Adjusting mechanism, pick-and-place system and method of operation thereof

Abstract

The present application discloses an adjusting mechanism, a pick-and-place system and an operating method thereof. The pick-and-place system comprises a moving mechanism, an adjusting mechanism and a clamping mechanism. The adjusting mechanism comprises a first coupling member, a second coupling member and a driving assembly. The first coupling member is installed on the moving mechanism. The second coupling member is movably arranged on the first coupling member. The driving assembly is connected to the first coupling member and the second coupling member to drive the first coupling member to move relative to the second coupling member. The clamping mechanism is installed on the second coupling member of the adjusting mechanism.

Description

Technical Field

[0001] This invention relates to an adjustment mechanism, a pick-and-place system having the adjustment mechanism, and a method for operating the same. Background Technology

[0002] Food, beverages, and other products, after being sealed with shrink film and placed in cartons or transport boxes, can be stacked on pallets by automated machinery for easy batch handling or transportation.

[0003] Taking the placement of beverages into transport boxes as an example, automated machinery can stack transport boxes containing beverages onto pallets. However, since the dimensions of the transport boxes may be affected by manufacturing tolerances, or the shape of the transport boxes may be deformed by impacts during use, the transport boxes may collapse due to poor stacking conditions during the process of stacking transport boxes by automated machinery. Summary of the Invention

[0004] The present invention provides an adjustment mechanism, a picking and placing system and its operation method, thereby improving the quality of a robotic arm in stacking items, packing items, and grasping items.

[0005] An embodiment of the present invention discloses a pick-and-place system comprising a moving mechanism, an adjusting mechanism, and a clamping mechanism. The adjusting mechanism includes a first coupling member, a second coupling member, and a driving assembly. The first coupling member is mounted on the moving mechanism. The second coupling member is movably disposed on the first coupling member. The driving assembly is connected to the first coupling member and the second coupling member to drive the first coupling member to move relative to the second coupling member. The clamping mechanism is mounted on the second coupling member of the adjusting mechanism.

[0006] Another embodiment of the present invention discloses an adjustment mechanism for mounting on a moving mechanism. The adjustment mechanism includes a first coupling, a second coupling, and a drive assembly. The first coupling is mounted on the moving mechanism. The second coupling is movably disposed on the first coupling. The drive assembly includes a rotating shaft, a first abutting member, and a rotation drive element. The rotating shaft is rotatably disposed on the first coupling. The first abutting member is driven by the rotating shaft and abuts against the first coupling or the second coupling to drive the first coupling to move relative to the second coupling. The rotation drive element is connected to the rotating shaft and is used to drive the rotating shaft to rotate relative to the first coupling.

[0007] Another embodiment of the present invention discloses an operation method of a pick-and-place system comprising the following steps: A gripping mechanism grips an object and places it above another object. The gripping mechanism moves along a first direction and moves a first distance along the first direction. The first distance is less than the engagement depth between the object and the other object, causing the object to partially engage with the other object. The gripping mechanism moves along a second direction, causing the object to cause the other object to rock along the second direction, which is substantially perpendicular to the first direction. The gripping mechanism moves along the first direction and moves a second distance along the first direction. The sum of the first distance and the second distance is substantially equal to the engagement depth between the object and the other object, causing the object to fully engage with the other object.

[0008] According to the adjustment mechanism, pick-and-place system and its operation method in the above embodiments, by adding an adjustment mechanism between the moving mechanism and the clamping mechanism, if inaccurate alignment occurs between boxes, between items and boxes, or between the clamping mechanism and the pallet when stacking boxes, packing items into boxes, or clamping pallets, the relative positional relationship between boxes, items and boxes, or between the clamping mechanism and the pallet can be finely adjusted by the adjustment mechanism. This allows boxes that are not properly locked to be locked again, items that are not packed into boxes to be packed again, or pallets that are not properly gripped to be gripped again, thereby improving the stacking quality of boxes.

[0009] The above description of the invention and the following description of the embodiments are used to demonstrate and explain the principles of the invention, and to provide a further explanation of the claims of the invention. Attached Figure Description

[0010] Figure 1 This is a plan view of the pick-and-place system according to the first embodiment of the present invention;

[0011] Figure 2 for Figure 1 A three-dimensional schematic diagram of the adjustment mechanism;

[0012] Figure 3 for Figure 2 A schematic diagram of the decomposition process;

[0013] Figure 4 for Figure 2 A side view diagram;

[0014] Figures 5 to 19 for Figure 1 A schematic diagram of the operation of the stacking and handling system for picking and placing boxes;

[0015] Figure 20 for Figure 1 A schematic diagram of the pallet gripping system.

[0016] Figure 21This is a plan view of the picking and placing system for gripping beverage bottles according to the second embodiment of the present invention;

[0017] Figure 22 This is a three-dimensional schematic diagram of the adjustment mechanism described in the third embodiment of the present invention;

[0018] Figure 23 for Figure 22 A schematic diagram of the decomposition process;

[0019] Figure 24 for Figure 22 A side view diagram.

