Ball Pick-up and Placement Device

Abstract

The present application discloses a ball picking and placing device, which includes: a feeding mechanism; a picking and placing mechanism, which can extract and release the ball; a pressure mechanism, which is connected to the picking and placing mechanism and can apply pressure to the ball to press it into a specified position; a walking mechanism, which is connected to the picking and placing mechanism and drives the picking and placing mechanism to move along a preset path. The present application discloses a ball picking and placing device to solve the problem of unsatisfactory efficiency of existing ball picking and placing.

Description

Technical Field

[0001] The present application relates to the technical field of equipment assembly, and more specifically, to a ball picking and placing device. Background Art

[0002] To supplement the ball holes on the bottom block, it is necessary to extract the steel balls and release them into the ball holes, and then press the steel balls into the ball holes. The existing operation is to manually pick up the steel balls with tweezers and place them on the ball holes, and then manually use the pressing fixture to press the steel balls into place. Since the steel balls are smooth on the surface and small in size, such as 1.2mm in diameter, the difficulty of extraction and movement is increased, and the operators need to concentrate for a long time to ensure that the steel balls can be successfully picked up, transferred and installed every time. As the operation time increases, after repeated operations many times, the fatigue intensity of the operators is too high, resulting in reduced work efficiency.

[0003] Therefore, a ball picking and placing device is needed to solve the above problems. Utility Model Content

[0004] In view of this, the purpose of the present application is to provide a ball picking and placing device to solve the problem of unsatisfactory efficiency of existing ball picking and placing.

[0005] Based on the above purpose, the present application provides a ball picking and placing device, comprising:

[0006] Feeding mechanism;

[0007] a pick-and-place mechanism capable of extracting and releasing the ball;

[0008] A pressure-applying mechanism, the pressure-applying mechanism is connected to the pick-and-place mechanism, and the pressure-applying mechanism can apply pressure to the ball to press it into a designated position;

[0009] A walking mechanism, wherein the pick-and-place mechanism is connected to the walking mechanism, and the walking mechanism drives the pick-and-place mechanism to move along a preset path.

[0010] Optionally, the ball picking and placing device further includes: a flipping mechanism, wherein the flipping mechanism is connected to the picking and placing mechanism, and the flipping mechanism is used to rotate the picking and placing mechanism.

[0011] Optionally, the ball picking and placing device further comprises: a turntable mechanism, on which at least one limiting unit is arranged, and the turntable mechanism can rotate back and forth.

[0012] Optionally, the ball picking and placing device further comprises: a locking mechanism, which can be connected to the turntable mechanism, and is used to lock or unlock the turntable mechanism.

[0013] Optionally, the feeding mechanism comprises: a feeding unit and a vibration unit, the feeding unit is used to provide balls to the vibration unit, and a plurality of the balls are evenly distributed on the vibration unit.

[0014] Optionally, the feeding mechanism also includes: a monitoring unit, a control unit, a rejection unit and a recycling unit, the monitoring unit is used to monitor and send data of the ball in the feeding unit or the vibration unit, the control unit receives the data and compares it with preset data to obtain a comparison result, and controls the rejection unit whether to reject the ball to the recycling unit according to the comparison result.

[0015] Optionally, the feeding mechanism further includes: a demagnetization unit, and the demagnetization unit is disposed in the silo.

[0016] Optionally, the picking and placing mechanism includes: a picking and placing unit and a vacuum generating unit connected to the picking and placing unit, wherein the vacuum generating unit can form a pressure difference between the inside and the outside of the picking and placing unit so that the picking and placing unit extracts or releases the ball.

[0017] Optionally, the pressure mechanism includes: an execution unit, a pressure unit and a reset unit; the pressure unit can drive the execution unit to move, the reset unit can drive the execution unit to reset, and the execution unit is connected to the pick-and-place unit and can contact the ball.

