CN219448481U - Combined picking and placing device - Google Patents

Abstract

The embodiment of the utility model provides a combined picking and placing device which comprises a rack, and a clamping mechanism and a material sucking mechanism which are arranged on the rack. Wherein, inhale material mechanism and press from both sides and get the mechanism adjacent setting and including inhaling material subassembly and elastic component. Specifically, the material sucking component is configured to lift up and down relative to the carrier to take and put the product on the carrier. The material sucking assembly comprises a connecting piece, and the connecting piece is connected to the frame. At least a portion of the elastic component is connected with the connecting piece, and the elastic component comprises a pre-compression spring which is in a compression state. Thereby, damage to the product due to overpressure can be prevented by providing the elastic assembly. Simultaneously, the clamping mechanism and the material sucking mechanism are combined, so that the device has the functions of taking and placing the carrier and the product, and has reliable operation, strong practicability, simple and compact structure, easy adjustment and high universality.

Description

Combined picking and placing device

Technical Field

The utility model relates to the technical field of automatic picking and placing, in particular to a combined picking and placing device.

Background

In the field of automation, the picking and placing of products and carriers are often involved. Under normal conditions, the picking and placing carrier and the picking and placing product need to be separated by two manipulators, so that the picking and placing carrier and the picking and placing product occupy more space and have higher production cost. For this reason, a device having both functions of picking and placing a carrier and picking and placing a product is needed.

Disclosure of Invention

In view of the above, the present utility model provides a combined picking and placing device, which has the functions of picking and placing a carrier and picking and placing a product by two sets of mechanisms.

The embodiment of the utility model provides a combined picking and placing device, which comprises: the rack is configured to be connected to the driving part to drive the combined picking and placing device to move; the clamping mechanism is arranged on the rack; inhale material mechanism, inhale material mechanism with press from both sides and get the adjacent setting of mechanism, inhale material mechanism and include: a suction assembly configured to be lifted up and down relative to the carrier to pick and place a product on the carrier, the suction assembly including a connector connected to the frame; the elastic component, at least a portion of elastic component with the connecting piece is connected, elastic component includes the pre-compaction spring, the pre-compaction spring is compressed state.

Further, the frame includes a first mounting plate; the clamping mechanism comprises: the first driving piece is arranged at the bottom of the first mounting plate; the clamping jaw is connected to the first driving piece, the clamping jaw comprises two clamping jaws, and the first driving piece drives the two clamping jaws to be close to/far away from each other so as to clamp/unclamp the carrier.

Further, the gripping mechanism further includes: the bearing piece is connected to the bottom of the first driving piece shell, and extends outwards relative to the first driving piece shell to form a first extension part; and a pressing assembly connected to the first extension portion, the pressing assembly configured to perform up-and-down movement along a direction perpendicular to an upper surface of the carrier to press/release the carrier.

Further, the pressing assembly includes: the guide sleeve comprises a body and a mounting part protruding outwards along the radial direction of the body, the mounting part is arranged above the first extending part in a limiting mode, a penetrating mounting hole is formed in the first extending part, and the body penetrates through the mounting hole to extend downwards; and at least one part of the pressing column is arranged in the guide hole of the guide sleeve.

Further, the pressing assembly further includes: the buffer piece is sleeved on the pressing column, the pressing column can move up and down relative to the guide sleeve, the bottom of the pressing column protrudes outwards along the radial direction to form a pressing part, one end of the buffer piece is connected to the bottom of the guide sleeve, and the other end of the buffer piece is connected to the pressing part.

Further, the frame also comprises a connecting column arranged above the first mounting plate of the frame and a second mounting plate arranged above the connecting column; the material sucking mechanism further comprises: the rotary platform is arranged at the bottom of the second mounting plate and is connected to the material sucking assembly; and the third driving piece is arranged at the top of the second mounting plate and is connected to the rotating platform.

Further, the suction assembly includes: the second driving piece is arranged at the bottom of the rotary platform, the connecting piece is connected to the second driving piece, and the elastic component is arranged at the bottom of the connecting piece; the connecting seat is connected with the elastic component; the mounting seat is connected with the connecting seat; the sucking discs are arranged at the bottoms of the mounting seats.

