Replacing device and replacing system

Abstract

The invention provides a replacing device and a replacing system.The replacing device comprises a picking head, a placing mechanism and a moving mechanism, the placing mechanism comprises a placing base and a locking piece, the placing base is provided with a containing groove used for containing the picking head, the locking piece is arranged on the placing base and used for locking or releasing the picking head, and the moving mechanism comprises a mechanical arm and a connecting part; the connecting part is fixed to one end of the mechanical arm, the connecting part is used for being connected with the picking head, when the locking piece releases the picking head, the mechanical arm mechanism is connected with the picking head through the connecting part, and when the locking piece locks the picking head, the mechanical arm mechanism can move so that the connecting part can be separated from the picking head. Through automatic locking or releasing of a locking piece of the placing mechanism, automatic transferring of a mechanical arm of the moving mechanism and automatic butt joint of connecting parts, manual intervention of replacement and storage of the picking head is not needed in the whole process, errors caused by manual operation are avoided, the problem of equipment shutdown during manual replacement is solved, and continuous operation of a production line is achieved.

Description

Technical Field

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

[0002] In automated operations such as electronics manufacturing and optical lens inspection, pickup heads, as core components for material handling and workpiece inspection, are widely used in various automated production and testing equipment. Different production processes and testing requirements necessitate the use of pickup heads of corresponding specifications; therefore, the replacement and proper storage of pickup heads have become routine operations in the daily operation of the equipment.

[0003] Currently, the industry generally uses manual operation to complete the replacement and storage of pickup heads. When the equipment needs to switch pickup heads, the operator must first stop the equipment, manually remove the original pickup head from the equipment's actuator, manually select the new pickup head of the corresponding specification and install it into the equipment, and at the same time manually put the old pickup head away for storage. This manual operation mode is no longer suitable for the operational needs of modern automated production lines and has many technical defects: First, manual replacement of pickup heads requires equipment shutdown, directly interrupting the continuous operation of the production line, significantly reducing equipment uptime and overall production and testing efficiency. In high-volume, high-paced production scenarios, frequent shutdowns for head replacement will cause significant capacity losses. Second, manual operation is susceptible to subjective factors, leading to problems such as incorrect pickup head specifications and improper installation and docking. This can not only cause operational malfunctions such as material transfer deviations and detection accuracy failures, but may also cause mechanical damage to the pickup head or the equipment's actuator due to improper installation, increasing equipment maintenance costs and production losses. Third, manual placement and storage of pickup heads lacks a standardized fixed constraint structure, making it easy for pickup heads to be placed haphazardly or fall off, further increasing the difficulty and error risk of subsequent head replacement operations.

[0004] In summary, the manual replacement and storage of pickup heads in related technologies suffers from problems such as discontinuous production line operation, low replacement accuracy, and poor work efficiency. Summary of the Invention

[0005] The purpose of this application is to provide a replacement device and system to solve the technical problems in the related art, such as discontinuous production line operation, low replacement accuracy, and poor operation efficiency caused by the manual replacement and storage of pickup heads.

[0006] In a first aspect, this application provides a replacement device, comprising: Pick up the head; The placement mechanism includes a placement base and a locking member. The placement base is provided with a receiving groove for receiving the pickup head. The locking member is disposed on the placement base and can be used to lock or release the pickup head. A moving mechanism, comprising a robotic arm and a connecting component, wherein the connecting component is fixed to one end of the robotic arm and is capable of connecting to the pickup head; When the locking member releases the pickup head, the robotic arm mechanism connects to the pickup head through the connecting member; when the locking member locks the pickup head, the robotic arm mechanism can move to separate the connecting member from the pickup head.

[0007] The replacement device provided in this application includes a pickup head, a placement mechanism, and a moving mechanism. The placement mechanism includes a placement seat and a locking component. The placement seat has a receiving groove for accommodating the pickup head, and the locking component is located on the placement seat and can be used to lock or release the pickup head. The moving mechanism includes a robotic arm and a connecting component. The connecting component is fixed to one end of the robotic arm and can be used to connect the pickup head. When the locking component releases the pickup head, the robotic arm connects to the pickup head via the connecting component. When the locking component locks the pickup head, the robotic arm can move to separate the connecting component from the pickup head. Through the automatic locking or releasing of the locking component in the placement mechanism, the automatic transfer of the robotic arm in the moving mechanism, and the automatic docking of the connecting component, the entire process of replacing and storing the pickup head requires no manual intervention. This not only avoids subjective errors caused by manual operation but also completely solves the problem of equipment shutdown during manual replacement, allowing the production line to operate continuously.

[0008] The connecting component includes a connecting block and an elastic component. The connecting block includes a first surface and a second surface disposed opposite to each other along a first direction. The connecting block is provided with a mounting hole that extends along the first direction and penetrates the first surface. The elastic component is disposed within the connecting block and can elastically expand and contract along a second direction and can at least partially protrude from the mounting hole. The first direction intersects with the second direction. The pickup head includes a body and a mounting post. The mounting post is disposed on the body and at least partially protrudes from the body. The mounting post is movably disposed in the mounting hole and detachably connected to the elastic component.

[0009] 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 in the setting space. The elastic member can undergo elastic deformation along the second direction. The ball protrudes from the opening and is at least partially located in the mounting hole. The mounting post has a retaining groove, and when the mounting post is located in the mounting hole, the ball is held in the retaining groove.

[0010] The mounting post has an inclined surface at one end away from the main body, and the inclined surface is oriented away from the main body.

[0011] The pickup head has multiple types, and the number of pickup heads of the same type is also multiple; the type and number of the receiving slots correspond to the type and number of the pickup heads, and the receiving slots have multiple types, and the number of receiving slots of the same type is also multiple.

[0012] The locking member includes a gripper that can abut against the outer peripheral sidewall of the pickup head and clamp it to achieve locking and positioning. Alternatively, the locking element may include a power latch pin that can extend and engage with a pin hole in the pickup head to achieve locking and positioning.

[0013] Secondly, this application provides a replacement system, which includes a detection and identification module, a control module, and the replacement device. The control module is electrically connected to the replacement device and the detection and identification module, and the control module can control the replacement device according to the detection signal of the detection and identification module.

[0014] The control module is electrically connected to the locking member of the placement mechanism, and the control module is configured to control the locking member to lock or release the pickup head when the pickup head needs to be replaced. The control module is electrically connected to the robotic arm of the moving mechanism, and the control module is configured to control the movement of the robotic arm when the pickup head needs to be replaced.

