Pick-up assembly and robot

Abstract

The utility model provides a pickup assembly and a robot, and relates to the technical field of material processing. The pickup assembly comprises a mounting seat, a bevel adapter seat and a bevel buffer seat, and the mounting seat is fixedly provided with a telescopic driving part; the bevel adapter seat comprises a vertical adapter plate fixedly arranged on the telescopic driving part and a horizontal adapter plate which is bent at the top end of the vertical adapter plate and extends away from the telescopic driving part; the bevel buffer seat comprises a vertical buffer plate which is parallel to the vertical adapter plate and slidably connected to the vertical adapter plate in the vertical direction, and a horizontal buffer plate which is bent to the bottom end of the vertical buffer plate and extends towards the vertical adapter plate. A pickup buffer piece is connected between the vertical buffer plate and the horizontal adapter plate, and a vacuum suction head is fixedly arranged at the bottom of the horizontal buffer plate. The picking assembly is compact in structure, small in occupied space and low in requirement for operation space, meanwhile, pressure on materials can be buffered when the materials are picked and placed, and the materials are not prone to being crushed.

Description

Technical Field

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

[0002] 3C mobile phone products have been booming in recent years, and the requirements for assembly efficiency and assembly accuracy of each module have also increased accordingly. In the prior art, robots are generally used to pick up materials and assemble each module through the picking components at the end, so as to improve assembly efficiency and accuracy compared with manual assembly; however, when the existing robots pick up and assemble materials, they are affected by the accuracy of the robot's driving stroke and the position accuracy of the picking position and assembly position. During the process of picking and placing materials, it is easy for the pressure between the materials and the picking components to be too high, resulting in damage to the materials; at the same time, the picking components are large in size and occupy a large space, and require a high operating space. Utility Model Content

[0003] The utility model aims to provide a picking component and a robot to solve the technical problems that the picking component is bulky, occupies a large space, has high requirements for operating space, and is prone to high pressure when picking and placing materials, resulting in damage to the materials due to pressure.

[0004] In order to solve the above problems, the utility model provides a picking assembly, including a mounting seat, an angle adapter seat and an angle buffer seat, wherein the mounting seat is fixedly provided with a telescopic driving component; the angle adapter seat includes a vertical adapter plate fixedly provided on the telescopic driving component and a horizontal adapter plate bent at the top of the vertical adapter plate and extending away from the telescopic driving component; the angle buffer seat includes a vertical buffer plate parallel to and slidably connected to the vertical adapter plate along the vertical direction and a horizontal buffer plate bent at the bottom end of the vertical buffer plate and extending toward the vertical adapter plate; a picking buffer is connected between the vertical buffer plate and the horizontal adapter plate, and a vacuum suction head is fixedly provided at the bottom of the horizontal buffer plate.

[0005] Optionally, a limit platform and a guide rail extending in the vertical direction are fixedly provided on the side of the vertical adapter plate facing the vertical buffer plate, and the limit platform is located below the guide rail; a slider is fixedly provided on the side of the vertical buffer plate facing the vertical adapter plate, the slider is slidably engaged with the guide rail, and the slider abuts against the limit platform.

[0006] Optionally, the horizontal adapter plate is provided with a pressure sensor, and the top end of the vertical buffer plate is provided with a contact head, and the contact head corresponds to the pressure sensor up and down.

[0007] Optionally, the telescopic driving component is a pneumatic driving component, and the air circuit of the telescopic driving component is provided with a pressure regulating valve, and when the air pressure in the air circuit is greater than a preset air pressure threshold, the pressure regulating valve is adjusted to release air.

[0008] Optionally, the telescopic driving component includes an angled driving seat and a telescopic driving member fixed to the mounting seat, the angled driving seat includes a vertical driving plate and a horizontal driving plate bent at the bottom end of the vertical driving plate, the horizontal driving plate is fixed to the bottom driving end of the telescopic driving member; the vertical adapter plate is fixed in parallel to the side of the vertical driving plate facing away from the telescopic driving member.

[0009] Optionally, the mounting base includes a vertical mounting plate and a horizontal mounting plate bent at the top of the vertical mounting plate, the telescopic driving component is fixed to the first plate surface of the vertical mounting plate, a clamping component is fixed to one side of the vertical mounting plate relative to the first plate surface, and the vacuum suction head is located within the clamping range of the clamping component.