Further, the connecting seat comprises a first part connected with the elastic component and a second part formed by bending and extending the bottom end of the first part, and the second part is connected with the mounting seat; the connecting seat further comprises a second extending part extending from the top end of the first part towards the connecting piece, and a pressure sensor is arranged on the second extending part.

Further, a gap exists between the pressure sensor and the connector; the elastic assembly further comprises: a first fastener connected to the rotating platform; a second fastener, the second fastener being connected to the first fastener; the pre-pressing spring is arranged between the first buckling piece and the second buckling piece.

Further, the first buckling piece is formed into a -shaped structure, the -shaped structure comprises a first connecting part, a bending part formed by bending and extending one end of the first connecting part and a limiting part formed by bending and extending the tail end of the bending part, the top of the first connecting part is connected with the second driving piece, and the bottom of the first connecting part is connected with one end of the pre-compression spring; the second buckling piece comprises a buckling part and a second connecting part formed by bending and extending one end of the buckling part, the buckling part is connected with the other end of the pre-pressing spring, the second connecting part is connected with the mounting seat, the buckling part is matched with the limiting part, and the buckling part can float up and down relative to the limiting part.

Compared with the prior art, the utility model has at least the following beneficial effects:

1. the embodiment of the utility model provides a combined picking and placing device which comprises a rack, and a clamping mechanism and a material sucking mechanism which are arranged on the rack. The clamping mechanism is used for taking and placing the carrier, the material sucking mechanism can be lifted up and down relative to the carrier to take and place the product on the carrier, and the clamping mechanism and the material sucking mechanism are combined to enable the device to have the functions of taking and placing the carrier and taking and placing the product, so that the device has the advantage of strong universality;

2. the material sucking component of the combined type taking and placing device comprises the connecting piece, the connecting piece is connected with the elastic component, the elastic component comprises the pre-pressing spring, and the pre-pressing spring is in a compressed state, so that the elastic component and the material sucking component can be prevented from moving up and down in the process that the whole device runs empty or the material sucking mechanism sucks a product to rise, and the running stability of the device is improved;

3. the suction mechanism of the combined type picking and placing device is further provided with the pressure sensor, a gap exists between the pressure sensor and the connecting piece, when the sucking disc of the suction assembly is in contact with a product, the product generates upward reaction force on the sucking disc, the reaction force drives the pressure sensor to move upwards until the reaction force contacts with the connecting piece, the pressure sensor detects a force value and feeds back the force value to the terminal, and when the force value rises to a certain threshold value, the terminal controls the combined type picking and placing device to stop moving downwards, so that the phenomenon that the sucking disc continuously moves downwards to crush the product can be avoided, and the running reliability of the device is improved;

4. the elastic component of the combined picking and placing device further comprises a first buckling piece connected to the frame and a second buckling piece connected with the first buckling piece, the pre-pressing spring is arranged between the first buckling piece and the second buckling piece, when the sucker of the sucking component is in contact with a product, the reaction force generated by the product on the sucker drives the pressure sensor to move towards the connecting piece, at the moment, the second buckling piece can be separated relative to the first buckling piece, the second buckling piece continuously floats upwards to further enable the pre-pressing spring to be compressed, so that the function of protecting the pressure sensor can be achieved, the pressure sensor detects the sucker pressure, and then the control device and the sucker continuously move downwards, so that the function of protecting the pressure sensor and the product is achieved, and the operation reliability of the device is further improved.

Drawings

The above and other objects, features and advantages of the present utility model will become more apparent from the following description of embodiments of the present utility model with reference to the accompanying drawings, in which:

fig. 1 is a schematic structural diagram of a combined pick-and-place device according to an embodiment of the present utility model;

FIG. 2 is a schematic view of a frame according to an embodiment of the present utility model;

fig. 3 is a schematic diagram of a working state of a combined pick-and-place device according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of a gripping mechanism according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of a suction mechanism according to an embodiment of the present utility model;

FIG. 6 is a schematic view of a first fastener according to an embodiment of the present utility model;

FIG. 7 is a schematic structural view of a second fastener according to an embodiment of the present utility model.