[0015] The control module is used to control the moving mechanism to move the picking head into the receiving slot of the placement mechanism; The replacement system also includes a sensor electrically connected to the control module. The sensor is located in the receiving slot and is configured to generate a feedback signal when the pickup head moves to a preset position where it abuts against the bottom wall of the receiving slot. The control module is also used to control the locking member in the receiving slot to lock the pickup head according to the feedback signal; The control module is also used to control the moving mechanism to move to separate from the pickup head after the locking member locks the pickup head.

[0016] The detection and recognition module includes a camera and a light source. The camera's photosensitive device includes either a CCD or a CMOS sensor, and the light source includes either a ring light or a strip light. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a replacement device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a moving mechanism provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a placement mechanism provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure after the connecting component and the pickup head are connected, according to an embodiment of this application; Figure 5 This is a schematic diagram of a structure in which the connecting component and the pickup head are separated, according to an embodiment of this application; Figure 6 This is a schematic cross-sectional view of a connecting component and a pickup head after being connected, according to an embodiment of this application. Figure 7 This is a schematic diagram of the structure of an elastic component provided in an embodiment of this application; Figure 8 This is a schematic diagram of the cross-sectional structure of an elastic component provided in an embodiment of this application; Figure 9 This is a partial structural diagram of an installation column provided in an embodiment of this application. Figure 1 ; Figure 10 This is a partial structural diagram of an installation column provided in an embodiment of this application. Figure 2 ; Figure 11 This is a schematic diagram of the structure of a replacement system provided in an embodiment of this application; Figure 12 This is a block diagram of a replacement system control structure provided in an embodiment of this application.

[0019] Label Explanation: Replacement device 100, pickup head 10, body 11, mounting post 12, support groove 121, first support surface 1211, second support surface 1212, inclined surface 122, placement mechanism 20, placement seat 21, receiving groove 211, locking member 22, moving mechanism 30, robotic arm 31, connecting member 32, connecting block 321, first surface 3211, second surface 3212, mounting hole 3213, elastic component 322, setting member 3221, elastic component 3222, ball 3223, detection and identification module 200, control module 300, replacement system 1000. Detailed Implementation

[0020] 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.

[0021] It should be noted that 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.

[0022] In this specification, for convenience, terms such as "middle," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are used to indicate orientation or positional relationships in conjunction with the accompanying drawings. This is solely for the purpose of facilitating the description and simplification, and does not imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this disclosure. The positional relationships of the constituent elements may be appropriately varied depending on the orientation of the constituent elements being described. Therefore, the use of terms not limited to those described in the specification may be appropriately replaced as needed.

[0023] In this specification, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joint" shall be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection via an intermediate component, or a connection within two components. Those skilled in the art will understand the meaning of these terms in this disclosure as appropriate.

[0024] In automated operations such as electronics manufacturing and optical lens inspection, pickup heads, as core components for material handling and workpiece inspection, are widely used in various automated production and testing equipment. Different production processes and testing requirements necessitate the use of pickup heads of corresponding specifications; therefore, the replacement and proper storage of pickup heads have become routine operations in the daily operation of the equipment.

[0025] Currently, the industry generally uses manual operation to complete the replacement and storage of pickup heads. When the equipment needs to switch pickup heads, the operator must first stop the equipment, manually remove the original pickup head from the equipment's actuator, manually select the new pickup head of the corresponding specification and install it into the equipment, and at the same time manually put the old pickup head away for storage. This manual operation mode is no longer suitable for the operational needs of modern automated production lines and has many technical defects: First, manual replacement of pickup heads requires equipment shutdown, directly interrupting the continuous operation of the production line, significantly reducing equipment uptime and overall production and testing efficiency. In high-volume, high-paced production scenarios, frequent shutdowns for head replacement will cause significant capacity losses. Second, manual operation is susceptible to subjective factors, leading to problems such as incorrect pickup head specifications and improper installation and docking. This can not only cause operational malfunctions such as material transfer deviations and detection accuracy failures, but may also cause mechanical damage to the pickup head or the equipment's actuator due to improper installation, increasing equipment maintenance costs and production losses. Third, manual placement and storage of pickup heads lacks a standardized fixed constraint structure, making it easy for pickup heads to be placed haphazardly or fall off, further increasing the difficulty and error risk of subsequent head replacement operations.

[0026] In summary, the manual replacement and storage of pickup heads in related technologies suffers from problems such as discontinuous production line operation, low replacement accuracy, and poor work efficiency.

[0027] Please refer to Figures 1 to 3 , Figure 1 This is a schematic diagram of a replacement device provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of a moving mechanism provided in an embodiment of this application. Figure 3 This is a schematic diagram of a placement mechanism provided in an embodiment of this application.

[0028] This application provides a replacement device 100 to solve the technical problems in the related art, such as discontinuous production line operation, low replacement accuracy, and poor operation efficiency caused by the manual replacement and storage of the pickup head.

[0029] The replacement device 100 includes a pickup head 10, a placement mechanism 20, and a moving mechanism 30. The placement mechanism 20 includes a placement base 21 and a locking member 22. The placement base 21 has a receiving groove 211 for receiving the pickup head 10. The locking member 22 is disposed on the placement base 21 and can be used to lock or release the pickup head 10. The moving mechanism 30 includes a robotic arm 31 and a connecting member 32. The connecting member 32 is fixed to one end of the robotic arm 31 and can be used to connect the pickup head 10. When the locking member 22 releases the pickup head 10, the robotic arm 31 connects to the pickup head 10 via the connecting member 32. When the locking member 22 locks the pickup head 10, the robotic arm 31 can move to separate the connecting member 32 from the pickup head 10.

[0030] The replacement device 100 includes the pickup head 10. Specifically, the pickup head 10 is used to pick up a target object. In this embodiment, the target object is a lens module. In other embodiments, the target object includes, but is not limited to, electronic components or other products. This application does not impose any restrictions on this. Optionally, there can be multiple types of pickup heads 10. When the pickup device is used to pick up different models of lens modules, different pickup heads 10 can be replaced to pick up the target object. Further optionally, there can be multiple pickup heads 10 of the same type. It should be noted that in this embodiment, there are two types of pickup heads 10, and there are two pickup heads 10 of each type. In other embodiments, there can be one, three, four, five, or more types of pickup heads 10, and the number of pickup heads 10 of the same type can be one, three, four, five, or more. This application does not impose any restrictions on this.