[0010] Optionally, both ends of the vertical mounting plate in the width direction are fixedly provided with connecting ears, and a limiting groove is provided on a side of the connecting ear away from the telescopic driving component;

[0011] The picking assembly also includes an angled connecting seat, which includes a vertical connecting plate and a connecting block bent at the top of the vertical connecting plate, the end of the connecting block facing away from the vertical connecting plate is plugged into the two limiting grooves, and the connecting block is detachably fixed to the connecting ear through a connecting piece; the shell portion of the clamping component is fixed to the side of the vertical connecting plate facing the vertical mounting plate.

[0012] Optionally, the clamping component includes a clamping drive member, two driving arms and two clamping arms, the two driving arms are arranged at the bottom driving end of the clamping drive member, the two clamping arms are located on the inner sides of the two driving arms in a one-to-one correspondence, the clamping arms are slidably connected to the corresponding driving arms along the clamping direction, and a clamping buffer member is connected between the clamping arms and the corresponding driving arms.

[0013] Optionally, the bottom ends of the two clamping arms on the opposite sides are both provided with receiving steps extending towards each other.

[0014] The utility model also provides a robot, comprising a mechanical arm and the above-mentioned picking component, wherein the top of the mounting seat of the picking component is fixedly connected to the end of the mechanical arm.

[0015] When the picking component provided by the present utility model is applied to a robot, on the one hand, a buffer mechanism composed of a corner adapter seat, a corner buffer seat, and a picking buffer member is connected between the vacuum suction head and the telescopic driving member. During the process of the picking component picking up materials and placing and assembling materials, the buffer mechanism can elastically buffer the pressure on the materials, thereby reducing the occurrence of damage to the materials caused by excessive pressure, correspondingly improving the picking and placing functionality of the picking component, and improving the yield of the materials. On the other hand, the vertical buffer plate and the vertical adapter plate are slidably connected in the vertical direction through a sliding connection structure. During the process of the vertical buffer plate sliding upward or downward relative to the vertical adapter plate and returning to its original position during the buffering process, the sliding connection structure between the two can play a guiding and limiting role in the vertical movement of the vertical buffer plate to ensure the relative position accuracy between the vacuum suction head and the materials during the buffering process, and ensure the picking position accuracy of the vacuum suction head for the materials.

[0016] On the other hand, both the corner adapter seat and the corner buffer seat are in a corner shape and approximately enclose a rectangular space. Among them, the vertical adapter plate and the vertical buffer plate are slidably connected in the vertical direction through a sliding connection structure, and the sliding connection structure is located within the rectangular space; a picking buffer member is connected between the horizontal adapter plate and the vertical buffer plate, and the picking buffer member is connected to a corner of the rectangular space; the bottom of the horizontal buffer plate is used to connect the vacuum suction head. The buffer mechanism composed of the corner adapter seat, the corner buffer seat, and the picking buffer member has a compact structure, a small volume, and strong functionality, so that on the basis of the buffering effect of the picking component when picking up and placing materials, it also has the characteristics of a compact structure and a small volume, and correspondingly has lower requirements for the operating space; in addition, the picking buffer member is externally connected between the horizontal adapter plate and the vertical buffer plate, and the installation convenience and subsequent maintenance convenience are higher, thereby improving the assembly convenience and subsequent maintenance convenience of the picking component. Description of the Drawings

[0017] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 Schematic diagram of the picking components provided by two embodiments of the present utility model installed on the carrier;

[0019] Figure 2 First perspective schematic diagram of the picking component provided by the embodiment of the present utility model;

[0020] Figure 3A schematic diagram of a pickup assembly provided by an embodiment of the utility model from a second viewing angle;

[0021] Figure 4 A third perspective schematic diagram of a pickup assembly provided by an embodiment of the utility model;

[0022] Figure 5 A schematic diagram of the connection between a clamping arm and a driving arm in a pickup assembly provided in an embodiment of the utility model.

