Pick-up device and robot

Abstract

The utility model provides a picking device and a robot, and relates to the technical field of workpiece picking. The picking device comprises a base, two clamping assemblies and a rotation driving part arranged on the base, the base is rotationally connected with a two-way screw extending in the X direction, and the rotation driving part is connected to the two-way screw; the connecting parts of the two clamping assemblies are slidably connected to the base plate in the X direction and are rotationally connected to the two screw sections, opposite in rotating direction, of the two-way screw in a one-to-one correspondence mode. One of the two screw rod sections is connected with a limiting nut in a screwed mode, and the limiting nut is located between the two connecting parts. The robot comprises a mechanical arm and the picking device, and the base of the picking device is connected to the tail end of the mechanical arm. According to the picking device, the distance between the two clamping assemblies can be accurately and conveniently adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece picking, in particular to a picking device and a robot. Background Art

[0002] With the development of artificial intelligence technology, the application of automation and robotics technology is becoming more and more popular. Robots are machine devices that perform tasks automatically. They can accept human commands, run pre-programmed programs, or act according to principles and guidelines formulated with artificial intelligence technology. Their task is to assist or replace human work. Autonomous picking is an important robot skill, which requires robots to have multiple skills such as positioning, identification, and grasping.

[0003] In the prior art, in order to improve the picking stability of the workpiece, some picking devices use two or more clamping components to clamp and fix different positions of the workpiece at the same time, and the spacing of the clamping components can be adjusted to adapt to the length of the workpiece. However, in the existing picking devices, the position adjustment accuracy of the clamping components is poor. Utility Model Content

[0004] The utility model aims to provide a picking device and a robot to solve the technical problem of poor position adjustment accuracy of a clamping component in an existing picking device.

[0005] In order to solve the above problems, the utility model provides a picking device, including a base, two clamping assemblies and a rotating drive member arranged on the base, the base is rotatably connected to a bidirectional screw extending along the X direction, and the rotating drive member is connected to the bidirectional screw; the connecting parts of the two clamping assemblies are both slidably connected to the base along the X direction, and are screwed one by one to two screw segments of the bidirectional screw with opposite rotation directions; one of the two screw segments is screwed with a limiting nut, and the limiting nut is located between the two connecting parts.

[0006] Optionally, the two screw segments with opposite rotation directions of the bidirectional screw are respectively the first screw segment and the second screw segment, the limiting nut is screwed to the first screw segment, and the difference between the length of the first screw segment and the width of the limiting nut is equal to the length of the second screw segment.

[0007] Optionally, the base is provided with a limit rod extending along the X direction, and the limit rod is slidably inserted into the two connecting parts along the X direction, and there is a resistance reduction gap between the two connecting parts and the base.

[0008] Optionally, the base includes a substrate, and the two ends of the substrate along the X direction are bent to the same side to form a limit plate extending along the Z direction. The substrate and the two limit plates form a first installation space, and the first installation space is open on both sides along the Y direction and on the side away from the substrate along the Z direction; the bidirectional screw is rotatably connected between the two limit plates.

[0009] Optionally, the clamping assembly includes a mounting seat body, two clamping jaws and two telescopic driving members arranged on the mounting seat body, the mounting seat body is provided with a guide rod, and the guide rod is slidably inserted into the connecting section of the two clamping jaws along the Y direction; the two telescopic driving members are connected to the two clamping jaws one by one, and are used to drive the corresponding clamping jaws to move along the Y direction.

[0010] Optionally, there are two guide rods, and the two guide rods are arranged at intervals along the Z direction; along the Z direction, the connection between the clamping claw and the corresponding telescopic driving member is located in the middle position of the two guide rods.

[0011] Optionally, the mounting seat body includes a first connecting arm extending along the Y direction, and the first connecting arm is bent to the same side at both ends along the Y direction to form a second connecting arm extending along the Z direction, the first connecting arm serves as the connecting portion, and the first connecting arm and the two second connecting arms form a second mounting space, and the second mounting space is open on both sides along the X direction and on the side away from the first connecting arm along the Z direction; the guide rod is connected between the two second connecting arms.

[0012] Optionally, in the clamping assembly, an end surface of the clamping jaw facing the other clamping jaw along the X-direction is coplanar with a corresponding end surface of the mounting seat body.

[0013] Optionally, a accommodating groove is provided on the side of the second connecting arm facing away from the second installation space, a accommodating hole is provided at the bottom of the accommodating groove, a shell of the telescopic driving member is at least partially embedded in the accommodating groove, and the telescopic rod passes through the accommodating hole and extends to the second installation space.

