Picking device and handling equipment

Abstract

The utility model discloses a picking device and a handling device. The picking device is used to pick up a to-be-handled part with a picking curved surface, and comprises a bracket and a picking assembly, wherein the picking assembly comprises a picking drive and a plurality of picking members, wherein the plurality of picking members are movably arranged on the bracket, and the picking drive is respectively connected to the plurality of picking members, and is used to drive the plurality of picking members to move between a picking position and a retracted position along the normal direction of the picking curved surface, and when the plurality of picking members are in the picking position, the picking ends of the plurality of picking members are all located on the picking curved surface. The picking device can pick up curved surface products relatively easily, and effectively improves the success rate of picking up curved surface products.

Description

Technical Field

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

[0002] In the process of producing products, handling equipment is usually required to pick up and transport the products to be produced. In the related art, the handling equipment is used to pick up and transport products with a picking plane. The handling equipment usually includes a picking device for picking up products. The picking device may include multiple picking pieces, and the products with a picking plane can be picked up relatively easily and firmly by the picking pieces. However, for curved products, that is, products with curved picking surfaces, such as curved glass substrates, display screens covered with curved glass, or 3D cover plates, when picking up and transporting by the above-mentioned handling equipment, it is difficult for multiple picking pieces in the picking device to pick up the picking surface of the curved product at the same time, resulting in the difficulty of the picking device to pick up the curved product, which in turn causes the poor success rate of the handling equipment in picking up materials. Utility Model Content

[0003] The embodiment of the present application discloses a picking device and a handling equipment, which can pick up curved surface products relatively easily and effectively improve the success rate of picking up curved surface products.

[0004] In order to achieve the above-mentioned purpose, in a first aspect, an embodiment of the present application discloses a picking device for picking up a to-be-carried object having a picking curved surface, the picking device comprising:

[0005] Braces; and

[0006] The picking assembly comprises a picking drive member and a plurality of picking members, wherein the plurality of picking members are movably arranged on the bracket, and the picking drive member is respectively connected to the plurality of picking members to drive the plurality of picking members to move between a picking position and a retracted position along the normal direction of the picking surface, and when the plurality of picking members are in the picking position, the picking ends of the plurality of picking members are all located on the picking surface.

[0007] In a possible implementation manner of the first aspect, when the plurality of picking members are in the retracted position, the picking ends of the plurality of picking members are all located on the retracted curved surface, and the retracted curved surface is parallel to the picking curved surface.

[0008] In a possible implementation of the first aspect, the bracket has a supporting surface, the supporting surface is a curved surface, and the curvature radius of the supporting surface is the same as the curvature radius of the picking surface, and the supporting surface is used to fit the picking surface when the multiple picking members are in the retracted position.

[0009] In a possible implementation of the first aspect, the bracket has a supporting surface, which is a curved surface. The shape of the supporting surface is adapted to the shape of the picking curved surface, the size of the supporting surface is adapted to the size of the picking curved surface, and the supporting surface is used to fit the picking curved surface when the plurality of picking members are in the retracted position.

[0010] In a possible implementation of the first aspect, the picking drive member is fixedly connected to the bracket, a fixing member is provided at the telescopic end of the picking drive member, and a plurality of the picking members are provided on the fixing member, and when the telescopic end of the picking drive member extends to a point where the plurality of the picking members are in the picking position, the picking ends of the plurality of the picking members are all located on the picking surface.

[0011] In a possible implementation manner of the first aspect, the picking end of the picking member includes a suction cup, and when the plurality of picking members are in the picking position, adsorption surfaces of the plurality of suction cups are located on the picking curved surface.

[0012] In a possible implementation manner of the first aspect, the picking components are multiple groups, and the multiple groups of picking components are arranged on the bracket at intervals along the length direction of the bracket.

[0013] In a second aspect, an embodiment of the present application further discloses a handling device, wherein the handling device has a loading station and an unloading station, and the handling device comprises:

[0014] Pedestal;

[0015] The picking device according to any one of the first aspects, wherein the picking device is movably disposed on the base; and

[0016] A transport drive assembly is connected to the picking device and is used to drive the picking device to move between the loading station and the unloading station.