[0031] Furthermore, in this embodiment, the pickup head 10 adsorbs the target object by negative pressure. In other embodiments, the pickup head 10 may also pick up the target object by mechanical clamping or other means, and this application does not limit this.

[0032] The replacement device 100 also includes the placement mechanism 20, which consists of the placement base 21 and the locking member 22. The placement mechanism can provide a safe storage location for the pickup head 10 and realize the temporary fixing and release of the pickup head 10.

[0033] Specifically, the placement base 21 is provided with the receiving slot 211, which can be used to accommodate the pickup head 10. The type and number of the receiving slots 211 correspond to the type and number of the pickup head 10. Optionally, there can be multiple types of receiving slots 211, and there can be multiple receiving slots 211 of the same type. The multiple receiving slots 211 can store multiple spare pickup heads 10 at the same time, avoiding the trouble of manual replenishment after a single replacement and ensuring continuous production.

[0034] Specifically, the locking member 22 is installed on the placement base 21. The locking member 22 can be used to lock or release the pickup head 10. When the locking member 22 locks the pickup head 10, the pickup head 10 is fixed in the receiving groove 211 of the placement base 21. When the locking member 22 releases the pickup head 10, the pickup head 10 can move relative to the receiving groove 211.

[0035] It should be noted that when the replacement device 100 needs to install the pickup head 10, the locking member 22 releases the pickup head 10, allowing the moving mechanism 30 to smoothly grasp it; when the replacement device 100 needs to remove the pickup head 10, the locking member 22 locks the pickup head 10, allowing the moving mechanism 30 to move while the pickup head 10 is smoothly separated. Optionally, when the pickup head 10 is located in the receiving slot 211 and is not in use, the locking member 22 can release the pickup head 10 to prevent the pickup head 10 from being damaged by continuous pressure; alternatively, the locking member 22 can also continuously lock the pickup head 10 to prevent it from shifting or falling, ensuring storage security. All of the above are embodiments of this application and should not be construed as limitations on this application.

[0036] In one embodiment, the locking member 22 includes a gripper that can abut against the outer peripheral sidewall of the pickup head 10 and clamp it to achieve locking and positioning.

[0037] Specifically, the gripper comprises symmetrically arranged gripper arms and a power drive unit. The gripper is mounted on the placement seat 21 of the placement mechanism 20. The gripping surface of the gripper arms is adapted to and abuts against the outer peripheral sidewall of the pickup head 10. When the pickup head 10 is locked, the control module 300 sends a command, and the power drive unit drives the gripper arms to retract towards each other until the gripping surface of the gripper arms tightly abuts against the outer peripheral sidewall of the pickup head 10. The mechanical clamping force forms a radial constraint, restricting the translation and rotation of the pickup head 10 within the receiving groove 211, thereby achieving locking and positioning. When the pickup head 10 is released, the power unit drives the gripper arms to open in the opposite direction, releasing the constraint on the outer periphery of the pickup head 10, allowing the connecting component 32 of the moving mechanism 30 to smoothly grasp or return the pickup head 10.

[0038] The locking member 22 is a gripper, which does not require additional special processing on the surface of the pickup head 10. It only requires that the pickup head 10 has a regular outer peripheral sidewall and sufficient clamping contact area. The gripper has a simple structure, low cost, strong compatibility with the outer peripheral shape of the pickup head 10, and does not require precise alignment of the pin hole, which can improve replacement efficiency.

[0039] In one embodiment, the locking member 22 includes a power tongue pin that can extend and engage with the pin hole of the pickup head 10 to achieve locking and positioning.

[0040] Specifically, the power latch includes a retractable latch and a power drive unit. The position of the latch is precisely aligned with the pre-set pin hole of the pickup head 10. The latch is installed on the side wall or bottom of the receiving groove 211 of the placement base 21. When the pickup head 10 is locked, the control module 300 sends a command, and the power drive unit drives the latch to extend axially and precisely engage with the corresponding pin hole of the pickup head 10. The mechanical engagement between the latch and the pin hole forms a rigid positioning, completely restricting the displacement and rotation of the pickup head 10. When the pickup head 10 is released, the power drive unit drives the latch to retract axially, disengaging from the pin hole of the pickup head 10, releasing the locking state, and ensuring that the moving mechanism 30 can smoothly pick up and put down the pickup head 10.

[0041] The locking member 22 is a power tongue pin, which requires a pre-set pin hole in the pickup head 10 to match the tongue pin, but it does not rely on the outer peripheral clamping space when locking. The power tongue pin has extremely high locking accuracy, a stable locking state, and can resist vibration and impact during transportation, and does not occupy the clamping space on the outer periphery of the pickup head 10.

[0042] Optionally, the power source of the gripper may include, but is not limited to, one of pneumatic, electric, or hydraulic power, and the power source of the power tongue pin may include, but is not limited to, one of pneumatic, electric, or hydraulic power. This application does not impose any restrictions on this.

[0043] The replacement device 100 further includes a moving mechanism 30, which includes the robotic arm 31 and the connecting component 32. The moving mechanism 30 is capable of picking up the pickup head 10 from the placement mechanism 20, transferring the pickup head 10 to the work position, and returning the pickup head 10 to the placement mechanism 20.

[0044] Specifically, the robotic arm 31 serves as a power drive and moving carrier. The robotic arm 31 includes, but is not limited to, a multi-joint robotic arm, a five-degree-of-freedom robotic arm, a six-degree-of-freedom robotic arm, or a three-degree-of-freedom robotic arm composed of a linear module. It has high-precision motion control capabilities and can accurately move to a designated position such as above the receiving slot 211 of the placement mechanism 20 or the working position according to the instructions of the control module 300, so as to ensure the positional accuracy of the picking head 10 in grasping and docking.

[0045] Specifically, the connecting component 32 is fixed to the end of the robotic arm 31. The structure of the connecting component 32 matches the pickup head 10. The connecting component 32 has two functions: first, physical connection, realizing the connection or release between the connecting component 32 and the pickup head 10; second, functional conduction, such as integrating a vacuum channel, docking with the vacuum channel of the pickup head 10, providing the pickup head 10 with negative pressure to adsorb the workpiece, ensuring that the robotic arm 31 can stably drive the pickup head 10 to move without affecting the core function of the pickup head 10.

