Article pick-and-place device and pick-and-place module

Abstract

The invention discloses an object pick-and-place device and a pick-and-place module. The object taking and placing device comprises a gas supply module, a main body module and a plurality of taking and placing modules. The gas supply module is provided with a plurality of transmission channels. The main body module is provided with a plurality of accommodating grooves, and each accommodating groove is communicated with one transmission channel. Each pick-and-place module comprises a pick-and-place element, a flexible element and a driving element. The pick-and-place element is configured to be used for sucking or releasing objects. And the flexible element is in contact with the pick-and-place element. The driving element is arranged in one containing groove and makes contact with the flexible element, and the driving element is configured to drive the flexible element and the taking and placing element to move at the same time. Therefore, the object pick-and-place device and the pick-and-place module provided by the invention can increase the angular deviation tolerance when the pick-and-place module moves, and improve the production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of object picking and placing equipment, and in particular to an object picking and placing device and a picking and placing module. Background Art

[0002] The gripping arms of existing object picking and placing equipment are all provided with only one gripping head. Therefore, when sucking or placing a large number of objects, the gripping arm must frequently move back and forth, which not only increases the operation time, but also invisibly increases the production cost.

[0003] Furthermore, the existing gripping arm is basically composed of a pneumatic element and a gripping head; however, the pneumatic element and the gripping head are currently connected by mechanical connection, so if there is an error in installation or structural design, it is easy to cause loss or damage to the gripping arm.

[0004] Therefore, how to overcome the above-mentioned defects through improvement of structural design has become one of the important issues to be solved in the technical field. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an object picking and placing device and a picking and placing module in view of the deficiencies in the prior art.

[0006] In order to solve the above-mentioned technical problems, one of the technical solutions adopted by the present invention is to provide an object picking and placing device, including a gas supply module, a main body module and a plurality of picking and placing modules. The gas supply module has a plurality of transmission channels. The main body module is connected to the gas supply module, and the main body module has a plurality of accommodating grooves, each of which is connected to one of the transmission channels. Each picking and placing module includes a picking and placing element, a flexible element and a driving element. The picking and placing element is configured to absorb an object or release the absorbed object. The flexible element can movably contact one end of the picking and placing element. The driving element can be movably arranged in one of the accommodating grooves and can movably contact the flexible element, and the driving element is configured to simultaneously drive the flexible element and the picking and placing element to move. Wherein, the flexible element is located between the picking and placing element and the driving element.

[0007] In one feasible or preferred embodiment, when the driving element pushes against the flexible element through the protrusion and drives the flexible element to move, the first displacement path axis of the driving element and the second displacement path axis of the pick-and-place element are coaxial or non-coaxial. There is a first accommodation space between the pick-and-place element and the driving element, and the flexible element is only accommodated in the first accommodation space and is not exposed outside the pick-and-place element and the driving element.

[0008] In one feasible or preferred embodiment, the gas supply module is connected to at least one first external gas supply end. When at least one first external gas supply end provides positive pressure gas to at least one transmission channel, the driving element corresponding to at least one transmission channel is driven by the positive pressure gas to drive the flexible element and the pick-and-place element to move in a direction away from the main module. When at least one first external gas supply end provides negative pressure gas to at least one transmission channel, the driving element corresponding to at least one transmission channel is driven by the negative pressure gas to drive the flexible element and the pick-and-place element to move in a direction close to the main module.

[0009] In one feasible or preferred embodiment, each pick-and-place element is connected to at least one second external gas supply end. When at least one second external gas supply end provides negative pressure gas to the corresponding pick-and-place element, the pick-and-place element absorbs the object through the negative pressure gas. When at least one second external gas supply end provides positive pressure gas to the corresponding pick-and-place element, the pick-and-place element releases the absorbed object through the positive pressure gas.

[0010] In one feasible or preferred embodiment, the main body module has a plurality of support arm structures, a second accommodating space is formed between the plurality of support arm structures, and a plurality of pick-and-place modules are arranged in an interlaced manner in the second accommodating space.

[0011] In one feasible or preferred embodiment, each support arm structure has a plurality of first connection parts, each pick-and-place element has a second connection part, and each second connection part can be movably connected to one of the first connection parts.