[0017] In a possible implementation of the second aspect, the loading station and the unloading station are arranged relative to each other along a first horizontal direction, and the transport drive assembly includes a first transport drive component, which is connected to the picking device and is used to drive the picking device to move between the loading station and the unloading station along the first horizontal direction.

[0018] In a possible implementation of the second aspect, the transport drive assembly also includes a second transport drive member, which is connected to the driving end of the first transport drive member, and the first transport drive member is used to drive the second transport drive member to move between the loading station and the unloading station along the first horizontal direction, and the driving end of the second transport drive member is connected to the picking device, and is used to drive the picking device to move toward or away from the object to be transported in the vertical direction.

[0019] In a possible implementation of the second aspect, the transport drive assembly also includes a third transport drive member, the third transport drive member is connected to the drive end of the first transport drive member, the drive end of the third transport drive member is connected to the second transport drive member, the first transport drive member is used to drive the third transport drive member to move between the loading station and the unloading station along the first horizontal direction, and the third transport drive member is used to drive the second transport drive member to move along the second horizontal direction, and the second horizontal direction, the first horizontal direction and the vertical direction are perpendicular to each other.

[0020] In a possible implementation manner of the second aspect, the base includes a gantry frame.

[0021] Compared with the prior art, this application has at least the following beneficial effects:

[0022] In the present application, the plurality of picking members in the picking assembly are movably arranged on the bracket, and the picking driving members are respectively connected to the plurality of picking members, and are used to drive the plurality of picking members to move between the picking position and the retracted position along the normal direction of the picking curved surface, so that the moving directions of the plurality of picking members between the picking position and the retracted position are easy to control, so that the movement of the plurality of picking members between the retracted position and the picking position is easy to control, and it is convenient for the plurality of picking members to pick up the to-be-carried parts. When the plurality of picking members are in the picking position, the picking ends of the plurality of picking members are all located on the picking curved surface, so that the plurality of picking members can pick up the to-be-carried parts more easily after moving to the picking position, effectively improving the success rate of picking up the curved surface products, and each picking member can pick up the to-be-carried parts, so that the picking assembly can pick up the to-be-carried parts more firmly, so that the picking device is not likely to fall after picking up the to-be-carried parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is a three-dimensional diagram of a picking device provided in an embodiment of the present application picking up a piece to be transported;

[0025] Figure 2 It is a front view of a picking device provided in an embodiment of the present application when picking up a piece to be transported;

[0026] Figure 3 It is a top view of a picking device provided in an embodiment of the present application when picking up a piece to be transported;

[0027] Figure 4 yes Figure 3 Middle AA section view;

[0028] Figure 5 It is a front view of a handling device provided in an embodiment of the present application;

[0029] Figure 6 is a top view of a handling device provided in an embodiment of the present application;

[0030] Figure 7 It is a left view of a handling device provided in an embodiment of the present application.

[0031] Description of reference numerals:

[0032] 1- bracket; 11- supporting surface; 12- first supporting plate; 13- second supporting plate; 14- connecting rod; 2- picking assembly; 21- picking driving member; 22- picking member; 221- suction cup; 23- fixing member;

[0033] 10-pickup device; 20-base; 30-transport drive assembly; 301-first transport drive member; 302-second transport drive member; 303-third transport drive member; 40-guide rail; 50-slider;

[0034] 100-handling equipment; 110-loading station; 120-unloading station;

[0035] 01-Parts to be transported. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only 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.

[0037] In the present invention, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0038] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.

[0039] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0040] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0041] The embodiment of the present application discloses a picking device and a handling equipment, which can pick up curved surface products relatively easily and effectively improve the success rate of picking up curved surface products.

[0042] The technical solution of the present application will be described in detail below with reference to specific embodiments and drawings.