[0046] The replacement device 100 provided in this application includes a pickup head 10, a placement mechanism 20, and a moving mechanism 30. The placement mechanism 20 includes a placement base 21 and a locking member 22. The placement base 21 has a receiving groove 211 for receiving the pickup head 10. The locking member 22 is disposed on the placement base 21 and can be used to lock or release the pickup head 10. The moving mechanism 30 includes a robotic arm 31 and a connecting member 32. The connecting member 32 is fixed to one end of the robotic arm 31 and can be used to connect the pickup head 10. When the locking member 22 releases the pickup head 10, the robotic arm 31 connects to the pickup head 10 via the connecting member 32. When the locking member 22 locks the pickup head 10, the robotic arm 31 can move to separate the connecting member 32 from the pickup head 10. The automatic locking or releasing of the locking member 22 of the placement mechanism 20, the automatic transfer of the robotic arm 31 of the moving mechanism 30, and the automatic docking of the connecting component 32 eliminate the need for manual intervention in the replacement and storage of the pickup head 10. This not only avoids subjective errors caused by manual operation but also completely solves the problem of equipment shutdown during manual replacement, enabling the production line to operate continuously.

[0047] Furthermore, the receiving slot 211 of the placement seat 21 can be designed in different specifications to support the simultaneous storage of multiple models of the picking head 10. When production tasks are switched, there is no need to manually replace the placement mechanism 20 or adjust the equipment parameters. The robotic arm 31 can directly grab the corresponding specification of the picking head 10 from the receiving slot 211, achieving rapid adaptation, greatly reducing the machine setup time, and improving the production capacity of the production line.

[0048] Furthermore, on the one hand, the automated replacement process is quick, reducing equipment downtime; on the other hand, the placement mechanism 20 can store multiple spare pickup heads 10, so even if one of the pickup heads 10 fails, the robotic arm 31 can quickly switch to the spare part without stopping the machine to wait for manual repair or replacement, which significantly improves the overall production efficiency of the equipment and production line.

[0049] Furthermore, the replacement device 100 of this application does not require a dedicated person to be responsible for the replacement, verification and maintenance of the pickup head 10, thus reducing labor costs; at the same time, it avoids collisions and damage to the pickup head 10 that may occur during manual operation, thus reducing spare parts consumption.

[0050] Please refer to the above as well. Figures 4 to 6 , Figure 4 This is a schematic diagram of the structure after the connecting component and the pickup head are connected, according to an embodiment of this application. Figure 5 This is a schematic diagram of a structure in which the connecting component and the pickup head are separated, according to an embodiment of this application. Figure 6 This is a schematic diagram of the cross-sectional structure of a connecting component and a pickup head after being connected, according to an embodiment of this application.

[0051] In one embodiment, the connecting component 32 includes a connecting block 321 and an elastic component 322. The connecting block 321 includes a first surface 3211 and a second surface 3212 disposed opposite to each other along a first direction. The connecting block 321 has a mounting hole 3213 that extends along the first direction and penetrates the first surface 3211. The elastic component 322 is disposed within the connecting block 321 and is elastically expandable and contractible along a second direction and can at least partially protrude from the mounting hole 3213, wherein the first direction intersects the second direction. The picking head 10 includes a body portion 11 and a mounting post 12. The mounting post 12 is disposed within the body portion 11 and at least partially protrudes from the body portion 11. The mounting post 12 is movably disposed within the mounting hole 3213 and detachably connected to the elastic component 322.

[0052] Wherein, the first direction is the height direction of the picking device, that is, the extension direction of the robotic arm 31. Further, as... Figure 5 and Figure 6As shown, the first direction is the X direction, and the second direction is the Y direction.

[0053] The first surface 3211 and the second surface 3212 are arranged opposite to each other. The mounting hole 3213 penetrates the first surface 3211 along the first direction. The mounting hole 3213 is the insertion channel of the mounting post 12 in the pickup head 10. The diameter of the mounting hole 3213 is adapted to the outer diameter of the mounting post 12 to ensure the initial positioning accuracy.

[0054] Understandably, the mounting post 12 at least partially protrudes from the body portion 11. In some embodiments, the mounting post 12 is connected to the side of the body portion 11 near the first surface 3211; in other embodiments, the mounting post 12 is partially inserted into the body portion 11 and partially protrudes from the side of the body portion 11 near the first surface 3211.

[0055] Understandably, the mounting post 12 is movably disposed within the mounting hole 3213. Specifically, the mounting post 12 may enter the mounting hole 3213 from one end near the first surface 3211. When the pickup head 10 is mounted on the connecting block 321, the mounting post 12 is located within the mounting hole 3213; when the pickup head 10 is separated from the connecting block 321, the mounting post 12 disengages from the mounting hole 3213.

[0056] The elastic component 322 is disposed inside the connecting block 321, such as in the radial groove of the side wall of the mounting hole 3213. The elastic component 322 can elastically extend and retract along the second direction. Specifically, when there is no external force, part of the structure of the elastic component 322 protrudes into the mounting hole 3213; when subjected to external force, it retracts radially into the groove and releases the protruding state.

[0057] When the connecting component 32 and the pickup head 10 are connected, the robotic arm 31 moves the connecting component 32 above the pickup head 10. After aligning the mounting hole 3213 with the mounting post 12 of the pickup head 10, the robotic arm 31 presses down in the first direction so that the mounting post 12 is inserted into the mounting hole 3213, squeezing the protruding part of the elastic component 322. The elastic component 322 retracts in the second direction. When the mounting post 12 is inserted to a preset depth, the elastic component 322 loses part of the squeezing force and pops out in the second direction. The protruding part is locked into the abutment groove 121 of the mounting post 12, forming rigid positioning and elastic locking, thus realizing a stable connection between the connecting component 32 and the pickup head 10.

[0058] When the connecting component 32 and the pickup head 10 are separated, i.e., when the pickup head 10 needs to be replaced, the robotic arm 31 moves the connecting component 32 and the pickup head 10 to above the receiving groove 211 of the placement mechanism 20, and places the pickup head 10 downward in the first direction. When the mounting post 12 contacts the bottom of the receiving groove 211 or the locking member 22, the locking member 22 locks the pickup head 10, and the robotic arm 31 moves upward in the first direction. The slot sidewall of the mounting post 12 squeezes the elastic component 322, causing it to retract radially and release the engagement, so that the connecting component 32 is separated from the mounting post 12, and the pickup head 10 is fixed in the receiving groove 211 by the locking member 22.

