Pick-up device

Abstract

The invention relates to a pickup device. The pickup device comprises an installation base, a pickup head and an elastic assembly, the installation base is provided with a first surface and a second surface which are arranged oppositely in the first direction, the installation base is further provided with an installation hole, and the installation hole extends in the first direction and penetrates through the first surface; the pickup head comprises a body part and a mounting column which are connected, the body part is located on the side, provided with the first surface, of the mounting base, and at least part of the mounting column protrudes out of the body part and is movably arranged in the mounting hole; the elastic assembly is installed on the installation base, the elastic assembly can elastically stretch out and draw back in the second direction and can be at least partially arranged in the installation hole in a protruding mode, and when the installation column is located in the installation hole, the installation column is detachably connected with the elastic assembly; wherein the first direction intersects with the second direction. According to the pickup device, the requirements for quick disassembly and assembly of the pickup head can be met, accurate alignment of the pickup head and the mounting base can be met, and the pickup device is applied to an automatic production line and facilitates improvement of the production efficiency.

Description

Pickup device Technical Field

[0001] This application relates to the field of feeding equipment technology, specifically to a picking device. Background Technology

[0002] In modern automated production processes for electronic products, pickup heads are used for picking up, transferring, and positioning raw materials, semi-finished products, and finished products. They are core components for automating processes such as component assembly and finished product inspection. Due to the significant differences in the specifications and materials of the materials to be processed, pickup devices need to be matched with different pickup heads according to the production process and material characteristics. However, changing pickup heads often requires downtime, and the process is cumbersome, requiring multiple adjustments and calibrations. This not only consumes a significant amount of production time but also easily affects the positioning accuracy of the pickup device, leading to decreased stability in pickup operations after head replacement. This makes it difficult to meet the demands of large-scale, high-cycle automated production of modern electronic products, thus hindering the improvement of production efficiency. Summary of the Invention

[0003] In view of this, this application provides a pickup device that can meet the requirements of quick disassembly and installation of the pickup head, and can also meet the requirements of precise alignment between the pickup head and the mounting base. The pickup device of this application is applied to automated production lines and helps to improve production efficiency.

[0004] This application provides a pickup device, comprising: a mounting base, a pickup head, and an elastic component. The mounting base has a first surface and a second surface disposed opposite to each other along a first direction. The mounting base also has a mounting hole extending along the first direction and penetrating the first surface. The pickup head includes a connected body portion and a mounting post. The body portion is located on the side of the mounting base where the first surface is located. The mounting post at least partially protrudes from the body portion and is movably disposed within the mounting hole. The elastic component is mounted on the mounting base and is elastically expandable and contractable along a second direction and at least partially protrudes from the mounting hole. When the mounting post is located in the mounting hole, the mounting post and the elastic component are detachably connected. The first direction intersects the second direction.

[0005] Furthermore, the elastic component includes a setting member, an elastic member, and a ball. The setting member has a setting space that extends along the second direction and has an opening. The elastic member and the ball are disposed within the setting space. The elastic member can undergo elastic deformation along the second direction. The ball can protrude from the opening and is at least partially located in the mounting hole. The mounting post has a retaining groove. When the mounting post is located in the mounting hole, the ball is held in the retaining groove.

[0006] Furthermore, the abutment groove is recessed into the peripheral sidewall of the mounting post, and the groove wall of the abutment groove has a first abutment surface and a second abutment surface connected together. The end of the first abutment surface opposite to the second abutment surface is connected to the peripheral sidewall, and the end of the second abutment surface opposite to the first abutment surface is connected to the peripheral sidewall.

[0007] Furthermore, the included angle α between the first abutting surface and the second abutting surface is in the range of 90°≤α<180°.

[0008] Furthermore, there are multiple mounting holes and multiple mounting posts, and multiple sets of elastic components. Each mounting hole corresponds to one mounting post, and each set of elastic components abuts against one mounting post.

[0009] Furthermore, the mounting base also has a mounting hole that extends along a second direction and penetrates a surface of the mounting base along the second direction. The mounting hole communicates with the mounting hole. The wall of the mounting hole has an internal thread, and the mounting element has an external thread. The internal thread and the external thread are threaded together.

[0010] Furthermore, the mounting base also has a positioning hole that extends along the first direction and penetrates the mounting base along the first surface, and the positioning hole is spaced apart from the mounting hole; the pickup head also includes a positioning post that is connected to the body and spaced apart from the positioning pin, and the positioning post is movably disposed in the positioning hole.

[0011] Furthermore, the radial dimension of the positioning post is different from the radial dimension of the mounting post.

[0012] Furthermore, the mounting base also has an assembly groove and a preset notch. The assembly groove is recessed in the second surface, and the preset notch passes through the first surface and the second surface respectively and communicates with the assembly groove. The picking device also includes a base, a robotic arm, and a locking member. The robotic arm is mounted on the base and can move relative to the base. One end of the robotic arm away from the base is disposed in the assembly groove, and the locking member passes through the mounting base for adjusting the size of the preset notch.

[0013] Furthermore, the mounting base has a first negative pressure channel, and the main body has a second negative pressure channel, with the first negative pressure channel and the second negative pressure channel connected in sequence; the pickup device also includes a negative pressure mechanism, which is connected to the first negative pressure channel to create a negative pressure in the first negative pressure channel and the second negative pressure channel.