[0043] The present application embodiment provides a picking device, such as Figure 1-Figure 4 As shown, the picking device 10 is used to pick up a to-be-carried object 01 having a picking curved surface, and includes a bracket 1 and a picking assembly 2. The picking assembly 2 includes a picking drive 21 and a plurality of picking members 22, wherein the plurality of picking members 22 are movably disposed on the bracket 1, and the picking drive 21 is respectively connected to the plurality of picking members 22, and is used to drive the plurality of picking members 22 to move between a picking position and a retracted position along the normal direction of the picking curved surface, and when the plurality of picking members 22 are in the picking position, the picking ends of the plurality of picking members 22 are all located on the picking curved surface.

[0044] It should be explained that the above-mentioned picking up curved surface refers to the curved surface of the part to be transported 01 that can be picked up by the picking device 10, and can be any curved surface in the part to be transported 01, such as, it can be a curved surface that needs to be processed or has been processed (such as, a curved surface for evaporation in a curved glass substrate, or, a curved surface for pasting in a curved glass substrate), or it can be a curved surface in the part to be transported 01 that does not need further processing (such as, the back of a display screen covered with curved glass), and is not limited here.

[0045] It is also necessary to explain that the above-mentioned picking position refers to the position where the multiple picking members 22 can pick up the picking surface of the object to be transported 01 after moving a certain distance under the drive of the picking drive 21. The above-mentioned retracted position refers to the position where the multiple picking members 22 are driven by the picking drive 21 to move to a certain distance from the picking position, such as the position before the multiple picking members 22 pick up the object to be transported 01 and are driven by the picking drive 21, or the position after the multiple picking members 22 pick up the object to be transported 01 and then are driven by the picking drive 21.

[0046] The normal of the above-mentioned picked surface refers to a straight line or vector perpendicular to the tangent plane of a certain point of the picked surface. The picked surface can be any surface of a sphere, a torus, a cylinder, etc.

[0047] In this embodiment, multiple picking members 22 in the picking assembly 2 can be movably arranged on the bracket 1, and the picking driving member 21 is respectively connected to the multiple picking members 22, and is used to drive the multiple picking members 22 to move between the picking position and the retracted position along the normal of the picking surface, so that the moving directions of the multiple picking members 22 between the picking position and the retracted position are easy to control, and the movement of the multiple picking members 22 between the retracted position and the picking position is easy to control, which facilitates the picking up of the transported object 01 by the multiple picking members 22. When multiple picking members 22 are in the picking position, the picking ends of the multiple picking members 22 are all located on the picking curved surface, so that the multiple picking members 22 can easily pick up the workpiece 01 to be transported after moving to the picking position, effectively improving the success rate of picking up the curved surface products, and each picking member 22 can pick up the workpiece 01 to be transported, so that the picking component 2 can pick up the workpiece 01 to be transported more firmly, so that the picking device 10 is not likely to fall after picking up the workpiece 01 to be transported.

[0048] The object to be transported 01 may be a curved glass substrate, a display screen covered with curved glass, or a 3D cover plate, etc., which is not limited here.

[0049] The pickup drive member 21 can be any one of a pneumatic cylinder, an electric cylinder, a hydraulic cylinder, etc., which is not limited here.

[0050] Optionally, when the plurality of picking members 22 are in the retracted position, the picking ends of the plurality of picking members 22 are all located on the retracted curved surface, and the retracted curved surface is parallel to the picking curved surface.

[0051] In this way, the moving distances of multiple picking members 22 between the retracted position and the picking position can be the same, so that the picking drive member 21 can drive multiple picking members 22 to move the same distance and pick up the object to be transported 01, which facilitates the driving of multiple picking members 22 and effectively improves the picking efficiency of the object to be transported 01.

[0052] It should be explained that the above-mentioned retraction surface being parallel to the picking surface means that the distances from all points on the picking surface to the retraction surface along the normal direction thereof are equal.