Reference numerals illustrate:

1-a frame; 11-a first mounting plate; 12-connecting columns; 13-a second mounting plate; 131-avoiding grooves; 2-a clamping mechanism; 21-a first driving member; 22-clamping jaw; 23-a carrier; 231-a first extension; 24-pressing assembly; 241-pressing column; 2411-a pressing part; 2412-a stop; 242-cushioning member; 243-guiding sleeve; 2431-mount; 2432-body; 3-a material sucking mechanism; 31-a second driving member; a 32-elastic component; 321-a first fastener; 3211-a first connection; 3212-a bend; 3213-a limiting part; 322-second fastener; 3221-a buckling part; 3222-a second connection; 323-pre-pressing a spring; 33-sucking disc; 34-a carrier; 341-a slide rail assembly; 35-connecting seats; 351-a first part; 352-second section; 353-a second extension; 36-mounting seats; 37-connectors; 38-a pressure sensor; 39-rotating a platform; 30-a third driver; a-carrier; b-product.

Detailed Description

The present utility model is described below based on examples, but the present utility model is not limited to only these examples. In the following detailed description of the present utility model, certain specific details are set forth in detail. The present utility model will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the utility model.

Unless the context clearly requires otherwise, the words "comprise," "comprising," and the like in the description are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, it is the meaning of "including but not limited to".

In the description of the present utility model, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

Fig. 1 is a schematic structural diagram of a combined picking and placing device according to an embodiment of the present utility model, as shown in fig. 1, the combined picking and placing device includes a frame 1, a clamping mechanism 2, and a suction mechanism 3. Wherein, the clamping mechanism 2 is arranged on the frame 1, and the material sucking mechanism 3 is arranged adjacent to the clamping mechanism 2. It should be noted that, the combined picking and placing device in this embodiment is connected to the driving portion through the frame 1, so that the combined picking and placing device is driven to move by the driving portion. Illustratively, the driving part is a manipulator, and the manipulator is connected to the frame 1. That is, the combined pick-and-place device moves under the driving action of the manipulator. Specifically, fig. 2 is a schematic structural diagram of a rack provided in an embodiment of the present utility model, and as shown in fig. 2, the rack 1 includes a first mounting plate 11, a connection post 12, and a second mounting plate 13. Wherein, the lower extreme of spliced pole 12 is connected with first mounting panel 11, and the upper end of spliced pole 12 is connected with second mounting panel 13. Further, the gripping mechanism 2 is mounted on the bottom of the first mounting plate 11, and the suction mechanism 3 is mounted on the second mounting plate 13. Specifically, the second mounting plate 13 is formed with an avoidance groove 131, and the suction mechanism 3 is disposed on the second mounting plate 13 through the avoidance groove 131. In one embodiment, the connecting columns 12 are four and uniformly spaced, and the suction mechanisms 3 are disposed on the second mounting plate 13 through gaps between the connecting columns 12 so as to be disposed in a cross-distribution with the gripping mechanism 2, so that the device structure is more compact. That is, by combining the gripping mechanism 2 and the suction mechanism 3, the combined type pickup and placement device can have the functions of picking and placement of the carrier a and the product B, and the practicability of the device is enhanced.

Further, the suction mechanism 3 includes a suction member and an elastic member 32. Specifically, the suction assembly is configured to lift up and down relative to the carrier a to pick and place the product B on the carrier a. It should be noted that the suction assembly includes a connector 37, and the connector 37 is connected to the frame 1. Further, at least a portion of the elastic assembly 32 is connected to the connector 37. It should be further noted that the elastic member 32 includes a pre-compression spring 323, and the pre-compression spring 323 is in a compressed state. It is easy to understand that the pre-compression spring 323 is in a pre-compression state when being set, and the pre-compression amount can be set to 20% by way of example, and the pre-compression spring 323 is in a compression state, so that the elastic component 32 and the suction component can be prevented from moving up and down in the process of the whole device running or the suction mechanism 3 sucking the product B to rise, and the running stability of the device is improved.