[0014] In the pickup device provided in this application, the mounting base is used to fix the pickup head. With the cooperation of the elastic component, the pickup head can be quickly detached from the mounting base or quickly assembled onto the mounting base, thereby achieving rapid and accurate replacement of the pickup head. This effectively avoids occupying a large amount of production time due to pickup head replacement while ensuring the positioning accuracy of the pickup head, ensuring the stability of the pickup operation of the pickup device after the pickup head is replaced, adapting to the needs of large-scale, high-cycle automated production of modern electronic products, and improving production efficiency. Specifically, when it is necessary to install the pickup head onto the mounting base, by applying a force parallel to the first direction to the mounting post, the mounting post enters the mounting hole from the end of the mounting hole near the first surface side. The mounting post squeezes the elastic component, causing the elastic component to elastically contract along the second direction, so that the elastic component and the mounting post are in an unlocked state, facilitating the movement of the mounting post within the mounting hole. Furthermore, when the mounting post moves to abut against the wall of the mounting hole along the first direction, the elastic component elastically recovers and applies an elastic force along the second direction to the mounting post, thereby locking the elastic component and the mounting post in a locked state and mounting the pickup head onto the mounting base. Similarly, when it is necessary to remove the pickup head from the mounting base, only a force parallel to the first direction needs to be applied to the mounting post, causing the mounting post to detach from the mounting hole along the first direction. Under the action of external force, the elastic component elastically contracts along the second direction, thereby unlocking the elastic component and the mounting post, facilitating the movement of the mounting post within the mounting hole. When the mounting post disengages from the elastic component, the elastic component elastically elongates along the second direction to reset. This application, through the detachable connection between the mounting post and the elastic component, meets the requirements for rapid disassembly and installation of the pickup head. Simultaneously, the mounting post and the mounting holes of the mounting base are correspondingly arranged to ensure precise alignment between the pickup head and the mounting base. This achieves rapid assembly and disassembly of the pickup head and the mounting base while maintaining the positioning accuracy of the two components. The pickup device of this application, when applied to automated production lines, helps improve production efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the implementation will be briefly introduced below. Obviously, the drawings described below are some implementations of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 is a structural schematic diagram of a pickup device according to an embodiment of this application; Figure 2 is a partial structural schematic diagram of a pickup device according to an embodiment of this application; Figure 3 is a partial exploded structural schematic diagram of a pickup device according to a first embodiment of this application; Figure 4 is a top view of a pickup device according to an embodiment of this application; Figure 5 is a cross-sectional structural schematic diagram along the AA direction in Figure 4; Figure 6 is a structural schematic diagram of an elastic component according to an embodiment of this application; Figure 7 is a side view of an elastic component according to an embodiment of this application; Figure 8 is a cross-sectional structural schematic diagram along the BB direction in Figure 7; Figure 9 Figure 10 is an enlarged view of the dashed box C in Figure 3; Figure 11 is an enlarged view of the dashed box D in Figure 10; Figure 12 is a cross-sectional view of the structure along the EE direction in Figure 4; Figure 13 is a partially exploded view of the pickup device according to a second embodiment of this application; Figure 14 is an enlarged view of the dashed box F in Figure 1; Figure 15 is a cross-sectional view of the structure along the GG direction in Figure 4; Figure 16 is a cross-sectional view of the structure along the HH direction in Figure 4; Figure 17 is a schematic diagram of the air passage connection of the pickup device according to an embodiment of this application.

[0017] Explanation of reference numerals in the attached drawings: 100-Pickup device, 110-Mounting base, 111-First surface, 112-Second surface, 113-Mounting hole, 114-Setting hole, 115-Positioning hole, 116-Assembly slot, 117-Preset notch, 118-First negative pressure channel, 120-Pickup head, 121-Body body, 1211-Second negative pressure channel, 122-Mounting post, 1221-Supporting slot, 1222-First support surface, 1223-Second support surface, 1224-Sliding guide surface, 123-Positioning post, 130-Elastic component, 131-Setting component, 1311-Setting space, 1312-Opening, 132-Elastic component, 133-Pellet, 140-Base, 150-Mechanical arm, 160-Locking component, 170-Negative pressure mechanism. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0020] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] In modern automated production processes for electronic products, pickup heads are used for picking up, transferring, and positioning raw materials, semi-finished products, and finished products. They are core components for automating processes such as component assembly and finished product inspection. Due to the significant differences in the specifications and materials of the materials to be processed, pickup devices need to be matched with different pickup heads according to the production process and material characteristics. However, changing pickup heads often requires downtime, and the process is cumbersome, requiring multiple adjustments and calibrations. This not only consumes a significant amount of production time but also easily affects the positioning accuracy of the pickup device, leading to decreased stability in pickup operations after head replacement. This makes it difficult to meet the demands of large-scale, high-cycle automated production of modern electronic products, thus hindering the improvement of production efficiency.

[0022] Please refer to Figures 1 to 5. This application provides a pickup device 100, which includes: a mounting base 110, a pickup head 120, and an elastic component 130. The mounting base 110 has a first surface 111 and a second surface 112 disposed opposite to each other along a first direction (as shown by the X direction in Figure 3). The mounting base 110 also has a mounting hole 113, which extends along the first direction and penetrates the first surface 111. The pickup head 120 includes a connected body portion 121 and a mounting post 122. The body portion 121 is located on the mounting base 110. The base 110 has one side of the first surface 111. The mounting post 122 at least partially protrudes from the body portion 121 and is movably disposed within the mounting hole 113. The elastic component 130 is mounted on the mounting base 110. The elastic component 130 can elastically expand and contract along the second direction (as shown by the Y direction in Figure 3) and can at least partially protrude from the mounting hole 113. When the mounting post 122 is located in the mounting hole 113, the mounting post 122 and the elastic component 130 are detachably connected. The first direction intersects with the second direction.

[0023] Understandably, the first direction is the height direction of the pickup device 100.