[0053] In some embodiments, Figure 1 and Figure 2 As shown, the bracket 1 has a supporting surface 11, which is a concave surface, and the curvature radius of the supporting surface 11 is the same as the curvature radius of the picking surface. The supporting surface 11 is used to fit with the picking surface when the multiple picking members 22 are in the retracted position.

[0054] Therefore, when multiple picking members 22 pick up the workpiece to be transported 01 and move the workpiece to be transported 01 to the retracted position, the picking curved surface of the workpiece to be transported 01 can fit with the supporting surface 11 of the bracket 1, and the picking device 10 is not prone to shaking when transporting the workpiece to be transported 01, so that the picking device 10 can transport the workpiece to be transported 01 more stably, effectively reducing the probability of the picking device 10 accidentally falling during the process of transporting the workpiece to be transported 01.

[0055] The material of the bracket 1 can be any one of metal, plastic, silicone rubber, etc., which is not limited here.

[0056] In addition, the bracket 1 may include a first support member and a second support member, and they are arranged along the length direction of the bracket 1. The second support member may be arranged on both sides of the first support member. The first support member has a first support surface 11, and the second support member has a second support surface 11. The first support surface 11 and the second support surface 11 may surround the support surface 11 of the bracket 1. The pickup drive member 21 may be arranged on the first support member or the second support member, or the first support member and the second support member may both be provided with the pickup drive member 21. And the first support member and the second support member may be provided with avoidance holes for avoiding the pickup assembly 2. In addition, the first support member may include two first support plates 12 arranged at intervals along the width direction of the bracket 1. The two first support plates 12 may be connected by a connecting rod 14, and the pickup drive member 21 and the plurality of pickup members 22 may be located between the two first support plates 12. Similarly, the second support member may also include two second support plates 13 spaced apart along the width direction of the bracket 1, the two second support plates 13 are connected by a connecting rod 14, and the picking drive member 21 and multiple picking members 22 located at the second support member may be located between the two second support plates 13.

[0057] The first support member and the two second support members may be integrally formed, or may be welded or threadedly connected, which is not limited here.

[0058] In other embodiments, the support surface 11 of the bracket 1 may also be a convex surface, as long as the curvature radius of the support surface 11 is the same as the curvature radius of the picking surface and can fit the picking surface when the multiple picking members 22 are in the retracted position. There is no limitation here.

[0059] In other embodiments, the bracket 1 has a supporting surface 11, which is a curved surface. The shape of the supporting surface 11 is adapted to the shape of the picking curved surface, and the size of the supporting surface 11 is adapted to the size of the picking curved surface. The supporting surface 11 is used to fit the picking curved surface when the multiple picking members 22 are in the retracted position.

[0060] In this way, the supporting surface 11 can provide stable support for the picking surface, so that the picking device 10 is not prone to shaking when transporting the object to be transported 01, thereby enabling the picking device 10 to transport the object to be transported 01 more stably, further reducing the chance of the picking device 10 accidentally falling during the process of transporting the object to be transported 01.

[0061] The support surface 11 is a curved surface, which may be a concave curved surface, a convex curved surface, or a combination of a concave curved surface and a convex curved surface, which is not limited here.

[0062] It should be explained that the above-mentioned adaptation of the shape of the supporting surface 11 to the shape of the picking curved surface means that the shape of the supporting surface 11 is substantially the same as the shape of the picking curved surface, and does not mean that the shapes of the two must be the same.

[0063] It also needs to be explained that the above-mentioned adaptation of the size of the supporting surface 11 to the size of the picking surface means that the size of the supporting surface 11 is approximately the same as the size of the picking surface, such as the length of the supporting surface 11 is approximately the same as the length of the picking surface, and the width of the supporting surface 11 is approximately the same as the width of the picking surface. It does not mean that the size of the supporting surface 11 must be the same as the size of the picking surface.

[0064] Optionally, the radius of curvature of the support surface 11 is greater than or equal to 20 mm. Thus, the support surface 11 can be adapted to a pick-up curved surface with a radius of curvature greater than or equal to 20 mm, so that the pick-up curved surface of the workpiece 01 to be picked up and transported by the pick-up device 10 can have a larger radius of curvature, effectively improving the practicality of the pick-up device 10.

