Pneumatic pick-and-place device and production equipment

Abstract

The utility model discloses a pneumatic taking and placing device and production equipment, the pneumatic taking and placing device comprises a connecting assembly, a shifting assembly and a rotary driving assembly, the connecting assembly comprises a first mounting surface and a second mounting surface which are obliquely crossed in a space coordinate system, and the first mounting surface is provided with a connecting seat used for being connected with a manipulator; the shifting assembly comprises a connecting shoulder, a first shifting piece and a second shifting piece. According to the pneumatic taking and placing device and the production equipment, the controller finished product and the controller raw material can be grabbed at the same time through the first displacement part and the second displacement part, the first displacement part and the second displacement part are connected with the rotating air cylinder and indirectly limited to the inclined second mounting face, and the controller finished product and the controller raw material can be grabbed by setting the rotating air cylinder to rotate by 180 degrees in a reciprocating mode; the first shifting part and the second shifting part can be exchanged in position, the first shifting part and the second shifting part can move up and down in cooperation with a mechanical arm, the actions of sucking finished products and placing raw materials of the controller can be completed at the same station, and the production efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile manufacturing technology, and in particular relates to a pneumatic pick-and-place device and production equipment. Background Art

[0002] Controllers are common automotive parts, and their production process usually uses semi-automatic or fully automatic production lines. The production cycle of controllers is relatively fast, and a robot is required to drive a pick-and-place device to quickly and accurately remove the finished controller from the turnover tray and place another controller raw material. In the related art, the suction and placement actions of the finished product removal and raw material placement process in the production process of automobile controllers are usually two independent processes. The placement device and suction device of the controller are independent structures, and the production efficiency is low. Utility Model Content

[0003] The embodiment of the present application provides a pneumatic pick-and-place device and production equipment, which can complete the actions of controller finished product suction and raw material placement at the same workstation.

[0004] In the first aspect, an embodiment of the present application provides a pneumatic pick-and-place device, which includes a connecting component, a shifting component and a rotational drive component. The connecting component includes a first mounting surface and a second mounting surface that are inclined in a spatial coordinate system. The first mounting surface is provided with a connecting seat for connecting a manipulator. The shifting component includes a connecting shoulder, a first shifting member and a second shifting member. The connecting shoulder is extended along a first axis parallel to the second mounting surface, and has a first connecting end surface and a second connecting end surface at both ends on the first axis. The extension surface of the first connecting end surface intersects the extension surface of the second connecting end surface perpendicularly, and one of them can be distributed parallel to the first mounting surface. The first shifting member and the second shifting member are respectively connected to the first connecting end surface and the second connecting end surface. The rotational drive component includes a rotating cylinder connected to the second mounting surface. The shifting component is rotatably arranged on the second mounting surface relative to the connecting component through the rotational drive component, so that the first shifting member and the second shifting member move synchronously and switch relative positions.

[0005] According to the first aspect of the present application, the connection assembly further includes a positioning seat, which is fixedly connected to the connection seat, the positioning seat is in a pyramidal structure and is hollow inside, and the positioning seat includes the second mounting surface.

[0006] According to the first aspect of the present application, the rotary drive assembly also includes a rotating seat, a first side of the rotating seat is fixedly connected to the output shaft of the rotary cylinder and is orthogonal to the extension direction of the output shaft, and a second side of the rotating seat is fixedly connected to the connecting shoulder.

[0007] According to the first aspect of the present application, the connecting seat is a columnar structure and extends along a second axis, the second axis is orthogonal to the first mounting surface and obliquely intersects with the first axis, the first displacement member and the second displacement member can simultaneously pick up and place two groups of objects to be transferred, and the rotating cylinder is operated by air intake and rotates n*180° so that the first displacement member and the second displacement member can move synchronously to exchange corresponding positions, and at least one extends along the second axis, where n is an integer.