[0023] Description of reference numerals:

[0024] 10-carrier; 100-mounting seat; 110-vertical mounting plate; 120-horizontal mounting plate; 130-connecting ear; 131-limiting groove; 140-angle connecting seat; 141-vertical connecting plate; 142-connecting block; 200-angle adapter seat; 210-vertical adapter plate; 211-limiting platform; 212-guide rail; 220-horizontal adapter plate; 300-angle buffer seat; 310-vertical buffer plate; 311-slider; 320-horizontal buffer plate; 330-pickup buffer Stamping; 400-telescopic driving component; 410-angle driving seat; 411-vertical driving plate; 412-horizontal driving plate; 420-telescopic driving component; 500-vacuum suction head; 510-buffer suction nozzle; 610-pressure sensor; 620-contact head; 700-clamping component; 710-clamping driving component; 720-driving arm; 721-plug hole; 730-clamping arm; 731-receiving step; 732-guide rod; 733-limiting head; 740-clamping buffer component. DETAILED DESCRIPTION

[0025] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0028] This embodiment provides a picking assembly, as Figure 2-4 shown, which includes a mounting base 100, a corner adapter 200, and a corner buffer 300. Among them, the mounting base 100 is fixedly provided with a telescopic driving component 400; the corner adapter 200 includes a vertical adapter plate 210 fixedly provided on the telescopic driving component 400 and a horizontal adapter plate 220 bent at the top of the vertical adapter plate 210 and extending away from the telescopic driving component 400; the corner buffer 300 includes a vertical buffer plate 310 slidably connected to the vertical adapter plate 210 in parallel and in the vertical direction and a horizontal buffer plate 320 bent at the bottom of the vertical buffer plate 310 and extending towards the vertical adapter plate 210; a picking buffer 330 is connected between the vertical buffer plate 310 and the horizontal adapter plate 220, and a vacuum suction head 500 is fixedly provided at the bottom of the horizontal buffer plate 320.

[0029] This embodiment also provides a robot, which includes a robotic arm and the above-mentioned picking assembly, and the top of the mounting base 100 of the picking assembly is fixedly connected to the end of the robotic arm.

[0030] The picking assembly provided in this embodiment is applied to a robot. When in use, the vacuum suction head 500 is connected to a suction assembly; when picking up materials, the robotic arm drives the entire picking assembly to move above the material taking position through the mounting base 100. At this time, the vacuum suction head 500 is directly above the material, and the telescopic driving component 400 drives the vacuum suction head 500 to descend until the bottom end of the vacuum suction head 500 abuts against the material. Among them, during the process that the bottom end of the vacuum suction head 500 abuts against the material, the material is subjected to the downward pressure of the vacuum suction head 500, and the vacuum suction head 500 correspondingly receives the upward acting force from the material. The vacuum suction head 500 transmits the upward acting force to the horizontal buffer plate 320 and the vertical buffer plate 310. When the acting force between the vacuum suction head 500 and the material is relatively large, the corner buffer 300 correspondingly compresses the picking buffer 330 upward and slides upward relative to the corner adapter 200, thereby reducing the downward pressing force of the vacuum suction head 500 on the material, playing a buffering role in the contact between the vacuum suction head 500 and the material, and reducing the occurrence of the situation that the vacuum suction head 500 presses and damages the material downward.

[0031] Subsequently, the suction assembly is activated, and the vacuum suction head 500 adsorbs and picks up the material upward. The telescopic drive component 400 drives the vacuum suction head 500 to rise a certain distance. Then, the robotic arm drives the picking assembly with the picked material to the discharging position or the assembling position. At this time, the material faces the discharging position or the assembling position. The telescopic drive component 400 drives the vacuum suction head 500 to carry the material and move it towards the discharging position or the assembling position until the material is placed at the discharging position or assembled at the assembling position. The suction assembly then stops, and the telescopic drive component 400 drives the vacuum suction head 500 to return to the initial position, completing the picking and placing of the material. During the process of placing or assembling the material, similar to the buffer principle introduced above, the picking buffer 330 can buffer the pressure when the vacuum suction head 500 places the material. Subsequently, the robotic arm drives the picking assembly to pick up and place and assemble the next material.

