Handling devices and conveying equipment

Abstract

The application relates to a carrying device and a conveying device. The carrying device comprises a rack, a pickup structure and a swing arm mechanism. The pickup structure comprises a connecting plate and a plurality of pickup pieces arranged on the connecting plate, and the pickup pieces are used for picking up workpieces. The swing arm mechanism comprises a plurality of swing arms, and two ends of each swing arm are rotationally connected with the rack and the connecting plate respectively, so that the connecting plate and the rack are connected in a parallelogram transmission mode through the swing arm mechanism. The two ends of the swing arm mechanism are rotationally connected with the rack and the connecting plate respectively, so that the swing arm mechanism can drive the connecting plate to eccentrically rotate relative to the rack when the swing arm mechanism rotates, and the whole pickup structure can move in two orthogonal directions. Therefore, two drivers are not needed to drive the pickup structure to move in the two orthogonal directions, so that the structure of the carrying device is simplified. Moreover, the connecting plate and the rack are connected only through the swing arms, so that the structure is simple and production is facilitated. The conveying device comprises the above carrying device, and the structure is simpler.

Description

Technical Field

[0001] This application relates to the field of material handling technology, and in particular to a handling device and conveying equipment. Background Technology

[0002] In automated production and processing, products are typically fixed on fixtures and transferred to different workstations via transfer devices. Currently, robotic arms are commonly used to transfer workpieces. These robotic arms have at least two orthogonal axes of motion—a horizontal axis and a vertical axis. After removing the workpiece from the fixture along the vertical axis, the robotic arm moves laterally along the horizontal axis to another workstation, and then lowers the product back down along the vertical axis. However, this method of transferring products requires at least two sets of drive structures to drive the robotic arm's movement, making the transfer device structurally complex. Summary of the Invention

[0003] Therefore, it is necessary to provide a handling device and conveying equipment to address the problem of the complex structure of current transfer devices.

[0004] This application provides a handling device, which includes a frame, a picking structure, and a swing arm mechanism. The picking structure includes a connecting plate and a plurality of picking components disposed on the connecting plate. The picking components are used to pick up workpieces. The swing arm mechanism includes a plurality of swing arms, and the two ends of each swing arm are rotatably connected to the frame and the connecting plate, respectively, so that the connecting plate and the frame form a parallelogram transmission connection through the swing arm mechanism.

[0005] In one embodiment, the swing arm mechanism is used to drive the pickup structure to move between the pickup position and the placement position. The pickup structure at the pickup position and the pickup structure at the placement position are both used to transfer the workpiece to the support device. When the pickup structure moves from the pickup position to the placement position, at least a portion of the pickup workpiece moves from one of the support positions of the support device to the other adjacent support position.

[0006] In one embodiment, the connecting plate in the placement position is laterally shifted by a first displacement value in a first direction compared to the connecting plate in the pickup position, and coincides in a direction perpendicular to the first direction; at least some of the pickups are spaced apart along the first direction, and the spacing between the pickups is equal to the first displacement value.

[0007] In one embodiment, the swing arm includes a first rotating part connected to the frame and a second rotating part connected to the connecting plate. The lengths between the first rotating part and the second rotating part of each swing arm are equal, and the distance between adjacent first rotating parts is equal to the distance between adjacent second rotating parts. The first rotating parts are distributed along a first direction.

[0008] In one embodiment, the conveying device further includes a buffer, wherein the connecting plate at the pick-up position and the connecting plate at the placement position have overlapping areas, and the buffer is disposed on the frame and corresponds to the overlapping areas to abut against the connecting plate at the pick-up position and the connecting plate at the placement position.

[0009] In one embodiment, the conveying device further includes a drive assembly, which includes a driver and a transmission component. The transmission component is connected to each of the swing arms, and the driver is connected to the transmission component to drive each of the swing arms to rotate synchronously.