[0065] The radius of curvature of the support surface 11 may be 20 mm, 30 mm, 43 mm, etc., which is not limited here and can be set according to specific needs.

[0066] Alternatively, if Figure 1 and Figure 3 As shown, the support surface 11 is along a first direction (such as Figure 1 The size of the first direction (in the direction shown by x1) is 50mm~2500mm, and the first direction is perpendicular to the normal of the picked surface.

[0067] Thus, the support surface 11 can adapt to the picking surface with a width dimension along the first direction ranging from 50mm to 2500mm, so that the support surface 11 can pick up and transport the workpieces 01 to be transported with different width dimensions along the first direction, further improving the applicability of the picking device 10.

[0068] The size of the support surface 11 along the first direction may be 50 mm, 100 mm, 1000 mm, 2000 mm, 2500 mm, etc., which is not limited here.

[0069] In addition, if Figure 1-Figure 4 As shown, the support surface 11 is along the second direction (such as Figure 1 The direction shown by y1 in the figure has a projection in the plane, and the projection is along the third direction (such as Figure 1 The dimension of the third direction (in the direction indicated by z1) is 50mm~2500mm, the third direction, the second direction and the first direction are perpendicular to each other, and the plane is a surface perpendicular to the second direction and parallel to the first direction.

[0070] Thus, the support surface 11 can adapt to the picking surface whose length dimension projected along the third direction is between 50mm and 2500mm, so that the support surface 11 can pick up and transport the parts 01 to be transported with different sizes along the third direction, further improving the applicability of the picking device 10.

[0071] It should be explained that the projection of the support surface 11 along the second direction in the plane refers to the orthographic projection of the support surface 11 along the second direction in the plane. Figure 1 The projection of the direction indicated by y1 in the plane perpendicular to the second direction and parallel to the first direction.

[0072] In some embodiments, the picking drive member 21 is fixedly connected to the bracket 1, and a fixing member 23 is provided at the telescopic end of the picking drive member 21, and multiple picking members 22 are provided on the fixing member 23. When the telescopic end of the picking drive member 21 extends to the point where the multiple picking members 22 are in the picking position, the picking ends of the multiple picking members 22 are all located on the picking surface.

[0073] Thus, the picking drive 21 can drive multiple picking members 22 to move at the same time, so that the multiple picking members 22 can be moved to the picking position at the same time along the direction of the picking surface under the drive of the picking drive 21, thereby making the movement of the multiple picking members 22 simple and fast, and effectively improving the picking efficiency of the multiple picking members 22 for the transported object 01.

[0074] The pickup drive member 21 is fixedly connected to the bracket 1 , and the bracket 1 may be provided with a fixing frame, and the fixed end of the pickup drive member 21 is fixedly connected to the fixing frame, which has a simple structure and is easy to implement.

[0075] The fixing member 23 can be any one of a fixing plate, a fixing block, a fixing frame, etc., and is not limited here.

[0076] The picking end of the picking member 22 may have a variety of implementations. In one possible implementation, the picking end of the picking member 22 may include a clamp and a clamping drive. The clamping drive is connected to the clamp to drive the clamp to clamp or release the object 01 to be transported.

[0077] In another possible implementation, Figure 1 and Figure 4 As shown, the picking end of the picking member 22 includes a suction cup 221. When the plurality of picking members 22 are at the picking position, the adsorption surfaces of the plurality of suction cups 221 are located on the picking curved surface.

[0078] Thus, the pick-up curved surface of the workpiece 01 to be transported can be sucked and picked up by multiple suction cups 221, which can effectively reduce the probability of the pick-up piece 22 scratching the workpiece 01 to be transported, and improve the picking effect of the pick-up device 10 on the workpiece 01 to be transported. In addition, multiple suction cups 221 pick up the pick-up curved surface of the workpiece 01 to be transported, so that multiple suction cups 221 can pick up thinner workpieces 01 to be transported, such as workpieces 01 to be transported with a thickness less than or equal to 20 mm, which effectively improves the practicality of the pick-up device 10.