Fig. 3 is a schematic view illustrating an operating state of the combined pick-and-place device according to an embodiment of the present utility model, and as shown in fig. 3, the pick-and-place mechanism 2 includes a first driving member 21 and a clamping jaw 22. Wherein the first driving member 21 is disposed at the bottom of the first mounting plate 11, and the two clamping jaws 22 are respectively connected to the first driving member 21, so that the two clamping jaws 22 can synchronously reciprocate under the driving of the first driving member 21, so that the two clamping jaws 22 approach to/separate from each other to clamp/unclamp the carrier a. It should be noted that the first driving member 21 is a bidirectional cylinder to realize synchronous control of the two clamping jaws 22. As an alternative embodiment, the inside of the clamping jaw 22 is provided with a force optimizing glue, which helps to avoid damaging the carrier a when the clamping jaw 22 clamps the carrier a.

Fig. 4 is a schematic structural diagram of a gripping mechanism according to an embodiment of the present utility model, and as shown in fig. 4, the gripping mechanism 2 further includes a carrier 23 and a pressing component 24. Wherein the carrier 23 is connected to the bottom of the housing of the first driver 21 and extends outwardly relative to the housing of the first driver 21 to form a first extension 231. The pressing assembly 24 is connected to the first extension 231. Further, as shown in fig. 3, when the manipulator drives the combined picking and placing device to move towards the carrier a, the pressing assembly 24 can be driven to move up and down along the direction perpendicular to the upper surface of the carrier a, so as to press/release the carrier a.

As shown in fig. 4, in one embodiment, the pressing assembly 24 includes a guide sleeve 243 and a press stud 241. Specifically, the guide sleeve 243 includes a main body 2432 and a mounting portion 2431 protruding radially outward along the main body 2432, the mounting portion 2431 is disposed above the first extension portion 231 in a limited manner, a through mounting hole is formed in the first extension portion 231, and the main body 2432 extends downward through the mounting hole in the first extension portion 231. The guide bush 243 has a guide hole matching the pressing post 241, and at least a part of the pressing post 241 is provided in the guide hole of the guide bush 243. That is, the guide sleeve 243 is sleeved on the pressing post 241 and is disposed on the carrier 23 through the mounting portion 2431.

As shown in fig. 4, in one embodiment, the pressing assembly 24 further includes a bumper 242. Specifically, the buffer 242 is sleeved on the pressing post 241, and the pressing post 241 can move up and down relative to the guide sleeve 243. Further, the bottom of the pressing post 241 is protruded radially outward to form a pressing portion 2411, and one end of the buffer 242 is connected to the bottom of the guide sleeve 243 and the other end is connected to the pressing portion 2411. That is, before the clamping jaw 22 of the clamping mechanism 2 grabs the carrier a, the whole device can drive the pressing post 241 to move towards the carrier a, from corresponding to fig. 4, under the action of the driving portion, the pressing post 241 moves downward until the pressing portion 2411 abuts against the carrier a, and by setting the pressing post 241, the carrier a can be prevented from sliding when being grabbed by the clamping jaw 22, thereby improving the reliability and the working efficiency of the device. It should be noted that, the downward movement of the pressing post 241 will be reacted by the carrier a, and the reacting force makes the pressing post 241 slide upward relative to the guide sleeve 243, the buffer member 242 compresses, and the buffer member 242 can avoid the rigid contact between the pressing post 241 and the carrier a, so as to protect the carrier. The buffer 242 in the present embodiment is a spring and is sleeved on the pressing column 241; the number of the pressing columns 241 is four, and each pressing column 241 is sleeved with one buffer piece 242 at uniform intervals. Thus, the pressing assembly 24 can simultaneously press four areas on the carrier a, thereby ensuring that the carrier a is held in place for gripping by the jaws 22.

As shown in fig. 4, in one embodiment, the top of the press stud 241 is provided with a stop 2412. Specifically, when the buffer 242 drives the pressing post 241 to move by an elastic force, the stopper 2412 may abut against the mounting portion 2431, thereby preventing the pressing post 241 from sliding off from the guide sleeve 243. It should be noted that the stopper 2412 is detachably provided on the top of the pressing post 241 to ensure that the pressing assembly 24 can perform the installation work.