[0018] In addition, optionally, the walking mechanism includes a moving unit and a lifting unit connected to the moving unit, and the picking and placing mechanism is connected to the lifting unit.

[0019] From the above description, it can be seen that the ball picking and placing device provided by the present application has the following advantages compared with the prior art: by adopting the above-mentioned ball picking and placing device, the feeding mechanism can realize the automatic feeding of the ball, the picking and placing mechanism can realize the automatic extraction and release of the ball, the walking mechanism can realize the transfer of the ball, and the pressure mechanism can realize the automatic assembly of the ball and the base block. After mutual cooperation, the automatic installation of the ball can be realized efficiently and accurately to replace manual work, improve production efficiency and save manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above-mentioned features and technical advantages of the present application will become clearer and easier to understand through the following description of its embodiments in conjunction with the accompanying drawings.

[0021] Figure 1 It is a partial schematic diagram of the ball picking and placing device used in the specific embodiment of the present application.

[0022] Figure 2 for Figure 1 Schematic diagram of the pick-and-place mechanism shown.

[0023] Figure 3 It is a partial schematic diagram of a ball picking and placing device with a flipping mechanism used in another embodiment of the present application.

[0024] The reference numerals are:

[0025] 10. Ball picking and placing device; 1. Picking and placing unit; 2. Vacuum generating unit; 3. Execution unit;

[0026] 4. Pressure unit; 5. Reset unit; 6. Moving unit; 7. Lifting unit; 8. Flipping mechanism. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. The same parts are represented by the same figure numerals. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the accompanying drawings. The words "inside" and "outside" used refer to the direction toward or away from the geometric center of a specific component, respectively.

[0028] Figure 1 It is a partial schematic diagram of the ball picking and placing device used in the specific embodiment of the present application. Figure 2 for Figure 1 The schematic diagram of the pick-and-place mechanism is shown in FIG. Figure 1 to Figure 2 As shown, the ball picking and placing device 10 includes a feeding mechanism, a picking and placing mechanism, a pressure-applying mechanism and a walking mechanism.

[0029] The ball picking and placing device 10 includes a feeding mechanism, which can extract and release the ball; a pressure mechanism is connected to the picking and placing mechanism, which can apply pressure to the ball to press it into a specified position; the picking and placing mechanism is connected to the walking mechanism, which drives the picking and placing mechanism to move along a preset path.

[0030] The base block is fixed in a preset position. When the base block is being assembled, it is in a relatively fixed state. After assembly, it can be moved to other positions. The feeding mechanism provides the spheres. The feeding mechanism can provide the spheres one by one, or provide multiple spheres at the same time. Usually, the base block and the spheres are located on opposite sides of the pick-and-place mechanism. The pick-and-place mechanism extracts the spheres. The walking mechanism carries the pick-and-place mechanism from the feeding mechanism to the base block. The spheres are aligned with the ball holes. The pick-and-place mechanism releases the spheres. The pressure mechanism applies pressure to the spheres to push the spheres into the ball holes. The walking mechanism carries the pick-and-place mechanism from the base block to the position where the feeding mechanism moves, in preparation for re-extraction.

[0031] By adopting the above-mentioned ball picking and placing device 10, the feeding mechanism can realize automatic feeding of the ball, the picking and placing mechanism can realize automatic extraction and release of the ball, the walking mechanism can realize the transfer of the ball, and the pressure mechanism can realize automatic assembly of the ball and the base block. After mutual cooperation, the automatic installation of the ball can be realized efficiently and accurately to replace manual work, improve production efficiency and save manpower.