[0014] The utility model also provides a robot, comprising a mechanical arm and the above-mentioned picking device, wherein the base of the picking device is connected to the end of the mechanical arm.

[0015] In the picking device provided by the utility model, by threading the limit nut on the bidirectional screw, not only can the initial position of the two clamping assemblies be determined, so that the two clamping assemblies can reach the maximum X-direction spacing adjustment stroke on the bidirectional screw, and the adjustment range of the X-direction spacing of the two clamping assemblies is ensured; at the same time, when adjusting the X-direction position of the clamping assembly, the X-direction position of the clamping assembly can be determined by the limit nut, and the movement of the limit nut along the length direction of the screw segment is converted into the rotational movement of the limit nut, thereby improving the position adjustment accuracy of the limit nut, and correspondingly realizing the precise adjustment of the X-direction spacing of the two clamping assemblies, while reducing the requirements and control on the driving accuracy of the rotating drive member, and improving the convenience and accuracy of the use of the picking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 An axonometric diagram of a pickup device provided in an embodiment of the utility model;

[0018] Figure 2 An axonometric view of a clamping assembly in a pickup device provided in an embodiment of the utility model.

[0019] Description of reference numerals:

[0020] 100-base; 110-substrate; 120-limiting plate; 130-first installation space; 200-clamping assembly; 210-mounting seat body; 211-first connecting arm; 211a-first threaded hole; 211b-first plug-in hole; 212-second connecting arm; 212a-accommodating groove; 212b-accommodating hole; 213-second installation space; 220-clamping claw; 221-connecting section; 221a-second plug-in hole; 222-clamping section; 222a-anti-slip pad; 230-telescopic drive member; 231-shell; 232-telescopic rod; 240-guide rod; 300-rotating drive member; 400-bidirectional screw; 410-first screw section; 420-second screw section; 500-limiting nut; 600-limiting rod; 700-connecting column; 800-strengthening rib. DETAILED DESCRIPTION

[0021] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] This embodiment provides a pickup device, such as Figure 1 As shown, it includes a base 100, two clamping assemblies 200 and a rotating drive member 300 arranged on the base 100. The base 100 is rotatably connected to a bidirectional screw 400 extending along the X direction, and the rotating drive member 300 is connected to the bidirectional screw 400; the connecting parts of the two clamping assemblies 200 are both slidably connected to the base 100 along the X direction, and are screwed one by one to two screw segments of the bidirectional screw 400 with opposite rotation directions; one of the two screw segments is screwed to a limiting nut 500, and the limiting nut 500 is located between the two connecting parts.

[0025] This embodiment further provides a robot, including a robotic arm and the above-mentioned picking device, wherein the base 100 of the picking device is connected to the end of the robotic arm.

[0026] The present embodiment provides a picking device and a robot, wherein the picking device comprises a base 100 as a mounting base, two clamping assemblies 200 for clamping a workpiece at different positions in the X direction, a bidirectional screw 400 and a rotating drive member 300 for adjusting the spacing between the two clamping assemblies 200 along the X direction, and a limiting nut 500 for pre-positioning the center position of the two clamping assemblies 200 and assisting in positioning the adjustment position of the two clamping assemblies 200; wherein the robot comprises the above-mentioned picking device for picking up and placing the workpiece and a robotic arm for driving the picking device to move the workpiece.

[0027] During assembly, the limit nut 500 can be rotated to be located at the connection between the two screw segments in the bidirectional screw 400, and the screw segment is screwed into the first threaded hole 211a set in the connecting part. At the same time, the connecting parts of the two clamping assemblies 200 are adjusted to abut against the two ends of the limit nut 500 on both sides, thereby realizing the preliminary positioning of the two clamping assemblies 200 on the bidirectional screw 400; then the bidirectional screw 400 is assembled to the base 100, and the two clamping assemblies 200 are symmetrically arranged about the connection between the two screw segments.