[0059] It should be noted that, whether the connecting component 32 and the pickup head 10 are connected or disconnected, the pickup head 10 is always located within the receiving groove 211. Specifically, when the connecting component 32 and the pickup head 10 are connected, the bottom wall of the receiving groove 211 applies an upward force along a first direction to the pickup head 10, allowing the mounting post 12 to press against the elastic component 322 and insert to a preset depth. When the connecting component 32 and the pickup head 10 are disconnected, the locking member 22 within the receiving groove 211 applies a downward force along the first direction to the pickup head 10, allowing the mounting post 12 to move relative to the elastic component 322 and thus separate.

[0060] The compression, retraction, and engagement of the elastic component 322 do not require manual operation. Connection or separation can be completed solely through the axial movement of the robotic arm 31. This perfectly adapts to the core scenario of automatic replacement of the pickup head 10, eliminating the need for additional drive components and simplifying the automation control logic.

[0061] This application, through the detachable connection between the mounting post 12 and the elastic component 322, meets the requirements for rapid disassembly and installation of the pickup head 10. Simultaneously, the mounting post 12 and the mounting hole 3213 of the connecting block 321 are correspondingly arranged, ensuring precise alignment between the pickup head 10 and the connecting block 321. This achieves rapid assembly and disassembly of the pickup head 10 and the connecting block 321 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.

[0062] Please refer to the above as well. Figures 7 to 8 , Figure 7 This is a schematic diagram of the structure of an elastic component provided in an embodiment of this application. Figure 8 This is a schematic diagram of the cross-sectional structure of an elastic component provided in an embodiment of this application.

[0063] In one embodiment, the elastic component 322 includes a setting member 3221, an elastic member 3222, and a ball 3223. The setting member 3221 has a setting space that extends along the second direction and has an opening. The elastic member 3222 and the ball 3223 are disposed within the setting space. The elastic member 3222 can elastically deform along the second direction. The ball 3223 protrudes from the opening and is at least partially located in the mounting hole 3213. The mounting post 12 has a retaining groove 121. When the mounting post 12 is located in the mounting hole 3213, the ball 3223 is engaged in the retaining groove 121.

[0064] Understandably, the ball 3223 is positioned closer to the opening than the elastic element 3222.

[0065] The mounting component 3221 is the mounting carrier of the elastic component 322. The mounting component 3221 has a mounting space inside, which extends along the second direction. One end of the mounting space is closed and the other end is open. The opening faces the mounting hole 3213 of the connecting block 321. The mounting component 3221 is generally blind hole shaped. The mounting component 3221 can be used to limit the mounting position and movement trajectory of the elastic component 3222 and the ball 3223 to avoid deviation.

[0066] The elastic element 3222 includes, but is not limited to, a compression spring. The elastic element 3222 is coaxially installed in the setting space of the setting member 3221. One end of the elastic element 3222 abuts against the closed end of the setting space, and the other end abuts against the ball 3223. The elastic element 3222 can undergo elastic deformation along the second direction, pushing the ball 3223 out of the opening through its own elastic force, or contracting when squeezed.

[0067] The marble 3223 is positioned closer to the opening than the elastic element 3222. The marble 3223 has a spherical structure. Part of the marble 3223 is placed within the setting space, and part of it protrudes into the mounting hole 3213 of the connecting block 321 through the opening of the setting element 3221. The spherical structure of the marble 3223 allows it to roll or shift flexibly when subjected to force, reducing friction with the mounting post 12.

[0068] The abutment groove 121 of the mounting post 12 is an annular groove formed on the outer peripheral side wall of the mounting post 12. The depth and curvature of the abutment groove 121 are matched with the size of the ball 3223, and are used to accommodate and hold the ball 3223 to limit the movement of the ball 3223.

[0069] When the connecting component 32 and the pickup head 10 are connected, the robotic arm 31 moves the connecting component 32 downward in the first direction, causing the mounting post 12 of the pickup head 10 to be aligned with the mounting hole 3213 of the connecting block 321 and inserted. When the mounting post 12 is inserted, its outer peripheral sidewall first contacts the ball bearing 3223 protruding into the mounting hole 3213, and the ball bearing 3223 is squeezed by axial pressure. The ball bearing 3223 retracts into the setting space in the second direction. The elastic element 3222 is compressed; when the mounting post 12 is inserted to a preset depth and the abutment groove 121 is just aligned with the position of the ball 3223, the stored energy of the elastic element 3222 is released, pushing the ball 3223 to pop out in the second direction, partially stuck in the abutment groove 121. The ball 3223 is tightly fitted with the groove wall of the abutment groove 121, restricting the axial movement and circumferential rotation of the mounting post 12, and realizing the stable locking of the connecting component 32 and the pickup head 10.

[0070] When the connecting component 32 and the pickup head 10 are separated, i.e., when the pickup head 10 needs to be replaced, the robotic arm 31 moves the connecting component 32 downward in the first direction and places the pickup head 10 into the receiving groove 211 of the placement mechanism 20. When the mounting post 12 contacts the bottom of the receiving groove 211 or the locking member 22, the locking member 22 locks the pickup head 10. Then, the robotic arm 31 moves upward in the first direction, and the slot sidewall of the mounting post 12 squeezes the ball 3223. The ball 3223 compresses the elastic member 3222, releasing the clamping with the abutment groove 121, so that the connecting component 32 is separated from the mounting post 12, and the pickup head 10 is fixed in the receiving groove 211 by the locking member 22.

[0071] It should be noted that, in one embodiment, the elastic member 3222 and the ball 3223 can be fixedly connected to prevent the ball 3223 from detaching from the setting member 3221. In another embodiment, a limiting structure can be provided on the inner wall of the setting member 3221 to restrict the ball 3223 from detaching from the setting member 3221. The above are all embodiments of this application and should not be construed as limiting this application.

[0072] The spherical structure of the ball 3223 reduces the contact friction with the mounting post 12 and the holding groove 121. Whether it is the squeezing and retraction when the mounting post 12 is inserted or the reverse unlocking when separated, no additional driving components are required. It can be completed by the axial movement of the robotic arm 31 alone. The action response is fast and the wear is small, which can meet the needs of the production line for high-frequency replacement of the pick-up head 10.