[0032] Figure 3 FIG. 1 is a partial schematic diagram of a ball picking and placing device 10 with a flipping mechanism 8 used in another embodiment of the present application. Figure 3 As shown, the ball picking and placing device 10 also includes: a flip mechanism 8. There are multiple ball holes on the base block, some of which are set on the end face of the base block, and some of which are set on the side of the base block. Optionally, the ball picking and placing device 10 also includes: a flip mechanism 8, which is connected to the picking and placing mechanism, and the flip mechanism 8 is used to rotate the picking and placing mechanism. Usually, a ball hole extending in the vertical direction is set on the end face of the base block, and a ball hole extending in the horizontal direction is set on the side of the base block. For the ball hole on the end face, when extracting the ball, the picking and placing mechanism is in the vertical direction. After extraction, when it moves to the base block, the picking and placing mechanism moves in the vertical direction, and the ball is installed in the ball hole extending in the vertical direction of the base block. For the ball hole on the side, when extracting the ball, the picking and placing mechanism is in the vertical direction. After extraction, when it moves to the base block, the flip mechanism 8 rotates the picking and placing mechanism to the horizontal direction, and the picking and placing mechanism moves in the horizontal direction, and the ball is installed in the ball hole extending in the horizontal direction of the base block. With the above structure, the flip mechanism 8 can drive the pick-and-place mechanism to rotate and install balls in the ball holes at different positions of the base block, thereby improving the flexibility of the ball pick-and-place device 10 and expanding its application range.

[0033] In one embodiment of the present application, it can be divided into two groups according to whether the flip mechanism 8 is included, one of which includes a pick-up and placement mechanism, a pressure mechanism and a walking mechanism, forming an end surface installation group, and installing a ball in the ball hole on the end surface of the base block; the other group includes a pick-up and placement mechanism, a pressure mechanism, a walking mechanism and a flip mechanism 8, forming a side surface installation group, and the flip mechanism 8 drives the pick-up and placement mechanism to rotate 90 degrees to install a ball in the ball hole on the side surface of the base block. Both end surface ball hole installation and side surface ball hole installation can be achieved.

[0034] In order to improve the assembly efficiency and realize the simultaneous assembly of spheres on multiple base blocks, the sphere picking and placing device 10 may optionally further include: a turntable mechanism (not shown), on which at least one limiting unit is arranged, and the turntable mechanism can rotate back and forth. The turntable mechanism is arranged relatively below the picking and placing mechanism, and multiple picking and placing mechanisms, such as four, can be arranged on the periphery of the turntable mechanism; each limiting unit corresponds to one or two picking and placing mechanisms to realize the assembly of spheres on the end face and / or side of the base block. A base block can be detachably mounted on each limiting unit. Usually, a plurality of limiting units are evenly distributed on the turntable mechanism along the circumferential direction, so that multiple base blocks can be installed on each turntable mechanism at the same time. The turntable mechanism can rotate back and forth, that is, when the ball hole of the base block is aligned with the moving path of the picking and placing mechanism, the turntable mechanism stops, and the sphere picking and placing device 10 completes the installation of the sphere on the base block on the limiting unit. After the installation is completed, the turntable mechanism rotates to deviate from the installation position, so as to facilitate the removal of the assembled base block and reinstall the base block to be assembled into the limiting unit.

[0035] In one embodiment of the present application, the turntable mechanism is provided with four limiting units, and a base block is installed on each limiting unit.

[0036] In order to prevent the turntable mechanism from rotating during the process of assembling the sphere onto the base block, thereby affecting the installation accuracy, the sphere picking and placing device 10 may optionally further include a locking mechanism (not shown), which can be connected to the turntable mechanism and is used to lock or unlock the turntable mechanism. When the turntable mechanism rotates to the assembly position, the locking mechanism locks the turntable mechanism, and the turntable mechanism cannot move. After the base block is assembled on the turntable mechanism, the locking mechanism unlocks the turntable mechanism, and the turntable mechanism can rotate.

[0037] In one embodiment of the present application, the locking mechanism includes a first locking portion and a second locking portion, wherein the first locking portion is disposed on a side of the turntable mechanism, and the second locking portion is detachably connected, and when the second locking portion is combined with the first locking portion, the position of the turntable mechanism can be locked. When the second locking portion is separated from the first locking portion, the position lock of the turntable mechanism can be released.