[0028] When it is necessary to adjust the X-direction spacing of the two clamping assemblies 200, the rotating drive member 300 is started to drive the bidirectional screw 400 to rotate in the first direction. Under the dual effects of the connecting portion slidingly connected to the base plate 110 along the X-direction and being threadedly connected to the screw segment, the two connecting portions drive the two clamping assemblies 200 to move symmetrically away from each other along the X-direction about the connection point, thereby increasing the X-direction spacing of the two clamping assemblies 200, and the maximum X-direction spacing of the two clamping assemblies 200 is twice the shorter of the two screw segments, so that the two clamping assemblies 200 reach the maximum X-direction spacing adjustment stroke of the bidirectional screw 400; similarly, the rotating drive member 300 drives the bidirectional screw 400 to rotate in a second direction opposite to the first direction, and the two clamping assemblies 200 move toward each other along the X-direction, thereby reducing the X-direction spacing of the two clamping assemblies 200.

[0029] When in use, first determine the X-direction spacing of the two clamping assemblies 200 according to the length of the workpiece, and adjust it accordingly. Specifically, when the workpiece is longer, the X-direction spacing of the two clamping assemblies 200 can be adjusted to be larger to ensure the clamping stability of the two clamping assemblies 200 on the workpiece; when the workpiece is shorter, the X-direction spacing of the two clamping assemblies 200 can be adjusted to be smaller to ensure that the two clamping assemblies 200 clamp the workpiece at the same time and improve the clamping stability. After the X-spacing is determined, the rotating drive member 300 can be started to drive the bidirectional screw 400 to rotate in the first direction, and the two clamping assemblies 200 move away from each other for coarse position adjustment, and the X-spacing of the two clamping assemblies 200 is greater than the determined X-spacing; then the limit nut 500 is rotated to a position that is half of the determined X-spacing from the connection, and the movement of the limit nut 500 along the length direction of the screw segment is converted into the rotational movement of the limit nut 500, thereby improving the position adjustment accuracy of the limit nut 500; after the position of the limit nut 500 is determined, the rotating drive member 300 is started to drive the bidirectional screw 400 to rotate in the second direction, and the two clamping assemblies 200 move toward each other. When the connecting portion of one of the clamping assemblies 200 abuts against the limit nut 500, it indicates that the X-spacing of the two clamping assemblies 200 has reached the determined distance, and the rotating drive member 300 is closed, thereby realizing the precise adjustment of the X-spacing of the two clamping assemblies 200.

[0030] After the adjustment is completed, the X-axis spacing of the two clamping assemblies 200 remains fixed, the robotic arm drives the picking device to reach the workpiece, and the length direction of the workpiece is consistent with the arrangement direction of the two clamping assemblies 200. The two clamping assemblies 200 then open and clamp the workpiece at different positions in the length direction to complete the picking of the workpiece; the robotic arm then drives the picking device to clamp the workpiece to the target position, and the two clamping assemblies 200 release the workpiece to complete the transportation of the workpiece.

[0031] Among them, in the picking device provided by the present embodiment, by threading the limit nut 500 on the bidirectional screw 400, not only can the initial position of the two clamping assemblies 200 be determined, so that the two clamping assemblies 200 can reach the maximum X-direction spacing adjustment stroke on the bidirectional screw 400, and the adjustment range of the X-direction spacing of the two clamping assemblies 200 is ensured; at the same time, when adjusting the X-direction position of the clamping assembly 200, the X-direction position of the clamping assembly 200 can be determined by the limit nut 500, and the movement of the limit nut 500 along the length direction of the screw segment is converted into the rotational movement of the limit nut 500, thereby improving the position adjustment accuracy of the limit nut 500, and correspondingly realizing the precise adjustment of the X-direction spacing of the two clamping assemblies 200, while reducing the requirements and control on the driving accuracy of the rotating drive member 300, and improving the convenience and accuracy of the use of the picking device.

[0032] Specifically, the rotation driving member 300 may be a servo motor.

[0033] Specifically, in this embodiment, Figure 1 As shown, the two screw segments of the bidirectional screw 400 with opposite rotation directions are the first screw segment 410 and the second screw segment 420, respectively. The limit nut 500 is screwed to the first screw segment 410, and the difference between the length of the first screw segment 410 and the width of the limit nut 500 is equal to the length of the second screw segment 420. When the limit nut 500 rotates to the end where the first screw segment 410 is adjacent to the second screw segment 420, the limit nut 500 reaches the connection point. At this time, the lengths of the first screw segment 410 and the second screw segment 420 on both sides of the limit nut 500 are equal. When in use, the maximum distance of the X-direction spacing of the two clamping assemblies 200 is the total length of the bidirectional screw 400, thereby fully utilizing the length of the bidirectional screw 400. On the basis of a certain length of the bidirectional screw 400, the X-direction spacing adjustment stroke of the two clamping assemblies 200 is maximized.