[0032] When the picking assembly provided in this embodiment is applied to a robot, on the one hand, a buffer mechanism composed of a folding angle adapter 200, a folding angle buffer seat 300, and a picking buffer 330 is connected between the vacuum suction head 500 and the telescopic drive component 400. During the process of the picking assembly picking up the material and placing and assembling the material, the buffer mechanism can elastically buffer the pressure on the material, thereby reducing the occurrence of the situation where the material is damaged due to excessive pressure, correspondingly improving the picking and placing functionality of the picking assembly, and improving the yield of the material. On the other hand, the vertical buffer plate 310 and the vertical adapter plate 210 are slidably connected in the vertical direction through a sliding connection structure. When the vertical buffer plate 310 slides upward relative to the vertical adapter plate 210 or slides downward relative to the vertical adapter plate 210 and returns to its original position during the buffering process, the sliding connection structure between the two can play a guiding and limiting role in the vertical movement of the vertical buffer plate 310 to ensure the relative position accuracy between the vacuum suction head 500 and the material during the buffering process, and ensure the picking position accuracy of the vacuum suction head 500 for the material.

[0033] On the other hand, both the angled adapter 200 and the angled buffer 300 are angled and approximately enclose a rectangular space. Among them, the vertical adapter plate 210 and the vertical buffer plate 310 are slidably connected in the vertical direction through a sliding connection structure, and the sliding connection structure is located within the rectangular space; a pick-up buffer 330 is connected between the horizontal adapter plate 220 and the vertical buffer plate 310, and the pick-up buffer 330 is connected to a corner of the rectangular space; the bottom of the horizontal buffer plate 320 is used to connect the vacuum suction head 500. The buffer mechanism composed of the angled adapter 200, the angled buffer 300, and the pick-up buffer 330 has a compact structure, small volume, and strong functionality. Therefore, on the basis that the pick-up assembly has a buffering effect when picking and placing materials, it also has the characteristics of a compact structure and a small volume, and correspondingly has lower requirements for the operating space; in addition, the pick-up buffer 330 is externally connected between the horizontal adapter plate 220 and the vertical buffer plate 310, and the installation convenience and subsequent maintenance convenience are higher, thereby improving the assembly convenience and subsequent maintenance convenience of the pick-up assembly.

[0034] Preferably, as Figure 2 shown, a buffer nozzle 510 can be provided at the bottom end of the vacuum suction head 500, such as a nozzle in the form of anti-static silicone coating, to further reduce the occurrence of the buffer nozzle 510 damaging the material during picking and placing, and at the same time reduce the scratches on the material caused by the contact between the vacuum suction head 500 and the material.

[0035] The vertical adapter plate 210 and the vertical buffer plate 310 can specifically achieve the sliding connection in the vertical direction through the following structure: as Figure 4 shown, a limiting platform 211 and a guide rail 212 extending in the vertical direction are fixedly provided on the side of the vertical adapter plate 210 facing the vertical buffer plate 310, and the limiting platform 211 is located below the guide rail 212; a slider 311 is fixedly provided on the side of the vertical buffer plate 310 facing the vertical adapter plate 210, the slider 311 is slidably clamped on the guide rail 212, and the slider 311 abuts against the limiting platform 211.

[0036] The vertical adapter plate 210 and the vertical buffer plate 310 are parallel to each other and arranged at intervals in the X direction. The sliding connection structure composed of the guide rail 212, the slider 311, and the limiting platform 211 is located between the vertical adapter plate 210 and the vertical buffer plate 310. The slider 311 and the guide rail 212 are slidably clamped in the vertical direction, that is, the Z direction. For example, one of them can be provided with a wedge-shaped groove, and the other is provided with a wedge-shaped protrusion, and the wedge-shaped protrusion is slidably clamped in the wedge-shaped groove; or two sliding grooves are provided on both sides in the Y direction of one, and two sliding arms are provided on both sides in the Y direction of the other. Sliding protrusions are provided on the inner sides of the two sliding arms facing each other, and the two sliding protrusions are slidably clamped with the two sliding grooves in a one-to-one correspondence, so as to limit the guide rail 212 and the slider 311 in the X direction and the Y direction, and at the same time allow the two to slide relative to each other in the Z direction. Correspondingly, the angled buffer 300 is connected to the vertical adapter plate 210, and at the same time allows the two to slide relative to each other in the Z direction.