[0012] In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a pick-and-place module, including a pick-and-place element, a flexible element and a driving element. The pick-and-place element is configured to suck an object or release the sucked object. The flexible element can movably contact one end of the pick-and-place element. The driving element can movably contact the flexible element, and the driving element is configured to simultaneously drive the flexible element and the pick-and-place element to move. Among them, the flexible element is located between the pick-and-place element and the driving element.

[0013] In one feasible or preferred embodiment, when the driving element pushes against the flexible element through the protrusion and drives the flexible element to move, the first displacement path axis of the driving element and the second displacement path axis of the pick-and-place element are coaxial or non-coaxial. There is a first accommodation space between the pick-and-place element and the driving element, and the flexible element is only accommodated in the first accommodation space and is not exposed outside the pick-and-place element and the driving element.

[0014] In one feasible or preferred embodiment, when the driving element is driven by positive pressure gas, the driving element drives the flexible element and the pick-and-place element to move in a first direction. When the driving element is driven by negative pressure gas, the driving element drives the flexible element and the pick-and-place element to move in a second direction. The first direction is opposite to the second direction.

[0015] In one feasible or preferred embodiment, the pick-and-place element is connected to at least one external gas supply end. When at least one external gas supply end provides negative pressure gas to the pick-and-place element, the pick-and-place element absorbs the object through the negative pressure gas. When at least one external gas supply end provides positive pressure gas to the pick-and-place element, the pick-and-place element releases the absorbed object through the positive pressure gas.

[0016] One of the beneficial effects of the present invention is that the object picking and placing device provided by the present invention can improve production efficiency through the technical solutions of "the gas supply module has multiple transmission channels", "the main body module is connected to the gas supply module, the main body module has multiple receiving slots, each receiving slot is connected to one of the transmission channels", "the picking and placing element is configured to absorb objects or release the absorbed objects", "the flexible element can movably contact one end of the picking and placing element", "the driving element can be movably arranged in one of the receiving slots and can movably contact the flexible element, and the driving element is configured to simultaneously drive the flexible element and the picking and placing element to move" and "the flexible element is located between the picking and placing element and the driving element".

[0017] Another beneficial effect of the present invention is that the pick-and-place module provided by the present invention can increase the allowable angular deviation during activity through the technical solutions of "the pick-and-place element is configured to absorb objects or release absorbed objects", "the flexible element can movably contact one end of the pick-and-place element", "the driving element can movably contact the flexible element, and the driving element is configured to simultaneously drive the flexible element and the pick-and-place element to move", and "the flexible element is located between the pick-and-place element and the driving element".

[0018] To further understand the features and technical contents of the present invention, please refer to the following detailed description and drawings of the present invention. However, the drawings provided are only for reference and description and are not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A front view schematic diagram of an object picking and placing device according to an embodiment of the present invention;

[0020] Figure 2 A three-dimensional schematic diagram of an object picking and placing device according to an embodiment of the present invention from one viewing angle;

[0021] Figure 3A three-dimensional schematic diagram of the object picking and placing device according to an embodiment of the present invention from another viewing angle;

[0022] Figure 4 It is an exploded schematic diagram of a pick-and-place module of an object pick-and-place device according to an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a use state of an object picking and placing device according to an embodiment of the present invention;

[0024] Figure 6 A schematic diagram of a first use state of a pick-and-place module of an object pick-and-place device according to an embodiment of the present invention;

[0025] Figure 7 Schematic diagram of a second use state of the pick-and-place module of the object pick-and-place device according to an embodiment of the present invention.

[0026] Reference numerals:

[0027] Z: object picking and placing device; 1: gas supply module; 10: transmission channel; 2: main body module; 20: accommodating groove; 21: support arm structure; 210: first connecting part; 22: external hole; D: picking and placing module; D1: picking and placing element; D10: connecting port; D11: suction nozzle; D12: second connecting part; D2: flexible element; D3: driving element; D30: protrusion; As1: first accommodating space; As2: second accommodating space; B: object; F1: first direction; F2: second direction; Gs: external gas supply end; Gs1: first external gas supply end; Gs2: second external gas supply end; Pa1: first displacement path axis; Pa2: second displacement path axis; Pg: positive pressure gas; Ng: negative pressure gas. DETAILED DESCRIPTION

[0028] The following is an explanation of the implementation methods of the "object picking and placing device and picking and placing module" disclosed in the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual dimensions. It is stated in advance. The following implementation methods will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0029] It should be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are mainly used to distinguish one element from another element. In addition, the term "or" used herein may include any one or more combinations of the associated listed items depending on the actual situation.