[0034] In this embodiment, Figure 1 As shown, the base 100 is provided with a limiting rod 600 extending along the X direction. The limiting rod 600 is slidably inserted into two connecting parts along the X direction. There are resistance-reducing gaps between the two connecting parts and the base 100. The connecting parts of the two clamping assemblies 200 are both provided with a first plug hole 211b, and the limiting rod 600 is slidably plugged into the first plug hole 211b, thereby realizing a sliding connection between the connecting part and the base 100 along the X direction; compared with setting a guide rail or a slot on the base 100, the connecting part is slidably plugged into the guide rail or the slot, and the friction resistance between the two is larger when the connecting part moves relative to the guide rail or the slot, and the X-direction movement of the connecting part is prone to jamming and the driving load of the rotating driving member 300 is larger; the outer cylindrical surface of the limiting rod 600 of the present application interacts with the inner cylindrical hole surface of the first plug hole 211b, and on the basis of ensuring the limiting guiding effect on the connecting part, the relative friction resistance between the two is small, and at the same time, there is no direct contact between the connecting part and the base 100, which can further reduce the friction resistance of the connecting part moving along the X direction, thereby improving the smoothness and stability of the movement of the clamping assembly 200 along the X direction, and at the same time reducing the driving load of the rotating driving member 300.

[0035] Optionally, in this embodiment, if Figure 1 As shown, the base 100 includes a substrate 110, and the two ends of the substrate 110 along the X direction are bent to the same side to have limit plates 120 extending along the Z direction. The substrate 110 and the two limit plates 120 enclose a first installation space 130, and the first installation space 130 is open on both sides along the Y direction and on the side away from the substrate 110 along the Z direction; the bidirectional screw 400 is rotatably connected between the two limit plates 120.

[0036] The base 100 adopts a U-shaped structure, and the connection area between the clamping assembly 200 and the base 100, such as the bidirectional screw 400, the connecting part, the limit plate 120 and the base 110 are all located on the inner side of the first installation space 130. The base 110 and the two limit plates 120 can protect the various components inside the first installation space 130 to reduce damage such as external collisions; at the same time, the first installation space 130 is open on both sides of the Y direction and on the side away from the base 110 along the Z direction, and the three-side openings all cover the length direction of the base 100 (i.e., the X direction). The three-side openings serve as installation ports with larger opening areas. During assembly, the connection between the bidirectional screw 400 and the limit plate 120, the threaded connection between the connecting part and the bidirectional screw 400, and the sliding connection between the connecting part and the base 110 can be conveniently assembled through the three-side openings; similarly, the disassembly and maintenance operations between the above-mentioned components can also be conveniently completed, thereby improving the assembly convenience and maintenance convenience of the picking device and the robot.

[0037] Specifically, a connecting column 700 can be fixedly provided on the side of the substrate 110 away from the first installation space 130, and the connecting column 700 is provided with a second threaded hole. The end of the robotic arm is threadedly connected to the second threaded hole, thereby realizing a detachable connection between the robotic arm and the picking device; preferably, a reinforcing rib 800 can also be provided between the connecting column 700 and the substrate 110 to improve the stability of the connecting column 700.

[0038] In this embodiment, Figure 1 and Figure 2 As shown, the clamping assembly 200 includes a mounting base body 210, two clamping jaws 220 and two telescopic driving members 230 arranged on the mounting base body 210, the mounting base body 210 is provided with a guide rod 240, and the guide rod 240 is slidably inserted into the connecting section 221 of the two clamping jaws 220 along the Y direction; the two telescopic driving members 230 are connected to the two clamping jaws 220 one by one, and are used to drive the corresponding clamping jaws 220 to move along the Y direction. The clamping jaws 220 include a connecting section 221 and a clamping section 222 along the length direction. The connecting sections 221 of the two clamping jaws 220 are each provided with a second plug-in hole 221a, and the guide rod 240 is slidably plugged into the two second plug-in holes 221a; when in use, the two telescopic driving members 230 are synchronously started to drive the corresponding clamping jaws 220 to move toward each other to clamp the workpiece, and the guide rod 240 can withstand the gravity of the workpiece to reduce the torque received by the telescopic driving member 230, thereby ensuring the normal operation of the telescopic driving member 230; or, the two telescopic driving members 230 drive the corresponding clamping jaws 220 to move in opposite directions to put down the workpiece, thereby realizing the picking and placing of the workpiece.