[0079] Among them, the suction cup 221 can be connected to a vacuum device, so that when multiple picking pieces 22 are needed to pick up the object to be transported 01, the vacuum equipment can vacuum the suction cup 221. When the object to be transported 01 needs to be put down, the vacuum equipment can release the vacuum on the suction cup 221, so that the suction cup 221 releases the adsorption of the picking surface, and the operation is convenient and quick.

[0080] In addition, a fixing plate may be provided at the telescopic end of the pickup driving member 21, and a plurality of suction cups 221 may be arranged at intervals on the fixing plate, so that the suction of the plurality of suction cups 221 to the transported object 01 can be more stable.

[0081] In some embodiments, there are multiple groups of pickup components 2 , and the multiple groups of pickup components 2 are arranged on the bracket 1 at intervals along the length direction of the bracket 1 .

[0082] Thus, the workpiece 01 to be transported can be picked up and transported through multiple groups of picking components 2, so that the picking device 10 can pick up and fix the workpiece 01 to be transported more firmly, effectively reducing the probability of the picking device 10 falling during the process of transporting the workpiece 01 to be transported. At the same time, the picking device 10 can also pick up and transport the workpiece 01 in a wider range of sizes, effectively improving the practicality of the picking device 10.

[0083] It should be explained that the length direction of the above-mentioned bracket 1 refers to Figure 4 The bending direction of the support surface 11 of the middle bracket 1.

[0084] The number of the picking components 2 can be two, three or more groups, which is not limited here.

[0085] In other embodiments, the present application also discloses a transport device, such as Figure 5-Figure 7 As shown, the handling device 100 has a loading station 110 and a unloading station 120, and the handling device 100 includes a base 20, a picking device 10 in each of the above embodiments, and a handling drive assembly 30. Among them, any of the picking devices 10 in the above embodiments can be movably arranged on the base 20; and the handling drive assembly 30 is connected to the picking device 10, and is used to drive the picking device 10 to move between the loading station 110 and the unloading station 120.

[0086] Therefore, after the picking device 10 picks up the workpiece 01 to be transported at the loading station 110, the transport drive component 30 can drive the picking device 10 to move, so as to drive the workpiece 01 to be transported to move from the loading station 110 to the unloading station 120, and after the workpiece 01 to be transported is placed on the unloading station 120, the transport drive component can also drive the picking device 10 to move from the unloading station 120 to the loading station 110, so as to continue to pick up and transport the next workpiece 01 to be transported, thereby effectively improving the loading efficiency of the workpiece 01 to be transported.

[0087] Moreover, the picking device 10 in the transporting equipment 100 is the picking device 10 in the above-mentioned embodiments. Therefore, the picking device 10 in the transporting equipment 100 has substantially the same technical effect as the picking device 10 in the above-mentioned embodiments. Since the above-mentioned embodiments have described the picking device 10 in relatively detail, they will not be repeated here.

[0088] Alternatively, if Figure 6 As shown, the loading station 110 and the unloading station 120 are arranged along a first horizontal direction (eg Figure 6 The transport drive assembly 30 is relatively arranged in the direction shown by x2, and includes a first transport drive member 301, which is connected to the picking device 10 and is used to drive the picking device 10 to move between the loading station 110 and the unloading station 120 along the first horizontal direction.

[0089] Thus, the first transport driving member 301 can be used to drive the picking device 10 to move between the loading station 110 and the unloading station 120 along the first horizontal direction, so as to drive the workpiece 01 to be transported to move between the loading station 110 and the unloading station 120 along the first horizontal direction, so that the transport route of the workpiece 01 to be transported is relatively simple and easy to control.

[0090] The first transport driving member 301 may be any one of a pneumatic cylinder, an electric cylinder, a combination of a motor and a lead screw nut, etc., which is not limited here.