[0010] In one embodiment, the frame is hollow and has a receiving cavity. The swing arm mechanism includes a drive shaft, and multiple drive shafts pass through the receiving cavity and are correspondingly connected to the swing arm. The transmission component is disposed in the receiving cavity and is connected to the multiple drive shafts.

[0011] In one embodiment, the pickup includes a support plate, a pickup part, and an elastic member. The pickup part is movably disposed on the support plate, one end of the elastic member is connected to the support plate, and the other end of the elastic member elastically abuts against the side of the pickup part away from the workpiece.

[0012] In one embodiment, the support plate is provided with a first limiting portion and a second limiting portion located on the side away from the workpiece relative to the first limiting portion. The pickup portion is slidably disposed between the first limiting portion and the second limiting portion. The pickup portion also includes a guide rod, one end of which is connected to the pickup portion, and the other end of which is slidably passed through the first limiting portion. The elastic element is sleeved on the guide rod and abuts against the first limiting portion and the pickup portion.

[0013] This application also provides a conveying device, which includes a supporting device and a conveying device as described above. The supporting device is provided with a plurality of supporting positions for carrying workpieces, and the conveying device is capable of conveying the workpieces to each of the supporting positions.

[0014] In the aforementioned handling device, the two ends of the swing arm mechanism are rotatably connected to the frame and the connecting plate, respectively. Therefore, when the swing arm mechanism rotates, it can drive the connecting plate to rotate eccentrically relative to the frame, enabling the entire picking structure to move in two orthogonal directions. Thus, there is no need to set two separate drivers to drive the picking structure in two orthogonal directions, simplifying the structure of the handling device and reducing costs. Furthermore, in this application, the swing arm mechanism drives the picking structure to move through rotation. The swing arm mechanism can move directly under the rotational drive of the driver, making handling more efficient and faster. Moreover, the connecting plate and the frame are only connected by the swing arm, resulting in a simple structure that is easy to manufacture.

[0015] Furthermore, the connecting plate and the frame form a parallelogram transmission connection through a swing arm mechanism. Based on the characteristics of the parallelogram transmission connection, the various postures of the connecting plate during the movement are parallel to each other, thus making the position of the picked-up part on the connecting plate more stable, thereby improving the positional stability of the picked-up workpiece. Attached Figure Description

[0016] Figure 1 This is an isometric view of a conveying device provided in an embodiment of this application.

[0017] Figure 2 for Figure 1 The front view of the conveying device shown.

[0018] Figure 3 for Figure 2 The front view of the frame and swing arm mechanism in the conveying device shown.

[0019] Figure 4a for Figure 2 A simplified diagram showing the pickup structure in the pickup position of the conveying device.

[0020] Figure 4b for Figure 2 A simplified diagram showing the pickup structure in the placement position in the conveying device.

[0021] Figure 4c for Figure 4a The pickup structure shown is located at the pickup position and Figure 4b The diagram shows a simplified illustration of the pickup structure after it has been stacked in the placement position.

[0022] Figure 5 for Figure 1 Axonometric schematic diagram of part of the drive assembly and frame structure in the conveying device shown.

[0023] Figure 6 for Figure 5 A side view of the transmission components and transmission shaft in the conveying device shown.

[0024] Figure 7 for Figure 1 A side view of the pick-up component in the conveying device shown.

[0025] Figure 8 for Figure 7 An exploded view of the pick-up component shown.