[0037] Among them, the setting of the limit platform 211 can limit the downward sliding stroke of the slider 311 relative to the guide rail 212, ensuring the sliding engagement between the slider 311 and the guide rail 212. In addition, when the vacuum suction head 500 is not subject to external forces, the pick-up buffer 330 is in a natural state or a compressed state, and the slider 311 is lapped on the limit platform 211, that is, the limit platform 211 supports the slider 311 upward, thereby playing the role of bearing the corner buffer seat 300 and the vacuum suction head 500, with a simple structure and strong functionality.

[0038] Specifically, there may be two pick-up buffers 330, and the two pick-up buffers 330 are arranged at intervals in the Y direction to improve the balance of the elastic buffering effect on the vertical buffer plate 310. Specifically, the pick-up buffer 330 may be a compression spring.

[0039] It should be noted that the "vertical direction", "X direction", "Y direction" and "Z direction" described in the text are all based on Figure 2 the relative positions of the components from a perspective, and do not limit the use position of the pick-up assembly.

[0040] In this embodiment, as Figures 2-4 shown, the horizontal adapter plate 220 is provided with a pressure sensor 610, and the top of the vertical buffer plate 310 is provided with a contact head 620, and the contact head 620 corresponds to the pressure sensor 610 up and down. The pressure sensor 610 and the robotic arm are both communicatively connected to the control module of the robot. When the vacuum suction head 500 is not subject to external forces, there is an adjustment interval between the contact head 620 and the pressure sensor 610, and the robotic arm normally drives the pick-up assembly. During the process of the pick-up assembly picking up and placing materials, when the vacuum suction head 500 contacts and is stressed by the material, the corner buffer seat 300 moves upward to compress the pick-up buffer 330, and the contact head 620 moves upward with the vertical buffer plate 310. When the contact head 620 contacts the pressure sensor 610 upward, the pressure sensor 610 detects the contact pressure and feeds back the contact-in-place signal to the control module, indicating that the upward movement stroke of the corner buffer seat 300 is relatively large, and the contact pressure between the vacuum suction head 500 and the material has reached the preset pressure threshold. The control module receives the contact-in-place signal and correspondingly controls the robotic arm to stop driving the pick-up assembly in the direction towards the material, thereby further reducing the occurrence of the situation where the vacuum suction head 500 damages the material.

[0041] Similarly, in this embodiment, the telescopic drive component 400 can be a pneumatic drive component, and the air circuit of the telescopic drive component 400 is provided with a pressure regulating valve. When the air pressure of the air circuit is greater than the preset air pressure threshold, the pressure regulating valve adjusts and releases air. The pressure regulating valve is connected to the air circuit of the telescopic drive component 400, and can automatically adjust the air pressure of the air circuit; during the process of taking and releasing materials, the reaction force applied by the material to the vacuum suction head 500 can be transmitted to the angle adapter seat 200 through the angle adapter seat 200, and then transmitted to the driving end of the telescopic drive component 400 through the angle adapter seat 200, so that the air pressure of the air circuit is increased. When the air pressure of the air circuit reaches the preset air pressure threshold, the pressure regulating valve automatically releases air to adjust and reduce the driving stroke of the telescopic drive component 400 on the vacuum suction head 500, and correspondingly reduce the occurrence of the vacuum suction head 500 crushing the material.

[0042] Among them, when the pressure regulating valve and the pressure sensor 610 are both set, the two can play a dual protection role. When one of them is damaged, the other can still play a protective role, thereby improving the safety of the picking component when taking and placing materials, further reducing the occurrence of materials being crushed, and correspondingly improving the yield of materials.

[0043] Specifically, in this embodiment, Figures 2-4 As shown, the telescopic driving component 400 includes an angled driving seat 410 and a telescopic driving member 420 fixed to the mounting seat 100. The angled driving seat 410 includes a vertical driving plate 411 and a horizontal driving plate 412 bent at the bottom end of the vertical driving plate 411. The horizontal driving plate 412 is fixed to the bottom driving end of the telescopic driving member 420. The vertical adapter plate 210 is fixed in parallel to the side of the vertical driving plate 411 away from the telescopic driving member 420. When in use, the driving end of the telescopic driving member 420 drives the horizontal driving plate 412 to move up and down, thereby driving the vertical driving plate 411, the angled adapter seat 200, the angled buffer seat 300 and the vacuum suction head 500 to move up and down synchronously, thereby realizing the lifting and lowering drive of the vacuum suction head 500.

