A pick-and-place device and a machine

Abstract

The application provides a taking and placing device and a mechanical equipment. The taking and placing device comprises a joint part, a grabbing assembly, a driving assembly and a locking assembly. The grabbing assembly comprises a positioning shaft, a movable shaft and a first elastic member. The positioning shaft comprises an expansion part. The movable shaft and the first elastic member are arranged in the positioning shaft. The driving assembly is used for driving the movable shaft to move relative to the positioning shaft along a first direction, so that the first elastic member stores elastic potential energy, and the movable shaft applies a force along the positioning shaft to the expansion part, so that the outer diameter of the expansion part is increased. The locking assembly is arranged on the driving assembly. When the locking assembly is connected with the grabbing assembly, the movable shaft is prevented from moving relative to the positioning shaft along a second direction. When the locking assembly is disconnected with the grabbing assembly, the first elastic member is allowed to release the elastic potential energy under a predetermined condition and drive the movable shaft to move relative to the positioning shaft along the second direction, so that the force applied to the expansion part is cancelled. The first direction is opposite to the second direction and parallel to the axial direction of the positioning shaft. The taking and placing device can stably grab a target object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, in particular to a taking and placing device and mechanical equipment. BACKGROUND

[0002] Micro-molding is a kind of high-precision nanofabrication technology for forming microstructure by means of micro-replication mold. Micro-molding has the advantages of high replication precision, low cost, small residual stress, etc., and is widely used in the preparation of nanometer structures such as micro-gears, microneedles, micro-fluidic chips, light guide plates, etc. in various fields such as machinery, medicine, biology, etc.

[0003] The most critical step in micro-molding is mold filling, that is, filling the replication liquid material into the forming cavity of the mold with high filling ratio, which is a key factor affecting the replication precision of microstructure. Common mold filling methods include pressure filling and vacuum filling. Among them, pressure filling refers to using pressure to press the filling material into the forming cavity of the mold. For this, the mold is usually manufactured by metal integrated molding method, but it is very difficult to use metal integrated molding method to process structures with equal height-depth ratio and high precision such as microneedle mold, so microneedle mold is usually made of silicon material or polymer material. However, silicon material is usually brittle, and polymer material is relatively soft, which is not suitable for mass production due to the high requirement of pressure stress. In contrast, vacuum filling has lower requirements for mold material and size compatibility, and has more obvious advantages, and is more widely used. However, no matter which method is used to fill the mold, the mold needs to be transferred to the working chamber (for vacuum filling, the working chamber is a vacuum chamber) before filling, and the mold needs to be transferred out of the working chamber after filling is completed. However, the mold used in micro-molding is often difficult to be stably grabbed and transferred by using ordinary taking and placing device due to its size, material and other performance. SUMMARY

[0004] The purpose of the present application is to provide a taking and placing device and mechanical equipment, which has the advantages of stable grabbing and avoiding deformation of the mold when the mold is grabbed by the taking and placing device.

[0005] To achieve the above purpose, the present application provides a taking and placing device, comprising:

[0006] a joint part;

[0007] a grabbing assembly comprising a positioning shaft, a movable shaft and a first elastic member, the positioning shaft comprising an expansion part, the movable shaft and the first elastic member being arranged in the positioning shaft;

[0008] a driving assembly connected with the joint and the gripping assembly, and configured to drive the movable shaft to move relative to the positioning shaft in a first direction to deform the first elastic member and store elastic potential energy, and to further cause the movable shaft to exert a force on the expanding portion in a radial outward direction of the positioning shaft to increase the outer diameter of the expanding portion; and

[0009] a locking assembly arranged on the driving assembly and configured to selectively connect or disconnect with the gripping assembly; when the locking assembly is connected with the gripping assembly, the locking assembly prevents the movable shaft from moving relative to the positioning shaft in a second direction; when the locking assembly is disconnected with the gripping assembly, the locking assembly allows the first elastic member to release the elastic potential energy under a predetermined condition and drive the movable shaft to move relative to the positioning shaft in the second direction to cancel the force exerted on the expanding portion;

[0010] The first direction and the second direction are parallel to the axial direction of the positioning shaft, and the first direction and the second direction are opposite to each other.

[0011] Optionally, the positioning shaft comprises a shaft body and a movable member, the shaft body has an inner cavity extending in the axial direction thereof, and a receiving through hole in communication with the inner cavity is arranged on the side wall of the shaft body, the movable member is partially arranged in the receiving through hole, and the portion of the shaft body provided with the receiving through hole and the movable member constitute the expanding portion.

[0012] When the movable shaft moves relative to the positioning shaft in the first direction, the movable shaft exerts the force on the movable member to cause the movable member to move radially outward of the shaft body by a predetermined distance, and to increase the volume of the portion of the outer circumferential surface of the shaft body protruding out of the movable member, thereby increasing the outer diameter of the expanding portion.

[0013] Optionally, the number of the receiving through holes is plural, and the plural receiving through holes are arranged in a circumferential direction of the shaft body; the number of the movable members is plural, and the plural movable members are arranged in at least part of the receiving through holes, so that the plural movable members are arranged in a circumferential direction of the shaft body; and each of the movable members is movable in the corresponding receiving through hole.

[0014] Optionally, the movable member is a sphere; or opposite end surfaces of the movable member in the radial direction of the positioning shaft are respectively a part of a spherical surface; or opposite ends of the movable member in the radial direction of the positioning shaft are conical structures, and the cross sections of the two conical structures gradually decrease in a direction away from each other.

[0015] Optionally, the pick-and-place device has a proximal end and a distal end opposite to each other in the axial direction of the positioning shaft, and the first direction is a direction from the proximal end to the distal end.

[0016] The movable shaft comprises a tapered section, an outer diameter of the tapered section gradually decreases in a direction from the proximal end to the distal end, and an outer diameter of a portion of the movable shaft on a proximal end side of the tapered section is greater than or equal to a maximum outer diameter of the tapered section; the portion of the movable shaft on the proximal end side of the tapered section is used to apply the acting force to the expansion part.

[0017] Optionally, the pick-and-place device has a proximal end and a distal end opposite to each other in an axial direction of the positioning shaft, and the first direction is a direction from the proximal end to the distal end.

[0018] The positioning shaft has an inner cavity extending in the axial direction, and a step surface is arranged on an inner wall of the positioning shaft and faces the proximal end, the step surface being located on a proximal end side of the expansion part; a first blocking part protruding radially outward is arranged on an outer peripheral surface of the movable shaft, the first blocking part being located on a proximal end side of the step surface; and the first elastic member is arranged between the first blocking part and the step surface.

[0019] Optionally, the driving assembly is further used to drive the positioning shaft to make a reciprocating linear motion in the axial direction of the positioning shaft.

[0020] Optionally, the driving assembly comprises a power part, a first transmission part and a second transmission part, the power part is connected with the engaging part and is used to provide a first driving force and a second driving force, directions of the first driving force and the second driving force are opposite; the first transmission part connects the power part and the positioning shaft, the first transmission part is used to move in the first direction under the driving of the first driving force, thereby driving the positioning shaft to move in the first direction; the second transmission part is connected with the power part and is used to drive the movable shaft to move in the first direction relative to the positioning shaft under the action of the first driving force, the second transmission part is further used to drive the positioning shaft to move in the second direction under the action of the second driving force.

[0021] Optionally, the pick-and-place device has a proximal end and a distal end opposite to each other in an axial direction of the positioning shaft, and the first direction is a direction from the proximal end to the distal end; the positioning shaft has an inner cavity extending in the axial direction, and a step surface is arranged on an inner wall of the positioning shaft and faces the proximal end, the step surface being located on a proximal end side of the expansion part; a first blocking part protruding radially outward is arranged on an outer peripheral surface of the movable shaft, the first blocking part being located on a proximal end side of the step surface;

[0022] The side wall of the positioning shaft is provided with a guide groove extending along the axial direction and communicating with the inner cavity, and the guide groove is located on the proximal side of the step surface; the grabbing assembly further comprises a second movable seat and a second force transmission member, the second movable seat is partially inserted into the guide groove; the second force transmission member is arranged in the inner cavity of the positioning shaft and located between the second movable seat and the first stop portion of the movable shaft;

[0023] The distal end of the second transmission portion is used to abut against the second movable seat, the power portion drives the second movable seat to move relative to the positioning shaft in the first direction through the second transmission portion, and in turn drives the movable shaft to move relative to the positioning shaft in the first direction through the second force transmission member; the predetermined condition is that the second transmission portion is separated from the second movable seat.

[0024] Optionally, the second movable seat is provided with a tooth groove; the locking assembly comprises a locking seat and a first ratchet mechanism, the locking seat is connected with the first transmission portion, the first ratchet mechanism is arranged on the locking seat and comprises a first ratchet, the first ratchet is selectively inserted into or separated from the tooth groove; when the first ratchet is inserted into the tooth groove, the locking assembly is connected with the grabbing assembly, and when the first ratchet is separated from the tooth groove, the locking assembly is disconnected with the grabbing assembly.