[0020] Symbol Explanation

[0021] 1: Pick-up and drop-off system

[0022] 2, 3: Transport boxes

[0023] 4: Pallet

[0024] 5: Beverage bottles

[0025] 10: Mobile organization

[0026] 20, 20A: Adjustment mechanism

[0027] 30, 30': Clamping mechanism

[0028] 32: Fixture

[0029] 34: First Activity - Hook Claw

[0030] 36: Clamping rod

[0031] 38: Second Activity Hook

[0032] 32': Fixture

[0033] 34': Assembly kit

[0034] 100: First mating component

[0035] 110: First slide rail

[0036] 120: First active slot

[0037] 200: Second mating part

[0038] 210: Second slide rail

[0039] 220: Second active slot

[0040] 300: Intermediary Documents

[0041] 310: First Slide

[0042] 320: Second chute

[0043] 400: Driver Component

[0044] 410: Shaft

[0045] 420: First Pushback

[0046] 421: Second engagement structure

[0047] 430: Second Pushback

[0048] 431: Second locking structure

[0049] 440, 445: Clutch components

[0050] 441, 446: First engagement structure

[0051] 450: Rotation drive element

[0052] 460: Drive wheel

[0053] 470: Drive belt

[0054] 480: Translation drive element

[0055] 100A: First mating component

[0056] 200A: Second mating component

[0057] 210A: Body

[0058] 220A: Conjugate

[0059] 400A: Driver Component

[0060] 410A: Shaft

[0061] 420A: First Push-Off

[0062] 421A: Second Top Engagement Structure

[0063] 430A: Second Push-Off

[0064] 431A: Second bottom locking structure

[0065] 440A: Clutch

[0066] 441A: First top-clamping structure

[0067] 442A: First base clamping structure

[0068] 450A: Rotary drive element

[0069] 460A: Drive wheel

[0070] 470A: Drive belt

[0071] 480A: Translation drive element

[0072] 500A: First pressing component

[0073] 510A: First Body

[0074] 520A: First Rotating Body

[0075] 600A: First elastic element

[0076] 700A: Second pressing component

[0077] 710A: Second Body

[0078] 720A: Second Rotating Body

[0079] 800A: Second elastic element

[0080] A~H, A', C', E', H': direction Detailed Implementation

[0081] Please see Figures 1 to 4 . Figure 1 This is a plan view of the pick-and-place system 1 according to the first embodiment of the present invention. Figure 2 for Figure 1 A three-dimensional schematic diagram of the adjustment mechanism 20. Figure 3 for Figure 2 A schematic diagram of its breakdown. Figure 4 for Figure 2 A side view diagram.

[0082] The picking and placing system 1 of this embodiment includes a moving mechanism 10, an adjusting mechanism 20, and a gripping mechanism 30. The moving mechanism 10 is, for example, a three-axis robotic arm capable of three-axis translation, or a six-axis robotic arm capable of both three-axis translation and three-axis rotation.

[0083] The adjusting mechanism 20 includes a first coupling 100, a second coupling 200, an intermediary member 300, and a drive assembly 400. The first coupling 100 is mounted to the moving mechanism 10, for example, by screw locking, so that the first coupling 100 moves together with the moving mechanism 10. The intermediary member 300 is slidably disposed on the first coupling 100, and the second coupling 200 is slidably disposed on the intermediary member 300, with the sliding direction of the intermediary member 300 relative to the first coupling 100 being different from the sliding direction of the second coupling 200 relative to the intermediary member 300. Specifically, the first coupling 100 has a plurality of first slide rails 110. The intermediary member 300 has a plurality of first slide grooves 310 and a plurality of second slide grooves 320 on opposite sides. The second coupling 200 has a plurality of second slide rails 210. The first slide rail 110 of the first coupling member 100 is disposed in the first slide groove 310 of the intermediate member 300, allowing the first coupling member 100 and the intermediate member 300 to slide relative to each other along the X-axis. The second slide rail 210 of the second coupling member 200 is disposed in the second slide groove 320 of the intermediate member 300, allowing the second coupling member 200 to slide relative to the intermediate member 300 along the Y-axis. Furthermore, the first coupling member 100 has a first movable groove 120, and the second coupling member 200 has a second movable groove 220. The cross-sectional shape of the first movable groove 120 and the second movable groove 220 is, for example, an elongated ellipse. The functions of the first movable groove 120 and the second movable groove 220 will be explained later.

[0084] The drive assembly 400 employs a driver such as a pneumatic cylinder or a motor to drive the first coupling 100 and the intermediate member 300 to move relative to each other, or to drive the second coupling 200 and the intermediate member 300 to move relative to each other. In this embodiment, the drive assembly 400 uses a motor to drive the first coupling 100 and the intermediate member 300 or the second coupling 200 and the intermediate member 300 to move relative to each other. Specifically, the drive assembly 400 includes a rotating shaft 410, a first abutting member 420, a second abutting member 430, two clutches 440 and 445, a rotational drive element 450, a transmission wheel 460, a transmission belt 470, and a translational drive element 480. The rotating shaft 410 is rotatably disposed on the first coupling 100. The first abutting member 420 is fixed to one end of the rotating shaft 410 and located in the first movable groove 120 of the first coupling 100. The first abutment 420 has an elongated elliptical shape, and its length is, for example, equal to the width of the first movable groove 120 but less than its length. Driven by the rotating shaft 410, the first abutment 420 abuts against the wall of the first connecting member 100 surrounding the first movable groove 120, causing the first connecting member 100 and the intermediate member 300 to slide relative to each other along the X-axis. The second abutment 430 is fixed to the other end of the rotating shaft 410 and located in the second movable groove 220 of the second connecting member 200. The second abutment 430 has an elongated elliptical cross-section, and its length is, for example, equal to the width of the second movable groove 220 but less than its length. Driven by the rotating shaft 410, the second abutment 430 abuts against the wall of the second connecting member 200 surrounding the second movable groove 220, causing the second connecting member 200 and the intermediate member 300 to slide relative to each other along the Y-axis.

