the picking and placing device is not limited to the models and sizes of the products, and the application range is wide.

In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.