[0024] Understandably, the mounting post 122 at least partially protrudes from the body portion 121. In some embodiments, the mounting post 122 is connected to the side of the body portion 121 near the first surface 111; in other embodiments, the mounting post 122 is partially inserted into the body portion 121 and partially protrudes from the side of the body portion 121 near the first surface 111.

[0025] Understandably, the mounting post 122 is movably disposed within the mounting hole 113. Specifically, the mounting post 122 may enter the mounting hole 113 from one end near the first surface 111. When the pickup head 120 is mounted on the mounting base 110, the mounting post 122 is located within the mounting hole 113; when the pickup head 120 is separated from the mounting base 110, the mounting post 122 disengages from the mounting hole 113.

[0026] Understandably, the elastic component 130 can elastically stretch or contract along the second direction, meaning that the elastic component 130 can elastically elongate or elastically contract along the second direction.

[0027] Understandably, the detachable connection between the mounting post 122 and the elastic component 130 can be such that the elastic component 130 and the mounting post 122 have a locked state and an unlocked state. When the elastic component 130 and the mounting post 122 are in the locked state, the pickup head 120 is fixed on the mounting base 110. When the elastic component 130 and the mounting post 122 are in the unlocked state, the pickup head 120 can be separated from the mounting base 110, making it convenient for the user to replace the pickup head 120.

[0028] Understandably, when the elastic component 130 is in a locked state with the mounting post 122, the elastic component 130 protrudes at least partially from the mounting hole 113; when the elastic component 130 is in an unlocked state with the mounting post 122, the elastic component 130 does not protrude from the mounting hole 113.

[0029] Optionally, in some embodiments, the first direction is perpendicular to the second direction.

[0030] Understandably, the pickup head 120 is used to pick up a target object. In one specific embodiment, the target object is a lens module. When the pickup device 100 is used to pick up different models of lens modules, different pickup heads 120 can be used to pick up the target object.

[0031] In the pickup device 100 provided in this embodiment, the mounting base 110 is used to fix the pickup head 120. With the cooperation of the elastic component 130, the pickup head 120 can be quickly removed from the mounting base 110 or quickly assembled onto the mounting base 110, thereby realizing the rapid and accurate replacement of the pickup head 120. While ensuring the positioning accuracy of the pickup head 120, it can effectively avoid occupying a lot of production time due to the replacement of the pickup head 120, ensure the stability of the pickup operation of the pickup device 100 after the replacement of the pickup head 120, adapt to the needs of large-scale, high-speed automated production of modern electronic products, and improve production efficiency. Specifically, when the pickup head 120 needs to be installed on the mounting base 110, a force parallel to the first direction is applied to the mounting post 122. The mounting post 122 enters the mounting hole 113 from one end near the first surface 111. The mounting post 122 compresses the elastic component 130, causing the elastic component 130 to elastically contract along the second direction, thereby unlocking the elastic component 130 from the mounting post 122 and facilitating the movement of the mounting post 122 within the mounting hole 113. Further, when the mounting post 122 moves to abut against the hole wall of the mounting hole 113 along the first direction, the elastic component 130 elastically recovers and applies an elastic force along the second direction to the mounting post 122, thereby locking the elastic component 130 from the mounting post 122 and thus installing the pickup head 120 onto the mounting base 110. Similarly, when it is necessary to detach the pickup head 120 from the mounting base 110, only a force parallel to the first direction needs to be applied to the mounting post 122 to disengage it from the mounting hole 113 along the first direction. Under the action of the external force, the elastic component 130 elastically contracts along the second direction, thereby unlocking the elastic component 130 from the mounting post 122, facilitating the movement of the mounting post 122 within the mounting hole 113. When the mounting post 122 disengages from the elastic component 130, the elastic component 130 elastically elongates along the second direction to reset. This application, through the detachable connection between the mounting post 122 and the elastic component 130, meets the requirements for rapid disassembly and installation of the pickup head 120. Simultaneously, the mounting post 122 and the mounting holes 113 of the mounting base 110 are correspondingly arranged, ensuring precise alignment between the pickup head 120 and the mounting base 110. This achieves rapid assembly and disassembly of the pickup head 120 and the mounting base 110 while maintaining the positioning accuracy of the two components. The pickup device 100 of this application, when applied to automated production lines, helps improve production efficiency.

[0032] Understandably, during the assembly and disassembly of the pickup head 120 and the mounting base 110, a force parallel to the first direction needs to be applied to the mounting post 122 to move the mounting post 122 within the mounting hole 113.

[0033] Understandably, when the pickup head 120 needs to be mounted on the mounting base 110, the direction of the force applied to the mounting post 122 is parallel to the first direction and points from the first surface 111 to the second surface 112. When the pickup head 120 needs to be removed from the mounting base 110, the direction of the force applied to the mounting post 122 is parallel to the first direction and points from the second surface 112 to the first surface 111.

[0034] Understandably, during the process of switching from the locked state to the unlocked state, the elastic component 130 shortens in size along the second direction; during the process of switching from the unlocked state to the locked state, the elastic component 130 elongates in size along the second direction.

[0035] Optionally, in some embodiments, the elastic component 130 is a spring plunger.

[0036] Please refer to Figures 6 to 8. In some embodiments, the elastic component 130 includes a setting member 131, an elastic member 132, and a ball 133. The setting member 131 has a setting space 1311, which extends along the second direction and has an opening 1312. The elastic member 132 and the ball 133 are disposed within the setting space 1311. The elastic member 132 can undergo elastic deformation along the second direction. The ball 133 can protrude from the opening 1312 and is at least partially located in the mounting hole 113. The mounting post 122 has a retaining groove 1221. When the mounting post 122 is located in the mounting hole 113, the ball 133 is engaged in the retaining groove 1221.