[0085] The two clutches 440 and 445 each have a first engaging structure 441 and 446. The first pushing member 420 and the second pushing member 430 each have a second engaging structure 421 and 431. The clutches 440 and 445 are slidably disposed on the rotating shaft 410 and rotate relative to the first engaging member 100 by the rotating shaft 410. The clutches 440 and 445 can move axially along the rotating shaft 410 to engage the first engaging structure 441 with the second engaging structure 421 or the second engaging structure 431.

[0086] The transmission wheel 460 is positioned between the two clutches 440 and 445 and can drive the rotating shaft 410 to rotate. In this embodiment, the transmission wheel 460 moves axially along the rotating shaft 410 along with the two clutches 440 and 445, for example. The rotation drive element 450 is, for example, a motor, and a transmission belt 470 is sleeved on the output wheel and the transmission wheel 460 of the rotation drive element 450, so that the rotation drive element 450 drives the rotating shaft 410 to rotate relative to the first coupling member 100 through the transmission belt 470 and the transmission wheel 460.

[0087] The translation drive element 480 is, for example, a pneumatic cylinder, and is connected to the clutch 440 to drive the clutches 440 and 445 along the axial direction of the rotating shaft 410 (e.g., Figure 4 The clutch 445 moves in direction A or direction A', causing the first engaging structure 446 of the clutch 445 to engage or disengage from the second engaging structure 421, or causing the first engaging structure 441 of the clutch 440 to engage with the second engaging structure 431. When the first engaging structure 446 of the clutch 445 engages with the second engaging structure 421 of the first pushing member 420, the rotating shaft 410 drives the first pushing member 420 to rotate relative to the first engaging member 100 through the clutch 445, and the first engaging member 100 is pressed by the first pushing member 420, causing the intermediate member 300 and the second engaging member 200 to move along the X-axis. When the first engaging structure 441 of the clutch 440 engages with the second engaging structure 431 of the second pushing member 430, the rotating shaft 410 drives the second pushing member 430 to rotate relative to the second connecting member 200 through the clutch 440, and the second connecting member 200 is pushed by the second pushing member 430 to move relative to the intermediate member 300 and the first connecting member 100 along the Y-axis. In this embodiment, direction A is located in the -Z-axis and direction A' is located in the +Z-axis.

[0088] In this embodiment, the slide rail and the slide groove are respectively disposed on the first connecting member 100 and the intermediate member 300, but this is not a limitation. In other embodiments, the slide rail and the slide groove may also be disposed on the intermediate member and the first connecting member respectively.

[0089] In this embodiment, the first coupling 100 is disposed on the intermediate member 300 via a matching slide rail and slide groove, so that the first coupling 100 and the intermediate member 300 can slide relative to each other, but this is not a limitation. In other embodiments, the first coupling can also be disposed on the intermediate member via other sliding components, such as inserting a ball between the first coupling and the intermediate member, so that the first coupling and the intermediate member can slide relative to each other via the ball.

[0090] like Figure 1 The clamping mechanism 30 is mounted to the second coupling 200 of the adjusting mechanism 20 by means of screws, and is used, for example, to clamp the pallet 4 (e.g. Figure 20 ), 5 carrying boxes or beverage bottles (e.g.) Figure 21 In detail, the gripping mechanism 30 includes a fixed frame 32 and a plurality of first movable claws 34. The fixed frame 32 is fixed to the second coupling 200. These first movable claws 34 are rotatably disposed on the fixed frame 32 and are used to hook the transport box.

[0091] In one embodiment, the gripping mechanism 30 may further include a plurality of gripping rods 36 rotatably mounted on the mounting frame 32 to grip the transport box.

[0092] In one embodiment, the gripping mechanism 30 may further include a plurality of second movable claws 38. These second movable claws 38 are rotatably disposed on the fixing frame 32, and the length of these second movable claws 38 is greater than the length of these first movable claws 34. The second movable claws 38 are used, for example, to hook onto the pallet 4.

[0093] In this embodiment, the adjusting mechanism 20 includes three sliding members: a first connecting member 100, an intermediate member 300, and a second connecting member 200. This allows the adjusting mechanism 20 to move the clamping mechanism 30 along two axes (such as the X-axis and the Y-axis), but it is not limited to this. In other embodiments, the adjusting mechanism may also include only two sliding members (the first connecting member and the intermediate member), two sliding members (the intermediate member and the second connecting member), or only two sliding members (the first connecting member and the second connecting member), allowing the clamping mechanism to move only along a single axis.