[0025] Optionally, the locking seat is provided with a first mounting groove; the first ratchet mechanism further comprises a first pin shaft and a first torsional spring, the first pin shaft is arranged on the locking seat and partially located in the first mounting groove, the proximal end of the first ratchet is arranged at the first mounting groove and sleeved on the first pin shaft, the proximal end of the first ratchet is provided with a second mounting groove, the first torsional spring is arranged at the second mounting groove and sleeved on the first pin shaft, and two torsional arms of the first torsional spring abut against the groove walls of the first mounting groove and the second mounting groove respectively.

[0026] Optionally, the grabbing assembly has an initial state, when the grabbing assembly is in the initial state, the first ratchet is in contact with the distal side of the tooth groove;

[0027] When the power unit drives the second movable seat to move relative to the positioning shaft along the first direction to a first predetermined position via the second transmission unit, the first ratchet slips along the distal outer side surface of the tooth groove and rotates in a third direction, and is inserted into the tooth groove; when the power unit drives the second movable seat to continue to move relative to the positioning shaft along the first direction to a second predetermined position via the second transmission unit, the first ratchet slips along the proximal inner side surface of the tooth groove and rotates in the third direction to disengage from the tooth groove; the second predetermined position is located on the distal side of the first predetermined position, and the first torsional spring stores elastic potential energy when the first ratchet rotates in the third direction.

[0028] Optionally, when the first elastic member releases the elastic potential energy to drive the movable shaft to move relative to the positioning shaft along the second direction, the second movable seat moves relative to the positioning shaft along the second direction.

[0029] The locking assembly further comprises a second ratchet mechanism arranged on the locking seat, so as to prevent the first ratchet from being re-inserted into the tooth groove and allow the first ratchet to contact the distal outer side surface of the tooth groove when the second movable seat moves relative to the positioning shaft along the second direction.

[0030] Optionally, the first ratchet is provided with a first abutting portion; the second ratchet mechanism comprises a second abutting portion which selectively abuts or separates from the first abutting portion.

[0031] During the movement of the second movable seat relative to the positioning shaft along the second direction, when the second abutting portion abuts against the first abutting portion, the first ratchet is prevented from rotating in a fourth direction and being inserted into the tooth groove; when the second abutting portion separates from the first abutting portion, the first ratchet is allowed to rotate in the fourth direction and contact the distal outer surface of the tooth groove; the fourth direction is opposite to the third direction.

[0032] Optionally, the locking seat is provided with a third installation groove, the second ratchet mechanism comprises a second pin shaft, a second ratchet, a second torsional spring and a third transmission member, the second pin shaft is arranged on the locking seat and partially located in the third installation groove, the second ratchet comprises a first sub-ratchet and a second sub-ratchet which are connected at an angle, and a fourth installation groove is arranged at the intersection of the first ratchet and the second ratchet; the second ratchet is partially arranged in the third installation groove and sleeved on the second pin shaft, the first sub-ratchet is closer to the first ratchet, and the second abutting portion is arranged on the first sub-ratchet; the second torsional spring is sleeved on the second pin shaft and located in the fourth installation groove, and the two torsional arms of the second torsional spring abut on the groove walls of the third installation groove and the fourth installation groove respectively; the third transmission member is arranged on the second sub-ratchet and selectively abuts or separates from the proximal end surface of the second movable seat.

[0033] Optionally, when the grabbing assembly is in the initial state, the second movable seat is located at an initial position, the third transmission member abuts on the proximal end surface of the second movable seat, the first abutting portion and the second abutting portion are separated, and the second torsional spring stores elastic potential energy;

[0034] When the power part drives the second movable seat to move relative to the positioning shaft along the first direction to the distal side of a third predetermined position through the second transmission part, the third transmission member separates from the proximal end surface of the second movable seat, and the third predetermined position is on the proximal side of the first predetermined position; when the power part drives the second movable seat to continue to move relative to the positioning shaft along the first direction to the second predetermined position through the second transmission part, the second torsional spring releases elastic potential energy to rotate the second ratchet in a third direction and make the first abutting portion abut on the second abutting portion to prevent the first torsional spring from releasing elastic potential energy;

[0035] When the first elastic member releases elastic potential energy and drives the second movable seat to move relative to the positioning shaft along the second direction to the proximal side of the third predetermined position, the third transmission member abuts on the proximal end surface of the second movable seat, the second abutting portion separates from the first abutting portion, and the second movable seat pushes the second ratchet to rotate in the fourth direction through the third transmission member to allow the first torsional spring to release elastic potential energy and drive the first ratchet to rotate in the fourth direction, so that when the second movable seat moves relative to the positioning shaft along the second direction to the initial position, the first ratchet abuts on the distal outer side surface of the tooth groove.

[0036] Optionally, the second sub-ratchet is provided with a threaded connection hole, the third force transmission member includes a second bolt and a second nut, the second bolt is connected with the threaded connection hole, and the second nut is arranged on the second bolt and abuts against the second sub-ratchet; the second bolt is selectively in abutment or separation with the proximal end surface of the second movable seat.

[0037] Optionally, one of the first abutment part and the second abutment part is a protrusion, and the other is a groove.

[0038] To achieve the above object, the present application further provides a mechanical device, comprising:

[0039] A carrier is provided with a first placement position and a second placement position which are separated from each other, and the first placement position and the second placement position are used for placing a target object;

[0040] The pick-and-place device as any one of the preceding items is used for picking up the target object on one of the first placement position and the second placement position, and is used for placing the target object on the other of the first placement position and the second placement position; and,

[0041] A conveying mechanism is connected with the pick-and-place device, and is used for at least controlling the movement of the pick-and-place device, so as to at least enable the pick-and-place device to be aligned with the first placement position or the second placement position in a plane perpendicular to the positioning axis of the pick-and-place device.

[0042] Compared with the prior art, the pick-and-place device and the mechanical device of the present application have the following advantages:

[0043] The aforementioned pick-and-place device includes a joint, a gripping assembly, a driving assembly, and a locking assembly; the gripping assembly includes a positioning shaft, a movable shaft, and a first elastic element, the positioning shaft including an expansion portion, and both the movable shaft and the first elastic element being disposed within the positioning shaft; the driving assembly connects the joint and the gripping assembly, and is used to drive the movable shaft to move relative to the positioning shaft along a first direction, so as to deform the first elastic element and store elastic potential energy, and to apply a radially outward force along the positioning shaft to the expansion portion via the movable shaft, thereby increasing the outer diameter of the expansion portion; the locking assembly... A locking component is disposed on the drive component and is used to selectively connect or disconnect from the gripping component. When the locking component is connected to the gripping component, it prevents the movable shaft from moving relative to the positioning shaft in a second direction. When the locking component is disconnected from the gripping component, it allows the first elastic element to release elastic potential energy under predetermined conditions and drive the movable shaft to move relative to the positioning shaft in the second direction, thereby canceling the force applied to the expansion portion. Both the first and second directions are parallel to the axial direction of the positioning shaft and are opposite to each other. The pick-and-place device is used to pick up and place a target object. The target object has a positioning hole. In actual operation, the distal end of the positioning shaft is used to insert into or pass through the positioning hole. The movement of the movable shaft in the first direction increases the outer diameter of the expansion portion under the action of the force, thereby forming a limiting structure for the target object. The locking component is connected to the gripping component to maintain the limiting state of the expansion portion on the target object, preventing the positioning shaft from dislodging from the positioning hole and causing the target object to fall out of the pick-and-place device. When the target object needs to be released, it is only necessary to disconnect the locking assembly from the gripping assembly, and then, under predetermined conditions, release the stored elastic potential energy of the first elastic element to drive the movement of the movable shaft relative to the second direction, thereby canceling the force applied to the expansion portion. This allows the outer diameter of the expansion portion to retract and decrease, enabling the positioning shaft to disengage from the positioning hole and release the target object. In other words, the pick-and-place device can stably and effectively grip the target object, thereby transferring and releasing it at the target location. Attached Figure Description

[0044] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0045] Figure 1 This is a schematic diagram of the pick-and-place device provided by the present invention according to an embodiment;

[0046] Figure 2 This is a cross-sectional view of the pick-and-place device provided by the present invention according to an embodiment;

[0047] Figure 3 This is a cross-sectional view of the pick-and-place device provided according to an embodiment of the present invention. Figure 3 and Figure 2 The cutting directions are different;

[0048] Figure 4 This is a partially enlarged schematic diagram of the pick-and-place device provided according to an embodiment of the present invention, wherein the movable component in the diagram is a sphere;

[0049] Figure 5 This is a partially enlarged schematic diagram of the pick-and-place device provided according to an embodiment of the present invention. The end faces of the movable part at both ends of the positioning shaft are part of a spherical surface.

[0050] Figure 6 This is a partially enlarged schematic diagram of the pick-and-place device provided according to an embodiment of the present invention. The movable part in the figure has tapered structures at both ends of the radial direction of the positioning shaft.

[0051] Figure 7 This is a partial cross-sectional view of the pick-and-place device provided according to an embodiment of the present invention, mainly showing the locking assembly;

[0052] Figure 8 This is a partial cross-sectional view of the pick-and-place device provided by the present invention according to an embodiment, showing the positional relationship between the locking component and the second movable seat when the second movable seat is in the initial position;

[0053] Figure 9 This is a partial cross-sectional view of the pick-and-place device provided according to an embodiment of the present invention. The figure shows a positional relationship between the locking component and the second movable seat when the second movable seat moves along a first direction and is between a third predetermined position and a first predetermined position.