[0008] According to the first aspect of the present application, the first displacement member and the second displacement member are respectively selected from one or more of a clamping member and an adsorption member, and the clamping member includes a finger cylinder, which is in an alternating air intake state and air cut-off state during operation to pick up and place the object to be transferred.

[0009] According to the first aspect of the present application, both the first displacement member and the second displacement member are the clamping members.

[0010] According to the first aspect of the present application, the finger cylinder is connected to the second connecting end surface, and the finger cylinder includes two groups of sliders and a return spring connected between the two groups of sliders; the clamping member also includes two groups of jaws, and the two groups of sliders are fixedly connected to the two groups of jaws in a one-to-one correspondence.

[0011] According to the first aspect of the present application, in the air intake state of the finger cylinder, the two groups of the sliders can move toward the middle along the length direction of the finger cylinder, and involve the two groups of the clamps to move toward each other synchronously to clamp the object to be transferred. In the air cut-off state of the finger cylinder, the return spring drives the two groups of the sliders and the two groups of the clamps to move away from each other under the action of the elastic restoring force to release the object to be transferred.

[0012] According to the first aspect of the present application, the clamping jaw has a curved structure and includes a clamping jaw body and an extended branch segment, the extended branch segment has an inclined clamping wall to match the structural shape of the object to be transferred, and the inclination angle θ of the clamping wall relative to the second axis satisfies: 7°≤θ≤15°.

[0013] According to the first aspect of the present application, the connecting shoulder is an inclined plate with a hollow interior, the adsorption component includes a bracket and a suction cup group connected to each other, the bracket is connected to the inclined plate through the first connecting end face, the suction cup group includes a plurality of suction cups distributed in a plurality of arrays, the plurality of suction cups are connected to a negative pressure pipeline, and connected to a vacuum generator through the negative pressure pipeline.

[0014] In the second aspect, the present application provides a production equipment, which includes a manipulator, a control device and any of the aforementioned pneumatic picking and placing devices, the manipulator is fixedly connected to the pneumatic picking and placing device, and can transfer the pneumatic picking and placing device to a predetermined position in space; the control device is used to drive the manipulator to move along a preset trajectory in space.

[0015] The pneumatic picking and placing device and production equipment provided in the embodiment of the present application can simultaneously grab the finished controller and the raw material of the controller through the first shifting member and the second shifting member. Since the first shifting member and the second shifting member are connected to the rotating cylinder and are indirectly limited to the inclined second mounting surface, the first shifting member and the second shifting member can be exchanged by setting the rotating cylinder to rotate 180° reciprocatingly. The first shifting member and the second shifting member can be moved up and down in cooperation with the manipulator, and the actions of sucking the finished controller and placing the raw material can be completed at the same workstation, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0017] Figure 1 is a schematic diagram of the structure of a pneumatic pick-and-place device provided in an embodiment of the present application;

[0018] Figure 2 is a front view of a pneumatic pick-and-place device provided in an embodiment of the present application;

[0019] Figure 3 is an exploded view of a pneumatic pick-and-place device provided in an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of the structure of the clamping member provided in an embodiment of the present application;

[0021] Figure 5 is a schematic diagram of a pneumatic pick-and-place device provided in an embodiment of the present application when the clamping member is in a working state;

[0022] Figure 6 is a schematic diagram of the pneumatic pick-and-place device provided in an embodiment of the present application when the adsorbent is in a working state;

[0023] Figure 7 It is a schematic diagram of the structure of the clamp provided in an embodiment of the present application.

[0024] In the drawings, the drawings are not necessarily drawn to scale.