[0094] In this embodiment, the number of rotation drive elements 450 is one, and the effect of driving two pusher elements is achieved by switching clutches 440 and 445, but this is not a limitation. In other embodiments, the clutch design can be omitted, and the number of rotation drive elements can be changed to two, so that the effect of driving two pusher elements can be achieved by two rotation drive elements.

[0095] The operation method of the pick-and-place system 1 is described below. The operation method of the pick-and-place system 1 includes the following steps: A gripping mechanism 30 grips one object and places it above another object. Next, the gripping mechanism 30 moves along a first direction by a first distance, which is less than the engagement depth between the object and the other object, causing partial engagement. Next, the gripping mechanism 30 moves along a second direction, causing the object to cause the other object to rock along the second direction, which is substantially perpendicular to the first direction. Next, the gripping mechanism 30 moves along a third direction, causing the object to cause the other object to rock along the third direction, which is substantially perpendicular to both the first and second directions. Next, the gripping mechanism 30 moves along the first direction by a second distance, the sum of which is substantially equal to the engagement depth between the object and the other object, causing complete engagement. For details, please refer to [link to relevant documentation]. Figures 5 to 19 . Figures 5 to 19 for Figure 1 A schematic diagram of the operation of the stacking and handling system 1.

[0096] like Figure 5 As shown, the first movable claw 34 of the clamping mechanism 30 clamps a row of transport boxes 2, and the clamping rod of the clamping mechanism 30 clamps this row of transport boxes 2, and the moving mechanism 10 moves this row of transport boxes 2 clamped by the clamping mechanism 30 to above another row of transport boxes 3.

[0097] Next, as Figure 6 As shown, the moving mechanism 10 drives the clamping mechanism 30 to move a first distance along a first direction (as shown by direction B). The first distance is less than the engagement depth between the transport box 2 and the other transport box 3, causing the transport box 2 and the other transport box 3 to partially engage. Since the dimensions of the transport boxes 2 and 3 are not necessarily the same, and the shapes of the transport boxes 2 and 3 may be slightly deformed, some of the transport boxes 2 and 3 can engage, but others fail to engage due to misalignment. In this embodiment, direction B is located along the -Z axis.

[0098] Next, as Figure 7 As shown, the clamping mechanism 30 moves along a second direction (as shown by direction C). Considering the already engaged transport boxes 2 and 3, transport box 3 will be driven by transport box 2 and swing along with it. Considering the not yet engaged transport boxes 2 and 3, when transport box 2 moves along the second direction (as shown by direction C), it will adjust the relative positional relationship between transport box 2 and transport box 3, allowing them to realign and complete the engagement. In this embodiment, direction C is located along the +X axis.

[0099] Next, it will be explained how to align the gripping mechanism 30 along the second direction (e.g., Figure 9 (As shown in direction C) Move. First, engage the first engaging structure 446 of the clutch 445 with the second engaging structure 421 of the first pushing member 420, then... Figures 8 to 9 As shown, the rotation drive element 450 drives the first pusher 420 to rotate in direction D via the rotating shaft 410, and the first coupling member 100 is pushed by the first pusher 420, causing the intermediate member 300 to move relative to the first coupling member 100 in the second direction (as shown in direction C). Then, as... Figure 10 and Figure 11 As shown, the rotation drive element 450 continues to drive the first push member 420 to rotate in direction D, so that the first push member 420 returns to its original position. Figure 8 The reference position is shown, and the clamping mechanism 30 is reset in the opposite direction of the second direction. In this embodiment, direction C is located in the +X axis and direction C' is located in the -X axis.

[0100] Next, as Figures 12 to 14 As shown, the clutches 440 and 445 are moved along direction A by the translation drive element 480, so that the first engaging structure 441 of the clutch 440 engages with the second engaging structure 431 of the second pushing member 430. In this way, when rotation causes the clutch 440 to rotate, the clutch 440 will cause the second pushing member 430 to rotate relative to the second engaging member 200, and drive the clamping mechanism 30 along a third direction (e.g., ...). Figure 14 The direction (as shown in E) is used for movement. In this embodiment, direction A is located along the -Z axis, and direction E is located along the +Y axis.

[0101] Next, it will be explained how to move the gripping mechanism 30 along a third direction (as shown in direction E). Figures 15 to 16 As shown, the rotation drive element 450 drives the second pusher 430 to rotate in direction F via the rotating shaft 410, and the second coupling member 200 is pushed by the second pusher 430, causing the second coupling member 200 to move relative to the intermediate member 300 in a third direction (as shown in direction E). Then, as... Figure 17 and Figure 18 As shown, the rotation drive element 450 continues to drive the second pusher 430 to rotate in direction F, so that the second pusher 430 returns to its original position. Figure 15 The reference position is shown, and the gripping mechanism 30 is reset in the opposite direction of the third direction, as shown. Figure 17 The direction E' is shown in the diagram. In this embodiment, direction E is located along the +Y axis and direction E' is located along the -Y axis.