As illustrated in fig. 5, in one embodiment, the suction mechanism 3 further comprises a rotary platform 39 and a third drive 30. Wherein the rotary platform 39 is provided at the bottom of the second mounting plate 13 and connected to the suction assembly, and the third driving member 30 is provided at the top of the second mounting plate 13 and connected to the rotary platform 39. The third driving member 30 is a motor. Illustratively, the adjustment angle of the rotary stage 39 is ±15°. Therefore, when the third driving piece 30 drives the rotating platform 39 to rotate, the rotating platform 39 can drive the material sucking component to deflect, so that the angle adjustment of the material sucking component for taking and placing the product B is realized, the point position of the product B is calibrated, and the device has certain adjustability.

As shown in fig. 5, in one embodiment, the suction assembly includes a second driver 31, a connector 35, a mounting 36, and a plurality of suction cups 33. The second driving member 31 is disposed at the bottom of the rotating platform 39, the connecting member 37 is connected to the second driving member 31, and the elastic component 32 is disposed at the bottom of the connecting member 37. Further, a connection seat 35 is connected with the elastic component 32, a mounting seat 36 is connected to the connection seat 35, and a plurality of sucking discs 33 are arranged at the bottom of the mounting seat 36. The second driving member 31 is a slide cylinder. Further, the second driving member 31 sequentially drives the elastic member 32 and the plurality of sucking discs 33 to move to contact the product B placed on the carrier a. It should be noted that the elastic component 32 may play a role of buffering when the suction cup 33 contacts the product B, so as to avoid the suction cup 33 directly striking the product B to damage the product B. It will be readily appreciated that the suction cup 33 is made of an elastic material to avoid damage to the product B by the suction cup 33, the suction cup 33 may comprise a plurality so as to suck a plurality of products B at once.

As shown in fig. 5, in one embodiment, the connection seat 35 includes a first portion 351 connected to the elastic member 32 and a second portion 352 formed by bending and extending a bottom end of the first portion 351, and the second portion 352 is connected to the mounting seat 36. Further, the connection seat 35 further includes a second extension portion 353 extending from the tip of the first portion 351 toward the connection member 37, and the second extension portion 353 is provided with a pressure sensor 38. When the sucking disc 33 of the sucking component contacts with the product B, the product B generates upward reaction force on the sucking disc 33, the reaction force drives the pressure sensor 38 to move upwards until contacting with the connecting piece 37, the pressure sensor 38 detects a force value and feeds back to a terminal, and when the force value rises to a certain threshold value, the terminal controls the combined picking and placing device to stop moving downwards, so that the sucking disc 33 can be prevented from continuing to move downwards to crush the product B, and the operation reliability of the device is improved.

In one embodiment, as shown in fig. 5, a gap exists between the pressure sensor 38 and the connector 37. The gap between the pressure sensor 38 and the connector 37 is about 0.3 to 0.5 mm. Further, the elastic assembly 32 further includes a first fastener 321 and a second fastener 322, the first fastener 321 being connected to the rotary platform 39, the second fastener 322 being connected to the first fastener 321. Further, a pre-compression spring 323 is disposed between the first fastener 321 and the second fastener 322. It will be readily appreciated that the first fastener 321 is coupled to the frame 1 because the rotary platform 39 is coupled to the frame 1. When the sucking disc 33 of the sucking component contacts with the product B, the reaction force generated by the product B on the sucking disc 33 enables the pressure sensor 38 to move towards the connecting piece 37, at the moment, the second buckling piece 322 can be separated relative to the first buckling piece 321, the second buckling piece 322 continues to float upwards to further enable the pre-pressing spring 323 to be compressed, so that the function of protecting the pressure sensor 38 is achieved, the pressure sensor 38 detects the pressure of the sucking disc 33, and further the downward movement of the device and the sucking disc 33 is controlled, on one hand, the function of protecting the pressure sensor and the product is achieved, and the operation reliability of the device is further improved.