[0025] Figure numerals: connecting component 1; rotating drive component 2; clamping member 3; adsorption member 4; connecting seat 11; positioning seat 12; rotating cylinder 21; rotating seat 22; finger cylinder 31; slider 32; clamping jaw 33; clamping jaw body 331; extending branch section 332; bracket 41; suction cup 42; inclined plate 5; first mounting surface A; second mounting surface B; first connecting end surface C; second connecting end surface D; clamping wall E. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field of this application; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0028] This application is based on the inventor's discovery and understanding of the following facts and problems:

[0029] The controller is produced using a semi-automatic or fully automatic production line, and the production cycle of the controller is relatively fast. During the production process of the automobile controller, the finished controller needs to be taken out from the turnover pallet to provide space for the raw materials, and then the raw materials are transferred to the turnover pallet by a robot. The finished controller transfer device and the raw material transfer device are independent structures, and the finished product transfer process and the raw material placement process cannot be continuously processed by one device. The production and processing efficiency of the automobile controller is low, and the related technology lacks a pneumatic pick-and-place device suitable for automobile controllers.

[0030] In order to solve the above problems, the present application embodiment provides a pneumatic pick-and-place device and production equipment. Figure 1-Figure 7 The pneumatic pick-and-place device and production equipment of the embodiments of the present application are described in detail.

[0031] like Figure 1As shown, an embodiment of the present application provides a pneumatic pick-and-place device, which includes a connecting component 1, a shifting component and a rotating drive component 2. The connecting component 1 includes a first mounting surface A and a second mounting surface B that are inclined in a spatial coordinate system. The first mounting surface A is provided with a connecting seat 11 for connecting a manipulator. It can be understood that since the pneumatic pick-and-place device needs to be transferred between the raw material area and the finished product area of ​​the controller, the pneumatic pick-and-place device is connected to the manipulator through the connecting seat 11, and the manipulator can drive the pneumatic pick-and-place device to shift position in the spatial coordinate system. The shifting component includes a connecting shoulder, a first shifting member and a second shifting member. The first shifting member and the second shifting member can simultaneously fix and shift the controller finished product and the controller raw material.

[0032] For details, please refer to Figure 1 , the connecting shoulder is extended along the first axis parallel to the second mounting surface B, and has a first connecting end surface C and a second connecting end surface D at both ends on the first axis, the extension surface of the first connecting end surface C intersects perpendicularly with the extension surface of the second connecting end surface D, and one can be distributed parallel to the first mounting surface A, the first displacement member and the second displacement member are respectively connected to the first connecting end surface C and the second connecting end surface D, it can be understood that, since the extension surface of the first connecting end surface C intersects perpendicularly with the extension surface of the second connecting end surface D, the position exchange of the first displacement member and the second displacement member can be achieved by rotating the connecting shoulder. The rotary drive component 2 includes a rotary cylinder 21 connected to the second mounting surface B, and the rotary cylinder 21 is used as a power output member to drive the connecting shoulder to rotate. The displacement component is rotated on the second mounting surface B relative to the connecting component 1 through the rotary drive component 2, so that the first displacement member and the second displacement member move synchronously and switch relative positions.

[0033] In some embodiments, please refer to Figure 1-Figure 3 The connecting assembly 1 also includes a positioning seat 12, which is fixedly connected to the connecting seat 11. The positioning seat 12 is a pyramid-shaped structure and is hollow inside. The positioning seat 12 includes a second mounting surface B.

[0034] It can be understood that the interior of the positioning seat 12 is hollow, which is beneficial to reducing the overall weight of the pneumatic picking and placing device. The positioning seat 12 can also provide an inclined second mounting surface B, so that the rotating cylinder 21 connected to the second mounting surface B is inclined, thereby ensuring that the rotating cylinder 21 acts as a power output member to drive the connecting shoulder to rotate, so that the first displacement member and the second displacement member switch relative positions.

[0035] In some embodiments, please refer to Figure 1-Figure 3The rotary drive assembly 2 further includes a rotary seat 22, a first side of which is fixedly connected to the output shaft of the rotary cylinder 21 and is orthogonal to the extension direction of the output shaft, and a second side of the rotary seat 22 is fixedly connected to the connecting shoulder. It can be understood that the connecting shoulder is drivingly connected to the output shaft of the rotary cylinder 21 through the rotary seat 22, and during the operation of the rotary cylinder 21, the output shaft can drive the connecting shoulder, the first displacement member and the second displacement member to rotate according to a preset angle.