[0030] Example

[0031] See also Figures 1 to 7 , respectively, are a front view schematic diagram of an object picking and placing device according to an embodiment of the present invention, a stereoscopic schematic diagram from one viewing angle, a stereoscopic schematic diagram from another viewing angle, an exploded schematic diagram of a picking and placing module, a schematic diagram of a use state of the object picking and placing device, a schematic diagram of a first use state of the picking and placing module, and a schematic diagram of a second use state of the picking and placing module. As shown in the above figures, an embodiment of the present invention provides an object picking and placing device Z, comprising a gas supply module 1, a main body module 2, and a plurality of picking and placing modules D. Among them, the object picking and placing device Z of the present invention can be an object transfer cantilever module of an object transfer device, but is not limited thereto.

[0032] Cooperate Figures 1 to 3 and Figure 5 As shown, the gas supply module 1 may have a plurality of transmission channels 10. For example, the gas supply module 1 may be a gas transmission component, and the gas supply module 1 may have a plurality of transmission channels 10 that penetrate the body. Furthermore, one end of the gas supply module 1 may be connected to at least one first external gas supply end Gs1.

[0033] Next, cooperate Figures 1 to 3 and Figure 5 As shown, the main body module 2 is connected to the gas supply module 1, and the main body module 2 may have a plurality of accommodating grooves 20, each of which is connected to one of the transmission channels 10. For example, the main body module 2 may be a base assembly, but is not limited thereto. The main body module 2 can be detachably connected to the other end of the gas supply module 1, and the main body module 2 may have a plurality of accommodating grooves 20 that penetrate the body; wherein the number of accommodating grooves 20 may be the same as the number of transmission channels 10. Further, the main body module 2 may have a plurality of support arm structures 21, and a second accommodating space As2 is formed between the plurality of support arm structures 21, and a plurality of pick-and-place modules D are mutually staggered in the second accommodating space As2. For example, the plurality of support arm structures 21 of the main body module 2 may be relatively arranged on any two opposite sides of the main body module 2; wherein the support arm structure 21 and the main body of the main body module 2 may be independent structures or integrated single components. Therefore, the main body of the main body module 2 and the plurality of support arm structures 21 are in a U shape.

[0034] Next, cooperate Figures 1 to 7As shown, each pick-and-place module D may include a pick-and-place element D1, a flexible element D2, and a driving element D3. The pick-and-place element D1 is configured to suck up an object B or release the sucked object B. The flexible element D2 can movably contact one end of the pick-and-place element D1. In addition, the driving element D3 can be movably disposed in one of the accommodating grooves 20 and can movably contact the flexible element D2, and the driving element D3 is configured to simultaneously drive the flexible element D2 and the pick-and-place element D1 to move; wherein the driving element D3 and the corresponding accommodating groove 20 can constitute a pneumatic module (such as a cylinder or piston assembly). wherein the flexible element D2 is located between the pick-and-place element D1 and the driving element D3.

[0035] For example, the pick-and-place element D1 can be a pick-up device, and the pick-and-place element D1 can use fluid (such as gas, but not limited to this) to absorb object B (such as a chip or other tiny objects), or release the absorbed object B to (i.e., place it on) a specific object (not shown in the figure, such as a carrier plate, but not limited to this). The flexible element D2 can be a geometric object made of flexible material, or a flexible object formed by structural adhesive, or a flexible object with magnetic components; wherein, in this embodiment, the flexible element D2 is an example of a thin object, but not limited to this. The flexible element D2 can contact and connect one end of the pick-and-place element D1 by laminating or magnetic attraction; wherein, the other end of the pick-and-place element D1 can be used to absorb or release object B. The driving element D3 can be a pneumatic element (such as a piston push rod or other types of pushing elements), and the driving element D3 can use fluid (such as gas, but not limited to this) to push or pull the flexible element D2 and the pick-and-place element D1. One end of the driving element D3 can contact and connect with the flexible element D2 by a bonding method or a magnetic attraction method.