[0037] Understandably, the ball 133 is positioned closer to the opening 1312 than the elastic element 132.

[0038] Understandably, when the elastic component 130 and the mounting post 122 are in a locked state, the ball 133 protrudes from the opening 1312 and is at least partially located in the mounting hole 113; when the elastic component 130 and the mounting post 122 are in an unlocked state, the ball 133 is received in the setting space 1311 and the ball 133 does not protrude from the opening 1312.

[0039] In this embodiment, the setting space 1311 of the setting member 131 extends along the second direction, so that when the elastic member 132 is disposed within the setting space 1311, the inner wall of the setting space 1311 can restrict and guide the deformation direction of the elastic member 132, preventing the elastic deformation direction of the elastic member 132 from tilting and weakening the elastic force of the elastic component 130 on the mounting post 122. Specifically, the elastic force of the elastic member 132 pushes the ball 133 out of the opening 1312 and into the mounting hole 113. When the mounting post 122 moves relative to the mounting hole 113 along the first direction, the mounting post 122 compresses the ball 133, causing the elastic member 132 to elastically contract and the ball 133 to retract along the second direction into the setting space 1311. When the mounting post 122 moves to the position where it corresponds to the support groove 1221 and the ball 133, the elastic element 132 elastically recovers and pushes the ball 133 into the support groove 1221, completing the automatic locking of the pickup head 120 and the mounting base 110. Similarly, when the pickup head 120 needs to be replaced, only a force parallel to the first direction needs to be applied to the mounting post 122 to overcome the elastic force of the elastic element 132, so that the elastic element 132 contracts and the ball 133 retracts from the support groove 1221 to the setting space 1311, thereby switching the mounting post 122 and the elastic element 130 from the locked state to the unlocked state, allowing the pickup head 120 to be quickly removed from the mounting base 110. This application provides the elastic component 130 on the mounting base 110 so that the assembly and disassembly of the pickup head 120 and the mounting base 110 can be completed without additional tooling or complex debugging, simply by applying axial force, which effectively improves the efficiency of replacing the pickup head 120.

[0040] Optionally, in one specific embodiment, the ball 133 is spherical, so that during the elastic contraction or elastic recovery of the elastic member 132, the friction between the elastic member 132 and the ball 133 is small, which is beneficial to achieve uniform force between the elastic member 132 and the ball 133, improve the smoothness of switching the relative position of the ball 133 in the second direction, and ultimately improve the smoothness of switching between the pickup head 120 and the mounting base 110 in the unlocked state and the locked state.

[0041] Optionally, in some embodiments, the end of the elastic element 132 near the ball 133 is connected to the ball 133 to drive the ball 133 to move along the second direction.

[0042] Optionally, in other embodiments, the elastic element 132 is separately disposed from the ball 133, and a blocking structure is provided at the opening 1312 to prevent the ball 133 from falling out of the opening 1312. When the elastic element 132 elastically contracts and its dimension along the second direction shortens, the ball 133 can roll within the setting space 1311 in a direction away from the opening 1312, thereby reducing the force applied to the mounting post 122 during the process of mounting the pickup head 120 to or removing it from the mounting base 110.

[0043] Please refer to Figure 9. In some embodiments, the abutment groove 1221 is recessed into the peripheral sidewall of the mounting post 122. The groove wall of the abutment groove 1221 has a first abutment surface 1222 and a second abutment surface 1223 connected together. The end of the first abutment surface 1222 facing away from the second abutment surface 1223 is connected to the peripheral sidewall, and the end of the second abutment surface 1223 facing away from the first abutment surface 1222 is connected to the peripheral sidewall.

[0044] Understandably, both the first abutting surface 1222 and the second abutting surface 1223 are annular surfaces.

[0045] Understandably, the first abutment surface 1222 intersects with the second abutment surface 1223.

[0046] In this embodiment, the abutment groove 1221 is recessed into the peripheral sidewall of the mounting post 122. The abutment groove 1221 provides a precise holding and accommodating space for the ball 133, thereby enabling the elastic component 130 and the mounting post 122 to be positioned relative to each other along the first direction. This helps to improve the positioning accuracy of the pickup head 120 and the mounting base 110 in the first direction. In addition, along the first direction, the ball 133 abuts against the groove wall of the abutment groove 1221 near the first surface 111. With the rigid abutment between the ball 133 and the groove wall, the pickup head 120 can be precisely axially limited along the first direction, effectively restricting the movement and offset of the pickup head 120 in the first direction, preventing the pickup head 120 from falling off the mounting base 110 under the action of gravity, and improving the structural stability of the pickup head 120 on the mounting base 110. During the process of mounting the pickup head 120 to or removing it from the mounting base 110, the first abutting surface 1222 and the second abutting surface 1223 can serve as guide surfaces. Specifically, during the process of installing the pickup head 120 onto the mounting base 110, a force parallel to the first direction is applied to the pickup head 120 so that the ball 133 can smoothly slide along the peripheral sidewall of the mounting post 122 to the opening of the abutment groove 1221, and smoothly enter the abutment groove 1221 under the guidance of one of the first abutment surface 1222 and the second abutment surface 1223. Since the first abutment surface 1222 and the second abutment surface 1223 are connected, that is, the first abutment surface 1222 and the second abutment surface 1223 form a certain angle, the ball 133 can also be restricted from coming out of the abutment groove 1221 along the other of the first abutment surface 1222 and the second abutment surface 1223, thereby improving the stability of the mounting post 122 and the mounting base 110 when they are in the locked state. When it is necessary to remove the pickup head 120 from the mounting base 110, a force is applied to the pickup head 120 in a direction parallel to the first direction, so that the ball 133 can slide out of the support groove 1221 under the guidance of one of the first support surface 1222 and the second support surface 1223, and smoothly slide to the peripheral side wall of the mounting post 122, thereby realizing that the mounting post 122 and the mounting base 110 are in an unlocked state.This application provides a retaining groove 1221 recessed into the peripheral sidewall of the mounting post 122, and the groove wall of the retaining groove 1221 has a first retaining surface 1222 and a second retaining surface 1223 connected together. This not only accommodates the telescopic locking action of the ball 133, but also improves the stability of the mounting post 122 and the mounting base 110 when they are in a locked state. At the same time, it improves the smoothness of the disassembly and assembly process of the pickup head 120 and the mounting base 110, which is conducive to further improving the replacement efficiency of the pickup head 120.