[0038] Optionally, the feeding mechanism includes: a feeding unit (not shown) and a vibration unit (not shown), the feeding unit is used to provide spheres to the vibration unit, and multiple spheres are evenly distributed on the vibration unit. The feeding unit contains a large number of spheres, and the feeding unit provides the spheres to the vibration unit, or the vibration unit provides vibration to the feeding unit, so that the pick-and-place mechanism can extract the spheres one by one from the feeding unit or the vibration unit. The above-mentioned feeding structure is relatively simple in structure and easy to control, and can effectively avoid the adhesion of spheres and reduce the difficulty of extraction.

[0039] If the feeding unit provides the sphere to the vibration unit, the vibration unit can adopt intermittent vibration. When receiving the sphere provided by the feeding unit, the vibration unit keeps vibrating to disperse the sphere in the vibration unit, and then the vibration unit enters a relatively static state to facilitate the pick-and-place mechanism to extract the sphere.

[0040] The vibration unit can also use continuous vibration, and the feeding mechanism can also be equipped with a containing box. The feeding unit, the vibration unit and the containing box are connected in sequence, that is, the feeding unit feeds the vibration unit, and the vibration unit feeds the containing box. The vibration unit continuously provides vibration to keep the balls passing through the vibration unit dispersed, and then enter the containing box and are distributed one by one to facilitate the picking and placing mechanism to extract the balls.

[0041] For example, the vibration unit provides vibration for the feeding unit, and before the feeding unit discharges the material, the vibration unit provides vibration to the feeding unit to prevent the balls from sticking; when the feeding unit starts feeding, the vibration unit stops vibrating, and the pick-and-place mechanism extracts the balls from the feeding unit.

[0042] In addition, the feeding mechanism can also be equipped with a containing box, which is arranged opposite to the feeding unit. That is, when the feeding unit is discharging materials, the vibration unit provides vibration to the feeding unit to avoid the balls from sticking together, so that the balls can enter the containing box one by one.

[0043] In one embodiment of the present application, the feeding unit includes but is not limited to a silo, and the vibration unit includes but is not limited to a pneumatic vibrator.

[0044] Optionally, the feeding mechanism further includes: a monitoring unit (not shown), a control unit (not shown), a rejection unit (not shown) and a recovery unit (not shown), the monitoring unit is used to monitor and send data of the spheres in the feeding unit or the vibration unit, the control unit receives the data, and obtains a comparison result after comparing it with the preset data, and controls whether the rejection unit rejects the spheres to the recovery unit according to the comparison result. The monitoring unit needs to monitor whether adhesion occurs between the spheres. If adhesion occurs, the force between the spheres will increase the extraction difficulty of the pick-and-place mechanism, which is not conducive to extraction, so the data of the spheres in the feeding unit or the vibration unit are monitored in real time, the control unit receives the data provided by the monitoring unit, and compares it with its own preset data (such as whether the sphere is a single sphere). If it is a single sphere, it is a normal sphere, and the rejection unit does not do any processing. If it is not a single sphere, it is an abnormal sphere. The control unit controls the rejection unit to reject the abnormal sphere from the feeding unit or the vibration unit to the recovery unit. The abnormal sphere entering the recovery unit is restored to a normal sphere after processing, and can enter the feeding unit again and continue to be used. With the above structure, when the ball is abnormal, it can be removed to the recovery unit in time, which can avoid affecting the normal extraction of the pick-and-place mechanism and also avoid the waste of the ball.

[0045] In one embodiment of the present application, the monitoring unit includes but is not limited to camera inspection, the rejection unit includes but is not limited to mobile grippers or manual rejection, and the recycling unit includes but is not limited to a containing box.