[0026] Reference numerals: 10, conveying device; 100, frame; 110, accommodating cavity; 200, pickup structure; 210, connecting plate; 220, pickup component; 220a, first pickup component; 220b, second pickup component; 221, support plate; 221a, first limiting part; 221b, second limiting part; 221c, slide rail; 222, pickup part; 222a, guide rod; 223, elastic element; 300, swing arm mechanism; 301, swing arm; 302, drive shaft; 310, first rotation... Moving part; 320, second rotating part; 400, drive assembly; 410, driver; 420, transmission component; 420a, transmission wheel; 420b, transmission belt; 421, first transmission wheel; 422, second transmission wheel; 423, third transmission wheel; 424, fourth transmission wheel; 500, buffer; 21, first station; 22, second station; 23, third station; L1, first displacement value; L2, interval value; S1, first direction; S2, second direction; S3, third direction. Detailed Implementation

[0027] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0028] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0029] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0033] One embodiment of this application provides a conveying device, which includes a supporting device (not shown in the figures, the same below) and a transporting device. The supporting device is provided with multiple supporting positions for carrying workpieces, and the transporting device is capable of transporting the workpieces to each supporting position. A processing element can be provided at each supporting position, and the transporting device transports the workpieces to each supporting position so that the workpieces can be processed by the processing element.

[0034] Please see Figure 1One embodiment of this application provides a handling device 10, which includes a frame 100, a picking structure 200, and a swing arm mechanism 300. The picking structure 200 includes a connecting plate 210 and a plurality of picking components 220, which are used to pick up workpieces. The plurality of picking components 220 are disposed on the connecting plate 210. The swing arm mechanism 300 includes a plurality of swing arms 301, the two ends of each swing arm 301 being rotatably connected to the frame 100 and the connecting plate 210, respectively, so that the connecting plate 210 and the frame 100 form a parallelogram transmission connection through the swing arm mechanism 300.

[0035] In the aforementioned handling device 10, the two ends of the swing arm mechanism 300 are rotatably connected to the frame 100 and the connecting plate 210, respectively. Therefore, when the swing arm mechanism 300 rotates, it can drive the connecting plate 210 to rotate eccentrically relative to the frame 100, enabling the entire pickup structure 200 to move in two orthogonal directions. Thus, it is unnecessary to set two drivers 410 to drive the pickup structure 200 to move in two orthogonal directions respectively, thereby simplifying the structure of the handling device 10 and reducing costs.

[0036] Meanwhile, in this application, the swing arm mechanism 300 drives the pickup structure 200 to move through rotation. The swing arm mechanism 300 can move directly under the rotational drive of the driver, making the handling more efficient and faster. It should be noted that current drivers (such as motors) typically output rotational motion. Therefore, for the linear drive method in traditional technology, the driver usually needs to be used with a transmission structure such as a lead screw to convert the rotational motion output by the driver into linear motion. Compared to the traditional technology where the driver outputs motion through a transmission structure, in this application, the driver can directly output rotational motion to the swing arm 301 structure to drive the pickup structure 200, thus making the handling more efficient and faster. Taking the traditional technology where the drive structure uses a lead screw as the transmission structure in conjunction with a rotary motor as an example, the motion output by the drive structure is limited by the lead screw's lead. In this application, however, when the rotary motor rotates, it can directly output motion with the axial length of the swing arm 301 as the radius of rotation, obviously resulting in faster handling speed and higher handling efficiency.

[0037] Furthermore, the connecting plate 210 and the frame 100 are connected only by the swing arm 301, which is simple in structure and easy to manufacture. Further, the connecting plate 210 and the frame 100 form a parallelogram transmission connection through the swing arm mechanism 300. Based on the characteristics of the parallelogram transmission connection, the connecting plate 210 remains parallel to each other in all its postures during movement, thus making the position of the pickup 220 on the connecting plate 210 more stable and improving the positional stability of the picked-up workpiece.

[0038] Regarding the aforementioned parallelogram transmission connection, it should be noted that since the connecting plate 210 is connected to the frame 100 through the swing arm mechanism 300, the connecting plate 210 and the frame 100 are not adjacent sides in the parallelogram transmission mechanism, but opposite sides. Therefore, the various postures of the connecting plate 210 during its movement relative to the frame 100 are all parallel to each other.