[0102] Once the incompletely engaged transport box 2 and transport box 3 are realigned and engaged, then... Figure 19 As shown, the moving mechanism 10 drives the gripping mechanism 30 to continue along the first direction (e.g., Figure 19 (As shown in direction B) Move a second distance. The sum of the first and second distances is essentially equal to the engagement depth of transport box 2 and transport box 3, making transport box 2 and transport box 3 fully engaged. In this way, the stacking condition of transport box 2 and transport box 3 can be improved, allowing transport boxes 2 and 3 to be stacked more stably.

[0103] In the operation method of the pick-and-place system 1 in this embodiment, in addition to the step of moving the gripping mechanism 30 along a second direction to cause the object to shake along the second direction, it also includes the step of moving the gripping mechanism 30 along a third direction to cause the object to shake along the third direction. However, this step is not intended to limit the invention. In other embodiments, the operation method of the pick-and-place system 1 can also replace the two steps along the second direction and the third direction with only moving along a fourth direction, for example, parallel to the second direction or at a 45-degree angle to the second direction. That is, the operation method of the pick-and-place system 1 can be changed to include having a gripping mechanism 30 grip one object above another object. Then, the gripping mechanism 30 is moved along a first direction, and the gripping mechanism 30 moves along the first direction by a first distance, the first distance being less than the engagement depth between the object and the other object, so that the object and the other object are partially engaged. Then, the gripping mechanism 30 is moved along a fourth direction, causing the object to shake along the fourth direction, the fourth direction being substantially perpendicular to the first direction. Next, the clamping mechanism 30 is moved along the first direction, and the clamping mechanism 30 moves along the first direction by a second distance. The sum of the first distance and the second distance is essentially equal to the engagement depth of the object and the other object, so that the object and the other object are completely engaged.

[0104] In addition to gripping the transport box, the clamping mechanism 30 can also grip the pallet 4 or the beverage bottle 5. Please refer to [link / reference]. Figure 20 and Figure 21 . Figure 20 for Figure 1 A plan view of the pick-and-place system 1 gripping the pallet 4. Figure 21 This is a plan view of the picking and placing system 1 according to the second embodiment of the present invention, which grips the beverage bottle 5. Figure 20 As shown, the second movable claw 38 of the gripping mechanism 30 hooks onto the pallet 4, and the pallet 4 is moved by the moving mechanism 10 of the pick-and-place system 1. During the process of the second movable claw 38 hooking onto the pallet 4, damage to the pallet 4 may prevent the second movable claw 38 from accurately hooking onto the pallet 4. In this case, the relative positional relationship between the second movable claw 38 and the pallet 4 can be fine-tuned by adjusting the adjustment mechanism 20, thereby allowing the second movable claw 38 to accurately hook onto the pallet 4. Figure 21 As shown, the clamping mechanism 30' includes a fixed frame 32' and multiple assembly sleeves 34'. The fixed frame 32' is fixed to the second connector 200. These assembly sleeves 34' are disposed on the fixed frame 32' for assembling the beverage bottle 5. The beverage bottle 5 is then moved by the moving mechanism 10 of the pick-and-place system 1, such as loading the beverage bottle 5 into the transport box. During the process of loading the beverage bottle 5 into the transport box, the beverage bottle 5 may be difficult to load accurately due to deformation of the transport box. In this case, the relative position of the beverage bottle 5 and the transport box can be finely adjusted by adjusting the rocking motion of the mechanism 20, thereby allowing the beverage bottle 5 to be accurately placed into the transport box.

[0105] In one embodiment, the pick-and-place system 1 may further include a data storage device (not shown), an image capture device (not shown), and a controller (not shown) electrically connected to each other. The data storage device, for example, is a hard disk containing a database to store multiple sets of motion parameters for the pick-and-place system 1. The image capture device, for example, is a camera used to capture an image or read patterned identification information. The controller is used to drive the pick-and-place system 1 with one set of motion parameters based on the image or patterned identification information. For example, the database stores motion parameters of the pick-and-place system 1 when the pallet 4 is damaged, or motion parameters of the pick-and-place system 1 corresponding to different sizes of transport boxes, or motion parameters of the pick-and-place system 1 corresponding to different deformation states of the transport boxes.

[0106] Please see Figures 22 to 24 . Figure 22 This is a three-dimensional schematic diagram of the adjustment mechanism 20A according to the third embodiment of the present invention. Figure 23 for Figure 22 A schematic diagram of its breakdown. Figure 24 for Figure 22 A side view diagram.

[0107] The adjustment mechanism 20A of this embodiment includes a first coupling 100A, a second coupling 200A, and a drive assembly 400A. The first coupling 100A is mounted to the moving mechanism (not shown), for example, by means of screw locking, so that the first coupling 100A moves together with the moving mechanism. The second coupling 200A is movably disposed on the first coupling 100A. In detail, the second coupling 200A includes a body 210A and a coupling body 220A that are coupled together. The body 210A has a movable groove 211A. The cross-sectional shape of the movable groove 211A is, for example, circular, and the function of the movable groove will be explained later.