[0036] In some embodiments, please refer to Figure 1-Figure 3 The connecting seat 11 is a columnar structure and extends along the second axis. The second axis is orthogonal to the first mounting surface A and obliquely intersects with the first axis. The first displacement member and the second displacement member can simultaneously pick up and place two groups of objects to be transferred. When the rotary cylinder 21 is operated by air intake and rotates n*180°, the first displacement member and the second displacement member can move synchronously to exchange corresponding positions, and at least one of them extends along the second axis, where n is an integer. It can be understood that since the first displacement member and the second displacement member are connected to the rotary cylinder 21 through the connecting shoulder, the first displacement member and the second displacement member can exchange positions during the process of the rotary cylinder 21 rotating 180°.

[0037] In one example, the first axis and the second axis may be arranged at an angle of 45°.

[0038] In some embodiments, please refer to Figure 1-Figure 3 The first displacement member and the second displacement member are respectively selected from one or more of the clamping member 3 and the adsorption member 4.

[0039] In some other optional embodiments, the first displacement member and the second displacement member are both clamping members 3 .

[0040] It can be understood that since the first displacement member and the second displacement member are used to fix the finished controller and the original controller material, the surface of the finished controller product is relatively regular, and the finished controller product can be fixed using the clamping member 3 or the adsorption member 4. However, the original controller material is difficult to be adsorbed and fixed using the adsorption member 4. Based on this, at least one of the first displacement member and the second displacement member needs to be the clamping member 3 to clamp and fix the original controller material.

[0041] In some embodiments, please refer to Figure 1-Figure 4 The clamping member 3 includes a finger cylinder 31, which is in an alternate air intake state and an air cut-off state during operation to pick up and place the object to be transferred. Specifically, the finger cylinder 31 can clamp the object to be transferred in the air intake state, and the finger cylinder 31 will disconnect its clamping of the object to be transferred in the air cut-off state, thereby completing the placement of the object to be transferred.

[0042] In some embodiments, please refer to Figure 4 The finger cylinder 31 is connected to the second connecting end surface D, and the finger cylinder 31 includes two groups of sliders 32 and a return spring connected between the two groups of sliders 32; the clamping member 3 also includes two groups of jaws 33, and the two groups of sliders 32 are fixedly connected to the two groups of jaws 33 in a one-to-one correspondence.

[0043] In the embodiment of the present application, in the air intake state of the finger cylinder 31, the two groups of sliders 32 can move toward the middle along the length direction of the finger cylinder 31, and involve the two groups of clamps 33 to move toward each other synchronously to clamp the object to be transferred. In the air cut-off state of the finger cylinder 31, the return spring drives the two groups of sliders 32 and the two groups of clamps 33 to move away from each other under the action of the elastic restoring force to release the object to be transferred.

[0044] In some embodiments, Figure 7 As shown, the clamping jaw 33 has a curved structure and includes a clamping jaw body 331 and an extended branch section 332. The extended branch section 332 has an inclined clamping wall E to match the structural shape of the object to be transferred. The inclination angle θ of the clamping wall E relative to the second axis satisfies: 7°≤θ≤15°.

[0045] It can be understood that the shapes of the clamp body 331 and the extended branch section 332 match the original controller material to be transferred, which is beneficial to the stability of the original controller material during the clamping and transfer process.

[0046] In one example, the inclination angle θ of the clamping wall E relative to the second axis is preferably 10°.

[0047] In some embodiments, please refer to Figure 1 The connecting shoulder is an inclined plate 5 with a hollow interior. The adsorbent 4 includes a bracket 41 and a suction cup group that are connected to each other. The bracket 41 is connected to the inclined plate 5 through a first connecting end face C. The suction cup group includes a plurality of suction cups 42 distributed in an array. The plurality of suction cups 42 are connected to a negative pressure pipeline and are connected to a vacuum generator through the negative pressure pipeline.