[0044] Among them, a folded-angle driving seat 410 in a folded-angle shape is used as the driving end of the telescopic driving component 400. On the one hand, the vertical driving plate 411 of the folded-angle driving seat 410 is located on one side of the telescopic driving member 420 along the X direction, and the vertical driving plate 411 is slidably connected to the outer shell of the telescopic driving member 420 along the Z direction, thereby improving the position accuracy of the telescopic driving member 420 to drive the vertical driving plate 411 to move along the Z direction, and correspondingly improving the position accuracy of the telescopic driving component 400 to drive the vacuum chuck to move along the Z direction. On the other hand, the vertical adapter plate 210 of the folded-angle adapter seat 200 is attached to the plate surface of the vertical driving plate 411 and is detachably fixed. The connection area between the two is large, and the connection stability and firmness are both high, thereby ensuring the driving stability of the telescopic driving component 400 for the vacuum suction head 500. On the third hand, three folded-angle driving seats 410, folded-angle adapter seats 200, and folded-angle buffer seats 300 in a folded-angle shape are arranged in sequence along the X direction. The structure is compact and occupies less space in the X direction. In the Y and Z directions, the space occupied is only the length of each component along the Z direction. On the basis of ensuring the connection stability and buffering performance of each component, the structural compactness of the picking component is greatly improved, its overall volume is reduced, and the requirement for the operation space is lowered.

[0045] In this embodiment, as Figures 2-4 shown, the mounting seat 100 includes a vertical mounting plate 110 and a horizontal mounting plate 120 bent at the top of the vertical mounting plate 110. The telescopic driving component 400 is fixedly arranged on the first plate surface of the vertical mounting plate 110. A clamping component 700 is fixedly arranged on one side of the vertical mounting plate 110 relative to the first plate surface, and the vacuum suction head 500 is located within the clamping range of the clamping component 700. The vertical mounting plate 110 of the mounting seat 100 is used for the connection and fixation of the telescopic driving component 400 and the clamping component 700, and the horizontal mounting plate 120 is used for the connection with the end of the robotic arm. Among them, the vertical mounting plate 110 and the vertical adapter plate 210 are parallel and arranged in sequence along the X direction. The telescopic driving component 400 and the clamping component 700 are installed on both sides of the vertical mounting plate 110 along the X direction, with a compact structure and small space occupation.

[0046] During use, the clamping end of the clamping component 700 is in an open state. The vacuum suction head 500 extends downward out of the clamping range of the clamping component 700 to pick up the material. Then, the telescopic driving component 400 drives the vacuum suction head 500 to rise until the material is within the clamping range of the clamping component 700. The clamping ends of the clamping component 700 move towards each other to clamp the material, thereby performing position alignment and fixation on the material, correspondingly improving the azimuth accuracy of the material at the end of the picking component, and ensuring the subsequent processing or assembly of the material. At the same time, the material is adsorbed by the vacuum suction head 500 and clamped by the clamping component 700, thereby improving the stability of the picking component to pick up the material, and reducing the occurrence of the material shifting relative to the vacuum suction head 500 during subsequent processing operations such as film tearing, which may affect the subsequent assembly of the material.

[0047] Specifically, in this embodiment, as Figure 3 and Figure 4 shown, the clamping member 700 is connected to the vertical mounting plate 110 through the following structure: connecting ears 130 are fixedly provided at both ends of the vertical mounting plate 110 in the width direction, and a limiting groove 131 is provided on the side of the connecting ear 130 facing away from the telescopic driving member 400; the picking component further includes a folding angle connecting seat 140, the folding angle connecting seat 140 includes a vertical connecting plate 141 and a connecting block 142 bent at the top end of the vertical connecting plate 141, one end of the connecting block 142 facing away from the vertical connecting plate 141 is fitted and inserted into the two limiting grooves 131, and the connecting block 142 is detachably fixed to the connecting ear 130 through a connecting member; the housing part of the clamping member 700 is fixed to the side of the vertical connecting plate 141 facing the vertical mounting plate 110. On the one hand, the telescopic driving member 420 is directly connected to the vertical mounting plate 110 through a connecting member, while the clamping driving member 710 of the clamping member 700 is indirectly connected to the vertical mounting plate 110 through the folding angle connecting seat 140, so the installation of the clamping driving member 710 has no requirements for the connecting holes of the vertical mounting plate 110, etc., and correspondingly does not limit the connection between the telescopic driving member 420 and the vertical mounting plate 110; at the same time, during assembly, the clamping driving member 710 can be first connected to the vertical connecting plate 141, and then the connecting block 142 is inserted into the limiting groove 131 for pre-positioning, and then the connecting member is used to connect the connecting block 142 and the connecting ear 130, and the assembly convenience is relatively high; on the other hand, the clamping driving member 710 is accommodated in the accommodation space surrounded by the vertical connecting plate 141, the connecting block 142 and the vertical mounting plate 110, and the three can play a role in blocking and protecting the clamping driving member 710 to reduce damage caused by external factors such as collision to the clamping driving member 710 and ensure the normal operation of the clamping driving member 710.