[0054] Figure 10 This is a partial cross-sectional view of the pick-and-place device provided by the present invention according to an embodiment. The figure shows the positional relationship between the locking component and the second movable seat when the second movable seat moves along the first direction and is in the first predetermined position.

[0055] Figure 11 This is a partial cross-sectional view of the pick-and-place device provided by the present invention according to an embodiment, showing the positional relationship between the locking component and the second movable seat when the second movable seat is in the second predetermined position;

[0056] Figure 12 This is a partial cross-sectional view of the pick-and-place device provided according to an embodiment of the present invention. The figure shows a positional relationship between the locking component and the second movable seat when the second movable seat moves along the second direction and is between the third predetermined position and the first predetermined position.

[0057] Figure 13 This is a partial cross-sectional view of the pick-and-place device provided by the present invention according to an embodiment. The figure shows the positional relationship between the locking component and the second movable seat when the second movable seat moves along the negative direction of the positioning axis and is in the first predetermined position.

[0058] [The annotations in the attached figures are explained below]:

[0059] 1000 - Joint;

[0060] 2000-Grip assembly, 2100-Positioning shaft, 2101-Expansion section, 2110-Shaft body, 2120-Moving component, 2111-Step surface, 2112-Guide groove, 2200-Moving shaft, 2210-Conical section, 2220-First equal diameter section, 2230-Second equal diameter section, 2240-Third equal diameter section, 2250-Fourth equal diameter section, 2260-Fifth equal diameter section, 2300-First elastic component, 2400-Second movable seat, 2410-Seat body, 2420-Insertion part, 2430-Groove, 2431-Distal outer surface, 2432-Proximal inner surface, 2500-Second force transmission component;

[0061] 3000-Drive assembly, 3100-Power unit, 3110-Motor assembly, 3111-Lead screw, 3120-Lead screw nut, 3200-First transmission unit, 3210-First guide shaft, 3211-Second stop, 3220-First movable seat, 3230-First force transmission component, 3300-Second transmission unit, 3310-First shaft section, 3320-Second shaft section, 3321-First bolt, 3322-First nut;

[0062] 4000-Locking assembly, 4100-Locking seat, 4101-First mounting slot, 4102-Third mounting slot, 4200-First ratchet mechanism, 4210-First ratchet, 4211-Second mounting slot, 4212-First abutment part, 4220-First pin, 4230-First torsion spring, 4300-Second ratchet mechanism, 4301-Second abutment part, 4310-Second pin, 4320-Second ratchet, 4321-First sub-ratchet, 4322-Second sub-ratchet, 4323-Fourth mounting slot, 4330-Second torsion spring, 4340-Third force transmission component, 4341-Second bolt, 4342-Second nut. Detailed Implementation

[0063] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0064] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0065] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0067] Figure 1 This diagram illustrates the structure of a pick-and-place device according to an embodiment of the present invention. Figure 2 and Figure 3Cross-sectional views of the pick-and-place device in different directions are shown. Figures 1 to 3 As shown, the pick-and-place device includes a connecting portion 1000, a gripping assembly 2000, a driving assembly 3000, and a locking assembly 4000. The gripping assembly 2000 includes a positioning shaft 2100, a movable shaft 2200, and a first elastic element 2300. The positioning shaft 2100 includes an expansion portion 2101. The movable shaft 2200 and the first elastic element 2300 are both disposed inside the positioning shaft 2100. The driving assembly 3000 connects the connecting portion 1000 and the gripping assembly 2000. The driving assembly 3000 drives the movable shaft 2200 to move relative to the positioning shaft 2100 in a first direction, causing the first elastic element to deform and store elastic potential energy. It also causes the movable shaft 2200 to apply a radially outward force along the positioning shaft 2100 to the expansion portion 2101, thereby increasing the outer diameter of the expansion portion 2101. The locking assembly 4000 is disposed on the drive assembly 3000 and is used to selectively connect or disconnect from the gripping assembly 2000. When the locking assembly 4000 is connected to the gripping assembly 2000, it prevents the movable shaft 2200 from moving relative to the positioning shaft 2100 in the second direction. When the locking assembly 4000 is disconnected from the gripping assembly 2000, it allows the first elastic element 2300 to release its elastic potential energy under predetermined conditions and drive the movable shaft 2200 to move relative to the positioning shaft 2100 in the second direction to cancel the force applied to the expansion portion 2101. Both the first direction and the second direction are parallel to the axial direction of the positioning shaft 2100, and the first direction is opposite to the second direction.

[0068] The pick-and-place device is used to pick up and place a target object, such as a microneedle mold. The target object has a positioning hole, which can be a through hole. In one optional usage, when the pick-and-place device grasps the target object placed in a first placement position, the positioning shaft 2100 is first controlled to pass through the positioning hole in a suitable manner, and the expansion portion 2101 is positioned on the side of the positioning hole away from the engagement portion 1000. Then, the drive assembly 3000 controls the movable shaft 2200 to move relative to the positioning shaft 2100 in a first direction, causing the expansion portion 2101 to expand radially outward. The outer diameter of the expanded portion 2101 after expansion is larger than the diameter of the positioning hole; that is, the area where the expansion portion 2101 is located constitutes a limiting structure and prevents the target object from detaching from the positioning shaft 2100. When the expansion portion 2101 has completed its expansion, the locking assembly 4000 is connected to the gripping assembly 2000. By keeping the expansion portion 2101 in the expanded state, the target object can be held on the positioning shaft 2100. During the movement of the positioning shaft 2100 along the first direction, the first elastic element 2300 also deforms and stores elastic potential energy. After the expansion portion 2101 has expanded, the locking assembly 4000 remains connected to the gripping assembly 2000, so that the first elastic element 2300 retains its elastic potential energy, and the movable shaft 2200 remains relatively stationary with respect to the positioning shaft 2100. Then, by appropriately controlling the movement of the positioning shaft 2100 along its second direction, the target object is moved away from the first placement position, and the target object is transferred by transferring the entire pick-and-place device. When the pick-and-place device carrying the target object arrives at a position on a plane perpendicular to the positioning shaft 2100 that is aligned with the second placement position, by appropriately controlling the movement of the positioning shaft 2100 along the first direction, the target object is placed in the second placement position, and a positioning mechanism holds the target object in the second placement position. Subsequently, the connection between the locking assembly 4000 and the gripping assembly 2000 is released, and under the predetermined conditions, the first elastic element 2300 releases its elastic potential energy to drive the movable shaft 2200 to move relative to the positioning shaft 2100 in the second direction, thereby canceling the force applied to the expansion portion 2101, allowing the expansion portion 2101 to move radially inward along the positioning shaft 2100 under the action of external force, so that the outer diameter of the expansion portion 2101 shrinks.At this time, by controlling the positioning shaft 2100 along the second movement in a suitable manner, the expansion portion 2101 contacts the wall of the positioning hole. The wall of the positioning hole squeezes the expansion portion 2101 and applies an external force radially inward along the positioning shaft 2100 to the expansion portion 2101, thereby gradually reducing the outer diameter of the expansion portion 2101 and causing the positioning shaft 2100 to disengage from the positioning hole, thus completing the release of the target object. In other words, the pick-and-place device provided by the embodiment of the present invention has the advantages of stably and effectively grasping and transferring the target object, and smoothly releasing the target object.

[0069] It should be noted that the "positioning mechanism" mentioned here can be an external mechanism independent of the picking and placing device. This positioning mechanism can be set in any suitable position and has any suitable structure, as long as it can keep the target object in the second placement position before the picking and placing device releases the target object. In other words, the positioning mechanism is not an improvement of the present invention, and the embodiments of the present invention do not impose any special limitations on the positioning mechanism.

[0070] It should also be noted that the specific orientation of the axial direction of the positioning shaft 2100 is not specifically limited in this embodiment of the invention. In one optional implementation, the axial direction of the positioning shaft 2100 is vertical, with the first direction being vertically downward and the second direction being vertically upward. Depending on actual needs, the axial direction of the positioning shaft 2100 can also be horizontal.

[0071] Furthermore, in this embodiment of the invention, the driving component 3000 can also drive the positioning shaft 2100 to reciprocate linearly along its axis, that is, the driving component 3000 can drive the positioning shaft 2100 to move along the first direction or along the second direction. In other words, during the aforementioned use, when the expansion portion 2101 expands and the locking component 4000 is connected to the gripping component 2000, the driving component 3000 drives the positioning shaft 2100 to move along the second direction to remove the target object from the first placement position. When the pick-and-place device carries the target object to a position on a plane perpendicular to the positioning shaft 2100 that is aligned with the second placement position, the driving component 3000 drives the positioning shaft 2100 to move along the first direction to place the target object in the second placement position. Furthermore, after the movable shaft 2200 cancels the radially outward force applied to the expansion portion 2101 along the positioning shaft 2100, the positioning shaft 2100 is driven to move in the second direction by the drive assembly 3000 to disengage the positioning shaft 2100 from the positioning hole of the target object. It is understood that, in alternative implementations, other devices besides the pick-and-place device (e.g., the conveying mechanism described later) may be used to drive the pick-and-place device to reciprocate linearly along the axial direction of the positioning shaft 2100 as a whole.