[0047] Optionally, in one embodiment, when the pickup head 120 is mounted on the mounting base 110, the first abutment surface 1222 is closer to the first surface 111 than the second abutment surface 1223, and the second abutment surface 1223 is closer to the second surface 112 than the first abutment surface 1222. During the process of mounting the pickup head 120 to the mounting base 110, the first abutment surface 1222 can guide the ball 133 into the abutment groove 1221. During the process of removing the pickup head 120 from the mounting base 110, the second abutment surface 1223 can guide the ball 133 out of the abutment groove 1221.

[0048] Please refer to Figures 10 and 11 together. In some embodiments, the included angle α between the first abutment surface 1222 and the second abutment surface 1223 is in the range of 90°≤α<180°.

[0049] Specifically, the included angle α between the first abutting surface 1222 and the second abutting surface 1223 can be, but is not limited to, 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, and 175°.

[0050] In this embodiment, when the included angle α between the first abutting surface 1222 and the second abutting surface 1223 satisfies the range of 90°≤α<180°, the included angle between the first abutting surface 1222 and the second abutting surface 1223 is within a reasonable range, and the inclination of the first abutting surface 1222 and the second abutting surface 1223 is within a reasonable range. On the one hand, during the process of installing the pickup head 120 onto or removing it from the mounting base 110, the first abutting surface 1222 and the second abutting surface 1223 can provide a better guiding effect for the ball 133, so as to guide the ball 133 into or out of the abutting groove 1221, thereby improving the smoothness of the ball 133 entering or leaving the abutting groove 1221, and further improving the efficiency of switching between the pickup head 120 and the mounting base 110 in the unlocked and locked states. The pickup device 100 provided in this application has high efficiency in replacing the pickup head 120. On the other hand, when the pickup head 120 is mounted on the mounting base 110, i.e., when the mounting post 122 and the elastic component 130 are in a locked state, the first abutment surface 1222 and the second abutment surface 1223 cooperate with each other to provide stable support and limit the movement of the ball 133, thereby preventing the ball 133 from falling out of the abutment groove 1221 and improving the structural stability of the pickup head 120 mounted on the mounting base 110. When the included angle between the first abutment surface 1222 and the second abutment surface 1223 is too large, i.e., the included angle between the first abutment surface 1222 and the second abutment surface 1223 is a flat angle or the first abutment surface 1222 and the second abutment surface 1223 protrude from the peripheral sidewall of the mounting post 122. When the angle between the first abutment surface 1222 and the second abutment surface 1223 is a flat angle, and the mounting post 122 and the elastic component 130 are in the locked state, the ball 133 directly abuts against the peripheral wall of the mounting post 122. The mounting post 122 may fall under the influence of gravity, reducing the structural stability of the pickup head 120 mounted on the mounting base 110. When the first abutment surface 1222 and the second abutment surface 1223 protrude from the peripheral wall of the mounting post 122, the first abutment surface 1222 and the second abutment surface 1223 cannot form the abutment groove 1221, and cannot provide a precise holding and accommodating space for the ball 133, thus preventing the detachable connection between the mounting post 122 and the elastic component 130.When the included angle between the first abutment surface 1222 and the second abutment surface 1223 is too small, although it can improve the stability of the mounting post 122 and the mounting base 110 in the locked state, it correspondingly increases the difficulty of assembling or removing the pickup head 120 from the mounting base 110. When it is necessary to assemble or remove the pickup head 120 from the mounting base 110, the force applied to the mounting post 122 in a direction parallel to the first direction needs to be increased, which reduces the replacement efficiency of the pickup head 120.

[0051] Optionally, in some embodiments, the end of the mounting post 122 facing away from the body portion 121 has a sliding guide surface 1224, which is connected to the peripheral sidewall of the mounting post 122.

[0052] In this embodiment, during the process of installing the pickup head 120 onto the mounting base 110, the sliding guide surface 1224 of the mounting post 122 first enters the mounting hole 113 and moves along the first direction under the action of external force. When the sliding guide surface 1224 contacts the ball 133, the sliding guide surface 1224 slides relative to the ball 133 to guide the ball 133 to slide smoothly to contact the peripheral sidewall of the mounting post 122 and gradually elastically extend and retract. The design of the sliding guide surface 1224 provides a smooth transition guide for the cooperation between the mounting post 122 and the ball 133, so as to avoid hard collision or jamming between the end of the ball 133 and the mounting post 122 during the installation process. At the same time, under the action of the inclined component force of the sliding guide surface 1224, the ball 133 pushes the elastic element 132 to retract smoothly and gradually along the second direction, so as to realize the smoothness of the extension and retraction of the elastic component 130.

[0053] Optionally, in some embodiments, the number of mounting holes 113 and the number of mounting posts 122 are both one, and the number of elastic components 130 is a group, with the mounting holes 113, the mounting posts 122 and the elastic components 130 being arranged in a one-to-one correspondence.