[0048] Optionally, in this embodiment, as Figures 2-5As shown, the clamping component 700 can specifically take the following form: the clamping component 700 includes a clamping driving component 710, two driving arms 720 and two clamping arms 730, the two driving arms 720 are arranged at the bottom driving end of the clamping driving component 710, the two clamping arms 730 are located one by one on the inner side of the two driving arms 720, the clamping arms 730 are slidably connected to the corresponding driving arms 720 along the clamping direction, and a clamping buffer component 740 is connected between the clamping arms 730 and the corresponding driving arms 720. When in use, the clamping drive member 710 drives the two driving arms 720 to drive the corresponding clamping arms 730 to move away from each other and into an open state. After the material reaches between the two clamping arms 730, the clamping drive member 710 drives the two driving arms 720 to drive the two clamping arms 730 to move toward each other until the two clamping arms 730 abut and clamp the two sides of the material. During the clamping process, the material applies a reaction force to the clamping arm 730, which correspondingly pushes the clamping arm 730 to compress the clamping buffer member 740 to move toward the corresponding driving arm 720, thereby buffering the material clamped by the clamping arm 730, reducing the occurrence of the situation where the clamping arm 730 rigidly clamps the material and damages the material, while reducing the accuracy requirements for the clamping stroke of the clamping drive member 710.

[0049] Specifically, Figure 5 As shown, the driving arm 720 is provided with a plug-in hole 721, and the clamping arm 730 is fixedly provided with a guide rod 732 on the side facing the driving arm 720, and the guide rod 732 is slidably plugged into the plug-in hole 721, and the end of the guide rod 732 extending out of the driving arm 720 away from the clamping arm 730 is fixedly provided with a limit head 733 whose radial dimension is larger than the plug-in hole 721, thereby realizing the sliding connection between the clamping arm 730 and the driving arm 720 along the clamping direction; the clamping buffer 740 is compressed between the driving arm 720 and the clamping arm 730, and the limit head 733 plays a limiting role to prevent the guide rod 732 from being separated from the plug-in hole 721.

[0050] In this embodiment, Figure 5 As shown, the bottom ends of the two clamping arms 730 facing each other are provided with receiving steps 731 extending toward each other. When the clamping arms 730 clamp materials, the receiving steps 731 can support the materials below, thereby improving the stability of the clamping component 700 clamping the materials, and reducing the clamping pressure requirements of the clamping arms 730 on the materials, and correspondingly further reducing the occurrence of the situation where the clamping pressure is too high and the materials are damaged.

[0051] Optionally, in this embodiment, if Figure 2 As shown, the number of picking components can be two or more, and the multiple picking components are fixed to the same carrier 10 through the mounting base 100; when in use, the carrier 10 is fixed to the end of the robotic arm, and the robotic arm can synchronously drive the multiple picking components to move, thereby realizing the synchronous picking of multiple materials, and correspondingly improving the operating efficiency of the robot.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A pickup assembly, characterized in that: The invention comprises a mounting seat (100), a folding angle adapter seat (200) and a folding angle buffer seat (300), wherein the mounting seat (100) is fixedly provided with a telescopic driving component (400); the folding angle adapter seat (200) comprises a vertical adapter plate (210) fixedly provided on the telescopic driving component (400) and a horizontal adapter plate (220) bent at the top end of the vertical adapter plate (210) and extending away from the telescopic driving component (400); the folding angle buffer seat (300) is provided with a telescopic driving component (400); the telescopic driving component (4 ... 00) comprises a vertical buffer plate (310) parallel to and slidably connected to the vertical adapter plate (210) and a horizontal buffer plate (320) bent at the bottom end of the vertical buffer plate (310) and extending toward the vertical adapter plate (210); a picking buffer member (330) is connected between the vertical buffer plate (310) and the horizontal adapter plate (220), and a vacuum suction head (500) is fixedly provided at the bottom of the horizontal buffer plate (320).