[0036] Furthermore, there may be a first accommodation space As1 between the pick-and-place element D1 and the driving element D3, and the flexible element D2 is only accommodated in the first accommodation space As1 and is not exposed outside the pick-and-place element D1 and the driving element D3; in other words, the outer diameter size (or outer edge size) of the flexible element D2 is not greater than the outer diameter size (or outer edge size) of the pick-and-place element D1, the driving element D3, or both. In addition, the end of the driving element D3 that contacts the flexible element D2 may have a protrusion D30. Therefore, when the driving element D3 pushes against the flexible element D2 through the protrusion D30 and drives the flexible element D2 to move, the first displacement path axis Pa1 of the driving element D3 and the second displacement path axis Pa2 of the pick-and-place element D1 are coaxial or non-coaxial.

[0037] Furthermore, each support arm structure 21 may have a plurality of first connection portions 210, each pick-and-place element D1 may have a second connection portion D12, and each second connection portion D12 may be movably connected to one of the first connection portions 210. Figure 2 and Figure 3 As shown, each support arm structure 21 is provided with a plurality of first connection parts 210 on one side corresponding to the second accommodation space As2; and a second connection part D12 is provided on the outer edge of each pick-and-place component D1. The number of the first connection parts 210 is the same as the number of the second connection parts D12, and one of the first connection parts 210 and the second connection part D12 can be a slide groove, and the other can be a slider, but it is not limited thereto.

[0038] Therefore, when at least one first external gas supply end Gs1 provides positive pressure gas Pg to at least one transmission channel 10, the driving element D3 corresponding to at least one transmission channel 10 is driven by the positive pressure gas Pg to drive the flexible element D2 and the pick-and-place element D1 to move in a direction away from the main module 2. When at least one first external gas supply end Gs1 provides negative pressure gas Ng to at least one transmission channel 10, the driving element D3 corresponding to at least one transmission channel 10 is driven by the negative pressure gas Ng to drive the flexible element D2 and the pick-and-place element D1 to move in a direction close to the main module 2.

[0039] For example, with Figures 1 to 5As shown, when the object picking and placing device Z of the present invention is in operation, positive pressure gas Pg or negative pressure gas Ng can be provided to the transmission channel 10 through the first external gas supply end Gs1; wherein, each transmission channel 10 of the object picking and placing device Z can correspond to a different first external gas supply end Gs1 (i.e., multiple first external gas supply ends Gs1 are connected), or, multiple transmission channels 10 can correspond to the same first external gas supply end Gs1. Therefore, when the first external gas supply end Gs1 provides positive pressure gas Pg to at least one transmission channel 10, the transmission channel 10 receiving the positive pressure gas Pg can provide the positive pressure gas Pg to the driving element D3 through the corresponding receiving groove 20; at this time, the driving element D3 is driven by the positive pressure gas Pg, and drives the flexible element D2 and the picking and placing element D1 to move in the direction away from the main module 2 (i.e., the first direction F1), that is, to push the picking and placing element D1 outward. Among them, when the driving element D3 presses against the flexible element D2 through the protrusion D30 and drives the flexible element D2 to move, since the flexible element D2 is set between the driving element D3 and the pick-and-place element D1, the first displacement path axis Pa1 of the driving element D3 and the second displacement path axis Pa2 of the pick-and-place element D1 can be coaxial or non-coaxial, that is, the flexible element D2 increases the allowable angle deviation and offset when the two are displaced, so that the driving element D3 and the pick-and-place element D1 do not affect each other's straightness.

[0040] When the first external gas supply end Gs1 provides negative pressure gas Ng to the transmission channel 10, the transmission channel 10 can provide the negative pressure gas Ng to the driving element D3 through the corresponding accommodating groove 20; at this time, the driving element D3 is driven by the negative pressure gas Ng, and drives the flexible element D2 and the pick-and-place element D1 to move toward the direction of the main module 2 (i.e., the second direction F2), that is, drives the pick-and-place element D1 to reset inward.