Fig. 6 is a schematic structural diagram of a first fastener according to an embodiment of the present utility model, as shown in fig. 6, in an embodiment, the first fastener 321 is formed into a "" structure, and the "" structure includes a first connecting portion 3211, a bending portion 3212 formed by bending and extending one end of the first connecting portion 3211, and a limiting portion 3213 formed by bending and extending the end of the bending portion 3212, where the top of the first connecting portion 3211 is connected to the second driving member 31, and the bottom of the first connecting portion is connected to one end of the pre-compression spring 323. Correspondingly, fig. 7 is a schematic structural diagram of a second fastener according to an embodiment of the present utility model, as shown in fig. 7, the second fastener 322 includes a fastening portion 3221 and a second connecting portion 3222 formed by bending and extending one end of the fastening portion 3221, the fastening portion 3221 is connected to the other end of the pre-compression spring 323, the second connecting portion 3222 is connected to the mounting seat 36, the fastening portion 3221 is matched with the limiting portion 3213, and the fastening portion 3221 can float up and down relative to the limiting portion 3213. It is easy to understand that the pre-pressing spring 323 in this embodiment can use a compression elastic force to drive the buckling portion 3221 and the limiting portion 3213 to buckle, that is, drive the second buckling member 322 to move toward the first buckling member 321. When the second driving member 31 drives the first buckling member 321 through the first connecting portion 3211, the first buckling member 321 pushes the second buckling member 322 to move through the pre-pressing spring 323, so as to drive the plurality of sucking discs 33 to move and contact the product B on the carrier a, so that the sucking discs 33 suck the product B. It should be noted that, when the sucking disc 33 contacts and sucks the product B, the second fastening member 322 will be forced to move toward the first fastening member 321, and the pre-compression spring 323 is further compressed, so that the pre-compression spring 323 can play a role in buffering to protect the product B, and can use elastic force to avoid the sucking component from shaking during moving, so as to ensure that the sucking disc 33 can suck the product B.

In one embodiment, as shown in fig. 5, the suction assembly further comprises a carrier 34. Specifically, the carrier 34 is disposed on the second driving member 31 and connected to the first connecting portion 3211, so that the second driving member 31 can drive the first fastening member 321 to move through the carrier 34. Further, the connection seat 35 is connected to the second connection portion 3222. It should be noted that the connection base 35 is configured in an L shape, so that a contact area can be increased to enhance a connection strength. Therefore, when the first buckling piece 321 moves under force, the second buckling piece 322 moves under the action of the pre-pressing spring 323 and drives the connecting seat 35 to move synchronously, so that the mounting seat 36 is driven to move, and the sucking disc 33 on the mounting seat 36 can contact and suck the product B. As an alternative embodiment, as shown in fig. 5, a slide rail assembly 341 is provided on the carrier 34, and the connection base 35 is slidably connected to the carrier 34 through the slide rail assembly 341, thereby ensuring that the connection base 35 can stably move.

As shown in fig. 5, in one embodiment, the connector 37 is disposed on the carrier 34 and is connected to the first connection portion 3211. When the second driving member 31 drives the carrier 34 to move, the first fastening member 321 can be driven to move by the connecting member 37. Further, the pressure sensor 38 is disposed between the connecting member 37 and the connecting seat 35, when the suction cup 33 contacts the product B, the connecting seat 35 moves along with the product B and applies pressure to the pressure sensor 38 in cooperation with the connecting member 37, so as to monitor the pressure value by the pressure sensor 38, and avoid the product B from being damaged due to overlarge stress. As an alternative embodiment, the first connecting portion 3211 is provided with a through hole, and the pre-compression spring 323 may pass through the first fastening member 321 and abut against the connecting member 37.