[0039] Please see Figure 2 and Figure 3 In one embodiment, the swing arm 301 includes a first rotating part 310 and a second rotating part 320. The first rotating part 310 is connected to the frame 100, and the second rotating part 320 is connected to the connecting plate 210. The lengths between the first rotating part 310 and the second rotating part 320 of each swing arm 301 are equal, and the distance between adjacent first rotating parts 310 is equal to the distance between adjacent second rotating parts 320. In short, in the transmission mechanism formed by the connecting plate 210, the swing arm mechanism 300, and the frame 100, two sets of opposite sides are respectively equal to form a parallelogram mechanism. The connecting plate 210 and the frame 100 form one set of opposite sides, and two adjacent swing arms 301 form another set of opposite sides.

[0040] Please see Figure 2 and Figures 4a to 4c In one embodiment, the swing arm mechanism 300 drives the pickup structure 200 to move between the pickup position and the placement position. Both the pickup structure 200 in the pickup position and the pickup structure 200 in the placement position are used to transfer workpieces to the supporting device. When the pickup structure 200 moves from the pickup position to the placement position, at least a portion of the picked-up piece 220 moves from one of the supporting positions of the supporting device to an adjacent supporting position. Thus, by continuously reciprocating between the pickup position and the placement position, the pickup structure 200 can continuously transport workpieces from one supporting position to an adjacent supporting position, thereby enabling the conveying device 10 to sequentially transport workpieces to each supporting position.

[0041] Please refer to it again. Figure 1 In one embodiment, the connecting plate 210 is spaced apart from the frame 100, such that the plane of motion of the connecting plate 210 is offset from that of the frame 100, reducing the probability of interference between the movement of the connecting plate 210 and the frame 100. Further, the swing arm 301 is disposed within the gap between the connecting plate 210 and the frame 100, and the first rotating part 310 and the second rotating part 320 are disposed opposite to each other to connect to the connecting plate 210 and the frame 100 respectively. Even further, the connecting plate 210 and the frame 100 may be spaced apart along a third direction S3.

[0042] Please see Figure 4a and Figure 4b Taking the support positions as an example, the workstations are arranged sequentially as follows: first workstation 21, second workstation 22, and third workstation 23. The pickup unit 220 is divided into first pickup unit 220a and second pickup unit 220b. Figure 4a At this time, the picking structure 200 is in the picking position, the first picking component 220a is aligned with the first station 21, and is used to pick up the workpiece at the first station 21; the second picking component 220b is aligned with the second station 22, and is used to pick up the workpiece at the second station 22. Then as follows... Figure 4b The pick-up structure 200 moves to the placement position. During this process, the first pick-up component 220a transports the workpiece from the first station 21 to the second station 22, and the second pick-up component 220b transports the workpiece from the second station 22 to the third station 23, thus completing a single transport operation. Furthermore, after placing the workpiece at the placement position, the pick-up structure 200 can return to the pick-up position for the next transport operation. This cycle repeats, enabling sequential transport of workpieces.

[0043] Please see Figure 4c In one embodiment, the connecting plate 210 in the placement position is laterally displaced by a first displacement value L1 in the first direction S1 compared to the connecting plate 210 in the pickup position, and coincides in the direction perpendicular to the first direction S1. For example, the connecting plate 210 in the placement position coincides with the connecting plate 210 in the pickup position in the second direction S2, that is, the connecting plate 210 is at the same position in the second direction S2 before and after the swinging movement, and is displaced in the first direction S1.