[0091] In addition, the first transport driving member 301 can be disposed on the base 20, and the driving end of the first transport driving member 301 is connected to the picking device 10, and is used to drive the picking device 10 to move between the loading station 110 and the unloading station 120. Of course, the first transport driving member 301 can also be disposed at other positions, which is not limited here.

[0092] Alternatively, if Figure 5-Figure 7As shown, the transport drive assembly 30 further includes a second transport drive member 302, the second transport drive member 302 is connected to the driving end of the first transport drive member 301, the first transport drive member 301 is used to drive the second transport drive member 302 to move between the loading station 110 and the unloading station 120 along the first horizontal direction, and the driving end of the second transport drive member 302 is connected to the picking device 10, and is used to drive the picking device 10 to move along the vertical direction (such as Figure 5 The direction indicated by y2 in the figure moves closer to or away from the object to be transported 01.

[0093] Thus, the second transport driving member 302 can be used to drive the picking device 10 to move closer to or away from the workpiece 01 to be transported in the vertical direction, so that the workpiece 01 to be transported can be picked up at the loading station 110, and the workpiece 01 to be transported can be put down at the unloading station 120, so that the height of the picking device 10 when moving along the first horizontal direction is not affected by the height of the loading station 110 and the unloading station 120, which facilitates the arrangement of the loading station 110 and the unloading station 120. At the same time, the picking device 10 can rise to a higher height for movement when driving the workpiece 01 to be transported to move along the first horizontal direction, avoiding interference with other components in the transport equipment 100.

[0094] The structure of the second transport driving member 302 may be substantially the same as that of the first transport driving member 301 , and details may be referred to above, which will not be described again.

[0095] Alternatively, if Figure 5-Figure 7 As shown, the transport drive assembly 30 also includes a third transport drive member 303, the third transport drive member 303 is connected to the driving end of the first transport drive member 301, and the driving end of the third transport drive member 303 is connected to the second transport drive member 302. The first transport drive member 301 is used to drive the third transport drive member 303 to move between the loading station 110 and the unloading station 120 along the first horizontal direction, and the third transport drive member 303 is used to drive the second transport drive member 302 to move along the second horizontal direction (such as Figure 5 The second horizontal direction, the first horizontal direction and the vertical direction are perpendicular to each other.

[0096] Thus, the first transport driving member 301 can drive the picking device 10 to move in the first horizontal direction, the second transport driving member 302 can drive the picking device 10 to move in the vertical direction close to or away from the object to be transported 01, and the third transport driving member 303 can drive the picking device 10 to move in the second horizontal direction, so that the positions of the loading station 110 and the unloading station 120 can be set as needed, which facilitates the arrangement of the loading station 110 and the unloading station 120, and also greatly facilitates the picking and transport of the object to be transported 01.

[0097] The structure of the third transport driving member 303 may be substantially the same as that of the first transport driving member 301 , and details may be referred to above, which will not be described again.

[0098] In addition, the third transport driving member 303 and the base 20 can be slidably connected along the first horizontal direction, that is, a guide rail 40 extending along the first horizontal direction can be provided on the base 20, and a slider 50 can be provided on the third transport driving member 303, and the slider 50 is slidably connected to the guide rail 40, so that when the first transport driving member 301 drives the third transport driving member 303 to move along the first horizontal direction, it can be smoother.

[0099] like Figure 5-Figure 7 As shown, the base 20 may include a gantry frame. Thus, a loading station 110 and a unloading station 120 may be arranged below the gantry frame, and the transport drive assembly 30 may be arranged on the gantry frame, so that the transport device 100 can effectively utilize the space at the height.

[0100] 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 for picking up a workpiece to be transported (01) having a picking curved surface, characterized in that: The picking device (10) comprises: A support (1); and A picking assembly (2) comprises a picking drive member (21) and a plurality of picking members (22), wherein the plurality of picking members (22) are movably arranged on the bracket (1), and the picking drive member (21) is respectively connected to the plurality of picking members (22) for driving the plurality of picking members (22) to move between a picking position and a retracted position along the normal direction of the picking curved surface, and when the plurality of picking members (22) are in the picking position, the picking ends of the plurality of picking members (22) are all located on the picking curved surface.