[0041] Furthermore, each pick-and-place element D1 of the object pick-and-place device Z of the present invention is connected to at least one second external gas supply end Gs2. When at least one second external gas supply end Gs2 provides negative pressure gas Ng to the corresponding pick-and-place element D1, the pick-and-place element D1 absorbs the object B through the negative pressure gas Ng. When at least one second external gas supply end Gs2 provides positive pressure gas Pg to the corresponding pick-and-place element D1, the pick-and-place element D1 releases the absorbed object B through the positive pressure gas Pg.

[0042] For example, with Figures 5 to 7As shown, each pick-and-place component D1 of the object pick-and-place device Z of the present invention may have at least one connection port D10, which runs through the body of the pick-and-place component D1; wherein, in this embodiment, multiple connection ports D10 are used as an example, but are not limited thereto. Multiple connection ports D10 may be connected to different second external gas supply terminals Gs2, or the same second external gas supply terminal Gs2; and multiple pick-and-place components D1 may be connected to different second external gas supply terminals Gs2, or the same second external gas supply terminal Gs2.

[0043] Therefore, when it is necessary to absorb object B through at least one pick-and-place component D1, the second external gas supply end Gs2 can be used to provide negative pressure gas Ng to the pick-and-place component D1 that is to pick up object B through one of the connection ports D10, so that the pick-and-place component D1 absorbs object B. Conversely, when it is necessary for the pick-and-place component D1 to release the absorbed object B and place it on a specific object, the second external gas supply end Gs2 can be used to provide positive pressure gas Pg to the pick-and-place component D1 through another connection port D10 or the same connection port D10, so that the pick-and-place component D1 releases the absorbed object B.

[0044] It is worth mentioning that the main body module 2 may also have a plurality of external connection holes 22 penetrating the main body, and the plurality of external connection holes 22 may be used to provide a transmission pipe of the second external gas supply end Gs2 to pass through.

[0045] Thus, the object picking and placing device Z of the present invention can be provided with a plurality of picking and placing elements D1 in the main module 2 through the above-mentioned technical scheme, and the arrangement manner of the picking and placing elements D1 can be a rectangular array, a ring array or an irregular array, and each picking and placing element D1 is provided with an independent extension and retraction device, which is connected to the driving element D3 by a flexible element D2 (fitting, magnetic or floating joint method), so as to ensure the disconnection between the driving element D3 and other picking and placing elements D1 (that is, they do not affect each other's straightness and increase the allowable angle deviation); therefore, the number of movement trips of the picking arms in the crystal retrieval area and the crystal bonding area can be reduced to increase the unit production capacity (units per hour, UPH), and the unit production capacity is 400% of the existing equipment.

[0046] Furthermore, the pick-and-place module D of the present invention adopts the above-mentioned technical solution and utilizes a flexible element D2 to be set between the pick-and-place element D1 and the driving element D3, so that when the driving element D3 drives the pick-and-place element D1 to move, the flexible element D2 can provide the driving element D3 with a high degree of freedom of movement range and movement angle, thereby increasing the allowable angle deviation and offset when the two are displaced, thereby ensuring that the driving element D3 and the pick-and-place element D1 do not affect each other's straightness.

[0047] In addition, according to the above content, the present invention further proposes a pick-and-place module D. Figures 1 to 5As shown, the pick-and-place module D includes a pick-and-place element D1, a flexible element D2, and a driving element D3. The pick-and-place element D1 is configured to suck up an object B or release the sucked object B. The flexible element D2 can movably contact one end of the pick-and-place element D1. The driving element D3 can movably contact the flexible element D2, and the driving element D3 is configured to simultaneously drive the flexible element D2 and the pick-and-place element D1 to move. Among them, the flexible element D2 can be located between the pick-and-place element D1 and the driving element D3.

[0048] In one feasible or preferred embodiment, when the driving element D3 pushes against the flexible element D2 through the protrusion D30 and drives the flexible element D2 to move, the first displacement path axis Pa1 of the driving element D3 and the second displacement path axis Pa2 of the pick-and-place element D1 are coaxial or non-coaxial. There may be a first accommodation space As1 between the pick-and-place element D1 and the driving element D3, and the flexible element D2 is only accommodated in the first accommodation space As1 and is not exposed outside the pick-and-place element D1 and the driving element D3. The specific implementation can refer to the aforementioned implementation, so it is not repeated here.