[0044] At least some of the pickup components 220 are spaced apart along the first direction S1, and the interval value L2 between the pickup components 220 is equal to the first displacement value L1. That is, the interval value L2 between at least some of the pickup components 220 is equal and equal to the aforementioned first displacement value L1. Firstly, regarding the equal interval value L2 between the pickup components 220, since each pickup component 220 is located on the connecting plate 210, each pickup component 220 moves synchronously with the connecting plate 210. Therefore, setting the interval between the pickup components 220 to be equal allows for a unified switching of each pickup component 220 from its current position aligned with the support position to its position aligned with another adjacent support position, improving handling efficiency. Secondly, regarding the interval value L2 between the pickup components 220 being equal to the first displacement value L1, it is easy to understand that the first displacement value L1 is the distance the connecting plate 210 moves laterally during its swinging motion. Therefore, the interval value L2 is configured to be equal to the first displacement value L1, so that each pickup 220 can be accurately aligned with each support position before and after the swinging motion of the connecting plate 210. Of course, for the pickup 220 and support position located at the first end, and the pickup 220 and support position located at the tail end, there is not always a corresponding pickup 220 and support position aligned. For example, for the first station 21, the first pickup 220a in the pickup position is aligned with it and is used to remove the workpiece on the first station 21. The first pickup 220a in the placement position is offset from the first station 21. At this time, no pickup 220 is aligned with the first station 21, and the first station 21 can be used by other devices (such as a feeding device) to fill workpieces. The same applies to the tail end, which will not be described in detail.

[0045] Furthermore, the intervals between the support positions are also equal and equal to the aforementioned first displacement value L1.

[0046] It should be noted that the interval between the aforementioned pickups 220 refers to the displacement required for one pickup 220 to move along the first direction S1 until it coincides with another adjacent pickup 220, and does not refer to the minimum interval between the two pickups 220.

[0047] In the various embodiments of this application, it is not limited that the interval value L2 between any two pickups 220 is equal. For example, in another embodiment, the pickup structure 200 may also include a pitch driver (not shown in the figure, the same below), which is disposed on the connecting plate 210 and connected to the pickup 220 to adjust the position of the pickup 220 relative to the connecting plate 210, so that the pickup 220 can be accurately aligned with the corresponding support position before and after the pickup structure 200 swings.

[0048] Please refer to it again. Figure 2 and Figure 3 In one embodiment, each first rotating part 310 is distributed along the first direction S1, and each second rotating part 320 is also distributed along the first direction S1.

[0049] Please see Figure 4a In the embodiments of this application, the angle through which the swing arm 301 rotates during the process of the pickup structure 200 rotating from the pickup position to the placement position is not limited, and can be designed accordingly based on the length of the swing arm 301 and the required first displacement value L1.

[0050] Please refer to it again. Figure 2 and Figure 3 In one embodiment, the conveying device 10 further includes a buffer 500. The connecting plate 210 in the pick-up position and the connecting plate 210 in the placement position have overlapping areas. The buffer 500 is disposed on the frame 100 and corresponds to the overlapping areas to abut against the connecting plate 210 in the pick-up position and the connecting plate 210 in the placement position. The buffer 500 reduces the impact of the pick-up piece 220 on the supporting device, facilitating the pick-up of the workpiece. It is readily understood that because the buffer 500 is disposed in the aforementioned overlapping area, it provides cushioning for the pick-up structure 200 regardless of whether the connecting plate 210 is in the pick-up position or the placement position.

[0051] Furthermore, the buffer 500 can extend along the second direction S2, and the buffer 500 is located below the connecting plate 210 to flexibly support the connecting plate 210 when the connecting plate 210 is in the pick-up position and the placement position.

[0052] Please see Figure 5 In one embodiment, the conveying device 10 further includes a drive assembly 400. The drive assembly 400 includes a driver 410 and a transmission component 420. The transmission component 420 is connected to each swing arm 301, and the driver 410 is connected to the transmission component 420 to drive each swing arm 301 to rotate synchronously, thereby improving the stability of the swing motion of the picking structure 200. It is easy to understand that since the connecting plate 210, the swing arm mechanism 300, and the frame 100 form a parallelogram mechanism (which is a single-degree-of-freedom mechanism), only one of the swing arms 301 can be configured as the driving rod.