[0039] Among them, the two jaws 220 are fixedly connected to the driving ends of the corresponding telescopic driving members 230. When the two jaws 220 move toward each other or away from each other, there is only a relative sliding guiding effect with the guide rod 240. The two jaws 220 are not worn, which can ensure the driving accuracy and stability of the telescopic driving member 230 on the jaws 220, and effectively reduce the application of lubricating oil, etc., thereby reducing the use cost and manual operation cost.

[0040] Specifically, the telescopic driving member 230 may be a hydraulic cylinder.

[0041] Specifically, in this embodiment, Figure 1 and Figure 2 As shown, there are two guide rods 240, and the two guide rods 240 are arranged at intervals along the Z direction; along the Z direction, the connection between the clamping jaw 220 and the corresponding telescopic driving member 230 is located in the middle of the two guide rods 240. When in use, the two guide rods 240 can guide different positions of the clamping jaw 220 in the length direction, thereby improving the position accuracy of the clamping jaw 220 and ensuring that the two clamping jaws 220 cooperate to clamp the workpiece stably; at the same time, when clamping the workpiece, the two guide rods 240 can simultaneously play the role of bearing the gravity of the workpiece, thereby further ensuring the stability of the clamping assembly 200 in clamping the workpiece, and further ensuring the precise driving of the clamping jaw 220 by the telescopic driving member 230.

[0042] In this embodiment, Figure 2 As shown, the mounting seat body 210 includes a first connecting arm 211 extending along the Y direction, and the first connecting arm 211 has two ends along the Y direction bent to the same side to have a second connecting arm 212 extending along the Z direction. The first connecting arm 211 serves as a connecting portion, and the first connecting arm 211 and the two second connecting arms 212 form a second mounting space 213. The second mounting space 213 is open on both sides along the X direction and on the side away from the first connecting arm 211 along the Z direction; the guide rod 240 is connected between the two second connecting arms 212.

[0043] The mounting base body 210 adopts a U-shaped structure, and the connecting area between the connecting section 221 of the clamping jaw 220 and the mounting base body 210, such as the guide rod 240, the connecting section 221, the second connecting arm 212 and the first connecting arm 211 are all located inside the second mounting space 213. The first connecting arm 211 and the second connecting arm 212 can protect the components inside the second mounting space 213 to reduce damage caused by external collisions. At the same time, the second mounting space 213 is open on both sides of the X direction and on the side away from the first connecting arm 211 in the Z direction. The three-side openings are configured to cover the length direction (i.e., Y direction) of the first connecting arm 211. The three-side openings serve as installation ports with a larger opening area. During assembly, the guide rod 240 and the second connecting arm 212, the connecting section 221 and the guide rod 240, and the connecting section 221 and the telescopic drive member 230 can be conveniently assembled through the three-side openings. Similarly, the disassembly and maintenance operations of the above-mentioned components can also be conveniently completed, thereby improving the assembly convenience and maintenance convenience of the clamping assembly 200, the picking device and the robot.

[0044] In this embodiment, in the clamping assembly 200, the end surface of the clamping jaw 220 facing the other clamping jaw 220 along the X direction is coplanar with the corresponding end surface of the mounting seat body 210. The clamping jaw 220 and the mounting seat body 210 of the same clamping assembly 200 can be integrated into a clamping piece with a larger area. When the workpiece is short and wide, and the clamping stroke of the two clamping jaws 220 in the clamping assembly 200 cannot meet the clamping of the workpiece, the two clamping assemblies 200 can be used as two clamping pieces, and the two clamping pieces can be driven by the rotating driving member 300 to clamp the workpiece, so as to realize the picking and placing of the workpiece, thereby increasing the application range of the picking device.

[0045] Optionally, in this embodiment, if Figure 1 and Figure 2 As shown, a receiving groove 212a is provided on the side of the second connecting arm 212 away from the second installation space 213, and a receiving hole 212b is provided at the bottom of the receiving groove 212a. The shell 231 of the telescopic driving member 230 is at least partially embedded in the receiving groove 212a, and the telescopic rod 232 passes through the receiving hole 212b and extends to the second installation space 213. Here is one specific form of the telescopic drive member 230 being connected to the second connecting arm 212. When installing the telescopic drive member 230, the accommodating groove 212a can pre-position the shell 231, thereby ensuring the position accuracy and stability of the telescopic drive member 230 installed on the second connecting arm 212; the linear telescopic rod 232 is coaxially penetrated through the accommodating hole 212b, and the accommodating hole 212b can play a guiding and limiting role for the telescopic rod 232, thereby improving the driving accuracy of the telescopic drive member 230 on the clamping claw 220, and in this embodiment, the installation position of the telescopic drive member 230 is reasonably arranged, which can effectively improve the structural compactness of the clamping assembly 200 and reduce its overall size.