[0072] The optional structures of the various components of the pick-and-place device will be further described below. It should be noted that only preferred structures of the various components of the pick-and-place device will be described below; however, these structures are not mandatory and should not unduly limit the invention. Furthermore, the following description uses the axial direction of the positioning shaft 2100 as the vertical direction, the first direction as the vertically downward direction, and the second direction as the vertically upward direction as an example. Therefore, "moving in the vertically downward direction" as mentioned below refers to "moving in the first direction," and "moving in the vertically upward direction" refers to "moving in the second direction."

[0073] Please continue to refer to this. Figures 1 to 3 The joint 1000 is preferably a plate-like structure.

[0074] The gripping component 2000 includes a plurality of positioning axes 2100 (i.e., at least two), and preferably the plurality of positioning axes 2100 are arranged centrally symmetrically. Please refer to the following for details. Figure 2Each of the positioning shafts 2100 has an inner cavity (not shown in the figure) extending along its axial direction, and each of the positioning shafts 2100 has a movable shaft 2200 and a first elastic element 2300 in the inner cavity. The axis of the movable shaft 2200 is parallel to or coincides with the axis of the positioning shaft 2100, preferably coincides.

[0075] Please continue to refer to this. Figure 2 The positioning shaft 2100 includes a shaft body 2110 and a movable component 2120. The shaft body 2110 has the inner cavity, which includes a first sub-cavity and a second sub-cavity arranged in a direction from proximal to distal end. The inner diameter of the first sub-cavity is larger than the inner diameter of the second sub-cavity, such that a stepped surface 2111 facing the proximal end is formed on the cavity wall of the inner cavity. Here, "proximal end" and "distal end" are relative concepts defined according to the axial direction of the positioning shaft 2100. In this embodiment, the "direction from proximal to distal end" refers to the first direction, i.e., the direction from top to bottom; in other words, the proximal end is above the distal end, and the distal end is below the proximal end. Figures 4 to 6 As shown, the side wall of the shaft 2110 is provided with a receiving through hole (not marked in the figure) communicating with the inner cavity. The receiving through hole is located at the distal end of the stepped surface 2111. The movable member 2120 is partially disposed within the receiving through hole. The portion of the shaft 2110 with the receiving through hole and the movable member 2120 together constitute the expansion portion 2101. When the movable shaft 2200 moves vertically downward relative to the positioning shaft 2100, the movable shaft 2200 can apply the radially outward force along the positioning shaft 2100 to the movable member 2120. Thus, under the action of the force, the movable member 2120 moves radially outward a predetermined distance along the positioning shaft 2100, thereby increasing the volume of the portion of the movable member 2120 protruding from the outer peripheral surface of the shaft 2110, thereby increasing the outer diameter of the expansion portion 2101.

[0076] Preferably, the first shaft 2110 may include two axially connected segments. The two segments are separately formed and then assembled into one piece. This simplifies the assembly process of the positioning shaft 2100 and the movable shaft 2200.

[0077] More preferably, there are multiple receiving through holes, which are arranged at intervals along the circumference of the shaft 2110. There are also multiple movable members 2120, which are disposed within at least a portion of the receiving through holes, such that the multiple movable members 2120 are arranged at intervals along the circumference of the shaft 2110. Preferably, the multiple movable members 2120 are evenly arranged along the circumference of the shaft 2110, so that the expansion portion 2101 can uniformly limit the target object throughout the entire circumference. Typically, each of the receiving through holes accommodates one of the movable members 2120, and the receiving through hole has an inner opening and an outer opening that are radially opposite to each other on the shaft 2110. The diameter of the inner opening and the diameter of the outer opening are both smaller than the maximum outer diameter of the movable member 2120, so that the movable member 2120 can move within the corresponding receiving through hole and can partially protrude from the outer peripheral surface of the shaft 2110 (i.e., partially extend out of the shaft 2110) or partially protrude from the inner peripheral surface of the shaft 2110 (i.e., partially extend into the inner cavity), without disengaging from the receiving through hole.

[0078] Alternatively, please refer to Figure 4 In one exemplary implementation, the movable element 2120 is a sphere. In an alternative implementation, such as Figure 5 As shown, the movable member 2120 extends radially along the shaft 2110, and the end faces of the movable member 2120 at opposite ends in the radial direction of the shaft 2110 are each part of a sphere. In another alternative implementation, such as Figure 6 As shown, the movable member 2120 also extends radially along the shaft 2110, but the two opposite ends of the movable member 2120 in the radial direction of the shaft 2110 are both tapered structures, and the cross-sections of the two tapered structures gradually decrease in the direction away from each other.

[0079] Please return to the reference. Figure 2 The movable shaft 2200 includes a tapered section 2210, the outer diameter of which gradually decreases from proximal to distal. The outer diameter of the portion of the movable shaft 2200 located proximal to the tapered end 2210 is greater than or equal to the maximum outer diameter of the tapered section 2210. When the movable shaft 2200 moves vertically downwards, the tapered section 2210 first gradually inserts into the space between the plurality of movable members 2120, and then passes through the space between the plurality of movable members 2120, such that the portion of the movable shaft 2200 located proximal to the tapered section 2210 inserts between the plurality of movable members 2120, and applies a stable radially outward force along the positioning shaft 2100 to the plurality of movable members 2120.

[0080] Alternatively, please continue to refer to Figure 2 In one specific embodiment, in addition to the tapered segment 2210, the movable shaft 2200 may further include multiple equal-diameter segments, specifically including a first equal-diameter segment 2220, a second equal-diameter segment 2230, a third equal-diameter segment 2240, a fourth equal-diameter segment 2250, and a fifth equal-diameter segment 2260. The first equal-diameter segment 2220 is connected to the distal end of the tapered segment 2210, and the outer diameter of the first equal-diameter segment 2220 is equal to the minimum outer diameter of the tapered segment 2210. The second equal-diameter segment 2230 is connected to the proximal end of the tapered segment 2210, and the outer diameter of the second equal-diameter segment 2230 is equal to the maximum outer diameter of the tapered segment 2210. The third equal-diameter segment 2240 is connected to the proximal end of the second equal-diameter segment 2230, and the outer diameter of the third equal-diameter segment 2240 is greater than the outer diameter of the second equal-diameter segment 2230. The fourth equal-diameter section 2250 is connected to the proximal end of the third equal-diameter section 2240, and the outer diameter of the fourth equal-diameter section 2250 is larger than the outer diameter of the third equal-diameter section 2240. The fifth equal-diameter section 2260 is connected to the proximal end of the fourth equal-diameter section 2250, and the outer diameter of the fifth equal-diameter section 2260 is equal to the outer diameter of the third equal-diameter section 2230. The second equal-diameter section 2230 is used to insert between the plurality of movable members 2120 and to apply a radially outward force along the positioning shaft 2100 to the plurality of movable members 2120. Furthermore, after the movable shaft 2200 is assembled with the positioning shaft 2100, the fourth equal-diameter section 2250 is located on the proximal side of the stepped surface 2111, and the portion of the fourth equal-diameter section 2250 protruding from the third equal-diameter section 2240 and the fifth equal-diameter section 2260 constitutes a first stop.

[0081] For further information, please continue to refer to [link / reference]. Figure 2 The first elastic element 2300 is, for example, a spring. It is disposed on the outer periphery of the movable shaft 2200 and located between the first stop and the stepped surface 2111. When the movable shaft 2200 moves vertically downward relative to the positioning shaft 2100, the first elastic element 2300 is compressed and deformed, storing elastic potential energy. Thus, when the locking assembly 4000 is connected to the gripping assembly 2000 to prevent the movable shaft 2200 from moving vertically upward, the first elastic element 2300 retains its elastic potential energy. When the locking assembly 4000 is disengaged from the gripping assembly 2000, allowing the first elastic element 2300 to release its elastic potential energy under predetermined conditions, the elastic potential energy can be used to drive the movable shaft 2200 to move vertically upward relative to the positioning shaft 2100.

[0082] Further, please refer to Figures 1 to 3Specifically, the sidewall of the positioning shaft 2100 is provided with a guide groove 2112 extending axially on the sidewall of the shaft body 2110. The guide groove 2112 communicates with the inner cavity and is located near the proximal end of the stepped surface 2111 (i.e., the guide groove 2112 communicates with the first sub-cavity). The gripping assembly 2000 also includes a second movable seat 2400 and a second force transmission member 2500. The second movable seat 2400 includes a seat body 2410 and an insertion part 2420 connected to the seat body 2410. The number of insertion parts 2420 matches the number of positioning shafts 2100, and each insertion part 2420 is inserted into the guide groove 2112 of one positioning shaft 2100. The second force transmission member 2500 is disposed in the inner cavity of the positioning shaft 2100 and is located between the insertion part 2420 and the first stop. The drive assembly 3000 drives the second movable seat 2400 to move vertically downwards, which in turn drives all the second force transmission members 2500 and the movable shaft 2200 to move vertically downwards. Furthermore, the locking assembly 4000 is connected to the gripping assembly 2000, meaning it is connected to the second movable seat 2400. When the locking assembly 4000 is connected to the second movable seat 2400 and the drive assembly 3000 stops operating, the second movable seat 2400 remains relatively stationary with respect to the positioning shaft 2100. Simultaneously, the second movable seat 2400 presses against the movable shaft 2200 through the second force transmission members 2500, preventing the movable shaft 2200 from moving vertically upwards.