[0053] Please see Figure 1 and Figure 5 In one embodiment, the frame 100 is hollow and has a receiving cavity 110. The swing arm mechanism 300 includes drive shafts 302, with multiple drive shafts 302 passing through the receiving cavity 110 and correspondingly connected to the swing arms 301. A transmission component 420 is disposed within the receiving cavity 110 and is connected to the multiple drive shafts 302. This arrangement allows the transmission component 420 to drive multiple swing arms 301 to rotate simultaneously. Furthermore, the fact that the transmission component 420 is located within the receiving cavity 110 reduces interference during the transmission process and improves the reliability of the drive and transmission.

[0054] Further, please refer to Figure 5 and Figure 6In one embodiment, the number of swing arms 301 can be three, and the number of drive shafts 302 is also three. The transmission component 420 includes drive wheels 420a and drive belts 420b. The drive wheels 420a are fitted onto the drive shafts 302 and are connected to them for transmission. The drive belts 420b are wrapped around the outer circumference of the two drive wheels 420a, causing them to rotate synchronously. The drive wheels 420a are divided into a first drive wheel 421, a second drive wheel 422, a third drive wheel 423, and a fourth drive wheel 424. The first drive wheel 421 and the second drive wheel 422 are fitted onto the same drive shaft 302, while the third drive wheel 423 and the fourth drive wheel 424 are respectively fitted onto two other drive shafts 302. One synchronous belt is wrapped around the first drive wheel 421 and the third drive wheel 423, and the other synchronous belt is wrapped around the second drive wheel 422 and the fourth drive wheel 424. The driver 410 can be connected to the drive shaft 302 which is provided with the first drive wheel 421 and the second drive wheel 422. Therefore, when the driver 410 drives the drive shaft 302 to rotate, it can drive the other two drive shafts 302 to rotate, so that each swing arm 301 rotates synchronously.

[0055] Furthermore, the drive shaft 302 can be installed in the frame 100 along a third direction S3, with the first direction S1, the second direction S2 and the third direction S3 being perpendicular to each other.

[0056] Please see Figure 7 and Figure 8 In one embodiment, the pickup element 220 includes a support plate 221, a pickup portion 222, and an elastic element 223. The pickup portion 222 is movably disposed on the support plate 221. One end of the elastic element 223 is connected to the support plate 221, and the other end of the elastic element 223 elastically abuts against the side of the pickup portion 222 opposite to the workpiece. It is readily understood that this application utilizes the swing arm mechanism 300 to drive the connecting plate 210 and multiple pickup elements 220 on the connecting plate 210 to move synchronously, resulting in a relatively large load and driving force. Therefore, this embodiment provides the elastic element 223 to buffer the pickup element 220, reducing the probability of the pickup element 220 crushing the workpiece when the workpiece is placed in a deviated position. In short, the elastic element 223 buffers the pickup portion 222, reducing potential damage to the workpiece.

[0057] Please continue reading. Figure 7 and Figure 8In one embodiment, the support plate 221 is provided with a first limiting portion 221a and a second limiting portion 221b, with the second limiting portion 221b located on the side away from the workpiece relative to the first limiting portion 221a. That is, the first limiting portion 221a and the second limiting portion 221b are arranged facing each other in the second direction S2, and the second limiting portion 221b is located on the side relatively away from the workpiece along the second direction S2. The pickup portion 222 is slidably disposed between the first limiting portion 221a and the second limiting portion 221b, and the travel of the pickup member 220 can be limited by the first limiting portion 221a and the second limiting portion 221b. The pickup member 220 also includes a guide rod 222a, one end of which is connected to the pickup portion 222, and the other end of which slidably passes through the first limiting portion 221a. The elastic element 223 is fitted onto the guide rod 222a and abuts against the first limiting part 221a and the pickup part 222. The guide rod 222a provides support for the elastic element 223, improving the cushioning effect. The elastic element 223 can be configured as a compression spring.

[0058] Furthermore, the support plate 221 is also provided with a slide rail 221c, which extends along the second direction S2 and is located between the first limiting part 221a and the second limiting part 221b. The picking part 222 slides in cooperation with the slide rail 221c.