[0048] It is understandable that the vacuum generator is a device in the automobile controller production line, and a negative pressure pipeline is provided between the suction cup 42 and the vacuum generator to ensure that the suction cup 42 can provide adsorption force to the finished controller. In addition, the inclined plate 5 serves to provide positioning and support for the clamping member 3 and the adsorption member 4 in space.

[0049] An embodiment of the present application also provides a production equipment, which includes a pneumatic picking and placing device, a manipulator and a control device, wherein the manipulator is fixedly connected to the pneumatic picking and placing device and can transfer the pneumatic picking and placing device to a predetermined position in space, and the control device is used to drive the manipulator to move in space along a preset trajectory.

[0050] The implementation process of the pneumatic pick-and-place device provided in the present application is as follows: First, the manipulator drives the pneumatic pick-and-place device to the controller raw material feeding position, and when the clamping member 3 is in the working position, the finger cylinder 31 is inhaled and drives the two sets of sliders 32 to move toward the center, and the two sets of sliders 32 drive the clamping claws 33 to move toward the center to achieve the purpose of clamping the controller raw material;

[0051] Secondly, the manipulator drives the pneumatic pick-and-place device to the turnover tray. After the rotating cylinder 21 is inhaled, it drives the rotating seat 22 and the inclined plate 5 to rotate 180°, so that the clamping member 3 and the adsorption member 4 are swapped, so that the suction cup 42 is in the working position, and the manipulator moves downward to the suction position. The vacuum generator provides vacuum suction so that the suction cup 42 absorbs the finished controller;

[0052] After the manipulator is lifted, the other air inlet of the rotating cylinder 21 drives the rotating seat 22 and the inclined plate 5 to rotate 180 degrees, so that the clamping claw 33 and the suction cup 42 are exchanged, and the clamping claw 33 is in the working position; after the manipulator is lowered and the other air inlet of the finger cylinder 31 is charged, the slider 32 drives the clamping claw 33 to move outward, so as to place the controller raw material on the turnover tray;

[0053] After the manipulator drives the pneumatic pick-and-place device to move to the finished product placement area, the rotating cylinder 21 takes in air and drives the rotating seat 22 and the inclined plate 5 to rotate 180°, so that the clamping claw 33 and the suction cup 42 are swapped. At this time, the suction cup 42 is in the working position. After the manipulator descends, the vacuum generator stops working and the finished controller is placed in the tray;

[0054] After the manipulator is lifted, the air intake from the other air inlet of the rotating cylinder 21 drives the rotating seat 22 and the inclined plate 5 to rotate 180°, so that the clamping jaws 33 and the suction cup 42 are swapped. At this time, the clamping jaws 33 are in the working position, and the manipulator continues to move to the raw material feeding position of the controller.

[0055] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0056] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "attached" 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 direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0057] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0058] The term "plurality" used in the present application refers to more than two, including two.

[0059] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A pneumatic pick-and-place device, characterized in that: include: A connection assembly (1) comprises a first mounting surface (A) and a second mounting surface (B) which are tilted in a spatial coordinate system, wherein the first mounting surface (A) is provided with a connection seat (11) for connecting a manipulator; A displacement assembly, comprising a connecting shoulder, a first displacement member and a second displacement member, wherein the connecting shoulder is extended along a first axis parallel to the second mounting surface (B), and has a first connecting end surface (C) and a second connecting end surface (D) at two ends on the first axis, an extended surface of the first connecting end surface (C) and an extended surface of the second connecting end surface (D) intersect perpendicularly, and one of them can be distributed in parallel with the first mounting surface (A), and the first displacement member and the second displacement member are respectively connected to the first connecting end surface (C) and the second connecting end surface (D); The rotary drive assembly (2) comprises a rotary cylinder (21) connected to the second mounting surface (B); the displacement assembly is rotatably arranged on the second mounting surface (B) relative to the connecting assembly (1) through the rotary drive assembly (2) so that the first displacement member and the second displacement member move synchronously and switch relative positions.