[0046] In this embodiment, Figure 1 and Figure 2 As shown, the clamping sections 222 of the two clamping jaws 220 are provided with anti-skid pads 222a on the sides facing each other. When clamping a workpiece, the anti-skid pads 222a are in direct contact with the workpiece and deform according to the shape of the workpiece, thereby improving the clamping stability and firmness of the workpiece.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A picking device, characterized in that: The invention comprises a base (100), two clamping assemblies (200) and a rotating drive member (300) arranged on the base (100); the base (100) is rotatably connected to a bidirectional screw (400) extending along the X direction, and the rotating drive member (300) is connected to the bidirectional screw (400); the connecting parts of the two clamping assemblies (200) are both slidably connected to the base (100) along the X direction, and are screwed to two screw segments of the bidirectional screw (400) with opposite rotation directions in a one-to-one correspondence; one of the two screw segments is screwed to a limiting nut (500), and the limiting nut (500) is located between the two connecting parts.

2. The pickup device according to claim 1, characterized in that: The two screw segments of the bidirectional screw (400) with opposite rotation directions are respectively a first screw segment (410) and a second screw segment (420); the limiting nut (500) is screwed to the first screw segment (410); and the difference between the length of the first screw segment (410) and the width of the limiting nut (500) is equal to the length of the second screw segment (420).

3. The pickup device according to claim 1, characterized in that: The base (100) is provided with a limiting rod (600) extending along the X direction, and the limiting rod (600) is slidably inserted into the two connecting parts along the X direction, and there is a resistance reduction gap between the two connecting parts and the base (100).

4. The pickup device according to claim 1, characterized in that: The base (100) comprises a substrate (110), and the substrate (110) has limit plates (120) bent toward the same side at both ends along the X direction and extending along the Z direction. The substrate (110) and the two limit plates (120) enclose a first installation space (130), and the first installation space (130) is open on both sides along the Y direction and on the side away from the substrate (110) along the Z direction; the bidirectional screw (400) is rotatably connected between the two limit plates (120).

5. The pickup device according to any one of claims 1 to 4, characterized in that: The clamping assembly (200) comprises a mounting seat body (210), two clamping jaws (220) and two telescopic driving members (230) arranged on the mounting seat body (210); the mounting seat body (210) is provided with a guide rod (240), and the guide rod (240) is slidably inserted into the connecting section (221) of the two clamping jaws (220) along the Y direction; the two telescopic driving members (230) are connected to the two clamping jaws (220) in a one-to-one correspondence, and are used to drive the corresponding clamping jaws (220) to move along the Y direction.

6. The pickup device according to claim 5, characterized in that: There are two guide rods (240), and the two guide rods (240) are arranged at intervals along the Z direction; along the Z direction, the connection between the clamping claw (220) and the corresponding telescopic driving member (230) is located in the middle of the two guide rods (240).

7. The pickup device according to claim 5, characterized in that: The mounting seat body (210) comprises a first connecting arm (211) extending along the Y direction, and the first connecting arm (211) is bent to the same side at both ends along the Y direction to form a second connecting arm (212) extending along the Z direction, the first connecting arm (211) serves as the connecting portion, and the first connecting arm (211) and the two second connecting arms (212) enclose a second mounting space (213), and the second mounting space (213) is open on both sides along the X direction and on a side away from the first connecting arm (211) along the Z direction; the guide rod (240) is connected between the two second connecting arms (212).

8. The pickup device according to claim 7, characterized in that: In the clamping assembly (200), the end surface of the clamping jaw (220) facing the other clamping jaw (220) along the X direction is coplanar with the corresponding end surface of the mounting seat body (210).

9. The pickup device according to claim 7, characterized in that: A receiving groove (212a) is provided on a side of the second connecting arm (212) facing away from the second installation space (213); a receiving hole (212b) is provided at the bottom of the receiving groove (212a); a housing (231) of the telescopic driving member (230) is at least partially embedded in the receiving groove (212a); and the telescopic rod (232) passes through the receiving hole (212b) and extends to the second installation space (213).

10. A robot, characterized in that: It comprises a mechanical arm and the picking device according to any one of claims 1 to 9, wherein the base (100) of the picking device is connected to the end of the mechanical arm.

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