[0083] Preferably, the second force transmission member 2500 includes a third elastic member, such as a spring. The advantage of this arrangement is that when the second movable seat 2400 moves vertically downwards, the second force transmission member 2500 is compressed while simultaneously driving the movable shaft 2200 to move vertically downwards. This results in the movable shaft 2200's stroke in the vertically downwards direction being less than the stroke of the second movable seat 2400 in the vertically downwards direction, reducing the possibility of interference between the positioning shaft 2100 and other components.

[0084] Please continue to refer to this. Figures 1 to 3The drive assembly 3000 includes a power unit 3100, a first transmission unit 3200, and a second transmission unit 3300. The power unit 3100 is connected to the connecting portion 1000 and is used to provide a first driving force or a second driving force, the direction of the second driving force being opposite to the direction of the first driving force. The first transmission unit 3200 and the second transmission unit 3300 are respectively connected to the power unit 3100, and the first transmission unit 3200 is also connected to the positioning shaft 2100. When the power unit 3100 provides the first driving force, the first transmission unit 3200 moves vertically downward under the drive of the first driving force, thereby driving the positioning shaft 2100 to move vertically downward. The second transmission unit 3300 is used to drive the movable shaft 2200 to move vertically downward relative to the positioning shaft 2100 under the action of the first driving force. The second transmission unit 3300 is also used to drive the positioning shaft 2100 to move in a vertically upward direction under the action of the second driving force.

[0085] Specifically, the power unit 3100 includes a motor assembly 3110 and a lead screw nut 3120. The motor assembly 3110 includes a lead screw 3111, and the lead screw nut 3120 is sleeved on the lead screw 3111 and threadedly engaged with the lead screw 3111 for helical transmission.

[0086] The first transmission unit 3200 includes a first guide shaft 3210, a first movable seat 3220, and a first force transmission member 3230. The first guide shaft 3210 is parallel to the positioning shaft 2100, and its upper end is connected to the joint portion 1000. A second stop portion 3211 protrudes radially outward from the outer circumferential surface of the first guide shaft 3210. Optionally, there may be multiple first guide shafts 3210, arranged symmetrically at the center. The first movable seat 3220 is movably disposed on the first guide shaft 3210, for example, sleeved on the first guide shaft 3210, and located between the second stop portion 3211 and the joint portion 1000. The first force transmission member 3230 is disposed between the first movable seat 3220 and the power unit 3100, specifically between the first movable seat 3220 and the lead screw nut 3120. The proximal end of the positioning shaft 2100 is connected to the first movable seat 3220.

[0087] The first force transmission element 3230 may specifically be a second elastic element, such as a spring. The second transmission part 3300 includes a second guide shaft, which is parallel to the positioning shaft 2100, and the proximal end of the second guide shaft is connected to the power part 3100, specifically the lead screw nut 3120. The distal end of the second guide shaft passes through the first movable seat 3220, and a third stop portion protruding radially outward is provided on the portion of the second guide shaft located on the distal side of the first movable seat 3220, the third stop portion being used to abut against the distal end face of the first movable seat 3220. The second transmission part 3300 abuts against or separates from the proximal end face of the second movable seat 2400, specifically, the distal end of the second guide shaft abuts against or separates from the proximal end face of the second movable seat 2400. There may be multiple second guide shafts, and they are preferably arranged centrally symmetrically.

[0088] Optionally, the second guide shaft includes a first shaft segment 3310 and a second shaft segment 3320. The first shaft segment 3310 is connected to the proximal end of the second shaft segment 3320, and the proximal end of the first shaft segment 3310 is connected to the lead screw nut 3120. The second shaft segment 3320 includes a first bolt 3321 and a first nut 3322. The first nut 3322 is sleeved on the first bolt 3321 and forms the third stop. By using the first nut 3322 as the third stop, the specific position of the third stop on the second guide shaft can be adjusted, thereby adjusting the preload of the second elastic element, so that the proximal end of the second elastic element always abuts against the lead screw nut 3120 and the distal end always abuts against the first movable seat 3220.

[0089] When the power unit 3100 provides the first driving force, the lead screw nut 3120 moves vertically downward under the constraint of the first movable seat 3220 and the first guide shaft 3210, and drives the first movable seat 3220 to move vertically downward through the first force transmission member 3230, thereby driving the positioning shaft 2100 to move vertically downward, while the second guide shaft also moves vertically downward. When the first movable seat 3220 moves to the point where its distal end face abuts against the second stop 3211 of the first guide shaft 3210, the first movable seat 3220 stops moving vertically downward. At this time, the second guide shaft continues to move vertically downward. After the distal end of the second guide shaft contacts the second movable seat 2400, the second guide shaft continues to move vertically downward and also pushes the second movable shaft 2400 to move vertically downward relative to the positioning shaft 2100, and pushes the movable shaft 2200 to move vertically downward through the second force transmission member 2500. When the power unit 3100 provides the second driving force, the lead screw nut 3120 moves vertically upward and drives the second guide shaft to move vertically upward. After the third stop of the second guide shaft contacts the distal end face of the first movable seat 3220, the second guide shaft continues to move vertically upward and also pushes the first movable seat 3220 to move vertically upward through the third stop, and drives the positioning shaft 2100 to move vertically upward. In this embodiment, the purpose of configuring the second force transmission member 3230 as a second elastic member is to prevent the second force transmission member 3230 from obstructing the movement of the second guide shaft relative to the first movable seat 3220 in a vertically downward motion. The number of the second elastic members can be the same as the number of the second guide shafts, and the distal end of each second guide shaft first passes through one of the second elastic members and then through the first movable seat 3220.

[0090] Please refer to this again. Figure 3The second movable seat 2400 has a toothed groove 2430 on its seat body 2410. The locking assembly 4000 includes a locking seat 4100 and a first ratchet mechanism 4200. The locking seat 4100 is connected to the first transmission part 3200, specifically the first movable seat 3220. The first ratchet mechanism 4200 is disposed on the locking seat 4100 and includes a first ratchet 4210, which selectively inserts into or disengages from the toothed groove 2430. When the first ratchet 4210 is inserted into the toothed groove 2430, the locking assembly 4000 is connected to the gripping assembly 2000. When the first ratchet 4210 disengages from the toothed groove 2430, the locking assembly 4000 is disengaged from the gripping assembly 2000.

[0091] In detail, such as Figure 7 As shown, the locking seat 4100 is provided with a first mounting groove 4101. The first ratchet mechanism 4200 further includes a first pin 4220 and a first torsion spring 4230. The first pin 4220 is disposed on the locking seat 4100 and partially located within the first mounting groove 4101. The proximal end of the first ratchet 4210 is disposed at the first mounting groove 4101 and sleeved on the first pin 4220. The proximal end of the first ratchet 4210 is also provided with a second mounting groove 4211. The first torsion spring 4230 is disposed at the second mounting groove 4211 and sleeved on the first pin 4220, and the two torsion arms of the first torsion spring 4230 respectively abut against the groove walls of the first mounting groove 4101 and the second mounting groove 4211.

[0092] In this embodiment of the invention, the first ratchet 4210 is inserted into the tooth groove 2430 by the vertical downward movement of the second movable seat 2400 relative to the positioning shaft 2100, and the first ratchet 4210 is disengaged from the tooth groove 2430 by the continued vertical downward movement of the second movable seat 2400 relative to the positioning shaft 2100.

[0093] Specifically, the gripping component 4000 has an initial state. When the gripping component 4000 is in the initial state, the movable shaft 2200 does not apply a radially outward force to the expansion portion 2101, and as... Figure 8 As shown, the first ratchet 4210 contacts the distal outer surface 2431 of the tooth groove 2430. (As indicated...) Figure 9As shown, when the second guide shaft, driven by the first driving force, pushes the second movable seat 2400 to move vertically downward relative to the positioning shaft 2100, the first ratchet 4210 slides along the distal outer surface 2431 of the tooth groove 2430 and rotates in a third direction, so that the first torsion spring 4230 stores elastic potential energy. Figure 10 As shown, when the second movable seat 2400 moves vertically downward to the first predetermined position, the first ratchet 4210 inserts into the tooth groove 2430, thereby connecting the locking assembly 4000 with the second movable seat 2400. When the second guide shaft continues to push the second movable seat 2400 vertically downward under the drive of the first driving force, the first ratchet 4210 slides along the proximal inner surface 2432 of the tooth groove 2430 and rotates in the third direction, so that the first torsion spring 4230 continues to store elastic potential energy. Figure 11 As shown, when the second movable seat 2400 reaches the second predetermined position, the first ratchet 4220 disengages from the tooth groove 2430, thereby disengaging the locking assembly 4000 from the second movable seat 2400. It should be understood that the second predetermined position is located at the distal end of the first predetermined position, preferably at the distal end of the guide groove 2112 (i.e., the lower end face of the guide groove 2112).