2. The pneumatic pick-and-place device according to claim 1, characterized in that: The connection assembly (1) further comprises a positioning seat (12), wherein the positioning seat (12) is fixedly connected to the connection seat (11), the positioning seat (12) is of a pyramidal structure and is hollow inside, and the positioning seat (12) comprises the second mounting surface (B).

3. The pneumatic pick-and-place device according to claim 1, characterized in that: The rotary drive assembly (2) further comprises a rotary seat (22), a first side of the rotary seat (22) being fixedly connected to the output shaft of the rotary cylinder (21) and being orthogonal to the extension direction of the output shaft, and a second side of the rotary seat (22) being fixedly connected to the connecting shoulder.

4. The pneumatic pick-and-place device according to claim 1, characterized in that: The connecting seat (11) is a columnar structure and is extended along a second axis, the second axis is orthogonal to the first mounting surface (A) and obliquely intersects with the first axis, the first displacement member and the second displacement member can simultaneously pick up and place two groups of objects to be transferred, and the rotary cylinder (21) is operated by air intake and rotates n*180°, so that the first displacement member and the second displacement member can move synchronously to exchange corresponding positions, and at least one of them extends along the second axis, wherein n is an integer.

5. The pneumatic pick-and-place device according to claim 4, characterized in that: The first displacement member and the second displacement member are respectively selected from one or more of a clamping member (3) and a suction member (4); the clamping member (3) comprises a finger cylinder (31); and the finger cylinder (31) is in an alternating air intake state and air cut-off state during operation to pick up and place the object to be transferred; or, The first displacement member and the second displacement member are both the clamping member (3).

6. The pneumatic pick-and-place device according to claim 5, characterized in that: The finger cylinder (31) is connected to the second connection end surface (D), and the finger cylinder (31) comprises two groups of sliders (32) and a return spring connected between the two groups of sliders (32); The clamping member (3) further comprises two groups of clamping jaws (33), and the two groups of sliding blocks (32) are fixedly connected to the two groups of clamping jaws (33) in a one-to-one correspondence.

7. The pneumatic pick-and-place device according to claim 6, characterized in that: In the air intake state of the finger cylinder (31), the two groups of sliders (32) can move toward the middle along the length direction of the finger cylinder (31), and cause the two groups of clamps (33) to move synchronously toward each other to clamp the object to be transferred. In the air cut-off state of the finger cylinder (31), the return spring drives the two groups of sliders (32) and the two groups of clamps (33) to move away from each other under the action of elastic restoring force, so as to release the object to be transferred.

8. The pneumatic pick-and-place device according to claim 6 or 7, characterized in that: The clamping jaw (33) has a curved structure and comprises a clamping jaw body (331) and an extended branch section (332); the extended branch section (332) has an inclined clamping wall (E) to match the structural shape of the object to be transferred; the inclination angle θ of the clamping wall (E) relative to the second axis satisfies: 7°≤θ≤15°.

9. The pneumatic pick-and-place device according to claim 5, characterized in that: The connecting shoulder is an inclined plate (5) with a hollow interior. The adsorbent (4) comprises a bracket (41) and a suction cup group that are connected to each other. The bracket (41) is connected to the inclined plate (5) via the first connecting end surface (C). The suction cup group comprises a plurality of suction cups (42) distributed in an array. The plurality of suction cups (42) are connected to a negative pressure pipeline and are connected to a vacuum generator via the negative pressure pipeline.

10. A production equipment, characterized in that: include: A pneumatic pick-and-place device, which is the pneumatic pick-and-place device according to any one of claims 1 to 9; A manipulator, fixedly connected to the pneumatic pick-and-place device and capable of transferring the pneumatic pick-and-place device to a predetermined position in space; The control device is used to drive the manipulator to move along a preset trajectory in space.

Images