2. The pickup device according to claim 1, characterized in that: When the plurality of picking members (22) are in the retracted position, the picking ends of the plurality of picking members (22) are all located on the retracted curved surface, and the retracted curved surface is parallel to the picking curved surface.

3. The pickup device according to claim 1, characterized in that: The support (1) has a support surface (11), the support surface (11) is a curved surface, and the radius of curvature of the support surface (11) is the same as the radius of curvature of the picking curved surface, and the support surface (11) is used to fit the picking curved surface when the plurality of picking members (22) are in the retracted position.

4. The pickup device according to claim 1, characterized in that: The support (1) has a support surface (11), the support surface (11) is a curved surface, the shape of the support surface (11) is matched to the shape of the picking curved surface, the size of the support surface (11) is matched to the size of the picking curved surface, and the support surface (11) is used to fit the picking curved surface when the plurality of picking members (22) are in the retracted position.

5. The pickup device according to claim 1, characterized in that: The picking drive member (21) is fixedly connected to the bracket (1); a fixing member (23) is provided at the telescopic end of the picking drive member (21); a plurality of picking members (22) are provided on the fixing member (23); when the telescopic end of the picking drive member (21) is extended to a point where the plurality of picking members (22) are in the picking position, the picking ends of the plurality of picking members (22) are all located on the picking curved surface.

6. The pickup device according to claim 1, characterized in that: The picking end of the picking member (22) comprises a suction cup (221), and when a plurality of the picking members (22) are in the picking position, the adsorption surfaces of the plurality of suction cups (221) are located on the picking curved surface.

7. The pickup device according to any one of claims 1 to 6, characterized in that: The pickup components (2) are multiple groups, and the multiple groups of pickup components (2) are arranged on the bracket (1) at intervals along the length direction of the bracket (1).

8. A handling device, characterized in that: The handling device (100) has a loading station (110) and an unloading station (120), and the handling device (100) comprises: Base (20); The pickup device (10) according to any one of claims 1 to 7, wherein the pickup device (10) is movably arranged on the base (20); and A transport drive assembly (30), the transport drive assembly (30) is connected to the picking device (10) and is used to drive the picking device (10) to move between the loading station (110) and the unloading station (120).

9. The handling equipment according to claim 8, characterized in that: The loading station (110) and the unloading station (120) are arranged relative to each other along a first horizontal direction, and the transport drive assembly (30) includes a first transport drive member (301), and the first transport drive member (301) is connected to the picking device (10) and is used to drive the picking device (10) to move between the loading station (110) and the unloading station (120) along the first horizontal direction.

10. The handling equipment according to claim 9, characterized in that: The transport drive assembly (30) also includes a second transport drive member (302), which is connected to the driving end of the first transport drive member (301), and the first transport drive member (301) is used to drive the second transport drive member (302) to move between the loading station (110) and the unloading station (120) along the first horizontal direction, and the driving end of the second transport drive member (302) is connected to the picking device (10) to drive the picking device (10) to move toward or away from the object to be transported (01) along the vertical direction.

11. The handling equipment according to claim 10, characterized in that: The transport drive assembly (30) further comprises a third transport drive member (303), wherein the third transport drive member (303) is connected to a drive end of the first transport drive member (301), and a drive end of the third transport drive member (303) is connected to the second transport drive member (302), wherein the first transport drive member (301) is used to drive the third transport drive member (303) to move between the loading station (110) and the unloading station (120) along the first horizontal direction, and the third transport drive member (303) is used to drive the second transport drive member (302) to move along the second horizontal direction, wherein the second horizontal direction, the first horizontal direction and the vertical direction are perpendicular to each other.

12. The handling equipment according to any one of claims 8 to 11, characterized in that: The base (20) comprises a gantry frame.

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