When the combined picking and placing device provided by the embodiment of the utility model works, the combined picking and placing device moves towards the carrier A with the product B by one manipulator, at the moment, the buffer piece 242 enables the stop piece 2412 at the upper end of the pressing post 241 to be abutted with the mounting part 2431 of the guide sleeve 243, and the pre-pressing spring 323 enables the buckling part 3221 of the second buckling piece 322 to be abutted with the limiting part 3213 of the first buckling piece 321. As the device moves downward, the pressing portion 2411 of the pressing post 241 first contacts the carrier a. As the device continues to move downward, the compression column 241 moves upward relative to the guide sleeve 243 and causes the cushioning member 242 to be compressed, thereby securing the carrier a with the spring force. At this time, the clamping jaw 22 is driven to open/close by the first driving member 21, so that the carrier a can be clamped and positioned.

After the carrier a is clamped and positioned, the third driving member 30 drives the rotating platform 39 to adjust the pick-and-place angle of the suction cup 33, and then the second driving member 31 drives the elastic assembly 32, the suction assembly and other related parts to move towards the product B. When the suction cup 33 contacts the product B, the second fastener 322 moves relative to the first fastener 321, and the pre-compression spring 323 is further compressed. At this time, the reaction force of the product B to the suction cup 33 makes the pressure sensor 38 contact with the connecting member 37, and the second driving member 31 is stopped after the pressure value detected by the pressure sensor 38 reaches a predetermined value, and the suction cup 33 can suck the product B through the air pressure system. After the sucking disc 33 sucks the product B, the second driving member 31 resets to drive the product B to rise, and at this time, the second fastening member 322 also resets under the action of the pre-pressing spring 323. Finally, the first driving member 21 opens the clamping jaw 22 to put the carrier A into the streamline, and then puts the sucked product B into the designated position, so that the device can complete the operation.

The embodiment of the utility model provides a combined picking and placing device which comprises a frame 1, a clamping mechanism 2 and a material sucking mechanism 3, wherein the clamping mechanism 2 and the material sucking mechanism 3 are arranged on the frame 1. Wherein the suction mechanism 2 is arranged adjacent to the gripping mechanism 3 and comprises a suction assembly and an elastic assembly 32. Specifically, the suction assembly is configured to lift up and down relative to the carrier a to pick and place the product B on the carrier a. The suction assembly comprises a connector 37, the connector 37 being connected to the frame 1. At least a portion of the elastic member 32 is connected to the connecting member 37, and the elastic member 32 includes a pre-compression spring 323, and the pre-compression spring 323 is in a compressed state. Thereby, the product is prevented from being damaged by the overpressure by providing the elastic member 32. Simultaneously, the clamping mechanism 2 and the material sucking mechanism 3 are combined, so that the device has the functions of taking and placing the carrier A and the product B, and the device is reliable in operation, high in practicality, simple and compact in structure, easy to adjust and high in universality.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and various modifications and variations may be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. A combined pick-and-place device, characterized in that the combined pick-and-place device comprises:

a frame (1), wherein the frame (1) is configured to be connected to a driving part to drive the combined picking and placing device to move;

the clamping mechanism (2) is arranged on the frame (1);

inhale material mechanism (3), inhale material mechanism (3) with press from both sides and get mechanism (2) adjacent setting, inhale material mechanism (3) include:

a suction assembly configured to be lifted up and down relative to a carrier (a) to pick and place a product (B) on the carrier (a), the suction assembly comprising a connector (37), the connector (37) being connected to the frame (1);

and the elastic component (32), at least a part of the elastic component (32) is connected with the connecting piece (37), the elastic component (32) comprises a pre-compression spring (323), and the pre-compression spring (323) is in a compressed state.

2. -the combined pick-and-place device according to claim 1, characterized in that the frame (1) comprises a first mounting plate (11);

the gripping mechanism (2) comprises:

the first driving piece (21), the said first driving piece (21) locates the bottom of the said first mounting plate (11);

-a jaw (22), said jaw (22) being connected to said first driving member (21), said jaw (22) comprising two, said first driving member (21) driving two of said jaws (22) towards/away from each other to grip/release said carrier (a).