[0108] In this embodiment, the drive assembly 400A employs a motor, for example, to drive the first coupling 100A and the second coupling 200A to move relative to each other. Specifically, the drive assembly includes a rotating shaft 410A, a first abutting member 420A, a second abutting member 430A, a clutch member 440A, a rotational drive element 450A, a transmission wheel 460A, a transmission belt 470A, and a translational drive element 480A. The rotating shaft 410A is rotatably disposed on the first coupling 100A. The first abutting member 420A is fixed to one end of the rotating shaft 410A and located in the movable groove 211A of the body 210A of the second coupling 200A. The first abutting member 420A is, for example, a cam and is eccentrically configured with the rotating shaft 410A. The second abutting member 430A is fixed to the other end of the rotating shaft 410A and located in the movable groove 211A of the body 210A of the second coupling 200A. The second pusher 430A is, for example, a cam and is eccentrically configured with the rotating shaft 410A, and the extension direction of the second pusher 430A is different from the extension direction of the first pusher 420A.

[0109] like Figure 23The clutch 440A has a first top engaging structure 441A and a first bottom engaging structure 442A on opposite sides. The first pusher 420A has a second top engaging structure 421A, and the second pusher 430A has a second bottom engaging structure 431A. The clutch 440A is slidably disposed on the rotating shaft 410A and is driven by the rotating shaft 410A to rotate relative to the first coupling member 100A in directions H and H'. When the first top engaging structure 441A of the clutch 440A engages with the second top engaging structure 421A of the first pusher 420A, the rotating shaft 410A drives the first pusher 420A to rotate relative to the second coupling member 200A through the clutch 440A. When the first bottom engaging structure 442A of the clutch 440A engages with the second bottom engaging structure 431A of the second pushing member 430A, the rotating shaft 410A drives the second pushing member 430A to rotate relative to the second engaging member 200A through the clutch 440A. In this embodiment, direction H is located in the -Z axis, and direction H' is located in the -Z axis.

[0110] The drive wheel 460A is fixed to the rotating shaft 410A. The rotation drive element 450A is, for example, a motor, and the drive belt 470A is sleeved on the output wheel and the drive wheel 460A of the rotation drive element 450A, so that the rotation drive element 450A drives the rotating shaft 410A to rotate relative to the second coupling member 200A in the direction G through the drive belt 470A and the drive wheel 460A.

[0111] The translational drive element 480A is, for example, a pneumatic cylinder, and is connected to the clutch 440A to drive the clutch 440A to move along the axial direction (e.g., direction H or direction H') of the rotating shaft 410A, causing the first top engagement structure 441A of the clutch 440A to engage with the second top engagement structure 421A of the first push member 420A or the second bottom engagement structure 431A of the second push member 430A. When the first top engagement structure 441A of the clutch 440A engages with the second top engagement structure 421A, the first push member 420A is driven by the rotating shaft 410A and abuts against the wall of the movable groove 211A surrounding the body 210A of the second coupling member 200A, thereby driving the second coupling member 200A to slide relative to the first coupling member 100A along the X-axis. When the first bottom engagement structure 442A of the clutch 440A engages with the second bottom engagement structure 422A, the second pusher 430A is driven by the rotating shaft 410A and abuts against the wall of the movable groove 211A surrounding the body 210A of the second coupling 200A, so as to drive the second coupling 200A to slide relative to the first coupling 100A along the Y-axis.

[0112] In one embodiment, the adjustment mechanism may further include two sets of first pressing members 500A and first elastic members 600A, and two sets of second pressing members 700A and second elastic members 800A. The two sets of first pressing members 500A abut against opposite sides of the first pushing member 420A, and the two sets of second pressing members 700A abut against opposite sides of the second pushing member 430A, so that the second connecting member 200A can be positioned at a specific angle, such as 5 degrees or 10 degrees.

[0113] For ease of explanation, the following description focuses on one set of first pressing members 500A and first elastic members 600A, and one set of second pressing members 700A and second elastic members 800A. The first pressing member 500A is slidably disposed on the second connecting member 200A. One end of the first elastic member 600A is connected to the second connecting member 200A. The other end of the first elastic member 600A is connected to at least one first pressing member 500A, so that the first pressing member 500A presses against the first pushing member 420A. The second pressing member 700A is slidably disposed on the second connecting member 200A. One end of the second elastic member 800A is connected to the second connecting member 200A, and the other end of the second elastic member 800A is connected to at least one second pressing member 700A, so that at least one second pressing member 700A presses against the second pushing member 430A.

[0114] like Figure 23 In one embodiment, the first pressing member 500A includes a first body 510A and a first rotating body 520A. The first body 510A is slidably disposed on the second connecting member 200A. One end of the first elastic member 600A is connected to the second connecting member 200A. The other end of the first elastic member 600A is connected to the first body 510A. The first rotating body 520A is rotatably disposed on the first body 510A and abuts against one side of the first pushing member 420A. The second pressing member 700A includes a second body 710A and a second rotating body 720A. The second body 710A is slidably disposed on the second connecting member 200A. One end of the second elastic member 800A is connected to the second connecting member 200A. The other end of the second elastic member 800A is connected to the second body 710A. The second rotating body 720A is rotatably disposed on the second body 710A and abuts against one side of the second pushing member 430A.