[0046] When the sphere is a metal sphere, when the vibration unit provides vibration to the feeding unit, magnetism may be generated between the spheres, increasing the adhesion between the spheres. In order to avoid affecting the extraction of the spheres, the feeding mechanism may further include: a demagnetization unit (not shown), which is arranged in the silo. After the spheres are magnetized, they can be demagnetized by the demagnetization unit before being provided to the pick-and-place mechanism to avoid multiple spheres from gathering together and affecting the extraction of the spheres by the pick-and-place mechanism.

[0047] Optionally, the pick-and-place mechanism includes: a pick-and-place unit 1 and a vacuum generating unit 2 connected to the pick-and-place unit 1, the vacuum generating unit 2 being able to form a pressure difference inside and outside the pick-and-place unit 1 so that the pick-and-place unit 1 can extract or release the sphere. A vacuum pipeline is installed in the pick-and-place unit 1, and the vacuum generating unit 2 forms a certain vacuum environment in the pick-and-place unit 1, so that the internal pressure of the pick-and-place unit 1 is less than the ambient pressure, so that the pick-and-place unit 1 can adsorb the sphere to extract the sphere. When the vacuum generating unit 2 is closed, the vacuum condition in the pick-and-place unit 1 disappears, the internal pressure of the pick-and-place unit 1 is the same as the ambient pressure, and the sphere is separated from the adsorption of the pick-and-place unit 1 to release the sphere. With the above structure, the vacuum generating unit 2 is repeatedly opened and closed, enabling the pick-and-place unit 1 to extract or release the sphere.

[0048] In one embodiment of the present application, the pick-and-place unit 1 includes but is not limited to a vacuum nozzle, and the vacuum generating unit 2 includes but is not limited to a vacuum generator.

[0049] Optionally, the pressure mechanism includes: an execution unit 3, a pressure unit 4 and a reset unit 5; the pressure unit 4 can drive the execution unit 3 to move, the reset unit 5 can drive the execution unit 3 to reset, and the execution unit 3 is connected to the pick-and-place unit 1 and can contact the ball. When the pick-and-place mechanism extracts or releases the ball, the execution unit 3 is in the initial position. When the ball is released to the ball hole, after the pressure unit 4 applies pressure to the execution unit 3, the execution unit 3 moves downward, acts on the ball, and pushes the ball into the ball hole. After the assembly is completed, the pressure unit 4 withdraws, and the reset unit 5 carries the execution unit 3 to reset to the initial position. The pressing action can be completed once or multiple times. For example, the pressure unit 4 can apply pressure to the execution unit 3 once, and the execution unit 3 pre-presses the ball into the ball hole. The pressure unit 4 can apply pressure to the execution unit 3 again, and the execution unit 3 is completely pressed into the ball hole.

[0050] In one embodiment of the present application, the reset unit 5 includes but is not limited to a spring, and the execution unit 3 includes but is not limited to structures such as a steel needle and a steel rod. The execution unit 3 can penetrate the vacuum pipeline and contact the ball at the vacuum nozzle, and the pressure unit 4 includes but is not limited to a telescopic cylinder. The extraction mechanism includes a vacuum nozzle and a sealing cylinder. The vacuum nozzle is connected to the relatively lower part of the sealing cylinder, and the vacuum generator is connected to the side of the sealing cylinder. A vacuum pipeline is arranged in the sealing cylinder to control the pressure at the vacuum nozzle. The spring is arranged in the sealing cylinder, and the steel needle is inserted into the sealing cylinder. The telescopic cylinder is located relatively above the sealing cylinder. The telescopic cylinder acts on the steel needle, and the spring is deformed during the downward movement of the steel needle. After the telescopic cylinder is reset, the spring restores the deformation and drives the steel needle to reset.