[0094] It is understood that when the locking assembly 4000 is disengaged from the second movable seat 2400, the distal end of the second guide shaft still abuts against the proximal end face of the second movable seat 2400, hindering the vertical upward movement of the second movable seat 2400, and consequently hindering the vertical upward movement of the movable shaft 2200. This prevents the first elastic element 2300 from releasing its elastic potential energy. In other words, the first elastic element 2300 can only release its elastic potential energy when the second guide shaft moves vertically upward until its distal end separates from the proximal end face of the second movable shaft 2400. In other words, the "predetermined condition" mentioned above refers to the separation of the second transmission part 3300 from the proximal end face of the second movable seat 2400, that is, the separation of the distal end of the second guide shaft from the proximal end face of the second movable seat 2400.

[0095] Furthermore, the distal sidewall of the tooth groove 2430 includes a distal inner surface, a first connecting surface, and a distal outer surface 2431. The first connecting surface is parallel to the positioning shaft 2100, and preferably, the distal outer surface 2431 includes a first inclined surface and a first rounded transition surface. When the gripping assembly 2000 is in the initial state, the first ratchet 4210 can contact the first inclined surface. Additionally, the proximal sidewall of the tooth groove 2430 includes a proximal inner surface 2432, a second connecting surface, and a proximal outer surface. The second connecting surface is parallel to the positioning shaft 2100. The proximal inner surface 2432 preferably includes a second inclined surface and a second rounded transition surface. The first ratchet 4210 can slide along the second rounded transition surface and disengage from the tooth groove 2430.

[0096] In order for the pick-and-place device to be reused, the gripping component 2000 should be able to return to the initial state, and when the gripping component 2000 returns to the initial state, the first ratchet 4210 contacts the distal outer surface of the tooth groove 2430.

[0097] As previously described, when the locking assembly 4000 is disengaged from the gripping assembly 2000, the first elastic element 2300 releases its elastic potential energy under predetermined conditions, driving the movable shaft 2200 to move vertically upward relative to the positioning shaft 2100, thereby pushing the second movable seat 2400 to move vertically upward and reset. At this time, the gripping assembly 2000 returns to its initial state. During this process, the first ratchet 4210 should not insert into the tooth groove 2430; otherwise, it will again prevent the first elastic element 2300 from releasing its elastic potential energy, thereby preventing the movable shaft 2200 and the second movable seat 2400 from moving vertically upward relative to the positioning shaft 2100 to their reset positions.

[0098] In view of this, the locking assembly 4000 further includes a second ratchet mechanism 4300, which is also disposed on the locking seat 4100. The second ratchet mechanism 4300 is used to prevent the first ratchet 4210 from re-inserting into the tooth groove 2430 when the second movable seat 2400 moves in a vertically upward direction relative to the positioning axis 2100, and to allow the first ratchet 4210 to re-contact with the distal outer surface of the tooth groove 2430.

[0099] Please refer to Figures 7 to 13The first ratchet 4210 has a first abutment portion 4212. The second ratchet mechanism 4300 includes a second abutment portion 4301, which selectively abuts against or separates from the first abutment portion 4212. During the vertical upward movement of the second movable seat 2400 relative to the positioning axis 2100, when the second abutment portion 4301 abuts against the first abutment portion 4212, it prevents the first ratchet 4210 from rotating in the fourth direction and inserting into the tooth groove 2430. When the second abutment portion 4301 separates from the first abutment portion 4212, it allows the first ratchet 4210 to rotate in the fourth direction and re-engage with the distal outer surface of the tooth groove 2430. The fourth direction is opposite to the third direction. Figures 8 to 13 Taking the directions shown as an example, the third direction is clockwise and the fourth direction is counterclockwise.

[0100] For details, please continue to refer to Figures 7 to 13 The locking seat 4100 is provided with a third mounting groove 4102. The second ratchet mechanism 4300 includes a second pin 4310, a second ratchet 4320, a second torsion spring 4330, and a third transmission member 4340. The second pin 4310 is disposed on the locking seat 4100 and partially located within the third mounting groove 4102. The second ratchet 4320 includes a first sub-ratchet 4321 and a second sub-ratchet 4322 connected at an angle, and a fourth mounting groove 4323 is provided at the intersection of the first sub-ratchet 4321 and the second sub-ratchet 4322. The second ratchet 4320 is partially disposed within the third mounting groove 4102 and sleeved on the second pin 4310. The first sub-ratchet 4321 is closer to the first ratchet 4310 than the second sub-ratchet 4322, and the first sub-ratchet 4321 is provided with a second abutment portion 4301. The second torsion spring 4330 is sleeved on the second pin 4310 and located in the fourth mounting groove 4323. The two torsion arms of the second torsion spring 4330 abut against the groove walls of the third mounting groove 4102 and the fourth mounting groove 4323, respectively. The third force transmission member 4340 is disposed on the second ratchet 4322 and selectively abuts against or separates from the proximal end face of the second movable seat 2400.

[0101] like Figure 8As shown, when the gripping component 4000 is in the initial state, the second movable seat 2400 is in the initial position, the third transmission member 4340 abuts against the proximal end face of the second movable seat 2400, the first abutting part 4212 and the second abutting part 4301 are separated, and the second torsion spring 4230 stores elastic potential energy. Optionally, the second movable seat 2400 being in the initial position refers to the insertion part 2420 of the second movable seat 2400 (… Figure 8 (Not shown in the image) abuts against the near end face of the guide groove 2112.

[0102] Subsequently, as the second movable seat 2400 moves, the relative positional relationship between the various components of the locking assembly 4000 and the second movable seat 2400 of the gripping assembly 2000 changes as follows:

[0103] Process 1: When the second movable seat 2400 moves vertically downward relative to the positioning shaft 2100 to the third predetermined position, the third transmission member 4340 just disengages from the proximal end face of the second movable seat 2400, while the first abutment portion 4212 and the second abutment portion 4301 remain separated. The third predetermined position is located on the proximal side of the first predetermined position.

[0104] Process Two: When the second movable seat 2400 continues to move to between the third predetermined position and the first predetermined position, such as Figure 9 As shown, the third transmission member 4340 is separated from the proximal end face of the second movable seat 2400, while the first abutting part 4212 and the second abutting part 4301 remain separated.

[0105] Process 3: such as Figure 10 As shown, when the second movable seat 2400 continues to move vertically downwards to reach the first predetermined position, the third transmission member 4340 is separated from the proximal end face of the second movable seat 2400, and the first abutment portion 4211 is separated from the second abutment portion 4301. During this process, the first torsion spring 4230 releases elastic potential energy and drives the first ratchet 4210 to rotate along the fourth direction, with the distal end of the first ratchet 4210 inserting into the tooth groove 2430.

[0106] Process Four: When the second movable seat 2400 continues to move vertically downwards to the second predetermined position, such as Figure 11As shown, the second torsion spring 4230 releases its elastic potential energy to cause the second ratchet 4320 to rotate along the third direction. Simultaneously, the first ratchet 4210, pushed by the second movable seat 2400, also rotates along the third direction, causing the first abutting portion 4212 to abut against the second abutting portion 4301. At this time, the second ratchet 4320 remains relatively stationary with the locking seat 4100, preventing the first torsion spring 4230 from releasing its elastic potential energy, and the third transmission member 4340 is separated from the proximal end face of the second movable seat 2400.

[0107] Process 5: Before the second movable seat 2400 moves vertically upward relative to the positioning axis 2100 to the third predetermined position, such as Figure 12 As shown, the third transmission member 4340 is always separated from the proximal end face of the second movable seat 2400, and the first abutting part 4212 abuts against the second abutting part 4301.

[0108] Process Six: When the second movable seat 2400 continues to move vertically upward to the third predetermined position, such as Figure 13 As shown, the third transmission member 4340 is in contact with the proximal end face of the second movable seat 2400, but there is no interaction force between them, and the first abutting part 4212 is separated from the second abutting part 4301.

[0109] Process Seven: When the second movable seat 2400 continues to move vertically upward to the proximal end of the third predetermined position, the third transmission member 4340 abuts against the proximal end face of the second movable seat 2400, the second abutting part 4301 separates from the first abutting part 4212, and the second movable seat 2400 pushes the second ratchet 4320 to rotate along the fourth direction through the third transmission member 4340. At this time, the first torsion spring 4230 releases its elastic potential energy and drives the first ratchet 4210 to rotate along the fourth direction.

[0110] Process 8: When the second movable seat 2400 continues to move vertically upward to the initial position, as... Figure 8 As shown, the first ratchet 4210 re-engages with the distal outer surface 2431 of the tooth groove 2430.

[0111] Optionally, one of the first abutting portion 4212 and the second abutting portion 4301 is a protrusion, and the other is a groove. For example, the first abutting portion 4212 is a protrusion, and the second abutting portion 4301 is a groove.

[0112] Optionally, the second ratchet 4322 is provided with a threaded connection hole. The third force transmission component 4340 includes a second bolt 4341 and a second nut 4342. The second bolt 4341 is threadedly connected to the threaded connection hole. The second nut 4342 is disposed on the second bolt 4341 and abuts against the second ratchet 4322. The second bolt 4341 abuts against or separates from the proximal end face of the second movable seat 2400. The purpose of this arrangement is that the position of the second nut 4342 on the second bolt 4341 can be adjusted according to actual needs, so that the length of the second bolt 4341 on the side of the second nut 4342 away from the second ratchet 4322 can be adjusted as needed, thus having better universal applicability.