[0049] In one feasible or preferred embodiment, when the driving element D3 is driven by the positive pressure gas Pg, the driving element D3 drives the flexible element D2 and the pick-and-place element D1 to move in the first direction F1. When the driving element D3 is driven by the negative pressure gas Ng, the driving element D3 drives the flexible element D2 and the pick-and-place element D1 to move in the second direction F2. The first direction F1 is opposite to the second direction F2. The specific implementation can refer to the above-mentioned implementation, so it will not be repeated here.

[0050] In one feasible or preferred embodiment, the pick-and-place component D1 can be connected to at least one external gas supply terminal Gs (refer to the relevant description of the second external gas supply terminal Gs2). When at least one external gas supply terminal Gs provides negative pressure gas Ng to the pick-and-place component D1, the pick-and-place component D1 absorbs the object B through the negative pressure gas Ng. When at least one external gas supply terminal Gs provides positive pressure gas Pg to the pick-and-place component D1, the pick-and-place component D1 releases the absorbed object B through the positive pressure gas Pg. The specific implementation can refer to the above-mentioned implementation, so it will not be repeated here.

[0051] It is worth noting that the external gas supply end mentioned in the above embodiments may be an existing gas supply device, and therefore, it is no longer specifically described in the present invention.

[0052] However, the examples given in the above embodiments are only feasible embodiments and are not intended to limit the present invention.

[0053] Advantageous Effects of Embodiments

[0054] One of the beneficial effects of the present invention is that the object picking and placing device Z provided by the present invention can improve production efficiency through the technical solutions of "the gas supply module 1 has multiple transmission channels 10", "the main body module 2 is connected to the gas supply module 1, the main body module 2 has multiple receiving grooves 20, each receiving groove 20 is connected to one of the transmission channels 10", "the picking and placing element D1 is configured to absorb an object B or release the absorbed object B", "the flexible element D2 can movably contact one end of the picking and placing element D1", "the driving element D3 can be movably arranged in one of the receiving grooves 20 and can movably contact the flexible element D2, and the driving element D3 is configured to simultaneously drive the flexible element D2 and the picking and placing element D1 to move" and "the flexible element D2 is located between the picking and placing element D1 and the driving element D3".

[0055] Another beneficial effect of the present invention is that the pick-and-place module D provided by the present invention can increase the allowable angular deviation during activity through the technical solutions of "the pick-and-place element D1 is configured to absorb an object B or release the absorbed object B", "the flexible element D2 can movably contact one end of the pick-and-place element D1", "the driving element D3 can movably contact the flexible element D2, and the driving element D3 is configured to simultaneously drive the flexible element D2 and the pick-and-place element D1 to move", and "the flexible element D2 is located between the pick-and-place element D1 and the driving element D3".

[0056] Furthermore, the object picking and placing device Z of the present invention can be provided with a plurality of picking and placing elements D1 in the main module 2 through the above-mentioned technical scheme, and the arrangement manner of the picking and placing elements D1 can be a rectangular array, a ring array or an irregular array, and each picking and placing element D1 has an independent extension and retraction device, which is connected to the driving element D3 by a flexible element D2 (fitting, magnetic or floating joint method), so as to ensure the disconnection between the driving element D3 and other picking and placing elements D1 (that is, they do not affect their straightness and increase the allowable angle deviation); therefore, the number of movement trips of the picking arms in the crystal retrieval area and the crystal bonding area can be reduced to increase the unit production capacity (units per hour, UPH), and the unit production capacity is 400% of the existing equipment. Furthermore, the pick-and-place module D of the present invention adopts the above-mentioned technical solution and utilizes a flexible element D2 to be set between the pick-and-place element D1 and the driving element D3, so that when the driving element D3 drives the pick-and-place element D1 to move, the flexible element D2 can provide the driving element D3 with a high degree of freedom of movement range and movement angle, thereby increasing the allowable angle deviation and offset when the two are displaced, thereby ensuring that the driving element D3 and the pick-and-place element D1 do not affect each other's straightness.

[0057] The contents disclosed above are only preferred feasible embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention description and drawings are included in the protection scope of the present invention.