[0051] The walking mechanism needs to complete the reciprocating movement of the pick-and-place mechanism between the feeding mechanism and the turntable mechanism, as well as the reciprocating movement when extracting and releasing the ball. In order to reduce the control difficulty, in addition, optionally, the walking mechanism includes a moving unit 6 and a lifting unit 7 connected to the moving unit 6, and the pick-and-place mechanism is connected to the lifting unit 7. The lifting unit 7 can drive the pick-and-place mechanism to lift and lower to achieve the descent to extract or release the ball, and to achieve the rise after extraction or release; the moving unit 6 can simultaneously drive the lifting unit 7 and the pick-and-place mechanism to move back and forth to achieve the movement between the feeding mechanism and the turntable mechanism. In order to achieve the extraction, transfer and release of the ball, it usually includes: the moving unit 6 drives the lifting unit 7 and the pick-and-place mechanism to move to the feeding mechanism, the lifting unit 7 drives the pick-and-place mechanism to descend to the feeding mechanism to extract the ball, after extraction, the lifting unit 7 drives the pick-and-place mechanism to rise, the moving unit 6 drives the lifting unit 7 and the pick-and-place mechanism to move to the turntable mechanism, the lifting unit 7 drives the pick-and-place mechanism to descend to the turntable mechanism to release and assemble the ball, and after assembly, the lifting unit 7 drives the pick-and-place mechanism to rise. At this point, the assembly of the sphere and the base block is completed. The use of the above-mentioned walking mechanism can simplify the moving path and reduce the driving difficulty.

[0052] In one embodiment of the present application, the moving unit 6 includes a slide rail and a slider, and the lifting unit 7 is a telescopic rod. The slider is connected to the telescopic rod, and the slider reciprocates along the slide rail to achieve translation of the telescopic rod. The telescopic rod is connected to the pick-and-place mechanism, and the telescopic rod is extended to achieve lifting of the pick-and-place mechanism.

[0053] The following further describes the use of the ball picking and placing device 10.

[0054] Each base block is provided with two ball holes, one ball hole is located on the end surface of the base block, and the other ball hole is located on the side surface of the base block.

[0055] There are four installation groups, two end surface installation groups and two side surface installation groups. The end surface installation groups are equipped with a feeding mechanism, a picking and placing mechanism, a pressure mechanism and a walking mechanism. The side surface installation groups are equipped with a feeding mechanism, a picking and placing mechanism, a flipping mechanism 8, a pressure mechanism and a walking mechanism.

[0056] The turntable mechanism is provided with four limit units evenly distributed along the circumferential direction, and a base block is provided in each limit unit. The turntable mechanism can intermittently reciprocate. When the turntable mechanism rotates to the assembly position, the locking mechanism locks the turntable mechanism, and the turntable mechanism cannot move. After the base blocks on the turntable mechanism are assembled, the locking mechanism unlocks the turntable mechanism, and the turntable mechanism can rotate.

[0057] The four mounting components are evenly distributed along the periphery of the turntable mechanism, and the end mounting groups and the side mounting groups are spaced apart in pairs, so that each base block can be equipped with an end mounting group and a side mounting group at the same time, and each base block can realize end and side assembly at the same time.

[0058] The feeding mechanism provides balls, and the vibration unit provides vibration for the feeding unit, so that the balls are dispersed. Under the real-time monitoring of the monitoring unit, the control unit can timely control the rejection unit to reject abnormal balls to the recovery unit.

[0059] The moving unit 6 drives the lifting unit 7 and the pick-and-place mechanism to move to the feeding mechanism, and the lifting unit 7 drives the pick-and-place mechanism to descend to the feeding mechanism to extract the sphere. The vacuum generating unit 2 forms a certain vacuum environment in the pick-and-place unit 1, so that the internal pressure of the pick-and-place unit 1 is less than the ambient pressure, so that the pick-and-place unit 1 can adsorb the sphere to extract the sphere. After extraction, the lifting unit 7 drives the pick-and-place mechanism to rise, and the moving unit 6 drives the lifting unit 7 and the pick-and-place mechanism to move to the turntable mechanism. The lifting unit 7 drives the pick-and-place mechanism to descend to the turntable mechanism for release. The vacuum generating unit 2 is closed, the vacuum condition in the pick-and-place unit 1 disappears, and the internal pressure of the pick-and-place unit 1 is the same as the ambient pressure. The sphere is separated from the adsorption of the pick-and-place unit 1 to release the sphere. After the pressure unit 4 applies pressure to the execution unit 3, the execution unit 3 moves downward, acts on the sphere, and pushes the sphere into the ball hole.