[0054] In some embodiments, the number of mounting holes 113 and the number of mounting posts 122 are both multiple, and the number of elastic components 130 is multiple groups. Each mounting hole 113 is provided with one mounting post 122, and each group of elastic components 130 abuts against one mounting post 122.

[0055] Optionally, in some embodiments, the number of mounting holes 113, the number of mounting posts 122, and the number of elastic components 130 are equal.

[0056] Understandably, the mounting hole 113, the mounting post 122, and the elastic component 130 are provided in a one-to-one correspondence.

[0057] Understandably, the number of mounting holes 113, the number of mounting posts 122, and the number of elastic components 130 can be, but are not limited to, 2 (sets), 3 (sets), 4 (sets), etc.

[0058] In this embodiment, multiple mounting posts 122 are precisely inserted into corresponding mounting holes 113 to form multi-point radial limiting, restricting the radial offset of the pickup head 120 from multiple directions and improving the positioning accuracy of the pickup head 120 mounted on the mounting base 110. Furthermore, each set of elastic components 130 synchronously abuts against the corresponding mounting post 122, achieving multi-point axial locking, which effectively improves the structural stability of the pickup head 120 mounted on the mounting base 110.

[0059] Correspondingly, the more mounting holes 113, mounting posts 122, and elastic components 130 there are, the better the structural stability of the pickup head 120 mounted on the mounting base 110. However, correspondingly, when removing the pickup head 120 from the mounting base 110 or mounting the pickup head 120 onto the mounting base 110, a greater force needs to be applied to the pickup head 120 along the direction parallel to the first direction.

[0060] Optionally, in some embodiments, the resilient component 130 is detachably connected to the mounting base 110.

[0061] In this embodiment, the elastic component 130, as a consumable part of the pickup device 100, is prone to fatigue failure of the elastic element 132, wear of the ball 133, or deformation of the setting element 131 after a period of use, thereby affecting the assembly or disassembly of the pickup head 120. By setting the elastic component 130 to be detachably connected to the mounting base 110, it is easy to quickly separate and disassemble the elastic component 130 from the mounting base 110. There is no need to disassemble the overall structure of the mounting base 110, nor to disassemble the pickup head 120 and other related components. Individual inspection, replacement or maintenance of one or more sets of elastic components 130 can be completed, which helps to significantly shorten maintenance time, reduce production line downtime during maintenance, and reduce equipment maintenance costs and parts wear.

[0062] In some embodiments, the mounting base 110 further has a mounting hole 114 that extends along a second direction and penetrates a surface of the mounting base 110 along the second direction. The mounting hole 114 communicates with the mounting hole 113. The wall of the mounting hole 114 has an internal thread, and the mounting member 131 has an external thread. The internal thread and the external thread are threaded together.

[0063] Understandably, the setting hole 114 is used to accommodate the elastic component 130.

[0064] In this embodiment, the mounting hole 114 extends along the second direction and penetrates one surface of the mounting base 110 along the second direction. During the assembly of the pickup device 100, the mounting member 131 enters the mounting hole 114 from the surface of the mounting base 110 along the second direction, improving the ease of assembly between the elastic component 130 and the mounting base 110. Furthermore, since the mounting hole 114 extends along the second direction, the hole wall of the mounting hole 114 can limit and guide the assembly of the elastic component 130, thereby improving the positioning accuracy between the elastic component 130 and the mounting base 110. Furthermore, the internal thread of the mounting hole 114 is threadedly connected to the external thread of the mounting member 131. The internal and external threads engage to calibrate the position of the elastic component 130 in both the axial and radial directions. This ensures that after assembly, the extension / retraction direction of the elastic component 132 is along the second direction, and the ball bearing 133 can precisely protrude into the mounting hole 113, forming a precise fit with the retaining groove 1221 of the mounting post 122. This prevents jamming failure or positioning deviation due to misalignment of the ball bearing 133. In addition, the self-locking characteristic of the threaded connection provides a durable fastening force, effectively preventing the elastic component 130 from loosening or shifting during equipment operation and vibration. This ensures the stability of the fit between the elastic component 130 and the mounting post 122, thereby ensuring the positioning accuracy and jamming reliability of the pickup head 120.

[0065] Understandably, the nominal diameter of the setting member 131 can be, but is not limited to, 3mm, 4mm, 5mm, 6mm or 8mm, etc.

[0066] Understandably, by adjusting the position of the setting member 131 within the setting hole 114, the size of the portion of the ball 133 that protrudes from the mounting hole 113 in the second direction can be adjusted, thereby adjusting the degree of engagement between the ball 133 and the abutment groove 1221. This adjusts the structural stability of the pickup head 120 mounted on the mounting base 110, and the magnitude of the force required to be applied to the mounting post 122 when the pickup head 120 is mounted on or removed from the mounting base 110.

[0067] Understandably, the larger the size of the portion of the ball bearing 133 that protrudes from the mounting hole 113 in the second direction, the better the structural stability of the pickup head 120 mounted on the mounting base 110. Correspondingly, the greater the force required to be applied to the mounting post 122 when mounting the pickup head 120 onto or detaching it from the mounting base 110. Similarly, the smaller the size of the portion of the ball bearing 133 that protrudes from the mounting hole 113 in the second direction, the worse the structural stability of the pickup head 120 mounted on the mounting base 110. Correspondingly, the smaller the force required to be applied to the mounting post 122 when mounting the pickup head 120 onto or detaching it from the mounting base 110.