[0073] Please refer to the above as well. Figures 9 to 10 , Figure 9 This is a partial structural diagram of an installation column provided in an embodiment of this application. Figure 1 , Figure 10 This is a partial structural diagram of an installation column provided in an embodiment of this application. Figure 2 .

[0074] In one embodiment, the abutment groove 121 is recessed into the peripheral sidewall of the mounting post 12. The groove wall of the abutment groove 121 has a first abutment surface 1211 and a second abutment surface 1212 connected together. The end of the first abutment surface 1211 facing away from the second abutment surface 1212 is connected to the peripheral sidewall, and the end of the second abutment surface 1212 facing away from the first abutment surface 1211 is connected to the peripheral sidewall.

[0075] The first abutting surface 1211 and the second abutting surface 1212 are two opposite groove walls of the abutting groove 121, which are directly connected, and their other ends are smoothly transitioned to the peripheral side wall of the mounting post 12.

[0076] When the connecting component 32 and the pickup head 10 are engaged, the ball 3223 protrudes into the abutment groove 121 under the pushing force of the elastic member 3222, and contacts the first abutment surface 1211 and the second abutment surface 1212 simultaneously. The two abutment surfaces form a radial constraint on the ball 3223. When the connecting component 32 and the pickup head 10 are unlocked, the robotic arm 31 applies an axial force, the mounting post 12 drives the abutment groove 121 to move, and the second abutment surface 1212 will generate an oblique squeezing force on the ball 3223, pushing the ball 3223 to compress the elastic member 3222 and retract, thus successfully releasing the engagement.

[0077] In this embodiment, when the included angle α between the first abutment surface 1211 and the second abutment surface 1212 satisfies the range of 90°≤α<180°, the included angle between the first abutment surface 1211 and the second abutment surface 1212 is within a reasonable range, and the inclination of the first abutment surface 1211 and the second abutment surface 1212 is within a reasonable range.

[0078] On the one hand, during the process of installing the pickup head 10 onto or removing it from the connecting block 321, the first abutting surface 1211 and the second abutting surface 1212 can provide a better guiding effect for the ball 3223, so as to guide the ball 3223 into or out of the abutting groove 121, thereby improving the smoothness of the ball 3223 entering or leaving the abutting groove 121, and further improving the efficiency of switching between the pickup head 10 and the connecting block 321 in the unlocked and locked states. The pickup device provided in this application has high efficiency in replacing the pickup head 10.

[0079] On the other hand, when the pickup head 10 is installed on the connecting block 321, that is, when the mounting post 12 and the elastic component 322 are in the locked state, the first abutment surface 1211 and the second abutment surface 1212 cooperate with each other to provide stable support and limit the ball 3223, so as to prevent the ball 3223 from falling out of the abutment groove 121, thereby improving the structural stability of the pickup head 10 installed on the connecting block 321. When the included angle between the first abutment surface 1211 and the second abutment surface 1212 is too large, that is, when the included angle between the first abutment surface 1211 and the second abutment surface 1212 is a flat angle or the first abutment surface 1211 and the second abutment surface 1212 protrude from the peripheral sidewall of the mounting post 12. When the angle between the first abutment surface 1211 and the second abutment surface 1212 is a flat angle, and the mounting post 12 and the elastic component 322 are in the locked state, the ball 3223 directly abuts against the peripheral wall of the mounting post 12. The mounting post 12 may fall under the influence of gravity, reducing the structural stability of the pickup head 10 installed on the connecting block 321. When the first abutment surface 1211 and the second abutment surface 1212 protrude from the peripheral wall of the mounting post 12, the first abutment surface 1211 and the second abutment surface 1212 cannot form the abutment groove 121, and cannot provide a precise holding and accommodating space for the ball 3223, thus making it impossible to achieve a detachable connection between the mounting post 12 and the elastic component 322. When the included angle between the first abutment surface 1211 and the second abutment surface 1212 is too small, although it can improve the stability of the mounting post 12 and the connecting block 321 when they are in the locked state, it correspondingly increases the difficulty of assembling or removing the pickup head 10 from the connecting block 321. When it is necessary to assemble or remove the pickup head 10 from the connecting block 321, the force applied to the mounting post 12 in the direction parallel to the first direction needs to be increased, which reduces the replacement efficiency of the pickup head 10.

[0080] Optionally, the included angle α between the first abutting surface 1211 and the second abutting surface 1212 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°.

[0081] In one embodiment, the mounting post 12 has an inclined surface 122 at one end away from the body part 11, and the inclined surface 122 is oriented away from the body part 11.

[0082] In this embodiment, during the installation of the pickup head 10 onto the connecting block 321, the inclined surface 122 of the mounting post 12 first enters the mounting hole 3213 and moves along the first direction under the action of external force. When the inclined surface 122 contacts the ball 3223, the inclined surface 122 and the ball 3223 slide relative to each other to guide the ball 3223 to smoothly slide to contact the peripheral sidewall of the mounting post 12 and gradually elastically extend and retract. The design of the inclined surface 122 provides a smooth transition guide for the cooperation between the mounting post 12 and the ball 3223, so as to avoid the ball 3223 from hitting or getting stuck with the end of the mounting post 12 during the installation process. At the same time, under the inclined component force of the inclined surface 122, the ball 3223 pushes the elastic element 3222 to smoothly and gradually retract along the second direction, realizing the smoothness of the extension and retraction of the elastic element 322.

[0083] Optionally, in some embodiments, the number of mounting holes 3213 and the number of mounting posts 12 are both one, and the number of elastic components 322 is a group, with the mounting holes 3213, the mounting posts 12 and the elastic components 322 being arranged in a one-to-one correspondence.

[0084] In some embodiments, there are multiple mounting holes 3213 and multiple sets of mounting posts 12, with each mounting hole 3213 corresponding to one mounting post 12, and each set of elastic components 322 corresponding to one mounting post 12. Multiple mounting posts 12 are precisely inserted into the corresponding mounting holes 3213, forming multi-point radial limiting, restricting the radial offset of the pickup head 10 from multiple directions, and improving the positioning accuracy of the pickup head 10 mounted on the connecting block 321. Furthermore, each set of elastic components 322 synchronously abuts against the corresponding mounting post 12, achieving multi-point axial locking, which effectively improves the structural stability of the pickup head 10 mounted on the connecting block 321.