3. The combined pick-and-place device according to claim 2, characterized in that the gripping mechanism (2) further comprises:

-a carrier (23), the carrier (23) being connected to the bottom of the housing of the first driver (21), and the carrier (23) extending outwards relative to the housing of the first driver (21) forming a first extension (231); and

-a pressing assembly (24), said pressing assembly (24) being connected to said first extension (231), said pressing assembly (24) being configured for an up-and-down movement along a direction perpendicular to the upper surface of said carrier (a) for compressing/releasing said carrier (a).

4. A combined pick-and-place device according to claim 3, characterized in that the pressing assembly (24) comprises:

the guide sleeve (243) comprises a body (2432) and a mounting part (2431) protruding outwards along the radial direction of the body (2432), the mounting part (2431) is arranged above the first extension part (231) in a limiting mode, a penetrating mounting hole is formed in the first extension part (231), and the body (2432) extends downwards through the mounting hole;

and a pressing column (241), wherein at least one part of the pressing column (241) is arranged in the guide hole of the guide sleeve (243).

5. The combination pick-and-place device of claim 4, wherein the pressing assembly (24) further comprises:

the buffer piece (242), the buffer piece (242) cover is established on the pressure post (241), pressure post (241) can be relative guide pin bushing (243) reciprocates, the bottom of pressure post (241) radially outwards is protruding to form pressing portion (2411), one end of buffer piece (242) is connected to the bottom of guide pin bushing (243), and the other end is connected to pressing portion (2411).

6. The combined picking and placing device according to claim 1, characterized in that the frame (1) further comprises a connecting column (12) arranged above the first mounting plate (11) of the frame (1) and a second mounting plate (13) arranged above the connecting column (12);

the suction mechanism (3) further comprises:

a rotary platform (39), wherein the rotary platform (39) is arranged at the bottom of the second mounting plate (13), and the rotary platform (39) is connected to the material sucking assembly;

and a third driving piece (30), wherein the third driving piece (30) is arranged on the top of the second mounting plate (13) and is connected to the rotating platform (39).

7. The combination pick-and-place device of claim 6, wherein the suction assembly comprises:

a second driving member (31), the second driving member (31) being disposed at the bottom of the rotary platform (39), the connecting member (37) being connected to the second driving member (31), the elastic member (32) being disposed at the bottom of the connecting member (37);

a connection base (35), the connection base (35) being connected with the elastic component (32);

the mounting seat (36), the said mounting seat (36) connects the said connecting seat (35);

the sucking discs (33) are arranged at the bottoms of the mounting seats (36), and the sucking discs (33) are arranged at the bottoms of the mounting seats.

8. The combined pick-and-place device according to claim 7, characterized in that said connection seat (35) comprises a first portion (351) connected to said elastic assembly (32) and a second portion (352) formed by the bottom end bending extension of said first portion (351), said second portion (352) being connected to said mounting seat (36);

the connecting seat (35) further comprises a second extending part (353) extending from the top end of the first part (351) towards the connecting piece (37), and a pressure sensor (38) is arranged on the second extending part (353).

9. -the combined pick-and-place device according to claim 8, characterized in that a gap exists between the pressure sensor (38) and the connection piece (37);

the elastic assembly (32) further comprises:

a first clasp (321), the first clasp (321) being connected to the rotary platform (39);

a second fastener (322), the second fastener (322) being connected to the first fastener (321);

the pre-pressing spring (323) is arranged between the first buckling piece (321) and the second buckling piece (322).

10. The combined picking and placing device according to claim 9, wherein the first buckling piece (321) is formed into a -shaped structure, the -shaped structure comprises a first connecting portion (3211), a bending portion (3212) formed by bending and extending one end of the first connecting portion (3211) and a limiting portion (3213) formed by bending and extending the tail end of the bending portion (3212), the top of the first connecting portion (3211) is connected with the second driving piece (31), and the bottom of the first connecting portion is connected with one end of the pre-compression spring (323);

the second buckling piece (322) comprises a buckling part (3221) and a second connecting part (3222) formed by bending and extending one end of the buckling part (3221), the buckling part (3221) is connected with the other end of the pre-pressing spring (323), the second connecting part (3222) is connected with the mounting seat (36), the buckling part (3221) is matched with the limiting part (3213), and the buckling part (3221) can vertically float relative to the limiting part (3213).