[0068] Please refer to Figure 12. In some embodiments, the mounting base 110 also has a positioning hole 115, which extends along the first direction and penetrates the mounting base 110 along the first surface 111. The positioning hole 115 is spaced apart from the mounting hole 113. The pickup head 120 also includes a positioning post 123, which is connected to the body part 121 and spaced apart from the positioning pin. The positioning post 123 is movably disposed in the positioning hole 115.

[0069] Understandably, the positioning post 123 is movably disposed in the positioning hole 115. Specifically, the positioning post 123 may enter the positioning hole 115 from one end near the first surface 111. When the pickup head 120 is mounted on the mounting base 110, the positioning post 123 is located within the positioning hole 115; when the pickup head 120 is separated from the mounting base 110, the positioning post 123 disengages from the positioning hole 115.

[0070] In this embodiment, during the installation of the pickup head 120 onto the mounting base 110, the positioning post 123 is positioned corresponding to the positioning hole 115, and the mounting post 122 engages with the mounting hole 113. The positioning post 123 and the mounting post 122 cooperate with each other to precisely align the relative positions of the pickup head 120 and the mounting base 110 from two different positions, effectively offsetting any slight radial offset that may occur with a single post engagement, thus achieving high-precision positioning of the pickup head 120 and the mounting base 110. Simultaneously, by setting two sets of posts to cooperate with each other, the possibility of the pickup head 120 swaying or getting stuck when it is installed into the mounting base 110 along the first direction can be reduced, ensuring the pickup accuracy of the pickup device 100 without the need for adjustment after replacing the pickup head 120.

[0071] In some embodiments, the radial dimension of the positioning post 123 is different from the radial dimension of the mounting post 122.

[0072] In this embodiment, the radial dimension of the positioning post 123 is different from that of the mounting post 122, so as to realize the differentiated design of the positioning post 123 and the mounting post 122, thereby realizing foolproof assembly and avoiding confusion between the mounting post 122 and the positioning post 123, which would affect the replacement efficiency of the pickup head 120.

[0073] Please refer to Figures 13 to 15. In some embodiments, the mounting base 110 further has an assembly groove 116 and a preset notch 117. The assembly groove 116 is recessed in the second surface 112, and the preset notch 117 passes through the first surface 111 and the second surface 112 respectively and communicates with the assembly groove 116. The picking device 100 also includes a base 140, a robotic arm 150 and a locking member 160. The robotic arm 150 is mounted on the base 140 and can move relative to the base 140. One end of the robotic arm 150 away from the base 140 is disposed in the assembly groove 116, and the locking member 160 passes through the mounting base 110 for adjusting the size of the preset notch 117.

[0074] Understandably, the assembly groove 116 is a settling groove.

[0075] Understandably, the preset notch 117 is positioned close to the assembly slot 116.

[0076] Understandably, the robotic arm 150 can move relative to the base 140. Specifically, the robotic arm 150 can move relative to the base 140 along the first direction, and the robotic arm 150 can also move relative to the base 140 along a plane perpendicular to the first direction, so as to drive the mounting base 110 and the pickup head 120 to move.

[0077] Understandably, when the picking device 100 is used to pick up a target object, the mounting base 110, the picking head 120, and the target object are arranged sequentially along the first direction.

[0078] Understandably, the end of the robotic arm 150 facing away from the base 140 is disposed in the assembly slot 116, which can be that the mounting base 110 is mounted on the robotic arm 150.

[0079] In this embodiment, the picking device 100 includes a base 140, a robotic arm 150, a mounting base 110, and a picking head 120. The robotic arm 150 is mounted on the base 140 and is movable relative to the base 140. The mounting base 110 is mounted on the robotic arm 150 and is used to mount the picking head 120. When the robotic arm 150 moves relative to the base 140, it can move the mounting base 110 and the picking head 120, thereby enabling the picking or transfer of a target object. Furthermore, the assembly groove 116 is recessed into the second surface 112, providing precise accommodating and positioning space for the robotic arm 150. During the assembly process of the robotic arm 150 and the mounting base 110, the end of the robotic arm 150 facing away from the base 140 is inserted into the assembly groove 116, thus achieving rapid positioning of the mounting base 110 and the robotic arm 150. Furthermore, the preset notch 117 penetrates the first surface 111 and the second surface 112 respectively and communicates with the assembly groove 116, so that the mounting base 110 can undergo a certain elastic deformation. The locking member 160 passes through the mounting base 110 and can adjust the size of the preset notch 117. When the locking member 160 is tightened, the preset notch 117 can be contracted, so that the groove wall of the assembly groove 116 elastically clamps the end of the robotic arm 150 embedded therein, realizing a firm lock between the robotic arm 150 and the mounting base 110. When the locking member 160 is loosened, the preset notch 117 opens, the assembly groove 116 can restore its elastic deformation and release the end of the robotic arm 150, which facilitates the adjustment of the assembly gap between the robotic arm 150 and the assembly groove 116. The assembly method of the mounting base 110 and the robotic arm 150 provided in this application embodiment is simple and efficient, and can ensure the connection stability between the mounting base 110 and the robotic arm 150, thereby improving the performance of the picking device 100.

[0080] Understandably, the picking device 100 can be used in, but is not limited to, inspection systems and packaging systems. If the picking device 100 is applied to an inspection system, the picking head 120 picks up the target object and moves under the drive of the robotic arm 150 to place the target object on the inspection table, ultimately achieving automated inspection of the target object. This application does not limit the application scenarios of the picking device 100.

[0081] Please refer to Figures 16 and 17 together. In some embodiments, the mounting base 110 has a first negative pressure channel 118, and the body part 121 has a second negative pressure channel 1211. The first negative pressure channel 118 and the second negative pressure channel 1211 are connected in sequence. The pickup device 100 also includes a negative pressure mechanism 170, which is connected to the first negative pressure channel 118 so that the first negative pressure channel 118 and the second negative pressure channel 1211 form a negative pressure.