[0085] Please refer to the above as well. Figure 11 and Figure 12 , Figure 11 This is a schematic diagram of a replacement system provided in an embodiment of this application. Figure 12 This is a block diagram of a replacement system control structure provided in an embodiment of this application.

[0086] This application also provides a replacement system 1000, which includes a detection and identification module 200, a control module 300, and the replacement device 100. The control module 300 is electrically connected to the replacement device 100 and the detection and identification module 200, respectively. The control module 300 can control the replacement device 100 according to the detection signal of the detection and identification module 200.

[0087] The replacement device 100 can be used to physically replace the pickup head 10. The detection and identification module 200 can collect key information of the pickup head 10 and feed it back to the control module 300. The specific detection content includes: pickup head 10 specification identification to confirm that the target model is being picked up, avoiding specification errors; pickup head 10 status detection to determine whether the appearance is intact and whether the holding structure is normal, avoiding the use of faulty parts.

[0088] The control module 300 is the decision-making and control core of the replacement system 1000. The control module 300 can receive the detection data from the detection and identification module 200 in real time. The control module 300 can determine whether the pickup head 10 needs to be replaced, which pickup head 10 to replace, and whether the current replacement action is qualified according to the preset program. The control module 300 can send precise control commands to each component of the replacement device 100 and receive the execution results of the replacement device 100. If an abnormality occurs, a retry or alarm mechanism can be triggered.

[0089] In one embodiment, the control module 300 is electrically connected to the robotic arm 31 of the moving mechanism 30, and the control module 300 is configured to control the movement of the robotic arm 31 when the pickup head 10 needs to be replaced.

[0090] In one embodiment, the control module 300 is electrically connected to the locking member 22 of the placement mechanism 20, and the control module 300 is configured to control the locking member 22 to lock or release the pickup head 10 when the pickup head 10 needs to be replaced.

[0091] In one embodiment, when the pickup head 10 on the robotic arm 31 needs to be disassembled, the control module 300 controls the moving mechanism 30 to move the pickup head 10 into the receiving slot 211 of the placement mechanism 20; the replacement system 1000 further includes a sensor electrically connected to the control module 300, the sensor being disposed in the receiving slot 211, and the sensor being configured to generate a feedback signal when the pickup head 10 moves to a preset position where it abuts against the bottom wall of the receiving slot 211; the control module 300 is also used to control the locking member 22 in the receiving slot 211 to lock the pickup head 10 according to the feedback signal; the control module 300 is also used to control the moving mechanism 30 to move to separate from the pickup head 10 after the locking member 22 locks the pickup head 10.

[0092] In one embodiment, the detection and recognition module 200 includes a camera and a light source. The photosensitive device of the camera includes either a CCD or a CMOS sensor, and the light source includes either a ring light or a strip light.

[0093] Among them, CCD (Charge-Coupled Device) is a charge-coupled device, and CMOS (Complementary Metal-Oxide-Semiconductor) is a complementary metal-oxide-semiconductor.

[0094] The detection and recognition module 200 serves as the core hardware for visual detection in the replacement system 1000. The camera and the light source constitute the basic combination of machine vision. The light source is responsible for optimizing the imaging environment and eliminating light and shadow interference, while the camera is responsible for acquiring clear images of the pickup head 10. Together, they enable functions such as specification recognition and structural status detection of the pickup head 10.

[0095] Specifically, the disassembly process of the pickup head 10 is as follows: Step 1: The system triggers a disassembly command.

[0096] When the replacement system 1000 triggers a disassembly requirement, such as wear and tear of the pickup head 10, production line changeover, or task completion, the control module 300 issues a movement command to the movement mechanism 30.

[0097] Step 2: The robotic arm 31 takes position carrying the pickup head 10.

[0098] The robotic arm 31 drives the pickup head 10 connected to its end to move precisely above the empty receiving slot 211 of the placement mechanism 20, and moves downward along the first direction to send the pickup head 10 into the receiving slot 211.

[0099] Step 3: The sensor detects the position status.

[0100] When the pickup head 10 moves to a preset position where it is in close contact with the bottom wall of the receiving groove 211, the sensor is triggered, immediately generating a standard feedback signal, which is transmitted to the control module 300 in real time. This preset position is the mechanical reference point calibrated by the replacement system 1000, ensuring that the pickup head 10 is completely aligned with the locking member 22, providing a positioning basis for the locking action.

[0101] Step 4: The control module 300 triggers the locking action.

[0102] After receiving the feedback signal from the sensor, the control module 300 determines that the pickup head 10 has been accurately positioned and then issues a locking command to the locking member 22. The locking structure locks the pickup head 10, completing the rigid fixation of the pickup head 10 and preventing it from shifting or shaking during the separation process.

[0103] Step 5: The robotic arm 31 separates from the pickup head 10.

[0104] After the locking member 22 completes the locking, the control module 300 issues a separation command to the moving mechanism 30; the robotic arm 31 moves upward along the first direction, and by utilizing the squeezing and unlocking characteristics of the elastic component 322 in the connecting member 32, the connecting block 321 is disengaged from the mounting post 12 of the pickup head 10, and finally the robotic arm 31 is completely separated from the pickup head 10.

[0105] Step 6: Disassembly process complete.

[0106] The pickup head 10 is fixed in the receiving groove 211, the robotic arm 31 is reset and ready to be deployed, the entire disassembly and repositioning process is completed, and it can wait for the next gripping command. It should be noted that at this time, the locking member 22 can lock the pickup head 10 or release the pickup head 10, and this application does not impose any restrictions on this.

[0107] The disassembly process of the pickup head 10, from displacement, positioning, locking to separation, is entirely completed autonomously by the electronic control system, adapting to the needs of continuous production lines and eliminating problems such as low efficiency and misoperation caused by manual operation. Furthermore, strict timing control and signal interlocking logic effectively prevent the robotic arm 31 from forcibly separating the pickup head 10 when it is not secured, avoiding safety accidents such as the pickup head 10 falling or equipment jamming, and improving the operational stability of the replacement system 1000.

[0108] Specifically, the installation process of the pickup head 10 is as follows: Step 1: Control the moving mechanism 30 to move to the position of the pickup head 10 to be replaced.

[0109] The control module 300 parses the storage location corresponding to the target pickup head 10 according to the production task and issues motion control commands; the robotic arm 31 quickly moves to the preset point directly above the receiving slot 211 through a high-precision positioning algorithm to complete the initial positioning before head replacement and prepare for subsequent docking operations.