[0113] The detailed process of transferring the target object from the first placement position to the second placement position using the aforementioned pick-and-place device includes the following multiple stages:

[0114] First stage: Move the pick-and-place device above the first placement position.

[0115] Second stage: The motor assembly 3110 provides the first driving force to drive the first movable seat 3220, the positioning shaft 2100, and the second movable seat 2400 together to move vertically downwards until the distal end face of the first movable seat 3220 abuts against the second stop 3211 on the first guide shaft 3120. At this time, the third stop of the second guide shaft abuts against the distal end face of the first movable seat 3220, and the distal end of the positioning shaft 2100 passes through the positioning hole on the target object, causing the expansion portion 2101 to be located on the distal side of the target object.

[0116] Third stage: The motor assembly 3110 continues to provide the first driving force, and the second guide shaft moves in a vertically downward direction until the distal end of the second guide shaft abuts against the proximal end face of the second movable seat 2400. During this process, the third stop separates from the distal end face of the first movable seat 3220.

[0117] Fourth stage: The motor assembly 3110 continues to provide the first driving force, and the second guide shaft pushes the second movable seat 2400 to move vertically downward until the second movable seat 2400 reaches the first predetermined position. At this time, the movable shaft 2200 applies the radially outward force along the positioning shaft 2100 to the plurality of balls of the expansion portion 2101, so that the volume of the portion of the ball protruding from the outer peripheral surface of the shaft 2110 of the positioning shaft 2100 increases, thereby increasing the outer diameter of the expansion portion 2101 to limit the target object. At the same time, the first elastic member 2300 stores elastic potential energy, and the first ratchet 4210 of the locking assembly 4000 is inserted into the tooth groove 2430 on the second movable seat 2400.

[0118] Fifth stage: The motor assembly 3110 provides a second driving force, driving the second guide shaft to move in a vertically upward direction until the third stop of the second guide shaft contacts the distal end face of the first movable seat 3220.

[0119] Sixth stage: The motor assembly 3110 continues to provide the second driving force, and the third stop of the second guide shaft pushes the first movable seat 3220 to move in a vertically upward direction until the first movable seat 3220 is reset (i.e., returns to the position of the first movable seat 3220 before the motor assembly 3110 provides the first driving force in step S2).

[0120] Seventh stage: Move the entire pick-and-place device above the second placement position.

[0121] Eighth stage: The motor assembly 3110 provides the first driving force, and the lead screw nut 3120 pushes the first movable seat 3220, the positioning shaft 2100, and the second movable seat 2400 to move in a vertically downward direction through the first force transmission member 3130 until the distal end face of the first movable seat 3220 abuts against the second stop 3211 on the first guide shaft 3120.

[0122] Ninth stage: The motor assembly 3110 continues to provide the first driving force, the lead screw nut 3120 pushes the second movable seat 2400 to move vertically downward and reach the second predetermined position, causing the first ratchet 4210 of the locking assembly 4000 to disengage from the tooth groove 2430 (i.e., the locking assembly 4000 is disconnected from the gripping assembly 2000). At this time, the first abutting part 4212 abuts against the second abutting part 4301, keeping the first ratchet disengaged from the tooth groove 2430. During this process, the movable shaft 2200 still applies the radially outward force along the positioning shaft 2100 to the ball of the expansion part 2101, and the first elastic member 2300 continues to store elastic potential energy.

[0123] Tenth stage: The motor 3110 provides the second driving force, and the lead screw nut 3120 drives the second guide shaft to move vertically upward until the third stop of the second guide shaft abuts against the distal end face of the first movable seat 3220. During this process, the first elastic member 2300 releases elastic potential energy and drives the movable shaft 2200 to move vertically upward relative to the positioning shaft 2100 and reset, and cancels the force applied to the ball of the expansion portion 2101. At the same time, the movable shaft 2200 also pushes the second movable seat 200 to move vertically upward relative to the positioning shaft 2100 through the second force transmission member 2500 and reset. During this process, the third transmission member 4340 abuts against the proximal end face of the second movable seat 2400, and the second abutting portion 4301 separates from the first abutting portion 4212, so that the first ratchet 4210 re-contacts the distal outer surface 2431 of the tooth groove 2430.

[0124] Eleventh stage: The motor assembly 3110 continues to provide the second driving force, the lead screw nut 3120 drives the second guide shaft to move in a vertically upward direction, and the second guide shaft pushes the first movable seat 3220 to move in a vertically upward direction through the third stop, and then resets. During this process, the positioning shaft 2100 moves synchronously with the first movable seat 3220 in a vertically upward direction and disengages from the positioning hole of the target object.

[0125] In the first to third stages and the eleventh stage, the gripping component 2000 is in the initial position. In the fourth and fifth stages, the relative positional relationship between the locking component 4000 and the second movable seat 2400 is as described in processes one to three above. In the ninth stage, the relative positional relationship between the locking component 4000 and the second movable seat 2400 is as described in process four above. In the tenth stage, the relative positional relationship between the locking component 4000 and the second movable seat 2400 is as described in processes five to eight above.

[0126] Furthermore, this embodiment of the invention also provides a mechanical device comprising a platform, a pick-and-place device as described above, and a conveying mechanism. The platform has a first placement position and a second placement position separated from each other, the first placement position and the second placement position being used to place the target object. The pick-and-place device is used to grasp the target object on one of the first placement position and the second placement position, and place the target object on the other of the first placement position and the second placement position. The conveying mechanism is connected to the pick-and-place device and is used to control the movement of the pick-and-place device, so that at least the pick-and-place device is aligned with the first placement position or the second placement position in a plane perpendicular to the positioning axis of the pick-and-place device. Specifically, when the driving component of the pick-and-place device only drives the movable axis to move relative to the positioning axis along the first direction, the conveying component also drives the pick-and-place device to perform a reciprocating linear motion along the axial direction of the positioning axis as a whole, so as to drive the positioning axis to perform a reciprocating linear motion along its axial direction. When the drive assembly of the pick-and-place device is also used to drive the positioning shaft to reciprocate linearly along its axial direction, the conveying device only needs to control the pick-and-place device to align with the first placement position or the second placement position on a plane perpendicular to the positioning shaft of the pick-and-place device. In other words, the target object is transferred between the first placement position and the second placement position through the combined action of the conveying device and the pick-and-place device.

[0127] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A pick-and-place device, characterized in that, include: Joint; A gripping component includes a positioning axis, a movable axis, and a first elastic element. The positioning axis includes an expansion portion, and both the movable axis and the first elastic element are disposed within the positioning axis. A drive assembly, connecting the engagement portion and the gripping assembly, is used to drive the positioning shaft to reciprocate linearly along its axial direction and to drive the movable shaft relative to the positioning shaft in a first direction, so as to deform the first elastic element and store elastic potential energy, and also to apply a radially outward force along the positioning shaft to the expansion portion via the movable shaft, so as to increase the outer diameter of the expansion portion; and, A locking component is disposed on the drive component and is used to selectively connect or disconnect from the gripping component; when the locking component is connected to the gripping component, it prevents the movable shaft from moving relative to the positioning shaft in a second direction; when the locking component is disconnected from the gripping component, it allows the first elastic element to release elastic potential energy under predetermined conditions and drive the movable shaft to move relative to the positioning shaft in the second direction to cancel the force applied to the expansion portion. Both the first direction and the second direction are parallel to the axial direction of the positioning shaft, and the first direction is opposite to the second direction; The picking and placing device is used to pick up and place a target object, the target object having a positioning hole; When the picking and placing device picks up the target object, the expansion portion is located on the side of the positioning hole away from the joint portion, and the movable axis applies a force to the expansion portion to expand the expansion portion to a size larger than the diameter of the positioning hole; When the movable shaft removes the force applied to the expansion portion, and the drive assembly drives the positioning shaft to move in the second direction, the expansion portion can contact the wall of the positioning hole and be squeezed by the wall of the positioning hole, thereby causing the outer diameter of the expansion portion to gradually decrease and the positioning shaft to disengage from the positioning hole, thus completing the release of the target object.

2. The pick-and-place device according to claim 1, characterized in that, The positioning shaft includes a shaft body and a movable component. The shaft body has an inner cavity extending along its axial direction, and a receiving through hole communicating with the inner cavity is provided on the side wall of the shaft body. The movable component is partially disposed in the receiving through hole. The portion of the shaft body with the receiving through hole and the movable component constitute the expansion portion. When the movable shaft moves relative to the positioning shaft along the first direction, the movable shaft applies the force to the movable member, causing the movable member to move radially outward a predetermined distance along the shaft body, and increasing the volume of the portion of the movable member protruding from the outer circumferential surface of the shaft body, thereby increasing the outer diameter of the expansion portion.

3. The pick-and-place device according to claim 2, characterized in that, The number of receiving through holes is multiple, and the multiple receiving through holes are arranged at intervals along the circumference of the shaft; the number of movable members is multiple, and the multiple movable members are disposed in at least a portion of the receiving through holes, such that the multiple movable members are arranged at intervals along the circumference of the shaft; each movable member is capable of moving within a corresponding receiving through hole.

4. The pick-and-place device according to claim 3, characterized in that, The movable component is a sphere; or the two opposite end faces of the movable component in the radial direction of the positioning shaft are each part of a sphere; or the two opposite ends of the movable component in the radial direction of the positioning shaft are tapered structures, and the cross-sections of the two tapered structures gradually decrease in the direction of mutual distance.