Claims

1. An object picking and placing device, characterized in that: include: A gas supply module, wherein the gas supply module has a plurality of transmission channels; A main body module, the main body module is connected to the gas supply module, the main body module has a plurality of containing grooves, each of the containing grooves is communicated with one of the transmission channels; as well as A plurality of pick-and-place modules, each of which comprises: A pick-and-place element, wherein the pick-and-place element is configured to pick up an object or release the picked up object; a flexible element, the flexible element being able to movably contact one end of the pick-and-place element; and A driving element, which is movably disposed in one of the accommodating grooves and movably contacts the flexible element, and is configured to simultaneously drive the flexible element and the pick-and-place element to move; Wherein, the flexible element is located between the picking and placing element and the driving element.

2. The object picking and placing device according to claim 1, characterized in that: When the driving element presses against the flexible element through the protrusion and drives the flexible element to move, the first displacement path axis of the driving element and the second displacement path axis of the picking and placing element are coaxial or non-coaxial; wherein, there is a first accommodating space between the picking and placing element and the driving element, and the flexible element is only accommodated in the first accommodating space and will not be exposed outside the picking and placing element and the driving element.

3. The object picking and placing device according to claim 1, characterized in that: in, The gas supply module is connected to at least one first external gas supply end; When the at least one first external gas supply end provides positive pressure gas to at least one of the transmission channels, the driving element corresponding to at least one of the transmission channels is driven by the positive pressure gas to drive the flexible element and the pick-and-place element to move in a direction away from the main module; When the at least one first external gas supply end provides negative pressure gas to at least one of the transmission channels, the driving element corresponding to at least one of the transmission channels is driven by the negative pressure gas to drive the flexible element and the picking and placing element to move toward the direction approaching the main module.

4. The object picking and placing device according to claim 1, characterized in that: in, Each of the pick-and-place elements is connected to at least one second external gas supply end; Wherein, when the at least one second external gas supply end provides negative pressure gas to the corresponding pick-and-place element, the pick-and-place element absorbs the object through the negative pressure gas; When the at least one second external gas supply end provides positive pressure gas to the corresponding pick-and-place element, the pick-and-place element releases the sucked object through the positive pressure gas.

5. The object picking and placing device according to claim 1, characterized in that: The main body module has a plurality of support arm structures, a second accommodating space is formed between the plurality of support arm structures, and the plurality of pick-and-place modules are arranged in an interlaced manner in the second accommodating space.

6. The object picking and placing device according to claim 5, characterized in that: Each of the support arm structures has a plurality of first connection parts, each of the pick-and-place elements has a second connection part, and each of the second connection parts can be movably connected to one of the first connection parts.

7. A pick-and-place module, characterized in that: include: A pick-and-place element, wherein the pick-and-place element is configured to pick up an object or release the picked up object; A flexible element, wherein the flexible element can movably contact one end of the pick-and-place element; as well as A driving element, the driving element can movably contact the flexible element, and the driving element is configured to simultaneously drive the flexible element and the pick-and-place element to move; Wherein, the flexible element is located between the picking and placing element and the driving element.

8. The pick-and-place module according to claim 7, characterized in that: When the driving element presses against the flexible element through the protrusion and drives the flexible element to move, the first displacement path axis of the driving element and the second displacement path axis of the picking and placing element are coaxial or non-coaxial; wherein, there is a first accommodating space between the picking and placing element and the driving element, and the flexible element is only accommodated in the first accommodating space and will not be exposed outside the picking and placing element and the driving element.

9. The pick-and-place module according to claim 7, characterized in that: in, When the driving element is driven by the positive pressure gas, the driving element drives the flexible element and the pick-and-place element to move in a first direction; Wherein, when the driving element is driven by the negative pressure gas, the driving element drives the flexible element and the pick-and-place element to move in the second direction; The first direction is opposite to the second direction.

10. The pick-and-place module according to claim 7, characterized in that: in, The pick-and-place element is connected to at least one external gas supply end; Wherein, when the at least one external gas supply end provides negative pressure gas to the pick-and-place element, the pick-and-place element absorbs the object through the negative pressure gas; When the at least one external gas supply end provides positive pressure gas to the pick-and-place element, the sucked object is released by the positive pressure gas.

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