[0082] Understandably, in the embodiment of FIG17, only the connection relationship between the negative pressure mechanism 170, the first negative pressure channel 118 and the second negative pressure channel 1211 is shown, and the specific number of the first negative pressure channel 118 and the specific number of the second negative pressure channel 1211 are not shown. It should not be construed as a limitation on the specific number of the first negative pressure channel 118 and the specific number of the second negative pressure channel 1211.

[0083] In this embodiment, the negative pressure mechanism 170, the first negative pressure channel 118, and the second negative pressure channel 1211 are interconnected. When the negative pressure mechanism 170 is activated, the first negative pressure channel 118 and the second negative pressure channel 1211 can form a negative pressure, facilitating the pickup head 120 to adsorb and pick up the target object. Compared to using mechanical grippers to pick up the target object, the pickup head 120 provided in this embodiment can be used to pick up delicate target objects such as lens modules, avoiding damage to the target object during the pickup process and improving the applicability of the pickup device 100. At the same time, by setting the negative pressure mechanism 170, the first negative pressure channel 118, and the second negative pressure channel 1211, the adsorption force between the robotic arm 150 and the mounting base 110, as well as the adsorption force between the mounting base 110 and the pickup head 120, can be further improved, thereby enhancing the structural stability of the interconnection between the robotic arm 150, the mounting base 110, and the pickup head 120.

[0084] Optionally, in one specific embodiment, both the first negative pressure channel 118 and the second negative pressure channel 1211 extend along the first direction.

[0085] In this application, the terms "embodiment" and "implementation" mean that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of these phrases in various locations throughout the specification does not necessarily refer to the same embodiment, nor are they independent or alternative embodiments mutually exclusive with other embodiments. Those skilled in the art will understand, explicitly and implicitly, that the embodiments described in this application can be combined with other embodiments. Furthermore, it should be understood that the features, structures, or characteristics described in the various embodiments of this application can be arbitrarily combined to form another embodiment that does not depart from the spirit and scope of the technical solution of this application, provided there is no contradiction between them.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application should not depart from the spirit and scope of the technical solutions of this application.

Claims

1. A pickup device, characterized in that, The pickup device includes: a mounting base having a first surface and a second surface disposed opposite to each other along a first direction, the mounting base also having a mounting hole extending along the first direction and penetrating the first surface; a pickup head including a connected body portion and a mounting post, the body portion being located on the side of the mounting base having the first surface, the mounting post at least partially protruding from the body portion and movably disposed within the mounting hole; and an elastic component mounted on the mounting base, the elastic component being elastically expandable and contractable along a second direction and at least partially protruding from the mounting hole, the mounting post being detachably connected to the elastic component when the mounting post is located in the mounting hole; wherein the first direction intersects the second direction.

2. The pickup device according to claim 1, characterized in that, The elastic component includes a setting member, an elastic member, and a ball. The setting member has a setting space that extends along the second direction and has an opening. The elastic member and the ball are disposed within the setting space. The elastic member can undergo elastic deformation along the second direction. The ball can protrude from the opening and is at least partially located in the mounting hole. The mounting post has a retaining groove. When the mounting post is located in the mounting hole, the ball is held in the retaining groove.

3. The pickup device according to claim 2, characterized in that, The abutment groove is recessed into the peripheral sidewall of the mounting post. The groove wall of the abutment groove has a first abutment surface and a second abutment surface connected together. The end of the first abutment surface opposite to the second abutment surface is connected to the peripheral sidewall, and the end of the second abutment surface opposite to the first abutment surface is connected to the peripheral sidewall.

4. The pickup device according to claim 3, characterized in that, The included angle α between the first abutment surface and the second abutment surface is in the range of 90°≤α<180°.

5. The pickup device according to claim 1, characterized in that, The number of mounting holes and the number of mounting posts are both multiple, and the number of elastic components is multiple sets. Each mounting hole corresponds to one mounting post, and each set of elastic components corresponds to one mounting post.

6. The pickup device according to claim 2, characterized in that, The mounting base also has a mounting hole that extends along a second direction and penetrates a surface of the mounting base along the second direction. The mounting hole communicates with the mounting hole. The wall of the mounting hole has an internal thread, and the mounting element has an external thread. The internal thread and the external thread are threaded together.

7. The pickup device according to claim 1, characterized in that, The mounting base also has a positioning hole that extends along the first direction and penetrates the first surface, and the positioning hole is spaced apart from the mounting hole; the pickup head also includes a positioning post that is connected to the body and spaced apart from the positioning pin, and the positioning post is movably disposed in the positioning hole.

8. The pickup device according to claim 7, characterized in that, The radial dimension of the positioning post is different from the radial dimension of the mounting post.

9. The pickup device according to any one of claims 1 to 8, characterized in that, The mounting base also has an assembly groove and a preset notch. The assembly groove is recessed in the second surface, and the preset notch passes through the first surface and the second surface respectively and communicates with the assembly groove. The picking device also includes a base, a robotic arm and a locking component. The robotic arm is mounted on the base and can move relative to the base. The end of the robotic arm facing away from the base is positioned in the assembly slot, and the locking element passes through the mounting base to adjust the size of the preset notch.

10. The pickup device according to any one of claims 1 to 8, characterized in that, The mounting base has a first negative pressure channel, and the main body has a second negative pressure channel, which are connected in sequence. The picking device also includes a negative pressure mechanism, which is connected to the first negative pressure channel to create a negative pressure in the first negative pressure channel and the second negative pressure channel.

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