[0115] According to the adjustment mechanism, pick-and-place system and its operation method in the above embodiments, by adding an adjustment mechanism between the moving mechanism and the clamping mechanism, if inaccurate alignment occurs between boxes, between items and boxes, or between the clamping mechanism and the pallet when stacking boxes, packing items into boxes, or clamping pallets, the relative positional relationship between boxes, items and boxes, or between the clamping mechanism and the pallet can be finely adjusted by the adjustment mechanism. This allows boxes that are not properly locked to be locked again, items that are not packed into boxes to be packed again, or pallets that are not properly gripped to be gripped again, thereby improving the stacking quality of boxes.

[0116] Furthermore, the clutch design allows the adjustment mechanism to drive both the first and second pushers with only a single set of rotational drive elements, thereby reducing the cost of the pick-and-place system and the adjustment mechanism. Additionally, the pressing element presses against the pushers, allowing the adjustment mechanism to be positioned at a specific angle.

Claims

1. A pick-and-place system, comprising: Mobile mechanism; Adjustment mechanism, including: The first connecting component is installed on the moving mechanism; The second coupling is movably disposed on the first coupling; as well as A drive component is used to connect the first connector and the second connector to drive the first connector and the second connector to move relative to each other; as well as The clamping mechanism is mounted on the second coupling member of the adjusting mechanism. The driver component includes: A pivot is rotatably disposed on the first coupling member; The first pusher is driven by the rotating shaft and abuts against the first coupling or the second coupling, so as to drive the first coupling and the second coupling to move relative to each other; as well as A rotation drive element is connected to the rotating shaft and is used to drive the rotating shaft to rotate relative to the first connecting member. The adjustment mechanism further includes a second abutting member, a clutch member, and a translational drive element. The second abutting member is driven by the rotating shaft, and both the first and second abutting members abut against the second connecting member to drive the first and second connecting members to move relative to each other. The clutch member is slidably disposed on the rotating shaft and is driven by the rotating shaft to rotate relative to the first connecting member. The translational drive element is connected to the clutch member to drive the clutch member to move axially along the rotating shaft to engage the first or second abutting member. When the clutch member is engaged with the first abutting member, the rotating shaft drives the first abutting member to rotate relative to the second connecting member through the clutch member. When the clutch member is engaged with the second abutting member, the rotating shaft drives the second abutting member to rotate relative to the second connecting member through the clutch member.

2. The pick-and-place system as claimed in claim 1, wherein the clutch has a first top engaging structure and a first bottom engaging structure on opposite sides, the first pusher has a second top engaging structure, and the second pusher has a second bottom engaging structure. When the clutch is engaged with the first pusher, the first top engaging structure of the clutch engages with the second top engaging structure of the first pusher, so that the rotating shaft drives the first pusher to rotate relative to the second engaging member through the clutch. When the clutch is engaged with the second pusher, the first bottom engaging structure of the clutch engages with the second bottom engaging structure of the second pusher, so that the rotating shaft drives the second pusher to rotate relative to the second engaging member through the clutch.

3. The pick-and-place system as claimed in claim 1, wherein the adjustment mechanism further comprises at least one first pressing member, at least one first elastic member, at least one second pressing member, and at least one second elastic member, wherein the at least one first pressing member is slidably disposed on the second connecting member, one end of the at least one first elastic member is connected to the second connecting member, and the other end of the at least one first elastic member is connected to the at least one first pressing member, so that the at least one first pressing member presses against the first pushing member, wherein the at least one second pressing member is slidably disposed on the second connecting member, one end of the at least one second elastic member is connected to the second connecting member, and the other end of the at least one second elastic member is connected to the at least one second pressing member, so that the at least one second pressing member presses against the second pushing member.

4. The pick-and-place system as claimed in claim 3, wherein the at least one first pressing member comprises a first body and a first rotating body, the first body is slidably disposed on the second connecting member, one end of the first elastic member is connected to the second connecting member, the other end of the first elastic member is connected to the first body, the first rotating body is rotatably disposed on the first body and abuts against one side of the first pushing member, the at least one second pressing member comprises a second body and a second rotating body, the second body is slidably disposed on the second connecting member, one end of the second elastic member is connected to the second connecting member, the other end of the second elastic member is connected to the second body, the second rotating body is rotatably disposed on the second body and abuts against one side of the second pushing member.

5. The pick-and-place system as claimed in claim 3, wherein the number of the at least one first pressing member and the at least one second pressing member is two, the two first pressing members abut against opposite sides of the first pushing member, and the two second pressing members abut against opposite sides of the second pushing member.

6. The pick-and-place system of claim 1, wherein the adjusting mechanism further includes an intermediary member slidably disposed on the first coupling member, the second coupling member slidably disposed on the intermediary member, and the sliding direction of the intermediary member relative to the first coupling member is different from the sliding direction of the second coupling member relative to the intermediary member; the first push member is driven by the rotating shaft and abuts against the first coupling member to drive the first coupling member and the intermediary member to slide relative to each other; the driving component further includes a second push member, the second push member is driven by the rotating shaft and abuts against the second coupling member to drive the second coupling member and the intermediary member to slide relative to each other.

7. The pick-and-place system of claim 6, wherein the adjustment mechanism further comprises a translation drive element and two clutches, the two clutches being slidably disposed on the rotating shaft and driven by the rotating shaft to rotate relative to the first coupling member, the translation drive element being connected to one of the two clutches to drive the two clutches to move axially along the rotating shaft so that one of the clutches engages with the first push member or the second push member, when one of the two clutches engages with the first push member, the rotating shaft drives the first push member to rotate relative to the first coupling member through one of the clutches, and when the other of the two clutches engages with the second push member, the rotating shaft drives the second push member to rotate relative to the second coupling member through one of the clutches.