[0110] Step 2: Control the corresponding locking member 22 to release the pickup head 10 (it should be noted that if the locking member 22 locks the pickup head 10 until the pickup head 10 and the connecting member 32 are separated, then the pickup head 10 is released, i.e. this step is not required and should not be construed as a limitation of this application).

[0111] The control module 300 sends an electrical signal to the drive unit of the locking member 22 to drive the locking member 22 to perform a release action.

[0112] Step 3: Control the moving mechanism 30 to move and connect to the pickup head 10.

[0113] The robotic arm 31 moves downward along the first direction, aligns the mounting hole 3213 of the connecting block 321 with the mounting post 12 of the pickup head 10, and completes the insertion; the side wall of the mounting post 12 squeezes the ball 3223 of the elastic component 322, causing it to retract and avoid in the second direction; when the mounting post 12 reaches a preset depth, the ball 3223 is inserted into the holding groove of the mounting post 12 under the thrust of the elastic component 3222, completing the elastic snap-fit ​​detachable connection.

[0114] Step 4: Move the pickup head 10 to the detection and recognition module 200 for detection, and the control module 300 makes a judgment and executes subsequent actions.

[0115] The control module 300 controls the robotic arm 31 to move the connected pickup head 10 to the standard detection area of ​​the detection and recognition module 200, ensuring that the detection field of view is unobstructed and the light source is uniformly supplemented.

[0116] The detection and recognition module 200 captures an image of the pickup head 10. The detection and recognition module 200 or the control module 300 determines the specifications and status characteristics of the pickup head 10 based on the image of the pickup head 10. The detection and recognition module 200 or the control module 300 compares the specifications and status characteristics of the pickup head 10 with preset feature parameters.

[0117] If the comparison error is within a preset range, the pickup head 10 is deemed qualified. If the comparison error exceeds the preset range, the control module 300 invokes the system's preset pickup head 10 disassembly process, returns the unqualified pickup head 10 to its original position, and installs a new pickup head 10. Disassembly is automatically performed after a failure detection, rather than a direct shutdown. The replacement system 1000 can autonomously switch to a backup pickup head 10 for retrying replacement, minimizing equipment downtime and improving production line efficiency.

[0118] In the replacement system 1000 described in this application, the detection and identification module 200 is set to perform forced verification, which fundamentally avoids problems such as workpiece damage, detection failure, and production line shutdown caused by incorrect specifications, structural damage, or loose assembly. It is especially suitable for high-precision operation scenarios such as lens inspection.

[0119] Furthermore, the replacement system 1000's actions, from positioning, release, docking, detection, and abnormal disassembly, are all autonomously scheduled by the control module 300, eliminating the need for manual verification of models and manual disassembly / reassembly, thus significantly improving head replacement efficiency and reducing labor costs and operational error rates.

[0120] 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.

[0121] The above description represents some embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. A replacement device, characterized in that, include: Pick up the head; The placement mechanism includes a placement base and a locking member. The placement base is provided with a receiving groove for receiving the pickup head. The locking member is disposed on the placement base and can be used to lock or release the pickup head. A moving mechanism, comprising a robotic arm and a connecting component, wherein the connecting component is fixed to one end of the robotic arm and is capable of connecting to the pickup head; When the locking member releases the pickup head, the robotic arm mechanism connects to the pickup head through the connecting member; when the locking member locks the pickup head, the robotic arm mechanism can move to separate the connecting member from the pickup head.

2. The replacement device according to claim 1, characterized in that, The connecting component includes a connecting block and an elastic component. The connecting block includes a first surface and a second surface disposed opposite to each other along a first direction. The connecting block is provided with a mounting hole that extends along the first direction and penetrates the first surface. The elastic component is disposed within the connecting block and is elastically expandable and contractable along a second direction and can at least partially protrude from the mounting hole. The first direction intersects with the second direction. The pickup head includes a body and a mounting post. The mounting post is disposed on the body and at least partially protrudes from the body. The mounting post is movably disposed in the mounting hole and detachably connected to the elastic component.

3. The replacement device according to claim 2, 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 in the setting space. The elastic member can undergo elastic deformation along the second direction. The ball protrudes from the opening and is at least partially located in the mounting hole. The mounting post has a retaining groove, and when the mounting post is located in the mounting hole, the ball is held in the retaining groove.

4. The replacement device according to claim 2, characterized in that, The mounting post has an inclined surface at the end away from the main body, and the inclined surface is oriented away from the main body.

5. The replacement device according to claim 1, characterized in that, There are multiple types of pickup heads, and there are multiple pickup heads of the same type; the type and number of receiving slots correspond to the type and number of pickup heads, and there are multiple types of receiving slots, and there are multiple receiving slots of the same type.

6. The replacement device according to claim 1, characterized in that, The locking member includes a gripper that can abut against the outer peripheral sidewall of the pickup head and clamp it to achieve locking and positioning. Alternatively, the locking element may include a power latch pin that can extend and engage with a pin hole in the pickup head to achieve locking and positioning.

7. A replacement system, characterized in that, The device includes a detection and identification module, a control module, and a replacement device as described in any one of claims 1-6. The control module is electrically connected to the replacement device and the detection and identification module, respectively, and the control module is capable of controlling the replacement device according to the detection signal from the detection and identification module.

8. The replacement system according to claim 7, characterized in that, The control module is electrically connected to the locking member of the placement mechanism, and the control module is configured to control the locking member to lock or release the pickup head when the pickup head needs to be replaced. The control module is electrically connected to the robotic arm of the moving mechanism, and the control module is configured to control the movement of the robotic arm when the pickup head needs to be replaced.

9. The replacement system according to claim 8, characterized in that, The control module is used to control the moving mechanism to move the picking head into the receiving slot of the placement mechanism; The replacement system also includes a sensor electrically connected to the control module. The sensor is located in the receiving slot and is configured to generate a feedback signal when the pickup head moves to a preset position where it abuts against the bottom wall of the receiving slot. The control module is also used to control the locking member in the receiving slot to lock the pickup head according to the feedback signal; The control module is also used to control the moving mechanism to move to separate from the pickup head after the locking member locks the pickup head.

10. The replacement system according to claim 7, characterized in that, The detection and recognition module includes a camera and a light source. The camera's photosensitive device includes either a CCD or a CMOS sensor, and the light source includes either a ring light or a strip light.

Images