[0060] From the above description and practice, it can be seen that the sphere picking and placing device provided by the present application has the following advantages compared with the prior art: by adopting the above-mentioned sphere picking and placing device, the feeding mechanism can realize the automatic feeding of the sphere, the picking and placing mechanism can realize the automatic extraction and release of the sphere, the walking mechanism can realize the transfer of the sphere, and the pressure mechanism can realize the automatic assembly of the sphere and the base block. After mutual cooperation, the automatic installation of the sphere can be realized efficiently and accurately to replace manual work, improve production efficiency and save manpower.

[0061] A person skilled in the art should understand that the above description is only a specific embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the scope of the present application should be included in the protection scope of the present application.

Claims

1. A ball picking and placing device, characterized in that: include: Feeding mechanism; a pick-and-place mechanism capable of extracting and releasing the ball; A pressure-applying mechanism, the pressure-applying mechanism is connected to the pick-and-place mechanism, and the pressure-applying mechanism can apply pressure to the ball to press it into a designated position; A walking mechanism, wherein the pick-and-place mechanism is connected to the walking mechanism, and the walking mechanism drives the pick-and-place mechanism to move along a preset path.

2. The ball picking and placing device according to claim 1, characterized in that: It also includes: a flip mechanism, which is connected to the pick-and-place mechanism and is used to rotate the pick-and-place mechanism.

3. The ball picking and placing device according to claim 1 or 2, characterized in that: Also includes: A turntable mechanism is provided with at least one limiting unit, and the turntable mechanism can reciprocate.

4. The ball picking and placing device according to claim 3, characterized in that: It also includes a locking mechanism, which can be connected to the turntable mechanism and is used to lock or unlock the turntable mechanism.

5. The ball picking and placing device according to claim 1 or 2, characterized in that: The feeding mechanism comprises: a feeding unit and a vibration unit, wherein the feeding unit is used to provide balls to the vibration unit, and a plurality of the balls are evenly distributed on the vibration unit.

6. The ball picking and placing device according to claim 5, characterized in that: The feeding mechanism also includes: a monitoring unit, a control unit, a rejection unit and a recycling unit. The monitoring unit is used to monitor and send data of the ball in the feeding unit or the vibration unit. The control unit receives the data and compares it with preset data to obtain a comparison result, and controls the rejection unit whether to reject the ball to the recycling unit according to the comparison result.

7. The ball picking and placing device according to claim 5, characterized in that: The feeding mechanism further comprises: a demagnetization unit, and the demagnetization unit is arranged in the silo.

8. The ball picking and placing device according to claim 1 or 2, characterized in that: The pick-and-place mechanism comprises: a pick-and-place unit and a vacuum generating unit connected to the pick-and-place unit, wherein the vacuum generating unit can form a pressure difference inside and outside the pick-and-place unit so that the pick-and-place unit can extract or release the ball.

9. The ball picking and placing device according to claim 8, characterized in that: The pressure mechanism includes: an execution unit, a pressure unit and a reset unit; the pressure unit can drive the execution unit to move, the reset unit can drive the execution unit to reset, the execution unit is connected to the placement unit, and can contact the ball.

10. The ball picking and placing device according to claim 1 or 2, characterized in that: The walking mechanism comprises a moving unit and a lifting unit connected to the moving unit, and the picking and placing mechanism is connected to the lifting unit.

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