5. The pick-and-place device according to claim 1, characterized in that, The pick-and-place device has a proximal end and a distal end that are axially opposite to the positioning shaft, the first direction being the direction from the proximal end to the distal end; The movable shaft includes a tapered section, the outer diameter of which gradually decreases from the proximal end to the distal end, and the outer diameter of the portion of the movable shaft located on the proximal side of the tapered section is greater than or equal to the maximum outer diameter of the tapered section; the portion of the movable shaft located on the proximal side of the tapered section is used to apply the force to the expansion portion.

6. The pick-and-place device according to claim 1, characterized in that, The pick-and-place device has a proximal end and a distal end that are axially opposite to the positioning shaft, the first direction being the direction from the proximal end to the distal end; The positioning shaft has an axially extending inner cavity, and the inner wall of the positioning shaft is provided with a stepped surface facing the proximal end, the stepped surface being located on the proximal side of the expansion portion; the outer peripheral surface of the movable shaft is provided with a first stop portion that protrudes radially outward, the first stop portion being located on the proximal side of the stepped surface; the first elastic element is disposed between the first stop portion and the stepped surface.

7. The pick-and-place device according to claim 1, characterized in that, The drive assembly includes a power unit, a first transmission unit, and a second transmission unit. The power unit is connected to the joint and is used to provide a first driving force and a second driving force, the first driving force and the second driving force being in opposite directions. The first transmission unit connects the power unit and the positioning shaft and is used to move along the first direction under the drive of the first driving force, thereby driving the positioning shaft to move along the first direction. The second transmission unit is connected to the power unit and is used to drive the movable shaft to move relative to the positioning shaft along the first direction under the action of the first driving force. The second transmission unit is also used to drive the positioning shaft to move along the second direction under the action of the second driving force.

8. The pick-and-place device according to claim 7, characterized in that, The pick-and-place device has a proximal end and a distal end opposite to each other in the axial direction of the positioning shaft, the first direction being the direction from the proximal end to the distal end; the positioning shaft has an axially extending inner cavity, and the inner wall of the positioning shaft is provided with a stepped surface facing the proximal end, the stepped surface being located on the proximal end side of the expansion portion; the outer peripheral surface of the movable shaft is provided with a first stop portion that protrudes radially outward, the first stop portion being located on the proximal end side of the stepped surface. The positioning shaft has a guide groove on its side wall that extends axially and communicates with the inner cavity. The guide groove is located on the proximal side of the stepped surface. The gripping assembly also includes a second movable seat and a second force transmission member. The second movable seat is partially inserted into the guide groove. The second force transmission member is disposed in the inner cavity of the positioning shaft and is located between the second movable seat and the first stop of the movable shaft. The distal end of the second transmission unit is used to abut against the second movable seat. The power unit drives the second movable seat to move relative to the positioning shaft in the first direction through the second transmission unit, and then drives the movable shaft to move relative to the positioning shaft in the first direction through the second force transmission member. The predetermined condition is that the second transmission unit separates from the second movable seat.

9. The pick-and-place device according to claim 8, characterized in that, The second movable seat is provided with a toothed groove; the locking assembly includes a locking seat and a first ratchet mechanism, the locking seat is connected to the first transmission part, the first ratchet mechanism is disposed on the locking seat and includes a first ratchet, the first ratchet selectively inserts into the toothed groove or disengages from the toothed groove; when the first ratchet is inserted into the toothed groove, the locking assembly is connected to the gripping assembly, and when the first ratchet is disengaged from the toothed groove, the locking assembly is disconnected from the gripping assembly.

10. The pick-and-place device according to claim 9, characterized in that, The locking seat is provided with a first mounting groove; the first ratchet mechanism further includes a first pin and a first torsion spring. The first pin is disposed on the locking seat and partially located in the first mounting groove. The proximal end of the first ratchet is disposed in the first mounting groove and sleeved on the first pin. The proximal end of the first ratchet is provided with a second mounting groove. The first torsion spring is disposed in the second mounting groove and sleeved on the first pin. The two torsion arms of the first torsion spring respectively abut against the groove walls of the first mounting groove and the second mounting groove.

11. The pick-and-place device according to claim 10, characterized in that, The gripping component has an initial state, in which the first ratchet contacts the distal outer surface of the tooth groove. When the power unit drives the second movable seat to move relative to the positioning shaft along the first direction to a first predetermined position via the second transmission unit, the first ratchet slides along the distal outer side of the tooth groove and rotates along the third direction, inserting into the tooth groove. When the power unit drives the second movable seat to continue moving relative to the positioning shaft along the first direction to a second predetermined position via the second transmission unit, the first ratchet slides along the proximal inner side of the tooth groove and rotates along the third direction until it disengages from the tooth groove. The second predetermined position is located on the distal side of the first predetermined position, and the first torsion spring stores elastic potential energy when the first ratchet rotates along the third direction.

12. The pick-and-place device according to claim 11, characterized in that, When the first elastic element releases its elastic potential energy to drive the movable shaft to move relative to the positioning shaft in the second direction, the second movable seat moves relative to the positioning shaft in the second direction. The locking assembly further includes a second ratchet mechanism disposed on the locking seat to prevent the first ratchet from re-inserting into the tooth groove when the second movable seat moves relative to the positioning axis in the second direction, and to allow the first ratchet to contact the distal outer surface of the tooth groove.

13. The pick-and-place device according to claim 12, characterized in that, The first ratchet is provided with a first abutting portion; the second ratchet mechanism includes a second abutting portion, which selectively abuts against or separates from the first abutting portion; During the movement of the second movable seat relative to the positioning axis along the second direction, when the second abutting part abuts against the first abutting part, it prevents the first ratchet from rotating along the fourth direction and inserting into the tooth groove. When the second abutting part separates from the first abutting part, it allows the first ratchet to rotate along the fourth direction and contact the distal outer surface of the tooth groove. The fourth direction is opposite to the third direction.

14. The pick-and-place device according to claim 13, characterized in that, The locking seat is provided with a third mounting groove. The second ratchet mechanism includes a second pin, a second ratchet, a second torsion spring, and a third force transmission element. The second pin is disposed on the locking seat and partially located within the third mounting groove. The second ratchet includes a first sub-rat and a second sub-rat connected at an angle, and a fourth mounting groove is provided at the intersection of the first and second ratchet. The second ratchet is partially disposed within the third mounting groove and sleeved on the second pin. The first sub-rat is closer to the first ratchet and has a second abutment portion. The second torsion spring is sleeved on the second pin and located within the fourth mounting groove. The two torsion arms of the second torsion spring abut against the groove walls of the third and fourth mounting grooves, respectively. The third force transmission element is disposed on the second sub-rat and selectively abuts or separates from the proximal end face of the second movable seat.

15. The pick-and-place device according to claim 14, characterized in that, When the gripping component is in the initial state, the second movable seat is in the initial position, the third force transmission member abuts against the proximal end face of the second movable seat, the first abutting part and the second abutting part separate, and the second torsion spring stores elastic potential energy. When the power unit drives the second movable seat to move relative to the positioning shaft along the first direction to the distal end of the third predetermined position via the second transmission unit, the third force transmission member separates from the proximal end face of the second movable seat, and the third predetermined position is on the proximal end of the first predetermined position; when the power unit drives the second movable seat to continue moving relative to the positioning shaft along the first direction to the second predetermined position via the second transmission unit, the second torsion spring releases elastic potential energy to make the second ratchet rotate along the third direction, and make the first abutting part abut against the second abutting part to prevent the first torsion spring from releasing elastic potential energy; When the first elastic element releases its elastic potential energy and drives the second movable seat to move relative to the positioning axis along the second direction to the proximal side of the third predetermined position, the third force transmission element abuts against the proximal end face of the second movable seat, the second abutting portion separates from the first abutting portion, and the second movable seat pushes the second ratchet to rotate along the fourth direction through the third force transmission element, so as to allow the first torsion spring to release its elastic potential energy and drive the first ratchet to rotate along the fourth direction, so that when the second movable seat moves relative to the positioning axis along the second direction to the initial position, the first ratchet contacts the distal outer surface of the tooth groove.

16. The pick-and-place device according to claim 14, characterized in that, The second ratchet is provided with a threaded connection hole. The third force transmission component includes a second bolt and a second nut. The second bolt is connected to the threaded connection hole, and the second nut is disposed on the second bolt and abuts against the second ratchet. The second bolt selectively abuts against or separates from the proximal end face of the second movable seat.

17. The pick-and-place device according to claim 13, characterized in that, One of the first abutting portion and the second abutting portion is a protrusion, and the other is a groove.

18. A mechanical device, characterized in that, include: A platform having a first placement position and a second placement position that are separated from each other, the first placement position and the second placement position being used to place the target object. ； The picking and placing device as described in any one of claims 1-17 is configured to pick up the target object in one of the first placement position and the second placement position, and to place the target object in the other of the first placement position and the second placement position; and, A conveying mechanism is connected to the pick-and-place device and is used at least to control the movement of the pick-and-place device so that the pick-and-place device is aligned with the first placement position or the second placement position on a plane perpendicular to the positioning axis of the pick-and-place device.

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