[0059] The number of swing arms 301 provided in the various embodiments of this application can be set according to actual needs. For example, the number of swing arms 301 can be 2, 3, 4, 5, 6, 7, or 8. Similarly, the number of pickups 220 can also be set according to actual needs. For example, the number of pickups 220 can be 2, 3, 4, 5, 6, 7, 8, 10, 12, or 15.

[0060] In one embodiment, the pickup unit 222 can be connected to a vacuum generator to pick up workpieces by vacuum adsorption.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A handling device, characterized in that The carrying device comprises: a rack; a pickup structure, which comprises a connecting plate and a plurality of pickup pieces arranged on the connecting plate, the pickup pieces being used for picking up workpieces; a swing arm mechanism, which comprises a plurality of swing arms, both ends of each swing arm being rotatably connected with the rack and the connecting plate, so that the connecting plate and the rack are connected in a parallelogram transmission mode through the swing arm mechanism, the swing arm mechanism being used for driving the pickup structure to move between a pickup position and a placement position, the pickup structure at the pickup position and the pickup structure at the placement position both being used for delivering workpieces to a supporting device; when the pickup structure moves from the pickup position to the placement position, at least part of the pickup pieces move from one supporting position of the supporting device to an adjacent other supporting position; wherein the connecting plate at the placement position is laterally displaced by a first displacement value in a first direction compared with the connecting plate at the pickup position, at least part of the pickup pieces are arranged at intervals in the first direction, and the interval value between the pickup pieces is equal to the first displacement value.

2. The handling device of claim 1, wherein The connecting plate at the placement position is located at the same position in a direction perpendicular to the first direction compared with the connecting plate at the pickup position.

3. The handling device of claim 2, wherein, The swing arm comprises a first rotating part connected with the rack and a second rotating part connected with the connecting plate, the length between the first rotating part and the second rotating part of each swing arm is equal, and the distance between adjacent first rotating parts is equal to the distance between adjacent second rotating parts; wherein each first rotating part is distributed in a first direction.

4. The handling device of claim 2, wherein The carrying device further comprises a buffer, the connecting plate at the pickup position and the connecting plate at the placement position have an overlapping area, the buffer is arranged on the rack and corresponds to the overlapping area, so as to abut against the connecting plate at the pickup position and the connecting plate at the placement position.

5. The handling device of claim 1, wherein The carrying device further comprises a driving assembly, the driving assembly comprises a driver and a transmission part, the transmission part is connected with each swing arm, and the driver is connected with the transmission part to drive each swing arm to rotate synchronously.

6. The handling device of claim 5, wherein, The rack is hollow and has a receiving cavity, the swing arm mechanism comprises a plurality of transmission shafts, the plurality of transmission shafts are arranged in the receiving cavity and are in transmission connection with the swing arms in correspondence, and the transmission part is arranged in the receiving cavity and is in transmission connection with the plurality of transmission shafts.

7. The handling device of claim 1, wherein The pickup piece comprises a support plate, a pickup part and an elastic piece, the pickup part is movably arranged on the support plate, one end of the elastic piece is connected with the support plate, and the other end of the elastic piece elastically abuts against one side of the pickup part away from the workpiece.

8. The handling device of claim 7, wherein, The support plate is provided with a first limiting part and a second limiting part located on the side away from the workpiece opposite to the first limiting part, the pickup part is slidably arranged between the first limiting part and the second limiting part, the pickup piece further comprises a guide rod, one end of the guide rod is connected with the pickup part, the other end of the guide rod is slidably arranged through the first limiting part, and the elastic piece is sleeved on the guide rod and abuts between the first limiting part and the pickup part.

9. A delivery apparatus characterized by, The conveying device comprises a supporting device provided with a plurality of supporting positions for supporting the workpieces and the handling device as claimed in any one of claims 1 to 8, which is capable of handling the workpieces to the respective supporting positions.

Images