2. The pickup assembly according to claim 1, characterized in that A limiting platform (211) and a guide rail (212) extending in the vertical direction are fixedly provided on one side of the vertical adapter plate (210) facing the vertical buffer plate (310), and the limiting platform (211) is located below the guide rail (212); a sliding block (311) is fixedly provided on one side of the vertical buffer plate (310) facing the vertical adapter plate (210), and the sliding block (311) is slidably engaged with the guide rail (212), and the sliding block (311) abuts against the limiting platform (211).

3. The pickup assembly according to claim 1, characterized in that The horizontal adapter plate (220) is provided with a pressure sensor (610), and the top end of the vertical buffer plate (310) is provided with a contact head (620), and the contact head (620) corresponds to the pressure sensor (610) in upper and lower parts.

4. The pickup assembly according to claim 1, characterized in that The telescopic drive component (400) is a pneumatic drive component. The air circuit of the telescopic drive component (400) is provided with a pressure regulating valve. When the air pressure of the air circuit is greater than a preset air pressure threshold, the pressure regulating valve regulates the air release.

5. The pickup assembly according to any one of claims 1 to 4, characterized in that: The telescopic driving component (400) comprises an angled driving seat (410) and a telescopic driving member (420) fixedly mounted on the mounting seat (100); the angled driving seat (410) comprises a vertical driving plate (411) and a horizontal driving plate (412) bent at the bottom end of the vertical driving plate (411); the horizontal driving plate (412) is fixedly mounted on the bottom driving end of the telescopic driving member (420); and the vertical adapter plate (210) is fixedly mounted in parallel on a side of the vertical driving plate (411) facing away from the telescopic driving member (420).

6. The pickup assembly according to any one of claims 1 to 4, characterized in that: The mounting seat (100) comprises a vertical mounting plate (110) and a horizontal mounting plate (120) bent at the top end of the vertical mounting plate (110); the telescopic driving component (400) is fixedly arranged on a first plate surface of the vertical mounting plate (110); a clamping component (700) is fixedly arranged on one side of the vertical mounting plate (110) relative to the first plate surface; and the vacuum suction head (500) is located within the clamping range of the clamping component (700).

7. The pickup assembly according to claim 6, characterized in that Both ends of the vertical mounting plate (110) in the width direction are fixedly provided with connecting ears (130), and a limiting groove (131) is provided on a side of the connecting ear (130) away from the telescopic driving component (400); The picking assembly also includes an angled connecting seat (140), the angled connecting seat (140) includes a vertical connecting plate (141) and a connecting block (142) bent at the top end of the vertical connecting plate (141), one end of the connecting block (142) facing away from the vertical connecting plate (141) is plugged into the two limiting grooves (131), and the connecting block (142) is detachably fixed to the connecting ear (130) through a connecting piece; the shell portion of the clamping component (700) is fixed to the side of the vertical connecting plate (141) facing the vertical mounting plate (110).

8. The pickup assembly according to claim 6, characterized in that The clamping component (700) includes a clamping driving component (710), two driving arms (720) and two clamping arms (730), wherein the two driving arms (720) are arranged at the bottom driving end of the clamping driving component (710), and the two clamping arms (730) are located on the inner sides of the two driving arms (720) in a one-to-one correspondence, and the clamping arms (730) are slidably connected to the corresponding driving arms (720) along the clamping direction, and a clamping buffer component (740) is connected between the clamping arms (730) and the corresponding driving arms (720).

9. The pickup assembly according to claim 8, characterized in that The bottom ends of the two clamping arms (730) on the opposite sides are both provided with receiving steps (731) extending towards each other.

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

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