8. The pick-and-place system of claim 7, wherein each of the clutches has a first engaging structure, and the first pusher and the second pusher each have a second engaging structure. When one of the two clutches is engaged with the first pusher, the first engaging structure of one of the two clutches engages with the second engaging structure of the first pusher, so that the rotating shaft drives the first pusher to rotate relative to the first engaging member through one of the two clutches. When the other of the two clutches is engaged with the second pusher, the first engaging structure of the other of the two clutches engages with the second engaging structure of the second pusher, so that the rotating shaft drives the second pusher to rotate relative to the second engaging member through the other of the two clutches.

9. The pick-and-place system as claimed in claim 1, wherein the gripping mechanism includes a fixed frame and a plurality of first movable claws, the fixed frame being fixed to the second connecting member, and the first movable claws being rotatably disposed on the fixed frame.

10. The pick-and-place system of claim 9, wherein the gripping mechanism further comprises a plurality of second movable claws, the second movable claws being rotatably disposed on the fixed frame, and the length of the second movable claws being greater than the length of the first movable claws.

11. The pick-and-place system of claim 1, wherein the gripping mechanism comprises a fixed frame and a plurality of assembly sleeves, the fixed frame being fixed to the second coupling member, and the assembly sleeves being disposed on the fixed frame.

12. The pick-and-place system of claim 1 further comprises a data storage device, an image capture device, and a controller electrically connected to each other, the data storage device being used to store multiple sets of motion parameters of the pick-and-place system, the image capture device being used to capture images or read patterned identification information, and the controller being used to drive the pick-and-place system with one set of motion parameters based on the image or the patterned identification information.

13. An adjustment mechanism for mounting on a moving mechanism, the adjustment mechanism comprising: The first coupling is used to mount the moving mechanism; The second coupling is movably disposed on the first coupling; as well as Driver components, including: A pivot is rotatably disposed on the first coupling member; The first pusher is driven by the rotating shaft and abuts against the first coupling or the second coupling, so as to drive the first coupling and the second coupling to move relative to each other; as well as A rotation drive element is connected to the rotating shaft and is used to drive the rotating shaft to rotate relative to the first connecting member. The adjustment mechanism further includes a second pusher, a clutch, and a translation drive element. The second pusher is driven by the rotating shaft, and both the first pusher and the second pusher abut against the first coupling member to drive the first coupling member and the second coupling member to move relative to each other. The clutch is slidably disposed on the rotating shaft and is driven by the rotating shaft to rotate relative to the first coupling member. The translation drive element is connected to the clutch to drive the clutch to move axially along the rotating shaft to engage or disengage from the second pusher. When the clutch engages with the second pusher, the rotating shaft drives the second pusher to rotate relative to the second coupling member through the clutch.

14. The adjustment mechanism of claim 13, further comprising an intermediary member, wherein the first coupling member and the second coupling member are slidably disposed on the intermediary member, and the sliding direction of the intermediary member relative to the first coupling member is different from the sliding direction of the second coupling member relative to the intermediary member, the first abutting member is driven by the rotating shaft and abuts against the first coupling member to drive the first coupling member and the intermediary member to slide relative to each other, and the driving component further comprising a second abutting member, the second abutting member being driven by the rotating shaft and abutting against the second coupling member to drive the second coupling member and the intermediary member to slide relative to each other.

15. The adjustment mechanism of claim 14, further comprising a translation drive element and two clutches, the two clutches being slidably disposed on the rotating shaft and driven by the rotating shaft to rotate relative to the first coupling member, the translation drive element being connected to one of the two clutches to drive the two clutches to move axially along the rotating shaft so that one of the clutches engages the first push member or the second push member, when one of the two clutches engages the first push member, the rotating shaft drives the first push member to rotate relative to the first coupling member through one of the clutches, and when the clutch engages the second push member, the rotating shaft drives the second push member to rotate relative to the second coupling member through the clutch.

16. A method for operating a pick-and-place system, comprising: The gripping mechanism is instructed to grip one object and place it above another object. The clamping mechanism is moved along a first direction, and the clamping mechanism moves a first distance along the first direction, the first distance being less than the engagement depth between the object and the other object, so that the object and the other object are partially engaged. The clamping mechanism is moved along a second direction, causing the object to drive the other object to rock along the second direction, which is substantially perpendicular to the first direction. as well as The clamping mechanism is moved along the first direction and the clamping mechanism is moved a second distance along the first direction. The sum of the first distance and the second distance is substantially equal to the engagement depth of the object and the other object, so that the object and the other object are fully engaged, so that the object that was not engaged is re-engaged with the other object.

17. The method of operating the pick-and-place system as described in claim 16, further comprising, after the step of moving the gripping mechanism along the second direction to cause the object to drive the other object to rock along the second direction: The clamping mechanism is moved along a third direction, causing the object to cause the other object to rock along that third direction, which is substantially perpendicular to the first direction and the second direction.

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